CN109682814B - A method of correcting tissue surface illumination in spatial frequency domain imaging with TOF depth camera - Google Patents

A method of correcting tissue surface illumination in spatial frequency domain imaging with TOF depth camera Download PDF

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CN109682814B
CN109682814B CN201910002584.9A CN201910002584A CN109682814B CN 109682814 B CN109682814 B CN 109682814B CN 201910002584 A CN201910002584 A CN 201910002584A CN 109682814 B CN109682814 B CN 109682814B
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谭佐军
程其娈
丁驰竹
张纾
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Huazhong Agricultural University
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Abstract

一种用TOF深度相机修正空间频域成像中组织体表面光照度的方法，用TOF深度相机快速获得的深度图像直接计算出组织体表面的高度分布，利用高度分布实时快速地对形状复杂的组织体高度不一致的表面光照度值进行修正，从而减小空间频域成像时光照度采集误差，同时通过系统灰度响应曲线消除投影仪的Gamma非线性和CCD相机非线性响应引起的调制光的非正弦化误差，保证投射调制光满足正弦规律分布。

Figure 201910002584

A method of using TOF depth camera to correct tissue surface illumination in spatial frequency domain imaging, directly calculating the height distribution of the tissue surface by using the depth image quickly obtained by the TOF depth camera, and using the height distribution to quickly analyze the complex shape of the tissue in real time. The highly inconsistent surface illuminance value is corrected to reduce the illuminance acquisition error in spatial frequency domain imaging, and at the same time, the non-sinusoidal error of modulated light caused by the Gamma nonlinearity of the projector and the nonlinear response of the CCD camera is eliminated through the system grayscale response curve. , to ensure that the projected modulated light satisfies the sinusoidal distribution.

