CN107576280A - Fringe projection 3 D measuring method and device based on parallel four Color Channel - Google Patents
Fringe projection 3 D measuring method and device based on parallel four Color Channel Download PDFInfo
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Abstract
The invention discloses a kind of fringe projection 3 D measuring method and device based on parallel four Color Channel.The device includes computer, visible light projector, infrared projector, 2CCD cameras and semi-transparent semi-reflecting lens；The computer is connected with visible light projector, infrared projector, 2CCD cameras respectively；The visible light projector and infrared projector are located at same level；The distance between visible light projector and semi-transparent semi-reflecting lens are identical with the distance between infrared projector and semi-transparent semi-reflecting lens；The semi-transparent semi-reflecting lens are in 45 ° of angles perpendicular to horizontal plane and with visible light projector and the optical axis of infrared projector.Three spoke print images of the Color Channel of red, green, blue three are complex as a width composite color image by this method, project composite color image and infrared image simultaneously, 2CCD cameras gather composite coloured and infrared two images simultaneously, reduce the quantity of projected fringe image, the three-dimensional appearance that single measurement can obtain object is realized, improves measuring speed.
Description
Technical field
The present invention relates to three-dimensional stereoscopic visual fields of measurement, specifically a kind of fringe projection based on parallel four Color Channel
3 D measuring method and device.
Background technology
With industry manufacture and the development of e measurement technology, measuring three-dimensional morphology is in industrial on-line checking, virtual reality, historical relic
It is used widely in the fields such as protection, reverse-engineering, biomedicine.(thing is recovered using three coordinate measuring machine with traditional technology
Body surface facial contour) to compare, optical three-dimensional measurement has the advantages that non-contact, non-destructive, measuring speed are fast.Fringe projection technology of profiling
To turn into one of most reliable technology the advantages that high accuracy, Non-scanning mode, measurement of full field.Three-dimensional appearance data are to calculate body surface
The core of various attribute informations, it is quick to realize that accurate measurement is to improve the guarantee of product quality.Therefore, quick obtaining measured object
Body three-dimensional surface shape data, the quality assurance to industrial manufacturing process links have important theory significance and using valencys
Value.In particular with scientific and technological progress and the development of national economy, advanced manufacturing technology field will to the automatic detection of production process
Ask increasingly stricter, and measuring three-dimensional morphology technology will turn into the means and medium for meeting this great demand.Although it is based on
The optical three-dimensional measurement technology of fringe projection obtains broad development, but how to have that speed is fast and precision height is still one concurrently simultaneously
Big challenge.
Quick three-dimensional measurement of the tradition based on fringe projection can be divided into two classes：One kind is that projection single-frame images carrys out detectable substance
The survey region interested of body；Another is projection multiframe phase shift stripe pattern.Although first kind measuring method is to object
Motion-insensitive, measuring speed is fast, but it the shortcomings that be phase calculation rely on spatial neighbor point phase distribution, it is impossible to it is extensive
Multiple discontinuous surface.Second method calculates phase according to multiple phase shift bar graphs of collection in the intensity level of same pixel
Position.Compared with first method, this method provides higher phase measurement accuracy and spatial resolution, and shortcoming is projection multiframe
Stripe pattern, while improving measurement accuracy, measuring speed will certainly be reduced.Zhang S.and Huang P.S. are in " high score
Resolution real-time three-dimensional topography measurement " (High-resolution, real-time three dimensional shape
Measurement, Opt.Eng.45,123601,2006) calculated using the projector of repacking and a quick three steps phase shift in article
Method, it is only necessary to which 3 width images are the absolute phase that can obtain object.But the phase developing method used in article is only applicable to connect
Continuous object.This prevents the system from measuring the object of discontinuous, big gradient, and the measuring system needs to change hardware knot
Structure, operating difficulties, it should not promote.
In summary, above-mentioned measuring method or non-continuous objects can not be measured, or good measurement essence can not be provided
Degree, or the stripe pattern quantity of projection are more, and precision is not high, it is necessary to change hardware configuration, operating difficulties, should not promote.Therefore,
There is provided that a kind of hardware configuration is simple, algorithm measurement precision is high, the fireballing three-dimensional shaped based on projection multiframe phase shift stripe pattern
Looks measuring method, which turns into, to be needed to solve the problems, such as in the prior art.
