CN108592822A - A kind of measuring system and method based on binocular camera and structure light encoding and decoding - Google Patents
A kind of measuring system and method based on binocular camera and structure light encoding and decoding Download PDFInfo
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- CN108592822A CN108592822A CN201810424252.5A CN201810424252A CN108592822A CN 108592822 A CN108592822 A CN 108592822A CN 201810424252 A CN201810424252 A CN 201810424252A CN 108592822 A CN108592822 A CN 108592822A
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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
Abstract
The invention discloses a kind of measuring system and method based on binocular camera and structure light encoding and decoding, measuring system include control host, projecting apparatus and 2 cameras；Projecting apparatus and 2 cameras are controlled by control host；Projecting apparatus is located between 2 gray scale cameras；Control host forms structure fringe light and the image transmitting projected will be needed to projecting apparatus；It will be in structure striped light projection to the measured object as projection objects by projecting apparatus；2 gray scale cameras are arranged side by side to form binocular gray scale phase unit, and left and right projected image is obtained respectively by 2 gray scale cameras；And the left and right projected image of acquisition is sent to control host；Control host is additionally operable to be decoded left and right projected image, grating matching and disparity computation are to realize that the 3D vision to measured object is rebuild.The measuring system and method based on binocular camera and structure light encoding and decoding are easy to implement, and imaging and measuring speed are fast.
Description
Technical field
The present invention relates to a kind of measuring system and method based on binocular camera and structure light encoding and decoding.
Background technology
Since nearly twenty or thirty year, with the rapid development of computer technology, the application of computer vision is from fixed
Two dimensional surface has been transitioned into intuitive flexible stereoscopic three-dimensional.Produce the traditional two-dimensional measurement of supermatic industrial age and
Three-dimensional touch measurement method cannot meet the needs of modern production, and therefore, the industrial production of modernization is non-to three-dimensional to be connect
Touch measurement proposes urgent demand.
Optical three-dimensional measurement technology is a kind of non-contact measurement, has high certainty of measurement, easy to implement and can measure
The advantages that object of surface complexity, so optical three-dimensional measurement technology has been widely used in vision guided navigation, industrial detection etc.
Field.Structural light measurement technology is a kind of typical measuring method, be widely used in reverse-engineering, industrial detection,
Artistic statue appearance is restored, the fields such as medical cosmetic beauty, with the continuous development of three-dimensional measurement technology, the requirement of measurement accuracy
Also higher and higher.
In field of industry detection, for example, the vibrations of the blade, body of a motor car of turbine, aircraft wing wind tunnel test
Caused deformation and vibrations etc. are required for the three-dimensional information of the vibrations to their critical component, deformation, movement to measure, point
Its performance is analysed, to ensure its quality and safety.And we can also be timely anti-to the design and process of product progress
Feedback, further increases its technical performance.In product design process, people also increasingly focus on customer-oriented personalized designs
Such as shoes, clothes, glasses industry are more conducive to product individuality by the three-dimensional information locally or globally of acquisition human body
The design and rapid processing of change.
Currently, in three-dimensional measurement field, most of measurement method is all based on testee surface characteristics, effect
It is relatively good.But the detection result of the object less to testee surface texture-free or texture is undesirable.As industry is raw
The high speed development of automation is produced, industrially increasingly for the detection demand of the less object of body surface texture-free or texture
Greatly, but current three dimensional detection technology can not fully meet its demand.
Therefore, it is necessary to design a kind of measuring system and method based on binocular camera and structure light encoding and decoding.
Invention content
Technical problem to be solved by the invention is to provide a kind of measurement system based on binocular camera and structure light encoding and decoding
System and method, measuring system and method that should be based on binocular camera and structure light encoding and decoding be easy to implement, imaging and measuring speed
Soon.
The technical solution of invention is as follows：
A kind of measuring system based on binocular camera and structure light encoding and decoding, including control host, projecting apparatus and 2 phases
Machine；Projecting apparatus and 2 cameras are controlled by control host；Projecting apparatus is located between 2 gray scale cameras；
Control host forms structure fringe light and the image transmitting projected will be needed to projecting apparatus；By projecting apparatus by structure bar
In line light projection to the measured object as projection objects；
2 gray scale cameras are arranged side by side to form binocular gray scale phase unit, obtain left and right projection respectively by 2 gray scale cameras
Image；And the left and right projected image of acquisition is sent to control host；
Control host is additionally operable to be decoded left and right projected image, grating matching and disparity computation are to realize to quilt
The 3D vision for surveying object is rebuild.
The structure fringe light is the non-repetitive De Bruijn sequences of 5 yuan of 3 rank；The sequence is：
{2,5,4,1,3,5,4,5,2,3,5,1,2,1,2,3,2,5,3,1,4,1,2,5,1,4,3,1,3,4,1,5,4,3,
2,1,4,2,1,3,2,4,5,4,2,5,2,4,2,4,1,4,5,1,5,1,3,1,2,4,3,5,2,1,5,3,2,3,4,3,4,5,
3,5,3,4,2,3,1,5}。
It is equipped with blackstreak between adjacent color fringe as interval, so that color fringe edge is more clear, enhances
The anti-interference ability of fringe counting method；
2 color codeword look-up table of table
The correspondence of color and code word such as table 2.
