CN108827184B - Structured light self-adaptive three-dimensional measurement method based on camera response curve - Google Patents
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Abstract
The application provides a structured light self-adaptive three-dimensional measurement method based on a camera response curve, which comprises the steps of presetting a measurement gray value range and an exposure time range, and acquiring a reference image and reference exposure time in the preset measurement range; selecting a reference point in the reference image, and calculating a camera response function according to an exposure amount and a gray value obtained along with a change in exposure time of the reference point; obtaining relative radiance values of all the points by using a camera response function, and calculating exposure times and exposure time based on the relative radiance values and the camera response function; the images acquired at different exposure times are fused into a new sequence of fringe images and used for three-dimensional reconstruction. The invention can self-adaptively reconstruct an object with complex surface reflectivity, enlarges the application range of the structured light measurement technology, improves the automation degree of measurement and can obtain good measurement effect on the complex reflectivity surface.
Description
Technical Field
The invention belongs to the technical field of optical measurement, and particularly relates to a structured light self-adaptive three-dimensional measurement method based on a camera response curve.
Background
The structured light measurement technology is an active optical measurement technology which projects grating stripe images in a certain mode onto the surface of an object to be measured, a camera obtains a grating image which is modulated by the shape of the object to be measured and deformed, and then three-dimensional information data of the object to be measured is calculated. When the surface exposure is too strong or insufficient, such as specular reflection, the camera imaging cannot truly reflect the true intensity value of the surface, resulting in reduced measurement accuracy or no reconstruction. The multiple exposure technology is applied to the structured light reconstruction technology and is used for solving the problem of light reflection, and after multiple exposure images are acquired, points with the highest pixel value gray scale but without saturation at the same position are respectively selected to participate in reconstruction. Although the method of combining the structured light technology with multiple exposures obtains a better measuring effect, the exposure time and the exposure times of the method all depend on the experience of an operator, and the measuring efficiency and the industrial application are influenced.
It should be noted that the above background description is only for the convenience of clear and complete description of the technical solutions of the present application and for the understanding of those skilled in the art. Such solutions are not considered to be known to the person skilled in the art merely because they have been set forth in the background section of the present application.
Disclosure of Invention
The invention aims to provide a structured light self-adaptive three-dimensional measurement method based on a camera response curve, which can self-adaptively reconstruct an object with complex surface reflectivity, enlarge the application range of the structured light measurement technology, improve the automation degree of measurement and obtain good measurement effect on the complex reflectivity surface.
The invention provides a structured light self-adaptive three-dimensional measurement method based on a camera response curve, which comprises the following steps:
s1: presetting a measurement gray value range and an exposure time range, and acquiring a reference image and reference exposure time in the preset measurement range;
s2: selecting a reference point in the reference image, and calculating a camera response function according to an exposure amount and a gray value obtained along with a change in exposure time of the reference point;
s3: obtaining relative radiance values of all the points by using a camera response function, and calculating exposure times and exposure time based on the relative radiance values and the camera response function;
s4: the images acquired at different exposure times are fused into a new sequence of fringe images and used for three-dimensional reconstruction.
Further, the preset measurement gray value range and the exposure time range specifically include:
s21: the preset measured gray value range is
~
The preset exposure time range is the preset minimum camera exposure time
And maximum exposure time
A value of (d); is provided with
When the value is needed, the maximum value of the area where the target object in the camera view is located under the current value is smaller than the maximum value when the stripes are projected
(ii) a Is provided with
When the value is larger, the minimum value of the region where the target object in the camera view is located at the current value is larger than the minimum value when the stripe is projected
；
The acquiring the reference image and the reference exposure time within the preset measurement range comprises the projector projecting a pure white image to a target object within the preset exposure time range
To
Continuously changing the exposure time of the camera, counting the number of gray values of all pixels in the view of the camera in the range of the measured gray value in the adjustment process, and storing the image and the corresponding exposure in the adjustment processAnd light time, wherein an image corresponding to the maximum pixel gray value in the process is selected as a reference image, and the exposure time of the reference image is the reference exposure time.