The content of the invention
In view of the shortcomings of the prior art, the technical problem that the present invention intends to solve is to provide one kind and led to based on parallel four color
The fringe projection 3 D measuring method and device in road.This method answers three spoke print images of the Color Channel of red, green, blue three
A width composite color image is combined into, while projects composite color image and infrared image, 2CCD cameras gather composite coloured simultaneously
With infrared two images, reduce the quantity of projected fringe image, realize the three-dimensional appearance that single measurement can obtain object,
Improve measuring speed.
The present invention solves the problems, such as that the technical scheme of described device is to provide a kind of striped based on parallel four Color Channel and thrown
Shadow apparatus for measuring three-dimensional profile, it is characterised in that the device includes computer, visible light projector, infrared projector, 2CCD phases
Machine and semi-transparent semi-reflecting lens；The computer is connected with visible light projector, infrared projector, 2CCD cameras respectively；
The visible light projector and infrared projector are located at same level；Visible light projector and semi-transparent semi-reflecting lens it
Between distance it is identical with the distance between infrared projector and semi-transparent semi-reflecting lens；The semi-transparent semi-reflecting lens perpendicular to horizontal plane and
It is in 45 ° of angles with visible light projector and the optical axis of infrared projector.
The present invention solves the problems, such as that the technical scheme of methods described is to provide a kind of striped based on parallel four Color Channel and thrown
Shadow measuring three-dimensional morphology, it is characterised in that this method comprises the following steps：
1) visible light projector and infrared projector light path coaxial are adjusted：
1.1) relative position relation of visible light projector, infrared projector and semi-transparent semi-reflecting lens is adjusted so that visible ray
The image of projector projects is transmitted by semi-transparent semi-reflecting lens, and the image of infrared projector projection is reflected by semi-transparent semi-reflecting lens；
1.2) by the position of fine adjustment visible light projector, infrared projector and semi-transparent semi-reflecting lens until visible ray projection
The pattern of instrument and the pattern of infrared projector overlap, and ensure that movable testee realizes coincidence to any position,
So as to realize the axial light path of sharing the same light of visible light projector and infrared projector；
2) matching between visible light projector and infrared projector is completed：
2.1) the Projector Space object point P (X established in world coordinate systemw,Yw,Zw) and projector coordinates system in projection
Instrument imaging point p (up,vp) between perspective projection relation, as shown in formula (1)；
s[up,vp, 1] and=Mp[Rp Tp][Xw,Yw,Zw,1]T=Hp[Xw,Yw,Zw,1]T (1)
M in formula (1)pFor the inner parameter of projecting apparatus, RpSpin matrix for world coordinate system to projector coordinates system, Tp
Translation vector for world coordinate system to projector coordinates system, HpFor projection matrix；
To visible light projector and infrared projector difference applying equation (1), Projector Space thing in world coordinate system is established
Point P (Xw,Yw,Zw) and visible light projector coordinate system in projecting apparatus imaging point p (up1,vp1) between perspective projection relation,
As shown in formula (2)；
s[up1,vp1, 1] and=Mp1[Rp1Tp1][Xw,Yw,Zw,1]T=Hp1[Xw,Yw,Zw,1]T (2)
Establish Projector Space object point P (X in world coordinate systemw,Yw,Zw) and infrared projector coordinate system in projecting apparatus
Imaging point p (up2,vp2) between perspective projection relation, as shown in formula (3)；
s[up2,vp2, 1] and=Mp2[Rp2Tp2][Xw,Yw,Zw,1]T=Hp2[Xw,Yw,Zw,1]T (3)
2.2) infrared projector is derived to the image transformation relation such as formula (4) of visible light projector by formula (2) and (3)
It is shown, complete the matching between visible light projector and infrared projector；The image of infrared projector projection passes through formula (4) computing
The position relationship as visible light projector can be obtained, so as to which the device can be used as visible channel and infrared channel simultaneously
Row four-way uses, while projected fringe image；
[up1,vp1]=Hp1Hp2 -1[up2,vp2] (4)
2.3) matching effect of visible channel and infrared channel is verified：The visible channel of visible light projector and infrared
