CN104697468B - Optical three-dimensional measuring method based on slanted phase strip encoding - Google Patents
Optical three-dimensional measuring method based on slanted phase strip encoding Download PDFInfo
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Abstract
The invention discloses the optical three-dimensional measuring method based on slanted phase strip encoding, is made up of inclination sine streak coding principle, slanted phase striped coding principle and three big key component of three-dimensional measurement principle.It is an advantage of the invention that：（1）For comparing the mode based on intensity coding due to the mode based on phase code, its contrast to testee surface, ambient light, camera noise etc. are less sensitive, and robustness is good, and therefore, this method being capable of the different object of measurement surface bright-dark degree.（2）When being placed in parallel due to projecting apparatus and CCD camera, when projecting traditional level (or vertical) sine streak, optimal measurement effect can not be obtained.Therefore, the random inclination striped for changing angle of design, which can aid in, explores optimal measurement effect, can improve measurement accuracy.
Description
Technical field
The present invention relates to a kind of method for three-dimensional measurement on phase code striped, belong to field of photodetection, especially relate to
And the optical three-dimensional measuring method based on slanted phase strip encoding.
Background technology
The advantages that fringe projection technology of profiling is because of its high speed, high-precision, non-contact, measurement of full field, snap information acquisition, three
It is significant in dimension measurement, it is widely used to the numerous areas such as industrial manufacture, historical relic's protection, medical treatment.The three-dimensional of the present invention
Measuring system is as shown in figure 1, including DLP projector 1, CCD2, work station 3, measurement support 4, reference planes 5 and object under test 6；
DLP projector 1 and CCD2 are placed on measurement support 4；DLP projector 1, CCD2 connect work station 3 by data wire respectively；It is to be measured
Object 6 is placed in reference planes 5；Image pick-up card, projection software, Survey Software are included in work station 3.DLP projector 1 is by band
The striped for having characteristic information, which focuses on, projects the surface of testee 6, and stripe information is gathered by CCD2, after the processing of work station 3
Characteristic information is extracted, and three-dimensional reconstruction is carried out according to special algorithm.The optical axis of DLP projector 1 and CCD2 optical axises intersect at O points.
DLP projector 1 and CCD2 are sustained height, and the distance between they are d, and the distance that they arrive reference planes is l0.Measured object
The height calculation formula of body 6 is：
Wherein fyFor the crossover rate of the sine streak in the vertical direction in reference planes,For body surface image and ginseng
Examine the continuous phase potential difference of plane picture corresponding points.
With the development of science and technology, the three-dimensional data that people measure optical mode object requires to improve constantly, essence is rebuild
The requirement more and more higher of degree.By being analyzed and researched to domestic and international present Research and developments, domestic and international researcher starts to bar
The type of line, reflectivity, intensity, contrast etc. are studied, and to expand the scope of measurement object, and solve measurement result
The problem of undesirable.For comparing the mode based on intensity coding due to the mode based on phase code, it is to measured object body surface
The contrast in face, ambient light, camera noise etc. are less sensitive, and robustness is good, and therefore, the phase of the coded system based on phase is compiled
Code-bar line can be used for the object that measurement surface has different bright-dark degrees, expand the scope of measurement object；Meanwhile test hair
It is existing：In the past simple Horizontal sinusoidal striped (or vertical sine streak) can not be optimal measurement result, projecting apparatus and CCD
Angle of inclination can equally influence measurement result.Therefore, by sine streak plus the projection pattern of phase code striped, equally have
Optimal fringe inclination angle.Certainly, directly carry out transforming projecting apparatus and CCD support, direction can be rotated freely, adjust
Whole angle, so, the striped generated in computer have tilted angle with regard to mechanical, but so transformation is difficult to accurately change
Varied angle, and improvement cost is high.Therefore, inclination striped is made on software can realize accurate adjustment angle, and be not required to
Change original measurement structure.The present invention is namely based on caused by above thinking.
The content of the invention
It is an object of the invention to propose a kind of optical three-dimensional measuring method based on slanted phase strip encoding, the method
Can the different object of measurement surface bright-dark degree, and can provide measurement object when optimal fringe inclination angle.
The present invention is the optical three-dimensional measuring method based on slanted phase strip encoding, it is characterized in that：Tilt sine streak
Coding principle and slanted phase strip encoding coding principle.
