CN103438833B - For optical means and the system of 3-d shape measurement - Google Patents
For optical means and the system of 3-d shape measurement Download PDFInfo
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- CN103438833B CN103438833B CN201310414102.3A CN201310414102A CN103438833B CN 103438833 B CN103438833 B CN 103438833B CN 201310414102 A CN201310414102 A CN 201310414102A CN 103438833 B CN103438833 B CN 103438833B
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Abstract
The invention discloses utilize the candy strip of one or more coloud coding to come optically, dimensionally measuring object shape.In one embodiment, the candy strip of coloud coding comprises multiple striped modulated in intensity, and the candy strip of this coloud coding is configured as follows.The independent striped selected from striped comprises the colored lines be positioned on width of fringe.The line thickness of these colored lines is narrower than width of fringe substantially, thus colored lines online bar width has intensity similar substantially.The striped color not comprising the independent striped of colored lines is uniform substantially on independent striped.Striped color is different from line color substantially.Streaky striped color be similar substantially, make the major part of the candy strip of coloud coding can for providing substantial uniform lighting color to the projection of object thus.
Description
Technical field
The present invention relates to the three-dimensional measurement of object shapes, it is based on will one or more candy strip optical projection to object be analyzed from the stripe pattern of final one or more distortion of object reflection.
Background technology
In the art, the 3-d shape measurement of object can be carried out by following method: utilize projector to be projected by one or more candy strip on object and subsequently based on from object reflection and subsequently by the depth profile of the stripe pattern calculating object shape of one or more distortions of cameras capture.In order to increase the spatial resolution of shape measure, each candy strip can comprise the striped of periodic arrangement, by modulating function (this modulating function for or enough close to sinusoidal or cosine function), each striped adds that certain constant is modulated in intensity, thus the intensity of modulation always non-negative.That is, each striped is sinusoidally modulated substantially in intensity.
What utilize the 3-d shape measurement of the candy strip of Sine Modulated substantially is summarized in KARPINSKY, and ZHANG N., S. introduce to some extent in " High-resolution; the real-time3Dimagingwithfringeanalysis " literary composition in scan picture magazine the 5th volume the 3rd phase 1-12 page on August 6th, 2010, by reference this article entirety is incorporated herein.The stripe pattern of distortion can be modeled as usually:
Wherein, I (x, y) is the strength level that coordinate (x, y) place observes, and I ' (x, y) is the mean intensity on distortion stripe pattern, I " (x, y) is intensity modulated, and
it is phase place.Particularly, the value on all coordinates of distortion stripe pattern is
phase diagram be used to the depth profile of calculating object shape.In the art, it has been generally acknowledged that, it is fuzzy that the calculating based on the strength level observed in distortion stripe pattern or multiple this image only may cause having 2 π
value, this is owing to calculating
time relate to arctan function.Therefore,
usually be interpreted as:
The θ (x, y) of span between-π to π can be calculated by the strength level observed, and is that the N (x, y) of integer is called as fringe order.In the art, the collection of θ (x, y) value is cited as wrapped phase figure usually, and phase diagram
be called as Phase Unwrapping Algorithm figure alternatively.Generally speaking, need to calculate fringe order with " untiing (unwrap) " this wrapped phase figure, to obtain Phase Unwrapping Algorithm figure.
Fringe order relates to the quantity of the original position fringe period apart in distortion stripe pattern in special stripe and its candy strip.Assist and determine that the method for fringe order is at SU, W.-H. " Color-encodedfringeprojectionfor3Dshapemeasurements " in optics letter the 5th volume the 20th phase 13167-13181 page on October 1st, 2,007 one is open in literary composition, this article entirety is incorporated herein by reference.In the method, sine streak pattern is superimposed with by multiple cromogram being disposed in order color stripes together and being formed.Two adjacent color stripes have colors different substantially, thus for striped provides distinguishing mark after by object distortion.The width of color stripes can close to the width of striped.Thus, fringe order can be obtained to form the stripe pattern of colour, distortion after colored, sinusoidal candy strip is by object distortion.The strength component of the stripe pattern of colour, distortion is used to calculate wrapped phase figure.But because the surface of object has different reflex responses to the light of different colours usually, interference to be incorporated in the strength component of the stripe pattern of colored, distortion by the existence of the multiple color in color fringe pattern.This makes the distribution of strength component and the distortion that caused by object shapes of modeling by halves, thus reduces the precision of the three-dimensional measurement of object shapes.
