CN104897084A - Structured light phase decoding method based on double-frequency sawtooth wave - Google Patents
Structured light phase decoding method based on double-frequency sawtooth wave Download PDFInfo
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Abstract
The invention discloses a structured light phase decoding method based on a double-frequency sawtooth wave and belongs to the technical field of structured light three-dimensional measurement. The method comprises: projecting a first sawtooth wave and a second sawtooth wave, wherein the first sawtooth wave has a waveform function of y1 = k1*mod (x, a1)+b1 and the second sawtooth wave has a waveform function of y2 = k2*mod (x, a2)+b2; according to a given spatial position X, solving the phase main value phi1 of the first sawtooth wave and the phase main value phi2 of the second sawtooth wave; solving the period integer of the first sawtooth wave and the period integer of the second sawtooth wave contained in the spatial position X, wherein the period integer of the first sawtooth wave n1 = mod ((phi1-phi2), a2)/abs (a1-a2) and the period integer of the second sawtooth wave n2 = mod ((phi1-phi2), a1)/abs (a1-a2); and solving a phase extended value by using X = n1*a1+phi1 or X = n2*a2+phi2. The method retains all technical advantages of the methods in the previous inventions and is better in flexibility and simpler in algorithm compared with the methods in the previous inventions.
Description
Technical field
Structured light phase decoding method based on double frequency sawtooth wave belongs to structural light three-dimensional field of measuring technique.
Background technology
Measuring three-dimensional morphology is all widely used in fields such as scientific research, medical diagnosis, engineering design, criminal investigations.And structured light is as the important component part of measuring three-dimensional morphology means, contactless with it, cost is low, resolution is high and fireballing advantage, obtains the extensive concern of scholars and engineering technical personnel.
Structured light is one group of system architecture be made up of projector and camera.With after projector projects specific optical information to body surface and after background, then gathered by camera, the change in optical signal caused according to object calculates position and the depth information of object, and then restores whole object dimensional pattern.
Encoding and decoding technique is one of key technical problem of structured light, and the most original decoding method projects on testee by the whole cycle of projected light, this mode due to the gray-scale value difference before adjacent two pixels very little, therefore poor anti jamming capability.For the problems referred to above, developed the decoding method combined by two bundle different frequency light, wherein just comprise the method combined by two analog encoding light, the method has high sampling density, high resolving power and high measurement accuracy.But the phase-unwrapping algorithm of these class methods is complicated, and in actual application, discovery can exist phase place main value measuring error and cause phase hit problem.
The problem of and phase hit complicated for phase-unwrapping algorithm, this seminar has applied for patent of invention " the fault-tolerant phase unwrapping engineering method of a kind of double frequency analog encoding light " on November 18th, 2014, hereinafter " phase unwrapping engineering method ", this patent have employed one very simple calculations rule, can phase unwrapping be realized, and overcome the problem of phase hit.
And deepening continuously along with work, find that " phase unwrapping engineering method " can be more perfect, first, the cycle projecting to the two-beam line on object under test can be not limited to positive integer, and the cycle difference of two-beam also can be not limited to 1; In addition, the computing method of phase unwrapping can simplify equally further.
Summary of the invention
The object of the invention is to carry out perfect further to earlier application invention " a kind of double frequency analog encoding light fault-tolerant phase unwrapping engineering method ".
To achieve these goals, the invention discloses a kind of structured light phase decoding method based on double frequency sawtooth wave, the method continues on the basis of this seminar earlier application patent of invention, not only remain whole technical advantages of earlier application invention, and the first invention that coexists is compared, dirigibility is better, and algorithm is simpler.
