CN105588518A - Three-dimensional shape acquisition method and device based on dual-angle and multi-frequency fringe projection - Google Patents

Abstract

The invention belongs to the field of the machine vision technology and provides a three-dimensional shape acquisition method and a device based on the dual-angle and multi-frequency fringe projection. The method comprises the steps of controlling two projectors to respectively project fringes of different frequencies onto the surface of a to-be-measured object by a computer; shooting the images of fringes projected from the two projectors by a camera; according to the shot images of fringes, figuring out the phase diagram function of fringes at each of all the frequencies; conducting the phase unwrapping for the non-shadow region of the phase diagram function based on the time phase unwrapping method to obtain the absolute phase of the non-shadow region; according to the absolute phase of the non-shadow region, estimating the absolute phase of the shadow region; according to the absolute phase of the non-shadow region and the absolute phase of the shadow region, calculating the data of the three-dimensional shape of the to-be-measured object. According to the technical scheme of the invention, the measurement range is effectively enlarged. Meanwhile, the reliability of measurement results is effectively improved.

Description

Based on three-dimensional appearance acquisition methods and the device of two angle multi-frequency fringe projections

Technical field

The invention belongs to machine vision technique field, relate in particular to based on three of two angle multi-frequency fringe projectionsDimension pattern acquisition methods and device.

Background technology

How obtaining three-dimensional appearance progressively becomes the important directions of Information Technology Development. Higher owing to havingCertainty of measurement, the measuring three-dimensional morphology technology based on fringe projection industrial detection, robot vision, medical treatment,The aspect such as security, historical relic's protection has obtained extensive use.

Measuring three-dimensional morphology technology general principle based on fringe projection is by the sine streak being produced by computerSignal projects to object to be measured and reference planes surface, then with the stripe pattern of camera distortion andReference stripe image, obtains the three-dimensional appearance data of object being measured by stripe pattern is carried out to analyzing and processing.

But existing fringe projection measuring method utilization list spatial frequency striped, causes measurement category to be subject toRestriction; In addition, existing fringe projection measuring method is only suitable for single Angles Projections mostly, but single Angles ProjectionsThe body surface shadow region producing cannot obtain measurement result, has influence on the reliability of measurement result.

Summary of the invention

Given this, the embodiment of the present invention provides a kind of three-dimensional appearance based on two angle multi-frequency fringe projections to obtainAccess method and device, with by two angles, multifrequency fringe projection, improve the reliability of measurement result.

First aspect, the embodiment of the present invention provides a kind of three-dimensional shaped based on two angle multi-frequency fringe projectionsLooks acquisition methods, is applied to and comprises two projecting apparatus, a camera and a system for computer, itsDescribed in the optical axis of camera perpendicular to reference planes, the optical axis of two projecting apparatus and the optical axis of described cameraBe identical angle, institute in same plane and in the left and right sides of described camera and the optical axis of described cameraThe method of stating comprises:

By two projecting apparatus described in described computer control respectively the striped of projection different frequencies to testeeSurface on;

By the stripe pattern of two projecting apparatus projections described in described camera;

Calculate the phase diagram function of each frequency striped according to the described stripe pattern of taking;

By time phase method of deploying the phase diagram function of the non-hatched area in described phase diagram function is enteredLine phase launches, and obtains the absolute phase of non-hatched area;

Estimate the absolute phase of shadow region according to the absolute phase of non-hatched area;

Calculate three of testee according to the absolute phase of the absolute phase of non-hatched area and shadow regionDimension topographic data.

Second aspect, a kind of three-dimensional appearance acquisition device based on two angle multi-frequency fringe projections, is applied toComprise two projecting apparatus, a camera and a system for computer, the optical axis of wherein said cameraPerpendicular to reference planes, the optical axis of two projecting apparatus and the optical axis of described camera are in same plane and in instituteState the left and right sides of camera and the optical axis of described camera is identical angle, described device comprises:

Projecting cell, for by the projection different frequencies respectively of two projecting apparatus described in described computer controlStriped is to the surface of testee;

Take unit, for by the stripe pattern of two projecting apparatus projections described in described camera;

Computing unit, for calculating the phase diagram letter of each frequency striped according to the described stripe pattern of takingNumber;

Processing unit, for by the non-hatched area of method of deploying time phase to described phase diagram functionPhase diagram function carry out phase unwrapping, obtain the absolute phase of non-hatched area;

Estimation unit, for estimating the absolute phase of shadow region according to the absolute phase of non-hatched area;

Three-dimensional appearance data computing unit, for according to the absolute phase of non-hatched area and shadow regionAbsolute phase calculates the three-dimensional appearance data of testee.