(1) inclined sine streak：Compared to traditional horizontal stripe, inclined sine streak is in horizontally and vertically direction
Frequency all changed, and it is this change it is relevant with the number in cycle with angle of inclination, therefore, needed in programming really
The fixed relation of both；Its concrete thought is：The number of cycles M of vertical direction is provided first, then, according to trigonometric function, is used
FormulaThe tiltangleθ of striped is set, and wherein m is the pixel count of vertical direction a cycle；N is horizontally oriented one
The pixel count in cycle.In the case that pixel is given in the horizontal direction, it may be determined that the number of cycles of horizontal direction, finally by level
Periodic conversion with vertical direction is frequency, is embedded into sinusoidal intensity, obtains inclined sine streak；
(2) inclined phase code striped：The encoding phase of phase code striped is not to be distributed as sine streak
Be typically necessary multiple periodicities, it only has a cycle number in vertical direction, therefore, in coding method with inclined sine
Striped is different, and its concrete thought is：Obtained come Inversion Calculation blocking phase according to the inclination sine streak of phase shift in computer,
Phase number is blocked to determine the number of fringe order by each column that counts, fringe order is distributed to the phase of a cycle
In, so as to obtain each column encoding phase, finally these encoding phases are embedded into sinusoidal intensity, obtain inclined phase code
Striped.
It is an advantage of the invention that：(1) for comparing the mode based on intensity coding due to the mode based on phase code, its
Contrast, ambient light, camera noise to testee surface etc. are less sensitive, and robustness is good, and therefore, this method can measure
The different object of surface bright-dark degree.(2) it is (or perpendicular when projecting traditional level when being placed in parallel due to projecting apparatus and CCD camera
Directly) during sine streak, optimal measurement effect can not be obtained.Therefore, the inclination striped that design arbitrarily changes angle can have
Help explore optimum measurement effect.(3) it is one by one in coding method due to tilting sine streak and slanted phase strip encoding
Corresponding form, moreover, inclined sine streak in horizontal, vertical direction intensity is changed by sinusoidal rule, therefore,
It during Phase- un- wrapping process, can be solved according to horizontal, vertical both direction, make the accurate possibility for solving continuous phase information
Property increase.
Brief description of the drawings
Fig. 1 is the three-dimension measuring system schematic diagram of the present invention.
Fig. 2 is the inclination sine streak of the present invention.
Fig. 3 is the slanted phase striped of the present invention.
Fig. 4 is the intensity level that the slanted phase striped of the present invention arranges at certain.
Embodiment
Embodiments of the invention are described in further detail below in conjunction with brief description of the drawings, but this example is not limited to
The present invention, every similar structure using the present invention and its similar change, all should be included in protection scope of the present invention.
Based on the optical three-dimensional measuring method of slanted phase strip encoding, comprise the following steps：
(1) inclined sine streak is generated：The number of cycles M of vertical direction is provided first, according to trigonometric function, uses formula(wherein, m is the pixel count of vertical direction a cycle to the tiltangleθ of setting striped；N is horizontally oriented a week
The pixel count of phase), in the case that pixel is given in the horizontal direction, it may be determined that the number of cycles of horizontal direction.Finally, tool is set
There is the inclination sine streak of phase shift function, its intensity is：
Wherein, fx、fyRespectively horizontally and vertically the fringe frequency in direction, i, j are respectively the pixel in horizontally and vertically direction
Point, λ are phase shift step number,For the phase-shift phase of λ steps.Generation inclination angle is 25 °, vertical direction has the sinusoidal bar in 16 cycles
Line, as shown in Figure 2.
(2) inclined phase code striped is generated：By taking vertical direction as an example, the phase in computing above-mentioned theory in a computer
Move and tilt sine streak, Inversion Calculation obtains blocking phase, by count each pixel each column block phase number come
Determine the number k of fringe orderi(k is the total fringe order of each column), by fringe order ki[- π, the π] being distributed in a cycle
Phasei：
So as to obtain each column encoding phase, then by these encoding phases φiIt is public to be embedded into the sine with phase shift function
In formula, its intensity is：
Finally give inclined phase code striped.If Fig. 3 is inclined phase code striped, Fig. 4 is phase code bar
The a certain row intensity distribution of line.
