WO2022143232A1 - 彩色投影模块、条纹解码方法、装置、介质、设备和系统 - Google Patents

彩色投影模块、条纹解码方法、装置、介质、设备和系统 Download PDF

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WO2022143232A1
WO2022143232A1 PCT/CN2021/139304 CN2021139304W WO2022143232A1 WO 2022143232 A1 WO2022143232 A1 WO 2022143232A1 CN 2021139304 W CN2021139304 W CN 2021139304W WO 2022143232 A1 WO2022143232 A1 WO 2022143232A1
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Prior art keywords
stripe
color
fringe
decoding
module
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PCT/CN2021/139304
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English (en)
French (fr)
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陈瀚
赵晓波
黄磊杰
马超
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先临三维科技股份有限公司
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Priority to EP21913973.0A priority Critical patent/EP4273498A4/en
Priority to JP2023540478A priority patent/JP2024502064A/ja
Priority to KR1020237026222A priority patent/KR20230128340A/ko
Priority to US18/270,501 priority patent/US20240062397A1/en
Publication of WO2022143232A1 publication Critical patent/WO2022143232A1/zh

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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
    • 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
    • G01B11/2509—Color coding
    • 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
    • G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C9/00—Impression cups, i.e. impression trays; Impression methods
    • A61C9/004—Means or methods for taking digitized impressions
    • A61C9/0046—Data acquisition means or methods
    • A61C9/0053—Optical means or methods, e.g. scanning the teeth by a laser or light beam
    • A61C9/006—Optical means or methods, e.g. scanning the teeth by a laser or light beam projecting one or more stripes or patterns on the teeth
    • 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
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • 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
    • G01B11/2504—Calibration devices
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • G06T2207/30036—Dental; Teeth

Definitions

  • the present disclosure relates to the technical field of three-dimensional measurement, and in particular, to a color projection module, a fringe decoding method, device, medium, device and system.
  • Structured light 3D measurement technology is a 3D reconstruction technology that projects a coded pattern on the surface of the object to be measured, and acquires and analyzes the coded pattern modulated by the surface topography of the object to obtain the real three-dimensional topography of the object.
  • Structured light 3D measurement technology can be divided into single-frame structured light and multi-frame structured light according to the number of projected coding patterns.
  • the multi-frame structured light technology requires continuous projection of multi-frame coding patterns, which has certain requirements on the object movement speed or scanning speed, and cannot achieve real-time scanning with high frame rate; and the corresponding structure is relatively complex, and the projection equipment is expensive.
  • the single-frame structured light technology only needs to project a coding pattern on the surface of the object to be measured, the measurement speed is fast, and the coding pattern does not need to be transformed.
  • the structure is simple and the price is cheap.
  • color stripe-coded structured light technology is often used for high-precision measurement of complex objects due to its advantages of good anti-interference and high precision.
  • the feature of this technology is to project multiple colored coded stripes to the object, and then uniquely decode the number information of the current stripe through the color information of the adjacent multiple stripes, and finally calculate the three-dimensional point coordinates of the object surface through correct matching.
  • the decoding width set as the decoding width of a single stripe, which must meet the requirements of the stripe color on a single image.
  • the total number of stripes is less than k n .
  • more stripe colors are used or the number of stripe roots required for decoding is more (at least 5 kinds of stripe colors, or stripe roots required for decoding. count at least 4).
  • the more types of fringe colors the more serious the interference from the surface texture of the object, the more unstable the decoding; the more fringes required for decoding a single fringe, the greater the interference from the discontinuity of the object surface, the higher the decoding error rate, and the difficulty in reconstruction. smaller objects.
  • the existing color stripe coding technology is mostly limited to the uniqueness of each stripe code on a single image, resulting in a wide variety of stripes or a large decoding width, unstable decoding, and poor reconstruction integrity, which greatly limits scanning. efficiency.
  • the technical problem to be solved by the present disclosure is to solve the problems in the existing color stripe coding technology that the stripes have many kinds of colors or large decoding width, unstable decoding, and poor reconstruction integrity, thus greatly limiting the scanning efficiency.
  • the embodiments of the present disclosure provide a color projection module, fringe decoding method, device, medium, equipment and system, and propose a single-width cyclically repeatable color fringe coding structured light three-dimensional measurement technology, which is extremely The number of striped colors and the decoding width are greatly reduced, and the scanning efficiency is improved.
  • the present disclosure provides a color projection module configured to project a color fringe pattern onto the surface of an object to be measured, wherein the color fringe pattern includes m periodically repeated basic fringe sequences; wherein m is a positive integer;
  • the base fringe sequence is arranged based on a k-ary n-order De Bruyne sequence.
  • At least part of the fringe pitches are different.
  • At least some of the fringe pitches are different in the same period.
  • the value of k is 3, or the value of n is 3, or the value of k and the value of n are both 3.
  • the three mutually different colors are red, green and blue.
  • the module includes a three-color light source, a mirror array, and a control system
  • the control system is configured to adjust the angle of each reflector in the reflector array, so that the reflector reflects light of a corresponding color and projects the preset color stripe pattern.
  • the module includes a trichromatic light source and an MRSK code
  • the light of the three-color light source transmits the MRSK code to project the preset color stripe pattern.
  • the present disclosure also provides a color fringe decoding method for decoding the fringe pattern collected by the camera module after any of the above-mentioned color projection modules are projected onto the surface of the object to be measured, and the decoding method includes:
  • Three-dimensional reconstruction of each stripe is performed based on the number of each stripe, and the three-dimensional point coordinates of the measured object are determined.
  • the number of each stripe is determined based on the pixel coordinates and the corresponding color, including:
  • i-th stripe For the i-th stripe: based on the color code of each stripe, determine the consecutive n color codes corresponding to the consecutive n stripes where the i-th stripe is located, and use it as the code value of the i-th stripe; i is less than or a positive integer equal to l;
  • the number of each stripe in the color stripe pattern is determined based on the number of the stripe in the single base encoding sequence and the period.
  • the decoding method further includes:
  • the three-dimensional reconstruction of each stripe based on the number of each stripe includes:
  • the corresponding stripe is determined based on the number of each stripe in the left camera image and the right camera image of the binocular system;
  • the 3D point coordinates are reconstructed.
  • the present disclosure also provides a color stripe decoding device configured to perform any of the above decoding methods, the decoding device comprising:
  • the fringe pattern acquisition module is set to acquire the fringe pattern on the surface of the measured object
  • a pixel coordinate determination module configured to determine the pixel coordinates where the center of each stripe is located based on the stripe pattern
  • the number determination module is set to determine the number of each stripe based on the pixel coordinates and the corresponding color
  • the three-dimensional point coordinate determination module is set to perform three-dimensional reconstruction of each stripe based on the number of each stripe, and determine the three-dimensional point coordinates of the measured object.
  • the number determination module is set to:
  • i-th stripe For the i-th stripe: based on the color code of each stripe, determine the consecutive n color codes corresponding to the consecutive n stripes where the i-th stripe is located, and use it as the code value of the i-th stripe; i is less than or a positive integer equal to l;
  • the number of each stripe in the color stripe pattern is determined based on the number of the stripe in the single base encoding sequence and the period.
  • the three-dimensional point coordinate determination module is set to:
  • the corresponding stripe is determined based on the number of each stripe in the left camera image and the right camera image of the binocular system;
  • the 3D point coordinates are reconstructed.
  • the decoding apparatus further includes:
  • a decoding error identification module configured to judge whether the decoding of the current stripe is misplaced based on the continuity of the three-dimensional point
  • the decoding error correction module is configured to correct and update the corresponding three-dimensional point coordinates when there is a decoding error.
  • the present disclosure also provides a computer-readable storage medium, where the storage medium stores a computer program, and when the computer program is executed by the processor, causes the processor to implement any one of the above decoding methods.
  • the present disclosure also provides an electronic device, comprising:
  • memory configured to store executable instructions
  • the processor is configured to read the executable instructions from the memory, and execute the executable instructions to implement any one of the above decoding methods.
  • the present disclosure also provides a three-dimensional measurement system based on color fringe-coded structured light, the system comprising a color projection module and a camera module with a preset angle;
  • the color projection module adopts any one of the above-mentioned color projection modules, and is configured to project the color stripe pattern to the surface of the measured object;
  • the camera module is configured to collect a fringe pattern modulated by the surface of the object to be measured, and in the fringe pattern, the fringes between each period do not have an overlapping area.
  • the color projection module and the camera module are disposed in the same intraoral scanner.
  • the system further includes a data processing module
  • the data processing module is configured to receive the fringe pattern and perform any one of the above decoding methods.
  • the color projection module is implemented by means of DLP, LCOS or transmission projection;
  • the camera module includes a color image sensor, or
  • the camera module includes a spectroscopic system and at least two image acquisition sensors.
  • the color stripe pattern is formed by using the cyclically repeatable color stripe coding method, which reduces the number of stripe colors and the number of stripes required for decoding.
  • the color stripe pattern has fewer color types, and its decoding width is narrow, so that the decoding stability is higher and the reconstruction integrity is better, which is beneficial to simplify the structure and improve the scanning efficiency.
  • FIG. 1 is a schematic diagram of a color stripe pattern according to an embodiment of the disclosure.
  • FIG. 2 is a schematic flowchart of a color stripe decoding method according to an embodiment of the present disclosure
  • FIG. 3 is a schematic structural diagram of a color stripe decoding apparatus according to an embodiment of the disclosure.
  • FIG. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.
  • FIG. 5 is a schematic structural diagram of a three-dimensional measurement system according to an embodiment of the disclosure.
  • FIG. 6 is a schematic structural diagram of another three-dimensional measurement system according to an embodiment of the disclosure.
  • FIG. 7 is a schematic diagram of a parameter correlation relationship of a three-dimensional measurement system according to an embodiment of the disclosure.
  • the existing color stripe coding structured light three-dimensional measurement technology requires more stripe colors and the number of stripes required to decode a single stripe. (that is, the number) is large.
  • the coding pattern is prone to coding loss or breakage due to depth modulation, resulting in inability to decode or decoding errors.
  • Single-frame reconstruction Poor data integrity greatly reduces scanning quality and efficiency.
  • the embodiments of the present disclosure propose a cyclically repeatable color stripe coding structured light three-dimensional measurement technology, including a color projection module, a decoding method, a decoding device, a storage medium, an electronic device (eg, a computer), and a three-dimensional measurement system.
  • the number of stripe colors and the number of stripes required for decoding can be greatly reduced by using the cyclically repeated stripe arrangement, thereby improving the decoding stability, simplifying the system structure, improving the scanning efficiency, and realizing Fast, high-precision, complete measurement of small, complex topographical objects.
  • the color projection module, the fringe encoding and decoding method, the device, and the three-dimensional measurement system provided by the embodiments of the present disclosure are exemplarily described below with reference to FIG. 1 to FIG. 7 .
  • Stripe sequences with different color arrangements for example, red and green stripes are arranged into a stripe sequence with a root number of 2 , forming 22 stripe sequences with different arrangements, namely (red-red), (red-green), (green-red), (green-green) 4 stripe sequences; for another example, two colors of red, green, and blue stripes are arranged into a stripe sequence of 2, which can form 3 2
  • red, green, and blue stripes are arranged in a stripe sequence with a number of 3 , which can form 33 stripe sequences with different arrangements.
  • the n-stripe sequence composed of any continuous n stripes is unique, that is, the basic stripe sequence is formed with l arbitrary continuous n-stripes composed of n-bit color-based stripe sequences, and l arbitrary stripe sequences.
  • the n-bit color-arrangement-based fringe sequence composed of consecutive n stripes is one of the k n -bit n-bit fringe sequences whose color arrangements are different from each other.
  • the values of k and n may be determined based on the size of the surface of the object to be measured, the performance parameters of the color projection module, and the performance parameters of the camera, which are not limited in the embodiments of the present disclosure. It should be noted that the n-bit color-arranged stripe sequence formed by l arbitrary continuous n stripes in the basic stripe sequence is determined based on the cyclic stripe sequence formed by the end-to-end connection of the basic stripe sequence.