Projecting apparatus is DLP projector, and gray scale camera is CCD camera or CMOS cameras
The camera is gray scale camera；Colored structures striations is decomposed, the ash in tri- channels corresponding R, G, B is obtained
Spend striated structure light pattern；The gray scale striped structured light patterns in obtained tri- channels R, G, B are projected to respectively by projecting apparatus
Testee surface.
Control host is equipped with the digital picture that 2 image pick-up cards are used to acquire the acquisition of 2 gray scale cameras.
A kind of measurement method based on binocular camera and structure light encoding and decoding is based on binocular camera and structure using above-mentioned
The measuring system of light encoding and decoding；Its step is：
Step 1：Striped pumped FIR laser and generating structure striped light image are formed by control host；
Step 2：Projected fringe light image and acquisition left and right projected image；
Colored structures striations is decomposed, the gray scale striped structured light patterns in tri- channels corresponding R, G, B are obtained；
The gray scale striped structured light patterns in obtained tri- channels R, G, B are projected to measured object body surface respectively by projecting apparatus
Face is used in combination 2 gray scale cameras to obtain projected image；
Control the gray scale striated structure in tri- channels R, G, B for being projected to body surface that host synthesis gray scale camera obtains
Light pattern obtains the Three Channel Color structural light stripes image that 2 width contain measured object texture position information, is denoted as left and right perspective view
Picture；
Step 3：Control host is respectively decoded left and right projected image；
Step 4：Grating matching and disparity computation are executed in control host.
In step 3, first left and right projected image is pre-processed；The pretreatment refers to using at medium filtering
Reason.
Include the following steps in step 3：
Step 31：With canny operator extraction stripe edges, edge coordinate is preserved；
Step 32：Geometrical center method extraction algorithm is used to each striped of every row, obtains the geometric center lines of striped, i.e.,
Rough center line：Coordinate point set centered on geometric center lines；The coordinate point set that gray value in bianry image is 255；
Step 33：In rough center (certain point on i.e. rough center line) P of stripedcThe right and left at place respectively takes
M pixel, so that width (the corresponding width of 2m+1 pixel) between them is more than the width of striped, (such as 1.1~1.5 times of stripeds are wide
Degree)；Gray threshold is determined using Adaptive Thresholding, background pixel is detached with stripe pixel；
Step 34：The Grad G (x, y) of stripe pixel is calculated according to formula 1；
For the gray threshold of striped boundary；
Step 35：The sub-pixel location P (x, y) of stripe pixel is calculated according to formula 2 mentioned above；
Step 36：The sub-pixel location of stripe centerline is calculated using gradient weight method extraction centerline algorithms formula 3, wherein
G (x, y) is weight, and P (x, y) is the gradient locations of respective weights；
Because striped used is nicking, and it is to extract center line by row, so row coordinate is known, sub- picture here
Plain location formula is to calculate row coordinate.
The ranks coordinate of sub-pixel location is deposited in Mat class images, the coordinate point set of intensity value non-zero points in image；
In step 3, the clustering algorithm based on HSI color spaces clusters the color of the striped in image, each color
The range of corresponding tone value H is as shown in table 1：
1 HSI color spaces color of table table corresponding with tone angular region
Based on table 2, the corresponding code word of striped is obtained according to specific striped color.
Advantageous effect：
The present invention provides a kind of measuring system and method based on binocular camera and structure light encoding and decoding.
The coding method of the present invention, first passes through the color structured light candy strip that computer code goes out De-Bruijn sequences,
And it isolates its BGR and is projected to testee surface respectively per channel gray scale fringe structure light；It is obtained again by gray scale camera
One step is projected to the structure light on measured object surface, three width gray scales of the BGR triple channels for the body surface that gray scale camera is obtained
Figure one width color structured light bar graph of synthesis, completes cataloged procedure.This coding method can significantly improve in later stage decoding process
The accuracy rate and efficiency of the identification of the extraction striped of code word, increase the anti-interference ability and robustness of system.Generate color fringe
Coding pattern meets following several conditions：
(1) color of two stripes of arbitrary neighborhood differs；
(2) any one subsequence being made of adjacent n stripes does not repeat in entire sequence, i.e., subsequence is whole
It is unique in a sequence；
(3) color is not excessive when encoding scheme, and the discrimination of each color is very big, and guarantee projects testee surface
Color fringe is not readily susceptible to the interference of testee surface color and ambient light and generates error code, influences the precision rebuild.
The above feature provides advantage for the extraction of the edge line or center line of subsequent stripe, especially in measured object
Surface is discontinuously or in the case of depth information change dramatically.
In an encoding process, ensure that subsequence striped is encoded in whole picture using the uniqueness of De Bruijn window sequences
Uniqueness in pattern, while ensuring that adjacent two color fringes differ by improving De Bruijn sequences.It is also logical simultaneously
Crossing introducing blackstreak interval makes color fringe edge be more clear, and enhances the anti-interference ability of system.Although the encoding scheme
Precision there is no the precision of space-time code method high, but improve the precision of three-dimensional reconstruction by the way that colouring information is added, increase
The interference performance and robustness of system, realizes accurate fringe counting method and matches.
