CN106767533A - Efficient phase three-dimensional mapping method and system based on fringe projection technology of profiling - Google Patents
Efficient phase three-dimensional mapping method and system based on fringe projection technology of profiling Download PDFInfo
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
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Abstract
The present invention is applied to optical 3-dimensional digital imaging technology field, there is provided a kind of efficient phase three-dimensional mapping method based on fringe projection technology of profiling, the fringe projection technology of profiling is based on biocular systems, and biocular systems include projection arrangement and imaging device, and method includes：Step S1, using projection device striped sequence to object under test surface, and is calculated the phase of all pixels point on imaging device image according to the deforming stripe figure using imaging device collection by the deforming stripe figure of object under test surface modulation；Step S2, the corresponding phase three-dimensional mapping coefficient of each pixel is found out in preset phase three-dimensional mapping coefficient look-up table, and the phase of each pixel and corresponding phase three-dimensional mapping coefficient are substituted into phase three-dimensional mapping function, so as to calculate the three-dimensional coordinate of the corresponding object point of each pixel on imaging device image.The method that the present invention is provided can realize the efficient three-dimensional reconstruction of fringe projection technology of profiling.
Description
Technical field
The invention belongs to optical 3-dimensional digital imaging technology field, more particularly to a kind of height based on fringe projection technology of profiling
Effect phase-three-dimensional mapping method and system.
Background technology
Fringe projection technology of profiling is a kind of contactless, measurement of full field optical 3-dimensional digital imagery and measuring method；Its
Based on a biocular systems, biocular systems generally include a camera and a projector, wherein, projector projects one group of sine
The deforming stripe figure that striped sequence is modulated to testee surface, camera collection by body surface；Obtained by fringe analysis technology
The phase modulation of deforming stripe figure is taken, recovers the three-dimensional appearance of testee from phase modulation by scene reconstruction method.
There are two kinds of typical three-dimensional rebuilding methods based on fringe projection technology of profiling：Phase height mapping method and stereopsis
Feel method；Wherein, phase is mapped directly into height by phase height mapping method according to the modulation principle of phase and height, is realized high
Effect three-dimensional reconstruction.However, phase height mapping method is limited in the presence of some in actual applications, the light of such as camera or projector
Axle need to be perpendicular to reference planes, and the line at camera and projector center is parallel to reference planes, and it is empty that reference planes limit measurement
Between etc..Additionally, the demarcation of phase height mapping method generally needs to use precision displacement platform or gauge block to obtain accurate height
Value, is not suitable for field calibration.
And stereo vision method is to carry out three-dimensional reconstruction according to principle of triangulation.In contrast, due to using biocular systems
Structure, stereo vision method overcomes those the application limitations in phase height mapping method；And stereo vision method is calibrated
Flexibly, only target need to be placed in measurement space into suitable position can completion system demarcation for Cheng Gengjia.However, rebuilding
Cheng Zhong, stereo vision method needs to carry out a series of coordinate transform, the particularly corresponding points between search camera and projector, greatly
Computation complexity and time cost are increased greatly, the efficiency of three-dimensional reconstruction is significantly reduced.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of efficient phase-three-dimensional based on fringe projection technology of profiling
Mapping method and system, it is intended to which phase is mapped directly to the three-dimensional coordinate of spatial point, and then realize efficient the three of object under test
Dimension is rebuild.
The invention provides a kind of efficient phase-three-dimensional mapping method based on fringe projection technology of profiling, the striped is thrown
Shadow technology of profiling is based on biocular systems, and the biocular systems include projection arrangement and imaging device, and methods described includes：
Step S1, using projection device striped sequence to object under test surface, and receives institute using imaging device collection
The deforming stripe figure of object under test surface modulation is stated, all pictures on imaging device image are calculated according to the deforming stripe figure
The phase of vegetarian refreshments；
Step S2, found out in preset phase-three-dimensional mapping coefficient look-up table the corresponding phase of each pixel-
Three-dimensional mapping coefficient, and the phase of each pixel and corresponding phase-three-dimensional mapping coefficient are substituted into preset phase
Position-three-dimensional mapping function, so as to calculate the three-dimensional coordinate of the corresponding object point of each pixel on imaging device image.
