CN105043298B - Fast three-dimensional appearance measuring method based on Fourier transformation without phase unwrapping - Google Patents
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Abstract
The present invention relates to a kind of fast three-dimensional appearance measuring method based on Fourier transformation without phase unwrapping, this method proposes binocular solid matching technique being applied in the measuring three-dimensional morphology based on fourier transform method, avoid the phase unwrapping process of complexity, without projector calibrating, the matching result of subpixel accuracy can be reached.Binocular solid matching technique is used to realize coarse matching, obtains preliminary disparity map, and the wrapped phase figure for then being used for obtaining fourier transform method as constraints with this preliminary disparity map carries out phase matched, ultimately produces three-dimensional point cloud atlas.The present invention does not need the phase unwrapping process of any space or time, simplifies algorithm complex, while the error for avoiding phase unwrapping from bringing.The present invention does not need projector calibrating process, it is to avoid complicated projector calibrating can cause measurement process more to simplify, while the error that projector calibrating is brought is avoided that again, especially in terms of quick three-dimensional e measurement technology, with very big development prospect.
Description
Technical field
The present invention relates to a kind of fast three-dimensional appearance measuring method based on Fourier transformation without phase unwrapping, specifically
It is a kind of quick three-dimensional measuring method based on Fourier transformation, available for the target three-dimensional measurement under high speed real-time status, category
In measuring three-dimensional morphology field.
Background technology
Measuring three-dimensional morphology technology is intended to obtain the three-dimensional information of object, and the technology has been widely used in every field,
How the research emphasis measurement always three-dimensional measurement of quick high accuracy in terms of is carried out.It is based on optical three-dimensional measurement technology
One of most promising direction at present, wherein the three-dimensional measurement based on structured light technique is one of focus for wherein studying,
Its application is also quite varied.
Fourier's contoured three-dimensional measuring method is exactly a kind of algorithm based on fringe structure light, initially by Takeda and
Mutoh proposes that its advantage, which is essentially consisted in, to be only needed to piece image and can carry out three-dimensional structure photo measure in nineteen eighty-three.It is specific next
Say, it is only necessary to shoot the bar graph of width coding, Fourier transformation then is carried out to it, band logical filter is and then carried out in spatial domain
Ripple, the information of non-coding is filtered off and only retains stripe information.Filtered image is switched back to finally by inverse Fourier transform
Come, then the phase diagram just wrapped up by phase operation.
Although fourier transform method has the advantage of quick measurement etc., traditional Fourier transformation method is being solved
To after the phase diagram of parcel, phase unwrapping process is required for.Meanwhile, in order to try to achieve three-dimensional coordinate, it is typically necessary to projection knot
The projecting apparatus of structure striations is demarcated.In addition, fourier transform method is that phase information is directly converted into elevation information.Cause
This, phase information error is just reacted directly into height error, and the phase diagram of better quality is needed in this way, these features
Just application of the limitation Fourier transformation method on three-dimensional measurement.
In recent years, many scholars are improved to Fourier transformation method for three-dimensional measurement both at home and abroad, but most of are all
To phase unwrapping process, or projector calibrating method etc. is improved.Do not avoid essentially phase unwrapping and
The processes such as projector calibrating, so whole algorithm or more complicated is unfavorable for application.
The content of the invention
The purpose of the present invention be in view of the above-mentioned problems of the prior art, provide it is a kind of based on Fourier transformation without
Need the fast three-dimensional appearance measuring method of phase unwrapping.