In this area, need a kind of design of the candy strip improved under the instruction of SU, thus the design improved makes it possible to calculate fringe order, can maintain measuring accuracy simultaneously.
Summary of the invention
The invention provides a kind of optical means for dimensionally measuring object shape.
The method comprises a predetermined candy strip to project on object or by a more than predetermined candy strip and one after the other projects on object.A more than predetermined candy strip can be derived from a reference stripe pattern predetermined candy strip of difference to out of phase skew, and each phase offset represents the position skew of the striped in reference stripe pattern.Therefore, object makes one or more predetermined candy strip distortion, generates one or more distortion stripe pattern thus.The method also comprises analyzes one or more distortion stripe pattern to estimate Phase Unwrapping Algorithm figure, and this Phase Unwrapping Algorithm figure characterizes one or more intensity distributions of one or more distortion stripe pattern.Therefore, the depth profile of object shapes can be obtained by Phase Unwrapping Algorithm figure.
Each in one or more predetermined candy strip includes multiple stripeds periodically disposed thereon.Each striped has width of fringe, and intensity is modulated on width of fringe.Preferably, intensity is modulated sinusoidally substantially.Particularly, at least one in one or more predetermined candy strip is also configured to the candy strip of coloud coding.
The candy strip of coloud coding is by following configuration.The independent striped selected from striped comprises the colored lines be positioned on width of fringe.The line thickness of these colored lines is narrower than width of fringe substantially, thus colored lines online bar width has intensity similar substantially.Its intensity is determined in the position of colored lines.Colored lines have line color.The striped color not comprising the independent striped of colored lines is uniform substantially on independent striped.Striped color is different from line color substantially.In addition, streaky striped color be similar substantially.Thus, the major part of the candy strip of coloud coding can for providing substantial uniform lighting color to the projection of object.
Preferably, the selection of the position of the colored lines of the independent striped of the candy strip of coloud coding makes: in this position, between 0.2 times to 0.8 times that the intensity of independent striped on its width of fringe is in maximum intensity.In addition, the selection of the position of the colored lines in all stripeds of the candy strip of coloud coding can make: in these positions, and all stripeds of the candy strip of coloud coding have intensity similar substantially.Alternatively, the selection of these positions can make all stripeds of the candy strip of coloud coding not be unique.
In one approach, the line color of two stripeds of arbitrary neighborhood is different substantially, is provided for the auxiliary differentiation information determining fringe order during estimating Phase Unwrapping Algorithm figure thus.
In another kind of method, the streaky line color jointly forming the ordered sequence of the line color of selection in the candy strip of coloud coding is configured to make ordered sequence be pseudo-random sequence or its periodically repetition.
In another embodiment, employ N number of predetermined candy strip, wherein N is greater than 1.Each in N number of predetermined candy strip has the striped of equal number.Each striped has striped numbering.Particularly, from N number of predetermined candy strip, have selected M, wherein, M is greater than 1 and is less than or equal to N.Each in M the predetermined candy strip selected is configured to the candy strip of coloud coding.The line color of related streak in M the predetermined candy strip selected with identical striped numbering together constitutes the code word of the related streak under this striped numbering.In addition, code word for arbitrary first related streak and arbitrary second related streak is different substantially, wherein, the first and second related streak are adjacent on striped, are provided for the auxiliary differentiation information determining fringe order during estimating Phase Unwrapping Algorithm figure thus.
The candy strip distortion of coloud coding is made and the stripe pattern of the coloud coding of the distortion generated if any one in one or more distortion stripe pattern is object shapes, then preferably, the method also comprises the stripe pattern of the coloud coding of distortion is resolved into strength component image and color component images.When estimating wrapped phase figure, strength component image is useful.When untiing wrapped phase figure to produce Phase Unwrapping Algorithm figure, color component images is useful.
Present invention also offers a kind of candy strip and generate subsystem, it is configured to be used in the system for three-dimensional measurement object shapes.This candy strip generates subsystem and comprises the one or more processors being configured to generate one or more predetermined candy strip, and wherein, one or more predetermined candy strip configures as described above like that.
