CN104697468A - Optical three-dimensional measurement method based on tilted phase encoding stripes - Google Patents
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Abstract
The invention discloses an optical three-dimensional measurement method based on tilted phase encoding stripes. The optical three-dimensional measurement method is composed of three major key parts, namely a tilted sine stripe encoding principle, a tilted phase stripe encoding principle and a three-dimensional measurement principle. The optical three-dimensional measurement method has the following advantages: (1) compared with a pattern based on intensity encoding, the pattern based on phase encoding is not sensitive to the contrast ratio of the surface of an object to be tested, environmental light, camera noise and the like, and is good in robustness, and therefore, the method is capable of measuring objects different in surface luminosity; (2) as a projector and a CCD camera are arranged in parallel, the optimal measurement effect cannot be achieved while projecting traditional horizontal (or vertical) sine stripes, and therefore, the tilted stripes optionally changeable in angle are designed to seek for the optimal measurement effect, and the measurement accuracy can be improved.
Description
Technical field
The present invention relates to a kind of method for three-dimensional measurement about phase encoding striped, belong to field of photodetection, particularly relate to the optical three-dimensional measuring method based on slanted phase strip encoding.
Background technology
Fringe projection technology of profiling is because of advantages such as its high speed, high precision, noncontact, measurement of full field, snap information acquisitions, significant in three-dimensional measurement, has been widely used in the numerous areas such as industry manufacture, historical relic's protection, medical treatment.Three-dimension measuring system of the present invention as shown in Figure 1, comprises DLP projector 1, CCD2, workstation 3, measures support 4, reference planes 5 and object under test 6; DLP projector 1 and CCD2 are placed on and measure on support 4; DLP projector 1, CCD2 connect workstation 3 respectively by data line; Object under test 6 is placed in reference planes 5; Image pick-up card, projection software, Survey Software is comprised in workstation 3.Striped with characteristic information focuses on and projects testee 6 surface by DLP projector 1, gathers stripe information, extract characteristic information, and carry out three-dimensional reconstruction according to special algorithm after workstation 3 processes by CCD2.DLP projector 1 optical axis and CCD2 optical axis intersect at O point.DLP projector 1 and CCD2 are sustained height, and the distance between them is
d, they to the distance of reference planes are
l 0 .The high computational formula of testee 6 is:
（1）
Wherein
for point frequency of the sine streak in the vertical direction in reference planes,
for the continuous phase potential difference of body surface image and reference planes image corresponding point.
Along with the development of science and technology, the three-dimensional data that the mode of people to optics measures object requires to improve constantly, and the requirement of reconstruction precision is more and more higher.By analyzing and researching to domestic and international present Research and developments, type, reflectivity, intensity, contrast etc. that domestic and international researcher starts striped are studied, and to expanding the scope of measuring object, and solve the undesirable problem of measurement result.Owing to comparing the mode based on intensity coding based on the mode of phase encoding, its contrast to testee surface, surround lighting, camera noise etc. are not too responsive, robustness is good, therefore, phase encoding striped based on the coded system of phase place may be used for the object that measured surface has different bright-dark degree, expands the scope of measuring object; Meanwhile, experiment finds: in the past simple Horizontal sinusoidal striped (or vertical sine streak) can not make measurement result reach optimum, and the angle of inclination of projector and CCD can affect measurement result equally.Therefore, added the projection pattern of phase encoding striped by sine streak, there is best fringe inclination angle equally.Certainly, directly carry out the support transforming projector and CCD, can direction be rotated freely, adjustment angle, like this, the striped generated in computing machine just mechanical tilt angle, but transformation is difficult to realize accurately changing angle like this, and improvement cost is high.Therefore, software makes inclination striped and can realize accurate adjustment angle, and do not need to change original measurement structure.The present invention produces based on above thinking.
Summary of the invention
The object of the invention is to propose a kind of optical three-dimensional measuring method based on slanted phase strip encoding, the method can the different object of measured surface bright-dark degree, and can provide the fringe inclination angle of the best when measuring object.