(3) projecting apparatus project successively above-mentioned generation inclination sine streak and slanted phase strip encoding in the plane of reference and thing
On body, this two groups of pictures are gathered with CCD, are sent into computer.
(4) three-dimensional reconstruction is carried out in a computer.For the striped on the plane of reference, blocked by inclination sine streak
Phase1, fringe order k is obtained by slanted phase strip encoding1, by solving phase formula：
α=φ1+2·k1·π (9)
Phase- un- wrapping is carried out, obtains the continuous phase place value of the plane of reference.For the deforming stripe with object, by tilting just
String striped obtains blocking phase2, fringe order k is obtained by slanted phase strip encoding2, by solving phase formula：
β=φ2+2·k2·π (10)
Phase- un- wrapping is carried out, obtains the continuous phase place value of object.Pass through formula：
Continuous phase potential difference is obtained, so as to utilize phase height formula：
Finally obtain the elevation information of body surface every bit.
Claims (1)
1. based on the optical three-dimensional measuring method of slanted phase strip encoding, it is characterized in that：
(1) inclined sine streak is generated：The number of cycles M of vertical direction is provided first, then, according to trigonometric function, with public affairs
FormulaThe tiltangleθ of striped is set, and wherein m is the pixel count of vertical direction a cycle；N is horizontally oriented a week
The pixel count of phase, in the case that pixel is given in the horizontal direction, it may be determined that the number of cycles of horizontal direction, finally by horizontal and
The periodic conversion of vertical direction is frequency, is embedded into sinusoidal intensity, obtains inclined sine streak；
(2) inclined phase code striped is generated：Cut according to the inclination sine streak of phase shift in computer come Inversion Calculation
Disconnected phase, blocks phase number to determine the number of fringe order by each column that counts, fringe order is distributed into a week
In the phase of phase, so as to obtain each column encoding phase, finally these encoding phases are embedded into sinusoidal intensity, obtained inclined
Phase code striped；
(3) projecting apparatus project successively above-mentioned generation inclination sine streak and slanted phase strip encoding in the plane of reference and object
On, this two groups of pictures are gathered with CCD, is sent into computer and carries out three-dimensional reconstruction, for the striped on the plane of reference, by tilting just
String striped obtains blocking phase1, fringe order k is obtained by slanted phase strip encoding1, by solving phase formula：
α=φ1+2·k1·π (1)
Phase- un- wrapping is carried out, obtains the continuous phase place value of the plane of reference, for the deforming stripe with object, by tilting sinusoidal bar
Line obtains blocking phase2, fringe order k is obtained by slanted phase strip encoding2, by solving phase formula：
β=φ2+2·k2·π (2)
Phase- un- wrapping is carried out, the continuous phase place value of object is obtained, passes through formula：
Continuous phase potential difference is obtained, so as to utilize phase height formula：
Wherein, wherein fyFor the crossover rate of the sine streak in the vertical direction in reference planes,For body surface image and
The continuous phase potential difference of reference planes image corresponding points, d are the distance between projecting apparatus and CCD, l0For projecting apparatus to reference planes
Distance, finally obtain the elevation information of body surface every bit.
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| CN105300317B (en) * | 2015-10-28 | 2018-03-23 | 南昌航空大学 | Based on sinusoidal and triangular wave fringe projection method for three-dimensional measurement |
| 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 |
| CN110296667B (en) * | 2019-08-13 | 2021-04-02 | 南昌航空大学 | High-reflection surface three-dimensional measurement method based on line structured light multi-angle projection |
| CN111207694B (en) * | 2020-01-13 | 2021-06-04 | 南昌航空大学 | Three-dimensional measurement method combining double-step phase shift method with phase coding |
| CN111998800B (en) * | 2020-08-20 | 2021-06-01 | 四川大学 | Three-dimensional surface shape measuring method and system based on speckle embedded stripe |
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| CN101806587B (en) * | 2010-04-29 | 2012-12-12 | 浙江师范大学 | Optical three-dimensional measurement method with absolute phase measurement |
| CN101881605B (en) * | 2010-06-02 | 2011-11-30 | 南京航空航天大学 | Optical three-dimensional measuring method based on phase coding technology |
| CN103575237B (en) * | 2013-11-12 | 2016-05-18 | 南昌航空大学 | A kind of phase-shift coding method |
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