Present invention also offers a kind of system for three-dimensional measurement object shapes.This system comprises as above-disclosed candy strip generates subsystem, projector, video camera and data process subsystem.Projector projects object for one or more predetermined candy strip candy strip being generated subsystem generation.Video camera is for obtaining the one or more distortion stripe patterns generated by making one or more predetermined candy strip distortion when projecting on object.Data process subsystem is configured for the one or more distortion stripe patterns obtained by analyzing video camera and estimates Phase Unwrapping Algorithm figure, this Phase Unwrapping Algorithm figure characterizes one or more intensity distributions of one or more distortion stripe pattern, and this data process subsystem is also for the depth profile according to Phase Unwrapping Algorithm figure calculating object shape.
Accompanying drawing explanation
Fig. 1 shows the candy strip of the coloud coding according to exemplary embodiment of the invention.
Fig. 2 a shows the example of the candy strip of coloud coding, and wherein, the position of colored lines makes these colored lines in candy strip, have intensity similar substantially.
Fig. 2 b shows the example of the candy strip of coloud coding, and wherein, the intensity of candy strip in the position of colored lines is different substantially.
Fig. 3 selects the line color of colored lines to form the example of code word when showing three-dimensional measurement for object of candy strip when multiple coloud coding.
Fig. 4 shows the process flow diagram according to one embodiment of the present invention, the flow diagrams illustrates the step of the candy strip utilizing one or more coloud coding in the three-dimensional measurement of object.
Fig. 5 show according to one embodiment of the present invention for optically, the system of dimensionally measuring object shape.
Embodiment
A kind of image generally including pel array for the candy strip projected on object.The light beam that it is feature that each pixel has with color and strength level.Color with the spectral content of the light beam within the scope of human viewable for feature.Because candy strip is mainly used in imaging object, instead of seen by people, therefore in instructions and following claims, intensity refers to the luminous intensity level measured in radiation power instead of in luminous flux, and the luminous intensity level measured in luminous flux defines with reference to human eye.Because candy strip can be generated by projector, thus have employed this definition of intensity.Projector is usually by accepting input with the RGB of binary word specified pixel (red, green, blue) component.Such as, the R=0 of the first pixel, G=255 and B=0, the R=0 of the second pixel, G=0 and B=255, wherein R, G and B represent the red, green and blue component of pixel respectively.By the selection of RGB component described above, projector prepares generation first and second pixel, each pixel has radiated power level similar substantially, thus according to definition used herein, these two pixels so generated have strength level similar substantially.But the luminous flux level of these two pixels differs widely.
As in instructions and following claims use, " feature " of candy strip is characterized by color and intensity.This feature can be independent striped, lines, point, pixel, region or any things of appearing on candy strip.Particularly, the described color that feature is represented by light beam or multiple light beam or formed and described intensity characterize, and this feature has described color and described intensity.Because candy strip is generated by projector usually, the region thus using black to carry out the complete darkness of representative feature is nonsensical, wherein, does not produce light to represent or formed the region of complete darkness.In complete darkness region in particular cases, be defined as follows in this article: complete darkness region has zero intensity level, and be the color selecting color of the non-dark area in next-door neighbour complete darkness region.By getting rid of black when representing complete darkness region, for example, when expressing candy strip and having substantial uniform lighting color to project object, (even if candy strip may comprise the fraction with one or more complete darkness regions due to the modulation sinusoidal substantially of intensity) becomes clear.
In the three-dimensional measurement of object shapes, a predetermined candy strip is projected onto on object, or a more than predetermined candy strip is not one after the other projecting on object in the same time.Then, object makes one or more predetermined candy strip distortion.Generate one or more distortion stripe pattern thus.Analyze one or more distortion stripe pattern to estimate Phase Unwrapping Algorithm figure.Phase Unwrapping Algorithm figure characterizes one or more intensity distributions of one or more distortion stripe pattern.Then, the depth profile of object shapes can be obtained by Phase Unwrapping Algorithm figure.