To achieve these goals, the present invention is adopted the following technical scheme that：
A kind of fast three-dimensional appearance measuring method based on Fourier transformation without phase unwrapping, this method includes following step
Suddenly：
Step 1, binocular stereo vision detection platform is set up, it is main to include two industrial cameras and specialty being placed in parallel
Projector apparatus；
Step 2, to industrial camera carry out stereo calibration, camera calibration parameter is obtained, for binocular solid correcting process；
Step 3, under conditions of without using any active light source, while shoot obtain left and right camera image, be referred to as a left side
Right artwork；
Step 4, with professional projector designed structured light patterns are projected, then shoot simultaneously and obtain left and right camera figure
Picture, referred to as structural light stripes figure；
Step 5, the left and right artwork obtained using step 3, preliminary disparity map is obtained using passive stereo matching algorithm；
Step 6, the tiled configuration striations figure obtained using step 4, the phase wrapped up using Fourier's outline technology
Bitmap；
Step 7, the preliminary disparity map for obtaining step 5 are as constraints, and the wrapped phase figure obtained to step 6 is used
Local phase matching process carries out phase matched, obtains the phase matched disparity map of Pixel-level；
Step 8, the matching result obtained to step 7 carry out parallax process of refinement with linear ratio relation, obtain Asia
The disparity correspondence result of pixel class precision；
Step 9, the parallax result for the subpixel accuracy for obtaining step 8 generation three-dimensional point cloud atlas, show three-dimensional appearance
As a result.
The present invention design philosophy be：
The present invention proposes binocular solid matching technique being applied in the measuring three-dimensional morphology based on fourier transform method, keeps away
Exempt from the phase unwrapping process of complexity, without projector calibrating, the matching result of subpixel accuracy can be reached.Binocular solid
It is used to realize coarse matching with technology, obtains preliminary disparity map, be then used for this preliminary disparity map as constraints to Fu
In the obtained wrapped phase figure of leaf transformation method carry out phase matched, ultimately produce three-dimensional point cloud atlas.
Advantages of the present invention and beneficial effect are：
1st, the present invention obtains preliminary disparity map using passive stereo matching technique, and regard this preliminary disparity map as constraint bar
Part realizes the pixel matching of wrapped phase.Then, the phase matched of sub-pixel is realized with linear scale thought, is obtained
Fine and close disparity map.
2nd, the present invention does not need the phase unwrapping process of any space or time, simplifies algorithm complex, while avoiding phase
The error that position expansion is brought.
3rd, the present invention does not need projector calibrating process, it is to avoid complicated projector calibrating can cause measurement process more
Simplify, while being avoided that the error that projector calibrating is brought again.
4th, measurement process of the present invention need to only project a width structure light figure, and camera shoots two width figures, reaches quick survey altogether
The requirement of amount.
5th, the present invention is due to using passive stereo matching process as constraints, therefore does not need high-quality phase
Figure so that algorithm complex is reduced.
6th, the present invention can operate with single or multiple objects, while may apply to the three of continuous or discrete object
Tie up topography measurement.
In a word, the present invention is a kind of novel, simple and quick method for three-dimensional measurement, with very high application value,
Especially in terms of quick three-dimensional e measurement technology, with very big development prospect.
Brief description of the drawings
Fig. 1 is algorithm overall flow figure.
Fig. 2 is system integral layout schematic diagram.
Fig. 3 is Pixel-level phase matched schematic diagram.
Fig. 4-1 and Fig. 4-2 is sub-pixel phase matched process schematic.Wherein, Fig. 4-1 is pixel matching point first
Walk sub-pixel phase matched schematic diagram when on the right of match point；Fig. 4-2 is pixel matching point at the preliminary matches point left side
Sub-pixel phase matched schematic diagram.
Fig. 5 is the obvious simple target reconstitution experiments process of depth information.Wherein, (a) and (b) is that camera is shot respectively
Left and right artwork, (c) and (d) is the tiled configuration light figure that camera is photographed respectively, and (e) and (f) is by tiled configuration light figure respectively
The left and right wrapped phase figure of generation.
Fig. 6 is the obvious simple target three-dimensionalreconstruction result of depth information.Wherein, (a) be by ELAS algorithms obtain just
Disparity map is walked, (b) is the sub-pixel phase matched disparity map obtained by the series of algorithms.(c) corresponded to respectively with (d)
Be (a) and three-dimensional measurement shape appearance figure that (b) is generated.(e) and (f) be respectively (c) and (d) partial enlarged drawing.