  • the value of k can be 2, 3 or other larger values, that is, the stripe colors in the color stripe coding can be 2, 3 or more; similarly, the value of n can be 2 , 3 or other larger values, that is, the number of stripes required to decode a single stripe is 2, 3 or more; the values of k and n may be the same or different, and the embodiments of the present disclosure do not limit .
  • FIG. 1 is a schematic diagram of a color stripe pattern according to an embodiment of the disclosure.
  • the color projection module provided by the embodiments of the present disclosure can form a color stripe pattern based on a cyclically repeatable color stripe coding method, reduce the number of stripe colors and reduce the number of stripes required for decoding. Since the number of stripes is less, the surface of the object is not continuous The smaller the interference, the lower the decoding error rate and easier to reconstruct smaller objects. As a result, the color stripe pattern has fewer color types, and its decoding width is narrow, so that the decoding stability is higher and the reconstruction integrity is better, which is beneficial to simplify the structure and improve the scanning efficiency.
  • any consecutive n stripes in the basic stripe sequence are color stripes in the k color stripes, and the stripe sequences formed by any consecutive n stripes in the basic stripe sequence are different from each other.
  • the k colors are represented by codes 0, 1, ..., (k-1) respectively, then the coding sequence determined based on the basic stripe sequence satisfies the DeBruijn sequence.
  • a DeBruijn sequence of order k with n elements is a cyclic sequence composed of k elements, and all sequences composed of k elements of length n are in its subsequences (in cyclic form), appearing and only appears once.
  • the code of the color corresponds to the element of the DeBruijn sequence
  • the color type k corresponds to the element type of the DeBruijn sequence
  • the stripe sequence formed by any continuous n stripes corresponds to the subsequence of the DeBruijn sequence.
  • the total number of stripes l of the base stripe sequence is less than or equal to k n .
  • the 1 n fringe sequences formed based on any continuous n fringes formed in the basic fringe sequence include all the fringe sequences in the k n kinds of fringe sequences with different arrangements. ;
  • the ln fringe sequences formed in the basic fringe sequence based on any continuous n fringes are the partial fringe sequences in the k n fringe sequences with different arrangements. .
  • the sequence composed of any consecutive three codes is unique, for example: the first three-digit sequence ⁇ 0,0,0 ⁇ , the second three-digit sequence ⁇ 0,0,1 ⁇ , ...,
  • the last three-digit sequence is ⁇ 2,2,2 ⁇ , so that each three-digit sequence occurs only once in the entire coding sequence.
  • Each code can correspond to a stripe of one color, and each three-digit sequence can correspond to a stripe in the basic sequence, that is, the code value of a stripe, set as the identification location of the stripe, and the sequence corresponds to 27 stripes.
  • the three-digit sequence in the sequence corresponds to one of the stripes and is used as the coding value of the stripe.
  • the n-bit sequence formed by consecutive n-bit codes is used as the coding value of the stripe corresponding to one of the n-bit codes, for example , ⁇ 0,0,0 ⁇ is the code value of the first stripe in the basic stripe sequence, ⁇ 0,0,1 ⁇ is the code value of the second stripe in the base stripe sequence, and so on, that is, 3 consecutive bits
  • the 3-digit sequence formed by the code is used as the coding sequence of the stripe corresponding to the first code in the 3-digit code.
  • ⁇ 0,0,0 ⁇ is the coding value of the second stripe in the basic stripe sequence
  • ⁇ 0, 0,1 ⁇ is the coding value of the third stripe in the basic stripe sequence, that is, the 3-digit sequence formed by the continuous 3-digit code is used as the coding value of the stripe corresponding to the second code in the 3-digit code.
  • n-bit sequence formed by any consecutive n codes may be unique.
  • At least some of the fringe pitches are different in two adjacent periods.
  • the odd-numbered stripe spacing of the odd-numbered cycle can be set to be smaller than the stripe spacing corresponding to the even-numbered cycle, and the even-numbered stripe spacing of the odd-numbered cycle is greater than the stripe spacing corresponding to the even-numbered cycle;
  • the different setting method of the stripe pitch is not limited here.
  • the stripe spacing can be the distance between the centerlines of two adjacent stripes, or the distance between the opposite sidelines of two adjacent stripes, or defined by other reference points, in the same color stripe pattern. , it can be defined by the same reference point, which is not limited here.
  • the size of the stripe spacing is set in opposite directions.
  • each stripe spacing is sequentially distributed in the order of ddDDddDDdd...; in the other period, each stripe spacing is sequentially distributed in the order of DDddDDdDD..., where D ⁇ d.
  • D the spacing of each fringe
  • the spacing of each stripe in turn is large and small, large and small.
  • stripe pitch distribution manners may also be selected, which are not limited by the embodiments of the present disclosure.
  • the fringe spacing is different in each cycle.
  • At least some of the fringe pitches are different in the same period.
  • part or all of the fringe spacings are different, which can be set according to the requirements of the color projection module, which is not limited by the embodiment of the present disclosure.
  • the value of k is 3.
  • the value of k may also be 2, 4 or other values, which are not limited herein.
  • the three mutually different colors are red, green and blue.
  • the color projection module includes a three-color light source, a reflector array, and a control system; the control system is configured to adjust the angle of each reflector in the reflector array, so that the reflector reflects the light of the corresponding color and projects the light of the corresponding color. Preset colorful stripe patterns.
  • the implementation form of the color projection module may include a digital light processing (Digital Light Processing, DLP) projector.
  • the DLP projector mainly includes an RGB three-color light source, a mirror array, such as a Digital Micromirror Devices (DMD), and a control system; wherein, the angle of each mirror in the mirror array is adjusted by the control system, Each mirror can be made to reflect a corresponding color of light to project a colored fringe pattern.
  • DMD Digital Micromirror Devices
  • the color stripe pattern is a color stripe pattern determined based on the color stripe coding method, which satisfies the above-mentioned arrangement rule of the color stripes.
  • the color projection module includes a three-color light source and an MRSK code; the light of the three-color light source transmits the MRSK code to project a preset color stripe pattern.
  • the realization form of the color projection module may also include an optomechanical based on the principle of perspective projection.
  • the optical machine mainly includes RGB three-color light source and MRSK code. Through the customization of MRSK code, after the three-color light source passes through, the desired pattern, that is, the preset color stripe pattern, can be projected.
  • the color projection module may further include an optomechanical employing other principles, which is neither repeated nor limited in the embodiments of the present disclosure.
  • the color projection module provided by the embodiment of the present disclosure can be used as a projector in a three-dimensional measurement system, or a projection device in other measurement systems, which is not limited by the embodiment of the present disclosure.
  • the basic coding sequence in the color stripe pattern is repeated for m periods to form a periodic repetitive coding sequence with a total length of ml.
  • m is a positive integer, and the fringes between each cycle do not appear overlapping areas in the image.
  • m may be 1, 2, 3, or other larger values, which are not limited in this embodiment of the present disclosure.
  • m periodic repetitions are performed to form a periodic repetitive coding sequence with a total length of ml.
  • the setting of the number of cycles m needs to ensure that within the range of the depth of field measured by the system, the fringes between each cycle do not appear to overlap. In this way, decoding is facilitated.
  • the moving range of the i-th fringe of the m- th period on the image is
  • the moving range of the i-th fringe in the m - th period on the image is where x represents the image coordinates, then there must be Combined with the measurement depth range determined by the following three-dimensional measurement system structure, the number of cycles m can be determined.
  • the periodic repetition coding sequence can be expressed as:
  • the color stripe coding has a unique code value for each code in a period unit, but is repeated for multiple periods in the entire code sequence. Therefore, it is possible to use fewer stripe colors and a smaller decoding width to achieve high-resolution encoding sequences through periodic repetition of encoding; at the same time, with fewer encoding colors and smaller decoding widths, the color stripe encoding is more solvable. It has the highest decoding error rate and can realize fast, accurate and complete measurement of small-sized objects to be measured.
  • the present disclosure also provides a color fringe decoding method, which decodes the fringe pattern collected by the camera module after any of the above-mentioned color projection modules are projected onto the surface of the object to be measured.
  • Decoding using the above-mentioned periodic repetition coding method can greatly reduce the number of stripes required for decoding, thereby improving decoding stability, simplifying the system structure, improving scanning efficiency, and realizing the detection of small and complex objects. Fast, accurate, complete measurements.
  • FIG. 2 is a schematic flowchart of a color stripe decoding method according to an embodiment of the present disclosure. 2, the decoding method may include:
  • a surface image of the object to be measured can be acquired by the camera module, and the image includes a fringe pattern.
  • this step may include: performing image analysis on the fringe image, extracting the center line of the fringe, and obtaining the pixel coordinate x where the center of the fringe is located.
  • this step may include:
  • Step 1 Determine the color code (ie, code) corresponding to each stripe based on the preset color code, pixel coordinates and corresponding colors.
  • the color and the color code are set correspondingly, and each color is preset with a color code, that is, each color corresponds to a color code.
  • the color code may be represented by numbers, red by 0, green by 1, and blue by 2; or the color code may be represented by letters or other forms, which are not limited herein.
  • the corresponding preset color code is searched, and the color code corresponding to each stripe can be determined.
  • Step 2 For the i-th stripe: based on the color code of each stripe, determine the consecutive n color codes corresponding to the consecutive n stripes where the i-th stripe is located, and use it as the code value of the i-th stripe; i is A positive integer less than or equal to l.
  • the consecutive n color codes corresponding to the consecutive n stripes are used to distinguish each stripe; the consecutive n color codes can be used as the encoding value of the i-th stripe, which is convenient for decoding.
  • Step 3 Based on the coding value of each stripe, determine the number of each stripe in the single base coding sequence.
  • each stripe determines the number of the stripe in a basic coding sequence based on the color sequence (namely the code) of the continuous n stripes where the stripe is located.
  • the number of each fringe in a periodic unit can be determined. Specifically: according to the continuous color sequence of n stripes where the current stripe is located, determine the code value p corresponding to the stripe, and then the number I p of the stripe in the basic code sequence can be obtained, and the stripe with the code value p at this time has a total of m indivual.
  • the first fringe in the first cycle is coded as ⁇ 0,0,0 ⁇ with three consecutive three bits, and there are three codes in the entire fringe pattern, namely: the first root of the first cycle, The first root of the second cycle, the first root of the third cycle.
  • Step 4 Obtain the preset pixel coordinate range of each cycle.
  • the preset pixel coordinate range of each cycle is determined according to the hardware arrangement of the projection module and the camera module, so as to provide data support for determining the cycle in which the stripes are located in the subsequent steps.
  • Step 5 Determine the period in which each stripe is located based on the preset pixel coordinate range and pixel coordinates.
  • the color fringes obtained by the above camera module take into account the limitation of the depth of field, and in different periods, the fringes with the same coding value will only appear in non-overlapping image areas.
  • the period m i where the stripe is located can be determined. That is, the structure of the 3D measurement equipment determines the depth of field.
  • the fringe pattern projected by the projection module is modulated by the measured object and collected by the camera module.
  • the imaging area corresponding to the camera module is imaged, thereby determining the image range where the fringes of each cycle are located.
  • the mapping relationship between the fringe pattern projected by the projection module and the fringe pattern collected by the camera module is determined by the following factors: the depth of field and the magnification of the projection module, the depth of field and the magnification of the camera module, the clip between the optical axis of the projection module and the optical axis of the camera module horn.
  • Step 6 Determine the number of each stripe in the entire color stripe pattern based on the number and period of each stripe in the single base coding sequence.
  • binocular or monocular reconstruction can be performed according to the coding of the fringes, and the 3D point coordinates of the object to be measured can be obtained, thereby realizing the 3D reconstruction of the surface of the object to be measured.
