CN108225217B - Method for measuring three-dimensional profile of color object - Google Patents
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- 238000005859 coupling reaction Methods 0.000 claims abstract description 11
- 238000002310 reflectometry Methods 0.000 claims abstract description 11
- 230000000295 complement effect Effects 0.000 claims abstract description 10
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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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Abstract
The invention belongs to the technical field of optical measurement, and particularly relates to a method for measuring a three-dimensional profile of a colored object. The method firstly utilizes the photometer to measure the three-channel coupling matrix of the 3CCD camera, eliminates the influence of physical devices on the measuring process, and has higher precision compared with the method of calculating the coupling matrix by projecting red, green and blue images onto white paper; for the calculation of the surface reflectivity of the colored object, the method is substantially equivalent to that three primary colors are projected on each point of the object, and the interference is counteracted by utilizing a complementary relation and a calculated reflectivity matrix K through superposing complementary colors. Compared with the reflectivity K obtained by projecting uniform white light, the method for projecting the complementary color stripes can achieve better structural light stripe compensation effect, and the compensated image has better sine property. According to the method, the three-dimensional profile information of the color object can be obtained more accurately only by projecting four images onto the surface of the color object, the measurement speed is considered, and the target of rapid measurement can be realized.
Description
Technical field
The invention belongs to field of optical measuring technologies, and in particular to a kind of color body measuring three-dimensional profile method.
Background technique
The instrument of existing color body measuring three-dimensional profile mainly uses one-dimensional or two-dimentional machinery device control structure
Light carries out the scanning of object, and the common drawback of these instruments is that measuring speed is slower.As Italian Civil research committee utilizes
Structure light scan realizes that the instrument of color three dimension profile measurement and the Vivid910 series of Konica Minolta company, Japan are adopted
With the portable laser scanner of laser triangulation principle.
Structured light projection formula measuring system includes that measuring speed is fast, the Polaroid advantage of the whole audience.But existing structure
The measurement object of light projection system is white or light-colored object, or sprays developer on colored measured object, for color body
Measurement find a kind of good method not yet.
In traditional structured light projection formula three-dimensional measurement, shadow of the structure light being projected out by testee surface color
It rings, structured light color erroneous judgement is caused to increase.Since body surface has different colors, that is, the reflection to RGB triple channel
Rate is uneven, and leading to its color of CCD acquired image is not the color of the structure light of projection, but structure light and object are certainly
State after body color aliasing.
Caspi etc. ' is mentioned in paper in Range imaging with adaptive color structured light '
Color response model is gone out, which reflects the image of CCD camera collected pixel value and projector in measuring system
Between response relation are as follows:
That is, M=AKP (I)+M0
In formula, M=[R G B]TBe CCD camera acquired image take up an official post mean fixed point pixel actual value；M0=[R0
G0 B0]TIt is that pixel background value under the influence of environment light usually ignores M under indoor lighting conditions0Influence；I=[r g
b]TIt is the pixel placement value of corresponding points on image that projector is projected；Matrix A is the threeway between projector and CCD camera
Road coupling matrix；P is the corresponding relationship between pixel placement value and the rgb value for the image being actually projected out；Reflectivity matrix K is
Different reflectivity of this to tri- components of RGB.
Paper " a kind of optical grating projection method for three-dimensional measurement for color body " proposes the light by projection two width complementation
Grid, seek the point-by-point reflectivity of body surface, and this method has only partially slackened the influence of color body, measurement accuracy up for
It further increases；And this method can only seek wrapped phase using fourier transform method, limit its use scope, for
Complicated, precipitous or color body measurement there are isolated area is difficult to acquire accurate Phase- un- wrapping knot in phase unwrapping
Fruit.Caspi is compensated by the figure of one width white of projection and a width black to body surface, and paper is " in three dimension profile measurement
Reduce the new method that object color texture influences " propose that the color response for demarcating blank in advance, approximation seek the face of body surface
Color information reduces the influence to measuring system, but above two method cannot improve the sine of grating well.
It is always a hot research problem using structured light projection method measurement object three-dimensional contour outline, forefathers have done very
More research work.Measurement for color body three-D profile, many researchs have also been made in domestic and international scientific research personnel, but measure
Precision is not high, cannot slacken influence of the color body surface color to measurement well.