A width coloud coding pattern is generated according to De Bruijn sequences, each color stripe represents one in sequence
Element, according to the window uniqueness of De Bruijn sequences it is found that the color fringe of some specific width combines in coding pattern
All it is unique, so only needing correctly to extract the colouring information of striped and arrangement in corresponding child window in left images
Sequence can complete the decoding of corresponding fringe position information.When being tested, due to by ambient light, the property of hardware device
The influence of energy, measured object surface color and its series of factors such as the reflection on surface and absorption, camera get striped color very
It is that the identification of subsequent color increases difficulty to be easy distortion.Therefore the present invention is also further devised is decomposed into ash by color fringe
Spend the strategy of striped.
Present invention is alternatively directed to colored De Bruijn coding binocular vision systems to propose a set of efficiently accurate decoding side
Method can find out the sub-pixel pixel coordinate of center line and the pixel matching of left images, to obtain the parallax of image
Matrix.Canny operators detect edge, and there are one the process of inhibitions of non-maximum, carry out edge connection using two threshold values, have
Good anti-interference ability.Since there are edge effects, i.e. high intensity striped to be deviated to low intensity background in actual photographed,
So calculating fringe center line coordinates is used for disparity computation.The Adaptive Thresholding that the present invention uses can be effectively by striate region
Domain is separated with background area, and the subpixel coordinate of stripe centerline can be calculated using gradient gravity model appoach.But it is sub-
Pixel coordinate is extremely sensitive to noise, needs that constraints is arranged in conjunction with rough Pixel-level coordinate before, calculates in this way
The sub-pixel center line come will be very accurate, also improve the anti-interference ability of system.The coloured image of acquisition is transformed into HIS
Color space carries out color cluster, can overcome a system such as color, reflection and the absorption on illumination measured object surface in shooting process
The interference of row factor is had modified to a certain extent between the color value of color fringe and standard value when projection of camera acquisition
Deviation.Then rgb space is rotated back into again writes code word label to color fringe.Binocular camera can not almost be made in actual photographed
Strictly parallel, this is obvious, and carrying out three-dimensional correction to image with epipolar-line constraint principle can make matching be converted into one
Dimension space.Striped is traversed in same a line of left images and decodes code word label, can be realized using De Bruijn windows uniqueness
Accurate matching between pixel and pixel, then the poor parallax that can be obtained the point is asked to corresponding left images pixel point coordinates.When
Parallax matrix can be obtained by traversing all rows.
The binocular colored structures light measurement system of the present invention is by the way that binocular vision technology and structured light technique are tied
It closing, the object less to surface texture-free or texture carries out three-dimensional reconstruction, and the system structure is fairly simple, and precision is higher, at
As speed is fast.
Description of the drawings
Fig. 1 is binocular structured-light system overall construction drawing；
Fig. 2 is binocular Constructed Lighting Vision System schematic diagram；
Fig. 3 is the overview flow chart of the measurement method based on binocular camera and structure light encoding and decoding；
Fig. 4 is that (Fig. 4 (a) is the DeBruijn digraphs of 2 yuan of 2 rank to De Bruijn sequences digraph, is (b) 3 yuan of 2 rank
DeBruijn digraphs)
Fig. 5 is 5 yuan of 3 grades of non-duplicate De Brujin code patterns；
Fig. 6 is structure light coding figure, and wherein Fig. 6 (a)-(d) is coloud coding bar graph, the channels R gray-scale map, G logical respectively
Road gray-scale map and channel B gray-scale map.
Fig. 7 is workpiece projection schematic diagram；Wherein Fig. 7 (a) is the channels R gray scale striped capture figure, and Fig. 7 (b) is channel B gray scale
Striped capture figure, Fig. 7 (c) are channel B gray scale striped capture figure, and Fig. 7 (d) is color fringe composite diagram；
Fig. 8 is structured light decoding flow chart；
Fig. 9 is geometrical center method flow chart；
Figure 10 is Adaptive Thresholding schematic diagram；
Figure 11 is fixed board sub-pix center line chart；
Figure 12 is workpiece sub-pix central line pick-up figure；
Figure 13 is color identification process figure；
Figure 14 is scaling board color center line chart；
Figure 15 is that color fringe matches schematic diagram.
Specific implementation mode
The present invention is described in further details below with reference to the drawings and specific embodiments：
Embodiment 1：Such as Fig. 1-3, a kind of measuring system based on binocular camera and structure light encoding and decoding, including control master
Machine, projecting apparatus and 2 cameras；Projecting apparatus and 2 cameras are controlled by control host；Projecting apparatus is located between 2 gray scale cameras；
Control host forms structure fringe light and the image transmitting projected will be needed to projecting apparatus；By projecting apparatus by structure bar
In line light projection to the measured object as projection objects；
2 gray scale cameras are arranged side by side to form binocular gray scale phase unit, obtain left and right projection respectively by 2 gray scale cameras
Image；And the left and right projected image of acquisition is sent to control host；
Control host is additionally operable to be decoded left and right projected image, grating matching and disparity computation are to realize to quilt
The 3D vision for surveying object is rebuild.