The object of the present invention is achieved like this:
Based on the structured light phase decoding method of double frequency sawtooth wave, comprise the following steps:
Step a, to project wave function to be first sawtooth wave of y1=k1 × mod (x, a1)+b1 and wave function be second sawtooth wave of y2=k2 × mod (x, a2)+b2 respectively;
Wherein:
K1 determines the contrast of the first sawtooth wave, and a1 is the wavelength of the first sawtooth wave, and b1 determines the brightness of the first sawtooth wave;
K2 determines the contrast of the second sawtooth wave, and a2 is the wavelength of the second sawtooth wave, and b2 determines the brightness of the second sawtooth wave;
X is locus, and mod () is for getting remainder operation;
And:
Two sawtooth wave starting points are identical;
A1/ (a2-a1) ∈ N, N is natural number;
Step b, according to given locus X, X ∈ (0, a1 × a2/ (a2-a1)), ask the corresponding phase place main value phi1 of the first sawtooth wave and the phase place main value phi2 of the second sawtooth wave of described locus X;
Step c, solution room position X comprise the first sawtooth Integer n wave period 1 and the first sawtooth Integer n wave period 2:
n1＝mod((phi1-phi2),a2)/abs(a1-a2)；
n2＝mod((phi1-phi2),a1)/abs(a1-a2)；
Wherein: abs is the computing that takes absolute value;
Steps d, employing n1 × a1+phi1 or n2 × a2+phi2 solve phase unwrapping value.
The above-mentioned structured light phase decoding method based on double frequency sawtooth wave, described a1 and a2 is all integer, or is all non-integer, or one be integer one is non-integer.
The above-mentioned structured light phase decoding method based on double frequency sawtooth wave, for simulation calculating, adopt phi1 and phi2 obtained with the following method in step b:
phi1＝mod(X,a1)；
phi2＝mod(X,a2)。
A kind of projection acquisition system realizing the above-mentioned structured light phase decoding method based on double frequency sawtooth wave, comprise projector, measured object and image capturing system, described projector is to measured object projecting structural optical, image capturing system collection projection has the measured object image of structured light, and the structured light of described projector projects is:
Second sawtooth wave of wave function to be first sawtooth wave of y1=k1 × mod (x, a1)+b1 and wave function be y2=k2 × mod (x, a2)+b2;
Wherein:
K1 determines the contrast of the first sawtooth wave, and a1 is the wavelength of the first sawtooth wave, and b1 determines the brightness of the first sawtooth wave;
K2 determines the contrast of the second sawtooth wave, and a2 is the wavelength of the second sawtooth wave, and b2 determines the brightness of the second sawtooth wave;
X is locus, and mod () is for getting remainder operation;
And:
Two sawtooth wave starting points are identical;
A1/ (a2-a1) ∈ N, N is natural number.
Beneficial effect:
The first, due to basic thought continuity " phase unwrapping engineering method " of the present invention, therefore, there is the technical advantage of measurement gross error equally that avoid image information to extract error bringing, and there is the technical advantage that n1 or n2 that avoid having gross error affect computer memory position X actual value.
The second, compare with " phase unwrapping engineering method ", because the definition of the present invention to sawtooth wave function comprises k1 and k2 determining sawtooth wave contrast, determine b1 and b2 of sawtooth wave brightness, and when solution room position X actual value, again not by the impact of these parameters, therefore the inventive method can under the prerequisite not changing sawtooth wave wavelength, and arbitrarily adjust the waveform of sawtooth wave according to actual needs, dirigibility has more advantage.
Three, compare with " phase unwrapping engineering method ", because the present invention adopts a1/ (a2-a1) ∈ N to limit sawtooth wave period, therefore do not require that sawtooth period length is necessary for positive integer, do not require that the difference of two sawtooth period is necessary for 1 yet, therefore expand the scope of application of waveform, add the dirigibility of waveform selection during practical application.
Four, compare with " phase unwrapping engineering method ", because the present invention adopts a1/ (a2-a1) ∈ N to limit sawtooth wave period, making when solving n1 and n2, without the need to adopting the round rounding operation adopted in " phase unwrapping engineering method ", therefore saving calculation step.
In sum, the structured light phase decoding method based on double frequency sawtooth wave of the present invention, not only remain whole technical advantages of this seminar earlier application invention, and the first invention that coexists is compared, dirigibility is better, and algorithm is simpler.
