CN101813461A - Absolute phase measurement method based on composite color fringe projection - Google Patents
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Abstract
The invention discloses an absolute phase measurement method based on composite color fringe projection, which comprises the steps of: firstly, generating a binary fringe with a geometric sequence and a sine fringe with stationary phase moving between the sine fringe and the binary fringe through software programming, and demodulating the fringes into a red, green and blue channel of a color image to form a composite color fringe image; projecting the composite color fringe image to the surface of an object to be measured by adopting a DLP (Digital Light Processing) digital projector, and acquiring fringe image information of surface deformation of the object to be measured from a direction different from a projection direction by adopting a color CCD (Charge Coupled Device) digital camera; processing the acquired fringe image information, respectively computing a folding phase diagram and determining an absolute level of the sine fringe after extracting the sine fringe and the binary fringe, and finally independently computing absolute phase information of positions of pixel points.
Description
Technical field
The present invention relates to three-dimensional information and obtain technology, be specially a kind of absolute phase measurement method based on composite color fringe projection.
Background technology
The present invention relates to the three-dimensional information detection technique, comprise the coding and the shadow casting technique of scale-of-two striped and sine streak.Existing color fringe projection technology or can't measure the three-dimensional appearance of big gradient, complex surface shaped objects such as discontinuous, perhaps since the sine streak modulated have lower gray shade scale and can't obtain high-precision phase data, thereby finally can't obtain the high accuracy three-dimensional shape data.In the scope of applicant's retrieval, can see following pertinent literature information:
1.G.Sansoni, M.Carocci, and R.Rodella, " based on the 3D vision of combination gray-coded and phase shifted light projection: the analysis of systematic error and compensation " (Three-Dimensional Vision Based on aCombination of Gray-Code and Phase-Shift Light Projection:Analysis andCompensation of the Systematic Errors, Appl.Opt.38,6565-6573 (1999)), a kind of phase measurement in conjunction with binary coding and sine streak projection has been proposed, and labor its systematic error and compensation method thereof, point out the absolute level time of scale-of-two striped decision sine streak; Sine streak provides the high precision phase information.But several stripe patterns of projection are to the surface of object under test in turn for this kind method, and measurement result is subjected to the influence of body surface color texture bigger simultaneously, and data precision is not high.
2.H.O.Saldner, and J.M.Huntley, " time domain phase unwrapping: the profile measurement art that is applicable to discontinuous surperficial object " (Temporal phase unwrapping:application to surface profiling ofdiscontinuous objects, Appl.Opt.36,2770-2775 (1997)), the method that a kind of time domain phase-unwrapping algorithm is used to measure the three-dimensional appearance information of discontinuous body surface has been proposed.It is that the phase shift sine streak figure of geometric series obtains information to body surface by the projected fringe number, but owing to need the sine streak of perspective geometry sequence striped number, and to the sine streak of each fringe number image of several phase shifts of projection again, therefore need the striped number of projection more, corresponding Measuring Time is also longer, is unfavorable for practical application.
3.P.S.Huang, Q.Y.Hu, F.Jin, and F.P.Chiang, (the Color-encoded digital fringe projection techniquefor high-speed three-dimensional surface contouring that " is applicable to the coloud coding numeral fringe projection art of high speed three-dimensional surface profile measurement ", a kind of method of quick Measuring Object three-dimensional appearance has been proposed Opt.Eng.38,1065-1071 (1999)).This method has three sinusoidal vertical bar lines of 120 degree phase shifts to obtain the three-dimensional appearance information of object in red, green, blue three Color Channels of colored CCD digital camera and DLP digital projector by modulation to each other, but three step phase-shift methods of this method are very responsive to noise, interference between Color Channel can change the sinuso sine protractor of striped, therefore phase place (three-dimensional appearance data) out of true that obtains.In addition, the phase place that this method is obtained folds, and need carry out the space phase expansion, so can't realize the measurement to the 3D shape of discontinuous, big gradient object.
