CN108020175B - multi-grating projection binocular vision tongue surface three-dimensional integral imaging method - Google Patents
multi-grating projection binocular vision tongue surface three-dimensional integral imaging method Download PDFInfo
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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
- G01B11/2513—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 with several lines being projected in more than one direction, e.g. grids, patterns
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Abstract
the invention discloses a multi-grating projection binocular vision tongue surface three-dimensional integral imaging method, which comprises the following steps: the first camera and the second camera are used as binocular cameras; the two projections are equivalent to a large-view-field projector through the distortion correction of the first projector and the second projector and the image pixel matching of the two projectors, and the large-view-field projector is used for covering the large-view-field grating on the upper surface and the two side surfaces of the tongue; the first camera and the second camera respectively form two groups of grating measurement systems with the first projector and the second projector to acquire three-dimensional information of two side surfaces of the tongue; the first camera and the second camera form a binocular stereoscopic vision system in the overlapped area of the view fields of the upper surface of the tongue, and the appearance characteristics of the upper surface of the tongue are accurately and stably measured through phase matching with the same-name points. The invention ensures the measuring speed and simultaneously reduces the noise interference of the measured data by utilizing the characteristic of grating phase information modulation, thereby realizing the rapid and accurate acquisition of the three-dimensional shape data.
Description
Technical Field
the invention relates to the field of three-dimensional imaging, in particular to a multi-grating projection binocular vision tongue surface three-dimensional integral imaging method.
Background
A typical structured light topography measurement technique utilizes a light projector (a point or line laser, a grating projector, etc.) and a monocular camera, and measures the surface topography of an object based on the principle of triangulation, wherein the grating belongs to a cover surface type structured light, and can realize rapid full-field measurement of the topography, thereby being widely applied to the acquisition of three-dimensional biological characteristics. However, the three-dimensional biological characteristics of the tongue body are complex, the single projector and the monocular camera can only acquire the morphological characteristics of the upper surface of the tongue, and the information acquisition such as the tongue fur thickness and the tooth marks on the side surface of the tongue is inaccurate or incomplete.
disclosure of Invention
the invention provides a multi-grating projection binocular vision tongue surface three-dimensional integral imaging method, which adopts a three-dimensional shape measurement method of multi-grating projection integral imaging to ensure measurement speed and reduce noise interference of measurement data by utilizing the characteristic of grating phase information modulation, thereby realizing rapid and accurate acquisition of three-dimensional shape data, and the method is described in detail as follows:
A multi-grating projection binocular vision tongue surface three-dimensional integral imaging method comprises the following steps:
1) constructing a tongue surface appearance acquisition system;
wherein, tongue surface topography collection system includes: a first projector, a second projector, a first camera, a second camera, a first light source, and a second light source;
The first light source and the second light source act as a double grating projector; the first camera and the second camera are used as binocular cameras;
2) the two projections are equivalent to a large-view-field projector through the distortion correction of the first projector and the second projector and the image pixel matching of the two projectors, and the large-view-field projector is used for covering the large-view-field grating on the upper surface and the two side surfaces of the tongue;
3) The first camera and the second camera respectively form two groups of grating measurement systems with the first projector and the second projector to acquire three-dimensional information of two side surfaces of the tongue;
4) the first camera and the second camera form a binocular stereoscopic vision system in the overlapped area of the view fields of the upper surface of the tongue, and the appearance characteristics of the upper surface of the tongue are accurately and stably measured through phase matching with the same-name points.
The step 2) is specifically as follows:
1) calibrating a first conversion matrix from a world coordinate system to a camera image coordinate system by a calibration plate through a Zhang Yong camera calibration algorithm;
2) projecting horizontal and vertical stripes to the calibration plate by using a projector respectively, shooting a stripe pattern by using a camera, and calculating a second conversion matrix from a world coordinate system to a projector image coordinate system by using an absolute phase calibration;
3) Calculating a coordinate transformation matrix between the projector and the calibration plate according to a Zhang Zhengyou camera calibration algorithm and by combining a least square method; simultaneously acquiring a coordinate conversion matrix from the camera to the projector; calibrating an image coordinate conversion relation between a first camera and a second camera by means of a calibration plate;
4) and acquiring an image coordinate conversion relation between the first projector and the second projector.