Further, the phase-three-dimensional mapping function is：
Wherein, (Xc(φc),Yc(φc),Zc(φc)) be the object under test spatial point three-dimensional coordinate, φcIt is pixel
The corresponding phase of point, an,bn,cn,cX, cY, cZIt is phase-three-dimensional mapping coefficient, wherein, an,bn,cnIt is respectively phase-three-dimensional to be
Mapping function Xc(φc),Yc(φc),Zc(φc) in polynomial coefficient, cX,cY,cZIt is respectively phase-three-dimensional mapping function Xc
(φc),Yc(φc),Zc(φc) in constant term.
Further, also include before the step S1：
Step S01, the systematic parameter of the biocular systems is gone out by ray re-projection calibration；
Step S02, with reference to the systematic parameter, calibrates phase-three-dimensional mapping coefficient, and obtain by mapping policy of sampling
To phase-three-dimensional mapping coefficient look-up table.
Further, the step S01 is specifically included：
Step S011, the target that will be printed on index point is placed in demarcation space, and the target is gathered using the imaging device
Imaging device image, then using in the orthogonal striped sequence of projection device to the target, using the imaging device
Orthogonal bar graph of the collection by the target surface modulation for being printed on the index point；
Step S012, extracts the coordinate of index point pixel on the imaging device image；
Step S013, calculates quadrature phase, and determine the index point by quadrature phase by the orthogonal bar graph
The coordinate of pixel on projection arrangement image；
Step S014, by back projection stereoscopic model, coupling system parameter determination index point is in imaging device figure
As the coordinate of pixel on the coordinate and projection arrangement image of upper pixel distinguishes the space ray of back projection, by preset
Systematic parameter described in ray re-projection Developing Tactics, with the index point to two corresponding space rays apart from sum most
Hour systematic parameter as the biocular systems for calibrating systematic parameter.
Further, the step S02 is specifically included：
Step S021, the coordinate for determining any pixel on imaging device image using the systematic parameter for calibrating reversely is thrown
The space ray of shadow；
Step S022, is sampled in space demarcating along the space ray, obtains a series of spatial sampling point, will
The serial spatial sampling point is projected on projection arrangement image respectively, obtains corresponding phase value；
Step S023, the three-dimensional coordinate for distinguishing corresponding phase value and the series of samples point using the series of samples point is fitted
Go out the phase-three-dimensional mapping coefficient of any pixel point；
Step S024, to each pixel repeat step S021-S023 on the imaging device image, obtains each picture
The phase of vegetarian refreshments-three-dimensional mapping coefficient, and generate phase-three-dimensional mapping coefficient look-up table.
Present invention also offers a kind of efficient phase-three-dimensional mapped system based on fringe projection technology of profiling, the striped
Projected outline's art is based on biocular systems, and the biocular systems include projection arrangement and imaging device, the phase-three-dimensional mapping system
System includes：
Phase acquisition module, for utilizing projection device striped sequence to object under test surface, and is filled using imaging
Deforming stripe figure of the collection by the object under test surface modulation is put, imaging device figure is calculated according to the deforming stripe figure
As the phase of upper all pixels point；
Three-dimensional coordinate acquisition module, for finding out each picture in preset phase-three-dimensional mapping coefficient look-up table
The corresponding phase of vegetarian refreshments-three-dimensional mapping coefficient, and be by the phase of each pixel and corresponding phase-three-dimensional mapping
Number substitutes into preset phase-three-dimensional mapping function, so as to calculate the corresponding object point of each pixel on imaging device image
Three-dimensional coordinate.
Further, the phase-three-dimensional mapping function is：
Wherein, (Xc(φc),Yc(φc),Zc(φc)) be the object under test spatial point three-dimensional coordinate, φcIt is pixel
The corresponding phase of point, an,bn,cn,cX,cY,cZIt is phase-three-dimensional mapping coefficient, wherein, an,bn,cnIt is respectively phase-three-dimensional to be
Mapping function Xc(φc),Yc(φc),Zc(φc) in polynomial coefficient, cX,cY,cZIt is respectively phase-three-dimensional mapping function Xc
(φc),Yc(φc),Zc(φc) in constant term.
Further, the phase-three-dimensional mapped system also include demarcating module, the demarcating module be used for phase-
Three-dimensional mapping coefficient is demarcated, and the demarcating module includes that first demarcates submodule and the second demarcation submodule；
Described first demarcates submodule, and the system for being gone out the biocular systems by ray re-projection calibration is joined
Number；
Described second demarcates submodule, and for combining the systematic parameter, by sampling, mapping policy calibrates phase-three
Dimension mapping coefficient, and obtain phase-three-dimensional mapping coefficient look-up table.