Figure 201910002584

Description

Method for correcting tissue body surface illuminance in space frequency domain imaging by TOF depth camera
Technical Field
The invention relates to the technical field of optical imaging, in particular to a method for correcting the surface illuminance of a tissue body in space frequency domain imaging by using a depth camera.
Background
The spatial frequency domain imaging technology is to project pattern light (such as bright and dark stripes) on tissues at different spatial frequencies and phases, measure the reflectivity by using an imaging camera, and reconstruct the optical characteristic parameter distribution of functional information and physiological information carried in the tissues by using a specific light transmission model, thereby completing the optical parameter imaging of the tissues to be measured. The tissue body that awaits measuring often the shape is complicated, and the surface each point is highly inconsistent for the illuminance that projects reference plane and tissue body surface corresponding point is inequality, thereby leads to the unsatisfied sinusoidal distribution law of structured light that projects tissue body surface, and tissue body surface each point is inconsistent with high spectral imaging camera distance, and the distribution on body surface can receive the interference of high modulation, causes the data distortion.
In order to overcome the illuminance acquisition error caused by the height inconsistency of each point on the surface of a complex-shaped tissue body and ensure that pattern light meets the distribution of a sine rule, the chinese patent CN105466889B, a method for acquiring the illuminance of the surface of the complex tissue body in spatial frequency domain imaging, provides a correction method for equating the complex tissue body into a plane tissue at the same height as a reference plane. The method projects sine modulation light to a reference plane and the surface of a complex tissue body respectively, collects illuminance distribution images, calculates the phase difference between the reference plane and the tissue body through phase measurement profilometry, and corrects the collected illuminance value according to the diffuse reflection characteristics of the lambertian surface. Chinese patent CN106950196A, a method and apparatus for nondestructive testing of optical characteristic parameters of agricultural products, provides a method for measuring the three-dimensional height of the tissue surface by phase measurement profilometry, and directly correcting the measured absorption coefficient and reduced scattering coefficient results by the height value. The method comprises the steps of projecting sine modulation light to a reference plane and the surface of a complex tissue body respectively, collecting an illuminance distribution image, calculating a final unwrapping phase value of the reference plane and the surface of the tissue body, obtaining a phase-distance relation from the final unwrapping phase value of the reference plane, obtaining a three-dimensional height map of the surface of the tissue body according to the final unwrapping phase value of the surface of the tissue body, and directly correcting an absorption coefficient and an approximation scattering coefficient of each pixel point. The two methods both adopt phase measurement profilometry, both adopt a DPL projector to perform sine modulation light projection, and Gamma nonlinear response of the projector and CCD camera nonlinear response of the projector jointly cause non-sine of a sine image, so that the sine image becomes a main error source of height difference. The invention provides a method for correcting tissue body surface illumination in space frequency domain imaging by using a TOF depth camera, aiming at the defects.
Disclosure of Invention
The invention aims to provide a method for correcting tissue surface illumination in space frequency domain imaging by using a TOF depth camera, which eliminates non-sinusoidal errors of modulated light caused by Gamma non-linearity of a projector and non-linear response of a CCD camera.
The invention is realized by the following scheme that the method for correcting the tissue surface illumination in the space frequency domain imaging by using the TOF depth camera comprises the following steps,
step 1, projecting an image with light intensity of 0-255 gray scale values to a standard diffuse reflection Lambert body, establishing a gray scale response curve according to the gray scale values of the collected diffuse reflection image, and obtaining a brightness correction fitting polynomial Iout＝f(Iin)；
Step 2, projecting the uniform whiteboard image to a reference plane and a complex tissue plane, and acquiring and identifying the distribution of gray value differences of the plane depth image and the complex depth image respectively to obtain the height difference distribution of the complex tissue plane and the reference plane;
step 3, projecting the gray level picture with modulation frequency to the complex tissue surface in the step 2, collecting a luminosity distribution image, and correcting and fitting a polynomial I according to the brightness obtained in the step 1out＝f(Iin) Brightness correction is carried out on the luminosity distribution image, and the luminosity distribution image after brightness correction is modified according to the height difference distribution obtained in the step 2;
step 4, correcting the gray level picture with the modulation frequency by using the luminosity distribution image modified in the step 3, so that the luminosity distribution of the complex tissue surface meets a sine distribution rule;
step 5, acquiring a complex tissue surface illuminance distribution image, performing brightness correction on the illuminance distribution image according to the brightness correction fitting polynomial obtained in the step 1, and correcting the acquired complex tissue surface illuminance distribution image according to a Lambert surface diffuse reflection model based on the height difference distribution obtained in the step 2;
