CN104463863B - The scaling method and system of movement interference field based on the projection of time heterodyne - Google Patents
The scaling method and system of movement interference field based on the projection of time heterodyne Download PDFInfo
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Abstract
The present invention relates to the scaling method of the movement interference field projected based on time heterodyne.The deforming stripe figure of the three-dimensional target that is respectively equipped with an index point of the fixed placement in visual field and time parameter scaling board is gathered with two cameras first, then nominal time parameter and the modulation degree image of three-dimensional target is obtained accordingly, then three-dimensional target and two index points are detected after modulation degree image being normalized, and space phase expansion is carried out to the wrapped phase figure of two cameras on the basis of the index point on three-dimensional target, obtain the continuous phase distribution map of the three-dimensional target surface of two camera collections, finally to the continuous phase distribution map interpolation sub-pix point of wherein one camera, then corresponding sub-pix point on the continuous phase distribution map of another camera is searched for, and the three-dimensional data of equiphase point is rebuild accordingly, and equiphase surface is fitted accordingly, and record its wrapped phase and plane parameter.The present invention can demarcate the interference field in movement, movement interference field is used as stablizing interference field.
Description
Technical field
The invention belongs to 3 D digital imaging field, more particularly to a kind of movement interference field based on the projection of time heterodyne
Scaling method and system.
Background technology
Dynamic surface is imaged to be had widely with measurement in fields such as assembly line detection, military affairs, Experimental Mechanics, somatic sensation television games
Demand.Meanwhile the imaging of phase assist three-dimensional has the advantages that non-contact, speed is fast, precision is high, packing density is big, in reverse work
The fields such as journey, quality control, defects detection and entertainment are widely used.Dynamic table is carried out using phase supplementary means
Face imaging can significantly improve imaging precision and resolution ratio, and phase is a physical quantity that can not directly observe, and phase shift is calculated
Method is that the important means of phase information is obtained from fringe structure light.When carrying out dynamic surface imaging using phase shift algorithm, fortune
It is dynamic to have a great influence to imaging, and the deforming stripe map number for reducing imaging needs is the important means for reducing this influence.Make
The picture number of imaging needs can be effectively reduced with the folding bar graph of single spatial frequency, but it must in corresponding points lookup
Two constraintss must be used.System using projecting apparatus as structure light generating apparatus, since the calibration of camera can be utilized
Method labeling projection instrument, therefore only need two cameras to provide enough constraints.Utilize time difference interference device
The movement striped interference field of generation, e insufficient to provide enough constraints using two cameras.
The content of the invention
The technical problem to be solved by the invention is to provide a kind of calibration of the movement interference field based on the projection of time heterodyne
Method and system, to ensure under conditions of two cameras and single spatial frequency striped is used, also there is enough constraints
Determine corresponding points.What the present invention was realized in：
A kind of scaling method of the movement interference field based on the projection of time heterodyne, comprises the following steps：
Step A, will be respectively equipped with the three-dimensional target of an index point with time parameter scaling board fixed placement in visual field,
And the deforming stripe figure of the three-dimensional target and time parameter scaling board is included using two some frames of camera synchronous acquisition, together
When, each frame deforming stripe figure for being gathered according to every camera, the wrapped phase of every camera is calculated using corresponding phase shift algorithm
Figure and modulation degree image, and record the coordinate and phase of the index point in the wrapped phase figure of every camera on time parameter scaling board
Place value；Meanwhile the modulation degree image of every camera is normalized, and image point is carried out to the modulation degree image after normalization
Cut, remove background；
Step B, carries out edge detection to the modulation degree image of two cameras after segmentation, extracts three-dimensional target and two
Index point, meanwhile, on the basis of the index point on three-dimensional target, the wrapped phase figure of two cameras is unfolded in space phase, obtains
The continuous phase distribution map of the three-dimensional target surface of two camera collections；
Step C, calculates gradient of the phase along image x-axis in the continuous phase distribution map of wherein one camera, utilizes gradient
Obtain the phase intervals of interpolation, and in every row interpolation sub-pix point in transverse direction, meanwhile, search for the continuous phase of another camera
Sub-pix point corresponding with the sub-pix point of institute interpolation in bit distribution figure, and the three-dimensional data of equiphase point is rebuild accordingly；
Step D, equiphase surface is fitted using the three-dimensional data of the equiphase point of reconstruction, and records the folding of the equiphase surface
Folded phase and plane parameter.