4.O.A.Skydan, M.J.Lalor, and D.R.Burton, " based on the phase measurement and the surface reconstruction technology of color structured light " (Technique for phase measurement and surface reconstruction byuse colored structured lightAppl.Opt.41,6104-6117 (2002)), studied shade and the discontinuous problem that how to solve in the measuring process.It has utilized the surface of three different DLP digital projectors from the grating fringe of different visual angle projection different colours to testee to obtain data.Clearly, this method adopts a plurality of projector, has increased the complicacy and the cost of total system.Simultaneously, this method can't correctly obtain wrapped phase at big gradient, discontinuous object position by fourier transform technique.
5.Z.H.Zhang, C.E.Towers, and D.P.Towers, " the effective color fringe projection system that utilizes that best three frequencies select obtains object dimensional shape and color " (Time efficient color fringeprojection system for 3D shape and color using optimum 3-frequency selection, Opt.Express 14,6444-6455 (2006)), studied a kind of method of obtaining discontinuous, big gradient object dimensional shape and color texture fast.This method is passed through red, green, blue three Color Channels of the grating fringe of modulation different frequency to coloured image, under the situation of utilizing four step phase shifts, needs to gather four width of cloth composite color fringe figure; If utilize Fourier transform, then compound bar graph can obtain the three-dimensional appearance of object, but be modulated at the influence that three sine streaks in the Color Channel are subjected to spectra overlapping between Color Channel, resulting striped no longer is good sinusoidal shape, thereby to follow-up phase place, be 3D shape, bring very big influence.
6.W.H.Su, " based on the fringe projection 3-d shape measurement of coloud coding " (Color-encoded fringeprojection for 3D shape measurements, Opt.Express 15,13167-13181 (2007)), studied a kind of method of utilizing piece image to calculate absolute phase.This method is by being modulated to scale-of-two striped and sine streak red, green, blue three Color Channels of coloured image, and the scale-of-two striped is used to determine the level time of striped, thereby can measure discrete object; And utilize Fourier transform from sine streak, to calculate phase information.But this method is because the scale-of-two striped is modulated in the identical Color Channel with sine streak, and two kinds of stripeds have lower grey level, so the phase place out of true that obtains.Simultaneously, at discontinuous and big gradient region, Fourier transform can't obtain correct phase information.
7.W.H.Su, " dynamic object that utilizes the projected fringe profilometry measurement space of regional code to separate " (Projected fringe profilometry using the area-encoded algorithm for spatiallyisolated and dynamic objects, Opt.Express 16,2590-2596 (2008)) literary composition, measure colored object for the method for utilizing composite color fringe projection, further studied region based numbering scheme.But this method has further reduced the available tonal range of each Color Channel, thereby can't obtain the high accuracy three-dimensional data message because three kinds of different stripeds are modulated in the same color passage.
8.H.J.Chen, J.Zhang, D.J.Lv, and J.Fang, " based on the 3-d shape measurement of composite mode projection and processing " (3-D shape measurement by composite pattern projection and hybridprocessing, Opt.Express 15,12318-12330 (2007)), studied a kind of method of obtaining big gradient, discontinuous object dimensional face shape in real time.This method is utilized red, green, blue three Color Channels of colorful CCD camera and DLP digital projector, by modulating scale-of-two striped and sine streak red, green, blue three Color Channels, gather the absolute phase information that piece image can calculate object to coloured image; Utilize method of wavelet from sine streak figure, to calculate wrapped phase information; Determine by the scale-of-two striped and the level of striped is inferior.But this method can't obtain the high accuracy three-dimensional data because scale-of-two striped and sine streak are modulated in the piece image.
