CN110428459A - A method of the Phase- un- wrapping based on numerical order coding - Google Patents
A method of the Phase- un- wrapping based on numerical order coding Download PDFInfo
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- CN110428459A CN110428459A CN201910482283.0A CN201910482283A CN110428459A CN 110428459 A CN110428459 A CN 110428459A CN 201910482283 A CN201910482283 A CN 201910482283A CN 110428459 A CN110428459 A CN 110428459A
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
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Abstract
The invention discloses a kind of method of Phase- un- wrapping based on numerical order coding, method includes the following steps: the encoded good sequence of Program Generating and four raster patterns of expression formula, four different raster patterns of projection, acquisition image, calculating integer grade belonging to each point, acquisition phase information and three-dimensional reconstruction.Pack is unpacked compared to traditional multifrequency heterodyne for needing to project 12 pictures and needs the Gray compiling method of individually projection Gray coded image, the image of 1024x768 is laterally and longitudinally respectively divided into 24 periods by this method, the different order that each period is made of 4 kinds of different expression formulas in 4 raster patterns, four kinds of expression formulas can form altogether 4x3x2x1=24 kind sequence, corresponding 24 periods obtain the integer grade information of phase using the corresponding different integer grades of different cycles to unlock package.The method of the present invention schemes itself with integer grade information by four, greatly reduces the quantity of projection grating figure, and can guarantee precision to a certain extent.The measuring speed effectively improved is suitable for quick three-dimensional fields of measurement.
Description
Technical field
The present invention relates in optical 3-dimensional topography measurement, reconstruction, structured light technique.The present invention relates to a kind of Phase Unwrapping Algorithms
Method is further related to a kind of method of Phase- un- wrapping based on numerical order coding.
Background technique
With the development of science and technology quickly three-dimensional measurement technical need is increasing.Three-dimensional reconstruction is three-dimensional measurement
The extension of technology obtains the three-dimensional appearance information of target object by certain method, and by certain algorithm process, rebuilds
The three-D profile of object.
Phase unwrapping in the three-dimensional rebuilding method of traditional structure light usually requires measuring targets and projects several bar graphs
Picture, and then enough three-dimensional appearance information could be obtained.Such as the method for multifrequency heterodyne unpacking, it needs on object under test surface
12 raster patterns are projected, enough phase informations can be just obtained.Digitally coded method is to unpack one kind in package method.By to throwing
Raster pattern is penetrated to be encoded to obtain the phase information of each point.The method for being compared to multifrequency heterodyne expansion phase, coding
Method can use less picture to reach and obtain phase information and carry out three-dimensional reconstruction, workload is few, and acquisition speed is fast,
Greatly reduce the time required to measurement.It is increasingly becoming the research hot topic in quick three-dimensional measurement reconstruction field.
There are the problem of: in area-structure light three-dimensional measurement practical application, can be solved from the stripe grating image of acquisition
Accurate phase information is directly related to three-dimensional measurement and reconstruction precision out.And use the direct shadow of quantity of projected fringe picture
Ring the rapidity and real-time for arriving three-dimensional reconstruction.There are many technical problems in the real process of unpacking to need to solve.
True three-dimensional appearance must project a large amount of striped in order to obtain, influence speed, and the shadow by gamma and random noise
It rings, tends not to obtain true three-dimensional information.
Summary of the invention
In view of this, the purpose of the method for the present invention is to overcome the defect of efficiency and rate.It provides a kind of based on numerical order
The method of the Phase- un- wrapping of coding.This method can subtract 12 bar graphs for needing to project originally during unpacking
Less to 4.Not only accelerating rate can also ensure that precision.
Step 1: writing 4 different expression formulas (I1, I2, I3, I4), the phase of expression formula is different, and frequency is identical.Coding
The numerical order in 24 periods, and generate 4 raster patterns (W1, W2, W3, W4) encoded
Step 2: according to step 1, four generated raster patterns (W1, W2, W3, W4) pass sequentially through projector to object
Body surface face, and image is acquired by camera, obtain acquisition image 1, acquisition image 2, acquisition image 3, acquisition image 4.