Further, solve each frame deforming stripe figure of every camera collection wrapped phase figure and modulation degree image it
Before, further include the step of being filtered to some frame deforming stripe figures；
The method of the wrapped phase figure and modulation degree image that calculate every camera is phase shift algorithm；
The method of described image segmentation is thresholding method.
Further, the edge detection uses Canny operators；
The method of extraction three-dimensional target and two index points is：The edge-detected image data obtained to the edge detection
Carry out ellipse fitting, and by error of fitting and the relative position of the abscissa of data, judge and extract the three-dimensional target with
Two index points.
Further, the step C includes the following steps：
Step C1, using the data line on the continuous phase distribution map of wherein one camera, is intended by least square method
Gradient of the phase along image abscissa direction is closed, and the phase intervals of interpolation are obtained by equation below：
WhereinRepresent gradient of the phase along abscissa, φplugRepresent the phase intervals of interpolation being calculated, round
Expression rounds up computing；
Step C2, according to the phase intervals of interpolation, is inserted on the continuous phase distribution map of selected camera along every a line
It is worth sub-pix point, obtains new continuous phase distribution map；
Step C3, by aid in the method for epipolar-line constraint search in the continuous phase distribution map of another camera with interpolation
The corresponding sub-pix point of sub-pix point, and the three-dimensional data of equiphase point is rebuild accordingly.
Further, the step D is fitted equiphase surface by equation below：
X in formulan,yn,znFor the D coordinates value of spatial point, n is the number of equiphase point, and a, b, c is equiphase surface three
The inverse of intercept in a reference axis.
A kind of calibration system of the movement interference field based on the projection of time heterodyne, including：
Deforming stripe figure collecting unit, for utilizing two camera synchronous acquisition fixed placement being respectively equipped with visual field
The three-dimensional target of one index point includes the three-dimensional target and time parameter scaling board with some frames of time parameter scaling board
Deforming stripe figure；
Image processing unit, for each frame deforming stripe figure gathered according to every camera, utilizes corresponding phase shift algorithm
The wrapped phase figure and modulation degree image of every camera are calculated, and records time parameter in the wrapped phase figure of every camera and demarcates
The coordinate and phase value of index point on plate；Meanwhile the modulation degree image of every camera is normalized, and to normalization after
Modulation degree image carry out image segmentation, remove background；
Edge detection and phase unwrapping unit, for carrying out edge inspection to the modulation degree image of two cameras after segmentation
Survey, extract three-dimensional target and two index points, meanwhile, on the basis of the index point on three-dimensional target, space phase expansion two
The wrapped phase figure of platform camera, obtains the continuous phase distribution map of the three-dimensional target surface of two camera collections；
Image interpolation and three-dimensional reconstruction unit, for phase edge figure in the continuous phase distribution map of wherein one camera of calculating
As the gradient of x-axis, the phase intervals of interpolation are obtained using gradient, and in every row interpolation sub-pix point in transverse direction, meanwhile, search
Sub-pix point corresponding with the sub-pix point of institute interpolation in the continuous phase distribution map of another camera of rope, and the phase such as rebuild accordingly
The three-dimensional data in site；
Equiphase surface fitting unit, for being fitted equiphase surface using the three-dimensional data for the equiphase point rebuild, and records
The wrapped phase and plane parameter of the equiphase surface.
Further, described image processing unit includes：
Image filtering module, for carrying out gaussian filtering to each frame deforming stripe figure of two camera collections；
Phase demodulation modules, for carrying out phase demodulating to each frame deforming stripe figure of filtered every camera, obtain
The wrapped phase figure of every camera and modulation degree image, and record in the wrapped phase figure of every camera on time parameter scaling board
Index point coordinate and phase value；
Modulation degree splits module, for the modulation degree image of every camera to be normalized, and to the tune after normalization
System image carries out image segmentation, removes background.