The present invention is the optical three-dimensional measuring method based on slanted phase strip encoding, it is characterized in that: inclination sine streak coding principle and slanted phase strip encoding coding principle.
(1) sine streak tilted: compared to traditional horizontal or vertical striped, the sine streak tilted all there occurs change in the frequency of level and vertical direction, and this change is relevant with the number in cycle with angle of inclination, therefore, programming needs the relation determining both.Its concrete thought is: the number of cycles M first specifying vertical direction, then, according to trigonometric function, uses formula
the pitch angle of striped is set
(wherein, m is the pixel count of vertical direction one-period; N is the pixel count of horizontal direction one-period), when pixel is given in the horizontal direction, the number of cycles of horizontal direction can be determined.Be finally frequency by the periodic conversion of level and vertical direction, be embedded in sinusoidal intensity, obtain the sine streak tilted.
(2) the phase encoding striped tilted: the encoding phase of phase encoding striped is not as sine streak (all need multiple periodicity) equally distributes, it only has one-period number in horizontal or vertical direction, therefore, different with the sine streak tilted in coding method, its concrete thought is: carry out Inversion Calculation according to the inclination sine streak of phase shift in computing machine and obtain blocking phase place, what often arrange (OK) by counting blocks the number that phase place number determines fringe order, fringe order is distributed in the phase place of one-period, thus often arranged (OK) encoding phase, finally these encoding phases are embedded in sinusoidal intensity, obtain the phase encoding striped tilted.
Advantage of the present invention is: (1) is owing to comparing the mode based on intensity coding based on the mode of phase encoding, its contrast to testee surface, surround lighting, camera noise etc. are not too responsive, robustness is good, and therefore, the method can the different object of measured surface bright-dark degree.(2), during placement parallel with CCD camera due to projector, when the level projecting traditional (or vertical) sine streak, best measurement effect can not be obtained.Therefore, the random inclination striped changing angle of design can contribute to exploring optimum measurement effect.(3) because inclination sine streak and slanted phase strip encoding are forms one to one in coding method, and, the sine streak tilted is all change by sinusoidal rule in the intensity of level, vertical direction, therefore, when Phase-un-wrapping process, can solve according to level, vertically both direction, the possibility accurately solving continuous phase information is increased.
Accompanying drawing explanation
Fig. 1 is three-dimension measuring system schematic diagram of the present invention.
Fig. 2 is inclination sine streak of the present invention.
Fig. 3 is slanted phase striped of the present invention.
Fig. 4 is the intensity level that slanted phase striped of the present invention arranges at certain.
Embodiment
Illustrate below in conjunction with accompanying drawing and be described in further detail embodiments of the invention, but the present embodiment is not limited to the present invention, every employing analog structure of the present invention and similar change thereof, all should list protection scope of the present invention in.
Based on the optical three-dimensional measuring method of slanted phase strip encoding, comprise the following steps:
(1) write the sine streak of inclination: the number of cycles M first specifying vertical direction, according to trigonometric function, use formula
the pitch angle of striped is set
(wherein, m is the pixel count of vertical direction one-period; N is the pixel count of horizontal direction one-period), when pixel is given in the horizontal direction, the number of cycles of horizontal direction can be determined.Finally, arrange the inclination sine streak with phase shift function, its intensity is:
（2）
Wherein,
be respectively the fringe frequency of level and vertical direction,
be respectively the pixel of level and vertical direction,
for phase shift step number,
be
the phase-shift phase of step.Generating pitch angle is 25
0, vertical direction has the sine streak in 16 cycles, as shown in Figure 2.
(2) slanted phase striped is write: for vertical direction, phase shift inclination sine streak in computing above-mentioned theory in a computer, Inversion Calculation obtains blocking phase place, blocks the number that phase place number determines fringe order by each pixel that counts what often arrange
(
for often arranging total fringe order), by fringe order
be distributed in one-period
phase place
:
（3）
Thus obtain often row encoding phase, then by these encoding phases
be embedded into and have in the sine formula of phase shift function, its intensity is:
（4）
Finally obtain the phase encoding striped tilted.If Fig. 3 is the phase encoding striped tilted, Fig. 4 is a certain row intensity distributions of phase encoding striped.