The image coordinate conversion relationship between the first projector and the second projector is specifically as follows:
Wherein,Being the abscissa of a point on the first projector image,is the ordinate of a point on the first projector image,For the second projector image corresponding point abscissa,Is the second projector image corresponding point ordinate,Is a transformation matrix of the image of the first camera to the first projector image,Is a transformation matrix of the image of the second camera to the image of the first camera,Is a transformation matrix of the second camera image to the second projector image.
wherein the method further comprises:
finding out the image coordinates of the corresponding projector in the camera image overexposure area according to the coordinate conversion relation, and reducing the projection brightness of the projector;
And introducing full-field uniform constraint, and finally enabling the brightness of the spliced large-field grating fringe pattern to be uniform through multiple times of adjustment and iteration.
Further, the method further comprises:
Establishing a coordinate system of a binocular stereo vision system on a first camera, and establishing a coordinate system of a monocular system on a second camera;
The monocular system needs to convert the coordinate system of the measurement result according to the conversion matrix calibrated by the binocular stereo vision system;
After the data of the three systems are unified to the same coordinate system, the tongue upper surface data collected by the measuring system and the measuring data of the two side surfaces are integrated together.
further, the first projector and the second projector are an industrial grade projector TI lightcraft 4500.
Wherein, the first camera and the second camera are Basler ava1900-50 gc.
further, the first light source and the second light source are CCS HPR2-150 SW.
The technical scheme provided by the invention has the beneficial effects that:
1. the invention reduces the noise interference of the measured data by utilizing the characteristic of grating phase information modulation while ensuring the measuring speed, and realizes the rapid and accurate acquisition of the three-dimensional shape data;
2. The invention realizes the application of the three-dimensional shape measurement method on the tongue picture of the traditional Chinese medicine and meets various application requirements in practical application.
drawings
FIG. 1 is a flow chart of a multi-grating projection binocular vision tongue surface three-dimensional integral imaging method;
FIG. 2 is a schematic structural diagram of a multi-grating projection binocular vision tongue surface three-dimensional integral imaging system;
FIG. 3 is a schematic diagram of a coordinate system transformation model of a binocular system;
FIG. 4 is a schematic diagram of projector and camera coordinate phase matching;
wherein, (a) is a longitudinal fringe pattern projected by a projector; (b) a transverse fringe pattern projected by the projector; (c) a longitudinal fringe pattern projected for the camera; (d) a transverse fringe pattern projected for the camera; (e) is (a) the corresponding absolute phase profile; (f) the corresponding absolute phase distribution map of (b); (g) is (c) the corresponding absolute phase profile; (h) the corresponding absolute phase profile is (d).
Fig. 5 is a binocular disparity diagram.
in the drawings, the components represented by the respective reference numerals are listed below:
1: a first projector; 2: a second projector;
3: a first camera; 4: a second camera;
5: a first light source; 6: a second light source;
7: a tongue.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention are described in further detail below.
example 1
in order to solve the problems in the background art, a multi-grating projection binocular vision tongue surface three-dimensional integral imaging method needs to be developed, and referring to fig. 1 and 2, the method comprises the following steps:
101: constructing a tongue surface appearance acquisition system consisting of a double-grating projector and a binocular camera;
Wherein, referring to fig. 1, the tongue surface topography acquisition system comprises: a first projector 1, a second projector 2, a first camera 3, a second camera 4, a first light source 5, and a second light source 6. The first light source 5 and the second light source 6 act as a double grating projector. The first camera 3 and the second camera 4 function as binocular cameras.
The first projector 1 corresponds to the first camera 3 and the first light source 5, and similarly, the second projector 2 corresponds to the second camera 4 and the second light source 6.
in specific implementation, the embodiment of the present invention does not limit the types of the above devices, as long as the devices can implement the above functions.
102: the two stripes are spliced into a large-field grating covering the upper surface and the surfaces on two sides of the tongue 7 through calibration, image correction and stripe gray scale self-adaptive adjustment of the first projector 1 and the second projector 2;
103: the first camera 3 and the second camera 4 respectively form two groups of grating measurement systems with the first projector 1 and the second projector 2 to acquire three-dimensional information of the surfaces of two sides of the tongue 7;
104: the first camera 3 and the second camera 4 form a binocular stereoscopic vision system in the overlapped area of the visual fields of the upper surface of the tongue 7, and the appearance characteristics of the upper surface of the tongue 7 are accurately and stably measured by accurately matching the same-name points through phase matching.
in summary, the embodiment of the invention uses the three-dimensional topography measurement method of multi-grating projection integral imaging, and reduces the noise interference of the measurement data by using the characteristic of grating phase information modulation while ensuring the measurement speed, thereby realizing the rapid and accurate acquisition of the three-dimensional topography data.