Step 3: according to four images collected in step 2, operation being carried out to each of image point, is obtained each
Order information, that is, integer grade information of point obtains wrapped phase figure and integer grade staircase chart.
Step 4: the staircase chart according to obtained in step 3 obtains the higher packet of precision by staircase chart reverse order information
Wrap up in phase diagram Φ.
Step 5: according to the staircase chart and wrapped phase figure obtained in step 4, phase unwrapping being obtained into the absolute of each point
Phase diagram obtains the absolute phase information of each point, and then rebuilds three-dimensional appearance.
Further, wherein 4 expression formulas should meet an equation (1) in step 1:
A × I1+B × I2+C × I3+D × I4=0 (1)
And A, B, C, D are four each unequal coefficients, are obtained expression formula (2)
It obtains coding schedule (3)
| W1 | 1 | 1 | 1 | 4 | 4 | 4 | 3 | 3 | 3 | 2 | 2 | 2 | 1 | 1 | 1 | 2 | 2 | 2 | 3 | 3 | 3 | 4 | 4 | 4 |
| W2 | 2 | 2 | 4 | 1 | 1 | 3 | 4 | 4 | 2 | 3 | 3 | 1 | 3 | 3 | 4 | 4 | 4 | 1 | 1 | 1 | 2 | 2 | 2 | 3 |
| W3 | 3 | 4 | 2 | 2 | 3 | 1 | 1 | 2 | 4 | 4 | 1 | 3 | 2 | 4 | 3 | 3 | 1 | 4 | 4 | 2 | 1 | 1 | 3 | 2 |
| W4 | 4 | 3 | 3 | 3 | 2 | 2 | 2 | 1 | 1 | 1 | 4 | 4 | 4 | 2 | 2 | 1 | 3 | 3 | 2 | 4 | 4 | 3 | 1 | 1 |
| N | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 |
(3)
T1 and T2 is setting value in expression formula (2), and Φ is phase, and I1, I2, I3, I4 represent light intensity value.
W1, W2, W3 in chart (3), W4 are the raster pattern generated, and preceding four row 1 represents expression formula I1 in chart, in chart before
Four rows 2 represent expression formula I2, and preceding four row 3 represents expression formula I3 in chart, and preceding four row 4 represents expression formula I4 in chart.Such as: W1
Image a cycle be I1 expression formula, the image a cycle of W2 is the expression formula of I2, and so on.
N represents integer grade in chart (3), including N1-N24 has 24 series altogether.
Further, wherein step 3 carries out operation to collected each point, can be with table according to equation (1) and expression formula (2)
Up to 4 coefficients in equation out (1):
It is following to the out-of-order substitution of light intensity value difference for the point for collecting the same position in 4 figures (W1, W2, W3, W4)
[*] is judged in equation (5):
A × [*]+B × [*]+C × [*]+D × [*]=0 (5)
The 4 figures sequence for substituting into equation at this time is write down when meeting equation (5), is found pair with chart (2) comparison
The integer grade N answered.
T1 and T2 should take suitable numerical value to make coefficient A, B, C, D in formula (4) that can have biggish difference, reduce discrimination
The generation of adopted point (exchanging I1, I2, I3, the point that the sequence of I4 is also able to satisfy equation 5 is known as ambiguous point).
Further, wherein staircase chart obtained in step 4, with reverse point wrapped phase figure, it is higher to obtain precision
Wrapped phase figure.
Entire acquisition image is calculated, so that it may obtain the staircase chart gradually risen and wrapped phase figure.
Further, precision higher integer grade N and wrapped phase Φ is wherein obtained in step 4, then can be obtained absolutely
Phase:
PHI=2 × π × N+ Φ (6)
According to above-mentioned, after obtaining unpacking absolute phase, it is easy to carry out reconstruction three-dimensional appearance.To realize testee
Three-dimensional appearance high-precision rapid survey.