Further, the edge detection includes with phase unwrapping unit：
Edge detection module, for carrying out edge to the modulation degree image of two cameras after segmentation according to Canny operators
Detection；
Target identification module, for carrying out ellipse fitting to the edge-detected image that detects, and by error of fitting with
The relative position of the abscissa of data, judges and extracts three-dimensional target and two index points；
Phase unwrapping module, on the basis of the index point on three-dimensional target, the folding of two cameras to be unfolded in space phase
Folded phase diagram, obtains the continuous phase distribution map of the three-dimensional target surface of two camera collections.
Further, described image interpolation includes with three-dimensional reconstruction unit：
Sub-pixel interpolation unit, for the data line on the continuous phase distribution map using wherein one camera, passes through
Gradient of the least square fitting phase along image abscissa direction, and the phase intervals of interpolation are obtained by equation below：
WhereinRepresent gradient of the phase along abscissa, φplugRepresent the phase intervals of interpolation being calculated, round
Expression rounds up computing；
Three-dimensional reconstruction unit, for the phase intervals according to interpolation, on the continuous phase distribution map of selected camera
Along each row interpolation sub-pix point, new continuous phase distribution map is obtained；It is and another by aiding in the method for epipolar-line constraint to search
Sub-pix point corresponding with the sub-pix point of interpolation in the continuous phase distribution map of platform camera, and the three of equiphase point is rebuild accordingly
Dimension data.
Further, the equiphase surface fitting unit is fitted equiphase surface by equation below：
X in formulan,yn,znFor the D coordinates value of spatial point, n is the number of equiphase point, and a, b, c is equiphase surface three
The inverse of intercept in a reference axis.
Calibration system provided by the invention has higher reliability, and equiphase is fitted due to the use of least square method
Face, therefore in calibration process common objects can be utilized to substitute High Precision Stereo target and used, significantly reduce to solid
The requirement of target machining accuracy, reduces the cost of manufacture of three-dimensional target, simultaneously because the index point on time parameter scaling board
Have recorded can demarcate the interference field in movement with the relevant phase information of time parameter, calibration system, this just makes movement interference
Field can be equal to stable interference field and equally use.
Brief description of the drawings
Fig. 1：The scaling method flow diagram of movement interference field provided by the invention based on the projection of time heterodyne；
Fig. 2：The calibration system structure diagram of movement interference field provided by the invention based on the projection of time heterodyne；
Fig. 3：Deforming stripe figure collecting unit structure diagram in above-mentioned calibration system；
Fig. 4：Two CCD cameras of utilization that embodiment provides search the principle schematic of corresponding points.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.
Fig. 1 shows the scaling method flow of the movement interference field provided by the invention based on the projection of time heterodyne, according to
Shown in Fig. 1, which specifically comprises the following steps：
Step A, will be respectively equipped with the three-dimensional target of an index point with time parameter scaling board fixed placement in visual field,
And the deforming stripe figure of three-dimensional target and time parameter scaling board is included using two some frames of camera synchronous acquisition, meanwhile, root
According to each frame deforming stripe figure of every camera collection, the wrapped phase figure of every camera is calculated with adjusting using corresponding phase shift algorithm
System image, and record the coordinate and phase value of the index point in the wrapped phase figure of every camera on time parameter scaling board；
Meanwhile the modulation degree image of every camera is normalized, and image segmentation is carried out to the modulation degree image after normalization, go
Except background.
It should be noted that can be as index point, wherein inner circle using the pattern with small one and large one two concentric circles
White, the cylindrical annulus between inner circle is black, in order to identify." time parameter scaling board " is mainly used for nominal time ginseng
Index point, can be attached on fixed blank by number, as time parameter scaling board, when fixed blank can judge image border more
It is convenient, while fixed blank can not move position when calibration is with imaging, so as to self-calibration time parameter band during image objects
The phase place change come.The placement location of three-dimensional target and fixed blank it is required that three-dimensional target with fixed blank in two cameras
Separated in acquired image, in order to the subsequently extraction to three-dimensional target.Due to the position only through the calibration of three-dimensional target
Can possess equiphase surface constraint, therefore under the premise of ensureing that three-dimensional target separates this with fixed blank, three-dimensional target size
It should try one's best and take visual field, the integrality of body surface during in order to be imaged, while the size of index point needs to restrict, by
Split in by threshold modulation, the cylindrical annulus data inner circle between are rejected, therefore outside diameter and interior circular diameter it
Difference cannot exceed a space periodic, be unfolded with being convenient to follow-up space phase, avoid error propagation.In the embodiment of the present invention
In, the wrapped phase figure for calculating every camera becomes some frames of every camera collection with before modulation degree image, may also include
The step of shape bar graph is filtered, filtering mode can use gaussian filtering, using phase shift algorithm demodulation phase to solve
The wrapped phase figure and modulation degree image of each frame deforming stripe figure of every camera collection, can use thresholding method to modulation degree
Image is split, and to remove background, extracts three-dimensional target and time parameter scaling board.