The infrared channel of projecting apparatus projects respectively meets that one group of image of optimal striped number is same to the surface of testee, 2CCD cameras
When gather two groups of images, respectively to two groups of image demodulation phases of collection, obtain two groups of absolute phases, two groups of absolute phases done
Difference, obtained phase error are located at the scope of allowable error；
3) red, green, blue and infrared parallel four Color Channels fringe-adjusted and demodulation techniques are proposed, obtain absolute phase：
3.1) software produce meet optimal three stripeds back-and-forth method three groups of sine streaks be encoded to visible light projector it is red,
The infrared channel of green, blue channel and infrared projector, project testee surface；The red passage and indigo plant of visible light projector lead to
Road is separately encoded striped number as 64 sine streak figure, and the phase difference between red, blue channel two width sine streak figure is
90°；The green channel coding striped number of visible light projector is 63 sine streak figure, and the infrared channel of infrared projector encodes
Striped number is 56 sine streak figure；
3.2) 2CCD cameras gather the infrared channel stripe pattern and red, green, blue passage of testee areal deformation simultaneously
Compound stripe pattern；
3.3) the red of visible light projector, blue channel apply two step phase shift methods, obtain wrapped phase；Visible light projector
Green channel application Fourier transformation, the wrapped phase of acquisition；The infrared channel application Fourier transformation of infrared projector, acquisition
Wrapped phase；The wrapped phase that the green passage of visible light projector and the infrared channel of infrared projector obtain is used to determine striped
Level；With reference to two step phase shift methods, fourier transform technique and optimal three stripeds back-and-forth method, from two spoke print images of single acquisition
Obtain the absolute phase information of each pixel；
4) three-dimensional image forming apparatus is demarcated, absolute phase is converted to three-dimensional data, recovers the three-dimensional appearance of testee.
Compared with prior art, beneficial effect of the present invention is：
1st, red, green, blue provided by the invention and infrared parallel four Color Channels fringe-adjusted and demodulation techniques, from parallel
Method, independently calculate the absolute phase of each pixel in the deforming stripe image gathered from single simultaneously, realize and fold phase
The Automatic-expanding of bitmap, the shortcomings that projection multiframe stripe pattern measuring speed is slow is overcome, is improved while precision is ensured
Measuring speed.
2nd, in terms of phase resolving, it is seen that light is red, the stripe pattern of blue channel accurately resolves folding using two step phase shift methods
Phase is to obtain absolute phase, and green passage and infrared channel obtain wrapped phase using fourier transform method, for determining striped
Level.With reference to two step phase shifts and fourier transform technique, can be obtained from the coloured image and infrared image of single acquisition each
The absolute phase information of pixel, realize the three-dimensional appearance of the complicated face shapes such as measurement non-continuous objects.
3rd, the visible and infrared projection system of the device development is shared the same light axial light path structure, dexterously real using semi-transparent semi-reflecting lens
Axial light path of sharing the same light is showed.It is simple in construction, it is compact, it is easy to accomplish, suitable for practical application.
4th, three spoke print images of the Color Channel of red, green, blue three are complex as a width composite color image, while projected multiple
Close coloured image and infrared image, 2CCD cameras gather composite coloured and infrared two images, reduce projection bar graph simultaneously
The quantity of picture, the three-dimensional appearance that single measurement can obtain object is realized, improves measuring speed.
5th, in view of existing fringe projection method due to easily being influenceed using visible ray, measurement result by external ambient light,
From the infrared light to external ambient light with stronger immunity, infrared channel is introduced, for accurately resolving wrapped phase, is carried
High measurement accuracy.
6th, the parallel multi-channel 3 D measuring method provided by the invention based on fringe projection, there is versatility, general
All over property, easy to spread.