The beneficial effects of the present invention are: a kind of side of Phase- un- wrapping based on numerical order coding disclosed by the invention
Method.This method, which need to only project 4 amplitude grating bar graphs, can unlock wrapped phase, obtain the three-dimensional appearance information of testee,
8 (12-4) amplitude grating figures have been projected less compared to traditional multifrequency heterodyne phase method of development, it is few compared to the expansion of Gray encoding phase
Gray coded image has been projected, greater advantage is obtained in number of projections.Generally speaking, the present invention is guaranteeing that digital raster is three-dimensional
In measurement under itself precision and advantage, less picture is projected, by the coded sequence of projection image, itself has integer grade
Information effectively raises the speed of three-dimensional measurement, can be applied to quick three-dimensional fields of measurement, be suitble to it is large-scale promote and
Using.
Detailed description of the invention
In order to obtain These characteristics of the invention, specific implementation method pair of the invention shown in hereinafter reference will be made to the drawings
The method of the present invention outlined above carries out more specific description.It should be understood that these attached drawings illustrate only typical case of the invention
Embodiment, therefore be not construed as limiting the scope of the present invention, by using attached drawing, the present invention will be carried out more specifically and
More detailed description and elaboration.In the accompanying drawings:
Fig. 1 is the schematic diagram of measuring system of the invention
Fig. 2 is the flow diagram of the method for the Phase- un- wrapping of the invention based on numerical order coding.
Fig. 3 is the coding grating schematic diagram of the method for the Phase- un- wrapping of the invention based on numerical order coding.
Fig. 4 is the coding grating perspective view of the method for the Phase- un- wrapping of the invention based on numerical order coding.
Specific embodiment
It is a kind of Phase- un- wrapping based on numerical order coding according to offer of the present invention as shown in Figures 1 to 4
Method realizes that the measuring system includes 1, industrial camera 2 of a projector by a structured light measurement system,
One terminal 3 and testee 4, the projector 1 and the industrial camera 2 are arranged in 4 or so two front of testee, and the throwing
Shadow instrument 1 and the industrial camera 2 are all connected to the terminal 3.The terminal 3 can control the projector 1 and project to the object being measured
Numerical order numbers the stripe grating finished, which can acquire in real time by the object being measured surface modulation
Stripe pattern, and the terminal 3 is sent it to carry out analytical calculation and subsequent operation, such as carries out the operation of this method.
As shown in connection with fig. 1, a kind of method that the present invention discloses Phase- un- wrapping based on numerical order coding, specific steps
It is as follows:
Step 1: by area-structure light measuring system as shown in Figure 1, mainly by the projector 1, the industrial camera 2, the end
End 3 and testee region 4 form, and wherein the projector 1 and the industrial camera 2 are arranged in 4 or so two front of testee,
Position should ensure that drop shadow spread's covering testee range of the projector 1 and 2 coverage of industrial camera covering should
The drop shadow spread of projector 1.For example, the projector 1 and the industrial camera 2 are located at the measured object in this example of Fig. 1
The front of body, and the projector 1 and the industrial camera 2 are located at the two sides of the testee, so that the projector 1 can
The stripe pattern good from the side front direction of the testee 4 projection code of testee, the industrial camera 2 can be tested from this
Another side shooting in the front of object 4 is projected onto the stripe pattern of the testee 4；Write 4 different expression
The phase of formula (I1, I2, I3, I4), expression formula is different, and frequency is identical, meets following equalities
A × I1+B × I2+C × I3+D × I4=0 (1)
And A, B, C, D are four each unequal coefficients, are obtained expression formula (2)
Π/10 T1=Π/2.5, T2=in formula (2).