9. put to good use etc., " based on the phase measurement de-packaging method of double frequency color strip projection (optics journal; 2007 03 phases; 461-465) " and Zhao Hong etc. " based on the three dimension object contour phase measuring method (application number 200610104409) of double frequency color strip projection ", a kind of three dimension object contour phase measuring method of double frequency color strip projection is disclosed.This method adopts the double-colored sine streak projection of a frame double frequency, and obtains the testee elevation information of two kinds of measuring accuracy of height with Fourier transform, thereby goes parcel to handle, and can obtain three dimension object contour phase and go the parcel value.Because the restriction of the character of Fourier transform own, edge at big gradient and discontinuous object, can't calculate and obtain correct phase information, thereby can't obtain correct three-dimensional appearance information, so this method is only applicable to the measurement that the surface changes mild object.
10. Yao Li etc. disclosed " a kind of method of obtaining the object dimensional shape fast " (publication number CN101509764), throw colored many stripeds mode configuration light by projector to object, and make striped mobile distance in scene greater than sub-width of fringe, utilize camera to take image sequence simultaneously, according to distortion and the correlativity of the time 3D shape that calculate object of striped on object.This method is because employing space color mode and temporal correlation calculate three-dimensional data, so measuring accuracy is lower, and this method is not suitable for the 3 d shape of measuring big gradient, discontinuous object yet simultaneously.
11. Zhang Guangjun etc. disclosed " based on the color-coded grating vision measuring method (application number 200710119129) of phase shift ", utilize two colorful CCD cameras and a chromatic grating projector to constitute the vision sensor that encode grating combines with binocular stereo vision, the chromatic grating projector throws raster pattern to measured object, wherein chromatic grating employing insertion is arranged entirely and is encoded, form the measurement striation on the measured object surface, two colorful CCD cameras are respectively taken a width of cloth from different perspectives and are measured optical strip image, can finish three-dimensional coupling by grating encoding and polar curve constraint, thereby obtain measured object surface three dimension data; Repeatedly phase shifts by raster pattern can realize the precision measurement to testee.But this method is owing to need to gather multiple image, thereby is not suitable for quick measurement, and simultaneously, the document not have explanation whether to be fit to the three-dimensional appearance of discontinuous, the big gradient object of measurement yet.
By above-mentioned document as can be seen, to the measurement of discontinuous or big gradient object, existing whole-field optically fringe projection method can be divided into gray scale striped shadow casting technique and color fringe projection technology.A kind of common method in the gray scale striped shadow casting technique is projection scale-of-two striped and gray scale sine streak in turn: projection produces other sine streak of multi-grey level and is used to calculate phase place; The scale-of-two striped of a plurality of different striped numbers determines that the absolute level of sine streak is inferior; According to the step number and the striped number of phase-shifting technique that sine streak adopts, in most cases need gather at least 11 width of cloth images; Another kind of common method based on gray scale is to obtain complex object three-dimensional surface shape information by the grayscale bar print image sequence of projection different frequency to the surface of testee.Therefore, the Measuring Time that gray scale striped projecting method needs is long, is subjected to the influence of body surface color texture simultaneously, and the fringe contrast of being gathered is lower, and complex process, precision are not high.Color fringe projection technology one is to utilize the spatial model of coding different colours and have lower spatial resolution; The 2nd, encode colored scale-of-two striped and sine streak in the same color passage, reduced the gray level of sine streak, resulting phase accuracy is not high.No matter be gray scale striped shadow casting technique, or the color fringe projection technology, for the surface configuration complexity, as discontinuous or big gradient, and surperficial chromatic colour texture object fast, high-acruracy survey, all be the difficult problem of fine solution not as yet.
Summary of the invention
At the deficiencies in the prior art, the technical matters that quasi-solution of the present invention is determined is that a kind of absolute phase measurement method based on composite color fringe projection is provided.This method can be obtained absolute phase (3D shape) data of big gradient or complex surface object such as discontinuous fast, accurately and efficiently.