a spatial frequency domain imaging depth correction system comprises a computer, a DLP projector, a CCD camera, a projection objective, a standard diffuse reflection plate, a base, a complex organization body, two five-dimensional adjusting frames, a precision lifting platform and a TOF depth camera, wherein the computer is used for outputting image data to the DLP projector, the DLP projector and the projection objective are used for projecting an image with light intensity of 0-255 gray scale values in step 1, or a uniform white board image in step 2, or a gray scale image with modulation frequency in step 3, or a gray scale image with modulation frequency corrected in step 4, the CCD camera is used for collecting a diffuse reflection image in step 1, or a luminosity distribution image in step 3, or a light illumination distribution image in step 5, the TOF depth camera is used for collecting a plane depth image and a complex depth image in step 2, and the standard diffuse reflector and the complex organization body are used for reflecting the projection of the DLP projector and the projection objective, the DLP projector is fixed on the precise lifting platform, the base is fixed on the first five-dimensional adjusting frame, the CCD camera and the TOF depth camera are interchangeably fixed on the second five-dimensional adjusting frame, the standard diffuse reflection plate and the complex tissue body are interchangeably fixed on the base, and the projection area of the DLP projector coincides with the acquisition area of the CCD camera or the TOF depth camera.
Preferably, the specific steps are as follows:
firstly, a group of gray value images with light intensity of 0-255 are projected to a standard diffuse reflection Lambert body through a DPL projector, the average value of the gray of the diffuse reflection images is measured through a CCD camera, a gray response curve corresponding to a system is established, polynomial fitting is carried out on the gray response curve, and a fitting polynomial I of the brightness correction of the diffuse reflection images is obtainedout＝f(Iin)；
Selecting 97% of standard diffuse reflection plate surface as a reference plane, projecting uniform white images to the reference plane and the surface of the complex tissue body through a DPL projector, and collecting a depth image I of the reference plane by using a TOF depth camera0(x, y) and Complex tissue surface depth image I1The gray value of (x, y) according to the formula
Calculating the height difference distribution delta h (x, y) of the complex tissue body and a reference plane, wherein x and y represent pixel coordinates;
thirdly, the DPL projector projects sine modulation light with standard spatial frequency to the surface of the complex tissue, and the gray value of the sine modulation light is distributed in space as S0(x, y), and collecting the luminosity distribution image G of the surface of the complex tissue by a CCD camera0(x, y) fitting polynomial pair G with luminance correction0(x, y) luminance correction, G1(x,y)＝f(G0(x, y)) calculating according to inverse square law, and correcting complexThe image gray-scale value G (x, y) of the sinusoidally modulated light of the tissue volume is:
G(x,y)＝[G1(x,y)×(l-Δh(x,y))2]/l2
wherein l is the distance from the DPL projector to the reference plane, and the corrected output gray value S (x, y) of the DPL projector is calculated:
S0(x,y)/G(x,y)＝S(x,y)/S0(x,y)；
Figure GDA0002802195350000041
correcting the output gray value S (x, y) of the DPL projector by using the modified image gray value distribution G (x, y), and controlling the output image of the DPL projector to enable the luminosity distribution image G of the surface of the complex tissue0(x, y) obeys the sine distribution rule;
collecting the pixel value A of the illuminance distribution image of the surface of the complex tissue by a CCD camera0(x, y) fitting polynomial I using diffuse reflectance image intensity correctionout＝f(Iin) Correcting the nonlinear error collected by CCD to obtain the corrected pixel value A of illumination distribution image1(x,y)＝f(A0(x, y)), then according to a lambertian surface diffuse reflection model, the intensity of light emitted from the surface of the complex tissue is inversely proportional to the square of the distance, and the modified illumination pixel value is:
A(x,y)＝[A1(x,y)×(l-△h(x,y))2]/l2
and (5) completing the acquisition of the illumination of the surface of the tissue with a complex shape in the space frequency domain imaging by utilizing the steps 1-5. The invention has the following positive effects: the method comprises the steps of directly calculating a height difference distribution value of the surface of a tissue body by using a depth image quickly obtained by a TOF depth camera, and quickly correcting a surface illumination value with inconsistent height of a complex tissue body in real time by using the height difference distribution value, so that the illumination acquisition error is reduced during space frequency domain imaging, meanwhile, the non-sinusoidal error of modulated light caused by Gamma non-linearity of a projector and CCD camera non-linear response is eliminated through a system gray response curve, and the projected modulated light is ensured to meet the sinusoidal regular distribution. After the step 5 is completed, when the space frequency domain imaging method of the invention images the complex tissue body, the distortion stripes and the brightness captured by the CCD camera are corrected
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FIG. 1 is a schematic diagram of a system architecture;
FIG. 2 is a system gray scale response curve;
FIG. 3 is a complex tissue volume height difference image;