Further, a gray value of a pixel on the reference image is selected as
The reference point illuminance value is uniformly set to an arbitrary constant, such as 300;
building template images
The gray scale value of the template image pixel is determined by the following formula:
in the above-mentioned formula (1),
is that the reference image is in the coordinates
The gray value of (d);
increasing the exposure time from the reference exposure time until the gray value of the pixel at the reference point is equal to or greater than
Storing the pixel gray value and the exposure time in the above process, and representing the camera response function by a fifth-order polynomial, as shown in formula (2):
the exposure of the reference point in the adjusting process is used as an input value, the corresponding pixel gray value is used as an output value, and 5 unknown coefficients are obtained by utilizing a least square fitting algorithm
That is, the calculated camera response functions from which the respective camera response functions are obtained
Corresponding exposure amount
And
corresponding exposure amount
。
Further, using the camera response function to obtain relative irradiance values for all points calculating the number of exposures and the exposure time by combining the obtained relative irradiance values with the camera response function comprises:
s41: for template image
Traversing the image sequence obtained by calculation in step S21, when the coordinate pixel value on an image in the sequence is found to be in the optimal measurement range, obtaining the exposure of the point by using the calculated camera response function, and dividing the exposure by the corresponding exposure time of the image to obtain the relative contrast value of the point;
s42: for template image
And obtaining the exposure corresponding to the point according to the pixel gray value of the reference image at the point and the camera response function, and dividing the exposure by the reference exposure time to obtain the relative contrast value of the point.
S43: after the relative contrast values of all the target points are obtained, the minimum value is found
,
/
The value of (1) is the one-time exposure time, and the exposure amount in the current exposure time is deleted
Relative luminance values of points in between; and repeating the step S43 until all the illumination values are deleted, wherein the exposure time obtained in the calculation process is the required exposure time for measurement.
Further, combining the N-step phase shift technology and the multiple exposure method to perform image synthesis, comprising:
s51: the projector projects a pure white image to change the camera exposure time and acquire the target image sequence, respectively, according to the result of step S43
；
S52: projecting N stripe images again by the projector, changing the exposure time of the camera and acquiring a target image sequence
First of all by means of a sequence of images
Acquiring a template image, wherein a calculation formula is as follows:
in the above-mentioned formula (3),
is the coordinates of the template image corresponding to the ith exposure
The gray value of the pixel of (a),
，
is the coordinates of the camera image corresponding to the ith, j exposures
Then fusing the fringe image sequence into a new fringe image sequence by utilizing the template image
：
In the above-mentioned formula (4),
the coordinates of the camera image corresponding to the ith exposure when the jth fringe pattern is projected
The gray value of the pixel of (a),
is the first
Coordinate of the frame-fused image
The pixel gray scale value of (2).
Further, using the fused image sequence
And taking the projector as a virtual camera, finding out points corresponding to the projector view and the camera view, and performing phase solution and three-dimensional reconstruction by using a trigonometry method.
Specific embodiments of the present application are disclosed in detail with reference to the following description and drawings, indicating the manner in which the principles of the application may be employed. It should be understood that the embodiments of the present application are not so limited in scope. The embodiments of the application include many variations, modifications and equivalents within the spirit and scope of the appended claims.
Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.
Drawings
FIG. 1 is a flow chart of a structured light adaptive three-dimensional measurement method based on a camera response curve according to the present invention;
FIG. 2 is a graph of camera response;
FIG. 3 is a schematic diagram of reference exposure time selection;
FIG. 4 is a schematic illustration of the measured target reflectance during an experiment;
FIG. 5 is a schematic diagram of experimentally calculated camera response curves;
FIG. 6 is a graph of the effect of image fusion in an experiment;
FIG. 7 is a graph showing the effect of model measurement in the experiment.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The invention relates to a structured light self-adaptive three-dimensional measurement method based on a camera response curve, which is characterized in that the camera response curve is calculated by utilizing the gray value of a reference point changing along with the exposure time, and finally, the exposure times and the exposure time are calculated according to the response curve and images under different exposure times. The illumination response curve of the camera is the camera exposure
And image pixel value
The relationship between them is shown in fig. 2.