  • performing the three-dimensional reconstruction of each stripe based on the number of each stripe in this step may include:
  • the corresponding stripe is determined based on the number of each stripe in the left camera image and the right camera image of the binocular system;
  • the 3D point coordinates are reconstructed.
  • the internal and external parameters of the optomechanical (ie, the color projection module) and the camera (ie, the camera module) are preset in the computer (data storage and data processing system) of the three-dimensional measurement system.
  • the internal and external parameters of the optomechanical and the camera can be determined by calibration. .
  • the light plane number corresponding to each stripe in the preset color stripe pattern in the computer for example, the light plane number corresponding to the first stripe is (0,0,0), and the light plane number corresponding to the second stripe is (0, 0,1), for example, the light plane number corresponding to each stripe can be determined by calibration.
  • the preset fringe period range in the computer includes the range of X, Y, and Z in the three-dimensional space.
  • the optical machine projects the color fringe pattern to the surface of the object to be measured, and the camera acquires the fringe image modulated by the surface of the object to be measured and transmits it to the computer.
  • the corresponding light plane is determined based on the number of the stripes; the three-dimensional point coordinates are reconstructed according to the light plane equation, the center coordinates of the target stripe, and the internal and external parameters of the camera.
  • the light plane can be not calibrated, but the corresponding fringes can be determined based on the number of each fringe in the left and right images, and the three-dimensional point coordinates can be reconstructed based on the corresponding fringes and the internal and external parameters of the camera. point coordinates.
  • the decoding method further includes identifying and correcting the decoding of periodic errors, which may specifically include the following steps:
  • Step 1 Based on the continuity of the three-dimensional points, determine whether the decoding of the current stripe is misplaced.
  • Step 2 Correct and update the corresponding three-dimensional point coordinates when there is a decoding dislocation.
  • the decoding of at least one of the stripe error and the period error is identified and corrected.
  • an offset operation is performed on the odd-numbered stripes in the odd-numbered period and the even-numbered period.
  • a very large depth difference occurs. Based on this, through a certain depth difference threshold, it can be determined whether the decoding cycle of the current stripe is misplaced; and when the cycle is wrong, the cycle number is adjusted to the adjacent cycle to correct the cycle number and improve the decoding accuracy.
  • the size of the depth difference threshold may be set based on the depth of field and the number of cycles, and the specific value thereof is not limited in this embodiment of the present disclosure.
  • the situation in which period misalignment occurs and needs to be re-matched to identify the correct period (that is, correct the period) to correct and update the coordinates of the three-dimensional point may include: Case 1, multiple (at least n) continuous stripes are decoded incorrectly; Case 2 , wrongly interpreted as the fringe number of the adjacent period.
  • the following two steps can be used for identification.
  • Step 1 When decoding the dislocation, the depth of the stripes will jump. In some cases, the depth of the dislocated stripes will exceed the depth of field of the camera (pre-calibrated), so it is recognized or deleted, that is, if the three-dimensional point coordinates beyond the depth of field are identified, Delete the corresponding 3D point coordinates;
  • Step 2 If the depth of the fringes does not exceed the depth of field, because the fringes of adjacent periods are shifted in different directions, that is, the spacing of the fringes of adjacent periods is different. Based on this, when the stripe decoding is misaligned, the depth between consecutive n stripes will appear corrugated. For example: stripes 1, 2, and 3 of the first cycle are decoded misplaced and misidentified as 1, 2, and 3 of the second cycle, then the coordinates of the reconstructed 3D points corresponding to the first and third stripes are adjacent to their peripheries. The coordinates have a large jump, so that the depths corresponding to the three stripes show a 'V' shape, which can be identified. That is, if the three-dimensional points are identified as wavy distribution, it can be identified that the corresponding stripes are periodically dislocated.
  • Corrective steps may include:
  • the first light plane of 3 cycles calculates its depth), and find the one with the smallest corrugation to be the correct cycle of the fringe.
  • a decoding method for the above encoding method may include: extracting the center line of the fringe based on the fringe pattern, and obtaining the pixel coordinate x where the center of the fringe is located. After that, determine the code value of each stripe, that is: according to the continuous n stripe color sequence where the current stripe is located, determine the code value p corresponding to the stripe, and then the number I p of the stripe in the basic code sequence can be obtained. There are m stripes numbered I p at the time.
  • the decoding method may further include: identifying the period error decoding, that is, based on the above-mentioned differential design of adjacent period stripes, when the odd period stripe is erroneously decoded into an even period, the corresponding odd period There will be a very large depth difference between the stripes, then through a certain depth difference threshold, it can be judged whether the decoding cycle of the current stripe is misplaced, and the periodic correction is carried out in combination with the depth of field. Decoding using the above-mentioned periodic repetition coding method can greatly reduce the number of stripes required for decoding, thereby improving decoding stability, simplifying the system structure, improving scanning efficiency, and realizing the detection of small and complex objects. Fast, accurate, complete measurements.
  • an embodiment of the present disclosure further provides a color fringe decoding apparatus, which is configured to execute any of the foregoing decoding methods. Therefore, the decoding apparatus also has the beneficial effects of any of the above-mentioned decoding methods. Similarities can be understood with reference to the above, and are not repeated here.
  • FIG. 3 is a schematic structural diagram of a color stripe decoding apparatus according to an embodiment of the disclosure.
  • the decoding device includes: a stripe pattern acquisition module 501, configured to acquire the stripe pattern on the surface of the object to be measured; a pixel coordinate determination module 502, set to determine the pixel coordinates of the center of each stripe based on the stripe pattern; The module 503 is set to determine the number of each stripe based on the pixel coordinates and the corresponding color; the three-dimensional point coordinate determination module 504 is set to perform three-dimensional reconstruction of each stripe based on the number of each stripe, and determine the three-dimensional point of the measured object coordinate.
  • the color stripe decoding device can decode the above-mentioned cyclically repeated color stripe pattern, which can greatly reduce the number of stripes required for decoding, thereby improving the decoding stability, simplifying the system structure, and improving the scanning efficiency. , and can achieve fast, high-precision, and complete measurement of small and complex objects.
  • the numbering determination module 503 is configured to: determine the color code corresponding to each stripe based on the preset color code, pixel coordinates and the corresponding color; for the i-th stripe: based on the color code of each stripe , determine the consecutive n color codes corresponding to the consecutive n stripes where the ith stripe is located, and use it as the code value of the ith stripe; i is a positive integer less than or equal to l; based on the code value of each stripe, Determine the number of each stripe in a single base encoding sequence; obtain the preset pixel coordinate range of each cycle; determine the cycle in which each stripe is based on the preset pixel coordinate range and pixel coordinates; encode each stripe on a single base The number and period in the sequence, determine the number of each stripe in the color stripe pattern.
  • the number of each stripe in the stripe pattern in one period unit and the number of periods in which it is located can be determined, so that its number in the entire color stripe code can be determined.
  • the three-dimensional point coordinate determination module 504 is configured to:
  • the corresponding fringes are determined based on the fringe numbers of each fringe in the left camera image and the right camera image of the binocular system;
  • the 3D point coordinates are reconstructed.
  • the three-dimensional reconstruction of the measured object can be realized based on the monocular system or the binocular system.
  • the decoding device further includes: a decoding error identification module, configured to determine whether the decoding of the current stripe is misaligned based on the continuity of the three-dimensional points; a decoding error correction module, configured to, when there is a decoding misalignment, The corresponding 3D point coordinates are corrected and updated.
  • a decoding error identification module configured to determine whether the decoding of the current stripe is misaligned based on the continuity of the three-dimensional points
  • a decoding error correction module configured to, when there is a decoding misalignment, The corresponding 3D point coordinates are corrected and updated.
  • an embodiment of the present disclosure further provides an electronic device (ie, a decoding device), which can be configured to implement any of the foregoing decoding methods.
  • a decoding device ie, a decoding device
  • FIG. 4 is a schematic structural diagram of an electronic device according to an embodiment of the disclosure.
  • the electronic device 70 includes: a processor 701 and a memory 702 storing computer program instructions (ie, executable instructions); wherein the processor is configured to read the executable instructions from the memory and execute the executable instructions to Implement any of the above decoding methods.
  • computer program instructions ie, executable instructions
  • processor 701 may include a central processing unit (CPU), or a specific integrated circuit (Application Specific Integrated Circuit, ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.
  • CPU central processing unit
  • ASIC Application Specific Integrated Circuit
  • Memory 702 may include mass storage configured as information or instructions.
  • memory 702 may include a Hard Disk Drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a Universal Serial Bus (USB) drive or both and a combination of the above.
  • Memory 702 may include removable or non-removable (or fixed) media, where appropriate. Where appropriate, memory 702 may be internal or external to the integrated gateway device.
  • memory 702 is non-volatile solid state memory.
  • memory 702 includes Read-Only Memory (ROM).
  • the ROM can be a mask-programmed ROM, a programmable ROM (Programmable ROM, PROM), an erasable PROM (Electrical Programmable ROM, EPROM), an electrically erasable PROM (Electrically Erasable Programmable ROM, EEPROM) ), electrically rewritable ROM (Electrically Alterable ROM, EAROM) or flash memory, or a combination of two or more of these.
  • PROM Programmable ROM
  • EPROM erasable PROM
  • EEPROM Electrically Erasable Programmable ROM
  • EEPROM Electrically rewritable ROM
  • flash memory or a combination of two or more of these.
  • the processor 701 reads and executes the computer program instructions stored in the memory 702 to execute the steps of the decoding method provided by the embodiments of the present disclosure.
  • the electronic device 70 may also include a transceiver 703 and a bus 704 .
  • the processor 701 , the memory 702 and the transceiver 703 are connected through the bus 704 and complete the mutual communication.
  • Bus 704 includes hardware, software, or both.
  • the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side BUS (FSB), a Super Transport (Hyper Transport, HT) interconnect, Industry Standard Architecture (Industrial Standard Architecture, ISA) bus, infinite bandwidth interconnect, Low Pin Count (Low Pin Count, LPC) bus, memory bus, Micro Channel Architecture (Micro Channel Architecture) , MCA) bus, Peripheral Component Interconnect (PCI) bus, PCI-Express (PCI-X) bus, Serial Advanced Technology Attachment (Serial Advanced Technology Attachment, SATA) bus, Video Electronics Standards Association Part (Video Electronics Standards Association Local Bus, VLB) bus or other suitable bus or a combination of two or more of these.
  • Bus 704 may include one or more buses, where appropriate. Although embodiments of this application describe and illustrate a particular bus, this application contemplates any suitable bus or interconnect.
  • an embodiment of the present disclosure further provides a computer-readable storage medium, where the storage medium stores a computer program, and when the computer program is executed by the processor, enables the processor to implement any of the foregoing decoding methods .
  • a storage medium including instructions such as a memory 302 including instructions, can be executed by the processor 301 to complete the decoding method provided by the embodiments of the present disclosure.
  • the storage medium may be a non-transitory computer-readable storage medium
  • the non-transitory computer-readable storage medium may be a ROM, a random access memory (Random Access Memory, RAM), a compact disc ROM (Compact Disc ROM) , CD-ROM), magnetic tapes, floppy disks and optical data storage devices, etc.
  • the embodiments of the present disclosure also provide a three-dimensional measurement system based on color stripe-coded structured light.
  • the measurement therefore, also has the beneficial effects of any of the above-mentioned embodiments, which can be understood with reference to the above, and will not be repeated here.
  • FIG. 5 is a schematic structural diagram of a three-dimensional measurement system according to an embodiment of the disclosure
  • FIG. 6 is a schematic structural diagram of another three-dimensional measurement system according to an embodiment of the disclosure.
  • the system includes a color projection module 601 and a camera module 602 at a preset angle; the color projection module 601 adopts any of the above-mentioned color projection modules, and is configured to project a color fringe pattern to the surface of the measured object 600 ;
  • the camera module 602 is configured to collect the fringe pattern modulated by the surface of the object to be measured 600 . In the fringe pattern, the fringes between each period do not appear in an overlapping area.
