CN117663987A - Phase measurement method, apparatus, device and storage medium - Google Patents
Phase measurement method, apparatus, device and storage medium Download PDFInfo
- Publication number
- CN117663987A CN117663987A CN202311634254.4A CN202311634254A CN117663987A CN 117663987 A CN117663987 A CN 117663987A CN 202311634254 A CN202311634254 A CN 202311634254A CN 117663987 A CN117663987 A CN 117663987A
- Authority
- CN
- China
- Prior art keywords
- gray
- scale camera
- camera
- phase
- color
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000691 measurement method Methods 0.000 title claims abstract description 21
- 230000010363 phase shift Effects 0.000 claims abstract description 68
- 238000000034 method Methods 0.000 claims abstract description 19
- 238000005259 measurement Methods 0.000 claims abstract description 16
- 238000006243 chemical reaction Methods 0.000 claims abstract description 7
- 239000011159 matrix material Substances 0.000 claims description 20
- 238000013519 translation Methods 0.000 claims description 11
- 230000015572 biosynthetic process Effects 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 5
- 238000003786 synthesis reaction Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 239000003086 colorant Substances 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000004298 light response Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000002085 persistent effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to the technical field of phase measurement and discloses a phase measurement method, a device, equipment and a storage medium. The method comprises the following steps: generating two groups of three-step phase shift pictures with different frequencies; respectively placing each group of three-step phase shift pictures into R, G, B channels of a color Mat object to generate color fringe patterns, wherein the color fringe patterns corresponding to the two groups of three-step phase shift pictures are a first color fringe pattern and a second color fringe pattern respectively; acquiring red, green and blue image information of a first color fringe pattern and a second color fringe pattern by using a calibrated first gray scale camera, a calibrated second gray scale camera and a calibrated third gray scale camera, and performing coordinate conversion to obtain two phase shift deformation fringe patterns, wherein the first gray scale camera, the second gray scale camera and the calibrated third gray scale camera are respectively provided with red, green and blue filter plates; and calculating the phase information of each pixel point according to the two phase shift deformation fringe patterns.
Description
Technical Field
The present invention relates to the field of phase measurement technologies, and in particular, to a phase measurement method, apparatus, device, and storage medium.
Background
When using phase shift techniques for structured light projection, at least three frames of fringes need to be projected to resolve the phase information. In industrial inspection applications, the stripes in the x and y directions are analyzed to resolve the corresponding defect information, and the number of projected stripes is doubled in one direction. In addition, when the phase expansion is carried out, in order to have higher fringe period marking capability and obtain higher measurement precision, a double-frequency phase shift technology is often adopted to project two groups of phase shift fringes with different frequencies, and the number of the projected fringes is doubled on the original basis. The more the number of projection stripes is, the lower the operation efficiency of the measurement system is, and the problem of synchronization of stripe projection and camera acquisition is also an important point of continuous optimization in industrial application, especially in high-speed dynamic test scenes, and a series of error effects can be caused by asynchronous projection and acquisition.
In the prior art, three kinds of image information of red, green and blue of a color fringe pattern are captured by using a color CCD camera, and as the color CCD camera overlaps light response curves of three different colors and wavelengths, channel crosstalk can occur when the acquired color distortion fringe pattern is subjected to channel separation as shown in fig. 4, so that the separated fringe pattern has obvious crosstalk error, and the subsequent modulation degree and phase calculation are influenced.
Accordingly, there is a need for improvement and development in the art.
Disclosure of Invention
The invention provides a phase measurement method, a device, equipment and a storage medium, which are used for avoiding crosstalk between composite stripes and realizing high-precision dynamic measurement.