The beneficial effect that the embodiment of the present invention compared with prior art exists is: the embodiment of the present invention adopts multifrequencyThe mode of rate fringe projection, effectively enlarge measurement range; And, adopt two Angles Projections effectively to removeProjection dead angle and shadow region, the reliability of raising measurement result, has stronger ease for use and practicality.

Brief description of the drawings

In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below will be to embodiment or existing skillIn art description, the accompanying drawing of required use is briefly described, and apparently, the accompanying drawing in the following describes onlyBe only some embodiments of the present invention, for those of ordinary skill in the art, do not paying creative laborUnder the prerequisite of moving property, can also obtain according to these accompanying drawings other accompanying drawing.

Fig. 1 is the schematic diagram of the projecting fringe measurement that provides of prior art;

Fig. 2 is the three-dimensional appearance side of obtaining based on two angle multi-frequency fringe projections that the embodiment of the present invention providesThe realization flow schematic diagram of method;

Fig. 3 is the schematic diagram that two angle bifrequency fringe projections that the embodiment of the present invention provides are measured;

Fig. 4 is that the three-dimensional appearance based on two angle multi-frequency fringe projections that the embodiment of the present invention provides obtains dressThe composition structural representation of putting.

Detailed description of the invention

In below describing, in order to illustrate instead of in order limiting, to have proposed such as particular system structure, technologyAnd so on detail, understand the embodiment of the present invention to thoroughly cut. But those skilled in the art shouldClear, in other embodiment that there is no these details, also can realize the present invention. In other situation,Omit the detailed description to well-known system, device, circuit and method, in order to avoid unnecessary detailsHinder description of the invention.

For technical solutions according to the invention are described, describe below by specific embodiment.

Refer to Fig. 1, Fig. 1 is the schematic diagram of the projecting fringe measurement that provides of prior art, comprising oneProjecting apparatus, a camera, in the time there is no testee, the railway digital light being produced by projecting apparatus is at CThe referenced plane reflection of point is to camera. And in the time that reference planes are withdrawn, an identical railway digital light is at HPoint is reflected to camera through D point. To same railway digital light, due to the existence of testee, it is being taken a pictureThe locus photographing in machine is discrepant, result r (the x)=b of reference stripe₀+b₁cos(2πf₀X+ ψ) (wherein b₀Represent background light intensity, b₁The intensity that represents projected fringe signal, x represents abscissa independent variable, f₀TableThe spatial frequency of showing projection signal, ψ represents initial phase) be by the directly reflection of C point, and deforming stripeResult d (x)=b₀+b₁cos(2πf₀X+ ψ+φ (x)) (wherein φ (x) represents that fundamental component deforming stripe is with respect to reference barThe phase shift of line) be by H point reflection. Therefore twice shooting of camera obtain reference stripe and deforming stripe itBetween absolute phase difference, and absolute phase difference equivalence between C point and D point. Therefore order for D, reference barThe absolute phase difference ΔΦ of k order harmonics in line and deforming stripe₁(D) can be expressed as follows:

${\mathrm{\Δ\Φ}}_1\left(D\right)={\mathrm{\Φ}}_1^d\left(D\right)-{\mathrm{\Φ}}_1^r\left(D\right)=2{\mathrm{\πf}}_0\stackrel{\‾}{CD}---\left(1\right)$

WhereinRepresent that the space displacement between C point and D point is poor. As can be seen from Figure 1, d₀Represent that camera emergent pupil arrivesThe distance of projecting apparatus emergent pupil, l₀Represent the distance of reference planes to camera emergent pupil, d in the time that equipment is fixing₀、l₀Also fix. Therefore the distance between C point and D point depends on that C point to the distance h (x) of reference planes (), evenDetermine, h (x) also can determine.

According to triangle E_pHE_cSimilar to CHD, can obtain:

$\frac{\stackrel{\‾}{CD}}{-h\left(x\right)}=\frac{d_0}{l_0+(-h(x\left)\right)}---\left(2\right)$

By (2) substitution (3), obtain:

$h\left(x\right)=\frac{l_0{\mathrm{\Δ\Φ}}_1\left(x\right)}{{\mathrm{\Δ\Φ}}_1\left(x\right)-2{\mathrm{\πf}}_0{d}_0}---\left(3\right)$

Can find out from this expression formula, if obtained ΔΦ₁(x), the altitude information of body surface just can obtain. BaseIn this reason, the key of projected fringe topography measurement is to recover ΔΦ accurately from r (x) and d (x)₁(x). Due to throwingThe striped of shadow has multiple cycles conventionally, and the process of recovery is generally divided into two steps: the first step be application FTP,The fringe analysis technology such as PSP obtain respectively the phase diagram of reference stripe and deforming stripe, the model of phase diagram valueEnclosing is (π, π), and this process is called projected fringe analysis; Second step is application phase expansion technique,WithRecover; The 3rd step is to subtract each other and obtain by reference to plane absolute phase and deforming stripe absolute phaseΔΦ₁, and then obtain the surface three dimension data of testee (x).