  • the fringes with the same coding value will only appear in non-overlapping image areas.
  • the period m i where the stripe is located can be determined. That is, the structure of the 3D measurement equipment determines the depth of field.
  • the fringe pattern projected by the projection module is modulated by the measured object and collected by the camera module. The imaging area corresponding to the camera module is imaged, thereby determining the image range where the fringes of each cycle are located.
  • the mapping relationship between the fringe pattern projected by the projection module and the fringe pattern collected by the camera module is determined by the following factors: the depth of field and the magnification of the projection module, the depth of field and the magnification of the camera module, the clip between the optical axis of the projection module and the optical axis of the camera module horn.
  • the relationship between the preset angle (the angle between the optical axis of the projection module and the optical axis of the camera module), the depth of field and the number of cycles will be exemplarily described below with reference to FIG. 7 .
  • FIG. 7 is a schematic diagram of a parameter correlation relationship of a three-dimensional measurement system according to an embodiment of the present disclosure.
  • 6021 represents the camera lens
  • the preset angle between the color projection module 601 and the camera module 602 is ⁇
  • ⁇ L1 and ⁇ L2 represent the foreground depth and the rear depth of field, respectively, and the sum of the two is the depth of field
  • the color projection module 601 and the camera module 602 may be integrated in the same scanner, for example, the two may be arranged in the same intraoral scanner; or the two may be separately provided, which is not limited in this embodiment of the present disclosure.
  • the encoding method may be performed locally in the color projection module 601, or may be performed in a remote server; the decoding method may be performed locally in the camera module 602, or may be performed in an electronic device (eg, a computer), or may be performed remotely
  • the server executes, which is not limited in this embodiment of the present disclosure.
  • the system may further include a data processing module, and the data processing module is configured to receive the fringe pattern and execute any one of the above decoding methods, thereby realizing the scanning process of the object to be measured.
  • the data processing module may be a built-in functional module in the electronic device, for example, each functional module in any of the above-mentioned decoding apparatuses.
  • the color projection module 601 is implemented by means of digital light processing (Digital Light Processing, DLP), liquid crystal on silicon (Liquid Crystal on Silicon, LCOS), or transmissive projection.
  • DLP Digital Light Processing
  • LCOS liquid crystal on Silicon
  • DLP technology does not require polarized light, and the light utilization efficiency is high; and the pixel pitch is small, forming an almost seamless color stripe coded image, and the stripes are more delicate.
  • LCOS technology is based on single crystal silicon, which can realize thinner lines, so that it is easier to realize high-resolution projection structure, and the product structure is simple.
  • the transmission projection technology is also called the perspective projection technology. After the preset light passes through the preset pattern corresponding to the color stripe coding pattern provided on the light transmission part, the target light rays projected to the surface of the measured object 600 by traveling with the color coding stripes are generated. , thus, the light encoding method is relatively simple.
  • the camera module 602 includes a color image sensor, or the camera module includes a spectroscopic system and at least two image acquisition sensors.
  • the camera module 602 includes a color image sensor 620, that is, the camera module 602 can use a color camera.
  • the color camera can directly collect multi-color fringe patterns and texture maps, and use the above decoding method to achieve decoding.
  • the camera module 602 includes a spectroscopic system 622 and at least two (two are shown in FIG. 6) image acquisition sensors (or cameras) 621; exemplarily, the spectroscopic system 622 may include Beamsplitters, with which the different spectral colors can be separated, can be captured with multiple cameras, each capturing one or more colors.
  • an implementation manner of the camera module 602 is: setting the three image capturing sensors to use black and white image capturing sensors, which capture one color respectively; or setting two black and white images
  • the acquisition sensor (i.e. black and white camera) and one color image acquisition sensor (i.e. color camera) each capture two of the three colors, such as blue and green light, and the color camera captures a third color, such as red Light and three-channel texture map.
  • the camera module 602 may also be implemented in other manners, which are not limited in this embodiment of the present disclosure.
  • the three-dimensional measurement system based on color stripe coding structured light is mainly composed of a color projection module 601 and a camera module 602; wherein, the color projection module 601 and the camera module 602 form a certain angle; the color projection module 601 is set as The color-coded fringe pattern is projected, and the camera module 602 is configured to acquire the fringe pattern modulated by the surface of the object under test 600 .
  • the color projection module 601 includes, but is not limited to, implementation by means of DLP, LCOS, or transmission projection.