Fig. 7 is the obvious simple target three-dimensionalreconstruction result of detailed information.Wherein, (a) is the artwork of shooting (with left camera
Exemplified by), (b) is the wrapped phase figure obtained by structure light figure.(c) to be the three-dimensional appearance figure obtained by ELAS algorithms, (d) is
The three-dimensional appearance figure of the sub-pixel phase matched obtained by the series of algorithms.(e) it is (c) and (d) respectively with (f)
Partial enlarged drawing.
Fig. 8 is discontinuous multiple target mark three-dimensional measurement of objects result.Wherein, (a) be shoot artwork (using left camera as
Example), (b) is the wrapped phase figure obtained by structure light figure.(c) to be the three-dimensional appearance figure that is obtained by ELAS algorithms, (d) be through
Cross the three-dimensional appearance figure for the sub-pixel phase matched that the series of algorithms is obtained.(e) and (f) be respectively (c) and (d) office
Portion's enlarged drawing.
Embodiment
Below, the embodiment of the present invention is further described with reference to accompanying drawing 1~8.
Fast three-dimensional appearance measuring method of the present invention based on Fourier transformation without phase unwrapping, this method overall flow
As shown in figure 1, specific implementation step is as follows：
Step 1, binocular stereo vision detection platform is set up, it is main to include two industrial camera (left cameras being placed in parallel
With right camera) and professional projector equipment；
Step 2, to industrial camera carry out stereo calibration, camera calibration parameter is obtained, for binocular solid correcting process；
Step 3, under conditions of without using any active light source, obtain left camera and right camera image while shooting, claim
Be left and right artwork；
Step 4, with professional projector designed structured light patterns are projected, then shoot simultaneously and obtain left camera and right phase
Machine image, referred to as tiled configuration striations figure；
Step 5, the left and right artwork obtained using step 3, preliminary disparity map is obtained using passive stereo matching algorithm；
Step 6, the tiled configuration striations figure obtained using step 4, the phase wrapped up using Fourier's outline technology
Bitmap (left wrapped phase, right wrapped phase)；
Step 7, the preliminary disparity map for obtaining step 5 are as constraints, and the wrapped phase figure obtained to step 6 is used
Local phase matching process carries out phase matched, obtains the phase matched disparity map of Pixel-level；
Step 8, the matching result obtained to step 7 carry out sub-pix parallax process of refinement with linear ratio relation,
Obtain the disparity correspondence result of subpixel accuracy；
Step 9, the parallax result for the subpixel accuracy for obtaining step 8 generation three-dimensional point cloud atlas, show three-dimensional appearance
As a result.
Two cameras of experiment porch requirement, which are tried one's best, in the step 1 is placed in parallel, and two camera spacing are arrived much smaller than camera
Measured object distance is (wherein, much smaller than referring to：Two camera spacing are with camera to measured object ratio of distances constant 1：More than 20), system
Integral layout is as shown in Figure 2.Projecting apparatus uses the digital projectors of DLP LightCrafter 4500 that Texas Instrument produces.
The scaling board size that stereo calibration process in the step 2 is used should be same or like with testee size
It is (wherein, close to refer to：Testee area corresponding with camera area ratio corresponding with camera with scaling board is 1：0.5~
, and position when measured object is placed on demarcation during measurement 2).Wherein, scaling board is to be positioned over measured object when demarcation
Position replaces measured object, and the whole process and scaling board of object measurement afterwards are unrelated.
In the step 5, passive stereo matching algorithm is used for Efficient Large-Scale Stereo
Matching (ELAS) algorithm, preliminary disparity map is obtained with it.