Summary of the invention
It is an object of the present invention to provide a kind of color body measuring three-dimensional profile methods, solve existing measurement method because of coloured silk
Color object color is interfered and the technical problem that causes measurement accuracy low.
The technical solution of the invention is as follows: a kind of color body measuring three-dimensional profile method is characterized in that, is wrapped
Include following steps:
1) the triple channel coupling matrix A of colour 3CCD camera is measured, and finds out inverse matrix A-1；
2) production three width by three colour cell of red, green, blue at the bar graph in complementary relationship, the first width bar graph be by it is red,
Green, blue tactic Gray code bar graph, the second width bar graph are arranged by green, blue, red sequence, and third width bar graph is pressed
Blue, red, green sequence arrangement；The sum of the pixel value of the same pixel in three width bar graphs is 255；
3) bar graph by the three width complementation of step 2) production is projected to the surface of tested color body；
4) deforming stripe figure is collected respectively with colour 3CCD camera, and pass through color digital image card for deforming stripe
The image data of figure is delivered to computer；
5) actual pixel value of the same pixel in three amplitude variation shape bar graphs is overlapped one by one, solves each
The reflectivity matrix K of pixel, and find out inverse matrix K-1；
6) the sine streak figure that three width there are 120 degree of phase differences with same period, same to amplitude, adjacent stripes is generated, then will
Three layer datas of this three width sine streak figure as color image generate colored phase shift bar graph；
7) the colored phase shift bar graph that step 6) generates is projected to the surface of tested color body；
8) deformation phase shift bar graph is collected with colour 3CCD camera, and phase shift will be deformed by color digital image card
The image data of bar graph is delivered to computer；
9) A obtained using step 1)-1The K obtained with step 5)-1Each pixel in deformation phase shift bar graph is clicked through
Row compensation, restores accurate color-coded information and phase information；
10) wrapped phase information is extracted from compensated image using phase shift method, and carries out Phase- un- wrapping；According to
Phase diagram after Phase- un- wrapping is acquired the elevation information of each pixel using trigonometry principle, obtains color body
Three-D profile.
Further, the sine streak figure in step 6) is to be changed by the light intensity of Matlab Software Create by sinusoidal rule
Sine streak figure.
Further, the formula of generation sine streak figure is in step 6)
Wherein, (u, v) is pixel coordinate, and I is projection light intensity value, ImFor the maximum value for projecting light intensity, f is fringe spatial frequency
Rate, δ are the initial phase of striped.
Further, the formula of the colored phase shift bar graph of generation is in step 6)
Wherein, I1、I2And I3The projection light intensity value of respectively three sine streak figures.
Further, the method that wrapped phase information is extracted in step 10 is using Matlab software collected deformation
Phase shift bar graph is divided into three width phase shift gray level images, and the phase distribution of deformation phase shift bar graph is solved using three step phase-shifting techniques,
Acquire the wrapped phase of object.
The beneficial effects of the present invention are: the invention firstly uses the triple channel coupling moments that photometer measurement goes out 3CCD camera
Battle array eliminates influence of the physical device to measurement process, compared to using calculating coupling moment on projection red, green, blue image to blank sheet of paper
Battle array has higher precision；For seeking for color body surface reflectivity, this method is substantially equivalent in object every bit
Three primary colors are all projected, using complementary relationship, by being superimposed complementary colours, the reflectivity matrix K sought counteracts interference.Compared with throwing
The reflectivity K that equal white light is sought is penetrated, the method for projecting complementary color fringe can play better structural light stripes compensation effect,
Compensated image has better sine.This method need to only project four sub-pictures to color body surface can be more accurate
The three-D profile information for acquiring color body, taken into account measuring speed, the target of rapid survey may be implemented.
Detailed description of the invention
Fig. 1 is RGB Gray code bar graph.
Fig. 2 is the complementary color figure of RGB Gray code striped.
Fig. 3 is colored phase shift bar graph.