The technical scheme that the present invention solve the technical problem is to design a kind of absolute phase measurement method based on composite color fringe projection.This measuring method produces the scale-of-two striped of geometric sequence and the sine streak that has stationary phase to move to each other by software programming earlier, and these stripeds is modulated in red, green, blue three chrominance channels of coloured image, forms the composite color fringe image; Adopt the DLP digital projector the surface of composite color fringe image projection again, and utilize the colored CCD digital camera to gather the stripe pattern information of testee surface deformation from the direction that is different from projecting direction to testee; And then handle the stripe pattern information gathered, extract sine streak and scale-of-two striped after, calculate the absolute level time of wrapped phase figure and definite sine streak respectively, independently calculate the absolute phase information of each pixel position at last.
Compared with prior art, the advantage of absolute phase measurement method of the present invention comprises:
1, measuring accuracy height.Modulation scale-of-two striped and sine streak are in the RGB Color Channel of CCD digital camera and DLP digital projector, can reduce to disturb between Color Channel the influence of offset of sinusoidal shape of stripes, thereby can improve the precision of calculating absolute phase, obtain the high accuracy three-dimensional shape data.
2, measurement is anti-interference.The application of color fringe can reduce the interference of Measuring Object color to measurement result, according to the different colours of measured body surface, can select the Color Channel at corresponding sine streak place, thereby obtains the sine streak of high-contrast.
3, efficiency of measurement height.The application of many Color Channels can effectively reduce the acquisition time of view data, for gray scale striped shadow casting technique, can make the acquisition time of view data be reduced to 1/3rd.
Description of drawings
Fig. 1 is the 3-D imaging system structural representation that absolute phase measurement method adopted that the present invention is based on composite color fringe projection;
Fig. 2 is that the 3-D imaging system that absolute phase measurement method adopted that the present invention is based on composite color fringe projection is projected in the composite color fringe figure on the white flat board.Wherein, Fig. 2 (a) and (b) among two width of cloth figure comprises the sine streak figure that six width of cloth have 90 degree phase shifts to each other; Fig. 2 (c) and (d) among two width of cloth figure comprises the scale-of-two bar graph of the different striped numbers of six width of cloth;
Fig. 3 be the present invention is based on composite color fringe projection absolute phase measurement method adopted that 3-D imaging system extracted is projected in six width of cloth sine streak figure on the white flat board;
Fig. 4 be the present invention is based on composite color fringe projection absolute phase measurement method adopted that 3-D imaging system extracted is projected in six width of cloth scale-of-two bar graphs on the white flat board;
Fig. 5 is the as a result figure of the 3-D imaging system that absolute phase measurement method adopted after scale-of-two bar graph binaryzation that the present invention is based on composite color fringe projection;
Fig. 6 is that the 3-D imaging system that absolute phase measurement method adopted that the present invention is based on composite color fringe projection is projected in the phase diagram on the flat board.Wherein, Fig. 6 (a) is wrapped phase figure, and Fig. 6 (b) is absolute phase figure;
Fig. 7 is the pairing profile cross section figure of the middle row of absolute phase figure that the present invention is based on the 3-D imaging system that absolute phase measurement method adopted of composite color fringe projection; Its actual phase resolution (is defined as 2 π/σ
φ, σ herein
φBe the standard variance of phase noise) be 101;
Fig. 8 is that the 3-D imaging system that absolute phase measurement method adopted that the present invention is based on composite color fringe projection is projected in two composite color fringe figure on the object.Wherein, Fig. 8 (a) and (b) among two width of cloth figure comprises six width of cloth sine streak figure; Fig. 8 (c) and (d) among two width of cloth figure comprises the scale-of-two bar graph of the different striped numbers of six width of cloth;
Fig. 9 be the present invention is based on composite color fringe projection absolute phase measurement method adopted that 3-D imaging system extracted is projected in six width of cloth sine streak figure on two objects;
Figure 10 be the present invention is based on composite color fringe projection absolute phase measurement method adopted that 3-D imaging system extracted is projected in six width of cloth scale-of-two bar graphs on two objects;