The first aspect of the present invention provides a phase measurement method, including: generating two groups of three-step phase shift pictures with different frequencies; respectively placing each group of three-step phase shift pictures into R, G, B channels of a color Mat object to generate color fringe patterns, wherein the color fringe patterns corresponding to the two groups of three-step phase shift pictures are respectively a first color fringe pattern and a second color fringe pattern; acquiring red, green and blue image information of a first color fringe pattern and a second color fringe pattern by using a calibrated first gray scale camera, a calibrated second gray scale camera and a calibrated third gray scale camera, and performing coordinate conversion to obtain two phase shift deformation fringe patterns, wherein the first gray scale camera, the second gray scale camera and the calibrated third gray scale camera are respectively provided with red, green and blue filter plates; and calculating the phase information of each pixel point according to the two phase shift deformation fringe patterns.
Preferably, one group of three-step phase-shifting pictures comprises pictures with frequency f1 at 0 °, 120 ° and 240 °, and the other group of three-step phase-shifting pictures comprises pictures with frequency f2 at 0 °, 120 ° and 240 °.
Preferably, the step of placing each group of the three-step phase-shift pictures into R, G, B channels of a color Mat object respectively to generate a color fringe pattern includes: creating a blank color Mat object; respectively reading each group of three-step phase shift pictures as a single-channel Mat object; and copying the single-channel Mat object to R, G, B channels of the color Mat object respectively to generate a color fringe pattern.
Preferably, before the first gray-scale camera, the first gray-scale camera and the third gray-scale camera are used for acquiring the red, green and blue image information of the first color fringe pattern and the second color fringe pattern, calibrating the first gray-scale camera, the second gray-scale camera and the third gray-scale camera is included.
Preferably, the calibrating the first gray scale camera, the second gray scale camera and the third gray scale camera includes: placing a checkerboard calibration plate into the fields of view of a first gray-scale camera, a second gray-scale camera and a third gray-scale camera, wherein the first gray-scale camera and the third gray-scale camera are respectively positioned at two sides of the second gray-scale camera, and parameters of the first gray-scale camera, the second gray-scale camera and the third gray-scale camera are consistent; simultaneously acquiring the checkerboard calibration plate images by using the first gray-scale camera, the second gray-scale camera and the third gray-scale camera, and calculating internal parameters and distortion parameters of the first gray-scale camera, the second gray-scale camera and the third gray-scale camera according to the acquired checkerboard calibration plate images; based on the first ashTaking the second gray level camera as a reference camera, respectively completing binocular vision calibration of the first gray level camera and the third gray level camera to obtain calibration results of the first gray level camera, the third gray level camera and the second gray level camera, wherein the calibration results comprise a rotation matrix R 1 、R 2 And translation vector T 1 、T 2 And will rotate matrix R 1 And translation vector T 1 Synthesis of calibration matrix M 1 Will rotate matrix R 2 And translation vector T 2 Synthesis of calibration matrix M 2 Calibration matrix M 1 And M 2 Expressed as:
preferably, the calculating the phase information of each pixel point according to the two phase shift deformation fringe patterns includes: processing the two phase shift deformation fringe patterns, and extracting phase shift information of each pixel point; calculating absolute phase information of each pixel point according to a phase unwrapping algorithm by using the extracted phase shift information; and unwrapping the absolute phase information of each pixel point to obtain continuous phase information.
Preferably, the phase shift information of each pixel point is extracted by a fourier transform method or a four-step phase shift method.
A second aspect of the present invention provides a phase measurement apparatus comprising: the first generation module is used for generating two groups of three-step phase shift pictures with different frequencies; the second generation module is used for respectively placing each group of the three-step phase-shift pictures into R, G, B channels of the color Mat object to generate color fringe patterns, and the color fringe patterns corresponding to the two groups of the three-step phase-shift pictures are respectively a first color fringe pattern and a second color fringe pattern; the third generation module is used for acquiring red, green and blue image information of the first color fringe pattern and the second color fringe pattern by using the calibrated first gray level camera, the calibrated second gray level camera and the calibrated third gray level camera, and carrying out coordinate conversion to obtain two phase shift deformation fringe patterns, wherein the first gray level camera, the second gray level camera and the calibrated third gray level camera are respectively provided with red, green and blue filter plates; and the phase calculation module is used for calculating the phase information of each pixel point according to the two phase shift deformation fringe patterns.