Specific embodiment
The present invention is a kind of color body measuring three-dimensional profile method, and this method can slacken color body color to structure
The measurement interference of light projection three-dimensional, specifically includes the following steps:
The first step, using the triple channel coupling matrix A of photometer measurement colour 3CCD camera, because of triple channel coupling matrix
The attribute that A belongs to camera itself is unrelated with the specific spatial position of pixel in actual acquisition image, it is only necessary to and measurement is primary in advance,
Its result measured acquires the correction of all pixels point of image after can be used for, triple channel coupling matrix A expression formula is as follows:
And calculate its inverse matrix A-1；
Second step, design three width by three colour cell of red, green, blue at bar graph, the first width be by red, green, blue sequence arrange
Gray code bar graph, bar graph is as shown in Figure 1, the second width is arranged by green, blue, red sequence, and third width is by blue, red, green suitable
Sequence arranges, and respectively corresponds one of three primary colors color in the every same pixel of width figure of this three width figure, this three width bar graph phase
255 are added as, complementary relationship is formd, if the RGB channel setting value of any one pixel is in the first width color-coded grating
x1,y1,z1, the RGB channel setting value of any one pixel is x in the second width color-coded grating2,y2,z2, third width colour
The RGB channel setting value for encoding any one pixel in grating is x3,y3,z3, the RGB channel reality of any one pixel
Pixel value meets
Third step, by the color fringe of projector this three width complementation to tested color body surface, the complementation of Fig. 1
Color fringe image is as shown in Figure 2；
4th step, the color fringe image deformed with the acquisition of colored 3CCD camera, and will be deformed by color digital image card
Color fringe image data be delivered to computer；
The actual pixel value of three width images in previous step is carried out the superposition of corresponding points by the 5th step one by one,
The superposition that the actual pixel value of three width images is carried out to corresponding points one by one, obtains
Abbreviation obtains equation group
Due to R under indoor lighting conditions0, G0, B0It is approximately zero, the reflection of each point can be solved respectively using above formula
Rate matrix K,
And find out matrix K-1；
6th step using Matlab Software Create three there are same period, same to amplitude, adjacent stripes to have 120 degree of phase differences
Sine streak, the sine streak that light intensity is changed by sinusoidal rule generates bar graph by software, generates the formula of sine streak figure
For
Wherein, (u, v) is pixel coordinate, and I is projection light intensity value, ImFor the maximum value for projecting light intensity, f is fringe spatial frequency
Rate, δ are the initial phase of striped.
The formula that colored phase shift striped generates is also being generated by the fundamental formular of generation sine streak,
Wherein, I1、I2And I3The projection light intensity value of respectively three sine streak figures, the colored phase shift bar graph of generation is such as
Shown in Fig. 3.
7th step, by projector colour phase shift striped to testee surface；
8th step acquires deformation phase shift bar graph with colored 3CCD camera, and will deform phase by color digital image card
It moves stripe image data and is delivered to computer；
9th step, in conjunction with the A found out in the first step-1, to each pixel value [R G B] of imageTMultiplied by A-1It carries out
Correction, so that it may eliminate influence of the triple channel coupling to color image quality.The K found out in conjunction with the 5th step-1, to each of image
A pixel value [R G B]TMultiplied by K-1It is corrected, so that it may which the reflection for slackening color body surface every bit slackens colour
What the color moire pattern of object and projector generated interferes with each other, in the color moire pattern figure of collected deformation
Each pixel makees following operation:
M=K-1A-1[A]
Accurate color-coded information and phase information can be restored；
Tenth step extracts wrapped phase information using phase shift method from compensated image, that is, utilizes Matlab software
Collected deformation phase shift bar graph is divided into three width phase shift gray level images, solves deformation phase shift striped using three step phase-shifting techniques
The phase distribution of figure acquires the wrapped phase of object, carries out Phase- un- wrapping, and the calibration of combining camera and projector utilizes three
Horn cupping principle can obtain color body three-D profile in the hope of the elevation information of each pixel.