Further, the first demarcation submodule is specifically included：
Collection submodule, the target for will be printed on index point is placed in demarcation space, and institute is gathered using the imaging device
State the imaging device image of target, then using in the orthogonal striped sequence of projection device to the target, using it is described into
As the orthogonal bar graph that device collection is modulated by the target surface for being printed on the index point；
First coordinate acquisition submodule, the seat for extracting index point pixel on the imaging device image
Mark；
Second coordinate acquisition submodule, for calculating quadrature phase by the orthogonal bar graph, and by quadrature phase
Determine the coordinate of index point pixel on projection arrangement image；
System parameter calibration submodule, for by back projection stereoscopic model, coupling system parameter determination mark
The coordinate for putting the pixel on the coordinate and projection arrangement image of pixel on imaging device image distinguishes the space of back projection
Ray, by systematic parameter described in preset ray re-projection Developing Tactics, with the index point to two corresponding spaces
The systematic parameter apart from sum when minimum of ray as the biocular systems for calibrating systematic parameter.
Further, the second demarcation submodule is specifically included：
Space ray projects submodule, for determining any pixel on imaging device image using the systematic parameter for calibrating
The space ray of the coordinate back projection of point；
Phase value acquisition submodule, for being sampled along the space ray in demarcation space, obtains a series of
Spatial sampling point, the serial spatial sampling point is projected on projection arrangement image respectively, obtains corresponding phase value；
Phase-three-dimensional mapping coefficient demarcates submodule, for distinguishing corresponding phase value using the series of samples point and being somebody's turn to do
The three-dimensional coordinate of series of samples point fits the phase-three-dimensional mapping coefficient of any pixel point；
Phase-three-dimensional mapping coefficient look-up table acquisition submodule, for each pixel on the imaging device image
Point is processed, and obtains the phase-three-dimensional mapping coefficient of each pixel, and generate phase-three-dimensional mapping coefficient look-up table.
Compared with prior art, beneficial effect is the present invention：One kind that the present invention is provided is based on fringe projection technology of profiling
Efficient phase-three-dimensional mapping method and system, be first found out in preset phase-three-dimensional mapping coefficient look-up table it is each
Corresponding phase-three-dimensional the mapping coefficient of individual pixel, then by the phase of each pixel and corresponding phase-three-dimensional mapping system
Number is substituted into phase-three-dimensional mapping function, you can the three-dimensional coordinate of the corresponding object point of each pixel is obtained, so as to be treated
Survey the three-dimensional coordinate of body surface；Can realize the efficient three-dimensional reconstruction of object under test through the above way, the method meet efficiently,
The high-precision 3 D digital imaging based on fringe projection technology of profiling and the requirement for measuring.
Brief description of the drawings
Fig. 1 is that the phase-three-dimensional mapping coefficient to phase-three-dimensional mapping function provided in an embodiment of the present invention is demarcated
Schematic flow sheet；
Fig. 2 is a kind of efficient phase-three-dimensional mapping method based on fringe projection technology of profiling provided in an embodiment of the present invention
Schematic flow sheet；
Fig. 3 is that the back projection of the biocular systems that imaging device provided in an embodiment of the present invention-projection arrangement is constituted is three-dimensional
Vision mode；
Fig. 4 is coordinate of the plane target index point provided in an embodiment of the present invention on camera image and projection point
Cloth schematic diagram；
Fig. 5 is the phase diagram of plaster statue provided in an embodiment of the present invention；
Fig. 6 is the three-dimensional model diagram of plaster statue provided in an embodiment of the present invention；
Fig. 7 is a kind of efficient phase-three-dimensional mapped system based on fringe projection technology of profiling provided in an embodiment of the present invention
Module diagram；
Fig. 8 is that the phase-three-dimensional mapping coefficient to phase-three-dimensional mapping function provided in an embodiment of the present invention is demarcated
Module diagram.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
It is of the invention mainly to realize that thought is：Phase and three-dimensional coordinate are derived based on back projection stereoscopic model
Mapping relations, that is, derive phase-three-dimensional mapping function；On the basis of the phase-three-dimensional mapping function, it is pre-designed
A kind of two step calibration algorithms, including light re-projection demarcates and samples mapping calibrating to obtain phase-three-dimensional mapping coefficient；Will
Phase and the phase-three-dimensional mapping coefficient bring the phase-three-dimensional mapping function into, so as to obtain the three of object under test surface
Dimension coordinate, and and then realize the efficient three-dimensional reconstruction of object under test.