A third aspect of the present invention provides a phase measurement apparatus comprising: a memory and at least one processor, the memory having computer readable instructions stored therein, the memory and the at least one processor being interconnected by a line; the at least one processor invokes the computer-readable instructions in the memory to cause the phase measurement device to perform the steps of the phase measurement method as described above.
A fourth aspect of the invention provides a computer readable storage medium having stored therein computer readable instructions which, when run on a computer, cause the computer to perform the steps of the phase measurement method as described above.
According to the technical scheme provided by the invention, when red, green and blue image information of a color fringe pattern is acquired, the color CCD is replaced by the first gray level camera, the second gray level camera and the third gray level camera which are respectively provided with the red, green and blue filter plates, the filter plates are added, so that three kinds of image information of red, green and blue in a corresponding channel can be respectively captured by the first gray level camera, the second gray level camera and the third gray level camera, and the gray level cameras only respond to the light intensity entering by the sensor, thereby effectively avoiding the problem of crosstalk of images of the camera in different wave bands.
Drawings
Fig. 1 is a flowchart of a phase measurement method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a phase measurement device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a phase measurement device according to an embodiment of the present invention;
fig. 4 is a schematic diagram of the occurrence of channel crosstalk during channel separation using a color distortion fringe pattern acquired by a color CCD camera.
Detailed Description
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus.
For easy understanding, a specific flow of an embodiment of the present invention is described below, referring to fig. 1, and a first embodiment of a phase measurement method in an embodiment of the present invention includes:
s101, generating two groups of three-step phase shift pictures with different frequencies.
S102, respectively placing each group of the three-step phase shift pictures into R, G, B channels of a color Mat object to generate color fringe patterns, wherein the color fringe patterns corresponding to the two groups of the three-step phase shift pictures are a first color fringe pattern and a second color fringe pattern respectively.
S103, acquiring red, green and blue image information of the first color fringe pattern and the second color fringe pattern by using the calibrated first gray scale camera, the calibrated second gray scale camera and the calibrated third gray scale camera, and performing coordinate conversion to obtain two phase shift deformation fringe patterns, wherein the first gray scale camera, the second gray scale camera and the calibrated third gray scale camera are respectively provided with red, green and blue filter plates.
S104, calculating the phase information of each pixel point according to the two phase shift deformation fringe patterns.
It is to be understood that the execution body of the present invention may be a phase measurement device, and may also be a terminal or a server, which is not limited herein. The embodiment of the invention is described by taking a server as an execution main body as an example.
The embodiment provides a phase measurement method, which adopts a first gray level camera, a second gray level camera and a third gray level camera which are respectively provided with red, green and blue filter plates to replace a color CCD when red, green and blue image information of a color fringe pattern is acquired, and the addition of the filter plates can enable three kinds of image information of red, green and blue in a corresponding channel to be respectively captured by the first gray level camera, the second gray level camera and the third gray level camera, and the gray level camera only responds to the light intensity entering by a sensor, so that the crosstalk problem of images of the camera in different wave bands can be effectively avoided.
In this embodiment, in step S101, a group of three-step phase-shifted pictures includes a picture with a frequency f1 when the phase is 0 °, 120 °, 240 °; another set of three-step phase shifted pictures includes pictures with a frequency f2 at phases 0 °, 120 °, 240 °.
When generating two groups of three-step phase shift pictures with different frequencies, laser or LED light sources with different wavelengths are used for generating light with different frequencies, and the phase of each group of the three-step phase shift pictures is required to be adjusted respectively. For three-step phase shifting, the phases are typically set to 0 °, 120 ° and 240 °, and three images at each frequency are taken, respectively, with a camera or other image acquisition device, with corresponding phases of 0 °, 120 ° and 240 °.
The purpose of generating two groups of three-step phase shift pictures with different frequencies is to obtain phase information under different frequencies, and the morphology information of a target object can be obtained by carrying out phase extraction under different frequencies and combining phase difference calculation.
In the present embodiment, in step S102, two color fringe patterns correspond to the frequencies f1 and f2, respectively.
