CN106840036B - A kind of diadactic structure light optimization method suitable for fast three-dimensional appearance measuring - Google Patents
A kind of diadactic structure light optimization method suitable for fast three-dimensional appearance measuring Download PDFInfo
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- CN106840036B CN106840036B CN201611269911.XA CN201611269911A CN106840036B CN 106840036 B CN106840036 B CN 106840036B CN 201611269911 A CN201611269911 A CN 201611269911A CN 106840036 B CN106840036 B CN 106840036B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/2433—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring outlines by shadow casting
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2504—Calibration devices
Abstract
The invention discloses a kind of diadactic structure light optimization methods suitable for fast three-dimensional appearance measuring, which comprises the steps of: camera, projector λ correction；Camera calibration, distortion correction；Project phase-shifted grating striped；Project diadactic structure pumped FIR laser figure；Phase shift method finds out grating wrapped phase, finds out raster level using strip encoding；Absolute phase is found out, Carrier-smoothed code is completed；Phase mapping is true altitude, reconstructs three-D profile.The present invention utilizes the diadactic structure pumped FIR laser method optimized, it can be realized object three-dimensional contour outline reconstruct, and this method can accurately determine the period level of projection grating striped, avoid the non-linear projection problem of multi-stage grey scale value and the color Aliasing Problem of multi-channel projection, measuring speed is quick, there is good adaptability to different measurement objects, there is prominent significant technical effect.
Description
Technical field
The present invention relates to a kind of diadactic structure light optimization methods suitable for fast three-dimensional appearance measuring, belong to quick three-dimensional
Topography field.
Background technique
3D imaging based on structured light projection can provide the three-D profile information of object, pass through the decoding and and phase to image
Position expansion, can accurately rebuild the three-D profile of body surface, and structured light three-dimensional imaging is with its big visual field, non-contact, high-precision
It the advantages that degree, real-time, is widely used in industrial three-dimensional measurement field.
Various phase shift methods including three steps, four steps, N step phase shift method are used for the three-dimensionalreconstruction of object, phase shift method projection
Striped number it is more, accuracy is higher, but acquires the speed phase that receives restrictions, and obtain to be wrapped in [- π, π]
Relative phase [1-3], for obtain be between phase and object one-to-one relationship absolute phase, need to unpack phase
It wraps up in, determines phase cycling level.Zheng D et al. uses two sets of multi-stage grey scale value stepped phase strip encodings, a set of by the whole audience
It is divided into multiple regions, it is another set of for being divided equally again to each region, stepped phase is generated jointly with this, determines item
Line level.The four-stepped switching policy that Fu Y et al. is encoded based on multi-stage grey scale value projects sine streak and ladder strip encoding respectively,
It is encoded using a set of multi-stage grey scale value, improves the efficiency of unpacking, strip encoding figure number can be made by increasing grey level
Mesh further decreases, and is applied in blade topography measurement.Zhou C et al. utilizes color fringe projection, by sine streak
The different channels into color fringe are modulated with ladder strip encoding, reduces the number of fringe projection, further improves measurement
Speed.
Although these methods can be used for measuring three-dimensional morphology, following problems can't be fully solved: 1) multistage ash
Projection non-linear problem caused by angle value；2) the color Aliasing Problem of colour projection；3) adaptability problem of coding method；4) three
Tie up the low problem of measuring speed.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the deficiencies of existing technologies, provide a kind of suitable for quick three-dimensional shape
The diadactic structure light optimization method of looks measurement.
In order to solve the above technical problems, to provide a kind of diadactic structure light suitable for fast three-dimensional appearance measuring excellent by the present invention
Change method, which comprises the steps of: camera, projector λ correction；Camera calibration, distortion correction；Project phase shift light
Grizzly bar line；Project diadactic structure pumped FIR laser figure；Phase shift method finds out grating wrapped phase, finds out raster level using strip encoding；
Absolute phase is found out, Carrier-smoothed code is completed；Phase mapping is true altitude, reconstructs three-D profile.