Lower mask body introduces this efficient phase-three-dimensional mapping method based on fringe projection technology of profiling, and the striped is thrown
Shadow technology of profiling is based on biocular systems, and the biocular systems include projection arrangement and imaging device；As shown in figure 1, performing we
Before method, also one pretreatment the step of；I.e. before step S1, also include：
Step S0, the phase-three-dimensional mapping coefficient to phase-three-dimensional mapping function is demarcated；
Specifically, the mapping coefficient of phase-three-dimensional mapping function, be by being pre-designed a kind of two steps calibration algorithm,
Flexible, the Accurate Calibration of phase-three-dimensional mapping coefficient that mapping calibrating is demarcated and sampled including light re-projection to realize；Mark
Fixed purpose is to determine the phase of each pixel in imaging device image-three-dimensional mapping coefficient, and one pixel of generation
Phase-three-dimensional mapping coefficient the look-up table of point index.
The step S0 includes：
Step S01, the systematic parameter of the biocular systems is gone out by ray re-projection calibration；
Specifically, ray re-projection is referred to：By the systematic parameter of biocular systems by the coordinate back projection of pixel
Go out a space ray；Ray re-projection strategy is referred to：Minimize ray re-projection error, that is, adjust biocular systems is
System parameter, makes the error distance of object point to back projection ray minimum.
Specifically, the step S01 is specifically included：
Step S011, the target that will be printed on index point is placed in demarcation space, and the target is gathered using the imaging device
Imaging device image, then using in the orthogonal striped sequence of projection device to the target, using the imaging device
Orthogonal bar graph of the collection by the target surface modulation for being printed on the index point.
Specifically, if the target is plane target, need for plane target to be placed in diverse location, under each position
The imaging device image of the target is gathered using the imaging device, is then arrived using the orthogonal striped sequence of projection device
On the target, the orthogonal bar graph modulated by the target surface for being printed on the index point using imaging device collection.
Step S012, extracts the coordinate of index point pixel on the imaging device image；
Step S013, calculates quadrature phase, and determine the index point by quadrature phase by the orthogonal bar graph
The coordinate of pixel on projection arrangement image；
Step S014, by back projection stereoscopic model, coupling system parameter determination index point is in imaging device figure
As the coordinate of pixel on the coordinate and projection arrangement image of upper pixel distinguishes the space ray of back projection, by preset
Systematic parameter described in ray re-projection Developing Tactics, with the index point to two corresponding space rays apart from sum most
The systematic parameter of hour is used as the systematic parameter for calibrating the biocular systems.
Specifically, the biocular systems being made up of projection arrangement and imaging device use back projection stereoscopic model；Should
Model is it is meant that in the ideal case, correspond to the coordinate of pixel and imaging device figure on the projection arrangement image of same object point
As the coordinate of upper pixel is intersected in the object point by two space rays of back projection, meet stereo vision three-dimensional imaging
Physical process.
Step S02, with reference to the systematic parameter, calibrates phase-three-dimensional mapping coefficient, and obtain by mapping policy of sampling
To phase-three-dimensional mapping coefficient look-up table.
Specifically, sampling mapping is referred on the back projection ray of any one pixel on imaging device image
Sampled, obtained a series of spatial sampling points, the series of samples point is mapped on projection arrangement image, obtained corresponding phase
Place value；Sampling mapping policy is referred to using the corresponding phase value of series of samples point three-dimensional corresponding with the series of samples point
Coordinate fitting goes out the phase-three-dimensional mapping coefficient of the pixel.
The step S02 is specifically included：
Step S021, the coordinate for determining any pixel on imaging device image using the systematic parameter for calibrating reversely is thrown
The space ray of shadow；
Step S022, is sampled in space demarcating along the space ray, obtains a series of spatial sampling point, will
The serial spatial sampling point is projected on projection arrangement image respectively, obtains corresponding phase value；
Step S023, the three-dimensional coordinate for distinguishing corresponding phase value and the series of samples point using the series of samples point is fitted
Go out the phase-three-dimensional mapping coefficient of any pixel point；
Step S024, to each pixel repeat step S021-S023 on the imaging device image, obtains each picture
The phase of vegetarian refreshments-three-dimensional mapping coefficient, and generate phase-three-dimensional mapping coefficient look-up table.