Step B, carries out edge detection to the modulation degree image of two cameras after segmentation, extracts three-dimensional target and two
Index point, meanwhile, on the basis of the index point on three-dimensional target, the wrapped phase figure of two cameras is unfolded in space phase, obtains
The continuous phase distribution map of the three-dimensional target surface of two camera collections.
It should be noted that when the three-dimensional target of extraction is with index point, using gray scale, shape and position criterion, pass through
Gray scale criterion can reject spuious edge, can be led to by the error size of ellipse fitting with diacritics point and three-dimensional target
The position in the over-fitting center of circle can differentiate unlike signal point and distinguish three-dimensional target and time parameter scaling board.Implement in the present invention
In example, edge detection can be carried out to the modulation degree image of two cameras after segmentation by Canny operators, can be by being examined to edge
The edge-detected image data that measures carries out ellipse fitting, and by error of fitting and the relative position of the abscissa of data,
Judge and extract three-dimensional target and two index points, and using the index point on three-dimensional target on the basis of, space phase expansion two
The wrapped phase figure of platform camera, obtains the continuous phase distribution map of the three-dimensional target surface of two cameras.When using big with one
When the pattern of one small two concentric circles is as index point, after extracting two index points, on recordable time parameter calibration plate
The wrapped phase of the inner circle part of index point, and it is unfolded two by the use of the index point on three-dimensional target as benchmark, space phase
The wrapped phase figure of the three-dimensional target surface gathered of camera, so as to obtain the company of the three-dimensional target surface of two camera collections
Continuous phase distribution figure.It should be noted that the reason for carrying out phase unwrapping, which is double camera search corresponding points, must use expansion phase
Position can just make phase to uniquely determine corresponding points in horizontal direction monotonic increase, auxiliary epipolar-line constraint.
Step C, calculates gradient of the phase along image x-axis in the continuous phase distribution map of wherein one camera, utilizes gradient
Obtain the phase intervals of interpolation, and in every row interpolation sub-pix point in transverse direction, meanwhile, search for the continuous phase of another camera
Sub-pix point corresponding with the sub-pix point of institute interpolation in bit distribution figure, and the three-dimensional data of equiphase point is rebuild accordingly.
In the embodiment of the present invention, step C specifically comprises the following steps：
Step C1, using the data line on the continuous phase distribution map of wherein one camera, is intended by least square method
Gradient of the phase along image abscissa direction is closed, and the phase intervals of interpolation are obtained by equation below：
WhereinRepresent gradient of the phase along abscissa, φplugRepresent the phase intervals of interpolation being calculated, round
Expression rounds up computing；
Step C2, according to the phase intervals of interpolation, is inserted on the continuous phase distribution map of selected camera along every a line
It is worth sub-pix point, obtains new continuous phase distribution map；
Step C3, by aid in the method for epipolar-line constraint search in the continuous phase distribution map of another camera with interpolation
The corresponding sub-pix point of sub-pix point, and the three-dimensional data of equiphase point is rebuild accordingly.
It should be noted that decile space periodic is to reduce the number of the phase value of equiphase surface, facilitate corresponding points
Calculating during lookup.
Step D, equiphase surface is fitted using the three-dimensional data of the equiphase point of reconstruction, and records the folding phase of equiphase surface
Position and plane parameter.
In the embodiment of the present invention, specifically pass through the phases such as equation below fitting using the three-dimensional data of the equiphase point of reconstruction
Plane：
X in formulan,yn,znFor the D coordinates value of spatial point, n is the number of equiphase point, and a, b, c is equiphase surface three
The inverse of intercept in a reference axis.
