Augmented reality camera for use with 3D metrology equipment in forming 3D images from 2D camera images
A method uses a two-dimensional (2D) camera in two different positions to provide first and second 2D images having three common cardinal points. It further uses a three-dimensional (3D) measuring device to measure two 3D coordinates. The first and second 2D images and the two 3D coordinates are combined to obtain a scaled 3D image.
1. A method of combining at least two two-dimensional (2D) images into a three-dimensional (3D) image, the method comprising steps of:
providing a 2D augmented reality (AR) camera operable to acquire 2D images without depth information;
providing a 3D metrology instrument having a frame of reference, the AR camera being physically separate from the 3D metrology instrument, wherein the 3D metrology instrument is selected from the group comprising a laser tracker, a time-of-flight (TOF) laser scanner, and an articulated arm coordinate measurement machine;
in a first instance, forming a first 2D image with the AR camera in a first location;
in a second instance, moving the AR camera to a second location that is different from the first location, and forming a second 2D image with the AR camera;
finding, at the 3D metrology instrument, at least three cardinal points in common to both the first and second 2D images;
registering, at the 3D metrology instrument, the first and second 2D images to obtain an unscaled composite 3D image based at least in part on the at least three found cardinal points;
identifying, at the 3D metrology instrument, a first selected cardinal point and a second selected cardinal point from among the at least three found cardinal points;
measuring 3D coordinates of a first reference point and a second reference point with the 3D metrology instrument, the first reference point and the second reference point being within a region covered by both the first 2D image and the second 2D image;
determining, at the 3D metrology instrument, 3D coordinates of each of the first and second selected cardinal points based at least in part on the measured 3D coordinates of the first reference point and the second reference point; and
creating, at the 3D metrology instrument, the 3D image as a scaled composite 3D image from the determined 3D coordinates of each of the first and second selected cardinal points, and from the unscaled composite 3D image.
2. The method of claim 1 wherein, in the step of measuring 3D coordinates of a first reference point and a second reference point with the 3D metrology instrument, the first reference point is associated with the first selected cardinal point and the second reference point is associated with the second selected cardinal point.
3. The method of claim 2 wherein, in the step of measuring 3D coordinates of a first reference point and a second reference point with the 3D metrology instrument, the first reference point coincides with the first selected cardinal point and the second reference point coincides with the second selected cardinal point.
4. The method of claim 2 wherein, in the step of measuring 3D coordinates of a first reference point and a second reference point with the 3D metrology instrument, the first reference point is the center of a hole.
5. The method of claim 1 further comprising superimposing data on the 3D image.
6. The method of claim 5 wherein, in the step of superimposing data on the 3D image, the superimposed data includes computer-aided design (CAD) data.
7. The method of claim 5 wherein, in the step of superimposing data on the 3D image, the superimposed data includes marks indicative of an assembly operation.
8. The method of claim 5 wherein, in the step of superimposing data on the 3D image, the superimposed data is a graphical element selected from the group consisting of a photographic element, a drawn element, and a rendered element.
9. The method of claim 1 further including providing a first 2D representation of the 3D image, the first 2D representation obtained from a first observer perspective.
10. The method of claim 9 further including providing a second 2D representation of the 3D image, the second 2D representation obtained from a second observer perspective different than the first observer perspective.
11. The method of claim 1 wherein in the step of finding at least three cardinal points in common to both the first and second 2D images, the common cardinal points are on an object.
12. The method of claim 11 further including a step of obtaining images from all sides of an object and, in response, determining a full-view 3D image, the full-view 3D image being a 3D image of all sides of the object.
13. The method of claim 12 further including superimposing the full-view 3D image onto a 3D graphical model.
14. The method of claim 13 wherein the 3D graphical model is a computer-aided design (CAD) model.
15. The method of claim 13 wherein the 3D graphical model is a 3D model of an interior building space.
16. The method of claim 1 wherein:
in the step of providing an augmented reality (AR) camera, the AR camera is a color camera;
in the step of forming a first 2D image with the AR camera in a first location, the first 2D image is a color image;
in the step of moving the AR camera to a second location that is different from the first location, and forming a second 2D image with the AR camera, the second 2D image is a color image; and
in the step of creating the 3D image, the 3D image is a color image based at least in part on the first 2D image and the second 2D image.
17. The method of claim 1 , wherein the AR camera is a stand-alone camera that is not physically attached to the 3D metrology instrument.