But, because prior art is only from an Angles Projections striped, will be inevitably at object being measuredSurface produces shadow region, causes the three dimensional surface data information of described shadow region to extract, and impact is surveyedThe reliability of amount result.

Based on this, the embodiment of the present invention provides the three-dimensional appearance based on two angle multi-frequency fringe projections to obtainThe realization flow (as shown in Figure 2) of method, the method is applicable to comprising two projecting apparatus, a cameraAnd a system for computer, the optical axis of wherein said camera is perpendicular to reference planes, two projecting apparatusOptical axis and the optical axis of described camera in same plane and at the left and right sides and the described photograph of described cameraThe optical axis of camera is identical angle, and preferably, described angle is less than 30 degree, two Angles Projections imagesRegion can overlap. The method mainly comprises the following steps:

Step S201, by two projecting apparatus striped of projection different frequency respectively described in described computer controlTo the surface of testee.

The schematic diagram that Fig. 3 measures for two angle bifrequency fringe projections that the embodiment of the present invention provides, described systemTurnkey is drawn together two projecting apparatus, a CCD camera, a computer (Fig. 3 is not shown). Described photographMachine optical axis is perpendicular to reference planes, and the projecting apparatus optical axis of two and camera optical axis are in same plane and on a left sideLimit and the right are identical angle with camera optical axis, and the region of two Angles Projections images overlaps completely.

Described two projecting apparatus projection optical axis and camera optical axis symmetry, to ensure the striped of two Angles ProjectionsPicture position is completely corresponding, and the photograph region of camera can regulate according to projected area.

In step S202, by the stripe pattern of two projecting apparatus projections described in described camera.

When one group of projected fringe in two groups of projected fringes is that (whole image only has a bar to cell frequency stripedLine), when another group projected fringe is high-frequency striped (having 10 to 15 stripeds in whole image), described inTwo groups of projected fringes can unique definite image on the absolute phase of every bit, it is long-range that it can identify altitude rangeIn unifrequency projected fringe. And because the spatial resolution of high-frequency striped is high, therefore it recoversAbsolute phase precision is higher, is convenient to high accuracy three-dimensional and rebuilds. The embodiment of the present invention is for enlarge measurement rangeAnd ensure high accuracy three-dimensional reconstructed results, projection is frequently different respectively from two angles to use two projecting apparatusRate striped, to testee surface, is then taken respectively by camera, obtains the stripe pattern of projection.

In step S203, calculate the phase diagram of each frequency striped according to the described stripe pattern of takingFunction.

In embodiments of the present invention, for the effectively interference of Background suppression light and noise, obtain high-precision phaseBitmap function, adopts multistep phase shift method to calculate the phase diagram function of each frequency striped. Multistep phase shift methodThinking is the same frequency striped that projection multistep initial phase moves, by phase shift technology of profiling (or phase measuring profilometer)Carry out fringe analysis. In the fringe analysis of phase shift technology of profiling, need to take the fixing throwing of a series of phase differencesShadow stripe print image obtains phase diagram. For reference stripe and deforming stripe, at least need respectively three widthThe projected fringe image of phase shift obtains phase diagram, and the embodiment of the present invention is used the striped of two spatial frequencys,Need to be two each projection three width phase shifted images of angle. Fringe analysis in phase shift technology of profiling utilizes triangle letterNumber relation is calculated phase diagram, when calculating phase diagram with M width image (M is more than or equal to 3 positive integer)Time, the phase place of projected fringe is by the each mobile 2 π/M of computer control, then project to respectively reference planes andThe surface of testee. Now, the expression formula of reference stripe and deforming stripe can be expressed as:

$r_m\left(x\right)=b_0+b_{1}cos(2{\mathrm{\πf}}_{0}x+\mathrm{\ψ}+\frac{2\mathrm{\π}(m-1)}{M})---\left(4\right)$

$d_m\left(x\right)=b_0+b_{1}cos(2{\mathrm{\πf}}_{0}x+\mathrm{\ψ}+\mathrm{\φ}(x)+\frac{2\mathrm{\π}(m-1)}{M})---\left(5\right)$

Wherein m=1,2 ..., M.