Specifically, it is that phase-three-dimensional that each pixel in imaging device image is determined is reflected by above-mentioned calibration process
Penetrate coefficient；By phase-three-dimensional mapping coefficient look-up table can find the corresponding phase of each pixel on imaging device image-
Three-dimensional mapping coefficient, referred to herein as the corresponding phase of each pixel-three-dimensional mapping coefficient refer to the seat of each pixel
Mark corresponding phase-three-dimensional mapping coefficient.
The step of lower mask body introduction performs this efficient phase-three-dimensional mapping method based on fringe projection technology of profiling,
As shown in Fig. 2 methods described includes：
Step S1, using projection device striped sequence to object under test surface, and receives institute using imaging device collection
The deforming stripe figure of object under test surface modulation is stated, all pictures on imaging device image are calculated according to the deforming stripe figure
The phase of vegetarian refreshments；
Step S2, found out in preset phase-three-dimensional mapping coefficient look-up table the corresponding phase of each pixel-
Three-dimensional mapping coefficient, and the phase of each pixel and corresponding phase-three-dimensional mapping coefficient are substituted into preset phase
Position-three-dimensional mapping function, so as to calculate the three-dimensional coordinate of the corresponding object point of each pixel on imaging device image.
Specifically, the phase-three-dimensional mapping coefficient look-up table is a phase-three-dimensional mapping coefficient for pixel index
Look-up table；It is to find out corresponding phase-three-dimensional mapping coefficient by pixel index in phase-three-dimensional mapping coefficient look-up table.
The phase-three-dimensional mapping function is：
Wherein, (Xc(φc),Yc(φc),Zc(φc)) be the object under test spatial point three-dimensional coordinate, φcIt is pixel
The corresponding phase of point, an,bn,cn,cX,cY,cZIt is phase-three-dimensional mapping coefficient, wherein, an,bn,cnIt is respectively phase-three-dimensional to be
Mapping function Xc(φc),Yc(φc),Zc(φc) in polynomial coefficient, cX,cY,cZIt is respectively phase-three-dimensional mapping function Xc
(φc),Yc(φc),Zc(φc) in constant term.
Lower mask body introduces the derivation of above-mentioned formula (1) i.e. phase-three-dimensional mapping function：
Phase-three-dimensional mapping function is between the phase and three-dimensional coordinate derived based on back projection stereoscopic model
Mapping relations, be illustrated in figure 3 back projection stereoscopic model, the back projection stereoscopic model is expressed as：
Wherein, XwAnd XcIt is coordinate of the object point respectively under world coordinate system and imaging device coordinate system, xcAnd xpIt is object point
Pixel on imaging device image and projection arrangement image, x ' respectivelycWith x 'pIt is to correspond respectively to xcAnd xpDistortion sit
Mark, mcAnd mpIt is respectively the coordinate of pixel on imaging device image and projection arrangement image, RcAnd tcIt is respectively world coordinate system
To the spin matrix and translation vector of imaging device coordinate system, RsAnd tsIt is respectively that imaging device coordinate is tied to projection arrangement coordinate
The spin matrix and translation vector of system, KcAnd KpIt is respectively the projection matrix of imaging device and projection arrangement, kcAnd kpIt is into respectively
As device and projection arrangement distortion coefficients of camera lens vector, λc、λpIt is scale factor, I represents unit matrix, and 0 is null vector,Table
Show homogeneous coordinates.Generally, R, t represent outer ginseng, and K, k represents internal reference.
In the present invention, it is assumed that the vertical striped of projection, then the phase value φ on projection arrangement imagepIt is proportional to abscissa up。
For imaging device and a pair of corresponding points m of projection arrangementcAnd mp, their phase value is equal, i.e. φp=φc.Therefore φcArrive
upIt is a linear mapping relation：
Wherein, subscript L represents linear mapping relation.Constrained according to epipolar geom etry, the pixel m on imaging device imagec
One polar curve l of correspondence on projection arrangement imagep.Due to lens distortion, actual polar curve is a buckling curve l 'p.Due to
l′pIt is a full curve, according to Weierstrass approximation theorems, the curve can be approximated to be polynomial curve.Due to mp
l′pOn, image coordinate upTo vpIt is polynomial map relation：
Wherein, subscript P representative polynomials mapping relations.According to formula (2), picture point mpIt is converted into projection arrangement coordinate system
Under, i.e. x 'p=(x 'p,y′p)T, it is expressed as
Formula (5) is contained from (up, vp) arrive x 'pWith y 'pLinear Mapping, be expressed as：
From distortion figure picture point x 'pIt is remedied to orthoscopic image point xpIt is a polynomial map process, is expressed as：
From picture point xcAnd xpTwo space rays of back projection are intersected in spatial point Xc.According to back projection stereoscopic vision
Model, i.e. formula (2), ray cross and are expressed as：
The three-dimensional coordinate of spatial point can be solved from formula (8), is expressed as：
Wherein, rijAnd tiIt is respectively RsAnd tsElement.