Specifically, each group of the three-step phase shift pictures is respectively put into R, G, B three channels of a color Mat object, and generating a color fringe pattern comprises: creating a blank color Mat object, wherein the size of the color Mat object is the same as that of the three-step phase shift picture; respectively reading the three-step phase shift pictures as single-channel Mat objects; and copying the single-channel Mat object to R, G, B channels of the color Mat object respectively to generate a color fringe pattern.
In this embodiment, the three-step phase shift picture may be read using the cv:: IMREAD function in OpenCV, and the parameter is specified to be cv:: imread_ GRAYSCALE, to read as a single-channel gray scale image.
In this embodiment, a cv split function in OpenCV may be used to separate a single channel Mat object into multiple channels, and then assign each channel to a corresponding channel of a color Mat object, respectively.
In this embodiment, before the calibrated first gray-scale camera, the first gray-scale camera, and the third gray-scale camera are used to collect the red, green, and blue image information of the first color fringe pattern and the second color fringe pattern in step S103, the method specifically includes calibrating the first gray-scale camera, the second gray-scale camera, and the third gray-scale camera, including:
placing the checkerboard calibration plate into the fields of view of a first gray-scale camera, a second gray-scale camera and a third gray-scale camera, wherein the first gray-scale camera and the third gray-scale camera are respectively positioned at two sides of the second gray-scale camera, and parameters of the first gray-scale camera, the second gray-scale camera and the third gray-scale camera are consistent;
simultaneously acquiring checkerboard calibration plate images by using a first gray-scale camera, a second gray-scale camera and a third gray-scale camera, and calculating internal parameters and distortion parameters of the first gray-scale camera, the second gray-scale camera and the third gray-scale camera according to the acquired checkerboard calibration plate images;
based on internal parameters and distortion parameters of a first gray-scale camera, a second gray-scale camera and a third gray-scale camera, respectively completing binocular vision calibration of the first gray-scale camera and the third gray-scale camera by taking the second gray-scale camera as a reference camera to obtain calibration results of the first gray-scale camera and the third gray-scale camera and the second gray-scale camera respectively, wherein the calibration results comprise a rotation matrix R 1 、R 2 And translation vector T 1 、T 2 And will rotate matrix R 1 And translation vector T 1 Synthesis of calibration matrix M 1 Will rotate matrix R 2 And translation vector T 2 Synthetic calibrationMatrix M 2 Calibration matrix M 1 And M 2 Expressed as:
it will be appreciated that the matrix R is rotated 1 、R 2 Is a 3*3 rotation matrix, translation vector T 1 、T 2 Is a 3*1 column vector.
Optionally, calculating internal parameters and distortion parameters of the first gray scale camera, the second gray scale camera and the third gray scale camera according to the acquired checkerboard calibration plate image includes: each image is extracted from checkerboard angular points, and functions provided by OpenCV and other libraries can be used for automatic detection; calculating internal parameters (such as focal length and optical center coordinates) and external parameters (rotation matrix and translation vector of the camera) of the camera by using pixel coordinates of the angular points and known real world coordinates and using a calibration algorithm; and calculating radial distortion coefficients and tangential distortion coefficients of the camera and possible higher-order distortion coefficients through the distortion effect of the calibration plate.
Furthermore, the calibration result can be optimized and evaluated, the accuracy of calibration is usually evaluated by using a re-projection error, and if the error is larger, the position of the calibration plate can be tried to be adjusted or more calibration images can be added to improve the calibration accuracy.
In this embodiment, two color fringe patterns are respectively captured by using a calibrated first gray-scale camera, a second gray-scale camera and a third gray-scale camera, for the captured image, the information of the corresponding channel is extracted by using the color characteristics of the corresponding filter, for example, the first gray-scale camera captures only the image information of the red channel, the second gray-scale camera captures only the image information of the red and green channels, and the third gray-scale camera captures only the image information of the blue channel.