The invention discloses the configuration of one or more predetermined candy strip.Each in one or more predetermined candy strip includes multiple stripeds periodically disposed thereon.Striped can be quoted by striped number and identify.Each striped has width of fringe, and the light intensity of each striped is modulated sinusoidally on width of fringe.Preferably, above-mentioned light intensity is modulated sinusoidally substantially.But, the invention is not restricted to utilize sine function when modulate light intensity.Also non-sinusoidal function can be used.When using a more than predetermined candy strip, multiple candy strips like this can be derived from a reference stripe pattern predetermined candy strip of difference to out of phase skew, and each phase offset represents the position skew of the striped in reference stripe pattern.For example, see the article of KARPINSKY and ZHANG of above-mentioned this predetermined candy strip of generation three.In disclosed configuration, at least one in one or more predetermined candy strip is also configured to the candy strip of coloud coding.The candy strip of coloud coding inherits the feature of the one or more predetermined candy strip of above-mentioned configuration, and combines following additional features.
Fig. 1 shows the configuration of the candy strip of the coloud coding according to exemplary embodiment of the invention.The candy strip 100 of coloud coding comprises multiple stripeds of periodic arrangement.As shown in Figure 1, striped 110,120,130 is arranged in mode periodically, sequentially.
Take striped 120 as the representative striped shown.Striped 120 has width of fringe 122.As mentioned above, the light intensity of striped 120 modulated on width of fringe 122 (utilizing modulating function).In addition, striped 120 certain position on width of fringe 122 comprises colored lines 125.The line thickness of colored lines 125 is narrower than width of fringe 122 substantially, thus colored lines 125 have light intensity similar substantially on line thickness.The light intensity of colored lines 125 is not optional, and it selects to make to meet the light intensity utilized on modulating function modulation stripe width 122.Thus, its light intensity is determined in the position of colored lines 125.Consider for reality, preferably, the selection of the position of colored lines 125 makes this position, between 0.2 times to 0.8 times that the intensity of striped 120 on width of fringe 122 is in maximum intensity.Colored lines 125 have line color.Except colored lines 125, the striped color of the remainder of striped 120 is roughly even on striped 120.Striped color is different from line color substantially.Because colored lines 125 are narrower than width of fringe 122 substantially, therefore, the major part of striped 120 is configured to utilize monochromatic light (striped color) to illuminate object.Although colored lines 125 shown in Figure 1 are continuous print lines, the present invention is not limited only to this configuration.Colored lines 125 may not be totally continuous on whole striped 120.Such as, colored lines 125 can be dotted lines.The line style of type being used for colored lines 125 is selected to depend on the form of the candy strip 100 of coloud coding.
In addition, the streaky striped color of institute of the candy strip 100 of coloud coding is similar substantially.As the example shown in Fig. 1, striped 110,120,130 has striped color similar substantially.Therefore, the major part of the candy strip 100 of coloud coding is that the projection on object provides substantial uniform lighting color, thus, and utilizes compared with single color stripe pattern, maintains precision similar substantially when three-dimensional measurement.Those skilled in the art can determine the preferred colors being used as lighting color.Such as, having high color rendering index (CRI) (CRI) white light is preferred selection for lighting color.
In all stripeds of the candy strip 100 of coloud coding, the position of colored lines is selected to make in these positions, and all stripeds of the candy strip 100 of coloud coding have intensity similar substantially.Fig. 2 a shows an example, and wherein, the striped 210a-210i of the candy strip 200 of coloud coding has colored lines 215a-215i, and by being arranged in the analogous location of each striped, these colored lines are similar substantially in intensity.Alternatively, colored lines can by not being in similar position and being configured to have not unique strength level.Fig. 2 b shows an example, wherein, the striped 260a-260i of the candy strip 250 of coloud coding has colored lines 265a-265i, and these lines are in not unique position in each striped, thus the strength level of colored lines 265a-265i is generally different.
The fundamental purpose colored lines being introduced the candy strip 100 of coloud coding is to provide the side information allowing the differentiation of different striped, thus auxiliaryly during estimation Phase Unwrapping Algorithm figure determines fringe order.In order to allow to provide this differentiation information, in one approach, the line color of two stripeds of arbitrary neighborhood is different substantially.As the example shown in Fig. 1, the line color of the colored lines 125 of striped 120 is royal purple, and the striped that two adjacent (that is, striped 110 and striped 130) has colored lines 115,135, its line color is respectively scarlet and mazarine, all different from royal purple.There is predetermined arrangement and rule of combination that many kinds may be used for arranging colored lines, such as DeBruijn sequence.