Can obtain according to following methods

$S_A=-\underset{m=1}{\overset{M}{\Σ}}{r}_m\left(x\right)sin\frac{2\mathrm{\π}(m-1)}{M}---\left(6a\right)$

$S_B=\underset{m=1}{\overset{M}{\Σ}}{r}_m\left(x\right)cos\frac{2\mathrm{\π}(m-1)}{M}---\left(6b\right)$

$D_A=-\underset{m=1}{\overset{M}{\Σ}}{d}_m\left(x\right)sin\frac{2\mathrm{\π}(m-1)}{M}---\left(6c\right)$

$D_B=\underset{m=1}{\overset{M}{\Σ}}{d}_m\left(x\right)cos\frac{2\mathrm{\π}(m-1)}{M}---\left(6d\right)$

${\mathrm{\Δ\Φ}}_1\left(x\right)=unwrap\left(arctan\frac{D_A}{D_B}\right)-unwrap\left(arctan\frac{S_A}{S_B}\right)---\left(6e\right)$

Wherein S_A，S_B，D_A，D_BFor intermediate variable, unwrap () represents phase unwrapping operation, and arctan () is that four-quadrant is anti-Tan.

WithRepresent respectively the phase diagram function of deforming stripe and reference planes striped. Described phaseThe value of bitmap function is between (π, π). Unit striped and high-frequency striped to projection carry out phase shift calculating,Can obtain the phase diagram function of two frequency stripeds. If phase shift step number is more, in phase diagram, containNoise will obviously reduce, and can significantly improve the quality of phase diagram.

In step S204, by time phase method of deploying to the non-hatched area in described phase diagram functionPhase diagram function carry out phase unwrapping, obtain the absolute phase of non-hatched area.

In phase unwrapping, launch Existential Space phase unwrapping and time phase two large class methods, and existing skillArt adopts space phase method of deploying conventionally, the projection bar of space phase method of deploying based on a spatial frequencyLine data, utilize relation between neighbor pixel phase place to estimate the phase place exponent number of each pixel. And the timeThe striped data of phase developing method based on multiple spatial frequencys, directly calculate the phase place of each pixelExponent number, the process of each pixel phase unwrapping and neighbor pixel be without any relation, each pixelAbsolute phase values is all independently to calculate according to stripe information in the same time not, has solved space phase exhibitionOpen the problem of Route Dependence in technology. Meanwhile, time phase method of deploying measurement category be far longer than spacePhase developing method, and its phase developing method is arithmetic, contrast space phase expansion technique, itsComputational efficiency improves greatly, can extensively be adapted to various application scenarios.

In step S205, estimate the absolute phase of shadow region according to the absolute phase of non-hatched area;

In step S206, calculate according to the absolute phase of the absolute phase of non-hatched area and shadow regionGo out the three-dimensional appearance data of testee.

It should be noted that, what above-mentioned steps obtained is that phase is carried out in the region being all irradiated at two Angles ProjectionsThe result that launch position, but in some region, can only receive the signal of left side or right side projection. At theseRegion, owing to only having the stripe signal of a spatial frequency, cannot obtain absolute phase. In order to obtain these the moonThe absolute phase in territory, shadow zone, the embodiment of the present invention adopts following methods:

The region being irradiated to for high-frequency striped, according to the monotonicity of described absolute phase and pre-conditionedEstimate the striped exponent number scope of the absolute phase of shadow region, then according to the phase diagram function of each pixel,Estimate the high-frequency striped absolute phase values of each pixel of shadow region;

Wherein, be describedly pre-conditionedly:

The striped exponent number of high-frequency projected fringe absolute phase is not less than this shadow region pixel high-frequency beforeThe striped exponent number of striped absolute phase, is also not more than this shadow region absolute phase of pixel high-frequency striped afterwardsThe striped exponent number of position.

Further, the region of irradiating for cell frequency striped, according to the absolute phase of cell frequency stripedAnd relation between the line absolute phase of high-frequency bar, make the absolute phase of cell frequency striped be multiplied by high-frequencyThe spatial frequency of striped, obtains the value according to a preliminary estimate of the absolute phase of high-frequency striped, and according to absolute phaseMonotonicity, reject and do not meet the improper value of monotonicity, then change according to absolute phase between neighbor pixelSlope, use linear interpolation method replace described improper value, obtain final high-frequency absolute phase values.