Example 2
the scheme of example 1 is further described below with reference to specific examples, calculation formulas, and fig. 3-5, and is described in detail below:
201: constructing a tongue surface appearance acquisition system consisting of a double-grating projector and a binocular camera;
Wherein, referring to fig. 2, the tongue surface topography acquisition system comprises: a first projector 1, a second projector 2, a first camera 3, a second camera 4, a first light source 5, and a second light source 6. The first light source 5 and the second light source 6 act as a double grating projector. The first camera 3 and the second camera 4 function as binocular cameras.
the first projector 1 corresponds to the first camera 3 and the first light source 5, and similarly, the second projector 2 corresponds to the second camera 4 and the second light source 6.
In order to reduce lens distortion and nonlinear response error of the projectors, the first projector 1 and the second projector 2 are preferably industrial projectors TI lightcraft 4500.
Further, in order to acquire the grating image and the real tongue color at high speed, the first camera 3 and the second camera 4 are preferably Basler ava1900-50 gc; the first light source 5, and the second light source 6 are preferably CCS HPR2-150 SW.
202: splicing the fields of view of the first projector 1 and the second projector 2;
in order to splice the fringe patterns projected by the first projector 1 and the second projector 2 together and unify the two image coordinate systems in the world coordinate system, internal and external parameters of the first projector 1 and the second projector 2 need to be calibrated.
The first projector 1 and the second projector 2 are not photosensitive instruments, and auxiliary photographing by means of the first camera 3 and the second camera 4, respectively, is necessary. According to the principle of reversible light path, the projector is equivalent to a reverse camera and is suitable for a camera pinhole model, and a binocular system coordinate system conversion model formed by the projector and the camera is shown in fig. 3. Wherein, PwRepresenting the plane of the calibration plate, PlRepresenting the projection chip plane, P, of the first projector 1 (or of the second projector 2)rRepresenting the photo-sensitive chip target surface of the first camera 3 (or the second camera 4) of the camera.
A point p on the projector image coordinate systemlprojecting light to a point p on the calibration platew，pwIs captured by the camera and imaged on the camera imagerAnd (4) point. p is a radical ofrpoint and pwThe point coordinates satisfy the following conversion relationship:
wherein p isr＝[ur vr 1]T,pw＝[xw yw 1]Trespectively, two-point coordinates and s a scaling factor.
respectively representing the internal and external reference matrices of the camera. f. ofrxAnd rr22Etc. represent elements in the matrix, respectively.
thus, p can be substitutedrPoint and pwThe point conversion relation is abbreviated as:
similarly, p can be obtainedlPoint and pwConversion of points relation:
wherein,a transformation matrix from a world coordinate system to a camera image coordinate system;is a transformation matrix from the world coordinate system to the projector image coordinate system.
Through a Zhang friend camera calibration algorithm (which is well known to those skilled in the art and is not described in detail in the embodiments of the present invention), a matrix can be conveniently calibrated by means of a calibration boardBut for calibrationA projector is required to project horizontal and vertical stripes to the calibration plate respectively, a camera shoots a stripe pattern, and the absolute phase of the stripe pattern is calculated, as shown in fig. 4.
for any point p on the projector chiplhaving a horizontal phase and a vertical phase on the fringe patternThereby, the phase matching point p can be found in the camera image coordinate systemr. According to the calibrated matrixcalculating the corresponding point p on the calibration platewAnd then calculating a coordinate transformation matrix between the projector and the calibration plate according to the Zhang Zhengyou camera calibration model and by combining a least square methodCoordinate transformation matrix from camera to projectorCan be calculated from the following formula:
The first camera 3 and the second camera 4 constitute a typical binocular vision system, in this case P in fig. 3l、Prthe planes respectively represent the photosensitive target surfaces of the first camera 3 and the second camera 4, and the image coordinate conversion relation between the first camera 3 and the second camera 4 can be conveniently marked by means of a calibration board. When the image coordinate conversion relationship between the first projector 1 and the first camera 3, the second projector 2 and the second camera 4, and the first camera 3 and the second camera 4 is known, the image coordinate conversion relationship between the first projector 1 and the second projector 2 can be calculated by the following equation:
wherein,Being the abscissa of a point on the image of the first projector 1,being the ordinate of a point on the image of the first projector 1,For the second projector 2 image corresponding point abscissa,For the second projector 2 image corresponding point ordinate,is a transformation matrix of the image of the first camera 3 into the image of the first projector 1,Is a transformation matrix of the image of the second camera 4 into the image of the first camera 3,is a transformation matrix of the second camera 4 image to the second projector 2 image.
through the distortion correction of the first projector and the second projector and the image pixel matching of the two projectors, the two projectors can be equivalent to a large-view-field projector, and fringe patterns projected by the first projector and the second projector are spliced together and can cover the upper side surface and the two side surfaces of the tongue 7 to be measured.
