CN104897084B - Structure light phase decoding method based on double frequency sawtooth waveforms - Google Patents
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Abstract
Structure light phase decoding method based on double frequency sawtooth waveforms belongs to structural light three-dimensional field of measuring technique；The method projects wave function for first sawtooth waveforms and wave function of y1=k1 × mod (x, a1)+b1 are second sawtooth waveforms of y2=k2 × mod (x, a2)+b2 respectively first；Then according to given locus X, the phase main value phi1 of the first sawtooth waveforms of the correspondence and phase main value phi2 of the second sawtooth waveforms is sought；Then solution room position X includes the cycle Integer n 1=mod ((phi1 phi2) of the first sawtooth waveforms, a2 cycle Integer n 2=mod ((phi1 phi2), a1)/abs (a1 a2) of)/abs (a1 a2) and the second sawtooth waveforms；Phase unwrapping value is finally solved using X=n1 × a1+phi1 or X=n2 × a2+phi2；The present invention not only remains whole technical advantages of earlier application invention, and compared with earlier application invention, more preferably, algorithm is simpler for flexibility.
Description
Technical field
Structure light phase decoding method based on double frequency sawtooth waveforms belongs to structural light three-dimensional field of measuring technique.
Background technology
Measuring three-dimensional morphology has in fields such as scientific research, medical diagnosis, engineering design, criminal investigations widely should
With.And structure light is used as the important component of measuring three-dimensional morphology means, with its contactless, low cost, high resolution and
Fireballing advantage, has obtained the extensive concern of scholars and engineers and technicians.
Structure light is one group of system architecture being made up of projecting apparatus and camera.Arrived with the specific optical information of projector projects
After body surface and after background, then it is acquired by camera, the change in optical signal caused according to object calculates the position of object
Put and depth information, and then restore whole object three-dimensional appearance.
Encoding and decoding technique is one of key technical problem of structure light, and the decoding method of most original is by the whole of projected light
The individual cycle is projected on testee, and this mode is due to the gray value difference very little before two neighboring pixel therefore anti-dry
Disturb ability.Regarding to the issue above, the decoding method for being combined two beam different frequency light has been developed, wherein just including two
The method that individual analog encoding light is combined, the method has high sampling density, high-resolution and the high measurement degree of accuracy.However, this
The phase-unwrapping algorithm of class method is complicated, and in actual application, discovery can have phase main value measurement error to be caused
Phase hit problem.
The problem of complicated and phase hit for phase-unwrapping algorithm, this seminar applied on November 18th, 2014
Patent of invention《A kind of fault-tolerant phase unwrapping engineering method of double frequency analog encoding light》, hereinafter《Phase unwrapping engineering method》,
The patent employs a kind of very simple calculations rule, you can realizes phase unwrapping, and overcomes the problem of phase hit.
And deepening continuously with work, find《Phase unwrapping engineering method》Can be more perfect, first, project to and treat
The cycle of the two-beam line surveyed on object can be not limited to positive integer, and the cycle difference of two-beam can also be not limited to 1；
Additionally, the computational methods of phase unwrapping equally can further simplify.
The content of the invention
It is an object of the invention to invent earlier application《A kind of fault-tolerant phase unwrapping engineering side of double frequency analog encoding light
Method》Carry out further perfect.
To achieve these goals, the invention discloses a kind of structure light phase decoding method based on double frequency sawtooth waveforms,
The method is continued on the basis of this seminar earlier application patent of invention, not only remains the whole of earlier application invention
Technical advantage, and compared with earlier application invention, more preferably, algorithm is simpler for flexibility.
The object of the present invention is achieved like this：
Structure light phase decoding method based on double frequency sawtooth waveforms, comprises the following steps：
Step a, respectively projection wave function are for first sawtooth waveforms and wave function of y1=k1 × mod (x, a1)+b1
Second sawtooth waveforms of y2=k2 × mod (x, a2)+b2；
Wherein：
K1 determines the contrast of the first sawtooth waveforms, and a1 is the wavelength of the first sawtooth waveforms, and b1 determines the brightness of the first sawtooth waveforms；
K2 determines the contrast of the second sawtooth waveforms, and a2 is the wavelength of the second sawtooth waveforms, and b2 determines the brightness of the second sawtooth waveforms；
X is locus, and mod () is to take the remainder computing；
And：
Two sawtooth waveforms starting points are identical；
A1/ (a2-a1) ∈ N, N are natural number；
Step b, according to given locus X, X ∈ (0, a1 × a2/ (a2-a1)), seek the locus X correspondences the
The phase main value phi1 of the one sawtooth waveforms and phase main value phi2 of the second sawtooth waveforms；
Step c, solution room position X include the cycle integer of the sawtooth waveforms of cycle Integer n 1 and second of the first sawtooth waveforms
n2：
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；
Step d, phase unwrapping value is solved using n1 × a1+phi1 or n2 × a2+phi2.