fig. 4 is a correction flowchart.
In the figure, 1-computer, 2-DLP projector, 3-CCD camera, 4-projection objective, 5-standard diffuse reflection Lambert body, 6-base, 7-complex tissue body, 8-two five-dimensional adjusting frames, 9-precision lifting platform and 10-TOF depth camera.
Detailed Description
The invention will be further described with reference to the accompanying drawings and specific embodiments which are described herein and which are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
The device comprises a computer 1, a DLP projector 2, a CCD camera 3, a projection objective 4, a standard diffuse reflection Lambert body 5, a base 6, a complex organization body 7, two five-dimensional adjusting frames 8, a precise lifting platform 9 and a TOF depth camera 10. Wherein, DLP projector 2 is fixed on precision elevating platform 9, CCD camera 3 and base 6 are respectively fixed on two five-dimensional adjusting frames 8, and CCD camera 3 and TOF depth camera 10 can be fixed on five-dimensional adjusting frames 8 in an exchange manner. The adjustment of the translation, elevation and depression angle can be performed by the five-dimensional adjustment frame 8 and the precision elevating stage 9 in order to adjust the DLP projector 2, the CCD camera 3(TOF depth camera 10) and the complex tissue volume 7 at the same level. The standard diffuse reflecting lambertian body 5 and the complex organiser 7 may be interchangeably fixed on the mount 6.
According to fig. 1, a DLP projector 2, which uses a Digital Micromirror (DMD) chip as an imaging device, is used as an illumination light source, and the gray scale level of light can be precisely controlled using a binary pulse width modulation technique. The sine modulation light gray scale picture 11 generated by the computer 1 is irradiated to the surface of the standard diffuse reflection lambertian body 5 or the complex tissue body 7 through the DPL projector 2 and the projection objective 4. The reflected light is received by the TOF depth camera 10 or the CCD camera 3 and then sent to the computer 1 for data processing, thereby calculating the object height and the illuminance. Wherein the distance between the standard diffuse reflection lambertian body 5 and the CCD camera 3 is l ═ 30cm, and the included angle between the DLP projector 2 and the CCD camera 3 is 18 °.
In this embodiment, after the system is built and adjusted, the specific steps of measurement are as follows:
step 1: projecting each gray value image within the range of 0-255 to a standard diffuse reflection Lambert body 5 through a DPL projector 2, measuring the gray average value, namely the light intensity output value, of the diffuse reflection image through a CCD camera 3, establishing a gray response curve corresponding to the DPL projector 2, performing polynomial fitting on the gray response curve, and obtaining a diffuse reflection image brightness correction fitting polynomial Iout＝f(Iin) Correcting the projection light intensity of the DPL projector according to the response curve as shown in FIG. 2;
step 2: selecting 97% of diffuse reflection plate surface as a reference plane, generating a uniform whiteboard image by Matlab programming, and projecting the uniform whiteboard image to the reference plane and the surface of the complex tissue body 7 by the computer 1 through the DPL projector 2 to respectively form a plane depth image I0(x, y) and complex depth image I1(x, y), with the TOF depth camera 10 acquiring a planar depth image I normal to the reference plane and the complex tissue volume0(x, y) and complex depth image I1The gray value of each pixel point in (x, y) is I according to the formula delta h (x, y)1(x,y)-I0(x, y) calculating the height difference distribution Δ h (x, y) of the complex tissue body and the reference plane, as shown in fig. 3;
and step 3: generating a sine modulation light gray picture 11 with standard spatial frequency by adopting Matlab programming, wherein the gray value spatial distribution of the sine modulation light is S0(x, y), the computer 1 projects the sine modulation light gray picture 11 to the surface of the complex tissue 7 through the DPL projector 2, and then the CCD camera 3 collects the complex tissue when being vertical to the complex tissuePhotometric distribution image G of the surface of body 70(x, y) fitting polynomial pair G with luminance correction0(x, y) luminance correction, G1(x,y)＝f(G0(x, y)), and correcting the image gray-scale value distribution G (x, y) of the sinusoidally modulated light of the complex tissue volume by calculating according to the inverse square law:
G(x,y)＝[G1(x,y)×(l-Δh(x,y))2]/l2
wherein l is the distance from the DPL projector to the reference plane, and the corrected output gray value S (x, y) of the DPL projector is calculated:
Figure GDA0002802195350000071
and 4, step 4: the computer 1 corrects the output gray value S (x, y) of the DPL projector using the modified image gray value distribution G (x, y), controls the output image of the DPL projector 2 to make the luminosity distribution image G of the surface of the complex tissue0(x, y) obeys the sine distribution rule.
And 5: the CCD camera 3 collects the pixel value A of the illumination distribution image of the surface of the complex tissue0(x, y) fitting polynomial I using diffuse reflectance image intensity correctionout＝f(Iin) Correcting the nonlinear error collected by CCD to obtain the corrected pixel value A of illumination distribution image1(x,y)＝f(A0(x, y)), and then according to a lambertian surface diffuse reflection model, the intensity of light emitted from the surface of the complex tissue is inversely proportional to the square of the distance, and the pixel value of the modified illumination distribution image is:
A(x,y)＝[A1(x,y)×(l-△h(x,y))2]/l2
and (3) the acquisition of the surface illumination of the complex tissue in the space frequency domain imaging can be completed by utilizing the steps 1-5.