  • the camera module 602 includes, but is not limited to, one color image sensor, two image sensors plus a light-splitting system, three image sensors plus a light-splitting system, and so on.
  • a simple, efficient, stable and low-cost color stripe-coded structured light three-dimensional measurement method is realized, which can be set as a fast and high-precision measurement method for small and complex objects. Measurement.
  • the embodiments of the present disclosure greatly reduce the number of stripe colors used, thereby reducing the number of spectra, simplifying the color stripe projection structure, and reducing hardware costs by using the periodically repeating color stripe coding structured light technology; and reducing the number of settings
  • the stability and efficiency of decoding are improved, so that the solvability is high and the error rate is low.
  • the higher resolution makes the structure of the 3D measurement system simpler and the scanning efficiency higher.
  • the present disclosure utilizes periodically repeatable color stripes to realize stripe encoding and corresponding decoding, which can reduce the number of stripe colors and the number of stripes required for decoding, which is beneficial to improving decoding stability, simplifying structure, and improving scanning efficiency, and has strong industrial practicality.

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Abstract

本公开涉及彩色投影模块、条纹解码方法、装置、介质、设备和系统。该彩色投影模块设置为投射彩色条纹图案至被测物体表面，其中，彩色条纹图案包括m个周期性重复的基础条纹序列：其中，m为正整数，基础条纹序列包括k种颜色互不相同的条纹，且任意连续的n个条纹构成的n位条纹序列均唯一；基础条纹序列的条纹总数l满足l≤l 0，l 0＝k n，k和n均为等于或大于2的正整数。由此，利用可周期性重复的彩色条纹实现条纹编码和对应解码，可减少条纹颜色数目以及减少解码所需条纹个数，有利于提高解码稳定性，简化结构，提高扫描效率。

Description

彩色投影模块、条纹解码方法、装置、介质、设备和系统
本公开要求于2020年12月31日提交中国专利局、申请号为202011626487.6、发明名称为“彩色投影模块、条纹解码方法、装置、介质、设备和系统”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及三维测量技术领域，尤其涉及一种彩色投影模块、条纹解码方法、装置、介质、设备和系统。
背景技术
近年来，结构光三维测量技术发展迅速，其依靠非接触式、高精度、高效率等测量特点，在工业检测、辅助医疗、电子设备、文物修复等领域得到广泛应用。结构光三维测量技术是一种向被测物体表面投射编码图案，并通过采集、解析被物体表面形貌调制的编码图案，从而获取物体真实三维形貌的三维重建技术。结构光三维测量技术根据投影的编码图案数量可分为：单帧结构光和多帧结构光。其中，多帧结构光技术需要连续投射多帧编码图案，对物体运动速度或扫描速度具有一定的要求，无法实现高帧率的实时扫描；且对应的结构相对复杂，投影设备较昂贵。而单帧结构光技术只需向被测物体表面投射一幅编码图案，测量速度较快，且无需变换编码图案，结构简单，价格便宜，被广泛研究。
彩色条纹编码结构光技术作为一种单帧结构光技术，由于其抗干扰性好、精度高等优点，常被设置为复杂物体的高精度测量。该技术的特点是向物体投射多根彩色的编码条纹，然后通过相邻多根条纹的颜色信息唯一解码出当前条纹的编号信息，最终通过正确匹配计算出物体表面的三维点坐标。为了保证单幅图像上每根条纹的编码唯一性，对条纹颜色的数量k及设置为单根条纹解码的条纹根数n(以下简称为解码宽度)有严格的要求，必须满足单幅图像上条纹总数小于k n。现有的彩色条纹编码技术，为了保证整幅图像上条纹编码的唯一性，采用的条纹颜色较多或者解码所需的条纹根数较多(条纹颜色种类至少5种，或者解码所需条纹根数至少4根)。然而条纹颜色种类越多，受物体表面纹理干扰越严重，解码越不稳定；单根条纹解码所需条纹数量越多，受物体表面不连续的干扰越大，解码出错率越高，且难以重建较小的物体。由此，现有的彩色条纹编码技术多局限于单幅图像上每根条纹编码的唯一性，造成条纹的颜色种类多或解码宽度大，解码不稳定，重建完整性差，从而极大限制了扫描效率。
发明内容
(一)要解决的技术问题
本公开要解决的技术问题是解决现有的彩色条纹编码技术中的条纹的颜色种类多或解码宽度大，解码不稳定，重建完整性差，从而极大限制了扫描效率的问题。
(二)技术方案
为了解决上述技术问题，本公开实施例提供了一种彩色投影模块、条纹解码方法、装置、介质、设备和系统，提出一种单幅面编码可周期重复的彩色条纹编码结构光三维测量技术，极大减少条纹颜色的数量及解码宽度，提高扫描效率。
本公开提供了一种彩色投影模块，设置为投射彩色条纹图案至被测物体表面，其中，所述彩色条纹图案包括m个周期性重复的基础条纹序列；其中，m为正整数；
所述基础条纹序列包括k种颜色互不相同的条纹，且任意连续的n个条纹构成的n位条纹序列均唯一；所述基础条纹序列的条纹总数l满足l≤l 0，l 0＝k n，k和n均为等于或大于2的正整数。
在一些实施例中，所述基础条纹序列基于k元n阶德布鲁因序列排列。
在一些实施例中，相邻两个所述周期中，至少部分条纹间距不同。
在一些实施例中，同一所述周期中，至少部分条纹间距不同。
在一些实施例中，k的取值为3，或者n的取值为3，或者k的取值和n的取值均为3。
在一些实施例中，3种互不相同的颜色分别为红色、绿色和蓝色。
在一些实施例中，所述模块包括三色光源、反射镜阵列以及控制系统；
所述控制系统设置为调整所述反射镜阵列中的每个反射镜的角度，以使反射镜反射对应颜色的光，投射出预设的所述彩色条纹图案。
在一些实施例中，所述模块包括三色光源和MRSK码；
所述三色光源的光线透过MRSK码，投射出预设的所述彩色条纹图案。
本公开还提供了一种彩色条纹解码方法，针对上述任一种彩色投影模块投射至被测物体表面之后的、被相机模块采集到的条纹图案进行解码，该解码方法包括：
获取被测物体表面的条纹图案；
基于所述条纹图案，确定每个条纹的中心所在像素坐标；
基于所述像素坐标及对应的颜色，确定每个条纹的编号；
基于每个条纹的编号对每个条纹进行三维重建，确定被测物体的三维点坐标。
在一些实施例中，基于所述像素坐标及对应的颜色，确定每个条纹的编号，包括：
基于预设颜色代号、所述像素坐标及对应的颜色，确定每个条纹对应的颜色代号；
针对第i个条纹：基于每个条纹的所述颜色代号、确定第i个条纹所在的连续n个条纹对应的连续n个颜色代号，并将其作为第i个条纹的编码值；i为小于或等于l的正整数；
基于每个条纹的所述编码值，确定每个条纹在单个所述基础编码序列中的编号；
获取每个周期的预设像素坐标范围；
基于所述预设像素坐标范围和所述像素坐标，确定每个条纹所在的周期；
基于所述每个条纹在单个所述基础编码序列中的编号和所述周期，确定每个条纹在所述彩色条纹图案中的编号。
在一些实施例中，该解码方法还包括：
基于所述三维点的连续性，判断当前条纹的解码是否错位；
在存在解码错位时，对对应的三维点坐标进行纠正更新。
在一些实施例中，所述基于每个条纹的编号对每个条纹进行三维重建，包括：
基于所述编号，确定对应的光平面；
基于所述光平面的光平面方程、目标条纹的中心所在像素坐标以及相机模块的预设参数，重构三维点坐标；或者
在相机模块采用双目系统的情况下，基于双目系统的左相机图像和右相机图像中每个条纹的所述编号，确定对应的条纹；
基于对应的条纹以及相机模块的预设参数，重构三维点坐标。
本公开还提供了一种彩色条纹解码装置，设置为执行上述任一种解码方法，该解码装置包括：
条纹图案获取模块，设置为获取被测物体表面的条纹图案；
像素坐标确定模块，设置为基于所述条纹图案，确定每个条纹的中心所在像素坐标；
编号确定模块，设置为基于所述像素坐标及对应的颜色，确定每个条纹的编号；
三维点坐标确定模块，设置为基于每个条纹的编号对每个条纹进行三维重建，确定被测物体的三维点坐标。
在一些实施例中，所述编号确定模块，是设置为：
基于预设颜色代号、所述像素坐标及对应的颜色，确定每个条纹对应的颜色代号；
针对第i个条纹：基于每个条纹的所述颜色代号、确定第i个条纹所在的连续n个条纹对应的连续n个颜色代号，并将其作为第i个条纹的编码值；i为小于或等于l的正整数；
基于每个条纹的所述编码值，确定每个条纹在单个所述基础编码序列中的编号；
获取每个周期的预设像素坐标范围；
基于所述预设像素坐标范围和所述像素坐标，确定每个条纹所在的周期；
基于所述每个条纹在单个所述基础编码序列中的编号和所述周期，确定每个条纹在所述彩色条纹图案中的编号。
在一些实施例中，所述三维点坐标确定模块，是设置为：
基于所述编号，确定对应的光平面；
基于所述光平面的光平面方程、目标条纹的中心所在像素坐标以及相机模块的预设参数，重构三维点坐标；或者
在相机模块采用双目系统的情况下，基于双目系统的左相机图像和右相机图像中每个条纹的所述编号，确定对应的条纹；
基于对应的条纹以及相机模块的预设参数，重构三维点坐标。
在一些实施例中，该解码装置还包括：
解码错误识别模块，设置为基于所述三维点的连续性，判断当前条纹的解码是否错位；
解码错误校正模块，设置为在存在解码错位时，对对应的三维点坐标进行纠正更新。
本公开还提供了一种计算机可读存储介质，所述存储介质存储有计算机程序，当所述计算机程序被处理器执行时，使得处理器实现上述任一种解码方法。
本公开还提供了一种电子设备，包括：
处理器；
存储器，设置为存储可执行指令；
其中，所述处理器设置为从所述存储器中读取所述可执行指令，并执行所述可执行指令以实现上述任一种解码方法。
本公开还提供了一种基于彩色条纹编码结构光的三维测量系统，该系统包括呈预设夹角的彩色投影模块和相机模块；
所述彩色投影模块采用上述任一种彩色投影模块，设置为投射彩色条纹图案至被测物体表面；
所述相机模块设置为采集经所述被测物体表面调制后的条纹图案，在所述条纹图案中，每个周期之间的条纹不出现交叠区域。
在一些实施例中，所述彩色投影模块和所述相机模块设置于同一口内扫描仪中。
在一些实施例中，该系统还包括数据处理模块；
所述数据处理模块设置为接收所述条纹图案，并执行上述任一种解码方法。
在一些实施例中，所述彩色投影模块采用DLP、LCOS或透射投影等方式实现；
所述相机模块包括一个彩色图像传感器，或者
所述相机模块包括分光系统和至少两个图像采集传感器。
(三)有益效果
本公开实施例提供的上述技术方案与现有技术相比具有如下优点：
本公开实施例提供的该彩色投影模块设置为投射彩色条纹图案至 被测物体表面，其中，彩色条纹图案包括m个周期性重复的基础条纹序列：其中，m为正整数；基础条纹序列包括k种颜色互不相同的条纹，且任意连续的n个条纹构成的n位条纹序列均唯一；基础条纹序列的条纹总数l满足l≤l 0，l 0＝k n，k和n均为等于或大于2的正整数。由此，利用可周期重复的彩色条纹编码方式形成彩色条纹图案，减少条纹颜色数目以及减少解码所需条纹个数，由于条纹数量越少，其受物体表面不连续的干扰越小，解码出错率越低，且易于重建较小的物体。由此，该彩色条纹图案中的颜色种类较少，且其解码宽度较窄，可使得解码稳定性较高，重建完整性较好；有利于简化结构，提高扫描效率。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本公开。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起设置为解释本公开的原理。
为了更清楚地说明本公开实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，对于本领域普通技术人员而言，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本公开实施例的一种彩色条纹图案的示意图；