In order to make the contrast of the grating fringes clear, the first projector 1 and the second projector 2 generally use the highest brightness, which causes the overlapping of the two projectors fields of view to cause an overexposure phenomenon, and the fringe phase information is masked by the high brightness.
in order to solve the problem of overexposure, finding out the image coordinate of the corresponding projector in the overexposure area of the camera image according to the coordinate conversion relation, and reducing the projection brightness of the image coordinate; and introducing full-field uniform constraint, and finally enabling the brightness of the spliced large-field grating fringe pattern to be uniform through multiple times of adjustment and iteration.
202: a single-eye and double-eye visual fusion morphology measurement technology.
The method comprises the steps of placing a calibration plate with a known topological relation at a plurality of positions in a camera view field through system calibration of a grating projection morphology measurement technology, collecting and calculating fringe pattern phases by using a camera, resolving polynomial coefficients by using an optimization algorithm, and establishing a mapping matrix between the camera image phases and object heights.
the binocular vision measuring system is based on the parallax principle as shown in fig. 5, and the projection points of the same space point on the image surfaces of the two cameras need to be foundandthe coordinates of the spatial point P can be determined by the intersection of two rays:
wherein b is the translation relationship between the cameras,Is the parallax and f is the focal length of the dual camera.
further, C in FIG. 51Is the optical center of the first camera 3, C2is the optical center of the second camera 4, A1Is the projected point of point P on the first camera 3, A2Is the projected point of point P on the second camera 4.
The key of the binocular measuring system is the matching of the homonymous points of the first camera 3 and the second camera 4, the first camera 3 and the second camera 4 each taking a fringe pattern with phase information by means of the projection of a grating. Similar to the matching point search method in fig. 4, for the overlapped part of the fields of view of the first camera 3 and the second camera 4, there must be a point on the image of the second camera 4 which is the same as the horizontal and vertical phase of the same-name point on the image of the first camera 3.
the method has the difficulty that three systems (a set of binocular stereo vision system and two sets of monocular grating systems) are unified under a coordinate system. In the calibration process, the coordinate system of the binocular system can be established on the first camera 3, and the coordinate system of the monocular system is established on the corresponding camera, so that the monocular system formed by the first camera 3 does not involve the problem of coordinate system conversion, and the monocular system formed by the second camera 4 needs to convert the coordinate system of the measurement result according to the conversion matrix calibrated by the two eyes. After the data of the three systems are unified to the same coordinate system, the data of the upper surface of the tongue 7 acquired by the measuring system and the measured data of the two side surfaces are integrated together.
For monocular measurement, areas except for binocular missing parts are reproduced, so that the measurement time is increased, and data overlap is generated in the areas to influence further processing.
in order to reproduce only the binocular disparity region in the monocular measurement, it is necessary to mark the unmatched points of the first camera 3 and the second camera 4, respectively, in the matching process of the binocular measurement. And setting a mark value for each point in the phase diagram, wherein the mark value is set to be 1 if the corresponding matching point can be found, and otherwise, the mark value is set to be 0. Only the point with the flag value of 0 needs to be processed in the subsequent monocular reproduction.
in summary, the embodiment of the invention uses the three-dimensional topography measurement method of multi-grating projection integral imaging, and reduces the noise interference of the measurement data by using the characteristic of grating phase information modulation while ensuring the measurement speed, thereby realizing the rapid and accurate acquisition of the three-dimensional topography data.
Those skilled in the art will appreciate that the drawings are only schematic illustrations of preferred embodiments, and the above-described embodiments of the present invention are merely provided for description and do not represent the merits of the embodiments.
the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. a multi-grating projection binocular vision tongue surface three-dimensional integral imaging method is characterized by comprising the following steps:
1) constructing a tongue surface appearance acquisition system;
Wherein, tongue surface topography collection system includes: a first projector, a second projector, a first camera, a second camera, a first light source, and a second light source;
The first projector and the second projector act as a double grating projector; the first camera and the second camera are used as binocular cameras;
2) the two projections are equivalent to a large-view-field projector through the distortion correction of the first projector and the second projector and the image pixel matching of the two projectors, and the large-view-field projector is used for covering the large-view-field grating on the upper surface and the two side surfaces of the tongue;
3) The first camera and the second camera respectively form two groups of grating measurement systems with the first projector and the second projector to acquire three-dimensional information of two side surfaces of the tongue;
4) the first camera and the second camera form a binocular stereoscopic vision system in the overlapped area of the view fields of the upper surface of the tongue, and the appearance characteristics of the upper surface of the tongue are accurately and stably measured through phase matching with the same-name points;
wherein, the step 2) is specifically as follows:
1) Calibrating a first conversion matrix from a world coordinate system to a camera image coordinate system by a calibration plate through a Zhang Yong camera calibration algorithm;
2) projecting horizontal and vertical stripes to the calibration plate by using a projector respectively, shooting a stripe pattern by using a camera, and calculating a second conversion matrix from a world coordinate system to a projector image coordinate system by using an absolute phase calibration;
3) calculating a coordinate transformation matrix between the projector and the calibration plate according to a Zhang Zhengyou camera calibration algorithm and by combining a least square method; simultaneously acquiring a coordinate conversion matrix from the camera to the projector; calibrating an image coordinate conversion relation between a first camera and a second camera by means of a calibration plate;
4) And acquiring an image coordinate conversion relation between the first projector and the second projector.