Figure 11 is the figure as a result that the present invention is based on after the scale-of-two bar graph binaryzation of the 3-D imaging system that absolute phase measurement method adopted of composite color fringe projection;
Figure 12 is that the 3-D imaging system that absolute phase measurement method adopted that the present invention is based on composite color fringe projection is projected in two phase diagrams on the object.Wherein, Figure 12 (a) is wrapped phase figure; Figure 12 (b) is absolute phase figure;
Figure 13 is the principle of work process flow diagram that the present invention is based on the 3-D imaging system that absolute phase measurement method adopted of composite color fringe projection;
Figure 14 is the coded program block diagram that the present invention is based on the absolute phase measurement method of composite color fringe projection.Wherein, n is the number of scale-of-two striped;
Figure 15 is that the absolute phase measurement method decoding composite color fringe figure that the present invention is based on composite color fringe projection obtains sinusoidal and scale-of-two bar graph, and finally obtains the flow chart of absolute phase figure.Wherein, I
Si(m n) is each pixel position of sine streak figure (m, the gray-scale value of n) locating that extracts; I
Bi(m n) is each pixel position of scale-of-two bar graph (m, the gray-scale value of n) locating that extracts; B
i(m n) is each pixel position, two evolution backs (m, value of n) locating; M and n are respectively along row and column direction pixel index value; I=1,2,3,4,5,6.
Embodiment
Further narrate the present invention below in conjunction with embodiment and accompanying drawing thereof:
The 3-D imaging system (referring to Fig. 1) that the absolute phase measurement method based on composite color fringe projection (the abbreviation method is referring to Fig. 1-15) of the present invention's design adopts mainly comprises: computer 1, DLP digital projector 3 (being called for short the DLP projector) and CCD digital camera (being called for short the CCD camera) 2.Computer 1 is connected with DLP digital projector 3 by the video interface on it, and is connected with CCD digital camera 2 by the IEEE1394 interface on it.Described computer 1 is used for controlling DLP projector 3 and CCD camera 2, and storage, shows and handle the image of being gathered, and obtains corresponding data result.DLP projector 3 is used for throwing the composite color fringe figure that the produced surface to testee 4.CCD camera 2 is used to gather the composite color fringe image of distortion.Computer 1, DLP projector 3 and CCD camera 2 are commercial product.
The inventive method comprises following concrete steps:
1. according to the requirement of the size and the measuring accuracy of measurement field, need in the measurement field to select the sinusoidal vertical bar line number of projection; Sinusoidal vertical bar line number generally is 2 index power, as 16,32,64,128 etc.Embodiment is 64 to describe with the striped number.The implementation procedure of the striped number of all the other quantity is identical with striped number 64;
2. according to the number of selected sine streak, determine the striped number of required projection scale-of-two striped sequence, the striped number of embodiment is 1,2,4,8,16 and 32;
3. software programming produces the sinusoidal vertical bar line of six width of cloth that 90 degree phase shifts are arranged to each other, and the striped number is identical with selected sinusoidal vertical bar line number, the striped number of embodiment is 64, and modulate these bar graphs in the RGB Color Channel of coloured image, thereby be reduced to two width of cloth composite color fringe images; Design software produces six width of cloth scale-of-two bar graphs with geometric series, and the striped number is identical with determined scale-of-two striped number, the striped number of embodiment is 1,2,4,8,16 and 32, and modulate these stripeds in three Color Channels of coloured image, obtain two width of cloth composite color fringe images;
4. four width of cloth composite color fringe images that software produced are projected in turn the surface of object under test by the DLP digital projector; Be subjected to the modulation of object under test surface configuration, obtain the color fringe image of distortion from the direction that is different from DLP digital projector projecting direction;
5. from being different from the direction of DLP digital projector projecting direction, gathering the color fringe image of described four amplitude variation shapes with the CCD camera, and they are stored into (referring to Fig. 2) in the computer.Though this step is basic identical with traditional gray scale fringe projection, resulting result is different with traditional gray scale fringe projection.The image that this different manifestations is obtained at traditional gray scale striped projecting method can be directly used in the calculating of phase place.And the striped that this method is obtained is modulated in RGB three Color Channels, needs at first to extract stripe pattern from composite color fringe figure, just can carry out next step phase calculation;