The above-mentioned structure light phase decoding method based on double frequency sawtooth waveforms, described a1 and a2 is all integer, or is all non-
Integer, or one is that integer one is non-integer.
The above-mentioned structure light phase decoding method based on double frequency sawtooth waveforms, for simulation calculating, adopts and obtains with the following method
Phi1 and phi2 in step b：
Phi1=mod (X, a1)；
Phi2=mod (X, a2).
A kind of projection acquisition system for realizing the above-mentioned structure light phase decoding method based on double frequency sawtooth waveforms, including projection
Instrument, measured object and image capturing system, described projecting apparatus to measured object projecting structural optical, throw by image capturing system collection
The tested object image of structure light is penetrated, the structure light of the projector projects is：
Wave function for y1=k1 × mod (x, a1)+b1 the first sawtooth waveforms and wave function be y2=k2 × mod (x,
A2) second sawtooth waveforms of+b2；
Wherein：
K1 determines the contrast of the first sawtooth waveforms, and a1 is the wavelength of the first sawtooth waveforms, and b1 determines the brightness of the first sawtooth waveforms；
K2 determines the contrast of the second sawtooth waveforms, and a2 is the wavelength of the second sawtooth waveforms, and b2 determines the brightness of the second sawtooth waveforms；
X is locus, and mod () is to take the remainder computing；
And：
Two sawtooth waveforms starting points are identical；
A1/ (a2-a1) ∈ N, N are natural number.
Beneficial effect：
Firstth, because basic thought of the invention continues《Phase unwrapping engineering method》, therefore, equally have and avoid image
Information extraction error band come measurement gross error technical advantage, and with avoid n1 or n2 with gross error to count
Calculate the technical advantage of locus X actual value influences.
Secondth, it is same《Phase unwrapping engineering method》Compare, the definition due to the present invention to sawtooth wave function includes determining
The k1 and k2 of sawtooth waveforms contrast, determine the b1 and b2 of sawtooth waveforms brightness, and in solution room position X actual values, and do not receive
The influence of these parameters, therefore the inventive method can be on the premise of sawtooth waveforms wavelength not be changed, according to actual needs arbitrarily
The waveform of sawtooth waveforms is adjusted, flexibility has more advantage.
3rd, it is same《Phase unwrapping engineering method》Compare, because the present invention limits sawtooth waveforms using a1/ (a2-a1) ∈ N
Cycle, therefore do not require that sawtooth period length is necessary for positive integer, do not require that the difference of two sawtooth periods is necessary yet
It is 1, therefore expands the scope of application of waveform, the flexibility of waveform selection when increased practical application.
4th, it is same《Phase unwrapping engineering method》Compare, because the present invention limits sawtooth waveforms using a1/ (a2-a1) ∈ N
Cycle so that solve n1 and n2 when, without use《Phase unwrapping engineering method》Employed in round rounding operations,
Therefore calculation step is saved.
In sum, the structure light phase decoding method based on double frequency sawtooth waveforms of the invention, not only remains this problem
Whole technical advantages of group earlier application invention, and compared with earlier application invention, more preferably, algorithm is simpler for flexibility.
Brief description of the drawings
Fig. 1 is two oscillograms of sawtooth waveforms that specific embodiment one is drawn.
Fig. 2 is two oscillograms of sawtooth waveforms that specific embodiment two is drawn.
Fig. 3 is two oscillograms of sawtooth waveforms that specific embodiment three is drawn.
Specific embodiment
The specific embodiment of the invention is described in further detail below in conjunction with the accompanying drawings.
Specific embodiment one
The structure light phase decoding method based on double frequency sawtooth waveforms of the present embodiment, for verify with《Phase unwrapping work
Cheng Fangfa》Validity under parameter the same terms.
The structure light phase decoding method based on double frequency sawtooth waveforms of the present embodiment, comprises the following steps：
Step a, respectively projection wave function are for first sawtooth waveforms and wave function of y1=k1 × mod (x, a1)+b1
Second sawtooth waveforms of y2=k2 × mod (x, a2)+b2；
Wherein：
K1=1, a1=9, b1=0；
K2=1, a2=10, b2=0；
X is locus, and mod () is to take the remainder computing；
And：
Two sawtooth waveforms starting points are identical；
A1/ (a2-a1)=9；
The figure drawn according to step a parameters is as shown in Figure 1；
The given locus 38.75 of step b, basis, seeks the phase of the first sawtooth waveforms of correspondence of the locus 38.75
The phase main value phi2 of main value phi1 and the second sawtooth waveforms；Wherein：
Phi1=mod (38.75,9)=2.75；
Phi2=mod (38.75,10)=8.75.