Wrapped phase figure is obtained using fourier transform method in the step 6, its detailed process includes following three points.It is first
First, bar graph is subjected to two dimensional discrete Fourier transform.Secondly, obtained image progress frequency domain bandpass filtering will be converted, only protected
Stay the component of the structure light part in frequency domain.Finally, inverse Fourier transform is carried out, the wrapped phase figure that-π arrives+π is obtained.
The preliminary disparity map obtained in the step 7 by the use of step 5 is as constraints, the parcel phase obtained to step 6
Position carries out phase matched.Matching uses local phase thought, using right image as matching image, and left image is object matching image,
Corresponding matching point of the right image point in left image is found, as shown in Figure 3.
First, coarse match point of left image or so respectively take two it is to be matched point composition one group totally 5 points treated as phase
Match point.Secondly, 5 points to be matched of calculating and right figure want the difference of the phase value of match point respectively.Finally, by the minimum point of difference
As Pixel-level phase matching point, calculation formula is as follows：
PhaseMin(tmin, y)=min { abs (RightPhase (x, y)-LeftPhase (x+d+i, y)) (1)
I=0, ± 1, ± 2 ...；tmin=x+d+i.
In formula (1), the implication of parameters is respectively：LeftPhase and RightPhase refer to left and right parcel phase respectively
(unit can not be write bitmap phase value, simply a numerical value, accurately say it is phase value, if but it is exactly gray scale to be converted into image
Value)；tminRefer to pixel and abscissa corresponding to optimal match point.
The phase matched result of subpixel accuracy, this process master are solved in the step 8 using linear scale thought
Two kinds of situations can be divided into solve.
Situation one：Pixel matching point is on the right of preliminary matches point, as shown in Fig. 4-1.Subpixel accuracy parallax is horizontal to be sat
Mark is calculated by equation below：
In formula (2), the implication of parameters is respectively：tsub_pixelRefer to sub-pix and horizontal seat corresponding to optimal match point
Mark；T refers to preliminary matches point abscissa.
Situation two：Pixel matching point is on the preliminary matches point left side, as shown in the Fig. 4-2.Subpixel accuracy parallax is horizontal to be sat
Mark is calculated by equation below：
In formula (3), the implication of parameters is respectively：tsub_pixelRefer to sub-pix and horizontal seat corresponding to optimal match point
Mark；T refers to preliminary matches point abscissa.
Final sub-pix and parallax dpsub_pixelCalculated using equation below：
dpsub_pixel=tsub_pixel–x (4)
X is right phase diagram abscissa corresponding with left phase diagram.
Three-dimensional point cloud atlas, the demarcation Q squares obtained using the disparity map and stereo calibration of sub-pixel precision are generated in step 9
Battle array, calculating obtains the corresponding three-dimensional information value of each pixel.Three-dimensional height information is subjected to display generation three-dimensional appearance figure.
Experiment content and interpretation of result：
Experiment one
Measuring three-dimensional morphology reconstruct, such as Fig. 5 and Fig. 6 are carried out to the simple target with apparent depth information using the present invention
It is shown.Fig. 5 (a) and Fig. 5 (b) are the left and right artwork that camera is shot respectively, and Fig. 5 (c) and Fig. 5 (d) are that camera is photographed respectively
Tiled configuration light figure, Fig. 5 (e) and Fig. 5 (f) are the left and right wrapped phase figure generated by tiled configuration light figure respectively.Fig. 6 (a) is
The preliminary disparity map obtained by ELAS algorithms, Fig. 6 (b) is that the sub-pixel phase matched obtained by the series of algorithms is regarded
Difference figure.It is three-dimensional measurement shape appearance figure that Fig. 6 (a) and Fig. 6 (b) are generated that Fig. 6 (c) and Fig. 6 (d) are corresponding respectively.Fig. 6 (e) and
Fig. 6 (f) is Fig. 6 (c) and Fig. 6 (d) partial enlarged drawing respectively.Can intuitively it find out from figure, by structure optical phase information
Three-dimensional Gravity composition after becoming more meticulous has good detailed information.Surface is more smooth, without coarse disordered point, surface details
Information is more prominent, obtains preferable quality reconstruction, it was demonstrated that the validity of the inventive method.