6. in preceding two width of cloth (being Fig. 2 (a) and (b)) the RGB triple channel from described four width of cloth composite color fringe images of (4) step, extract the bar graph (referring to Fig. 3) that six width of cloth comprise sine streak information, and utilize the non-sinusoidal (interference between Color Channel causes the non-sinusoidal of shape of stripes) between software approach compensation Color Channel to disturb; Described software approach compensates specifically: the dull and stereotyped surface of projected fringe figure to a white from the single Color Channel (as red) of DLP digital projector, the CCD camera is gathered this stripe pattern from the direction that is different from projecting direction.The relative value that two other Color Channel (green and blue) of calculating institute images acquired enters this Color Channel.During sine streak figure in from the composite color fringe image, extracting the red color passage, deduct respectively the product of the relative value that obtains and respective green, blue Color Channel intermediate value.For other two Color Channels, do same treatment respectively, can compensate interference between Color Channel (referring to Z.H.Zhang, C.E.Towers, and D.P.Towers, " the effective color fringe projection system that utilizes that best three frequencies select obtains object dimensional shape and color " (Time efficient color fringe projection system for3D shape and color using optimum 3-frequency selection, Opt.Express 14,6444-6455 (2006)));
7. utilize six step phase shift algorithm to calculate the phase information of each pixel, obtain the wrapped phase figure (referring to Fig. 6 (a)) of a panel height precision;
8. in back two width of cloth (being Fig. 2 (c), (d)) the RGB triple channel from described four width of cloth composite color fringe images of (4) step, extract the bar graph (referring to Fig. 4) that six width of cloth comprise the scale-of-two stripe information; The bar graph that binaryzation is extracted obtains utilizing these binary images with two images (referring to Fig. 5) that numerical value is represented, and the absolute level of independent definite each sine streak is inferior;
9. in conjunction with resulting sine streak absolute level time from step (8) scale-of-two striped with from the resulting wrapped phase figure of step (7), finally solve the high precision absolute phase information (referring to Fig. 6 (b), Fig. 7) of each pixel in the entire image.
Measure the validity of discontinuous object for further verifying the inventive method, arranged two testees in measurement field simultaneously: the types of facial makeup in Beijing operas that gypsum is made and animal model (referring to Fig. 8), four width of cloth projection composite color fringe images of being gathered on described two objects are shown in Fig. 8 (a)-(d).
Similarly, from described four width of cloth composite color fringe figure, can extract six width of cloth sine streak figure and six width of cloth scale-of-two bar graphs (referring to Fig. 9 and Figure 10).Binary picture is carried out binary conversion treatment can obtain binaryzation stripe pattern (referring to Figure 11).Calculate wrapped phase figure (shown in Figure 12 (a)) with six step phase shift algorithm, and the scale-of-two stripe pattern can determine that the absolute level of each sine streak is inferior, the phase diagram that is finally definitely launched (referring to Figure 12 (b)).Figure 12 (b) is projected in two absolute phase figure on the separating objects.The absolute altitude of the corresponding object of this phase diagram.The composite color fringe projection that this picture specification adopted is measured the absolute phase that the Code And Decode method can be measured discontinuous object, and then obtains three-dimensional shape data.
The present invention is based on the principle of work of trigonometric ratio: the grating vertical bar line that produces from DLP projector direction projects the surface of object under test, is subjected to the modulation of its surface configuration, and the striped of seeing from the another one direction will be out of shape; The striped inclusion surface three-dimensional shape information of this distortion, the triangle decision that its physical relationship is made of imaging optical axis and projection optical axis.In order to obtain high-precision data, the phase information that can utilize sine streak figure to be comprised is calculated three-dimensional shape data.But what calculate from sine streak figure is wrapped phase, need launch to obtain absolute phase figure.