The embodiment of the present invention just can correctly be recovered the absolute phase of high-frequency striped of shadow region by above strategyPosition, obtains high-precision shadow-free three-dimensional reconstruction result. Owing to having adopted multi-frequency method, work as body surfaceWhile having jump, or while producing shade because of jump, can correctly recover the three-dimensional surface on testee surfaceData.

Further, the embodiment of the present invention is calculating each frequency bar according to the described stripe pattern of takingAfter the phase diagram function of line, also comprise:

Determine the striped exponent number of each pixel according to the relation between the absolute phase of each frequency striped, itsIn pass between the absolute phase of each frequency striped be Φ₂(x)＝kΦ₁(x), the computing formula of striped exponent number is:

$m_2\left(x\right)=Round\[\frac{{\mathrm{k\Φ}}_1\left(x\right)}{2\mathrm{\π}}-\frac{{\mathrm{\φ}}_2\left(x\right)}{2\mathrm{\π}}\]$

Wherein Round[] represent to get immediate integer, phase diagram function and the absolute phase of cell frequency stripedRespectively φ₁And Φ (x)₁(x), the phase diagram function of its k overtones band striped and absolute phase are respectively φ₂And Φ (x)₂(x)，K is more than or equal to 1 integer.

Phase diagram function and the absolute phase of in embodiments of the present invention, establishing cell frequency striped are respectively φ₁(x)And Φ₁(x), the phase diagram function of its k overtones band striped and absolute phase are respectively φ₂And Φ (x)₂(x)，Φ₂(x)＝φ₂(x)+2πm₂(x)，m₂(x) be the exponent number of phase unwrapping. Due to the phase diagram function of cell frequency striped andAbsolute phase equates, that is:

φ₁(x)＝Φ₁(x)

Can obtain by the relation between each spatial frequency striped absolute phase:

Φ₂(x)＝kΦ₁(x)

There is the computing formula of striped exponent number

$m_2\left(x\right)=Round\[\frac{{\mathrm{k\Φ}}_1\left(x\right)}{2\mathrm{\π}}-\frac{{\mathrm{\φ}}_2\left(x\right)}{2\mathrm{\π}}\]---\left(7\right)$

Wherein Round[] represent to get immediate integer. If striped frequency doubly increases with k, can obtain by the methodObtain the phase unwrapping result of upper frequency projected fringe. For the mistake of avoiding striped exponent number to occur as far as possible,Can increase with twice by controlling projection striped frequency, carry out the m obtaining when round numbers is calculated at every turn₂(x)Value is only likely 0 or 1, thereby greatly improves the order of accuarcy calculating. In order to select upper frequencyStriped, to obtain the reconstructed results of higher spatial resolution, the noise providing according to early-stage Study tolerance doorLimit value:

$0\&le;{\mathrm{\&Delta;\&phi;}}_{max}<\frac{\mathrm{\&pi;}}{f_1+f_2}$

Wherein, f₁＝1，f₂Represent the number of high-frequency striped. When phase noise in phase diagram function the most significantlyWhen degree is less than this noise tolerance threshold value, described time phase, method of deploying can recover each pixel exactlyAbsolute phase striped exponent number, and then obtain three-dimensional reconstruction result accurately.

Fig. 4 obtains dress for the three-dimensional appearance based on two angle multi-frequency fringe projections that the embodiment of the present invention providesThe composition structural representation of putting. For convenience of explanation, only show the part relevant to the embodiment of the present invention.

The described three-dimensional appearance acquisition device based on two angle multi-frequency fringe projections can be applied to and comprise twoProjecting apparatus, a camera and a system for computer, the optical axis of wherein said camera is perpendicular to ginsengExamine plane, the optical axis of two projecting apparatus and the optical axis of described camera are in same plane and at described cameraThe left and right sides be identical angle with the optical axis of described camera.

The described three-dimensional appearance acquisition device based on two angle multi-frequency fringe projections comprises:

Projecting cell 41, for distinguishing projection different frequencies by two projecting apparatus described in described computer controlStriped to the surface of testee;

Take unit 42, for by the stripe pattern of two projecting apparatus projections described in described camera;

Computing unit 43, for calculating the phase diagram of each frequency striped according to the described stripe pattern of takingFunction;

Processing unit 44, for by the nonshaded area of method of deploying time phase to described phase diagram functionThe phase diagram function in territory carries out phase unwrapping, obtains the absolute phase of non-hatched area;

Estimation unit 45, for estimating the absolute phase of shadow region according to the absolute phase of non-hatched area;

Three-dimensional appearance data computing unit 46, for according to the absolute phase of non-hatched area and shadow regionAbsolute phase calculate the three-dimensional appearance data of testee.