The numerical order in 24 periods is encoded, and generates 4 raster patterns (W1, W2, W3, W4) encoded
It obtains coding schedule (3)
| W1 | 1 | 1 | 1 | 4 | 4 | 4 | 3 | 3 | 3 | 2 | 2 | 2 | 1 | 1 | 1 | 2 | 2 | 2 | 3 | 3 | 3 | 4 | 4 | 4 |
| W2 | 2 | 2 | 4 | 1 | 1 | 3 | 4 | 4 | 2 | 3 | 3 | 1 | 3 | 3 | 4 | 4 | 4 | 1 | 1 | 1 | 2 | 2 | 2 | 3 |
| W3 | 3 | 4 | 2 | 2 | 3 | 1 | 1 | 2 | 4 | 4 | 1 | 3 | 2 | 4 | 3 | 3 | 1 | 4 | 4 | 2 | 1 | 1 | 3 | 2 |
| W4 | 4 | 3 | 3 | 3 | 2 | 2 | 2 | 1 | 1 | 1 | 4 | 4 | 4 | 2 | 2 | 1 | 3 | 3 | 2 | 4 | 4 | 3 | 1 | 1 |
| N | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 |
(3)
The calculative phase of Φ, I1, I2, I3, I4 represent light intensity value in expression formula (2).
W1, W2, W3 in chart (3), W4 are the raster pattern generated, and preceding four row 1 represents expression formula I1 in chart, in chart before
Four rows 2 represent expression formula I2, and preceding four row 3 represents expression formula I3 in chart, and preceding four row 4 represents expression formula I4 in chart.Such as: W1
Image a cycle be I1 expression formula, the image a cycle of W2 is the expression formula of I2, and so on.
N represents integer grade in chart (3), including N1-N24 has 24 series altogether.
Step 2: according to step 1, four generated raster patterns (W1, W2, W3, W4) pass sequentially through the projector 1 in Fig. 1
Object under test surface is projected to, and image is acquired by Fig. 1 industrial camera 2 and passes to the terminal 3.Acquisition acquisition image 1,
Acquire image 2, acquisition image 3, acquisition image 4.
Step 3: operation being carried out to each point collected in step 2, can be expressed according to equation (1) and expression formula (2)
4 coefficients in equation (1) out:
A=-2.35, B=0.27, C=3.08, D=1 in formula (4).
It is following to the out-of-order substitution of light intensity value difference for the point for collecting the same position in 4 figures (W1, W2, W3, W4)
[*] is judged in equation (5):
A × [*]+B × [*]+C × [*]+D × [*]=0 (5)
The 4 figures sequence for substituting into equation at this time is write down when meeting equation (5), is found pair with chart (2) comparison
The integer grade N answered.
The numerical value that T1 and T2 should take makes coefficient A, B, C, D in formula (4) that can have biggish difference, above formula coefficient difference
It is not sufficiently large.Reduce the production of ambiguous point (exchanging I1, I2, I3, the point that the sequence of I4 is also able to satisfy equation (5) is known as ambiguous point)
It is raw.
Step 4: to staircase chart obtained in step 3, with reverse point wrapped phase.
Entire acquisition image is calculated, so that it may obtain the staircase chart gradually risen and mechanical periodicity wrapped phase
Figure.
Precision higher integer grade N and wrapped phase Φ is obtained, then can obtain absolute phase:
PHI=2 × π × N+ Φ (6)
According to above-mentioned, after obtaining unpacking absolute phase, it is easy to carry out reconstruction three-dimensional appearance.To realize testee
Three-dimensional appearance high-precision rapid survey.
Generally speaking, the method for a kind of Phase- un- wrapping based on numerical order coding disclosed by the invention.This method is only
4 amplitude grating bar graphs, which need to be projected, can unlock wrapped phase, obtain the three-dimensional appearance information of testee, more compared to traditional
The frequency heterodyne phase method of development has projected 8 (12-4) amplitude grating figures less, has projected Gray volume less compared to the expansion of Gray encoding phase
Code image, obtains greater advantage in number of projections.The present invention precision and excellent in guaranteeing digital raster three-dimensional measurement itself
Under point, less picture is projected, by the coded sequence of projection image, itself has integer grade information, effectively raises three
The speed for tieing up measurement, can be applied to quick three-dimensional fields of measurement, is suitble to large-scale promotion and application.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the scope of the claims of invention.
Claims (5)
1. a kind of method of the Phase- un- wrapping based on numerical order coding, characterized by the following steps:
Step 1: writing 4 different expression formulas (I1, I2, I3, I4), the phase of expression formula is different, and frequency is identical.By four tables
It is put into grating up to the arrangement of formula different order, and generates 4 raster patterns (W1, W2, W3, W4) encoded
Step 2: according to step 1, four generated raster patterns (W1, W2, W3, W4) pass sequentially through projector to object table
Face, and image is acquired by camera, obtain acquisition image 1, acquisition image 2, acquisition image 3, acquisition image 4.
Step 3: according to four images collected in step 2, operation being carried out to each of image point, obtains each point
Order information, that is, integer grade information obtains wrapped phase figure and integer grade staircase chart.
Step 4: the staircase chart according to obtained in step 3 obtains the higher package phase of precision by staircase chart reverse order information
Bitmap.
Step 5: according to the staircase chart and wrapped phase figure obtained in step 4, phase unwrapping being obtained into the absolute phase of each point
Figure obtains the absolute phase information of each point, and then rebuilds three-dimensional appearance.
2. a kind of method of Phase- un- wrapping based on numerical order coding according to claim 1, it is characterised in that: its
4 expression formulas should meet an equation (1) in middle step 1:
A × I1+B × I2+C × I3+D × I4=0 (1)
And A, B, C, D are four each unequal coefficients, are obtained expression formula (2)
It obtains coding schedule (3)
(3)
T1 and T2 is setting value in expression formula (2), and Φ is phase, and I1, I2, I3, I4 represent light intensity value.
W1, W2, W3 in chart (3), W4 are the raster pattern generated, and preceding four row 1 represents expression formula I1, preceding four row in chart in chart
2 represent expression formula I2, and preceding four row 3 represents expression formula I3 in chart, and preceding four row 4 represents expression formula I4 in chart.Such as: the figure of W1
As a cycle is the expression formula of I1, the image a cycle of W2 is the expression formula of I2, and so on.
N represents integer grade in chart (3), including N1-N24 has 24 series altogether.
3. a kind of method of Phase- un- wrapping based on numerical order coding according to claim 1, it is characterised in that: its
Middle step 3 carries out operation to collected each point, can give expression in equation (1) 4 according to equation (1) and expression formula (2)
Coefficient:
It is out-of-order respectively to the light intensity value for the point for collecting the same position in 4 figures (W1, W2, W3, W4) to substitute into following equalities
(5) [*] is judged in:
A × [*]+B × [*]+C × [*]+D × [*]=0 (5)
The 4 figures sequence for substituting into equation at this time is write down when meeting equation (5), is found with chart (2) comparison corresponding
Integer grade N.
T1 and T2 should take suitable numerical value to make coefficient A, B, C, D in formula (4) that can have biggish difference, reduce ambiguous point
The generation of (point that the sequence of four figure light intensity values of exchange is also able to satisfy equation 5 is known as ambiguous point).
4. a kind of method of Phase- un- wrapping based on numerical order coding according to claim 1, it is characterised in that: its
4 figure sequences, the coded sequence of four expression formulas is found according to the sequence of four figures in coding schedule 3 obtained in middle step 4,
Find out wrapped phase.
Entire acquisition image is calculated, so that it may obtain the staircase chart gradually risen and mechanical periodicity wrapped phase figure.
5. a kind of method of Phase- un- wrapping based on numerical order coding according to claim 4, it is characterised in that: its
In the integer grade N and wrapped phase Φ that obtain, then can obtain absolute phase:
PHI=2 × π × N+ Φ (6)
According to above-mentioned, after obtaining unpacking absolute phase, it is easy to carry out reconstruction three-dimensional appearance.To realize the three of testee
Tie up pattern high-precision rapid survey.
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