The structure fringe light is the non-repetitive De Bruijn sequences of 5 yuan of 3 rank；The sequence is：
{2,5,4,1,3,5,4,5,2,3,5,1,2,1,2,3,2,5,3,1,4,1,2,5,1,4,3,1,3,4,1,5,4,3,
2,1,4,2,1,3,2,4,5,4,2,5,2,4,2,4,1,4,5,1,5,1,3,1,2,4,3,5,2,1,5,3,2,3,4,3,4,5,
3,5,3,4,2,3,1,5}。
It is equipped with blackstreak between adjacent color fringe as interval, so that color fringe edge is more clear, enhances
The anti-interference ability of fringe counting method；
2 color codeword look-up table of table
The correspondence of color and code word such as table 2.
Projecting apparatus is DLP projector, and gray scale camera is CCD camera or CMOS cameras
The camera is gray scale camera；Colored structures striations is decomposed, the ash in tri- channels corresponding R, G, B is obtained
Spend striated structure light pattern；The gray scale striped structured light patterns in obtained tri- channels R, G, B are projected to respectively by projecting apparatus
Testee surface.
Control host is equipped with the digital picture that 2 image pick-up cards are used to acquire the acquisition of 2 gray scale cameras.
A kind of measurement method based on binocular camera and structure light encoding and decoding is based on binocular camera and structure using above-mentioned
The measuring system of light encoding and decoding；Its step is：
Step 1：Striped pumped FIR laser and generating structure striped light image are formed by control host；
Step 2：Projected fringe light image and acquisition left and right projected image；
Colored structures striations is decomposed, the gray scale striped structured light patterns in tri- channels corresponding R, G, B are obtained；
The gray scale striped structured light patterns in obtained tri- channels R, G, B are projected to measured object body surface respectively by projecting apparatus
Face is used in combination 2 gray scale cameras to obtain projected image；
Control the gray scale striated structure in tri- channels R, G, B for being projected to body surface that host synthesis gray scale camera obtains
Light pattern obtains the Three Channel Color structural light stripes image that 2 width contain measured object texture position information, is denoted as left and right perspective view
Picture；
Step 3：Control host is respectively decoded left and right projected image；
Step 4：Grating matching and disparity computation are executed in control host.
To coding method, detailed description are as follows below：
A kind of structural light stripes coding method, if K=(1,2,3 ... k) be a k element set, n be one it is just whole
Number, then the De Bruijn sequence definitions of k member n ranks are as follows：(di,di+1,di+2,…di+n-1) it is that n member is chosen from set K
Element carries out the k of permutation and combination generationnA different subsequence carries out striped pumped FIR laser using non-repetitive De Bruijn sequences；
Non-repetitive De Bruijn sequence maximum lengths are k* (k-1)n-1；A kind of corresponding color of each coding, different codings pair
Answer different colors.Striped pumped FIR laser is used to form the strip encoding light projected on testee, then is obtained by two-sided camera
Image realizes the three-dimensional measurement for measured object.
Alternative color have red (255,0,0), green (0,255,0), blue (0,0,255) yellow (255,255,0),
Pinkish red (255,0,255), cyan (0,255,255)；Numerical value wherein in color unquote is the corresponding rgb value of the color.It compiles
Each color corresponds to a kind of code word in table 2 when code, as taken a computer capacity to know to the structural light stripes of each color
Other name.
Hamiltonian circuit or Euler's circuit search are carried out in De Bruijns, the label sequence on side is just in each circuit
Constitute the De Bruijn sequences of a k member n rank.Grid in figure constitutes node, and the representative of grid number is selected from set K
Take the permutation and combination (number is the corresponding code word of various different colours fringe lights) that n element carries out, total node number kn.It breathes out
Close circuit refers to from a node in figure, along the side in figure, just past each node in figure, and only
By primary circuit.
Table 2a color codeword look-up tables
Based on table 2a, the corresponding code word of striped is obtained according to specific striped color.
Non-repetitive De Bruijn sequences are the sequence of the sequence of 2 yuan of 2 rank, the sequence of 3 yuan of 2 rank or 5 yuan of 3 rank.
Such as：2 yuan 2 grades of non-duplicate De Bruijn sequences (12), the non-duplicate De Bruijn sequences of 3 yuan of 2 rank
(123132), two code words of arbitrary neighborhood do not repeat wherein in 2 rank sequence of ternary
Corresponding 5 yuan of 3 rank sequence be
{2,5,4,1,3,5,4,5,2,3,5,1,2,1,2,3,2,5,3,1,4,1,2,5,1,4,3,1,3,4,1,5,4,3,
2,1,4,2,1,3,2,4,5,4,2,5,2,4,2,4,1,4,5,1,5,1,3,1,2,4,3,5,2,1,5,3,2,3,4,3,4,5,
3,5,3,4,2,3,1,5}。
It is equipped with blackstreak between adjacent color fringe as interval, so that color fringe edge is more clear, enhances
The anti-interference ability of fringe counting method；
2 color codeword look-up table of table
The correspondence of color and code word such as table 2.