(3) project the inclination sine streak of above-mentioned generation and slanted phase striped successively on reference surface and object with projector, gather this two picture groups sheet with CCD, send in computing machine.
(4) three-dimensional reconstruction is carried out in a computer.For the striped on reference surface, obtained blocking phase place by inclination sine streak
, obtain fringe order by slanted phase strip encoding
, by separating phase formula:
（5）
Carry out Phase-un-wrapping, obtain the continuous phase place value of reference surface.For the deforming stripe of band object, obtained blocking phase place by inclination sine streak
, obtain fringe order by slanted phase strip encoding
, by separating phase formula:
（6）
Carry out Phase-un-wrapping, obtain the continuous phase place value of object.Pass through formula:
（7）
Obtain continuous phase potential difference, thus utilize phase height formula:
（8）
Finally obtain the elevation information of body surface every bit.
Claims (2)
1., based on the optical three-dimensional measuring method of slanted phase strip encoding, it is characterized in that:
(1) sine streak tilted: compared to traditional horizontal stripe, the sine streak tilted all there occurs change in the frequency of level and vertical direction, and this change is relevant with the number in cycle with angle of inclination, therefore, programming needs the relation determining both; Its concrete thought is: the number of cycles M first specifying vertical direction, then, according to trigonometric function, uses formula
the pitch angle of striped is set
, when pixel is given in the horizontal direction, the number of cycles of horizontal direction can be determined, be finally frequency by the periodic conversion of level and vertical direction, be embedded in sinusoidal intensity, obtain the sine streak tilted;
(2) the phase encoding striped tilted: the encoding phase of phase encoding striped is not distribute generally all to need multiple periodicity as sine streak, it only has one-period number at vertical direction, therefore, different with the sine streak tilted in coding method, its concrete thought is: carry out Inversion Calculation according to the inclination sine streak of phase shift in computing machine and obtain blocking phase place, what often arranged by numeration blocks the number that phase place number determines fringe order, fringe order is distributed in the phase place of one-period, thus obtain often row encoding phase, finally these encoding phases are embedded in sinusoidal intensity, obtain the phase encoding striped tilted.
2. a kind of optical three-dimensional measuring method based on slanted phase strip encoding according to claim 1, is characterized in that: described formula
in m be the pixel count of vertical direction one-period; N is the pixel count of horizontal direction one-period.
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Cited By (5)
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| CN105300317A (en) * | 2015-10-28 | 2016-02-03 | 南昌航空大学 | Three-dimensional measurement method on the basis of projection of sinusoidal stripes and triangular wave stripes |
| CN109506592A (en) * | 2018-12-13 | 2019-03-22 | 山东师范大学 | Object dimensional surface shape measurement method and device based on striped light stream |
| CN110296667A (en) * | 2019-08-13 | 2019-10-01 | 南昌航空大学 | High reflection surface method for three-dimensional measurement based on line-structured light multi-angle projection |
| CN111207694A (en) * | 2020-01-13 | 2020-05-29 | 南昌航空大学 | Three-dimensional measurement method combining double-step phase shift method with phase coding |
| CN111998800A (en) * | 2020-08-20 | 2020-11-27 | 四川大学 | Three-dimensional surface shape measuring method and system based on speckle embedded stripe |
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| CN109506592A (en) * | 2018-12-13 | 2019-03-22 | 山东师范大学 | Object dimensional surface shape measurement method and device based on striped light stream |
| CN110296667A (en) * | 2019-08-13 | 2019-10-01 | 南昌航空大学 | High reflection surface method for three-dimensional measurement based on line-structured light multi-angle projection |
| CN111207694A (en) * | 2020-01-13 | 2020-05-29 | 南昌航空大学 | Three-dimensional measurement method combining double-step phase shift method with phase coding |
| CN111998800A (en) * | 2020-08-20 | 2020-11-27 | 四川大学 | Three-dimensional surface shape measuring method and system based on speckle embedded stripe |
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