Further, described device also comprises:

Striped exponent number determining unit 47, for calculating each frequency bar according to the described stripe pattern of takingAfter the phase diagram function of line, determine each pixel according to the relation between the absolute phase of each frequency stripedThe striped exponent number of point, wherein the pass between the absolute phase of each frequency striped is Φ₂(x)＝kΦ₁(x), stripedThe computing formula of exponent number is:

$m_2\left(x\right)=Round\&lsqb;\frac{{\mathrm{k\&Phi;}}_1\left(x\right)}{2\mathrm{\&pi;}}-\frac{{\mathrm{\&phi;}}_2\left(x\right)}{2\mathrm{\&pi;}}\&rsqb;$

Wherein Round[] represent to get immediate integer, phase diagram function and the absolute phase of cell frequency stripedRespectively φ₁And Φ (x)₁(x), the phase diagram function of its k overtones band striped and absolute phase are respectively φ₂And Φ (x)₂(x)，K is more than or equal to 1 integer.

Further, described estimation unit 45 specifically for:

The region being irradiated to for high-frequency striped, according to the monotonicity of described absolute phase and pre-conditionedEstimate the striped exponent number scope of the absolute phase of shadow region, then according to the phase diagram function of each pixel,Estimate the high-frequency striped absolute phase values of each pixel of shadow region.

Wherein, describedly pre-conditionedly can be:

The striped exponent number of high-frequency projected fringe absolute phase is not less than this shadow region pixel high-frequency beforeThe striped exponent number of striped absolute phase, is also not more than this shadow region absolute phase of pixel high-frequency striped afterwardsThe striped exponent number of position.

Further, described estimation unit 45 also for:

The region of irradiating for cell frequency striped, according to the absolute phase of cell frequency striped and high-frequency barLine absolute phase between relation, make the absolute phase of cell frequency striped be multiplied by the space of high-frequency stripedFrequency, obtains the value according to a preliminary estimate of the absolute phase of high-frequency striped, and according to the monotonicity of absolute phase,Rejecting does not meet the improper value of monotonicity, then the slope changing according to absolute phase between neighbor pixel, makesReplace described improper value by linear interpolation method, obtain final high-frequency absolute phase values.

In sum, the embodiment of the present invention provides a kind of three-dimensional shaped based on two angle multi-frequency fringe projectionsLooks acquisition methods and device, adopt fringe projection to rebuild the 3 d surface topography of object being measured. ItsIn, the mode of employing multi-frequency fringe projection, effectively enlarge measurement range; Adopt two Angles Projections to haveEffect is removed projection dead angle and shadow region, improves the reliability of measurement result, has stronger ease for use and realityThe property used.

Those skilled in the art can be well understood to, for convenience of description and succinctly, only more thanThe division of stating each functional unit is illustrated, in practical application, and can be as required and by above-mentioned functionsDistribute and completed by different functional units, module, be divided into different merits by the internal structure of described deviceEnergy unit or module, to complete all or part of function described above. Each functional unit in embodimentCan be integrated in a processing unit, can be also that the independent physics of unit exists, also can two orMore than two unit is integrated in a unit, and above-mentioned integrated unit both can adopt the form of hardware to realize,Also can adopt the form of SFU software functional unit to realize. In addition, the concrete title of each functional unit is just alsoBe convenient to mutual differentiation, be not limited to the application's protection domain. In said apparatus, each unit is concreteThe course of work, can, with reference to the corresponding process in preceding method embodiment, not repeat them here.

Those of ordinary skill in the art can recognize, in conjunction with respectively showing of embodiment description disclosed hereinUnit and the algorithm steps of example, can come with the combination of electronic hardware or computer software and electronic hardwareRealize. These functions are carried out with hardware or software mode actually, depend on the application-specific of technical schemeAnd design constraint. Professional and technical personnel can realize with distinct methods each specifically should being used forDescribed function, but this realization should not thought and exceeds scope of the present invention.

In embodiment provided by the present invention, should be understood that disclosed apparatus and method, Ke YitongThe mode of crossing other realizes. For example, device embodiment described above is only schematically, for example,The division of described unit, is only that a kind of logic function is divided, and when actual realization, can have other division sideFormula, for example multiple unit or assembly can in conjunction with or can be integrated into another system, or some features canTo ignore, or do not carry out. Another point, shown or discussed coupling each other or direct-coupling or logicalIt can be by some interfaces that news connect, and the INDIRECT COUPLING of device or unit or communication connect, and can be electrically,Machinery or other form.