In this embodiment, in step S104, calculating the phase information of each pixel point according to the two phase shift deformation fringe patterns includes: processing the two phase shift deformation fringe patterns, and extracting phase shift information of each pixel point; calculating absolute phase information of each pixel point according to a phase unwrapping algorithm by using the extracted phase shift information; and unwrapping the absolute phase information of each pixel point to obtain continuous phase information.
In this embodiment, the phase shift information of each pixel point may be extracted by a fourier transform method or a four-step phase shift method.
In this embodiment, the phase unwrapping algorithm includes Fourier transform, three-step phase shift, and the like.
In this embodiment, in some cases, due to the limitation of the phase shift, the calculated phase information may be affected by the "wrapping" phenomenon, that is, the phase is discontinuously hopped within a certain range, and the absolute phase information of each pixel needs to be unwrapped to obtain continuous phase information.
The phase measurement method in the embodiment of the present invention is described above, and the apparatus in the embodiment of the present invention is described below, referring to fig. 2, where an implementation manner of the phase measurement apparatus in the embodiment of the present invention includes:
a first generating module 201, configured to generate two sets of three-step phase-shift pictures with different frequencies;
the second generating module 202 is configured to put each set of the three-step phase-shift pictures into R, G, B channels of the color Mat object, and generate color fringe patterns, where the color fringe patterns corresponding to the two sets of the three-step phase-shift pictures are respectively a first color fringe pattern and a second color fringe pattern;
the third generating module 203 is configured to collect red, green, and blue image information of the first color fringe pattern and the second color fringe pattern by using the calibrated first gray-scale camera, the calibrated second gray-scale camera, and the calibrated third gray-scale camera, and perform coordinate conversion to obtain two phase-shift deformed fringe patterns, where the first gray-scale camera, the second gray-scale camera, and the calibrated third gray-scale camera are respectively provided with red, green, and blue filter plates;
the phase calculation module 204 is configured to calculate phase information of each pixel point according to the two phase shift deformation fringe patterns.
In this embodiment, when red, green and blue image information of a color fringe pattern is collected, a first gray-scale camera, a second gray-scale camera and a third gray-scale camera which are respectively provided with red, green and blue filter plates are adopted to replace a color CCD, and the addition of the filter plates can enable three kinds of image information of red, green and blue in a corresponding channel to be captured by the first gray-scale camera, the second gray-scale camera and the third gray-scale camera respectively, and the gray-scale camera only responds to the light intensity entering by a sensor, so that the crosstalk problem of images of the camera in different wavebands can be effectively avoided.
The phase measuring device in the embodiment of the present invention is described in detail above in fig. 2 from the point of view of the modularized functional entity, and the phase measuring apparatus in the embodiment of the present invention is described in detail below from the point of view of hardware processing.
Fig. 3 is a schematic diagram of a phase measurement device according to an embodiment of the present invention, where the device 300 may have a relatively large difference due to different configurations or performances, and may include one or more processors (central processing units, CPU) 310 (e.g., one or more processors) and a memory 320, and one or more storage media 330 (e.g., one or more mass storage devices) storing application programs 333 or data 332. Wherein memory 320 and storage medium 330 may be transitory or persistent storage. The program stored on the storage medium 330 may include one or more modules (not shown), each of which may include a series of instruction operations in the device 300. Still further, the processor 310 may be configured to communicate with a storage medium 330 in which a series of instruction operations are performed on the device 300.
The device 300 may also include one or more power supplies 340, one or more wired or wireless network interfaces 350, one or more input/output interfaces 360, and/or one or more operating systems 331, such as Windows Serve, mac OS X, unix, linux, freeBSD, etc.