Brief description of the drawings
Fig. 1, which is that fringe projection 3 D measuring method and device of the present invention based on parallel four Color Channel are a kind of, to be implemented
The device overall structure schematic top plan view of example；
Fig. 2, which is that fringe projection 3 D measuring method and device of the present invention based on parallel four Color Channel are a kind of, to be implemented
Projects images used in the visible light projector and infrared projector of example；
Fig. 3, which is that fringe projection 3 D measuring method and device of the present invention based on parallel four Color Channel are a kind of, to be implemented
Projects images design sketch after the visible light projector and infrared projector light path coaxial of example；Wherein Fig. 3 (a) is the throwing of visible ray
Image effect figure is penetrated, Fig. 3 (b) is infrared projects images design sketch；
Fig. 4, which is that fringe projection 3 D measuring method and device of the present invention based on parallel four Color Channel are a kind of, to be implemented
The visible light projector of example and the imaging model principle schematic of infrared projector；
Fig. 5, which is that fringe projection 3 D measuring method and device of the present invention based on parallel four Color Channel are a kind of, to be implemented
The absolute phase figure obtained after the visible channel and infrared channel of example are not matched and matched while using two passages；
Fig. 6 (a) is that fringe projection 3 D measuring method and device of the present invention based on parallel four Color Channel are a kind of
The compound stripe pattern of red, green, blue passage of the deformation of the testee high modulation collected of embodiment；
Fig. 6 (b) is that fringe projection 3 D measuring method and device of the present invention based on parallel four Color Channel are a kind of
The stripe pattern of the infrared channel of the deformation of the testee high modulation collected of embodiment；
Fig. 7 (a) is that fringe projection 3 D measuring method and device of the present invention based on parallel four Color Channel are a kind of
The wrapped phase figure that the red of the visible light projector of embodiment, blue channel obtain；
Fig. 7 (b) is that fringe projection 3 D measuring method and device of the present invention based on parallel four Color Channel are a kind of
The wrapped phase figure that the green passage of the visible light projector of embodiment obtains；
Fig. 7 (c) is that fringe projection 3 D measuring method and device of the present invention based on parallel four Color Channel are a kind of
The wrapped phase figure that the infrared channel of embodiment obtains；
Fig. 7 (d) is that fringe projection 3 D measuring method and device of the present invention based on parallel four Color Channel are a kind of
The absolute phase information that each pixel of testee is obtained from two spoke print images of single acquisition of embodiment；
Fig. 8, which is that fringe projection 3 D measuring method and device of the present invention based on parallel four Color Channel are a kind of, to be implemented
The three-dimensional appearance of the testee obtained after the system calibrating of example.
Embodiment
The specific embodiment of the present invention is given below.Specific embodiment is only used for that the present invention is further described, unlimited
The application scope of the claims processed.
The invention provides it is a kind of based on parallel four Color Channel fringe projection apparatus for measuring three-dimensional profile (referring to Fig. 1,
Abbreviation device), it is characterised in that the device includes computer 1, visible light projector 2, infrared projector 3,2CCD cameras 4 and half
Saturating semi-reflective mirror 5；The computer 1 is connected with visible light projector 2, infrared projector 3,2CCD cameras 4 respectively, can for controlling
See light projector 2, infrared projector 3 and 2CCD cameras 4, and store, show and handle acquired image；The visible ray is thrown
Shadow instrument 2 and infrared projector 3 are used for projected fringe image；The 2CCD cameras 4 gather the stripe pattern reflected by object；
The visible light projector 2 and infrared projector 3 are located at same level；Visible light projector 2 and semi-transparent semi-reflecting
The distance between mirror 5 is identical with the distance between infrared projector 3 and semi-transparent semi-reflecting lens 5；The semi-transparent semi-reflecting lens 5 are arranged on type
Number for WN02RM100 precise manual turntable on, platform can be manually rotated by adjustment precision to adjust semi-transparent semi-reflecting lens 5, ensure
Semi-transparent semi-reflecting lens 5 are in 45 ° of angles perpendicular to horizontal plane and with visible light projector 2 and the optical axis of infrared projector 3, and making can
See that the image that light projector 2 projects is transmitted by semi-transparent semi-reflecting lens 5, the image that infrared projector 3 projects passes through semi-transparent semi-reflecting lens 5
Reflection, semi-transparent semi-reflecting lens 5 realize visible light projector 2 and the axial light path of sharing the same light of infrared projector 3；To meet triangulation original
Reason, the angle between the optical axis of 2CCD cameras 4 and the optical axis of visible light projector 2 is 30 ° or so, positioned at testee in 2CCD
Camera and visible light projector 2 and infrared projector 3 are all into the position of sharply defined image.
The visible light projector 2 produces for TI, model lightcrafter4500 DLP digital projectors, differentiates
Rate is 912 × 1140, is connected with computer 1 by USB line, be connected by barred body clamper with the support stick on optical table with
Carry out the regulation of vertical height；
The infrared projector 3 is that lightcrafter4500 is changed into infrared dmd chip and installs infrared light supply repacking additional
Projecting apparatus, resolution ratio is 912 × 1140, is connected with computer by USB line, by barred body clamper and optical table
Support stick is connected to carry out the regulation of vertical height；
The 2CCD cameras 4 can gather visible ray and infrared image simultaneously, its model AD-080GE, and resolution ratio is
1024 × 768 pixels, it is connected with computer gigabit network interface, is connected by barred body clamper with the support stick on optical table；
Scaling board is the earthenware slab of Shenzhen Kechuang Time Inc. production, and its surface carries the annulus mark of 9 rows 12 row, phase
The spacing of neighbour's mark in the horizontal and vertical directions is 15mm, and its precision is 1.0 μm；
The semi-transparent semi-reflecting lens 5 produce for Electro-optical Technology, INC. (US) 62 Martin Road, Concord, Massachusetts 017 of Daheng, and its transmissivity and reflectivity are 50%, lead to
Dry plate folder, revolving rod and clamper is crossed to be connected with the precise manual turntable on optical table.
A kind of fringe projection measuring three-dimensional morphology (abbreviation method) based on parallel four Color Channel, it is characterised in that the party
Method comprises the following steps：
1) visible light projector 2 and the light path coaxial of infrared projector 3 are adjusted：
1.1) relative position relation of visible light projector 2, infrared projector 3 and semi-transparent semi-reflecting lens 5 is adjusted so that visible
Light projector 2 and the same level of infrared projector 3, it is seen that the distance between light projector 2 and semi-transparent semi-reflecting lens 5 and infrared throwing
The distance between shadow instrument 3 and semi-transparent semi-reflecting lens 5 are identical；Semi-transparent semi-reflecting lens 5 perpendicular to horizontal plane and with visible light projector 2 and
The optical axis of infrared projector 3 is in 45 ° of angles so that and the image that visible light projector 2 projects is transmitted by semi-transparent semi-reflecting lens 5,
The image that infrared projector 3 projects is reflected by semi-transparent semi-reflecting lens 5；
1.2) visible light projector 2 and infrared projector 3 project the pattern of white rectangle and right-angled intersection (referring to Fig. 2)
To the surface of tabular testee 6, pass through the position of fine adjustment visible light projector 2, infrared projector 3 and semi-transparent semi-reflecting lens 5
The pattern coincidence of the pattern and infrared projector 3 until visible light projector 2 is put, and ensures movable tabular measured object
Body 6 realizes coincidence to any position, so as to realize the axial light path of sharing the same light of visible light projector 2 and infrared projector 3 (referring to figure
3)；
2) matching between visible light projector and infrared projector is completed：
2.1) preferable projecting apparatus imaging model (referring to Fig. 4), that is, the Projector Space established in world coordinate system are established
Object point P (Xw,Yw,Zw) and projector coordinates system in projecting apparatus imaging point p (up,vp) between perspective projection relation, such as formula (1)
It is shown；
s[up,vp, 1] and=Mp[Rp Tp][Xw,Yw,Zw,1]T=Hp[Xw,Yw,Zw,1]T (1)
M in formula (1)pFor the inner parameter of projecting apparatus, Rp、TpFor the external parameter of projecting apparatus, RpFor world coordinate system (i.e.