Accompanying drawing explanation
Fig. 1 is the oscillogram of two sawtooth wave that specific embodiment one is drawn.
Fig. 2 is the oscillogram of two sawtooth wave that specific embodiment two is drawn.
Fig. 3 is the oscillogram of two sawtooth wave that specific embodiment three is drawn.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the invention is described in further detail.
Specific embodiment one
The structured light phase decoding method based on double frequency sawtooth wave of the present embodiment, for checking with the validity under " phase unwrapping engineering method " parameter the same terms.
The structured light phase decoding method based on double frequency sawtooth wave of the present embodiment, comprises the following steps:
Step a, to project wave function to be first sawtooth wave of y1=k1 × mod (x, a1)+b1 and wave function be second sawtooth wave of y2=k2 × mod (x, a2)+b2 respectively;
Wherein:
k1＝1，a1＝9，b1＝0；
k2＝1，a2＝10，b2＝0；
X is locus, and mod () is for getting remainder operation;
And:
Two sawtooth wave starting points are identical;
a1/(a2-a1)＝9；
The figure drawn according to step a parameter as shown in Figure 1;
Step b, according to given locus 38.75, ask the phase place main value phi1 of corresponding first sawtooth wave in described the locus 38.75 and phase place main value phi2 of the second sawtooth wave; Wherein:
phi1＝mod(38.75,9)＝2.75；
phi2＝mod(38.75,10)＝8.75。
Step c, solution room position 38.75 comprise the first sawtooth Integer n wave period 1 and the first sawtooth Integer n wave period 2:
n1＝mod((phi1-phi2),a2)/abs(a1-a2)＝4；
n2＝mod((phi1-phi2),a1)/abs(a1-a2)＝3；
Wherein: abs is the computing that takes absolute value;
Steps d, employing n1 × a1+phi1 or n2 × a2+phi2 solve phase unwrapping value, are specially:
n1×a1+phi1＝4×9+2.75＝38.75；
n2×a2+phi2＝3×10+8.75＝38.75。
Visible, the result of calculation of phase unwrapping value is identical with given locus, demonstrate the method with the validity under " phase unwrapping engineering method " parameter the same terms.
Specific embodiment two
The structured light phase decoding method based on double frequency sawtooth wave of the present embodiment, for verifying that a1 and a2 is not validity during integer entirely.
Step a, to project wave function to be first sawtooth wave of y1=k1 × mod (x, a1)+b1 and wave function be second sawtooth wave of y2=k2 × mod (x, a2)+b2 respectively;
Wherein:
k1＝1，a1＝9，b1＝0；
k2＝1，a2＝10.5，b2＝0；
X is locus, and mod () is for getting remainder operation;
And:
Two sawtooth wave starting points are identical;
a1/(a2-a1)＝6；
The figure drawn according to step a parameter as shown in Figure 2;
Step b, according to given locus 38.75, ask the phase place main value phi1 of corresponding first sawtooth wave in described the locus 38.75 and phase place main value phi2 of the second sawtooth wave; Wherein:
phi1＝mod(38.75,9)＝2.75；
phi2＝mod(38.75,10.5)＝7.25。
Step c, solution room position 38.75 comprise the first sawtooth Integer n wave period 1 and the first sawtooth Integer n wave period 2:
n1＝mod((phi1-phi2),a2)/abs(a1-a2)＝6/1.5＝4；
n2＝mod((phi1-phi2),a1)/abs(a1-a2)＝4.5/1.5＝3；
Wherein: abs is the computing that takes absolute value;
Steps d, employing n1 × a1+phi1 or n2 × a2+phi2 solve phase unwrapping value, are specially:
n1×a1+phi1＝4×9+2.75＝38.75；
n2×a2+phi2＝3×10.5+7.25＝38.75。
Visible, the result of calculation of phase unwrapping value is identical with given locus, and demonstrating the method at a1 and a2 is not validity during integer entirely.