A kind of projected image acquisition system, including control host, projecting apparatus and 2 gray scale cameras；Projecting apparatus and 2 gray scales
Camera is controlled by control host；
The image that control host forms structure fringe light based on the structural light stripes coding method and projects needs
It is transferred to projecting apparatus；It will be in structure striped light projection to projection objects by projecting apparatus；
2 gray scale cameras are arranged side by side to form binocular gray scale phase unit, obtain left and right projection respectively by 2 gray scale cameras
Image；And the left and right projected image of acquisition is sent to control host and carries out subsequent processing.
Projecting apparatus is DLP projector, and gray scale camera is CCD camera or CMOS cameras.
A kind of projected image acquisition methods, which is characterized in that system is obtained using the projected image, feature exists
In including the following steps：
Step 1：The colored structures striation of De-Bruijn sequences is encoded out by controlling host (such as PC machine or industrial personal computer)
Line pattern；
Step 2：Colored structures striations is decomposed, the gray scale fringe structure light figure in tri- channels corresponding R, G, B is obtained
Case；
Step 3：The gray scale striped structured light patterns in obtained tri- channels R, G, B are projected to measured object body surface respectively
Face is used in combination 2 gray scale cameras to obtain projected image；
Step 4：Synthesize the gray scale fringe structure light in tri- channels R, G, B for being projected to body surface that gray scale camera obtains
Pattern obtains the Three Channel Color structural light stripes image (i.e. left and right projected image) that 2 width contain measured object texture position information.
Such as Fig. 4, De-bruijn sequences are improved non-duplicate De-bruijn sequences, i.e., in decoding process if adjacent
The identical striped of two colors has a missing, may will produce error hiding, and influence three-dimensional reconstruction as a result, in addition in order to meet
The requirement of color fringe structure light coding needs to be improved traditional De Bruijn sequences.By to De Bruijn sequences
The mathematical models of row and De Bruijns the study found that identical in order to eliminate two neighboring element in De Bruijn sequences
Situation, it is only necessary to by De Bruijns G (n, K) containing the identical subsequence of adjacent element vertex and the vertex correspondence
Side removes, and a modified De Bruijn G ' (n, k) is obtained, if there are hamiltonian circuit, circuit subscripts in G ' (n, K)
Label sequence be exactly improved non-duplicate De Bruijn sequences, according to permutation and combination it is found that non-repetitive De Bruijn sequences most
Long length is k* (k-1)n-1.Following Fig. 4 (a) is the De of 2 yuan 2 grades of non-duplicate De Bruijn sequences (12) after improving
The circuit of Bruijn, solid line side composition is its corresponding hamiltonian circuit, and following Fig. 4 (b) is 3 yuan of 2 rank after improving
The circuit of the De Bruijns of non-duplicate De Bruijn sequences (123132), solid line side composition is returned for its corresponding Hamilton
Road.
The colored structures striations is eliminated the interference of ambient light and noise, is preferably distinguished when in order to make decoding
Identify striped color, alternative color have red (255,0,0), green (0,255,0), blue (0,0,255) yellow (255,
255,0), pinkish red (255,0,255), cyan (0,255,255).
Coding/decoding method is described in detail below：
A kind of coding/decoding method based on binocular vision color fringe coding
A kind of coding/decoding method based on binocular vision color fringe coding, includes the following steps：
Step 1：Projected image is shot using binocular camera；
Projected image is 2 width, i.e., left image and has image；Step 2：The projected image of acquisition is pre-processed；
The pretreatment refers to being handled using medium filtering；
Step 3：Center line of the extraction per stripe；
Step 4：Identify the corresponding code word of striped color；
Step 5：Grating matching and disparity computation；
Wherein, step 2~5 are respectively handled 2 width images.
The step 3 includes the following steps：
Step 31：With canny operator extraction stripe edges, edge coordinate is preserved；
Step 32：Geometrical center method extraction algorithm is used to each striped of every row, obtains the geometric center lines of striped, i.e.,
Rough center line：Coordinate point set centered on geometric center lines；The coordinate point set that gray value in bianry image is 255；Step 33：
In rough center (certain point on i.e. rough center line) P of stripedcThe right and left at place respectively takes m pixel, makes them
Between width (the corresponding width of m+1 pixel) be more than striped width (such as 1.1~1.5 times of widths of fringe)；Using adaptive
Threshold method determines gray threshold, and background pixel is detached with stripe pixel；
Step 34：The Grad G (x, y) of stripe pixel is calculated according to formula 1；
For the gray threshold of striped boundary；
Step 35：The sub-pixel location P (x, y) of stripe pixel is calculated according to formula 2 mentioned above；
Step 36：The sub-pixel location of stripe centerline is calculated using gradient weight method extraction centerline algorithms formula 3, wherein
G (x, y) is weight, and P (x, y) is the gradient locations of respective weights；
Because striped used is nicking, and it is to extract center line by row, so row coordinate is known, sub- picture here
Plain location formula is to calculate row coordinate.
The ranks coordinate of sub-pixel location is deposited in Mat class images, the coordinate point set of intensity value non-zero points in image.
In step 4, the clustering algorithm based on HSI color spaces clusters the color of the striped in image, each color
The range of corresponding tone value H is as shown in table 1：
1 HSI color spaces color of table table corresponding with tone angular region
2 color codeword look-up table of table
Based on table 2, the corresponding code word of striped is obtained according to specific striped color.