To the 3-d shape measurement of surperficial complex objects such as discontinuous and big gradient, it is a stubborn problem that wrapped phase launches.The inventive method can be obtained the absolute phase of discontinuous and big gradient object fast by modulating sine streak and scale-of-two striped RGB three Color Channels to coloured image.Sine streak figure provides high-precision wrapped phase (high accuracy three-dimensional shape information); And the scale-of-two striped determines that the absolute level of each sine streak is inferior, therefore can independently calculate the pairing absolute phase of each striped.The application of three Color Channels can reduce the image number of required collection, thereby the time of minimizing fringe projection and collection is 1/3 of gray scale striped projecting method.
The concrete course of work of the present invention can be described below (referring to flow process Figure 13): according to selected sine streak number, for example 64, utilize software to produce the sine streak figure that 6 width of cloth have 90 degree phase shifts to each other in computer 1,6 width of cloth striped numbers are the scale-of-two striped of geometric series 1,2,4,8,16,32.Modulate the RGB Color Channel of these stripeds, thereby produce 4 width of cloth composite color fringe images to coloured image.Transmit this 4 width of cloth image to DLP projector 3 by computer 1, thereby produce the stripe pattern of distortion on the surface of object under test 4.CCD camera 2 is gathered these images in turn and is stored into the computer from the direction that is different from DLP projector projecting direction.The compensation of disturbing between the consideration Color Channel, the sine streak figure that can from two compound bar graphs, extract 6 amplitude variation shapes.Utilize 6 step phase shift algorithm to calculate the wrapped phase figure of corresponding deforming stripe figure.The scale-of-two bar graph that from other two compound bar graphs, extracts 6 amplitude variation shapes.By these scale-of-two bar graphs of binaryzation and consider geometric series relation between them, can determine independently that the absolute level of each sine streak is inferior.Absolute level in conjunction with resulting wrapped phase and sine streak is inferior, independently calculates the absolute phase of each pixel position.
The software that the inventive method is utilized is newly developed in Matlab and Visual C++.Its realize compound fringe projection flow chart and decoding institute's compound bar graph of gathering and finally the flow chart of acquisition absolute phase shown in Figure 14 and 15.Description to composite color fringe projection flow chart (Figure 14) is: to the striped number is 64 sine streak, and it is 0 degree that the prima facies place value is set, and produces a width of cloth sine streak figure.The initial phase circulation increases by 90 degree, and judges the size of phase value in each circulation: less than 450 degree, then continue to generate sine streak figure; Greater than 450 degree, then loop terminations.To the scale-of-two striped, at first produce the striped number and be 1 scale-of-two striped.Enter circulation then, in each circulation, current striped number multiply by 2 and the judged result value: less than 1/2nd of sine streak number, and promptly 32, then continue to generate the scale-of-two bar graph; Otherwise loop termination.The RGB passage that sine streak that is produced and scale-of-two striped are modulated to coloured image forms composite color fringe figure.To body surface, computer is gathered and deposited in to the bar graph of its distortion for subsequent treatment by the CCD camera by these color fringes of DLP projector projects figure.Description to the decoding composite color fringe flow chart of gathering (Figure 15) is: read in four width of cloth composite color fringe images of being gathered in turn.After the interference between the compensation Color Channel, can extract six width of cloth sine streak figure I
S1(m, n), I
S2(m, n), I
S3(m, n), I
S4(m, n), I
S5(m, n), I
S6(m, n).Utilize six the step phase shift algorithm, calculate each pixel position (m, wrapped phase φ n) (m, n).Equally, from compound bar graph, extract six width of cloth scale-of-two bar graph I
B1(m, n), I
B2(m, n), I
B3(m, n), I
B4(m, n), I
B5(m, n), I
B6(m, n).These bar graphs are carried out binary conversion treatment, can get B
1(m, n), B
2(m, n), B
3(m, n), B
4(m, n), B
5(m, n), B
6(m, n), thereby obtain each pixel position (m, fringe order FO n) (m, n).In conjunction with wrapped phase figure φ (m, n) and fringe order figure FO (m, n), the final independent absolute phase θ that calculates each pixel position (m, n).Those skilled in the art are not difficult to provide specific procedure according to described block diagram and invention task.