It should be noted that the phase of record must be wrapped phase, because being used in corresponding points search procedure
Wrapped phase value, therefore continuous phase place value is beyond value range.
Fig. 2 shows the calibration system knot of the movement interference field provided in an embodiment of the present invention based on the projection of time heterodyne
Structure, according to Fig. 2, which includes：
Deforming stripe figure collecting unit 1, for utilizing two camera synchronous acquisition fixed placement setting respectively in visual field
There is the three-dimensional target of an index point to include three-dimensional target and time parameter scaling board with some frames of time parameter scaling board
Deforming stripe figure；
Image processing unit 2, for each frame deforming stripe figure gathered according to every camera, utilizes corresponding phase shift algorithm
The wrapped phase figure and modulation degree image of every camera are calculated, and records time parameter in the wrapped phase figure of every camera and demarcates
The coordinate and phase value of index point on plate；Meanwhile the modulation degree image of every camera is normalized, and to normalization after
Modulation degree image carry out image segmentation, remove background；
Edge detection and phase unwrapping unit 3, for carrying out edge inspection to the modulation degree image of two cameras after segmentation
Survey, extract three-dimensional target and two index points, meanwhile, on the basis of the index point on three-dimensional target, space phase expansion two
The wrapped phase figure of platform camera, obtains the continuous phase distribution map of the three-dimensional target surface of two camera collections；
Image interpolation and three-dimensional reconstruction unit 4, for phase edge in the continuous phase distribution map of wherein one camera of calculating
The gradient of image x-axis, the phase intervals of interpolation are obtained using gradient, and in every row interpolation sub-pix point in transverse direction, meanwhile,
Sub-pix point corresponding with the sub-pix point of institute interpolation in the continuous phase distribution map of another camera is searched for, and rebuild accordingly etc.
The three-dimensional data of phase point；
Equiphase surface fitting unit 5, for being fitted equiphase surface using the three-dimensional data for the equiphase point rebuild, and records
The wrapped phase and plane parameter of equiphase surface.
As shown in figure 3, in the embodiment of the present invention, deforming stripe figure collecting unit 1 can use following structure type：
Including laser 101, two CCD cameras 103, external trigger signal generator 105, computer 106, radiofrequency signal hair
Raw device 107, two acousto-optic deflection devices 108, two lens 110, two Amici prisms 112, two speculums 114, two diaphragms
116, microcobjective 118.CCD camera collection deforming stripe figure is used in the embodiment of the present invention, naturally it is also possible to use other types
Camera collection deforming stripe figure.Radio-frequency signal generator 107 is used to produce radiofrequency signal of the two-way there are small frequency difference, outside
The rectangular wave that trigger signal generator 105 is used to produce fixed frequency is as external trigger signal.Laser 101 and two light splitting ribs
112, two speculums 114 of mirror form Mach Zehnder interferometer, and two acousto-optic deflection devices 108 are placed in two interfere arms,
Radio-frequency signal generator 107 controls downward to make two-way interference light so that the frequency of first-order diffraction light produces a small frequency
After two lens 110 collimate, other diffracted beams are filtered out using two diaphragms 116 respectively for rate difference Δ f, two-way interference light, are led to
Cross microcobjective 118 to project to testee surface, produce a movement interference striped.The interference fringe spatial frequency fixes,
The gray scale of any spatial point is in varies with sinusoidal function with the time, and change frequency is Δ f.External trigger signal generator 105 produces
The external trigger signal of one 4 Δ f frequency controls two CCD cameras 103 to gather deforming stripe figure, when gathering deforming stripe figure, two
A CCD camera 103 can be according to the difference on the frequency synchronous acquisition of 4 times of two-way radiofrequency signals.
In the embodiment of the present invention, image processing unit 2 includes：
Image filtering module, for carrying out gaussian filtering to each frame deforming stripe figure of two camera collections；
Phase demodulation modules, for carrying out phase demodulating to each frame deforming stripe figure of filtered every camera, obtain
The wrapped phase figure of every camera and modulation degree image, and record in the wrapped phase figure of every camera on time parameter scaling board
Index point coordinate and phase value；
Modulation degree splits module, for the modulation degree image of every camera to be normalized, and to the tune after normalization
System image carries out image segmentation, removes background.