Preferably, the camera calibration, distortion correction include: to be marked using Zhang Zhengyou calibration method to camera used is tested
It is fixed, the inside and outside parameter of camera is found out, and distortion correction is carried out to the image that shooting obtains according to the parameter.
Preferably, the projection phase-shifted grating striped includes: to project several four-step phase-shifting sinusoidal grating stripeds to measured object
Body surface face uses the pattern of camera acquired projections to body surface.
Preferably, the sinusoidal grating of projection walks phase shift method using N, has dephased structure light by projecting several
Pattern obtains phase information, the light intensity expression of kth width phase shift method projection pattern are as follows:
Wherein, Ik(x, y) is the light intensity (k=0,1,2,3) in somewhere in projected image, and I ' (x, y) is background light intensity, I "
(x, y) is modulation light intensity,For phase to be asked, N represents projected image number.
Preferably, the projection diadactic structure pumped FIR laser figure includes: to project several corresponding diadactic structure light of three steps phase shift
Code pattern uses the pattern of camera acquired projections to body surface.
Preferably, the projection diadactic structure pumped FIR laser figure further include: stepped phase is encoded into binary black and white pattern,
I-th width binary coding striped expression formula of projection are as follows:
Wherein, L is the total length in the direction strip encoding figure x, and δ is the direction x preset displacement value, and l is single width of fringe, N
For the phase shift step number of projected fringe, k is stepped phase subregion number, and k value is by k=log2(L/l) it determines；Demodulate binary volume
The relative phase of the corresponding three steps phase shift of code-bar line is stepped phase, is answered at this stepped phase and 2 π jumps of sinusoidal wrapped phase
It is overlapped, reasonable δ value need to be set, correction is biased to phase code in advance.
Preferably, the phase shift method finds out grating wrapped phase, and finding out raster level using strip encoding includes: by four
Step phase shift method acquires the wrapped phase of grating fringe, using the stepped phase obtained after the demodulation of binary-coding striped, determines grating
The period level of striped；Described to find out absolute phase, completing Carrier-smoothed code includes: finally according to period level to wrapped phase
It carries out unpacking and obtains absolute phase, complete Carrier-smoothed code.
Preferably, after projecting several phase-shift patterns using N step phase shift method, the sinusoidal wrapped phase expression formula that acquires are as follows:
The phase that this formula obtains be the relative phase of 2 π in the period being wrapped in [- π, π], it is real to improve measurement accuracy
Grating fringe has multiple periods in entire measurement range in the measurement of border, by rightUnpacking is carried out, it is continuous to obtain
It can completely reflect the absolute phase values of change of the object to projected fringe light intensity.
Preferably, the calculating step of the raster level are as follows:
Step SS1: stepped phase neutron areal r is r=2k-1, total stair-step number S is S=6r, passes through three
Phase shift method is walked, the ladder series that diadactic structure pumped FIR laser obtains is 6r；
Step SS2: to make sine streak each period have corresponding stepped phase, can go on smoothly phase unwrapping,
The periodicity T of sinusoidal grating striped and the subregion number k of binary coding striped need to only meet following relationship:
T < 6 × 2k-1；
Step SS3: the sine streak level t in corresponding region is obtained by stepped phase in each subregion:
Wherein,To walk the stepped phase that phase shift method acquires through N.
Preferably, the calculation method of the absolute phase are as follows:
The half expansion phase that sine streak phase is not fully deployed is obtained by t value
It recycles traditional neighbor analysis method to be unfolded again, for the stepped phase using 3 step phase shift methods, is unfolded half
At phase diagram phase hit, to adjacent phase difference be more than 6 × 2 π phase plus 6 × 2 π, complete phase and go to wrap up.
Advantageous effects of the invention: (1) coding step striped of the invention uses two-value striped, to fringe contrast
It spends insensitive, avoids the superposition of phase error and the influence of projection non-linear, measurement error can be effectively reduced；(2) originally
Invention can be avoided the color Aliasing Problem of multichannel colour projection using monochromatic projection is used；(3) present invention passes through setting k
Value size can for the different sine streak periods make specific aim adjustment, and by change N value can adaptive step number, improve survey
The flexibility of amount；(4) reduce projected fringe number under equal conditions of the present invention, improve measuring speed.
Detailed description of the invention
Fig. 1 is a kind of flow chart of diadactic structure light optimization method suitable for fast three-dimensional appearance measuring of the invention.
The step of Fig. 2 is the tortoise model three-dimensionalreconstruction of one embodiment of the present of invention and effect picture.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
If Fig. 1 is a kind of process of diadactic structure light optimization method suitable for fast three-dimensional appearance measuring of the invention
Figure.The present invention proposes a kind of diadactic structure light optimization method suitable for fast three-dimensional appearance measuring, includes the following steps: phase
Machine, projector λ correction；Camera calibration, distortion correction；Project phase-shifted grating striped；Project diadactic structure pumped FIR laser figure；Phase shift method
Grating wrapped phase is found out, finds out raster level using strip encoding；Absolute phase is found out, Carrier-smoothed code is completed；Phase is reflected
It penetrates as true altitude, reconstructs three-D profile, i.e., absolute phase is mapped as to the true altitude of object, realize object under test surface
Three-dimensional appearance reconstruct.
As a kind of preferred embodiment, the camera calibration, distortion correction includes: using Zhang Zhengyou calibration method to experiment
Camera used is demarcated, and finds out the inside and outside parameter of camera, and carry out distortion correction to the image that shooting obtains according to the parameter.
As a kind of preferred embodiment, the projection phase-shifted grating striped includes: to project several four-step phase-shifting sine light
Grizzly bar line uses the pattern of camera acquired projections to body surface to testee surface.
As a kind of preferred embodiment, the sinusoidal grating of projection walks phase shift method using N, has by projecting several
The structured light patterns of phase difference obtain phase information, the light intensity expression of kth width phase shift method projection pattern are as follows:
Wherein, Ik(x, y) is the light intensity (k=0,1,2,3) in somewhere in projected image, and I ' (x, y) is background light intensity, I "
(x, y) is modulation light intensity,For phase to be asked, N represents projected image number.
As a kind of preferred embodiment, the projection diadactic structure pumped FIR laser figure includes: to project several three steps phase shifts pair
The diadactic structure pumped FIR laser figure answered, uses the pattern of camera acquired projections to body surface.
As a kind of preferred embodiment, the projection diadactic structure pumped FIR laser figure further include: by stepped phase encode into
In binary black and white pattern, the i-th width binary coding striped expression formula of projection are as follows:
Wherein, L is the total length in the direction strip encoding figure x, and δ is the direction x preset displacement value, and l is single width of fringe, N
For the phase shift step number of projected fringe, k is stepped phase subregion number, and k value is by k=log2(L/l) it determines；Demodulate binary volume
The relative phase of the corresponding three steps phase shift of code-bar line is stepped phase, is answered at this stepped phase and 2 π jumps of sinusoidal wrapped phase
It is overlapped, reasonable δ value need to be set, correction is biased to phase code in advance.
As a kind of preferred embodiment, the phase shift method finds out grating wrapped phase, finds out grating using strip encoding
Level includes: that the wrapped phase of grating fringe is acquired by four-stepped switching policy, utilizes the rank obtained after the demodulation of binary-coding striped
Terraced phase determines the period level of grating fringe；Described to find out absolute phase, completing Carrier-smoothed code includes: finally according to week
Phase level carries out unpacking to wrapped phase and obtains absolute phase, completes Carrier-smoothed code.
As a kind of preferred embodiment, after projecting several phase-shift patterns using N step phase shift method, the sine acquired wraps up phase
Position expression formula are as follows:
The phase that this formula obtains be the relative phase of 2 π in the period being wrapped in [- π, π], it is real to improve measurement accuracy
Grating fringe has multiple periods in entire measurement range in the measurement of border, by rightUnpacking is carried out, it is continuous to obtain
It can completely reflect the absolute phase values of change of the object to projected fringe light intensity.