Specific embodiment three
The structured light phase decoding method based on double frequency sawtooth wave of the present embodiment, for verifying that a1 and a2 is not validity during integer entirely.
Step a, to project wave function to be first sawtooth wave of y1=k1 × mod (x, a1)+b1 and wave function be second sawtooth wave of y2=k2 × mod (x, a2)+b2 respectively;
Wherein:
k1＝1，a1＝8.8，b1＝0；
k2＝1，a2＝9.9，b2＝0；
X is locus, and mod () is for getting remainder operation;
And:
Two sawtooth wave starting points are identical;
a1/(a2-a1)＝8；
The figure drawn according to step a parameter as shown in Figure 3;
Step b, according to given locus 38.75, ask the phase place main value phi1 of corresponding first sawtooth wave in described the locus 38.75 and phase place main value phi2 of the second sawtooth wave; Wherein:
phi1＝mod(38.75,8.8)＝3.55；
phi2＝mod(38.75,9.9)＝9.05。
Step c, solution room position 38.75 comprise the first sawtooth Integer n wave period 1 and the first sawtooth Integer n wave period 2:
n1＝mod((phi1-phi2),a2)/abs(a1-a2)＝4.4/1.1＝4；
n2＝mod((phi1-phi2),a1)/abs(a1-a2)＝3.3/1.1＝3；
Wherein: abs is the computing that takes absolute value;
Steps d, employing n1 × a1+phi1 or n2 × a2+phi2 solve phase unwrapping value, are specially:
n1×a1+phi1＝4×8.8+3.55＝38.75；
n2×a2+phi2＝3×9.9+9.05＝38.75。
Visible, the result of calculation of phase unwrapping value is identical with given locus, and demonstrating the method at a1 and a2 is not validity during integer entirely.
Specific embodiment four
The structured light phase decoding method based on double frequency sawtooth wave of the present embodiment, during for verifying that k1 and k2 be not 1, b1 and b2 is not entirely 0 entirely, validity of the present invention.
The structured light phase decoding method based on double frequency sawtooth wave of the present embodiment, comprises the following steps:
Step a, to project wave function to be first sawtooth wave of y1=k1 × mod (x, a1)+b1 and wave function be second sawtooth wave of y2=k2 × mod (x, a2)+b2 respectively;
Wherein:
k1＝k1，a1＝a1，b1＝b1；
k2＝k2，a2＝a2，b2＝b2；
Expression like this, illustrates k1, and the selection of a1, b1, k2, a2 and b2 has universality;
X is locus, and mod () is for getting remainder operation;
And:
Two sawtooth wave starting points are identical;
A1/ (a2-a1)=N, N is natural number;
Step b, according to given locus X, ask the corresponding phase place main value phi1 of the first sawtooth wave and the phase place main value phi2 of the second sawtooth wave of described locus X; Wherein:
phi1＝mod(X,a1)；
phi2＝mod(X,a2)。
Step c, solution room position X comprise the first sawtooth Integer n wave period 1 and the first sawtooth Integer n wave period 2:
n1＝mod((phi1-phi2),a2)/abs(a1-a2)；
n2＝mod((phi1-phi2),a1)/abs(a1-a2)；
Wherein: abs is the computing that takes absolute value;
The strict derivation of this formula is described in detail in the patent of invention " phase unwrapping engineering method " of this seminar earlier application, therefore no longer repeats in the application;
Steps d, employing n1 × a1+phi1 or n2 × a2+phi2 solve phase unwrapping value.
Due to the k1 that step a relates to, b1, k2 and b2 do not occur in step b, step c and steps d, therefore, these four parameters are described for net result without any impact, and then can arbitrarily arrange, and realize the dirigibility that waveform parameter is selected.
And follow-up formula is with the strict basis that is derived as, therefore equally there is universality, illustrate no matter whether a1 and a2 is integer entirely, and be not integer entirely, or be not integer entirely, this result is all correct, therefore, demonstrates the validity of the inventive method.