Projector Space object point coordinate system) arrive projector coordinates system spin matrix, TpFor world coordinate system to projector coordinates system
Translation vector, HpFor projection matrix；
Applying equation (1) is distinguished to visible light projector 2 and infrared projector 3, establishes Projector Space in world coordinate system
Object point P (Xw,Yw,Zw) and the coordinate system of visible light projector 2 in projecting apparatus imaging point p (up1,vp1) between perspective projection close
System, as shown in formula (2)；
s[up1,vp1, 1] and=Mp1[Rp1Tp1][Xw,Yw,Zw,1]T=Hp1[Xw,Yw,Zw,1]T (2)
Establish Projector Space object point P (X in world coordinate systemw,Yw,Zw) and the coordinate system of infrared projector 3 in projecting apparatus
Imaging point p (up2,vp2) between perspective projection relation, as shown in formula (3)；
s[up2,vp2, 1] and=Mp2[Rp2Tp2][Xw,Yw,Zw,1]T=Hp2[Xw,Yw,Zw,1]T (3)
2.2) infrared projector 3 is derived to the image transformation relation such as formula of visible light projector 2 by formula (2) and (3)
(4) shown in, the matching between visible light projector 2 and infrared projector 3 is completed；The image that infrared projector 3 projects passes through formula
(4) computing can obtain the position relationship as visible light projector 2, so as to the device can be used as visible channel (it is red,
Green, blue channel) and the parallel four-way use of infrared channel, while projected fringe image；
[up1,vp1]=Hp1Hp2 -1[up2,vp2] (4)
2.3) matching effect of visible channel and infrared channel is verified：Lead on the basis of the green passage of visible light projector 2
Road, the image of the infrared channel of infrared projector 3 convert completion infrared projector 3 by step 2.2) image and match visible ray
Projecting apparatus 2；The visible channel (red, green, blue passage) and the infrared channel of infrared projector 3 of visible light projector 2 are thrown respectively
Penetrate meet one group of image of optimal striped number to tabular testee 6 surface (be in the present embodiment visible channel and
It is 64,63,56 that infrared channel projects striped number respectively, meets the stripe pattern of four-step phase-shifting algorithm), 2CCD cameras 4 are simultaneously
Two groups of images are gathered, respectively to two groups of image demodulation phases of collection, two groups of absolute phases is obtained, two groups of absolute phases is done
Difference, obtained phase error is controlled within 0.08rad, positioned at the scope of allowable error；Skill is demodulated in parallel multi-channel striped
In art, the image of infrared channel is used to determine fringe order, within can be with admissible error, when not influenceing multichannel while using
Phase unwrapping, complete the matching of visible channel and infrared channel.Visible channel and infrared channel are not matched and matched
Obtain absolute phases (referring to Fig. 5) using two passages simultaneously afterwards, where the dotted line signifies that visible channel and infrared channel are not
With absolute phase figure is obtained using two passages simultaneously, solid line represents the absolute phase figure obtained after matching；
3) red, green, blue and infrared parallel four Color Channels fringe-adjusted and demodulation techniques are proposed, obtain absolute phase：
3.1) software, which produces, meets that three groups of sine streaks of optimal three stripeds back-and-forth method are encoded to visible light projector 2
The infrared channel of red, green, blue passage and infrared projector 3, project the surface of testee 6；The red passage of visible light projector 2
Striped number is separately encoded as 64 sine streak figure with blue channel, the phase between red, blue channel two width sine streak figure
Difference is 90 °；The green channel coding striped number of visible light projector 2 is 63 sine streak figure, and the infrared of infrared projector 3 is led to
Road strip encoding number is 56 sine streak figure；
3.2) 2CCD cameras 4 gather the infrared channel stripe pattern of the areal deformation of testee 6 simultaneously and red, green, blue leads to
This two spokes print image of the compound stripe pattern in road (referring to Fig. 6), wherein (a) represents the compound stripe pattern of visible channel, (b)
Represent the stripe pattern of infrared channel；
3.3) the red of visible light projector 2, blue channel apply two step phase shift methods, obtain wrapped phase (referring to Fig. 7 (a))；
The green channel application Fourier transformation of visible light projector 2, the wrapped phase of acquisition (referring to Fig. 7 (b))；Infrared projector 3