Experiment two
Measuring three-dimensional morphology reconstruct is carried out to the simple target with obvious detailed information using the present invention, as shown in Figure 7.
Fig. 7 (a) is the artwork (by taking left camera as an example) shot, and Fig. 7 (b) is the wrapped phase figure obtained by structure light figure.Fig. 7 (c) is
It is the three-dimensional appearance figure obtained by ELAS algorithms, Fig. 7 (d) is the sub-pixel phase matched obtained by the series of algorithms
Three-dimensional appearance figure.Fig. 7 (e) and Fig. 7 (f) are Fig. 7 (c) and Fig. 7 (d) partial enlarged drawing respectively.From the three-dimensional of experimental result
It can be readily apparent that in reconstruct image, the point cloud reconstruct image after structure light becomes more meticulous retains abundant detailed information, effect
Far better than direct passive stereo matching process.
Experiment three
Measuring three-dimensional morphology reconstruct is carried out to discontinuous multiple target mark object using the present invention, as shown in Figure 8.Fig. 8 (a)
For the artwork (by taking left camera as an example) of shooting, Fig. 8 (b) is the wrapped phase figure obtained by structure light figure.Fig. 8 (c) for be by
The three-dimensional appearance figure that ELAS algorithms are obtained, Fig. 8 (d) is the three of the sub-pixel phase matched obtained by the series of algorithms
Tie up shape appearance figure.Fig. 8 (e) and Fig. 8 (f) are Fig. 8 (c) and Fig. 8 (d) partial enlarged drawing respectively.Experimental result illustrates that the present invention is carried
The method gone out can handle multiple target and discontinuous object very well, and detailed information is showed than object that is more prominent, reconstructing
Surface is smoother, and experimental result is preferable.
Testing above further confirms, the survey that the method that the present invention puts forward can be to arbitrary objects progress three-dimensional appearance
Amount.Even discrete discontinuous several objects can similarly obtain preferable three-dimensional appearance result.Moreover, whole process is not
Need projector calibrating, it is not necessary to the phase unwrapping of space or time, it is not necessary to high-quality phase diagram, it was demonstrated that the inventive method
Advantage and validity.
Claims (7)
1. a kind of fast three-dimensional appearance measuring method based on Fourier transformation without phase unwrapping, it is characterised in that this method
Comprise the following steps：
Step 1, binocular stereo vision detection platform is set up, it is main to include two industrial cameras and professional projection being placed in parallel
Instrument equipment；
Step 2, to industrial camera carry out stereo calibration, camera calibration parameter is obtained, for binocular solid correcting process；
Step 3, under conditions of without using any active light source, obtain left and right camera image while shooting, be referred to as left and right former
Figure；
Step 4, with professional projector designed structured light patterns are projected, then shoot simultaneously and obtain left and right camera image, claim
Be tiled configuration striations figure；
Step 5, the left and right artwork obtained using step 3, preliminary disparity map is obtained using passive stereo matching algorithm；
Step 6, the tiled configuration striations figure obtained using step 4, the phase diagram wrapped up using Fourier's outline technology；
Step 7, the preliminary disparity map for obtaining step 5 are as constraints, and the wrapped phase figure obtained to step 6 is using local
Phase matching method carries out phase matched, obtains the phase matched disparity map of Pixel-level；
Step 8, the matching result obtained to step 7 carry out parallax process of refinement with linear ratio relation, obtain sub-pix
The disparity correspondence result of class precision；
Step 9, the parallax result for the subpixel accuracy for obtaining step 8 generation three-dimensional point cloud atlas, show three-dimensional appearance result；
The phase matched result of subpixel accuracy is solved in step 8 using linear scale thought, this process is broadly divided into two
Kind of situation is solved；
Situation one：Pixel matching point is on the right of preliminary matches point；Subpixel accuracy parallax abscissa is calculated by equation below：
In formula (2), the implication of parameters is respectively：tsub_pixelRefer to abscissa corresponding to sub-pixel optimal match point；t
Refer to preliminary matches point abscissa；tminRefer to abscissa corresponding to Pixel-level optimal match point；
Situation two：Pixel matching point is on the preliminary matches point left side；Subpixel accuracy parallax abscissa is calculated by equation below：
In formula (3), the implication of parameters is respectively：tsub_pixelRefer to abscissa corresponding to sub-pixel optimal match point；t
Refer to preliminary matches point abscissa；tminRefer to abscissa corresponding to Pixel-level optimal match point；
Final sub-pixel disparity dpsub_pixelCalculated using equation below：
dpsub_pixel=tsub_pixel–x (4)
X is right phase diagram abscissa corresponding with left phase diagram.