Exposure amount
Is numerically equal to the illumination
And exposure time
By multiplication, i.e.
. The camera illumination curve may be expressed as:
the invention provides a structured light self-adaptive three-dimensional measurement method based on a camera response curve, which comprises the following steps:
s1: presetting a measurement gray value range and an exposure time range, and acquiring a reference image and reference exposure time in the preset measurement range;
s2: selecting a reference point in the reference image, and calculating a camera response function according to an exposure amount and a gray value obtained along with a change in exposure time of the reference point;
s3: obtaining relative radiance values of all the points by using a camera response function, and calculating exposure times and exposure time based on the relative radiance values and the camera response function;
s4: the images acquired at different exposure times are fused into a new sequence of fringe images and used for three-dimensional reconstruction.
In this embodiment, the preset measured gray value range and the exposure time range in step S1 specifically include:
s21: the preset measured gray value range is
~
The preset exposure time range is the preset minimum camera exposure time
And maximum exposure time
A value of (d); is provided with
When the value is needed, the maximum value of the area where the target object in the camera view is located under the current value is smaller than the maximum value when the stripes are projected
(ii) a Is provided with
When the value is larger, the minimum value of the region where the target object in the camera view is located at the current value is larger than the minimum value when the stripe is projected
；
The acquiring of the reference image and the reference exposure time within the preset measurement range in step S1 includes the projector projecting a pure white image to the target object within the preset exposure time range from the target object
To
Continuously changing the exposure time of the camera, counting the number of gray values of all pixels in the view of the camera in a measurement gray value range in the adjustment process, storing the image and the corresponding exposure time in the adjustment process, selecting the image corresponding to the maximum gray value of the pixels in the adjustment process as a reference image, and taking the exposure time of the reference image as the reference exposure time.
In this embodiment, the gray scale value of the pixel on the selected reference image in step S2 is
The reference point illuminance value is uniformly set to an arbitrary constant, such as 300;
building template images
The gray scale value of the template image pixel is determined by the following formula:
in the above-mentioned formula (1),
is that the reference image is in the coordinates
The gray value of (d);
increasing the exposure time from the reference exposure time until the gray value of the pixel at the reference point is equal to or greater than
Storing the pixel gray value and the exposure time in the above process, and representing the camera response function by a fifth-order polynomial, as shown in formula (2):
the exposure of the reference point in the adjusting process is used as an input value, the corresponding pixel gray value is used as an output value, and 5 unknown coefficients are obtained by utilizing a least square fitting algorithm
That is, the calculated camera response functions from which the respective camera response functions are obtained
Corresponding exposure amount
And
corresponding exposure amount
。
In this embodiment, the step of using the camera response function to obtain the relative irradiance values of all the points in step S3, and calculating the exposure times and the exposure time by combining the obtained relative irradiance values with the camera response function, includes the following steps:
s41: for template image
Traversing the image sequence obtained by calculation in step S21, when the coordinate pixel value on an image in the sequence is found to be in the optimal measurement range, obtaining the exposure of the point by using the calculated camera response function, and dividing the exposure by the corresponding exposure time of the image to obtain the relative contrast value of the point;
s42: for template image
Middle pixel grayAnd obtaining the exposure corresponding to the point according to the pixel gray value of the reference image at the point and the camera response function, wherein the exposure is divided by the reference exposure time to obtain the relative contrast value of the point.
S43: after the relative contrast values of all the target points are obtained, the minimum value is found
,
/
The value of (1) is the one-time exposure time, and the exposure amount in the current exposure time is deleted
Relative luminance values of points in between; and repeating the step S43 until all the illumination values are deleted, wherein the exposure time obtained in the calculation process is the required exposure time for measurement.