The described unit as separating component explanation can or can not be also physically to separate, asThe parts that unit shows can be or can not be also physical locations, can be positioned at a place, orAlso can be distributed on multiple NEs. Can select according to the actual needs wherein some or all ofThe object of the present embodiment scheme is realized in unit.

In addition, the each functional unit in each embodiment of the present invention can be integrated in a processing unit,Also can be that the independent physics of unit exists, also can be integrated in a unit in two or more unitIn. Above-mentioned integrated unit both can adopt the form of hardware to realize, and also can adopt SFU software functional unitForm realizes.

If described integrated unit using the form of SFU software functional unit realize and as production marketing independently orWhen use, can be stored in a computer read/write memory medium. Based on such understanding, the present inventionThe part that the technical scheme of embodiment contributes to prior art in essence in other words or this technical schemeAll or part of can embodying with the form of software product, this computer software product is stored in one and depositsIn storage media, comprise that some instructions are in order to make a computer equipment (can be personal computer, serveDevice, or the network equipment etc.) or processor (processor) execution each embodiment institute of the embodiment of the present inventionState all or part of step of method. And aforesaid storage medium comprises: USB flash disk, portable hard drive, read-only depositingReservoir (ROM, Read-OnlyMemory), random access memory (RAM, RandomAccessMemory), the various media that can be program code stored such as magnetic disc or CD.

The above embodiment only, in order to technical scheme of the present invention to be described, is not intended to limit; Although referencePrevious embodiment has been described in detail the present invention, and those of ordinary skill in the art is to be understood that: itsThe technical scheme that still can record aforementioned each embodiment is modified, or to part technology spy whereinLevy and be equal to replacement; And these amendments or replacement do not make the essence of appropriate technical solution depart from thisThe spirit and scope of the each embodiment technical scheme of bright embodiment.

Claims (10)

1. the three-dimensional appearance acquisition methods based on two angle multi-frequency fringe projections, is characterized in that, shouldBe used for comprising two projecting apparatus, a camera and a system for computer, wherein said cameraOptical axis is perpendicular to reference planes, the optical axis of two projecting apparatus and the optical axis of described camera in same plane andBe identical angle in the left and right sides of described camera and the optical axis of described camera, described method comprises:

By two projecting apparatus described in described computer control respectively the striped of projection different frequencies to testeeSurface on;

By the stripe pattern of two projecting apparatus projections described in described camera;

Calculate the phase diagram function of each frequency striped according to the described stripe pattern of taking;

By time phase method of deploying the phase diagram function of the non-hatched area in described phase diagram function is enteredLine phase launches, and obtains the absolute phase of non-hatched area;

Estimate the absolute phase of shadow region according to the absolute phase of non-hatched area;

Calculate three of testee according to the absolute phase of the absolute phase of non-hatched area and shadow regionDimension topographic data.

2. the three-dimensional appearance acquisition methods based on two angle multi-frequency fringe projections as claimed in claim 1,It is characterized in that, according to take described stripe pattern calculate each frequency striped phase diagram function itAfter, also comprise:

Determine the striped exponent number of each pixel according to the relation between the absolute phase of each frequency striped, itsIn pass between the absolute phase of each frequency striped be Φ₂(x)＝kΦ₁(x), the computing formula of striped exponent number is:

$m_2\left(x\right)=Round\&lsqb;\frac{{\mathrm{k\&Phi;}}_1\left(x\right)}{2\mathrm{\&pi;}}-\frac{{\mathrm{\&phi;}}_2\left(x\right)}{2\mathrm{\&pi;}}\&rsqb;$

Wherein Round[] represent to get immediate integer, phase diagram function and the absolute phase of cell frequency stripedRespectively φ₁And Φ (x)₁(x), the phase diagram function of its k overtones band striped and absolute phase are respectively φ₂And Φ (x)₂(x)，K is more than or equal to 1 integer.

3. the three-dimensional appearance acquisition methods based on two angle multi-frequency fringe projections as claimed in claim 1,It is characterized in that, the described absolute phase according to non-hatched area estimates that the absolute phase of shadow region comprises:

The region being irradiated to for high-frequency striped, according to the monotonicity of described absolute phase and pre-conditionedEstimate the striped exponent number scope of the absolute phase of shadow region, then according to the phase diagram function of each pixel,Estimate the high-frequency striped absolute phase values of each pixel of shadow region.

4. the three-dimensional appearance acquisition methods based on two angle multi-frequency fringe projections as claimed in claim 3,It is characterized in that, be describedly pre-conditionedly:

The striped exponent number of high-frequency projected fringe absolute phase is not less than this shadow region pixel high-frequency beforeThe striped exponent number of striped absolute phase, is also not more than this shadow region absolute phase of pixel high-frequency striped afterwardsThe striped exponent number of position.

