System and method for 3D scanning
Systems and/or methods for, for a given pixel (or sub-pixel location) in an image acquired by the camera, finding which projector pixel (or more particularly, which projector column) primarily projected the light that was reflected from the object being scanned back to this camera position (e.g. what projector coordinates or projector column coordinate correspond(s) to these camera coordinates).
1. A system for capturing 3D representations from an object, comprising:
a light source being configured to project a sequence of one or more light patterns, at least one of the light patterns is a phase-encoded pattern containing a non-repeating pattern of gradients between each pixel and adjacent pixels, whereby the light source can project the phase-encoded pattern onto a scene;
a light sensor configured to capture at least one image of the scene under the influence of the projected pattern; and
a processor configured to decode gradients in the captured image to determine the coordinates in the projected image that created the light received at each captured image pixel.
2. The system of claim 1 wherein the non-repeating pattern has signs of the gradients between each pixel and adjacent pixels form a non-repeating pattern.
3. The system of claim 1 wherein subsets of gradients between pixels and their adjacent pixels form more than one code per pixel that each can be decoded to yield phase values.
4. The system of claim 3 wherein pixel phase values are recorded as valid only if more than one code decodes to the same phase value.
5. The system of claim 3 wherein a confidence score is calculated for the decoded phase value assigned to a captured image pixel based on the number of decoded codes that agree on the phase value.
6. The system of claim 1 wherein the gradients between pixels and their adjacent pixels are interpreted as binary or ternary numbers which are used as the basis of a phase-decoding process.
7. A method for capturing 3D representations from an object, comprising:
projecting a sequence of one or more light patterns, at least one of the light patterns is a phase-encoded pattern containing a non-repeating pattern of gradients between each pixel and adjacent pixels, whereby the light source can project the phase-encoded pattern onto a scene;
capturing at least one image of the scene under the influence of the projected pattern; and
decoding gradients in the captured image to determine the coordinates in the projected image that created the light received at each captured image pixel.
8. The method of claim 7 wherein the non-repeating pattern has signs of the gradients between each pixel and adjacent pixels form a non-repeating pattern.
9. The method of claim 7 wherein subsets of gradients between pixels and their adjacent pixels form more than one code per pixel that each can be decoded to yield phase values.
10. The method of claim 9 wherein pixel phase values are recorded as valid only if more than one code decodes to the same phase value.
11. The method of claim 9 wherein a confidence score is calculated for the decoded phase value assigned to a captured image pixel based on the number of decoded codes that agree on the phase value.
12. The method of claim 7 wherein the gradients between pixels and their adjacent pixels are interpreted as binary or ternary numbers which are used as the basis of a phase-decoding process.
13. At least one non-transitory computer readable medium storing instructions that, when executed by one or more processors, cause the one or more processors to:
project a sequence of one or more light patterns, at least one of the light patterns is a phase-encoded pattern containing a non-repeating pattern of gradients between each pixel and adjacent pixels, whereby the light source can project the phase-encoded pattern onto a scene;
capture at least one image of the scene under the influence of the projected pattern; and
decode gradients in the captured image to determine the coordinates in the projected image that created the light received at each captured image pixel.
14. The non-transitory computer readable medium of claim 13 wherein the non-repeating pattern has signs of the gradients between each pixel and adjacent pixels form a non-repeating pattern.
15. The non-transitory computer readable medium of claim 13 wherein subsets of gradients between pixels and their adjacent pixels form more than one code per pixel that each can be decoded to yield phase values.
16. The non-transitory computer readable medium of claim 15 wherein pixel phase values are recorded as valid only if more than one code decodes to the same phase value.
17. The non-transitory computer readable medium of claim 15 wherein a confidence score is calculated for the decoded phase value assigned to a captured image pixel based on the number of decoded codes that agree on the phase value.
18. The non-transitory computer readable medium of claim 13 wherein the gradients between pixels and their adjacent pixels are interpreted as binary or ternary numbers which are used as the basis of a phase-decoding process.