The embodiment of the invention also provides a computer readable storage medium, which can be a nonvolatile computer readable storage medium, and can also be a volatile computer readable storage medium, wherein instructions are stored in the computer readable storage medium, when the instructions run on a computer, the computer is caused to execute the steps of the phase measurement method.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the system or apparatus and unit described above may refer to the corresponding process in the foregoing method embodiment, which is not repeated herein.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a random access memory (random access memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A phase measurement method, the phase measurement method comprising:
generating two groups of three-step phase shift pictures with different frequencies;
respectively placing each group of three-step phase shift pictures into R, G, B channels of a color Mat object to generate color fringe patterns, wherein the color fringe patterns corresponding to the two groups of three-step phase shift pictures are respectively a first color fringe pattern and a second color fringe pattern;
acquiring red, green and blue image information of a first color fringe pattern and a second color fringe pattern by using a calibrated first gray scale camera, a calibrated second gray scale camera and a calibrated third gray scale camera, and performing coordinate conversion to obtain two phase shift deformation fringe patterns, wherein the first gray scale camera, the second gray scale camera and the calibrated third gray scale camera are respectively provided with red, green and blue filter plates;
and calculating the phase information of each pixel point according to the two phase shift deformation fringe patterns.
2. The phase measurement method according to claim 1, wherein one set of three-step phase-shifted pictures includes pictures with a frequency f1 at phases of 0 °, 120 °, 240 °, and the other set of three-step phase-shifted pictures includes pictures with a frequency f2 at phases of 0 °, 120 °, 240 °.
3. The phase measurement method according to claim 1, wherein said placing each set of the three-step phase-shifted pictures into R, G, B channels of a color Mat object, respectively, generates a color fringe pattern, comprising:
creating a blank color Mat object;
respectively reading each group of three-step phase shift pictures as a single-channel Mat object;
and copying the single-channel Mat object to R, G, B channels of the color Mat object respectively to generate a color fringe pattern.
4. The method of claim 1, wherein the calibrating the first gray scale camera, the second gray scale camera, and the third gray scale camera is included before the calibrating the first gray scale camera, and the third gray scale camera to capture red, green, and blue image information of the first color fringe pattern and the second color fringe pattern.
5. The method of phase measurement according to claim 4, wherein calibrating the first gray scale camera, the second gray scale camera, and the third gray scale camera comprises:
placing a checkerboard calibration plate into the fields of view of a first gray-scale camera, a second gray-scale camera and a third gray-scale camera, wherein the first gray-scale camera and the third gray-scale camera are respectively positioned at two sides of the second gray-scale camera, and parameters of the first gray-scale camera, the second gray-scale camera and the third gray-scale camera are consistent;
simultaneously acquiring the checkerboard calibration plate images by using the first gray-scale camera, the second gray-scale camera and the third gray-scale camera, and calculating internal parameters and distortion parameters of the first gray-scale camera, the second gray-scale camera and the third gray-scale camera according to the acquired checkerboard calibration plate images;
based on internal parameters and distortion parameters of the first gray-scale camera, the second gray-scale camera and the third gray-scale camera, respectively completing binocular vision calibration of the first gray-scale camera and the third gray-scale camera by taking the second gray-scale camera as a reference camera to obtain calibration results of the first gray-scale camera, the third gray-scale camera and the second gray-scale camera, wherein the calibration results comprise a rotation matrix R 1 、R 2 And translation vector T 1 、T 2 And will rotate matrix R 1 And translation vector T 1 Synthesis of calibration matrix M 1 Will rotate matrix R 2 And translation vector T 2 Synthesis of calibration matrix M 2 Calibration matrix M 1 And M 2 Expressed as:
6. the phase measurement method according to claim 5, wherein calculating the phase information of each pixel point from the two phase shift deformation fringe patterns includes:
processing the two phase shift deformation fringe patterns, and extracting phase shift information of each pixel point;
calculating absolute phase information of each pixel point according to a phase unwrapping algorithm by using the extracted phase shift information;
and unwrapping the absolute phase information of each pixel point to obtain continuous phase information.
7. The phase measurement method according to claim 6, wherein the phase shift information of each pixel point is extracted by a fourier transform method or a four-step phase shift method.