2. the fast three-dimensional appearance measuring method according to claim 1 based on Fourier transformation without phase unwrapping, its
It is characterised by：
Experiment porch requires that two cameras are tried one's best and are placed in parallel in the step 1, and two camera spacing are much smaller than camera to being tested
The distance of thing, projecting apparatus uses the digital projectors of DLP LightCrafter 4500 that Texas Instrument produces.
3. the fast three-dimensional appearance measuring method according to claim 1 based on Fourier transformation without phase unwrapping, its
It is characterised by：
The scaling board size that stereo calibration process in step 2 is used should be close with testee size, and tested during measurement
Thing is placed on position during demarcation.
4. the fast three-dimensional appearance measuring method according to claim 1 based on Fourier transformation without phase unwrapping, its
It is characterised by：
In step 5, passive stereo matching algorithm is used for Efficient Large-Scale Stereo Matching (ELAS)
Algorithm, preliminary disparity map is obtained with it.
5. the fast three-dimensional appearance measuring method according to claim 1 based on Fourier transformation without phase unwrapping, its
It is characterised by：
Wrapped phase figure is obtained using fourier transform method in step 6, its detailed process includes following three points；First, by striped
Figure carries out two dimensional discrete Fourier transform；Secondly, obtained image progress frequency domain bandpass filtering will be converted, only retained in frequency domain
The component of structure light part；Finally, inverse Fourier transform is carried out, the wrapped phase figure that-π arrives+π is obtained.
6. the fast three-dimensional appearance measuring method according to claim 1 based on Fourier transformation without phase unwrapping, its
It is characterised by：
The preliminary disparity map obtained in step 7 by the use of step 5 is as constraints, and the wrapped phase obtained to step 6 carries out phase
Position matching；Matching uses local phase thought, and using right image as matching image, left image is object matching image, that is, finds the right side
Corresponding matching point of the image point in left image；
First, coarse match point of left image or so respectively take two it is to be matched point composition one group totally 5 points it is to be matched as phase
Point；Secondly, 5 points to be matched of calculating and right figure want the difference of the phase value of match point respectively；Finally, using the minimum point of difference as
Pixel-level phase matching point, calculation formula is as follows：
In formula (1), the implication of parameters is respectively：LeftPhase and RightPhase refer to left and right wrapped phase figure respectively
Phase value；tminRefer to abscissa corresponding to Pixel-level optimal match point.
7. the fast three-dimensional appearance measuring method according to claim 1 based on Fourier transformation without phase unwrapping, its
It is characterised by：
Three-dimensional point cloud atlas is generated in step 9, the calibration matrix obtained using the disparity map and stereo calibration of sub-pixel precision is calculated
The corresponding three-dimensional information value of each pixel is obtained, three-dimensional height information is subjected to display generation three-dimensional appearance figure.
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| CN109632809A (en) * | 2018-12-19 | 2019-04-16 | 歌尔股份有限公司 | Product quality detection method and device |
| CN109632809B (en) * | 2018-12-19 | 2021-11-02 | 歌尔光学科技有限公司 | Product quality detection method and device |
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