图2为本公开实施例的一种彩色条纹解码方法的流程示意图；
图3为本公开实施例的一种彩色条纹解码装置的结构示意图；
图4为本公开实施例提供的一种电子设备的结构示意图；
图5为本公开实施例的一种三维测量系统的结构示意图；
图6为本公开实施例的另一种三维测量系统的结构示意图；
图7为本公开实施例的一种三维测量系统的参数关联关系原理图。
具体实施方式
为使本公开实施例的目的、技术方案和优点更加清楚，下面将对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本公开的一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本公开保护的范围。
结合上文背景技术中的内容，现有的彩色条纹编码结构光三维测量技术为了保证单幅图像上彩色编码的唯一性，所需的条纹颜色较多及解码单根条纹所需的条纹根数(即个数)较多，扫描小型复杂形貌物体(如：如口内牙齿、牙模)时，编码图案由于深度调制，容易出现编码缺失或断裂，从而导致无法解码或解码出错，单帧重建数据的完整性差，极大降低了扫描质量和效率。
针对上述问题，本公开实施例提出一种可周期重复的彩色条纹编码结构光三维测量技术，包括彩色投影模块、解码方法、解码装置、 存储介质、电子设备(例如计算机)以及三维测量系统。该技术方案中，利用周期重复的条纹排布方式，可极大减少条纹颜色数目以及解码所需条纹个数，由此提高了解码稳定性，简化了系统结构，提高了扫描效率，且可实现小型复杂形貌物体的快速、高精度、完整的测量。
下面结合图1-图7，对本公开实施例提供的彩色投影模块、条纹编解码方法、装置以及三维测量系统进行示例性说明。
本公开实施例中，彩色投影模块，设置为投射彩色条纹图案(也称为“彩色条纹”或“条纹图案”)至被测物体表面，彩色条纹图案包括m个周期性重复排布的基础条纹序列：其中，m为正整数，基础条纹序列包括k种颜色互不相同的条纹，且任意连续的n个条纹构成的n位条纹序列均唯一；基础条纹序列的条纹总数l满足l≤l 0，l 0＝k n，k和n均为等于或大于2的正整数。
其中，l 0＝k n，k和n均为等于或大于2的正整数，k种颜色条纹中的一种或多种颜色的条纹排布成根数为n的条纹序列，可形成k n种颜色排布互不相同的条纹序列，例如，红、绿两种颜色条纹排布成根数为2的条纹序列，形成2 2种排布互不相同的条纹序列，即(红红)、(红绿)、(绿红)、(绿绿)4种条纹序列；又如，红、绿、蓝三种颜色条纹中的两种颜色排布成根数为2的条纹序列，可形成3 2种排布互不相同的条纹序列；再如，红、绿、蓝三种颜色条纹排布成根数为3的条纹序列，可形成3 3种排布互不相同的条纹序列。基础条纹序列中，任意连续的n根条纹构成的n条纹序列均唯一，即基础条纹序列中形成有l个任意连续的n个条纹构成的n位基于颜色排布的条纹序列，且l个任意连续的n个条纹构成的n位基于颜色排布的条纹序列为k n种颜色排布互不相同的n位条纹序列中的l种。由此，可利用较少种类的颜色，较窄的解码宽度，基于周期重复的条纹排布方式，形成彩色条纹图案。
其中，k和n的取值可基于被测物体表面的尺寸大小、彩色投影模块的性能参数以及相机的性能参数确定，本公开实施例不限定。需要说明的是，基础条纹序列中形成有l个任意连续的n个条纹构成的n位基于颜色排布的条纹序列是基于由基础条纹序列进行首尾相连形成的循环条纹序列确定的。
示例性地，k的取值可为2、3或其他更大的数值，即该彩色条纹编码中的条纹颜色可为2种、3种或更多种；同样，n的取值可为2、3或其他更大的数值，即解码单根条纹所需的条纹根数为2根、3根或更多根；k和n的取值可相同，也可不同，本公开实施例不限定。
示例性地，k和n的取值均为3，如此，l 0＝k n＝27，l≤27。
示例性地，图1为本公开实施例的一种彩色条纹图案的示意图。参考图1，k、n和m的取值均为3，l＝l 0＝27，如此构成条纹总数为81，包括3个重复周期，3种不同的颜色，解码宽度为3的彩色条纹图案。
本公开实施例提供的彩色投影模块，可基于可周期重复的彩色条纹编码方式形成彩色条纹图案，减少条纹颜色数目以及减少解码所需条纹个数，由于条纹数量越少，其受物体表面不连续的干扰越小，解 码出错率越低，且易于重建较小的物体。由此，该彩色条纹图案中的颜色种类较少，且其解码宽度较窄，可使得解码稳定性较高，重建完整性较好；有利于简化结构，提高扫描效率。
其中，基础条纹序列中任意连续的n根条纹均为k种颜色条纹中的颜色条纹，且基础条纹序列中任意连续的n根条纹形成的条纹序列互不相同。将k种颜色分别通过代号0、1、……、(k-1)表示，则基于基础条纹序列确定的编码序列满足DeBruijn序列。
k元n阶的DeBruijn序列，即B(k,n)，是k元素构成的循环序列，所有长度为n的k元素构成序列都在它的子序列(以环状形式)中，出现并且仅出现一次。其中，颜色的代号对应于DeBruijn序列的元素，颜色的种类k对应于DeBruijn序列的元素种类，任意连续的n根条纹形成的条纹序列对应于DeBruijn序列的子序列。
基础条纹序列的条纹总数l小于或等于k n。当基础条纹序列的条纹总数等于k n时，基础条纹序列中形成的l n个基于任意连续的n根条纹形成的条纹序列包括了k n种排布互不相同的条纹序列中的全部条纹序列；当基础条纹序列的条纹总数小于k n时，基础条纹序列中形成的l n个基于任意连续的n根条纹形成的条纹序列为k n种排布互不相同的条纹序列中的部分条纹序列。
示例性地，基础条纹序列k＝3，n＝3，3种颜色分别使用0、1、2数字表示，例如，红色使用0表示，绿色使用1表示，蓝色使用2表示，按红红红绿红红蓝红绿绿红绿蓝红蓝绿红蓝蓝绿绿绿蓝绿蓝蓝蓝排布的27根条纹，编码序列为：
{0,0,0,1,0,0,2,0,1,1,0,1,2,0,2,1,0,2,2,1,1,1,2,1,2,2,2}。
该编码序列中，任意连续的三个代号构成的序列均唯一，例如：第一个三位序列{0,0,0}、第二个三位序列{0,0,1}、……、最后一个三位序列{2,2,2}，如此，每个三位序列在整个编码序列中都只会出现一次。每一个代号可以对应一种颜色的条纹，每一个三位序列可以对应基础序列中的一个条纹，即为一个条纹的编码值，设置为该条纹的识别定位，该序列对应27根条纹。
该序列中的三位序列对应其中一根条纹、作为该条纹的编码值，优选地，连续的n位代号形成的n位序列作为n位代号中其中一位代号对应的条纹的编码值，例如，{0,0,0}为基础条纹序列中第一个条纹的编码值，{0,0,1}为基础条纹序列中第二个条纹的编码值，以此类推，即连续的3位代号形成的3位序列作为3位代号中第1位代号对应的条纹的编码序列，当然也可以是，{0,0,0}为基础条纹序列中第二个条纹的编码值，{0,0,1}为基础条纹序列中第三个条纹的编码值，即连续的3位代号形成的3位序列作为3位代号中第2位代号对应的条纹的编码值。
在其他实施方式中，还可采用其他编码原理进行编码，可满足任意连续的n个代号构成的n位序列均唯一即可。
在一些实施例中，相邻两个周期中，至少部分条纹间距不同。
其中，通过设置相邻两个周期中，部分或全部条纹间距不同，可实现相邻两个周期的间距差异化设计，有利于实现解码过程中的解码错误检查，确保解码准确性。
示例性地，可设置第奇数个周期的第奇数个条纹间距小于第偶数个周期对应的条纹间距，第奇数个周期的第偶数个条纹间距大于第偶数个周期对应的条纹间距；或者，采用其他条纹间距差异化设置方式，在此不限定。
示例性地，条纹间距可为相邻两条条纹的中心线之间的距离，或为相邻两条条纹的相对的边线之间的距离，或者采用其他参考点界定，在同一彩色条纹图案中，采用相同的参考点界定即可，在此不限定。
在一些实施例中，相邻两个周期中，条纹间距的大小反向设置。
示例性地，任意相邻的两个周期中，其中一个周期中，每个条纹间距依次呈ddDDddDDdd……顺序分布；另一个周期中，每个条纹间距依次呈DDddDDddDD……顺序分布，其中D≠d。例如，若D＞d，则其中一个周期中，每个条纹间距依次呈小小大大小小大大小小……趋势分布；另一个周期中，每个条纹间距依次呈大大小小大大小小大大……的趋势分布。从而实现相邻两个周期中，对应位置处的条纹间距的大小正好相反，一大一小。
在其他实施方式中，还可选用其他的条纹间距分布方式，本公开实施例不限定。
在一些实施例中，每个周期中的，条纹间距均不同。
在一些实施例中，同一周期中，至少部分条纹间距不同。
其中，同一个周期中，部分或全部条纹间距均不同，可根据彩色投影模块的需求设置，本公开实施例不限定。
在一些实施例中，k的取值为3。
如此，条纹颜色的种类较少。在其他实施方式中，k的取值还可为2、4或其他数值，在此不限定。
在一些实施例中，3种互不相同的颜色分别为红色、绿色和蓝色。
如此，仅采用三原色作为三种互不相同的颜色，不需要对彩色条纹的颜色进行进一步合成或分解，有利于简化条纹编解码方法。
在一些实施例中，彩色投影模块包括三色光源、反射镜阵列以及控制系统；控制系统设置为调整反射镜阵列中的每个反射镜的角度，以使反射镜反射对应颜色的光，投射出预设的彩色条纹图案。
其中，彩色投影模块的实现形式可包括数字光处理(Digital Light Processing，DLP)投影机。该DLP投影机主要包括RGB三色光源、反射镜阵列，例如数字微反射镜阵列(Digtial Micromirror Devices，DMD)以及控制系统；其中，通过控制系统调整反射镜阵列中的每个反射镜的角度，可使每个反射镜反射对应颜色的光，以投射出彩色条纹图案。
其中，彩色条纹图案为基于彩色条纹编码方法确定的彩色条纹图案，其满足上述彩色条纹的排布规律。
在一些实施例中，彩色投影模块包括三色光源和MRSK码；三色光源的光线透过MRSK码，投射出预设的彩色条纹图案。
其中，彩色投影模块的实现形式还可包括基于透视投影原理的光机。该光机主要包括RGB三色光源和MRSK码，通过MRSK码的定制，使得三色光源通过之后，可投射出想要的图案，即预设的彩色条纹图案。
在其他实施方式中，彩色投影模块还可包括采用其他原理的光机，本公开实施例对此不赘述也不限定。
本公开实施例提供的彩色投影模块可作为三维测量系统中的投影仪，或其他测量系统中的投影设备，本公开实施例对此不限定。
上述实施方式中，彩色条纹图案中基础编码序列重复m个周期，形成总长度为ml的周期重复编码序列。
其中，m为正整数，且每个周期之间的条纹在图像中不出现交叠区域。示例性地，m可为1、2、3或其他更大的数值，本公开实施例对此不限定。
将基础编码序列作为一个周期单元，进行m个周期的重复，形成总长度为ml的周期重复编码序列。且，周期个数m的设置需保证在该系统测量景深范围内，每个周期之间的条纹不出现交叠区域。如此，便于实现解码。
示例性地，即，第m 0个周期的第i根条纹在图像上的移动范围为
Figure PCTCN2021139304-appb-000001
第m 1个周期的第i根条纹在图像上的移动范围为
Figure PCTCN2021139304-appb-000002
其中x表示图像坐标，那么必须有
Figure PCTCN2021139304-appb-000003
结合下述三维测量系统结构决定的测量景深范围，可确定周期个数m。
示例性地，结合上文，当基础编码序列为27位，且m的取值为3时，该周期重复编码序列可表示为：
{0,0,0,1,0,0,2,0,1,1,0,1,2,0,2,1,0,2,2,1,1,1,2,1,2,2,2,|0,0,0,1,0,0,2,0,1,1,0,1,2,0,2,1,0,2,2,1,1,1,2,1,2,2,2,|0,0,0,1,0,0,2,0,1,1,0,1,2,0,2,1,0,2,2,1,1,1,2,1,2,2,2}。
其总长度为3×27＝81，即ml＝81，可以满足下述三维测量系统分辨率的要求。
该彩色条纹编码在一个周期单元内每个编码的码值唯一，但整个编码序列中是多周期重复的。由此，可利用较少的条纹颜色和较小的解码宽度，通过周期重复编码，实现高分辨率的编码序列；同时，编码颜色较少，解码宽度较小，彩色条纹编码的可解性较高，解码错误率第，其可实现小尺寸待测物体的快速、准确、完整测量。
基于同一发明构思，本公开还提供了一种彩色条纹解码方法，针对上述任一种彩色投影模块投射至被测物体表面之后的、被相机模块 采集到的条纹图案进行解码。由于针对上述利用周期重复的编码方式进行解码，可极大减少解码所需条纹个数，由此提高了解码稳定性，简化了系统结构，提高了扫描效率，且可实现小型复杂形貌物体的快速、高精度、完整的测量。
示例性地，图2为本公开实施例的一种彩色条纹解码方法的流程示意图。参照图2，该解码方法可包括：
S301、获取被测物体表面的条纹图案。
示例性地，可由相机模块获取待测物体表面图像，该图像包括条纹图案。
S302、基于条纹图案，确定每个条纹的中心所在像素坐标。
示例性地，该步骤可包括，对条纹图像进行图像分析，提取条纹中心线，获取条纹中心所在的像素坐标x。
S303、基于像素坐标及对应的颜色，确定每个条纹的编号。
其中，编号代表条纹在整个彩色条纹编码中所在的相对位置。
在一些实施例中，该步骤可包括：
步骤一：基于预设颜色代号、像素坐标及对应的颜色，确定每个条纹对应的颜色代号(即代号)。
其中，颜色与颜色代号对应设置，每种颜色预设一个颜色代号，即每种颜色对应一个颜色代号。例如，颜色代号可以使用数字表示，红色使用0表示，绿色使用1表示，蓝色使用2表示；或者颜色代号可以使用字母或其他形式表示，在此不限定。
如此，基于像素坐标及其对应的颜色，查找对应预设的颜色代号，即可确定每个条纹对应的颜色代号。
步骤二：针对第i个条纹：基于每个条纹的颜色代号、确定第i个条纹所在的连续n个条纹对应的连续n个颜色代号，并将其作为第i个条纹的编码值；i为小于或等于l的正整数。