5. the three-dimensional appearance acquisition methods based on two angle multi-frequency fringe projections as claimed in claim 3,It is characterized in that, described method also comprises:

The region of irradiating for cell frequency striped, according to the absolute phase of cell frequency striped and high-frequency barLine absolute phase between relation, make the absolute phase of cell frequency striped be multiplied by the space of high-frequency stripedFrequency, obtains the value according to a preliminary estimate of the absolute phase of high-frequency striped, and according to the monotonicity of absolute phase,Rejecting does not meet the improper value of monotonicity, then the slope changing according to absolute phase between neighbor pixel, makesReplace described improper value by linear interpolation method, obtain final high-frequency absolute phase values.

6. the three-dimensional appearance acquisition device based on two angle multi-frequency fringe projections, is characterized in that, shouldBe used for comprising two projecting apparatus, a camera and a system for computer, wherein said cameraOptical axis is perpendicular to reference planes, the optical axis of two projecting apparatus and the optical axis of described camera in same plane andBe identical angle in the left and right sides of described camera and the optical axis of described camera, described device comprises:

Projecting cell, for by the projection different frequencies respectively of two projecting apparatus described in described computer controlStriped is to the surface of testee;

Take unit, for by the stripe pattern of two projecting apparatus projections described in described camera;

Computing unit, for calculating the phase diagram letter of each frequency striped according to the described stripe pattern of takingNumber;

Processing unit, for by the non-hatched area of method of deploying time phase to described phase diagram functionPhase diagram function carry out phase unwrapping, obtain the absolute phase of non-hatched area;

Estimation unit, for estimating the absolute phase of shadow region according to the absolute phase of non-hatched area;

Three-dimensional appearance data computing unit, for according to the absolute phase of non-hatched area and shadow regionAbsolute phase calculates the three-dimensional appearance data of testee.

7. the three-dimensional appearance acquisition device based on two angle multi-frequency fringe projections as claimed in claim 6,It is characterized in that, described device also comprises:

Striped exponent number determining unit, for calculating each frequency striped according to the described stripe pattern of takingPhase diagram function after, determine each pixel according to the relation between the absolute phase of each frequency stripedStriped exponent number, wherein the pass between the absolute phase of each frequency striped is Φ₂(x)＝kΦ₁(x), fringe orderThe computing formula of number is:

$m_2\left(x\right)=Round\&lsqb;\frac{{\mathrm{k\&Phi;}}_1\left(x\right)}{2\mathrm{\&pi;}}-\frac{{\mathrm{\&phi;}}_2\left(x\right)}{2\mathrm{\&pi;}}\&rsqb;$

Wherein Round[] represent to get immediate integer, phase diagram function and the absolute phase of cell frequency stripedRespectively φ₁And Φ (x)₁(x), the phase diagram function of its k overtones band striped and absolute phase are respectively φ₂And Φ (x)₂(x)，K is more than or equal to 1 integer.

8. the three-dimensional appearance acquisition device based on two angle multi-frequency fringe projections as claimed in claim 6,It is characterized in that, described estimation unit specifically for:

The region being irradiated to for high-frequency striped, according to the monotonicity of described absolute phase and pre-conditionedEstimate the striped exponent number scope of the absolute phase of shadow region, then according to the phase diagram function of each pixel,Estimate the high-frequency striped absolute phase values of each pixel of shadow region.

9. the three-dimensional appearance acquisition device based on two angle multi-frequency fringe projections as claimed in claim 8,It is characterized in that, be describedly pre-conditionedly:

The striped exponent number of high-frequency projected fringe absolute phase is not less than this shadow region pixel high-frequency beforeThe striped exponent number of striped absolute phase, is also not more than this shadow region absolute phase of pixel high-frequency striped afterwardsThe striped exponent number of position.

10. the three-dimensional appearance acquisition device based on two angle multi-frequency fringe projections as claimed in claim 8,It is characterized in that, described estimation unit also for:

The region of irradiating for cell frequency striped, according to the absolute phase of cell frequency striped and high-frequency barLine absolute phase between relation, make the absolute phase of cell frequency striped be multiplied by the space of high-frequency stripedFrequency, obtains the value according to a preliminary estimate of the absolute phase of high-frequency striped, and according to the monotonicity of absolute phase,Rejecting does not meet the improper value of monotonicity, then the slope changing according to absolute phase between neighbor pixel, makesReplace described improper value by linear interpolation method, obtain final high-frequency absolute phase values.