In the present embodiment, combining the N-step phase shift technique and the multiple exposure method to perform image synthesis includes:
s51: the projector projects a pure white image to change the camera exposure time and acquire the target image sequence, respectively, according to the result of step S43
；
S52: projecting N stripe images again by the projector, changing the exposure time of the camera and acquiring a target image sequence
First of all by means of a sequence of images
Acquiring a template image, wherein a calculation formula is as follows:
in the above-mentioned formula (3),
is the coordinates of the template image corresponding to the ith exposure
The gray value of the pixel of (a),
，
is the coordinates of the camera image corresponding to the ith, j exposures
Then fusing the fringe image sequence into a new fringe image sequence by utilizing the template image
：
In the above-mentioned formula (4),
the coordinates of the camera image corresponding to the ith exposure when the jth fringe pattern is projected
The gray value of the pixel of (a),
is the first
Coordinate of the frame-fused image
The pixel gray scale value of (2).
In the present embodiment, the algorithm principle in the document "Automated phase-measurement profiling of 3-Ddifferential objects" is combined, and the fused image sequence is used
And taking the projector as a virtual camera, finding out points corresponding to the projector view and the camera view, and performing phase solution and three-dimensional reconstruction by using a trigonometry method.
The beneficial effects of the present invention will be further illustrated by the following experiments: :
the measuring device for testing The method of The invention comprises a computer, a projector (NEC NP43 +), and an industrial CCD camera (The Imaging Source, DMK 23G 445). The experimental measurement object is a metal blade with a complex reflectivity surface, an image directly projected to the object is shown in fig. 3, an experimentally calculated camera response curve is shown in fig. 4, and exposure times obtained through an algorithm are respectively as follows: 63.73 ms, 30.3 ms, 13.3 ms, 11.49 ms, 5.81 ms and 1.17 ms. The fused image is shown in fig. 5, and the reconstruction result is shown in fig. 6.
As can be seen from fig. 5 and 6, the fused image phase information is better preserved, and the three-dimensional data of the object surface is completely recovered.
Therefore, compared with the prior art, the invention has the following beneficial effects:
(1) the invention can calculate the required exposure times and exposure time aiming at the measurement surface in a self-adaptive way, improves the measurement efficiency and the automation degree, and has greater application value in industry;
(2) the invention can set the optimal strength range according to the measurement requirement, thereby improving the measurement flexibility;
(3) the invention can calculate the relative illumination values of all points in the field range, thereby improving the exposure accuracy and robustness;
(4) the automatic exposure algorithm is not only suitable for the structured light measurement mode, but also can be applied to other three-dimensional vision measurement modes.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (4)
1. A structured light self-adaptive three-dimensional measurement method based on a camera response curve is characterized by comprising the following steps:
s1: presetting a measurement gray value range and an exposure time range, and acquiring a reference image and reference exposure time in the preset measurement range;
s2: selecting a reference point in the reference image, and calculating a camera response function according to an exposure amount and a gray value obtained along with a change in exposure time of the reference point;
s3: obtaining relative radiance values of all the points by using a camera response function, and calculating exposure times and exposure time based on the relative radiance values and the camera response function;
s4: the images acquired at different exposure times are fused into a new sequence of fringe images and used for three-dimensional reconstruction,
the preset measurement gray value range and the exposure time range specifically include:
s21: the preset measurement gray value range is V1～V2The preset exposure time range is the preset minimum camera exposure time t1And a maximum exposure time t2A value of (d); setting t1When the value is larger, the maximum value of the area where the target object in the camera view is located at the current value when the stripe is projected needs to be smaller than V2(ii) a Setting t2When the value is larger, the minimum value of the region where the target object in the camera view is located at the current value when the stripe is projected needs to be larger than V1；