Be desirably in the possibility reducing the line color of wrong identification striped in the distortion stripe pattern generated by the candy strip 100 of coloud coding.In order to realize this target, preferably, one or more colors that the line color of the striped of the candy strip 100 of coloud coding is selected to occurring on a surface of an have colour contrast high substantially.Before the candy strip 100 generating coloud coding, the image of object first by prescan and analysis, thus may determine the suitable color of the line color by being used as striped.
In one embodiment, by the streaky line color in the candy strip 100 of following method choice coloud coding.First these line colors are regarded as the common ordered sequence forming the line color selected.Line color is also configured to make ordered sequence be pseudo-random sequence or its periodically repetition.Therefore, the cycle of pseudo-random sequence is less than or equal to the length of ordered sequence.Thus, in the stripe pattern by making the candy strip 100 of coloud coding be produced by object shapes distortion, special stripe can be discernible, even if described special stripe departs from the multiple striped in original position (being less than the cycle of pseudo-random sequence) in the candy strip 100 of coloud coding.If object has main uncontinuity (point on object and high part), even if be favourable in the three-dimensional measurement of the character of this aid identification special stripe (and striped numbering) when there is large skew at object.For example, the object of this type can be chest.When forming pseudo-random sequence, each element is wherein the color being selected from one group of candidate color.Generally speaking, the quantity of candidate color is greater than 2, thus the sequence that pseudo-random sequence is normally multi-level.For example, design the method with the multi-level pseudo-random sequence of desirable properties to find in US2007005673.
In general, the line color of the striped in the candy strip 100 of coloud coding is selected from the finite set of candidate color.A disadvantage of the candy strip of a kind of coloud coding in one or more predetermined candy strips is only used to be that the quantity of candidate color is preferably larger.The large collection of candidate color is preferably so that the interval of any two stripeds by increasing shared identical candidate color, still can identify by the Large travel range of the special stripe in the stripe pattern of object distortion.But, due to many physical constraints (such as the requirement of high color contrast as above), be usually not easy the large collection finding candidate color.
Embodiments of the present invention relate to the relatively little collection using candidate color, as long as employ more than a kind of predetermined candy strip.In this embodiment, employ N number of predetermined candy strip, wherein N is greater than 1.Each in N number of predetermined candy strip has the striped of equal number.Each striped has striped numbering.From these N number of predetermined candy strips, have selected M pattern, wherein, M is greater than 1 and is less than or equal to N.In addition, each in M the predetermined candy strip selected is configured to the candy strip of coloud coding.The line color of related streak in M the predetermined candy strip selected with identical striped numbering together constitutes the code word of the related streak under this striped numbering.Therefore, code word comprises M the line color selected.Particularly, the code word of any first striped of being correlated with and any second striped of being correlated with is different substantially, wherein, and the first and second stripeds adjacent on striped (fringe-wiseadjacent) of being correlated with.Therefore, differentiation information is provided to determine fringe order with auxiliary during estimation Phase Unwrapping Algorithm figure.As used herein, the first relevant striped and the second relevant striped that are called as " adjacent on striped " mean: have the corresponding vicinity in position in any one and the second relevant striped in the relevant striped of identical predetermined candy strip first.
Fig. 3 provides the example of the candy strip of use three coloud codings according to above-mentioned embodiment.For the object of showing, consider the special stripe that striped is numbered 2.Predetermined candy strip 310,320,330 (all candy strips are all configured to the candy strip of coloud coding) has colored lines 312,322,332 respectively.The line color of colored lines 312,322,332 is respectively mazarine, green and yellow.The code word 350 of the line color formation of three colored lines 312,322,332.Adjacent code word 340,360 is different from code word 350.Notice that four candidate color (red, yellow, green and mazarine) are for predetermined candy strip 310,320,330.Therefore, select as arbitrary code word 340,350,360 time, the total combination that 124=5 × 5 × 5-1 kind is possible.This shows, utilizes the relatively little collection of candidate color can provide the large collection of possible code word combination, allows the displacement that special stripe is larger in the distortion stripe pattern that can be identified thus.