In the embodiment of the present invention, edge detection includes with phase unwrapping unit 3：
Edge detection module, for carrying out edge to the modulation degree image of two cameras after segmentation according to Canny operators
Detection；
Target identification module, for carrying out ellipse fitting to the edge-detected image that detects, and by error of fitting with
The relative position of the abscissa of data, judges and extracts three-dimensional target and two index points；
Phase unwrapping module, on the basis of the index point on three-dimensional target, the folding of two cameras to be unfolded in space phase
Folded phase diagram, obtains the continuous phase distribution map of the three-dimensional target surface of two camera collections.
In the embodiment of the present invention, image interpolation includes with three-dimensional reconstruction unit 4：
Sub-pixel interpolation unit, for the data line on the continuous phase distribution map using wherein one camera, passes through
Gradient of the least square fitting phase along image abscissa direction, and the phase intervals of interpolation are obtained by equation below：
WhereinRepresent gradient of the phase along abscissa, φplugRepresent the phase intervals of interpolation being calculated, round
Expression rounds up computing；
Three-dimensional reconstruction unit, for the phase intervals according to interpolation, on the continuous phase distribution map of selected camera
Along each row interpolation sub-pix point, new continuous phase distribution map is obtained；It is and another by aiding in the method for epipolar-line constraint to search
Sub-pix point corresponding with the sub-pix point of interpolation in the continuous phase distribution map of platform camera, and the three of equiphase point is rebuild accordingly
Dimension data.
In the embodiment of the present invention, equiphase surface fitting unit 5 using image interpolation and three-dimensional reconstruction unit 3 rebuild etc. phase
The three-dimensional data in site, equiphase surface is fitted by equation below：
X in formulan,yn,znFor the D coordinates value of spatial point, n is the number of equiphase point, and a, b, c is equiphase surface three
The inverse of intercept in a reference axis.
In order to elaborate the present invention, with reference to Fig. 4, illustrate the process that corresponding points lookup is carried out using nominal data.
Firstly, it is necessary to phase overall variation caused by correction time parameter, using demarcating moment t1With imaging moment t2Time parameter is demarcated
The phase of index point on plate obtains correction data, is calculated especially by following method：
Ideally, any one pixel t can be used by demarcating this time1With t2The phase value at moment, but in reality
In border, due to that there are error influence, if use has the pattern of small one and large one two concentric circles as index point, can make herein
This phase place change is solved with all pixels of whole index point inner circle part, following formula is the operational formula for solving phase place change：
B=Mod (φi(t2)-φi(t1),2π)
I=1 ..., N
Wherein, i be pixel sequence number, N be pixel number, φi(t1)、φi(t2) ith pixel is represented respectively
Point is in t1With t2The phase value at moment, Mod (φi(t2)-φi(t1), 2 π) represent φi(t2)-φi(t1) divided by 2 π take the remainder
Operation,For the average value of all inner circle pixel phase place changes.Equiphase surface phase data after corrected is
Corresponding points lookup is can be utilized for, detailed process is as follows：
As shown in figure 4, the image planes of left and right camera are respectively Il、Ir, the optical center of left and right camera is respectively Ol、Or；On object plane
One point P5(x, y, z), is imaged on left camera pl(xl,yl) on point, phase value is φ (pl(xl,yl)), according to left camera photocentre OlWith
Pixel pl(xl,yl) line can obtain space lineEquation, be imaged on pl(xl,yl) spatial point be necessarily located at sky
Between straight lineOn.According to the interference field data and straight line of calibrationEquation can obtain one group of spatial point M1、M2、M3、M4With P5
Coordinate.pl(xl,yl) there is the one group point p equal with its phase on the polar curve corresponding to right camerar1、pr2、pr3、pr4、
pr5, the coordinate position at one group of space midpoint is rebuild using the coordinate of this group point and the calibrating parameters of left and right camera, can be obtained another
One group of spatial point N1、N2、N3、N4With P5Coordinate.But actually true corresponding object point is respectively P to this group point in space1、
P2、P3、P4、P5, in theory, should there was only P in two groups of points5The coordinate of point is to overlap, therefore passes through the sky of two groups of points of cross validation