The acquiring the reference image and the reference exposure time within the preset measurement range comprises the steps that the projector projects a pure white image to a target object, and the pure white image is exposed in the preset exposureWithin a range from t1To t2Continuously changing the exposure time of the camera, counting the number of gray values of all pixels in the view of the camera in the range of the measured gray value in the adjusting process, storing the image and the corresponding exposure time in the adjusting process, selecting the image corresponding to the maximum gray value of the pixels in the adjusting process as a reference image, taking the exposure time of the reference image as the reference exposure time, and selecting the gray value of the pixels on the reference image as V1The illumination value of the reference point is uniformly set to be an arbitrary constant;
establishing a template image F with the same size as the reference image, wherein the pixel gray scale value of the template image is determined by the following formula:
in the above formula (1), VR(x, y) is the grayscale value of the reference image at coordinate (x, y);
continuously increasing the exposure time from the reference exposure time until the pixel gray value of the reference point is greater than or equal to V2Storing the pixel gray value and the exposure time in the above process, and representing the camera response function by a fifth-order polynomial, as shown in formula (2):
y＝Ax4+Bx3+Cx2+Dx+E (2)
the exposure of the reference point in the adjusting process is used as an input value, the corresponding pixel gray value is used as an output value, 5 unknown coefficients A, B, C, D, E are obtained by utilizing a least square fitting algorithm, namely, the camera response function is obtained through calculation, and V can be respectively obtained according to the camera response function1Corresponding exposure H1And V2Corresponding exposure H2。
2. The adaptive three-dimensional measurement method for structured light based on camera response curve according to claim 1, wherein the obtaining relative irradiance values for all points by using the camera response function calculates the exposure times and the exposure time by combining the obtained relative irradiance values with the camera response function comprises:
s41: traversing the image sequence calculated in the step S21 for the point with the pixel gray value of 1 in the template image F, and when the coordinate pixel value on an image in the sequence is found to be within the optimal measurement range, obtaining the exposure amount of the point by using the calculated camera response function, wherein the exposure amount is divided by the corresponding exposure time of the image to obtain the relative contrast value of the point;
s42: for the point with the pixel gray value of 0 in the template image F, obtaining the exposure corresponding to the point according to the pixel gray value of the reference image at the point and the camera response function, and dividing the exposure by the reference exposure time to obtain the relative contrast value of the point;
s43: after the relative contrast values of all the target points are obtained, the minimum value E is found1,H1/E1The value of (1) is the one-time exposure time, and the exposure amount in the current exposure time is deleted to be H1-H2Relative luminance values of points in between; and repeating the step S43 until all the illumination values are deleted, wherein the exposure time obtained in the calculation process is the required exposure time for measurement.
3. The adaptive three-dimensional measurement method for structured light based on camera response curve according to claim 2, wherein the image synthesis is performed by combining N-step phase shift technology and multiple exposure method, and comprises:
s51: the projector projects a pure white image, the exposure time of the camera is respectively changed according to the result of the step S43, and a target image sequence I is obtained;
s52: the projector projects N pieces of fringe patterns again, changes the exposure time of the camera and obtains a target image sequence J, firstly, a template image is obtained by using an image sequence I, and the calculation formula is as follows:
in the above formula (3), Mi(x, y) is the pixel gray scale value of the template image corresponding to the ith exposure in the coordinate (x, y), Ii(x,y)，Ij(x, y) is the camera image corresponding to the ith, jth exposureAnd (3) fusing the fringe image sequence into a new fringe image sequence P by using the template image according to the pixel gray value of the image in the coordinate (x, y):
in the above formula (4), Ji,j(x, y) is the pixel gray scale value at coordinate (x, y) of the camera image corresponding to the ith exposure when the jth fringe pattern is projected, Pj(x, y) is the pixel gray value of the jth fused image at coordinate (x, y).
4. The method according to claim 3, wherein the fused image sequence P is used, the projector is regarded as a virtual camera, and the point corresponding to the camera view in the projector view is found, and the phase solution and the three-dimensional reconstruction are performed by using a trigonometry method.
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