其中，结合上文，利用连续n个条纹对应的连续n个颜色代号，对应区分每个条纹；连续n个颜色代号可作为第i个条纹的编码值，便于实现解码。
步骤三：基于每个条纹的编码值，确定每个条纹在单个基础编码序列中的编号。
即，针对每个条纹：基于该条纹所在连续n根条纹颜色序列(即代号)，确定该条纹在一个基础编码序列中的编号。
由此，可确定每个条纹在一个周期单元中的编号。具体地：根据当前条纹所在的连续n根条纹颜色序列，确定该条纹对应的编码值p，即可获取该条纹在基础编码序列中的编号I p，此时的编码值为p的条纹共有m个。
示例性地，如图1，第一周期中的第一根条纹连续三位编码为{0,0,0}，而该编码在整个条纹图中共有三个，即：第一周期第一根、第二周期第一根、第三周期第一根。
步骤四：获取每个周期的预设像素坐标范围。
该步骤中，每个周期的预设像素坐标范围根据投影模块与相机模块的硬件布置确定，，以为后续步骤中确定条纹所在的周期提供数据支持。
步骤五：基于预设像素坐标范围和像素坐标，确定每个条纹所在的周期。
由此，可确定每根条纹所在的周期。
其中，上述相机模块获取的彩色条纹，考虑了景深的限制，则在不同周期中，具有相同编码值的条纹只会出现在不重叠的图像区域内。基于此，根据每根条纹的像素坐标x和编码值p，即可确定出该条纹所在的周期m i。即，三维测量设备的结构决定了景深，当被测物体位于三维测量设备的景深范围内，投影模块投射的条纹图案经被测物体调制被相机模块采集，条纹图案中每个周期的条纹仅会在相机模块对应的成像区域成像，从而决定了每个周期的条纹所在的图像范围。投影模块投射的条纹图案与相机模块采集的条纹图案的映射关系通过以下因素确定：投影模块的景深以及放大倍率、相机模块的景深以及放大倍率、投影模块的光轴与相机模块的光轴的夹角。
例如，第一周期第一根条纹可出现的图像范围为x 1＝[5,100]，第二周期第一根条纹可出现的图像范围为x 2＝[275,370]，第三周期第一根条纹可出现的图像范围为x 3＝[545,640]；基于此，可根据编码为{0,0,0}的条纹像素坐标x及上述条纹所在范围来确定对应条纹所在周期。
步骤六：基于每个条纹在单个基础编码序列中的编号和周期，确定该条纹在整个彩色条纹图案中的编号。
在前述步骤的基础上，根据每根条纹解算出的单周期内的编号p和其所在周期m i，并基于此可计算出每根条纹在整个序列中的编号I，即I＝I p+m i×l。
S304、基于每个条纹的编号对每个条纹进行三维重建，确定被测物体的三维点坐标。
该步骤中，基于三维测量系统中的相机模块的实现形式，可根据条纹的编码进行双目或单目重建，获得被测物体的三维点坐标，进而实现对待测物体表面的三维重建。
在一些实施例中，该步骤中基于每个条纹的编号对每个条纹进行三维重建可包括：
基于编号，确定对应的光平面；
基于光平面的光平面方程、目标条纹的中心所在像素坐标以及相机模块的预设参数，重构三维点坐标；或者
在相机模块采用双目系统的情况下，基于双目系统的左相机图像和右相机图像中每个条纹的编号，确定对应的条纹；
基于对应的条纹以及相机模块的预设参数，重构三维点坐标。
具体地，三维测量系统的计算机(数据存储和数据处理系统)中预置光机(即彩色投影模块)、相机(即相机模块)的内外参，例如可通过标定确定光机和相机的内外参。
计算机中预置彩色条纹图案的编码规则，例如R＝0，G＝1，B＝2,且连续的3位代号作为第一位(或第二位，或第三位)编码值对应的条纹的编号。
计算机中预置彩色条纹图案中每个条纹对应的光平面编号，例如，第一根条纹对应的光平面编号为(0,0,0)，第二根条纹对应的光平面编号为(0,0,1)，示例性地，可通过标定确定每个条纹对应的光平面编号。
计算机中预置条纹周期范围，即预设像素坐标范围，包括三维空间X、Y、Z的范围。
基于此，光机投射彩色条纹图案至被测物体表面，相机获取经被测物体表面调制的条纹图像并传输至计算机，计算机基于获取的条纹图像，提取每个条纹的中心线，并基于每个条纹的中心线确定像素坐标及像素坐标所对应的RGB值，基于像素坐标及其RGB值、计算机预置的编码规则(R＝0，G＝1，B＝2)确定对应的编码值，基于“连续的3位编码值作为第一位(或第二位，或第三位)代号对应的条纹的编号”编码规则确定每个条纹的编号。
其后，若采用单目系统，则基于条纹的编号确定对应的光平面；根据光平面方程、目标条纹的中心坐标以及相机内外参重构三维点坐标。若采用双目系统，则可不标定光平面，而是基于左右图像中每个条纹的编号确定对应的条纹，基于对应的条纹以及相机内外参重建三维点坐标，如此，可确定被测物体的三维点坐标。
在一些实施例中，在图2的基础上，该解码方法还包括对周期错误的解码进行识别和校正，具体可包括下述步骤：
步骤一：基于三维点的连续性，判断当前条纹的解码是否错位。
步骤二：在存在解码错位时，对对应的三维点坐标进行纠正更新。
该步骤一和步骤二，对条纹错误和周期错误中的至少一者的解码进行识别并校正。
示例性地，结合上文，彩色条纹编码方法中，对奇数周期和偶数周期中的奇数条纹进行了偏移操作，当奇数周期的条纹被错误解码成为了偶数周期，则对应的奇数条纹之间会出现非常大的深度差。基于此，通过一定的深度差阈值，即可判断出当前条纹的解码周期是否错位；并在周期错误时，将周期数向相邻周期调整，以实现对周期数的校正，提高解码准确性。
其中，深度差阈值的大小可基于景深以及周期个数设置，本公开实施例对其具体取值不限定。
示例性地，发生周期错位而需要重新匹配识别正确周期(即对周期进行校正)、以纠正更新三维点坐标的情况可包括：情况一、多根(至少n根)连续条纹解码错误；情况二、错误地解成了相邻周期的条纹序号。
此外，如果解码错位一根或者两根条纹，其较易识别，可做删除处理，故不需要进行后续校正，即三维点坐标将对应错误点进行删除更新。
针对需要对周期进行校正的情况，本公开实施例提供的解码方法中，可采用如下两步骤进行识别。
步骤一：解码错位时，条纹的深度会发生跳变，一部分情况下错位的条纹深度会超出相机的景深(事先标定的)，如此被识别或删除，即如果识别到超出景深的三维点坐标，删除对应的三维点坐标；
步骤二：若该条纹深度未超出景深，由于对相邻周期的条纹进行了不同方向的偏移，即相邻周期的条纹间距存在差异性。基于此，当条纹解码错位时，连续n根条纹之间的深度会呈现波纹状。例如：第一个周期的1、2、3号条纹解码错位，误识别为第二个周期的1、2、3，那么第1、3根条纹对应重建的三维点坐标相对于其周边相邻坐标产生较大跳变，使得这三根条纹对应的深度呈现出'V'型，从而被识别出，即如果识别到三维点呈波纹状分布，可识别出对应条纹发生周期错位。
进一步地，若识别出条纹发生周期错位，则对周期进行纠正(即校正)。纠正步骤可包括：
对周期错位的条纹进行重新计算深度，利用相邻周期的光平面计算多种深度情况(如：第二周期的第1根条纹解码错位，那么会利用第一周期的第1个光平面和第3周期的第1个光平面计算其深度)，找出波纹状最小的一种即为该条纹的正确周期。
如此，实现对条纹周期的错误识别和纠正，提高解码准确性，以此纠正更新三维点坐标。
在一些实施例中，针对上述编码方法的一种解码方法可包括：基于条纹图案，提取条纹中心线，获取条纹中心所在的像素坐标x。其后，确定每个条纹的编码值，即：根据当前条纹所在的连续n根条纹颜色序列，确定该条纹对应的编码值p，即可获取该条纹在基础编码序列中的编号I p，此时的编号为I p的条纹共有m个。再后，确定每根条纹所在的周期：其中，彩色条纹编码产生时，考虑了景深的限制，则在不同周期中，具有相同编码值的条纹只会出现在不重叠的图像区域内；基于此，根据每根条纹的像素坐标x和编号I p，即可确定出该条纹所在的周期m i。再后，根据每根条纹解算出的编码值p、编号I p和所在周期m i，计算出每根条纹在整个序列中的编号I＝I p+m i×l。再后，根据条纹的编码进行双目或单目重建，获得每根条纹的三维点坐标，进而实现对被测物体表面的三维重建。可选的，该解码方法还可包括：对周期错误的解码进行识别，即基于上述对相邻周期的条纹的差异化设计，当奇数周期的条纹被错误解码成为了偶数周期，则对应的奇数条纹之间会出现非常大的深度差，那么通过一定的深度差阈值，即可判断出当前条纹的解码周期是否错位，并结合景深进行周期校正。由于针对上述利用周期重复的编码方式进行解码，可极大减少解码所需条纹个数，由此提高了解码稳定性，简化了系统结构，提高了扫描效率，且可实现小型复杂形貌物体的快速、高精度、完整的测量。
在上述实施方式的基础上，本公开实施例还提供了一种彩色条纹解码装置，设置为执行上述任一种解码方法。因此，该解码装置也具 有上述任一种解码方法的有益效果。相同之处可参照上文理解，此处不赘述。
示例性地，图3为本公开实施例的一种彩色条纹解码装置的结构示意图。参照图3，该解码装置包括：条纹图案获取模块501，设置为获取被测物体表面的条纹图案；像素坐标确定模块502，设置为基于条纹图案，确定每个条纹的中心所在像素坐标；编号确定模块503，设置为基于像素坐标及对应的颜色，确定每个条纹的编号；三维点坐标确定模块504，设置为基于每个条纹的编号对每个条纹进行三维重建，确定被测物体的三维点坐标。
由此，该彩色条纹解码装置，可针对上述利用周期重复的彩色条纹图案进行解码，可极大减少解码所需条纹个数，由此提高了解码稳定性，简化了系统结构，提高了扫描效率，且可实现小型复杂形貌物体的快速、高精度、完整的测量。
在一些实施例中，编号确定模块503，是设置为：基于预设颜色代号、像素坐标及对应的颜色，确定每个条纹对应的颜色代号；针对第i个条纹：基于每个条纹的颜色代号、确定第i个条纹所在的连续n个条纹对应的连续n个颜色代号，并将其作为第i个条纹的编码值；i为小于或等于l的正整数；基于每个条纹的编码值，确定每个条纹在单个基础编码序列中的编号；获取每个周期的预设像素坐标范围；基于预设像素坐标范围和像素坐标，确定每个条纹所在的周期；基于每个条纹在单个基础编码序列中的编号和周期，确定每个条纹在彩色条纹图案中的编号。
如此，可确定条纹图案中的每个条纹在一个周期单元中的编号以及其所在的周期数，从而可确定其在整个彩色条纹编码中的编号。
在一些实施例中，三维点坐标确定模块504，是设置为：
基于编号，确定对应的光平面；
基于光平面的光平面方程、目标条纹的中心所在像素坐标以及相机模块的预设参数，重构三维点坐标；或者
在相机模块采用双目系统的情况下，基于双目系统的左相机图像和右相机图像中每个条纹的条纹编号，确定对应的条纹；
基于对应的条纹以及相机模块的预设参数，重构三维点坐标。
如此，可基于单目系统或双目系统，实现被测物体的三维重建。
在一些实施例中，该解码装置还包括：解码错误识别模块，设置为基于所述三维点的连续性，判断当前条纹的解码是否错位；解码错误校正模块，设置为在存在解码错位时，对对应的三维点坐标进行纠正更新。
如此，可通过对三维点的连续性进行判断，即可判断出当前条纹的解码周期是否错位；并可在周期错误时，将周期数向相邻周期调整，以实现对周期数的校正，提高解码准确性。
在上述实施方式的基础上，本公开实施例还提供了一种电子设备(即解码设备)，可设置为实现上述任一种解码方法。
示例性地，图4为本公开实施例的一种电子设备的结构示意图。参照图4，该电子设备70包括：处理器701以及存储有计算机程序指令(即可执行指令)的存储器702；其中，处理器设置为从存储器中读取可执行指令，并执行可执行指令以实现上述任一种解码方法。
具体地，上述处理器701可以包括中央处理器(CPU)，或者特定集成电路(Application Specific Integrated Circuit，ASIC)，或者可以被配置成实施本申请实施例的一个或多个集成电路。
存储器702可以包括设置为信息或指令的大容量存储器。举例来说而非限制，存储器702可以包括硬盘驱动器(Hard Disk Drive，HDD)、软盘驱动器、闪存、光盘、磁光盘、磁带或通用串行总线(Universal Serial Bus，USB)驱动器或者两个及其以上这些的组合。在合适的情况下，存储器702可包括可移除或不可移除(或固定)的介质。在合适的情况下，存储器702可在综合网关设备的内部或外部。在特定实施例中，存储器702是非易失性固态存储器。在特定实施例中，存储器702包括只读存储器(Read-Only Memory，ROM)。在合适的情况下，该ROM可以是掩模编程的ROM、可编程ROM(Programmable ROM，PROM)、可擦除PROM(Electrical Programmable ROM，EPROM)、电可擦除PROM(Electrically Erasable Programmable ROM，EEPROM)、电可改写ROM(Electrically Alterable ROM，EAROM)或闪存，或者两个或及其以上这些的组合。
处理器701通过读取并执行存储器702中存储的计算机程序指令，以执行本公开实施例所提供的解码方法的步骤。
在一个示例中，该电子设备70还可包括收发器703和总线704。其中，如图4所示，处理器701、存储器702和收发器703通过总线704连接并完成相互间的通信。
总线704包括硬件、软件或两者。举例来说而非限制，总线可包括加速图形端口(Accelerated Graphics Port，AGP)或其他图形总线、增强工业标准架构(Extended Industry Standard Architecture，EISA)总线、前端总线(Front Side BUS，FSB)、超传输(Hyper Transport，HT)互连、工业标准架构(Industrial Standard Architecture，ISA)总线、无限带宽互连、低引脚数(Low Pin Count，LPC)总线、存储器总线、微信道架构(Micro Channel Architecture，MCA)总线、外围控件互连(Peripheral Component Interconnect，PCI)总线、PCI-Express(PCI-X)总线、串行高级技术附件(Serial Advanced Technology Attachment，SATA)总线、视频电子标准协会局部(Video Electronics Standards Association Local Bus，VLB)总线或其他合适的总线或者两个或更多个以上这些的组合。在合适的情况下，总线704可包括一个或多个总线。尽管本申请实施例描述和示出了特定的总线，但本申请考虑任何合适的总线或互连。