8. A phase measurement device, comprising:
the first generation module is used for generating two groups of three-step phase shift pictures with different frequencies;
the second generation module is used for respectively placing each group of the three-step phase-shift pictures into R, G, B channels of the color Mat object to generate color fringe patterns, and the color fringe patterns corresponding to the two groups of the three-step phase-shift pictures are respectively a first color fringe pattern and a second color fringe pattern;
the third generation module is used for acquiring red, green and blue image information of the first color fringe pattern and the second color fringe pattern by using the calibrated first gray level camera, the calibrated second gray level camera and the calibrated third gray level camera, and carrying out coordinate conversion to obtain two phase shift deformation fringe patterns, wherein the first gray level camera, the second gray level camera and the calibrated third gray level camera are respectively provided with red, green and blue filter plates;
and the phase calculation module is used for calculating the phase information of each pixel point according to the two phase shift deformation fringe patterns.
9. A phase measurement device comprising a memory and at least one processor, the memory having computer readable instructions stored therein;
the at least one processor invokes the computer readable instructions in the memory to perform the steps of the phase measurement method of any one of claims 1-7.
10. A computer readable storage medium having computer readable instructions stored thereon, which when executed by a processor, implement the steps of the phase measurement method according to any of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311634254.4A CN117663987A (en) | 2023-11-30 | 2023-11-30 | Phase measurement method, apparatus, device and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311634254.4A CN117663987A (en) | 2023-11-30 | 2023-11-30 | Phase measurement method, apparatus, device and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117663987A true CN117663987A (en) | 2024-03-08 |
Family
ID=90080139
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311634254.4A Pending CN117663987A (en) | 2023-11-30 | 2023-11-30 | Phase measurement method, apparatus, device and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117663987A (en) |
-
2023
- 2023-11-30 CN CN202311634254.4A patent/CN117663987A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Wang et al. | Enhanced high dynamic range 3D shape measurement based on generalized phase-shifting algorithm | |
| CA2940079C (en) | Image sensing device and measuring system for providing image data and information on 3d-characteristics of an object | |
| CN107316047A (en) | Image processing apparatus, image processing method and storage medium | |
| CN111238403A (en) | Three-dimensional reconstruction method and device based on light field sub-aperture stripe image | |
| JP6598673B2 (en) | Data processing apparatus and method | |
| CN100451535C (en) | Phase-shift interference image information processing system and processing method thereof | |
| CN104677307A (en) | Measuring method and device combining three-dimensional and two-dimensional shapes | |
| CA3206206A1 (en) | Device and method for correspondence analysis in images | |
| Zhu et al. | Grayscale imbalance correction in real-time phase measuring profilometry | |
| CN114526692B (en) | Structured light three-dimensional measurement method and device based on defocusing unwrapping | |
| CN110608687A (en) | Color coding grating crosstalk compensation method based on projection plane | |
| CN115205360A (en) | Three-dimensional outer contour online measurement and defect detection method of composite stripe projection steel pipe and application | |
| CN110160468B (en) | Defocused grating projection three-dimensional measurement method for moving object | |
| CN116559179B (en) | Reflective surface morphology and defect detection method and system thereof | |
| CN112802084B (en) | Three-dimensional morphology measurement method, system and storage medium based on deep learning | |
| CN110926369B (en) | High-precision structured light three-dimensional measurement system and method | |
| US11226293B1 (en) | Structured illumination optical inspection platform for transparent materials | |
| CN113188477A (en) | Three-channel sine stripe projection-based color object rapid three-dimensional measurement method | |
| CN117663987A (en) | Phase measurement method, apparatus, device and storage medium | |
| CN116977560A (en) | Three-dimensional reconstruction method, device, equipment and storage medium based on structured light | |
| CN112014408A (en) | Detection method for reconstructing pcb (printed circuit board) based on structured light principle | |
| JP2538435B2 (en) | Fringe phase distribution analysis method and fringe phase distribution analyzer | |
| Wang et al. | A fast and precise three-dimensional measurement system based on multiple parallel line lasers | |
| CN113160393B (en) | High-precision three-dimensional reconstruction method and device based on large depth of field and related components thereof | |
| JP2008170281A (en) | Shape measuring device and shape measuring method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |