CN109682814A - A method of with organizer's surface illuminance in the amendment spatial frequency domain imaging of TOF depth camera - Google Patents
A method of with organizer's surface illuminance in the amendment spatial frequency domain imaging of TOF depth camera Download PDFInfo
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Abstract
A method of with organizer's surface illuminance in the amendment spatial frequency domain imaging of TOF depth camera, the depth image being quickly obtained with TOF depth camera directly calculates the height distribution on organizer surface, it is modified using height distribution surface illuminance value inconsistent to complex-shaped organizer's height real-time, quickly, illuminance Acquisition Error when to reduce spatial frequency domain imaging, the non-linear non-sine error with modulation light caused by CCD camera nonlinear response of the Gamma that projector is eliminated by system gray scale response curve simultaneously, guarantee that projection modulation light meets sinusoidal rule distribution.
Description
Technical field
The present invention relates to optical image technology fields, and in particular to a kind of in depth camera correction space frequency domain imaging
Organizer's surface illuminance method.
Background technique
Spatial frequency domain imaging technique is to organize pattern light (e.g., bright dark fringe) with different space frequency and phase projection
On, and reflectivity is measured using image camera, utilize the function information carried in specific optical transport Model Reconstruction organizer
It is distributed with the optical properties of physiologic information, to complete the optical parameter imaging of test serum body.Test serum body is often
Complex-shaped, each point height in surface is inconsistent, so that projecting the illuminance of reference planes and organizer surface corresponding points not phase
Together, Sine distribution rule, organizer's surface each point and EO-1 hyperion are unsatisfactory for so as to cause the structure light for projecting organizer surface
Image camera distance is also inconsistent, and the distribution in body surface face will receive the interference of high modulation, cause data skew.
In order to overcome the complex-shaped inconsistent bring illuminance Acquisition Error of each point height in organizer surface, guarantee figure
Case light meets sinusoidal rule distribution, Chinese patent CN105466889B, complex organization's body surface face light in a kind of spatial frequency domain imaging
The acquisition method of illumination provides a kind of that complex organization's body is equivalent at the plane tissue for being in sustained height with reference planes
Modification method.Electroencephalogram is projected reference planes and complex organization's body surface face, acquisition illuminance point by this patent respectively
Cloth image calculates reference planes and organizer's phase difference by phase measuring profilometer, according to lambert's body surface face diffusing reflection feature,
Correct collected illuminance value.Chinese patent CN106950196A, a kind of side of non-destructive testing agricultural product optical property parameter
Method and device provide a kind of three-dimensional height using phase measuring profilometer measurement organizer surface, direct by height value
The method of amendment measured absorption coefficient and reduced scattering coefficient result.Electroencephalogram is projected reference by this patent respectively
Plane and complex organization's body surface face acquire intensity of illumination distribution image, by the last solution for calculating reference planes and organizer surface
Wrapped phase value obtains phase-distance relation by the final Phase Unwrapping Algorithm value of reference planes, according to the final of organizer surface
Phase Unwrapping Algorithm value obtains the three-dimensional height map on organizer surface, the directly absorption coefficient to each pixel and reduction scattering system
Number is modified.Both methods all uses phase measuring profilometer, is all made of DPL projector and carries out electroencephalogram throwing
Shadow, and the Gamma of projector is non-linear and CCD camera nonlinear response causes the non-sine of sinusoidal image jointly, from forming
For the main error source of difference in height, both methods real-time and rapidity are poor, it may appear that shade and blind zone problem, image
Pretreatment is also comparatively laborious time-consuming, and noise is easy to influence measurement accuracy, and Carrier-smoothed code is easy to appear phase truncation when handling existing
As.The present invention in view of the above deficiencies, proposes a kind of organizer's surface illumination in the amendment spatial frequency domain imaging of TOF depth camera
The method of degree.
Summary of the invention
The object of the present invention is to provide a kind of with organizer's surface light in the amendment spatial frequency domain imaging of TOF depth camera
The method of illumination, the non-linear non-sineization with modulation light caused by CCD camera nonlinear response of Gamma for eliminating projector are missed
Difference, can be quickly to complex-shaped organizer because the distortion of illuminance caused by apparent height is inconsistent carries out using this method
Amendment, so that illuminance Acquisition Error when reducing spatial frequency domain imaging, guarantees that projection modulation light meets sinusoidal rule distribution.
The present invention is achieved by the following scheme, a kind of organizer in the amendment spatial frequency domain imaging of TOF depth camera
The method of surface illuminance, includes the following steps,
The image that light intensity is 0-255 gray value is projected standard diffusing reflection lambert's body by step 1., according to the unrestrained anti-of acquisition
Gray value of image is penetrated, gray-tone response curve is established, obtains gamma correction polynomial fitting Iout=f (Iin)；
Uniform whiteboard images are projected reference planes and complex organization face by step 2., and acquisition identification obtains plane respectively
The distribution of the gray value differences of depth image and complicated depth image obtains the height difference point of complex organization face and reference planes
Cloth；
Gray scale picture with modulating frequency is projected the complex organization face in step 2 by step 3., acquires photometric distribution
Image, the gamma correction polynomial fitting I obtained according to step 1out=f (Iin) gamma correction is carried out to photometric distribution image, then
The height difference distribution obtained according to step 2, the photometric distribution image after modifying gamma correction；
Step 4. has the gray scale picture of modulating frequency with the modified photometric distribution image rectification of step 3, makes complicated group
The photometric distribution of surface of second order meets Sine distribution rule；
Step 5. acquires complex organization face intensity of illumination distribution image, the gamma correction polynomial fitting obtained according to step 1
Gamma correction, then the height difference distribution obtained based on step 2 are carried out to intensity of illumination distribution image, it is unrestrained anti-according to lambert's body surface face
Model is penetrated, complex organization's face intensity of illumination distribution image of acquisition is corrected；
A kind of spatial frequency domain imaging depth update the system, including computer, DLP projector, CCD camera, projection objective, mark
Quasi- diffusing reflection plate, pedestal, complex organization's body, two five times regualting frames, accurate lifting platform, TOF depth camera, computer be used for
DLP projector exports the figure of image data, DLP projector and projection objective for light intensity in projection step 1 for 0-255 gray value
What is corrected in gray scale picture or step 4 in picture or step 2 in uniform whiteboard images or step 3 with modulating frequency has
The gray scale picture of modulating frequency, CCD camera is for the diffusing reflection image in acquisition step 1 or the photometric distribution figure in step 3
Intensity of illumination distribution image in picture or step 5, TOF depth camera is for plane depth image in acquisition step 2 and complicated depth
Image, standard diffuse reflector and complex organization's body are used to reflect the projection of DLP projector and projection objective, and DLP projector is fixed
On accurate lifting platform, pedestal is fixed on the first five times regualting frame, CCD camera and the tradable fixation of TOF depth camera
On the second five times regualting frame, standard diffusing reflection plate and complex organization's body is tradable is fixed on the base, the throwing of DLP projector
Shadow area is overlapped with the acquisition area of CCD camera or TOF depth camera.
Preferably, specific step are as follows:
1. passing through one group of light intensity of DPL projector projects is the gray-value image of 0-255 to diffusing reflection lambert's body of standard, lead to
CCD camera measurement diffusing reflection image grayscale average value is crossed, the corresponding gray-tone response curve of system is established, to the gray-tone response curve
Fitting of a polynomial is carried out, diffusing reflection brightness of image is obtained and corrects polynomial fitting Iout=f (Iin)；
2. the standard diffusing reflection plate surface for choosing 97% is reference planes, arrived by the uniform white image of DPL projector projects
Reference planes and complex organization's body surface face, with the depth image I of TOF depth camera acquisition reference planes0(x, y) and complex organization
Body surface depth image I1The gray value of (x, y), according to formula
The height difference for calculating complex organization's body and reference planes is distributed △ h (x, y), and wherein x and y indicates pixel coordinate；
3. the electroencephalogram of DPL projector projects standard spatial freq is to complex organization's body surface face, electroencephalogram ash
Angle value spatial distribution is S0(x, y), then the photometric distribution image G by CCD camera acquisition complex organization's body surface face0(x, y) is utilized
Gamma correction polynomial fitting is to G0(x, y) carries out gamma correction, G1(x, y)=f (G0(x,y))
It is calculated according to inverse square law, corrects the gray value of image G (x, y) of the electroencephalogram of complex organization's body are as follows:
G (x, y)=[G1(x,y)×(l-Δh(x,y))2]/l2
Wherein l is distance of the DPL projector to reference planes, while calculating the output gray level value S of DPL projector after correction
(x, y):
S0(x, y)/G (x, y)=S (x, y)/S0(x,y)；
4. using the output gray level value S (x, y) of modified image grayscale Distribution value G (x, y) correction DPL projector, control
The output image of DPL projector processed makes the photometric distribution image G in complex organization's body surface face0(x, y) obeys Sine distribution rule；
5. CCD camera acquires complex organization's body surface face intensity of illumination distribution image pixel value A0(x, y) utilizes diffusing reflection image
Gamma correction polynomial fitting Iout=f (Iin), the nonlinearity erron of correction CCD acquisition obtains revised intensity of illumination distribution figure
As pixel value A1(x, y)=f (A0(x, y)), then according to lambert's body surface face diffusing reflection model, issued from complex organization's body surface face
Light intensity be inversely proportional to square of distance, correct illuminance pixel value are as follows:
A (x, y)=[A1(x,y)×(l-Δh(x,y))2]/l2
The acquisition in spatial frequency domain imaging to complex-shaped organizer surface illuminance is completed using above-mentioned steps 1~5.
The positive effect of the present invention: the depth image being quickly obtained with TOF depth camera directly calculates the difference in height on organizer surface
Distribution Value is repaired using difference in height Distribution Value surface illuminance value inconsistent to complex organization's body height real-time, quickly
Just, to reduce illuminance Acquisition Error when spatial frequency domain is imaged, while projector is eliminated by system gray scale response curve
The non-linear non-sine error with modulation light caused by CCD camera nonlinear response of Gamma guarantees that projection modulation light meets just
The distribution of string rule.After completing step 5, when complex organization's body is imaged in spatial frequency domain imaging method of the invention, CCD camera is caught
The distortion striped caught and brightness are corrected
Detailed description of the invention
Fig. 1 is system structure diagram；
Fig. 2 is system gray scale response curve；
Fig. 3 is complex organization's body height difference image；
Fig. 4 is correcting process figure.
In figure, 1- computer, 2-DLP projector, 3-CCD camera, 4- projection objective, 5- standard diffusing reflection plate, 6- pedestal,
7- complex organization body, two five times regualting frames of 8-, 9- precision lifting platform, 10-TOF depth camera.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples, specific embodiment described herein
It only illustrates that spirit of the invention.Those skilled in the art can be to described specific reality
It applies example to do various modifications or additions or be substituted in a similar manner, however, it does not deviate from the spirit of the invention or super
More range defined in the appended claims.
Device is by computer 1, DLP projector 2, CCD camera 3, projection objective 4, standard diffusing reflection plate 5, pedestal 6, complexity
7, two five times regualting frames 8 of organizer, accurate lifting platform 9, TOF depth camera 10 form.Wherein, DLP projector 2 is fixed on
On accurate lifting platform 9, CCD camera 3 and pedestal 6 are fixed on respectively on two five times regualting frames 8, CCD camera 3 and TOF depth
Camera 10 can be by crossover fixation on five times regualting frame 8.Can be translated by five times regualting frame 8 and accurate lifting platform 9,
The adjusting of lifting and pitch angle, to adjust at DLP projector 2, CCD camera 3 (TOF depth camera 10) and complex organization's body 7
In same level height.Standard diffusing reflection plate 5 and tissue object 7 can be by crossover fixations on pedestal 6.
According to Fig. 1, radiation source is used as using DLP projector 2, the projector is with digital micro-mirror (DMD) chip work
For image device, the tonal gradation of light can be accurately controlled using binary pulse width modulated technology.The sinusoidal item that computer 1 generates
Line pattern 11 is irradiated to 7 surface of diffusing reflection plate 5 or complex organization's body by DPL projector 2 and projection objective 4.Reflected light passes through
TOF depth camera 10 or CCD camera 3 are sent into computer 1 after receiving and carry out data processing, to calculate object height and illumination
Degree.Distance is l=30cm, the folder between DLP projector 2 and CCD camera 3 between its Plays diffusing reflection plate 5 and CCD camera 3
Angle is 18 °.
The present embodiment is after the completion of system building, adjustment, the specific steps of measurement are as follows:
Step 1: the diffusing reflection for projecting each gray-value image to the standard within the scope of 0-255 by DPL projector 2 is bright
Primary body 5 is measured average gray, that is, light intensity output valve of diffusing reflection image by CCD camera 3, it is corresponding to establish DPL projector 2
Gray-tone response curve carries out fitting of a polynomial to the gray-tone response curve, obtains diffusing reflection brightness of image and corrects polynomial fitting
Iout=f (Iin), as Fig. 2 corrects DPL projector projects light intensity according to the response curve；
Step 2: the diffusing reflection plate surface for choosing 97% is reference planes, generates uniform blank figure using Matlab programming
The uniform whiteboard images are projected 7 surface of reference planes and complex organization's body by DPL projector 2 by picture, computer 1, respectively
Form plane depth image I0(x, y) and complicated depth image I1(x, y), then with TOF depth camera 10 perpendicular to reference planes
When with complex organization's body, acquisition obtains plane depth image I0(x, y) and complicated depth image I1Each pixel in (x, y)
Gray value, according to formula Δ h (x, y)=I1(x,y)-I0(x, y) calculates complex organization's body and the height difference of reference planes is distributed
△ h (x, y), such as Fig. 3；
Step 3: the electroencephalogram gray scale picture 11 for generating a standard spatial freq is programmed using Matlab, it is sinusoidal
The gray value spatial distribution of modulation light is S0(x, y), computer 1 throw the Sine Modulated gray scale picture 11 by DPL projector 2
It is mapped to 7 surface of complex organization's body, then by CCD camera 3 when perpendicular to complex organization's body, acquires the light on 7 surface of complex organization's body
Spend distributed image G0(x, y), using gamma correction polynomial fitting to G0(x, y) carries out gamma correction, G1(x, y)=f (G0(x,
Y)), calculated according to inverse square law, correct the image grayscale Distribution value G (x, y) of the electroencephalogram of complex organization's body are as follows:
G (x, y)=[G1(x,y)×(l-Δh(x,y))2]/l2
Wherein l is distance of the DPL projector to reference planes, while calculating the output gray level value S of DPL projector after correction
(x, y):
Step 4: computer 1 corrects the output gray level of DPL projector using modified image grayscale Distribution value G (x, y)
Value S (x, y) controls the output image of DPL projector 2, makes the photometric distribution image G in complex organization's body surface face0(x, y) is obeyed just
The string regularity of distribution.
Step 5:CCD camera 3 acquires complex organization's body surface face intensity of illumination distribution image pixel value A0(x, y), it is anti-using overflowing
Penetrate brightness of image correction polynomial fitting Iout=f (Iin), the nonlinearity erron of correction CCD acquisition obtains revised illuminance
Distributed image pixel value A1(x, y)=f (A0(x, y)), then according to lambert's body surface face diffusing reflection model, from complex organization's body surface
The light intensity that face issues is inversely proportional to square of distance, corrects intensity of illumination distribution image pixel value are as follows:
A (x, y)=[A1(x,y)×(l-Δh(x,y))2]/l2
The acquisition in spatial frequency domain imaging to complex organization's body surface face illuminance can be completed using above-mentioned steps 1~5.
Claims (1)
1. a kind of method with organizer's surface illuminance in the amendment spatial frequency domain imaging of TOF depth camera, includes the following steps,
The image that light intensity is 0-255 gray value is projected standard diffusing reflection lambert's body by step 1., according to the diffusing reflection figure of acquisition
As gray value, gray-tone response curve is established, obtains gamma correction polynomial fitting Iout=f (Iin)；
Uniform whiteboard images are projected reference planes and complex organization face by step 2., and acquisition identification obtains plane depth respectively
The distribution of the gray value differences of image and complicated depth image, the height difference for obtaining complex organization face and reference planes are distributed；
Gray scale picture with modulating frequency is projected the complex organization face in step 2 by step 3., acquires photometric distribution image,
The gamma correction polynomial fitting I obtained according to step 1out=f (Iin) gamma correction is carried out to photometric distribution image, further according to
The height difference distribution that step 2 obtains, the photometric distribution image after correcting gamma correction；
Step 4. has the gray scale picture of modulating frequency with the revised photometric distribution image rectification of step 3, makes complex organization face
Photometric distribution meet Sine distribution rule；
Step 5. acquires complex organization face intensity of illumination distribution image, the gamma correction polynomial fitting I obtained according to step 1out=
f(Iin) gamma correction, then the height difference distribution obtained based on step 2 are carried out to intensity of illumination distribution image, according to lambert's body surface
Diffusing reflection model in face corrects complex organization's face intensity of illumination distribution image of acquisition；
A kind of spatial frequency domain imaging depth update the system, including computer, DLP projector, CCD camera, projection objective, standard are unrestrained
Reflecting plate, pedestal, complex organization's body, two five times regualting frames, accurate lifting platform, TOF depth camera, computer are used for DLP
Projector exports the image of image data, DLP projector and projection objective for light intensity in projection step 1 for 0-255 gray value,
Or corrected in gray scale picture in step 2 in uniform whiteboard images or step 3 with modulating frequency or step 4 with modulation
The gray scale picture of frequency, CCD camera are used for the diffusing reflection image in acquisition step 1 or the photometric distribution image in step 3, or
Intensity of illumination distribution image in step 5, TOF depth camera are used for plane depth image and complicated depth image in acquisition step 2,
Standard diffuse reflector and complex organization's body are used to reflect the projection of DLP projector and projection objective, and DLP projector is fixed on precision
On lifting platform, pedestal is fixed on the first five times regualting frame, CCD camera and TOF depth camera is tradable is fixed on second
On five times regualting frame, standard diffusing reflection plate and complex organization's body is tradable is fixed on the base, the projected area of DLP projector
It is overlapped with the acquisition area of CCD camera or TOF depth camera.
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