Claims (5)
1. a kind of color body measuring three-dimensional profile method, which comprises the following steps:
1) the triple channel coupling matrix A of colour 3CCD camera is measured, and finds out inverse matrix A-1；
2) production three width by three colour cell of red, green, blue at the bar graph in complementary relationship, the first width bar graph is by red, green, blue
Tactic Gray code bar graph, the second width bar graph by green, blue, red sequence arrange, third width bar graph by it is blue, red,
Green sequence arrangement；The sum of the pixel value of the same pixel in three width bar graphs is 255；
3) bar graph by the three width complementation of step 2) production is projected to the surface of tested color body；
4) deforming stripe figure is collected respectively with colour 3CCD camera, and pass through color digital image card for deforming stripe figure
Image data is delivered to computer；
5) actual pixel value of the same pixel in three amplitude variation shape bar graphs is overlapped one by one, solves each pixel
The reflectivity matrix K of point, and find out inverse matrix K-1；
6) generate the sine streak figure that there is three width same period, same to amplitude, adjacent stripes to have 120 degree of phase differences, then by this three
Three layer datas of the width sine streak figure as color image generate colored phase shift bar graph；
7) the colored phase shift bar graph that step 6) generates is projected to the surface of tested color body；
8) deformation phase shift bar graph is collected with colour 3CCD camera, and phase shift striped will be deformed by color digital image card
The image data of figure is delivered to computer；
9) A obtained using step 1)-1The K obtained with step 5)-1Each pixel in deformation phase shift bar graph is mended
It repays, restores accurate color-coded information and phase information；
10) wrapped phase information is extracted from compensated image using phase shift method, and carries out Phase- un- wrapping；According to phase
Phase diagram after unpacking acquires the elevation information of each pixel using trigonometry principle, obtains color body three-dimensional
Profile.
2. color body measuring three-dimensional profile method according to claim 1, it is characterised in that: the sinusoidal item in step 6)
Line figure is the sine streak figure changed by the light intensity of Matlab Software Create by sinusoidal rule.
3. color body measuring three-dimensional profile method according to claim 2, it is characterised in that: generated in step 6) sinusoidal
The formula of bar graph is
Wherein, (u, v) is pixel coordinate, and I is projection light intensity value, ImFor the maximum value for projecting light intensity, f is fringe spatial frequency, δ
For the initial phase of striped.
4. color body measuring three-dimensional profile method according to claim 3, it is characterised in that: generated in step 6) colored
The formula of phase shift bar graph is
Wherein, I1、I2And I3The projection light intensity value of respectively three sine streak figures.
5. color body measuring three-dimensional profile method according to any one of claims 1-4, it is characterised in that: step 10)
The middle method for extracting wrapped phase information is that collected deformation phase shift bar graph is divided into three width phase shifts using Matlab software
Gray level image is solved the phase distribution of deformation phase shift bar graph using three step phase-shifting techniques, acquires the wrapped phase of object.
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| CN109916922A (en) * | 2019-04-02 | 2019-06-21 | 易思维（杭州）科技有限公司 | Mirror surface/class mirror article defect inspection method |
| CN110401827B (en) * | 2019-07-26 | 2022-05-17 | 易思维（杭州）科技有限公司 | Fast projection system of sine stripe image |
| CN110595364B (en) * | 2019-08-29 | 2022-03-25 | 广州大学 | Space displacement and strain measuring device and method based on CCD camera |
| CN113029037B (en) * | 2019-12-09 | 2023-07-04 | 大族激光科技产业集团股份有限公司 | Method, apparatus, computer device and readable storage medium for measuring contour of object |
| CN112611341B (en) * | 2020-11-28 | 2021-10-15 | 四川大学 | Color response model-based rapid three-dimensional measurement method for color object |
| CN112781522A (en) * | 2020-12-25 | 2021-05-11 | 复旦大学 | Remove highlight contourgraph based on colored phase shift structured light |
| CN114234847B (en) * | 2021-12-08 | 2024-01-30 | 苏州恒视智能科技有限公司 | Grating projection system and grating phase shift height measurement automatic correction compensation method |
| CN114295076B (en) * | 2022-01-05 | 2023-10-20 | 南昌航空大学 | Measuring method for solving shadow measuring problem of tiny object based on structured light |
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| CN102243103A (en) * | 2011-04-13 | 2011-11-16 | 西安交通大学 | Method for quickly measuring colors and three-dimensional profile of object |
| CN102607465B (en) * | 2012-03-13 | 2015-01-21 | 西安交通大学 | Phase unwrapping method based on colored phase shift stripe secondary encoding |
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