在上述实施方式的基础上，本公开实施例还提供了一种计算机可读存储介质，该存储介质存储有计算机程序，当计算机程序被处理器 执行时，使得处理器实现上述任一种解码方法。
示例性地，可结合图4，一种包括指令的存储介质，例如包括指令的存储器302，上述指令可由处理器301执行，以完成本公开实施例所提供的解码方法。
可选地，存储介质可以是非临时性计算机可读存储介质，例如，非临时性计算机可读存储介质可以是ROM、随机存取存储器(Random Access Memory，RAM)、光盘只读存储器(Compact Disc ROM，CD-ROM)、磁带、软盘和光数据存储设备等。
在上述实施方式的基础上，本公开实施例还提供了一种基于彩色条纹编码结构光的三维测量系统，该系统可采用上述任一种彩色投影模块和解码方法，实现对被测物体的三维测量，因此也具有上述任一实施例的有益效果，可参照上文理解，此处不赘述。
示例性地，图5为本公开实施例的一种三维测量系统的结构示意图，图6为本公开实施例的另一种三维测量系统的结构示意图。参照图5或图6，该系统包括呈预设夹角的彩色投影模块601和相机模块602；彩色投影模块601采用上述任一种彩色投影模块，设置为投射彩色条纹图案至被测物体600表面；相机模块602设置为采集经被测物体600表面调制后的条纹图案，在条纹图案中，每个周期之间的条纹不出现交叠区域。
其中，上述相机模块获取彩色条纹时，由于景深的限制，则在不同周期中，具有相同编码值的条纹只会出现在不重叠的图像区域内。基于此，根据每根条纹的像素坐标x和编码值p，即可确定出该条纹所在的周期m i。即，三维测量设备的结构决定了景深，当被测物体位于三维测量设备的景深范围内，投影模块投射的条纹图案经被测物体调制被相机模块采集，条纹图案中每个周期的条纹仅会在相机模块对应的成像区域成像，从而决定了每个周期的条纹所在的图像范围。投影模块投射的条纹图案与相机模块采集的条纹图案的映射关系通过以下因素确定：投影模块的景深以及放大倍率、相机模块的景深以及放大倍率、投影模块的光轴与相机模块的光轴的夹角。下面结合图7，示例性地说明预设夹角(投影模块的光轴与相机模块的光轴的夹角)与景深以及周期个数的关系。示例性地，图7为本公开实施例的一种三维测量系统的参数关联关系原理图。参照图7，其中，6021代表相机镜头，彩色投影模块601与相机模块602之间的预设夹角为α，△L1和△L2分别代表前景深和后景深，二者之和为景深；该景深对应的固定投影光线在相机图像上的移动范围为(a+b)/v，即单周期范围(a+b)/v＝(△L1+△L2)×tanα÷v；该单周期范围内至多设置一个周期单元，以确保每个周期之间的条纹不出现交叠区域；其中，v代表比例系数，一般为相机放大倍率，可基于系统结构设置，在此不限定。
示例性地，彩色投影模块601和相机模块602可集成设置于同一扫描仪中，例如二者设置于同一口内扫描仪中；或者二者可分别单独设置，本公开实施例对此不限定。
示例性地，编码方法可在彩色投影模块601本地执行，或可在远端服务器执行；解码方法可在相机模块602本地执行，或可在电子设备(例如计算机)中执行，或可在远端服务器执行，本公开实施例对此不限定。
在一些实施例中，该系统还可包括数据处理模块，数据处理模块设置为接收条纹图案，并执行上述任一种解码方法，从而实现对被测物体的扫描过程。其中，数据处理模块可为电子设备中内置的功能模块，例如上述任一种解码装置中的每个功能模块。
在一些实施例中，彩色投影模块601采用数字光处理(Digital Light Processing，DLP)、硅基液晶(Liquid Crystal on Silicon，LCOS)或透射投影等方式实现。
其中，DLP技术不需要偏振光，光利用效率较高；且像素间距较小，形成几乎可以无缝的彩色条纹编码图像，条纹更细腻。LCOS技术基于单晶硅实现，可实现较细的线路，从而较易实现高解析度的投影结构，产品结构简单。透射投影技术也称为透视投影技术，预设光线经过光线透射部上设有的对应于彩色条纹编码图案的预设图案后，生成以彩色编码条纹的行驶投射至被测物体600表面的目标光线，由此，光线编码方式较简单。
在其他实施方式中，还可采用本领域技术人员可知的其他方式，使得彩色投影模块601实现上述编码方法，本公开实施例对此不限定。
在一些实施例中，相机模块602包括一个彩色图像传感器，或者相机模块包括分光系统和至少两个图像采集传感器。
示例性地，参照图5，该相机模块602包括一个彩色图像传感器620，即相机模块602可采用彩色相机。该彩色相机可直接采集多彩色的条纹图案和纹理图，并利用上述解码方法实现解码。
示例性地，参照图6，该相机模块602包括分光系统622和至少两个(图6中示出了2个)图像采集传感器(或称为相机)621；示例性地，分光系统622可包括分光镜，利用分光镜可将不同光谱颜色分开，可以用多个相机采集，每个相机采集一种或多种颜色。
示例性地，对应于上述三种颜色的编码方法，相机模块602的一种实现方式为：设置三个图像采集传感器均采用黑白图像采集传感器，其分别采集一种颜色；或者设置两个黑白图像采集传感器(即黑白相机)和一个彩色图像采集传感器(即彩色相机)，两个黑白相机分别采集三种颜色中的两种颜色，例如蓝光和绿光，彩色相机采集第三种颜色，如红光和三通道的纹理图。
在其他实施方式中，相机模块602还可采用其他方式实现，本公开实施例对此不限定。
基于上述，该基于彩色条纹编码结构光的三维测量系统主要由一个彩色投影模块601和一个相机模块602组成；其中，彩色投影模块601与相机模块602呈一定的夹角；彩色投影模块601设置为投射彩色编码条纹图案，相机模块602设置为采集经被测物体600表面调制的 条纹图案。其中，彩色投影模块601包含但不限于采用DLP、LCOS或透射投影等方式实现。相机模块602包含但不限于采用一个彩色图像传感器、两个图像传感器加分光系统、三个图像传感器加分光系统等方式来实现。
因此，基于上述三维测量系统的结构设计、编码方法以及解码方法，实现了一种简单、高效、稳定、低成本的彩色条纹编码结构光三维测量方法，可设置为小型复杂物体的快速、高精度测量。具体地，本公开实施例通过使用周期重复的彩色条纹编码结构光技术，极大地减少了所用条纹颜色的数目，从而减少光谱数量，简化了彩色条纹投影结构，降低了硬件成本；以及减少了设置为解码的条纹个数，提高了解码的稳定性和效率，使得可解性高，错误率低；在较少的条纹颜色数量和较小的解码宽度的基础上，利用周期重复编码，实现了较高分辨率，使得三维测量系统结构更加简单，且扫描效率更高。
需要说明的是，在本文中，诸如“第一”和“第二”等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上所述仅是本公开的具体实施方式，使本领域技术人员能够理解或实现本公开。对这些实施例的多种修改对本领域的技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本公开的精神或范围的情况下，在其它实施例中实现。因此，本公开将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。
工业实用性
本公开利用可周期性重复的彩色条纹实现条纹编码和对应解码，可减少条纹颜色数目以及减少解码所需条纹个数，有利于提高解码稳定性，简化结构，提高扫描效率，具有很强的工业实用性。

Claims (18)

  1. 一种投影模块，设置为投射彩色条纹图案至被测物体表面，其中，所述彩色条纹图案包括m个周期性重复的基础条纹序列，m为正整数；
    所述基础条纹序列包括k种颜色的条纹，且任意连续的n个条纹构成的n位条纹序列均唯一；所述基础条纹序列的条纹总数l满足l≤l 0，l 0＝k n，k和n均为等于或大于2的整数。
  2. 根据权利要求1所述的彩色投影模块，其中，
    所述基础条纹序列基于德布鲁因序列排布。
  3. 根据权利要求1所述的彩色投影模块，其中，相邻两个所述周期中，至少部分条纹间距不同。
  4. 根据权利要求1所述的彩色投影模块，其中，同一所述周期中，至少部分条纹间距不同。
  5. 根据权利要求1所述的彩色投影模块，其中，k的取值为3，或者n的取值为3，或者k的取值和n的取值均为3。
  6. 根据权利要求5所述的彩色投影模块，其中，3种互不相同的颜色分别为红色、绿色和蓝色。
  7. 一种彩色条纹解码方法，针对权利要求1-6任一项所述的彩色投影模块投射至被测物体表面之后的、被相机模块采集到的条纹图案进行解码，所述解码方法包括：
    获取被测物体表面的条纹图案；
    基于所述条纹图案，确定每个条纹的中心所在像素坐标；
    基于所述像素坐标及对应的颜色，确定每个条纹的编号；
    基于每个条纹的编号对每个条纹进行三维重建，确定被测物体的三维点坐标。
  8. 根据权利要求7所述的解码方法，其中，基于所述像素坐标及对应的颜色，确定每个条纹的编号，包括：
    基于预设颜色代号、所述像素坐标及对应的颜色，确定每个条纹对应的颜色代号；
    针对第i个条纹：基于每个条纹的所述颜色代号、确定第i个条纹所在的连续n个条纹对应的连续n个颜色代号，并将其作为第i个条纹的编码值；i为小于或等于l的正整数；
    基于每个条纹的所述编码值，确定每个条纹在单个所述基础编码序列中的编号；
    获取每个周期的预设像素坐标范围；
    基于所述预设像素坐标范围和所述像素坐标，确定每个条纹所在的周期；
    基于所述每个条纹在单个所述基础编码序列中的编号和所述周 期，确定每个条纹在所述彩色条纹图案中的编号。
  9. 根据权利要求8所述的解码方法，还包括：
    基于所述三维点的连续性，判断当前条纹的解码是否错位；
    在存在解码错位时，对对应的三维点坐标进行纠正更新。
  10. 根据权利要求7所述的解码方法，其中，所述基于每个条纹的编号对每个条纹进行三维重建，包括：
    基于所述编号，确定对应的光平面；
    基于所述光平面的光平面方程、目标条纹的中心所在像素坐标以及相机模块的预设参数，重构三维点坐标；或者
    在相机模块采用双目系统的情况下，基于双目系统的左相机图像和右相机图像中每个条纹的所述编号，确定对应的条纹；
    基于对应的条纹以及相机模块的预设参数，重构三维点坐标。
  11. 一种彩色条纹解码装置，设置为执行权利要求7-10任一项所述的解码方法，所述解码装置包括：
    条纹图案获取模块，设置为获取被测物体表面的条纹图案；
    像素坐标确定模块，设置为基于所述条纹图案，确定每个条纹的中心所在像素坐标；
    编号确定模块，设置为基于所述像素坐标及对应的颜色，确定每个条纹的编号；
    三维点坐标确定模块，设置为基于每个条纹的编号对每个条纹进行三维重建，确定待测物体的三维点坐标。
  12. 根据权利要求11所述的解码装置，其中，所述编号确定模块，是设置为：
    基于预设颜色代号、所述像素坐标及对应的颜色，确定每个条纹对应的颜色代号；
    针对第i个条纹：基于每个条纹的所述颜色代号、确定第i个条纹所在的连续n个条纹对应的连续n个颜色代号，并将其作为第i个条纹的编码值；i为小于或等于l的正整数；
    基于每个条纹的所述编码值，确定每个条纹在单个所述基础编码序列中的编号；
    获取每个周期的预设像素坐标范围；
    基于所述预设像素坐标范围和所述像素坐标，确定每个条纹所在的周期；
    基于所述每个条纹在单个所述基础编码序列中的编号和所述周期，确定每个条纹在所述彩色条纹图案中的编号。
  13. 一种计算机可读存储介质，其中，所述存储介质存储有计算机程序，当所述计算机程序被处理器执行时，使得处理器实现权利要求7-10任一项所述的解码方法。
  14. 一种电子设备，包括：
    处理器；
    存储器，设置为存储可执行指令；
    其中，所述处理器设置为从所述存储器中读取所述可执行指令，并执行所述可执行指令以实现权利要求7-10任一项所述的解码方法。
  15. 一种基于彩色条纹编码结构光的三维测量系统，包括呈预设夹角的彩色投影模块和相机模块；
    所述彩色投影模块采用权利要求1-6任一项所述的彩色投影模块，所述彩色投影模块设置为投射彩色条纹图案至被测物体表面；
    所述相机模块设置为采集经所述被测物体表面调制后的条纹图案，在所述条纹图案中，每个周期之间的条纹不出现交叠区域。
  16. 根据权利要求15所述的系统，其中，所述彩色投影模块和所述相机模块设置于同一口内扫描仪中。
  17. 根据权利要求15所述的系统，还包括数据处理模块；
    所述数据处理模块设置为接收所述条纹图案，并执行权利要求7-10任一项所述的解码方法。
  18. 根据权利要求15所述的系统，其中，所述彩色投影模块采用DLP、LCOS或透视投影等方式实现；
    所述相机模块包括一个彩色图像传感器，或者
    所述相机模块包括分光系统和至少两个图像采集传感器。
PCT/CN2021/139304 2020-12-31 2021-12-17 彩色投影模块、条纹解码方法、装置、介质、设备和系统 WO2022143232A1 (zh)

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