Infrared channel application Fourier transformation, the wrapped phase of acquisition (referring to Fig. 7 (c))；The green passage of visible light projector 2 and infrared
The wrapped phase that the infrared channel of projecting apparatus 3 obtains is used to determine fringe order；With reference to two step phase shift methods, fourier transform technique
With optimal three stripeds back-and-forth method, from two spoke print images of single acquisition obtain each pixel absolute phase information (referring to
Fig. 7 (d))；
4) three-dimensional image forming apparatus is demarcated, absolute phase is converted to three-dimensional data, recovers the three-dimensional appearance of testee：
Be selected in visible light projector 2 and the field depth of 2CCD cameras 4 as most clearly position as the plane of reference.It is logical
Precision level mobile station is crossed, scaling board is moved into ten positions respectively before and after the plane of reference, totally 21 positions.In each demarcation
Position, it is seen that light projector 2 projects one group of sine streak figure for meeting optimal three stripeds back-and-forth method to demarcation plate surface (this implementation
It is that visible channel projection striped number is 64,63,56 in example, meets the stripe pattern of four-step phase-shifting algorithm).2CCD cameras 4
Deforming stripe is gathered, the calibration coefficient of each pixel, the three-dimensional mark of complete paired systems are can obtain by solving overdetermined equation
It is fixed,.The final three-dimensional data for obtaining testee (referring to Fig. 8)
For the precision of Quantitative Evaluation System demarcation, tetra- selection -10mm, -5mm, 5mm, 10mm positions in depth bounds
Carry out precision test.Scaling board is moved to four positions of the above using precision level mobile station, calculates position scaling board
Absolute phase, and relative depth is calculated according to calibration coefficient.The precision of precision level mobile station is 1 μm, can be moved
Distance regards relative depth true value.Relative depth average value is taken to calculate the depth error result of depth, then four test positions
(referring to table 1).It can be seen from the result of four test positions the calibration result more can accurately realize absolute phase with
Conversion between depth data.
Table 1
Parallel multi-channel 3 D measuring method provided by the invention based on fringe projection, can use Matlab and
Developed in Visual C++ into image preprocessing software.
The present invention does not address part and is applied to prior art.
Claims (5)
1. a kind of fringe projection measuring three-dimensional morphology based on parallel four Color Channel, it is characterised in that this method includes following step
Suddenly：
1) visible light projector and infrared projector light path coaxial are adjusted：
1.1) relative position relation of visible light projector, infrared projector and semi-transparent semi-reflecting lens is adjusted so that visible ray projects
The image of instrument projection is transmitted by semi-transparent semi-reflecting lens, and the image of infrared projector projection is reflected by semi-transparent semi-reflecting lens；
1.2) by the position of fine adjustment visible light projector, infrared projector and semi-transparent semi-reflecting lens until visible light projector
Pattern and the pattern of infrared projector overlap, and ensure that movable testee realizes coincidence to any position, so as to
Realize visible light projector and the axial light path of sharing the same light of infrared projector；
2) matching between visible light projector and infrared projector is completed：
2.1) the Projector Space object point P (X established in world coordinate systemw,Yw,Zw) and projector coordinates system in projecting apparatus into
Picture point p (up,vp) between perspective projection relation, as shown in formula (1)；
s[up,vp, 1] and=Mp[Rp Tp][Xw,Yw,Zw,1]T=Hp[Xw,Yw,Zw,1]T (1)
M in formula (1)pFor the inner parameter of projecting apparatus, RpSpin matrix for world coordinate system to projector coordinates system, TpFor generation
Boundary's coordinate system is to the translation vector of projector coordinates system, HpFor projection matrix；
To visible light projector and infrared projector difference applying equation (1), Projector Space object point P in world coordinate system is established
(Xw,Yw,Zw) and visible light projector coordinate system in projecting apparatus imaging point p (up1,vp1) between perspective projection relation, such as formula
(2) shown in；
s[up1,vp1, 1] and=Mp1[Rp1Tp1][Xw,Yw,Zw,1]T=Hp1[Xw,Yw,Zw,1]T (2)
Establish Projector Space object point P (X in world coordinate systemw,Yw,Zw) and infrared projector coordinate system in projecting apparatus imaging
Point p (up2,vp2) between perspective projection relation, as shown in formula (3)；
s[up2,vp2, 1] and=Mp2[Rp2Tp2][Xw,Yw,Zw,1]T=Hp2[Xw,Yw,Zw,1]T (3)
2.2) infrared projector is derived to image transformation relation such as formula (4) institute of visible light projector by formula (2) and (3)
Show, complete the matching between visible light projector and infrared projector；Infrared projector projection image be by formula (4) computing
The position relationship as visible light projector can be obtained, so as to which the device can be used as visible channel and infrared channel parallel
Four-way uses, while projected fringe image；
[up1,vp1]=Hp1Hp2 -1[up2,vp2] (4)
2.3) matching effect of visible channel and infrared channel is verified：The visible channel and infrared projection of visible light projector
The infrared channel of instrument projects respectively meets that one group of image of optimal striped number is adopted simultaneously to the surface of testee, 2CCD cameras
Collect two groups of images, respectively to two groups of image demodulation phases of collection, obtain two groups of absolute phases, two groups of absolute phases are made the difference,
Obtained phase error is located at the scope of allowable error；
3) red, green, blue and infrared parallel four Color Channels fringe-adjusted and demodulation techniques are proposed, obtain absolute phase：
3.1) software produce meet optimal three stripeds back-and-forth method three groups of sine streaks be encoded to visible light projector it is red, green,
The infrared channel of blue channel and infrared projector, project testee surface；The red passage and blue channel of visible light projector
Striped number is separately encoded as 64 sine streak figure, the phase difference between red, blue channel two width sine streak figure is 90 °；
The green channel coding striped number of visible light projector be 63 sine streak figure, the infrared channel strip encoding of infrared projector
Number is 56 sine streak figure；
3.2) 2CCD cameras simultaneously gather testee areal deformation infrared channel stripe pattern and red, green, blue passage it is compound
Stripe pattern；
3.3) the red of visible light projector, blue channel apply two step phase shift methods, obtain wrapped phase；The green of visible light projector leads to
Road application Fourier transformation, the wrapped phase of acquisition；The infrared channel application Fourier transformation of infrared projector, the folding of acquisition
Phase；The wrapped phase that the green passage of visible light projector and the infrared channel of infrared projector obtain is used to determine fringe order
It is secondary；With reference to two step phase shift methods, fourier transform technique and optimal three stripeds back-and-forth method, obtained from two spoke print images of single acquisition
Obtain the absolute phase information of each pixel；
4) three-dimensional image forming apparatus is demarcated, absolute phase is converted to three-dimensional data, recovers the three-dimensional appearance of testee.
2. a kind of fringe projection apparatus for measuring three-dimensional profile based on parallel four Color Channel, it is characterised in that the device includes meter
Calculation machine, visible light projector, infrared projector, 2CCD cameras and semi-transparent semi-reflecting lens；The computer projects with visible ray respectively
Instrument, infrared projector, the connection of 2CCD cameras；
The visible light projector and infrared projector are located at same level；Between visible light projector and semi-transparent semi-reflecting lens
Distance is identical with the distance between infrared projector and semi-transparent semi-reflecting lens；The semi-transparent semi-reflecting lens perpendicular to horizontal plane and with can
The optical axis for seeing light projector and infrared projector is in 45 ° of angles.
3. the fringe projection apparatus for measuring three-dimensional profile according to claim 2 based on parallel four Color Channel, its feature
It is 30 ° to be the angle between the optical axis of 2CCD cameras and the optical axis of visible light projector.
4. the fringe projection apparatus for measuring three-dimensional profile according to claim 2 based on parallel four Color Channel, its feature
It is model lightcrafter4500 DLP digital projectors to be the visible light projector.
5. the fringe projection apparatus for measuring three-dimensional profile according to claim 2 based on parallel four Color Channel, its feature
It is the model AD-080GE of the 2CCD cameras.
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