Step 5 includes the following steps：
Step 51：Referring to Figure 14,15, first by the center line L1 of left image (be when matching since Far Left, this
In only take centre position illustratively matching process) (corresponding code word be 3) as matching starting striped, institute's bid section in figure
Coded sequence is 35121 ...), need to find the adjacent n stripes on the right of the striped, composition target window sequence LP1 is (corresponding
Series of windows be 351), since n stripes form a target window sequence, when matching be a window and a window into
Row matching；Step 52：
It is carried out on the mutually colleague of the fringe center line chart of right image using the target window sequence of left image as template time
It goes through, if finding match window sequence RP2 identical with target window sequence, that is, completes matching；
Step 53：
The difference for the center line corresponding points subpixel coordinates that left images have matched is the parallax of the point；
Traversal entire image has obtained the parallax matrix of corresponding left images.
Adaptive Thresholding in step 33 includes the following steps：
Step a：First calculate the P on xth row in image ci - m is arranged to P ci Gray value I's (x, y) within the scope of+m row
Average value Ia；
Step b：If IthFor the gray threshold of striped boundary, IthFor the P on striped ci - m is arranged to P ci Within the scope of+m row
Gray value I (x, y) be less than average value IaPixel gray scale average value；Using IthCan be adaptive by fringe area
It is separated with background area.
When seeking of central point is carried out, only the coordinate of (put to) is just it is to be understood that two, any one striped section or so endpoint
It can obtain the coordinate of fringe center.The white wire that the edge line after edge detection is all single pixel is carried out by Canny operators
Item, T1And T2For the desired width of color fringe and blackstreak, a complete point to the modulation by testee surface it
Difference, that is, X of the ordinate of rear left right endpointR-XLRange be greater than 4/5T1Less than 6/5T1。
Extraction stripe centerline is as follows：
Extraction stripe centerline is as follows：
1) P is setL(xL,yL) be striped section left end point, PR(xR,yR) be striped section right end point coordinates, extracting
Using first marginal point of reading as left end point P when being traversed to certain level direction on the design sketch of edge lineL(xL,
yL), second marginal point is as right endpoint PR(xR,yR)；
If 2) 4/5T1≤yR-yL, then PL, PRIt is a complete point pair, the coordinate of central point is Pc (xc,yc).If
yR-yL>=6/5T1, then right hand edge point missing, enables PL=PR, PRFor next edge point coordinates；
If 3) yR-yL≤ 4/5 T1, works as 4/5T2<yR-yL<6/5 T2 is true, then takes point P to the right1(x1,y1)、P2(x2,
y2)；
If 4) 4/5T1<yR-yL<6/5 T1 and 4/5T2<yR-yL<6/5T2 is true, then PL, PRIt is two of blackstreak
Endpoint enables PL=PR, PRFor next marginal point, work as 4/5T2<yR-yL<6/5 T2 is false, continues to take next marginal point PR1
(xR1,yR1),
If 5) yR1-yL≤ 4/5T1, then enable PR=PR1, continue to take next marginal point PR1；If yR1-yL>=6/5T1,
Then PL, PRFor complete edge pair, then it is further continued for being judged.
Central point Pc(xc, yc) coordinate calculation formula it is as follows：
Step 14：In the rough center P of stripedcThe right and left at place respectively takes m pixel, and width omits between making them
More than the width of striped.After the range of light belt is determined, it is also necessary to which the accurate boundary for determining striped utilizes ladder to improve
Spend the accuracy of the sub-pix center line of gravity model appoach extraction.The gray scale on striped boundary is determined there is employed herein Adaptive Thresholding
Threshold value, the algorithm are as follows：
1) in image on xth row is first calculatedRow are extremelyThe average value of gray value I (x, y) within the scope of row
Ia；
2) it is set as the gray threshold of striped boundary, is the on stripedRow are extremelyGray value I within the scope of row
(x, y) is less than average value IaPixel gray scale average value.The background gray scale of fringe area can be slightly larger than, it can be adaptive
That answers is separated by fringe area and background area.
3) gradient herein refers to the exhausted of the difference result of the gray value of adjacent pixel on the line direction of image
To value, if G (x, y) is the Grad of y row and y+1 row centre position on image xth row.
4) position corresponding to the Grad of striped boundary is calculated, it can be logical according to gray value I (x, y) and I (x, y+1)
Linear interpolation is crossed to be calculated.The expression formula of position P (x, y) corresponding to Grad is as follows；
5) G (x, y) is weight in the method for extracting center line using gradient weight method, and P (x, y) is the gradient of respective weights
Position, wherein PcFor rough position of center line, w is distance of the rough position of center line to striped boundary.To each traveling of image
After the above-mentioned processing of row, so that it may each to can be obtained by obtain the sub-pixel location of the fringe center point on per a line
The sub-pix center line of stripe.The calculation formula of the sub-pixel location of fringe center is as follows
Step 21：The standard value when color value for the color fringe that camera obtains and projection has certain deviation, so
We need that these colors are identified and are handled, so as to will be used in the coding pattern of the color of every stripe and projection
Five kinds of colors correspond.Present invention employs the clustering algorithms based on HSI color spaces to gather the color in image
Class.The corresponding tone H of color of RGB color, saturation degree S, intensity I calculation formula as shown in formula：
It, only need to be to chrominance component H processing, without to brightness I processing, especially when being clustered to color
To have shade or uneven illumination it is even coloured image it is especially effective.The striped color selected herein is all that RGB color model is vertical
The color on the vertex in cube, including black and red.By calculation formula above it is found that black and red tone value
All it is 0, so we can not only be judged by tone value H.When judging red and black, introduce bright
Component I is spent, as H=0, brightness I is more than threshold value th, then is red, is otherwise black, the th=25 chosen herein.It is other
Color is judged according to its corresponding tone value, and is set to corresponding projected color, and following table is that each color is corresponding
The range of tone value H.