The inventive method is to rely on the composite color fringe image projection that produces to the object under test surface, and the stripe pattern of distortion has been modulated the three-dimensional shape information of object, can obtain corresponding absolute phase information by handling the compound stripe pattern of being gathered.The inventive method can be widened three-dimensional imaging The Application of Technology scope, not only the research and development for 3D vision field new and high technology have important significance for theories, and are worth for have important use such as rapid shaping manufacturing, industrial automatic on-line detection, multimedia, virtual reality, ecommerce, biomedicine etc.
Claims (2)
1. absolute phase measurement method based on composite color fringe projection, this measuring method produces the scale-of-two striped of geometric sequence and the sine streak that has stationary phase to move to each other by software programming earlier, and these stripeds are modulated in red, green, blue three chrominance channels of coloured image, form the composite color fringe image; Adopt the DLP digital projector the surface of composite color fringe image projection again, and utilize the colored CCD digital camera to gather the stripe pattern information of testee surface deformation from the direction that is different from projecting direction to testee; And then handle the stripe pattern information gathered, extract sine streak and scale-of-two striped after, calculate the absolute level time of wrapped phase figure and definite sine streak respectively, independently calculate the absolute phase information of each pixel position at last.
2. the absolute phase measurement method based on composite color fringe projection according to claim 1 is characterized in that described measuring method may further comprise the steps:
(1). according to the requirement of the size and the measuring accuracy of measurement field, need in the measurement field to select the sinusoidal vertical bar line number of projection;
(2). according to the number of selected sine streak, determine the striped number of required projection scale-of-two striped sequence;
(3). software programming produces the sinusoidal vertical bar line of six width of cloth that 90 degree phase shifts are arranged to each other, and the striped number is identical with selected sinusoidal vertical bar line number, and modulates these bar graphs in the RGB Color Channel of coloured image; Design software produces six width of cloth scale-of-two bar graphs with geometric series, and the striped number is identical with determined scale-of-two striped number, and modulates these stripeds in three Color Channels of coloured image, obtains two width of cloth composite color fringe images;
(4). four width of cloth composite color fringe images that software produced are projected in turn the surface of object under test by the DLP digital projector; Be subjected to the modulation of object under test surface configuration, from being different from four width of cloth color fringe images that DLP digital projector projecting direction obtains distortion;
(5). from being different from the direction of DLP digital projector projection, gather the color fringe image of described four amplitude variation shapes, and they are stored in the computer with the CCD camera;
(6). in preceding two width of cloth RGB triple channel from described four width of cloth composite color fringe images of (4) step, extract the bar graph that six width of cloth comprise sine streak information, and utilize the non-sinusoidal interference between software approach compensation Color Channel;
(7). utilize six step phase shift algorithm to calculate the phase information of each pixel, obtain the wrapped phase figure of a panel height precision;
(8). in back two width of cloth RGB triple channel from described four width of cloth composite color fringe images of (4) step, extract the bar graph that six width of cloth comprise the scale-of-two stripe information; The bar graph that binaryzation is extracted obtains utilizing these binary images with two images that numerical value is represented, and the absolute level of independent definite each sine streak is inferior;
(9). in conjunction with resulting sine streak absolute level time from step (8) scale-of-two striped with from the resulting wrapped phase figure of step (7), solve the absolute phase of each pixel in the entire image.
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