In one embodiment, the colored lines in all stripeds may by the colored lines of another kind of type (they jointly point to be substantially parallel to striped towards direction) replace.In this embodiment, the candy strip of coloud coding comprises multiple colored oblique line, and every bar oblique line crosses over two or more stripeds.The colored oblique line of every bar towards be not parallel to substantially striped towards direction, thus the independent striped selected from striped comprises multiple colored oblique line section at independent striped.Arbitrfary point in colored oblique line section has the intensity determined by the position of point on independent striped.Colored oblique line section jointly has line color.In this embodiment, except colored lines are by except colored oblique line section replacement, other features of the candy strip of coloud coding are similar to other embodiments disclosed herein substantially.
The invention also discloses the optical means for three-dimensional measurement object shapes and the corresponding system implementing the method, wherein, method and system all adopts the configuration of above-disclosed one or more predetermined candy strip.Fig. 4 describes and obtains the process flow diagram of the depth profile of object according to the disclosed configuration that utilizes when three-dimensional measurement of one embodiment of the present invention.Fig. 5 shows the system 500 for the three-dimensional measurement of object.
In the first step 410 of optical means, generate one or more predetermined candy strip, wherein at least one is the candy strip of coloud coding.Candy strip in system 500 generates subsystem 510 for generating one or more predetermined candy strip (being represented by candy strip 515).Usually, it is computing systems that candy strip generates subsystem 510, and it comprises one or more processor being configured to generate one or more predetermined candy strip 515.
In next step 420, one or more predetermined candy strip is projected onto on object.In system 500, by utilizing projector 520 that the object 560 generating one or more predetermined candy strip 515 that subsystem 510 obtains from candy strip and project upper measurement is performed this projection process.Object 560 to be positioned on background 550 or before.Because background 550 is often used as reference planes, preferably, background 550 is smooth substantially.The one or more predetermined candy strip distortion that the existence of object 560 makes projector 520 project, generates one or more distortion stripe pattern 535.
In another next step 430, obtain one or more distortion stripe pattern to analyze.In system 500, video camera 530 is for obtaining one or more distortion stripe pattern 535.The one or more distortion stripe patterns 535 obtained are sent to data process subsystem 540 to be further processed.
If any one in one or more distortion stripe pattern is the stripe pattern of the coloud coding of the distortion of the candy strip being derived from coloud coding, the stripe pattern of the coloud coding of distortion is broken down into strength component image and color component images.When estimating wrapped phase figure, strength component image is useful.When untiing wrapped phase figure to produce Phase Unwrapping Algorithm figure, color component images is useful.If the distortion stripe pattern considered is not the candy strip being derived from coloud coding, it only produces strength component image.When obtaining all strength component images and color component images after processing one or more distortion stripe pattern, step 442,444 can be performed.In step 442, calculate wrapped phase figure based on the strength component image obtained.In step 444, the line color in identification colors component image and/or code word.Based on recognition result determination fringe order.
After obtaining wrapped phase figure and determining fringe order, calculate Phase Unwrapping Algorithm figure in step 450.After this, as step 460 based on the depth profile of Phase Unwrapping Algorithm figure calculating object.
Step 442,444,450,460 can be performed by data process subsystem 540.Data process subsystem 540 may be embodied as computing system.
The present invention can implement with other concrete forms, and does not depart from its spirit or essential characteristic.Therefore, present embodiment should be considered to be in all respects illustrative, and not restrictive.Scope of the present invention is limited by claim of enclosing, instead of is limited by aforementioned specification, and all changes therefore fallen in the meaning of the equivalent of claim and scope should be within the scope of the present invention.
Claims (20)
1., for an optical means for three-dimensional measurement object shapes, comprising:
A predetermined candy strip is projected on object or by a more than predetermined candy strip and one after the other project on object, thus object makes one or more predetermined candy strip distortion, and generate the stripe pattern of one or more distortion thus; And
Analyze the stripe pattern of described one or more distortion to estimate to separate the phase diagram of parcel, the phase diagram of this solution parcel characterizes one or more intensity distributions of the stripe pattern of described one or more distortion, thus can obtain the depth profile of object shapes from the phase diagram separating parcel;
Wherein:
Each in described one or more predetermined candy strip includes periodic arrangement multiple stripeds thereon, each striped there is width of fringe and on width of fringe intensity modulated; And
At least one position in described one or more predetermined candy strip is also configured to the candy strip of coloud coding;
Further, wherein the candy strip of coloud coding is arranged so that:
The independent striped selected from striped comprises the colored lines be positioned on width of fringe, the line thickness of these colored lines is narrower than width of fringe substantially, thus colored lines online bar width has intensity similar substantially, the intensity of colored lines is determined by the position of colored lines, and colored lines also have line color.