Claims (1)

1.一种用TOF深度相机修正空间频域成像中组织体表面光照度的方法，包括以下步骤，1. A method of correcting the surface illuminance of tissue body in spatial frequency domain imaging with TOF depth camera, comprising the following steps, 步骤1.将光强为0-255灰度值的图像投射到标准漫反射朗伯体，根据采集的漫反射图像灰度值，建立灰度响应曲线，获得亮度校正拟合多项式；Step 1. Project an image with a light intensity of 0-255 grayscale value onto a standard diffuse reflection Lambertian, establish a grayscale response curve according to the collected diffuse reflection image grayscale value, and obtain a brightness correction fitting polynomial; 步骤2.将均匀白板图像投射到参考平面和复杂组织面，并分别采集识别获得平面深度图像和复杂深度图像的灰度值差的分布，得到复杂组织面与参考平面的高度差值分布；Step 2. Project the uniform whiteboard image onto the reference plane and the complex tissue plane, and collect and identify the distribution of the gray value difference between the plane depth image and the complex depth image respectively, and obtain the height difference distribution between the complex tissue plane and the reference plane; 步骤3.将带有调制频率的灰度图片投射到步骤2中的复杂组织面，采集光度分布图像，根据步骤1得到的亮度校正拟合多项式对光度分布图像进行亮度校正，再根据步骤2得到的高度差值分布，修正亮度校正后的光度分布图像；Step 3. Project the grayscale image with the modulation frequency to the complex tissue surface in step 2, collect the luminosity distribution image, perform brightness correction on the luminosity distribution image according to the brightness correction fitting polynomial obtained in step 1, and then obtain according to step 2. The height difference distribution of , corrects the brightness distribution image after brightness correction; 步骤4.用步骤3修正后的光度分布图像校正带有调制频率的灰度图片，使复杂组织面的光度分布满足正弦分布规律；Step 4. Correct the grayscale picture with the modulation frequency with the photometric distribution image corrected in step 3, so that the photometric distribution of the complex tissue surface satisfies the sinusoidal distribution law; 步骤5.采集复杂组织面光照度分布图像，根据步骤1得到的亮度校正拟合多项式对光照度分布图像进行亮度校正，再基于步骤2得到的高度差值分布，根据朗伯体表面漫反射模型，对采集的复杂组织面光照度分布图像做修正；Step 5. Collect the illuminance distribution image of the complex tissue surface, perform brightness correction on the illuminance distribution image according to the brightness correction fitting polynomial obtained in step 1, and then based on the height difference distribution obtained in step 2, according to the Lambertian surface diffuse reflection model. The acquired complex tissue surface illumination distribution images are corrected; 一种空间频域成像深度修正系统，包括计算机、DLP投影仪、CCD相机、投影物镜、标准漫反射朗伯体、底座、复杂组织体、两个五维调节架、精密升降台、TOF深度相机，计算机用于向DLP投影仪输出图像数据，DLP投影仪和投影物镜用于投影步骤1中光强为0-255灰度值的图像，或步骤2中均匀白板图像，或步骤3中带有调制频率的灰度图片，或步骤4中校正的带有调制频率的灰度图片，CCD相机用于采集步骤1中的漫反射图像，或步骤3中的光度分布图像，或步骤5中的光照度分布图像，TOF深度相机用于采集步骤2中平面深度图像和复杂深度图像，标准漫反射朗伯体和复杂组织体用于反射DLP投影仪和投影物镜的投影，DLP投影仪固定在精密升降台上，底座被固定在第一五维调节架上，CCD相机和TOF深度相机可交换的固定在第二五维调节架上，标准漫反射朗伯体和复杂组织体可交换的固定在底座上，DLP投影仪的投影面积与CCD相机或TOF深度相机的采集面积重合。A spatial frequency domain imaging depth correction system, comprising a computer, a DLP projector, a CCD camera, a projection objective lens, a standard diffuse reflection Lambertian, a base, a complex tissue, two five-dimensional adjustment frames, a precision lift table, and a TOF depth camera , the computer is used to output image data to the DLP projector, and the DLP projector and projection objective are used to project an image with a light intensity of 0-255 gray value in step 1, or a uniform whiteboard image in step 2, or step 3 with The grayscale image of the modulation frequency, or the grayscale image with the modulation frequency corrected in step 4, the CCD camera is used to capture the diffuse reflection image in step 1, or the luminosity distribution image in step 3, or the illuminance in step 5 Distribution image, TOF depth camera is used to acquire plane depth image and complex depth image in step 2, standard diffuse reflection Lambertian and complex tissue are used for projection of reflection DLP projector and projection objective lens, DLP projector is fixed on precision lifting table , the base is fixed on the first five-dimensional adjustment frame, the CCD camera and the TOF depth camera are exchangeably fixed on the second five-dimensional adjustment frame, and the standard diffuse reflection Lambertian and complex tissue are exchangeable and fixed on the base , the projection area of the DLP projector coincides with the acquisition area of the CCD camera or TOF depth camera.
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具有在线形貌矫正能力的组织体光学参数测量系统;赵会娟等;《光子学报》;20170831;第46卷(第8期);0812002-1-8 *

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