Between distance, it may be determined that P5The position of point.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of scaling method of the movement interference field based on the projection of time heterodyne, it is characterised in that comprise the following steps：
Step A, will be respectively equipped with the three-dimensional target of an index point with time parameter scaling board fixed placement in visual field, and profit
The deforming stripe figure of the three-dimensional target and time parameter scaling board is included with two some frames of camera synchronous acquisition, meanwhile, root
According to each frame deforming stripe figure of every camera collection, the wrapped phase figure of every camera is calculated with adjusting using corresponding phase shift algorithm
System image, and record the coordinate and phase value of the index point in the wrapped phase figure of every camera on time parameter scaling board；
Meanwhile the modulation degree image of every camera is normalized, and image segmentation is carried out to the modulation degree image after normalization, go
Except background；
The time parameter scaling board is the fixation blank equipped with index point, the mark of the solid target and time parameter scaling board
Will point is the pattern of small one and large one two concentric circles, and wherein inner circle is white, and the cylindrical annulus between inner circle is black；It is described
The difference of outer diameter of a circle and interior diameter of a circle is no more than a space periodic；
Step B, carries out edge detection to the modulation degree image of two cameras after segmentation, extracts three-dimensional target and two marks
Point, meanwhile, on the basis of the index point on three-dimensional target, the wrapped phase figure of two cameras is unfolded in space phase, obtains two
The continuous phase distribution map of the three-dimensional target surface of camera collection；
Step C, is calculated gradient of the phase along image x-axis in the continuous phase distribution map of wherein one camera, is obtained using gradient
The phase intervals of interpolation, and in every row interpolation sub-pix point in transverse direction, meanwhile, the continuous phase point of another camera of search
Sub-pix point corresponding with the sub-pix point of institute interpolation in Butut, and the three-dimensional data of equiphase point is rebuild accordingly；
The step C includes the following steps：
Step C1, using the data line on the continuous phase distribution map of wherein one camera, passes through least square fitting phase
Gradient of the position along image abscissa direction, and the phase intervals of interpolation are obtained by equation below：
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WhereinRepresent gradient of the phase along abscissa, φplugRepresent the phase intervals of interpolation being calculated, round is represented
Round up computing；
Step C2, it is sub- along each row interpolation on the continuous phase distribution map of selected camera according to the phase intervals of interpolation
Pixel, obtains new continuous phase distribution map；
Step C3, by aiding in the method for epipolar-line constraint to search the sub- picture in the continuous phase distribution map of another camera with interpolation
The corresponding sub-pix point of vegetarian refreshments, and the three-dimensional data of equiphase point is rebuild accordingly；
Step D, equiphase surface is fitted using the three-dimensional data of the equiphase point of reconstruction, and records the folding phase of the equiphase surface
Position and plane parameter.
2. the scaling method of movement interference field as claimed in claim 1, it is characterised in that solve each frame of every camera collection
The wrapped phase figure of deforming stripe figure is with before modulation degree image, further including what some frame deforming stripe figures were filtered
Step；
The method of the wrapped phase figure and modulation degree image that calculate every camera is phase shift algorithm；
The method of described image segmentation is thresholding method.
3. the scaling method of movement interference field as claimed in claim 1, it is characterised in that the edge detection uses Canny
Operator；
The method of extraction three-dimensional target and two index points is：The edge-detected image data obtained to the edge detection carries out
Ellipse fitting, and by error of fitting and the relative position of the abscissa of data, judge and extract the three-dimensional target and two
Index point.
4. the scaling method of movement interference field as claimed in claim 1, it is characterised in that the step D passes through equation below
It is fitted equiphase surface：
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X in formulan,yn,znFor the D coordinates value of spatial point, n is the number of equiphase point, and a, b, c is equiphase surface in three seats
The inverse of intercept on parameter.