2. the method for claim 1, wherein the candy strip of coloud coding is also arranged so that:
The striped color not comprising the independent striped of colored lines is uniform substantially on independent striped, and striped color is different from line color substantially; And
Streaky striped color be similar substantially, make the major part of the candy strip of coloud coding can for providing substantial uniform lighting color to the projection of object thus.
3. the method for claim 1, wherein concerning each in described one or more predetermined candy strip, each striped wherein substantially on width of fringe intensity be modulated sinusoidally.
4. the method for claim 1, wherein, the candy strip of coloud coding is also arranged so that the line color of two stripeds of arbitrary neighborhood is different substantially, is provided for the auxiliary differentiation information determining fringe order during the phase diagram estimating to separate parcel thus.
5. the method for claim 1, wherein:
The quantity of described multiple predetermined candy strip is N, and wherein, N is greater than 1, and each in N number of predetermined candy strip all has the striped of equal number, and each striped has striped numbering;
M is selected from N number of predetermined candy strip, wherein M is greater than 1 and is less than or equal to N, thus each in M the predetermined candy strip selected all is configured to the candy strip of coloud coding, in M the predetermined candy strip selected the line color of the related streak of same striped numbering jointly form this striped number under the code word of related streak; And
Code word for arbitrary first related streak and arbitrary second related streak is different substantially, and wherein, the first and second related streak are adjacent on striped, is provided for the auxiliary differentiation information determining fringe order during the phase diagram estimating to separate parcel thus.
6. the method for claim 1, wherein, if use a more than predetermined candy strip, then predetermined candy strip is derived from a reference stripe pattern predetermined candy strip of difference to out of phase skew, and each phase offset represents the position skew of the striped in reference stripe pattern.
7. the stripe pattern the method for claim 1, wherein analyzing described one or more distortion comprises:
The candy strip distortion of coloud coding is made and the stripe pattern of the coloud coding of the distortion generated if any one in the stripe pattern of described one or more distortion is object shapes, then the stripe pattern of the coloud coding of distortion is resolved into strength component image and color component images, thus can when estimating the phase diagram of parcel working strength component image, and can when the phase diagram untiing parcel is to produce the phase diagram separating parcel use color component images.
8. the selection of the position of the colored lines in the independent striped of the method for claim 1, wherein candy strip of coloud coding makes: in this position, between 0.2 times to 0.8 times that the intensity of independent striped on its width of fringe is in maximum intensity.
9. the selection of the position of the colored lines in all stripeds of the method for claim 1, wherein candy strip of coloud coding makes: in these positions, all stripeds of the candy strip of coloud coding have intensity similar substantially.
10. the selection of the position of the colored lines in all stripeds of the method for claim 1, wherein candy strip of coloud coding makes: in these positions, the candy strip of coloud coding streaky intensity be not unique.
11. 1 kinds of candy strips generate subsystem, and it is disposed in the system of dimensionally measuring object shape, and this candy strip generates subsystem and comprises the one or more processors being configured to generate one or more predetermined candy strip, wherein:
Each in described one or more predetermined candy strip includes periodic arrangement multiple stripeds thereon, each striped there is width of fringe and on width of fringe intensity modulated; And
At least one in described one or more predetermined candy strip is also configured to the candy strip of coloud coding;
Further, wherein the candy strip of coloud coding is arranged so that:
The independent striped selected from striped comprises the colored lines be positioned on width of fringe, the line thickness of these colored lines is narrower than width of fringe substantially, thus colored lines online bar width has intensity similar substantially, the intensity of colored lines is determined by the position of colored lines, and colored lines also have line color.
12. candy strips as claimed in claim 11 generate subsystem, and wherein, the candy strip of coloud coding is also arranged so that:
The striped color not comprising the independent striped of colored lines is uniform substantially on independent striped, and striped color is different from line color substantially; And
Streaky striped color be similar substantially, make the major part of the candy strip of coloud coding can for providing substantial uniform lighting color to the projection of object thus.