1 HSI color spaces color of table table corresponding with tone angular region
Step 22：Red (255,0,0) that the present invention selects, green (0,255,0), yellow (255,255,0), pinkish red
Five kinds of (255,0,255), cyan (0,255,255) colors are all the colors on five vertex of square in RGB color model, often
Value on three channels of kind color is all 255 or 0.The corresponding code word of each color is as shown in the table.
2 color codeword look-up table of table
According to the colouring information of reading, color is identified, and then completes the identification of code word.In actual processing,
If the value in channel is less than 50, by it as 0 processing, it is more than 200, then presses 255 processing.
Step 23：Grating matching in the present invention is based on two criterion：Epipolar-line constraint criterion and De Bruijn window sequences
Uniqueness criterion.Epipolar-line constraint criterion can ensure that the row of two images is alignment, then the matching based on window uniqueness
It can be carried out on the correspondence row of left images.
1) it regard the center line L1 of left image (corresponding code word is 1) as target striped first, we select when due to coding
What is taken is 5 yuan 3 grades of De Bruijn sequences, so needing to find the two adjacent stripes on the right of it, forms target window sequence
Arrange LP1 (corresponding series of windows is 121)；
2) it is carried out on the mutually colleague of the fringe center line chart of right image using the target window sequence of left image as template
Traversal, can find match window sequence RP2 identical with target window sequence soon；
3) difference of left images corresponding points subpixel coordinates is the parallax of the point；
Due to obtain color fringe image, striped have it is spatial ordering, will not become because of the pattern on testee surface
Change and striped sequence is made to cause confusion, so after LP1 successful match, the matching of next target window sequence LP2 is from item
The next column of line R2 columns is traversed.The traversal range for reducing target sequence in this way, improves the matching efficiency of image
With matched accuracy, traversal entire image has just obtained parallax matrix.
Input is the projected image of binocular camera shooting, exports the left and right camera for image to parallax matrix：
A kind of coding/decoding method being encoded binocular vision based on colored De Bruijn, is included the following steps：
Step 1：Binocular camera shoots projected image；
Two cameras need suitably to rotate inward an angle (10 ° or so), keep pair in two camera horizontal directions
Claim, testee needs to be placed in the public view field of binocular camera；
Step 2：The original image of acquisition is pre-processed, noise is removed with medium filtering；
Step 3：Extract center line；
It is as follows：
Step 31：With canny operator extraction stripe edges, edge coordinate is preserved；
Step 32：Since known edge coordinate, using improved geometrical center method extraction algorithm proposed above, such as scheme
Shown in 3, so that it may to obtain the geometric center lines of striped, i.e. coarse filtration center line；
Step 33：In the rough center P of stripedcThe right and left at place respectively takes m pixel, and width omits between making them
More than the width of striped.After the range of light belt is determined, it is also necessary to which the accurate boundary for determining striped utilizes ladder to improve
Spend the accuracy of the sub-pix center line of gravity model appoach extraction.Gray threshold is determined using Adaptive Thresholding, by background pixel with
Stripe pixel is discernable,；
Step 34：The Grad G (x, y) of stripe pixel is calculated according to formula mentioned above (1)；
Step 35：The sub-pixel location P (x, y) of stripe pixel is calculated according to formula mentioned above (2)；
Step 36：The sub-pixel location of stripe centerline is calculated using gradient weight method extraction centerline algorithms formula (3),
Middle G (x, y) is weight, and P (x, y) is the gradient locations of respective weights；
Step 4：Identify the code word of striped color：
RGB image is transformed into HSI color spaces using formula (4), the color of striped, then profit are judged using Hue values
With threshold value to the value of the endowed word of striped color；
Step 5：Grating matching and disparity computation：
Grating matching is based on two criterion：Epipolar-line constraint criterion and De Bruijn window sequence uniqueness criterions.Polar curve is about
Beam criterion can ensure that the row of two images is alignment, then the matching based on window uniqueness can be in left images
It is carried out on corresponding row.
Step 51：
It regard the center line L1 of left image (corresponding code word is 1) as target striped first, we choose when due to coding
Be 5 yuan 3 grades of De Bruijn sequences, so need to find the two adjacent stripes on the right of it, form target window sequence
LP1 (corresponding series of windows is 121)；
Step 52：
It is carried out on the mutually colleague of the fringe center line chart of right image using the target window sequence of left image as template time
It goes through, match window sequence RP2 identical with target window sequence can be found soon；
Step 53：
The difference of left images corresponding points subpixel coordinates is the parallax of the point.