Above embodiment all adopts following projection acquisition system, this system comprises projector, measured object and image capturing system, described projector is to measured object projecting structural optical, image capturing system collection projection has the measured object image of structured light, these technical characteristics are all completely the same with traditional structure photosystem, are not repeated.Difference is, the structured light of described projector projects is:
Second sawtooth wave of wave function to be first sawtooth wave of y1=k1 × mod (x, a1)+b1 and wave function be y2=k2 × mod (x, a2)+b2;
Wherein:
K1 determines the contrast of the first sawtooth wave, and a1 is the wavelength of the first sawtooth wave, and b1 determines the brightness of the first sawtooth wave;
K2 determines the contrast of the second sawtooth wave, and a2 is the wavelength of the second sawtooth wave, and b2 determines the brightness of the second sawtooth wave;
X is locus, and mod () is for getting remainder operation;
And:
Two sawtooth wave starting points are identical;
A1/ (a2-a1) ∈ N, N is natural number.
Claims (4)
1., based on the structured light phase decoding method of double frequency sawtooth wave, it is characterized in that, comprise the following steps:
Step a, to project wave function to be first sawtooth wave of y1=k1 × mod (x, a1)+b1 and wave function be second sawtooth wave of y2=k2 × mod (x, a2)+b2 respectively;
Wherein:
K1 determines the contrast of the first sawtooth wave, and a1 is the wavelength of the first sawtooth wave, and b1 determines the brightness of the first sawtooth wave;
K2 determines the contrast of the second sawtooth wave, and a2 is the wavelength of the second sawtooth wave, and b2 determines the brightness of the second sawtooth wave;
X is locus, and mod () is for getting remainder operation;
And:
Two sawtooth wave starting points are identical;
A1/ (a2-a1) ∈ N, N is natural number;
Step b, according to given locus X, X ∈ (0, a1 × a2/ (a2-a1)), ask the corresponding phase place main value phi1 of the first sawtooth wave and the phase place main value phi2 of the second sawtooth wave of described locus X;
Step c, solution room position X comprise the first sawtooth Integer n wave period 1 and the first sawtooth Integer n wave period 2:
n1＝mod((phi1-phi2),a2)/abs(a1-a2)；
n2＝mod((phi1-phi2),a1)/abs(a1-a2)；
Wherein: abs is the computing that takes absolute value;
Steps d, employing n1 × a1+phi1 or n2 × a2+phi2 solve phase unwrapping value.
2. the structured light phase decoding method based on double frequency sawtooth wave according to claim 1, it is characterized in that, described a1 and a2 is all integer, or is all non-integer, or one be integer one is non-integer.
3. the structured light phase decoding method based on double frequency sawtooth wave according to claim 1, is characterized in that, for simulation calculating, adopt phi1 and phi2 obtained with the following method in step b:
phi1＝mod(X,a1)；
phi2＝mod(X,a2)。
4. one kind realizes the projection acquisition system based on the structured light phase decoding method of double frequency sawtooth wave described in claim 1,2 and 3, comprise projector, measured object and image capturing system, described projector is to measured object projecting structural optical, image capturing system collection projection has the measured object image of structured light, it is characterized in that, the structured light of described projector projects is:
Second sawtooth wave of wave function to be first sawtooth wave of y1=k1 × mod (x, a1)+b1 and wave function be y2=k2 × mod (x, a2)+b2;
Wherein:
K1 determines the contrast of the first sawtooth wave, and a1 is the wavelength of the first sawtooth wave, and b1 determines the brightness of the first sawtooth wave;
K2 determines the contrast of the second sawtooth wave, and a2 is the wavelength of the second sawtooth wave, and b2 determines the brightness of the second sawtooth wave;
X is locus, and mod () is for getting remainder operation;
And:
Two sawtooth wave starting points are identical;
A1/ (a2-a1) ∈ N, N is natural number.
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