As a kind of preferred embodiment, the calculating step of the raster level are as follows:
Step SS1: stepped phase neutron areal r is r=2k-1, total stair-step number S is S=6r, passes through three
Phase shift method is walked, the ladder series that diadactic structure pumped FIR laser obtains is 6r；
Step SS2: to make sine streak each period have corresponding stepped phase, can go on smoothly phase unwrapping,
The periodicity T of sinusoidal grating striped and the subregion number k of binary coding striped need to only meet following relationship:
T < 6 × 2k-1；
Step SS3: the sine streak level t in corresponding region is obtained by stepped phase in each subregion:
Wherein,To walk the stepped phase that phase shift method acquires through N.
As a kind of preferred embodiment, the calculation method of the absolute phase are as follows:
The half expansion phase that sine streak phase is not fully deployed is obtained by t value
It recycles traditional neighbor analysis method to be unfolded again, for the stepped phase using 3 step phase shift methods, is unfolded half
At phase diagram phase hit, to adjacent phase difference be more than 6 × 2 π phase plus 6 × 2 π, complete phase and go to wrap up.
The step of Fig. 2 is the tortoise model three-dimensionalreconstruction of one embodiment of the present of invention and effect picture.Firstly, four width of projection
Four-step phase-shifting sine streak then projects the corresponding diadactic structure pumped FIR laser figure of three three step phase shifts, takes k=2 to body surface,
As shown in Fig. 2 .1.For the accuracy for improving experimental result, the pattern projected passes through distortion correction, as shown in Fig. 2 .2.
After determining grating fringe level, the absolute phase of body surface is found out using raster level, is true high by this phase mapping
Degree, can reconstruct the three-D profile of body surface, as shown in Fig. 2 .3.
It can be seen from the above that the present invention makes use of the diadactic structure pumped FIR laser methods of optimization, can be realized object three-dimensional contour outline reconstruct,
And this method can accurately determine the period level of projection grating striped, avoid multi-stage grey scale value non-linear projection problem and
The color Aliasing Problem of multi-channel projection, measuring speed is quick, has good adaptability to different measurement objects, has prominent
Significant technical effect out.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (5)
1. a kind of diadactic structure light optimization method suitable for fast three-dimensional appearance measuring, which comprises the steps of:
Camera, projector λ correction；Camera calibration, distortion correction；Project phase-shifted grating striped；Diadactic structure pumped FIR laser figure is projected, it is described
Projection diadactic structure pumped FIR laser figure includes: to project several corresponding diadactic structure pumped FIR laser figures of three steps phase shift, is acquired using camera
Project to the pattern of body surface；The projection diadactic structure pumped FIR laser figure further include: encode stepped phase into binary black and white
In pattern, the i-th width binary coding striped expression formula of projection are as follows:
Wherein, L is the total length in the direction strip encoding figure x, and δ is the direction x preset displacement value, and l is single width of fringe, and N is to throw
The phase shift step number of shadow stripe line, k are stepped phase subregion number, and k value is by k=log2(L/l) it determines；Demodulate binary coding item
The relative phase of the corresponding three steps phase shift of line is stepped phase, should be weighed at this stepped phase and 2 π jumps of sinusoidal wrapped phase
It closes, reasonable δ value need to be set, correction is biased to phase code in advance；
Phase shift method finds out grating wrapped phase, finds out raster level using strip encoding, the phase shift method finds out grating package phase
Position, finding out raster level using strip encoding includes: that the wrapped phase of grating fringe is acquired by four-stepped switching policy, utilizes two-value
The stepped phase obtained after strip encoding demodulation, determines the period level of grating fringe；Absolute phase is found out, phase unwrapping is completed
It wraps up in；Phase mapping is true altitude, reconstructs three-D profile；Described to find out absolute phase, it includes: final for completing Carrier-smoothed code
Unpacking is carried out to wrapped phase according to period level and obtains absolute phase, completes Carrier-smoothed code；Using N step phase shift method projection
After several phase-shift patterns, the sinusoidal wrapped phase expression formula that acquires are as follows:
The phase that this formula obtains be the relative phase of 2 π in the period being wrapped in [- π, π], it is practical to survey to improve measurement accuracy
Grating fringe has multiple periods in entire measurement range in amount, by rightUnpacking is carried out, it continuously can be complete to obtain
Absolute phase values of the whole reflection object to the change of projected fringe light intensity；The calculating step of the raster level are as follows:
Step SS1: stepped phase neutron areal r is r=2k-1, total stair-step number S is S=6r, passes through three step phases
Shifting method, the ladder series that diadactic structure pumped FIR laser obtains are 6r；
Step SS2: to make sine streak each period have corresponding stepped phase, can go on smoothly phase unwrapping, sinusoidal
The periodicity T of grating fringe and the subregion number k of binary coding striped need to only meet following relationship:
T < 6 × 2k-1；
Step SS3: the sine streak level t in corresponding region is obtained by stepped phase in each subregion:
Wherein,To walk the stepped phase that phase shift method acquires through N.