Step c, solution room position 38.75 the sawtooth waveforms of cycle Integer n 1 and second comprising the first sawtooth waveforms cycle
Integer n 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；
Step d, phase unwrapping value is solved using n1 × a1+phi1 or n2 × a2+phi2, specially：
N1 × a1+phi1=4 × 9+2.75=38.75；
N2 × a2+phi2=3 × 10+8.75=38.75.
It can be seen that, the result of calculation of phase unwrapping value is identical with given locus, demonstrate the method with《Phase exhibition
Open engineering method》Validity under parameter the same terms.
Specific embodiment two
The structure light phase decoding method based on double frequency sawtooth waveforms of the present embodiment, for verifying that a1 and a2 are not all integer
When validity.
Step a, respectively projection wave function are for first sawtooth waveforms and wave function of y1=k1 × mod (x, a1)+b1
Second sawtooth waveforms of y2=k2 × mod (x, a2)+b2；
Wherein：
K1=1, a1=9, b1=0；
K2=1, a2=10.5, b2=0；
X is locus, and mod () is to take the remainder computing；
And：
Two sawtooth waveforms starting points are identical；
A1/ (a2-a1)=6；
The figure drawn according to step a parameters is as shown in Figure 2；
The given locus 38.75 of step b, basis, seeks the phase of the first sawtooth waveforms of correspondence of the locus 38.75
The phase main value phi2 of main value phi1 and the second sawtooth waveforms；Wherein：
Phi1=mod (38.75,9)=2.75；
Phi2=mod (38.75,10.5)=7.25.
Step c, solution room position 38.75 the sawtooth waveforms of cycle Integer n 1 and second comprising the first sawtooth waveforms cycle
Integer n 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；
Step d, phase unwrapping value is solved using n1 × a1+phi1 or n2 × a2+phi2, specially：
N1 × a1+phi1=4 × 9+2.75=38.75；
N2 × a2+phi2=3 × 10.5+7.25=38.75.
It can be seen that, the result of calculation of phase unwrapping value is identical with given locus, demonstrates the method in a1 and a2 not
It is all validity during integer.
Specific embodiment three
The structure light phase decoding method based on double frequency sawtooth waveforms of the present embodiment, for verifying that a1 and a2 are not full integer
When validity.
Step a, respectively projection wave function are for first sawtooth waveforms and wave function of y1=k1 × mod (x, a1)+b1
Second sawtooth waveforms of y2=k2 × mod (x, a2)+b2；
Wherein：
K1=1, a1=8.8, b1=0；
K2=1, a2=9.9, b2=0；
X is locus, and mod () is to take the remainder computing；
And：
Two sawtooth waveforms starting points are identical；
A1/ (a2-a1)=8；
The figure drawn according to step a parameters is as shown in Figure 3；
The given locus 38.75 of step b, basis, seeks the phase of the first sawtooth waveforms of correspondence of the locus 38.75
The phase main value phi2 of main value phi1 and the second sawtooth waveforms；Wherein：
Phi1=mod (38.75,8.8)=3.55；
Phi2=mod (38.75,9.9)=9.05.
Step c, solution room position 38.75 the sawtooth waveforms of cycle Integer n 1 and second comprising the first sawtooth waveforms cycle
Integer n 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；
Step d, phase unwrapping value is solved using n1 × a1+phi1 or n2 × a2+phi2, specially：
N1 × a1+phi1=4 × 8.8+3.55=38.75；
N2 × a2+phi2=3 × 9.9+9.05=38.75.
It can be seen that, the result of calculation of phase unwrapping value is identical with given locus, demonstrates the method complete in a1 and a2
Validity when not being integer.
Specific embodiment four
The structure light phase decoding method based on double frequency sawtooth waveforms of the present embodiment, for verifying that k1 and k2 is not all 1, b1
When being not all 0 with b2, effectiveness of the invention.
The structure light phase decoding method based on double frequency sawtooth waveforms of the present embodiment, comprises the following steps：
Step a, respectively projection wave function are for first sawtooth waveforms and wave function of y1=k1 × mod (x, a1)+b1
Second sawtooth waveforms of y2=k2 × mod (x, a2)+b2；
Wherein：
K1=k1, a1=a1, b1=b1；
K2=k2, a2=a2, b2=b2；
So represent, illustrating the selection of k1, a1, b1, k2, a2 and b2 has universality；
X is locus, and mod () is to take the remainder computing；
And：
Two sawtooth waveforms starting points are identical；
A1/ (a2-a1)=N, N are natural number；
The given locus X of step b, basis, seeks the phase main value phi1 of the first sawtooth waveforms of the locus X correspondences
With the phase main value phi2 of the second sawtooth waveforms；Wherein：
Phi1=mod (X, a1)；
Phi2=mod (X, a2).