A kind of 5. calibration system of the movement interference field based on the projection of time heterodyne, it is characterised in that including：
Deforming stripe figure collecting unit, for being respectively equipped with one in visual field using two camera synchronous acquisition fixed placements
The three-dimensional target of index point includes the change of the three-dimensional target and time parameter scaling board with some frames of time parameter scaling board
Shape bar graph；
The time parameter scaling board is the fixation blank equipped with index point, the mark of the solid target and time parameter scaling board
Will point is the pattern of small one and large one two concentric circles, and wherein inner circle is white, and the cylindrical annulus between inner circle is black；It is described
The difference of outer diameter of a circle and interior diameter of a circle is no more than a space periodic；
Image processing unit, for each frame deforming stripe figure gathered according to every camera, is calculated using corresponding phase shift algorithm
The wrapped phase figure of every camera and modulation degree image, and record in the wrapped phase figure of every camera on time parameter scaling board
Index point coordinate and phase value；Meanwhile the modulation degree image of every camera is normalized, and to the tune after normalization
System image carries out image segmentation, removes background；
Edge detection and phase unwrapping unit, for carrying out edge detection to the modulation degree image of two cameras after segmentation, carry
Three-dimensional target and two index points are taken out, meanwhile, on the basis of the index point on three-dimensional target, two cameras are unfolded in space phase
Wrapped phase figure, obtain the continuous phase distribution map of the three-dimensional target surface of two cameras collection；
Image interpolation and three-dimensional reconstruction unit, phase is along image x in the continuous phase distribution map for calculating wherein one camera
The gradient of axis, the phase intervals of interpolation are obtained using gradient, and in every row interpolation sub-pix point in transverse direction, meanwhile, search
Sub-pix point corresponding with the sub-pix point of institute interpolation in the continuous phase distribution map of another camera, and equiphase is rebuild accordingly
The three-dimensional data of point；
Described image interpolation includes with three-dimensional reconstruction unit：
Sub-pixel interpolation unit, for the data line on the continuous phase distribution map using wherein one camera, passes through minimum
Gradient of the square law fit phase along image abscissa direction, and the phase intervals of interpolation are obtained by equation below：
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WhereinRepresent gradient of the phase along abscissa, φplugRepresent the phase intervals of interpolation being calculated, round is represented
Round up computing；
Three-dimensional reconstruction unit, for the phase intervals according to interpolation, along every on the continuous phase distribution map of selected camera
Row interpolation sub-pix point, obtains new continuous phase distribution map；And by aiding in the method for epipolar-line constraint to search another phase
Sub-pix point corresponding with the sub-pix point of interpolation in the continuous phase distribution map of machine, and three dimensions of equiphase point are rebuild accordingly
According to；
Equiphase surface fitting unit, for being fitted equiphase surface using the three-dimensional data for the equiphase point rebuild, and described in record
The wrapped phase and plane parameter of equiphase surface.
6. the calibration system of movement interference field as claimed in claim 5, it is characterised in that described image processing unit includes：
Image filtering module, for carrying out gaussian filtering to each frame deforming stripe figure of two camera collections；
Phase demodulation modules, for carrying out phase demodulating to each frame deforming stripe figure of filtered every camera, obtain every
The wrapped phase figure of camera and modulation degree image, and record the mark in the wrapped phase figure of every camera on time parameter scaling board
The coordinate and phase value of will point；
Modulation degree splits module, for the modulation degree image of every camera to be normalized, and to the modulation degree after normalization
Image carries out image segmentation, removes background.
7. the calibration system of movement interference field as claimed in claim 5, it is characterised in that the edge detection and phase unwrapping
Unit includes：
Edge detection module, for carrying out edge detection to the modulation degree image of two cameras after segmentation according to Canny operators；
Target identification module, for carrying out ellipse fitting to the edge-detected image detected, and passes through error of fitting and data
Abscissa relative position, judge and extract three-dimensional target and two index points；
Phase unwrapping module, on the basis of the index point on three-dimensional target, the folding phase of two cameras to be unfolded in space phase
Bitmap, obtains the continuous phase distribution map of the three-dimensional target surface of two camera collections.
8. the calibration system of movement interference field as claimed in claim 5, it is characterised in that the equiphase surface fitting unit leads to
Cross equation below fitting equiphase surface：
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X in formulan,yn,znFor the D coordinates value of spatial point, n is the number of equiphase point, and a, b, c is equiphase surface in three seats
The inverse of intercept on parameter.
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