2. a kind of diadactic structure light optimization method suitable for fast three-dimensional appearance measuring according to claim 1, special
Sign is that the camera calibration, distortion correction includes: to demarcate using Zhang Zhengyou calibration method to camera used is tested, and finds out
The inside and outside parameter of camera, and distortion correction is carried out to the image that shooting obtains according to the parameter.
3. a kind of diadactic structure light optimization method suitable for fast three-dimensional appearance measuring according to claim 1, special
Sign is that the projection phase-shifted grating striped includes: to project several four-step phase-shifting sinusoidal grating stripeds to testee surface, makes
With the pattern of camera acquired projections to body surface.
4. a kind of diadactic structure light optimization method suitable for fast three-dimensional appearance measuring according to claim 3, special
Sign is that the sinusoidal grating of projection walks phase shift method using N, is obtained by projecting several dephased structured light patterns of tool
Take phase information, the light intensity expression of kth width phase shift method projection pattern are as follows:
Wherein, Ik(x, y) is the light intensity (k=0,1,2,3) in somewhere in projected image, and I ' (x, y) is background light intensity, and I " (x, y) is
Light intensity is modulated,For phase to be asked, N represents projected image number.
5. a kind of diadactic structure light optimization method suitable for fast three-dimensional appearance measuring according to claim 1, special
Sign is, the calculation method of the absolute phase are as follows:
The half expansion phase that sine streak phase is not fully deployed is obtained by t value
Traditional neighbor analysis method is recycled to be unfolded again, for the stepped phase using 3 step phase shift methods, in half expansion phase
At figure phase hit, to adjacent phase difference be more than 6 × 2 π phase plus 6 × 2 π, complete phase and go to wrap up.
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| CN107547798A (en) * | 2017-08-09 | 2018-01-05 | 广东欧珀移动通信有限公司 | Shooting focusing control method, device and terminal device |
| JP6879168B2 (en) * | 2017-11-01 | 2021-06-02 | オムロン株式会社 | 3D measuring device, 3D measuring method and program |
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| CN109253708B (en) | 2018-09-29 | 2020-09-11 | 南京理工大学 | Stripe projection time phase unwrapping method based on deep learning |
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| CN112923870B (en) * | 2021-01-26 | 2022-02-22 | 四川大学 | Color object structured light three-dimensional measurement method based on phase shift and multi-bit code |
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| CN112945140B (en) * | 2021-01-29 | 2022-09-16 | 四川大学 | Color object three-dimensional measurement method based on lookup table and region segmentation |
| CN113155056B (en) * | 2021-02-08 | 2023-02-07 | 北京朗视仪器股份有限公司 | Rapid three-dimensional measurement method based on sinusoidal stripe and multi-gray-scale stripe projection |
| CN113237437B (en) * | 2021-06-02 | 2023-11-10 | 苏州大学 | Structured light three-dimensional morphology measurement method and device based on phase coding element |
| CN113551618B (en) * | 2021-07-14 | 2023-01-31 | 苏州大学 | Fringe projection three-dimensional shape measuring method and device based on diffraction encoding phase plate |
| CN114199160B (en) * | 2021-12-16 | 2024-03-26 | 武汉工程大学 | Circuit board component geometry detection method based on binary code grating defocusing projection |
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