Step c, solution room position X include the cycle integer of the sawtooth waveforms of cycle Integer n 1 and second of the first sawtooth waveforms
n2：
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；
Patent of invention of the strict derivation of the formula in this seminar earlier application《Phase unwrapping engineering method》Have in detail
Illustrate, therefore be not repeated in the application；
Step d, phase unwrapping value is solved using n1 × a1+phi1 or n2 × a2+phi2.
Due to the k1 that step a is related to, b1, k2 and b2 occur not in step b, step c and step d, therefore, explanation
This four parameters do not have any influence for final result, and then can arbitrarily set, and realize the flexibility of waveform parameter selection.
And follow-up formula illustrates no matter a1 and a2 is based on strict derivation, therefore equally with universality
It is no to be all integer, integer is not all, or complete is not integer, the result is correct, therefore, demonstrate the inventive method
Validity.
Using following projection acquisition system, the system includes projecting apparatus, measured object and IMAQ to above example
System, to measured object projecting structural optical, image capturing system collection projection has the tested object image of structure light to described projecting apparatus,
These technical characteristics are completely the same with traditional structure photosystem, are not repeated.Difference is that the projecting apparatus is thrown
The structure light penetrated is：
Wave function for y1=k1 × mod (x, a1)+b1 the first sawtooth waveforms and wave function be y2=k2 × mod (x,
A2) second sawtooth waveforms of+b2；
Wherein：
K1 determines the contrast of the first sawtooth waveforms, and a1 is the wavelength of the first sawtooth waveforms, and b1 determines the brightness of the first sawtooth waveforms；
K2 determines the contrast of the second sawtooth waveforms, and a2 is the wavelength of the second sawtooth waveforms, and b2 determines the brightness of the second sawtooth waveforms；
X is locus, and mod () is to take the remainder computing；
And：
Two sawtooth waveforms starting points are identical；
A1/ (a2-a1) ∈ N, N are natural number.
Claims (4)
1. the structure light phase decoding method of double frequency sawtooth waveforms is based on, it is characterised in that comprised the following steps：
Step a, respectively projection wave function are y2=for first sawtooth waveforms and wave function of y1=k1 × mod (x, a1)+b1
Second sawtooth waveforms of k2 × mod (x, a2)+b2；
Wherein：
K1 determines the contrast of the first sawtooth waveforms, and a1 is the wavelength of the first sawtooth waveforms, and b1 determines the brightness of the first sawtooth waveforms；
K2 determines the contrast of the second sawtooth waveforms, and a2 is the wavelength of the second sawtooth waveforms, and b2 determines the brightness of the second sawtooth waveforms；
X is locus, and mod () is to take the remainder computing；
And：
Two sawtooth waveforms starting points are identical；
A1/ (a2-a1) ∈ N, N are natural number；
Step b, basis given locus X, X ∈ (0, a1 × a2/ (a2-a1)), ask the locus X correspondences first to saw
The phase main value phi1 of the tooth ripple and phase main value phi2 of the second sawtooth waveforms；
Step c, solution room position X include the cycle Integer n 2 of the sawtooth waveforms of cycle Integer n 1 and second of the first sawtooth waveforms：
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；
Step d, phase unwrapping value is solved using n1 × a1+phi1 or n2 × a2+phi2.
2. the structure light phase decoding method based on double frequency sawtooth waveforms according to claim 1, it is characterised in that described
A1 and a2 are all integer, or are all non-integer, or one is that integer one is non-integer.
3. the structure light phase decoding method based on double frequency sawtooth waveforms according to claim 1, it is characterised in that for imitative
True computing, adopts the phi1 and phi2 obtained with the following method in step b：
Phi1=mod (X, a1)；
Phi2=mod (X, a2).
4. a kind of projection for realizing the structure light phase decoding method based on double frequency sawtooth waveforms described in claim any one of 1-3 is adopted
Collecting system, including projecting apparatus, measured object and image capturing system, described projecting apparatus is to measured object projecting structural optical, image
Acquisition system collection projection has the tested object image of structure light, it is characterised in that the structure light of the projector projects is：
Wave function for y1=k1 × mod (x, a1)+b1 the first sawtooth waveforms and wave function be y2=k2 × mod (x, a2)+
Second sawtooth waveforms of b2；
Wherein：
K1 determines the contrast of the first sawtooth waveforms, and a1 is the wavelength of the first sawtooth waveforms, and b1 determines the brightness of the first sawtooth waveforms；
K2 determines the contrast of the second sawtooth waveforms, and a2 is the wavelength of the second sawtooth waveforms, and b2 determines the brightness of the second sawtooth waveforms；
X is locus, and mod () is to take the remainder computing；
And：
Two sawtooth waveforms starting points are identical；
A1/ (a2-a1) ∈ N, N are natural number.
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