Claims (10)
1. a kind of measuring system based on binocular camera and structure light encoding and decoding, which is characterized in that including control host, projecting apparatus
With 2 cameras；Projecting apparatus and 2 cameras are controlled by control host；Projecting apparatus is located between 2 gray scale cameras；
Control host forms structure fringe light and the image transmitting projected will be needed to projecting apparatus；By projecting apparatus by structure fringe light
It projects on the measured object as projection objects；
2 gray scale cameras are arranged side by side to form binocular gray scale phase unit, and left and right perspective view is obtained respectively by 2 gray scale cameras
Picture；And the left and right projected image of acquisition is sent to control host；
Control host is additionally operable to be decoded left and right projected image, grating matching and disparity computation are to realize to measured object
3D vision rebuild.
2. the measuring system according to claim 1 based on binocular camera and structure light encoding and decoding, the structure striped
Light is the non-repetitive De Bruijn sequences of 5 yuan of 3 rank；The sequence is：
{2,5,4,1,3,5,4,5,2,3,5,1,2,1,2,3,2,5,3,1,4,1,2,5,1,4,3,1,3,4,1,5,4,3,2,1,
4,2,1,3,2,4,5,4,2,5,2,4,2,4,1,4,5,1,5,1,3,1,2,4,3,5,2,1,5,3,2,3,4,3,4,5,3,5,
3,4,2,3,1,5}。
3. the measuring system according to claim 2 based on binocular camera and structure light encoding and decoding, in adjacent color-bar
It is equipped with blackstreak between line as interval, so that color fringe edge is more clear, enhances the anti-interference ability of fringe counting method；
2 color codeword look-up table of table
The correspondence of color and code word such as table 2.
4. the measuring system according to claim 1 based on binocular camera and structure light encoding and decoding, projecting apparatus projects for DLP
Instrument, gray scale camera are CCD camera or CMOS cameras.
5. the measuring system according to claim 1 based on binocular camera and structure light encoding and decoding, which is characterized in that described
Camera be gray scale camera；Colored structures striations is decomposed, the gray scale fringe structure light in tri- channels corresponding R, G, B is obtained
Pattern；The gray scale striped structured light patterns in obtained tri- channels R, G, B are projected to testee surface respectively by projecting apparatus.
6. the measuring system according to claim 1 based on binocular camera and structure light encoding and decoding, which is characterized in that control
Host is equipped with the digital picture that 2 image pick-up cards are used to acquire the acquisition of 2 gray scale cameras.
7. a kind of measurement method based on binocular camera and structure light encoding and decoding, which is characterized in that any using claim 1-7
The measuring system based on binocular camera and structure light encoding and decoding described in；Its step is：
Step 1：Striped pumped FIR laser and generating structure striped light image are formed by control host；
Step 2：Projected fringe light image and acquisition left and right projected image；
Colored structures striations is decomposed, the gray scale striped structured light patterns in tri- channels corresponding R, G, B are obtained；
The gray scale striped structured light patterns in obtained tri- channels R, G, B are projected to testee surface respectively by projecting apparatus,
It is used in combination 2 gray scale cameras to obtain projected image；
Control the gray scale fringe structure light figure in tri- channels R, G, B for being projected to body surface that host synthesis gray scale camera obtains
Case obtains the Three Channel Color structural light stripes image that 2 width contain measured object texture position information, is denoted as left and right projected image；
Step 3：Control host is respectively decoded left and right projected image；
Step 4：Grating matching and disparity computation are executed in control host.
8. the measurement method according to claim 7 based on binocular camera and structure light encoding and decoding, which is characterized in that step
In 3, first left and right projected image is pre-processed；The pretreatment refers to being handled using medium filtering.
9. the measurement method according to claim 8 based on binocular camera and structure light encoding and decoding, which is characterized in that step
Include the following steps in 3：
Step 31：With canny operator extraction stripe edges, edge coordinate is preserved；
Step 32：Geometrical center method extraction algorithm is used to each striped of every row, obtains the geometric center lines of striped, i.e., roughly
Center line：Coordinate point set centered on geometric center lines；
Step 33：In rough center (certain point on i.e. rough center line) P of stripedcThe right and left at place respectively takes m picture
Element makes width between them be more than the width of striped；Gray threshold is determined using Adaptive Thresholding, by background pixel and striped
Pixel separation；
Step 34：The Grad G (x, y) of stripe pixel is calculated according to formula 1；
For the gray threshold of striped boundary；
Step 35：The sub-pixel location P (x, y) of stripe pixel is calculated according to formula 2 mentioned above；
Step 36：Calculate the sub-pixel location of stripe centerline using gradient weight method extraction centerline algorithms formula 3, wherein G (x,
Y) it is weight, P (x, y) is the gradient locations of respective weights；
10. the measurement method according to claim 9 based on binocular camera and structure light encoding and decoding, which is characterized in that step
In rapid 3, the clustering algorithm based on HSI color spaces clusters the color of the striped in image, the corresponding tone of each color
The range of value H is as shown in table 1：
1 HSI color spaces color of table table corresponding with tone angular region
Based on table 2, the corresponding code word of striped is obtained according to specific striped color.
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