2. The method for three-dimensional integral imaging of the surface of the binocular vision tongue by multi-grating projection according to claim 1, wherein the image coordinate conversion relationship between the first projector and the second projector is specifically as follows:
Wherein, For a point on the first projector imageThe mark is that,is the ordinate of a point on the first projector image,for the second projector image corresponding point abscissa,Is the second projector image corresponding point ordinate,is a transformation matrix of the image of the first camera to the first projector image,Is a transformation matrix of the image of the second camera to the image of the first camera,Is a transformation matrix of the second camera image to the second projector image.
3. The method for three-dimensional whole imaging of the surface of the tongue with multi-grating projection binocular vision according to claim 1, further comprising:
Finding out the image coordinates of the corresponding projector in the camera image overexposure area according to the coordinate conversion relation, and reducing the projection brightness of the projector;
and introducing full-field uniform constraint, and finally enabling the brightness of the spliced large-field grating fringe pattern to be uniform through multiple times of adjustment and iteration.
4. the method for three-dimensional whole imaging of the surface of the tongue with multi-grating projection binocular vision according to claim 1, further comprising:
Establishing a coordinate system of a binocular stereo vision system on a first camera, and establishing a coordinate system of a monocular system on a second camera;
The monocular system needs to convert the coordinate system of the measurement result according to the conversion matrix calibrated by the binocular stereo vision system;
after the data of the three systems are unified to the same coordinate system, the tongue upper surface data collected by the measuring system and the measuring data of the two side surfaces are integrated together.
5. the method for three-dimensional integral imaging of the surface of the multi-grating projection binocular vision tongue as claimed in claim 1, wherein the first projector and the second projector are industrial projectors TI Lightcraft 4500.
6. the method for three-dimensional integral imaging of the surface of the tongue with multi-grating projection binocular vision according to claim 1, wherein the first camera and the second camera are Basler ava1900-50 gc.
7. the method for three-dimensional whole imaging of the surface of the tongue with multi-grating projection binocular vision according to claim 1, wherein the first light source and the second light source are CCS HPR2-150 SW.
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| CN112074868A (en) * | 2018-12-29 | 2020-12-11 | 河南埃尔森智能科技有限公司 | Industrial robot positioning method and device based on structured light, controller and medium |
| CN109767490B (en) * | 2019-03-05 | 2023-07-18 | 盎锐（上海）信息科技有限公司 | Image analysis system and method for projection grating modeling |
| CN110060301B (en) * | 2019-03-18 | 2023-02-10 | 盎锐（上海）信息科技有限公司 | Calibration system and method for projection grating modeling |
| CN111023994B (en) * | 2020-01-11 | 2023-06-23 | 武汉玄景科技有限公司 | Grating three-dimensional scanning method and system based on multiple measurement |
| CN111601097B (en) * | 2020-04-10 | 2020-12-18 | 熵智科技(深圳)有限公司 | Binocular stereo matching method, device, medium and equipment based on double projectors |
| WO2021203770A1 (en) * | 2020-04-10 | 2021-10-14 | 熵智科技(深圳)有限公司 | Binocular stereo matching method and apparatus based on double projectors, and medium and device |
| CN112013786A (en) * | 2020-09-01 | 2020-12-01 | 三一重工股份有限公司 | Large-view-field depth camera and three-dimensional information detection method |
| CN112509055B (en) * | 2020-11-20 | 2022-05-03 | 浙江大学 | Acupuncture point positioning system and method based on combination of binocular vision and coded structured light |
| CN114067056A (en) * | 2021-11-18 | 2022-02-18 | 新拓三维技术(深圳)有限公司 | Data fusion method based on structured light |
| CN114404084B (en) * | 2022-01-21 | 2024-08-02 | 北京大学口腔医学院 | Scanning device and scanning method |
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