13. candy strips as claimed in claim 11 generate subsystems, wherein, concerning each in described one or more predetermined candy strip, each striped wherein substantially on width of fringe intensity be modulated sinusoidally.
14. candy strips as claimed in claim 11 generate subsystem, wherein, the candy strip of coloud coding is also arranged so that the line color of two stripeds of arbitrary neighborhood is different substantially, is provided for the auxiliary differentiation information determining fringe order during the phase diagram estimating to separate parcel thus.
15. candy strips as claimed in claim 11 generate subsystem, wherein:
The quantity of described multiple predetermined candy strip is N, and wherein, N is greater than 1, and each in N number of predetermined candy strip all has the striped of equal number, and each striped has striped numbering;
M is selected from N number of predetermined candy strip, wherein M is greater than 1 and is less than or equal to N, thus each in M the predetermined candy strip selected all is configured to the candy strip of coloud coding, in M the predetermined candy strip selected, the line color of the related streak of same striped numbering jointly forms the code word of this striped numbering; And
Code word for arbitrary first related streak and arbitrary second related streak is different substantially, and wherein, the first and second related streak are adjacent on striped, is provided for the auxiliary differentiation information determining fringe order during the phase diagram estimating to separate parcel thus.
16. candy strips as claimed in claim 11 generate subsystem, wherein, the selection of the position of the colored lines of the independent striped of the candy strip of coloud coding makes: in this position, between 0.2 times to 0.8 times that the intensity of independent striped on its width of fringe is in maximum intensity.
17. candy strips as claimed in claim 11 generate subsystem, wherein, the selection of the position of the colored lines in all stripeds of the candy strip of coloud coding makes: in these positions, and all stripeds of the candy strip of coloud coding have intensity similar substantially.
18. candy strips as claimed in claim 11 generate subsystem, wherein, the selection of the position of the colored lines in all stripeds of the candy strip of coloud coding makes: in these positions, the candy strip of coloud coding streaky intensity be not unique.
19. 1 kinds of systems for dimensionally measuring object shape, this system comprises:
Candy strip as claimed in claim 11 generates subsystem:
Projector, the described one or more predetermined candy strips generated for candy strip being generated subsystem project object;
Video camera, for obtaining the stripe pattern of the one or more distortions generated by making described one or more predetermined candy strip distortion when projecting on object; And
Data process subsystem, its stripe pattern be configured for by analyzing described one or more distortion that video camera obtains estimates the phase diagram separating parcel, the phase diagram of this solution parcel characterizes one or more intensity distributions of the stripe pattern of described one or more distortion, and this data process subsystem is also for the depth profile of the phase diagram calculating object shape according to solution parcel.
20. 1 kinds of candy strips generate subsystem, and it is disposed in the system of dimensionally measuring object shape, and this candy strip generates subsystem and comprises the one or more processors being configured to generate one or more predetermined candy strip, wherein:
Each in described one or more predetermined candy strip includes periodic arrangement multiple stripeds thereon, each striped there is width of fringe and on width of fringe intensity modulated; And
At least one in described one or more predetermined candy strip is also configured to the candy strip of coloud coding;
Further, wherein the candy strip of coloud coding is arranged so that:
The candy strip of coloud coding comprises many colored oblique lines, the colored oblique line of every bar crosses at least two stripeds and directed on the direction being not parallel to striped orientation substantially, thus the independent striped selected from striped comprises multiple colored oblique line section at this independent striped, arbitrfary point in colored oblique line section has the intensity determined by this position on independent striped, and colored oblique line section jointly has line color.
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| DE102014207022A1 (en) * | 2014-04-11 | 2015-10-29 | Siemens Aktiengesellschaft | Depth determination of a surface of a test object |
| CN108498066A (en) * | 2017-02-28 | 2018-09-07 | 爱博诺德（北京）医疗科技有限公司 | The method and apparatus of the topographic map of anterior surface of cornea for measuring eyes |
| CN110686599B (en) * | 2019-10-31 | 2020-07-03 | 中国科学院自动化研究所 | Three-dimensional measurement method, system and device based on colored Gray code structured light |
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