In the present invention, biocular systems are remained stationary as, for pixel, R on a specific imaging device images, tsAnd figure
As coordinate xcAnd ycIt is to determine.So, space coordinates Xc, YcAnd ZcIt is respectively xpFunction, be expressed as：
Formula (3), (4), (6) and (7) is substituted into (10), you can derive formula (1).
The three-dimensional coordinate of object under test surface object point is obtained through the above way, you can rebuild the three-dimensional shaped of object under test
Looks.
Name a specific embodiment and illustrate above-mentioned efficient phase-three-dimensional mapping method based on fringe projection technology of profiling
Implementation procedure, in the embodiment of the present invention, imaging device is camera, and projection arrangement is projector, and object under test is plaster statue：
Before the three-dimensional coordinate of object point is calculated, first phase-three-dimensional mapping coefficient is demarcated, specifically, using flat
The biocular systems that face target is constituted by step S011-S014 calibration for cameras and projector, optimization systematic parameter；Using having demarcated
Systematic parameter, fit phase-three-dimensional mapping coefficient by step S021-S024, the phase-three-dimensional of generation pixel index is reflected
Coefficient Look-up Table is penetrated, that is, completes demarcating steps.When calculating the three-dimensional coordinate of object point, sine streak sequence to plaster statue is first projected
Surface, deforming stripe figure is gathered using camera, and all pixels point on camera image is calculated according to the deforming stripe figure
Phase；Then, corresponding phase-three-dimensional mapping coefficient is found out by pixel index in phase-three-dimensional mapping coefficient look-up table,
The phase value of pixel and corresponding phase-three-dimensional mapping coefficient are substituted into formula (1) and calculates three-dimensional coordinate, ultimately generate three-dimensional
Model.
Wherein, under Fig. 4 is one of position, coordinate of the plane target index point on camera image and projection
Distribution, Fig. 5 is the phase diagram of plaster statue, and Fig. 6 is the three-dimensional model diagram of plaster statue.
The efficient phase based on fringe projection technology of profiling that the present invention is provided-three-dimensional mapping method meets efficiently, in high precision
3 D digital imaging with measurement requirement.
Lower mask body introduces this efficient phase-three-dimensional mapped system based on fringe projection technology of profiling, and the striped is thrown
Shadow technology of profiling is based on biocular systems, and the biocular systems include projection arrangement and imaging device；The phase-three-dimensional mapped system
Before operation, it is necessary to be demarcated；So, as shown in fig. 7, the phase-three-dimensional mapped system includes a demarcating module
1, the demarcating module 1 is used to demarcate phase-three-dimensional mapping coefficient, and the demarcating module includes that first demarcates submodule
11 and second demarcate submodule 12；
Wherein, described first submodule 11 is demarcated, for going out the biocular systems by ray re-projection calibration
Systematic parameter；
As shown in figure 8, the first demarcation submodule 11 is specifically included：
Collection submodule 111, the target for will be printed on index point is placed in demarcation space, is gathered using the imaging device
The imaging device image of the target, then using in the orthogonal striped sequence of projection device to the target, using described
Orthogonal bar graph of the imaging device collection by the target surface modulation for being printed on the index point；
First coordinate acquisition submodule 112, for extracting index point pixel on the imaging device image
Coordinate；
Second coordinate acquisition submodule 113, for calculating quadrature phase by the orthogonal bar graph, and by orthorhombic phase
Position determines the coordinate of index point pixel on projection arrangement image；
System parameter calibration submodule 114, for by back projection stereoscopic model, coupling system parameter determination mark
The coordinate of pixel distinguishes the sky of back projection to will point on the coordinate and projection arrangement image of pixel on the imaging device image
Between ray, by systematic parameter described in preset ray re-projection Developing Tactics, with the index point to two corresponding skies
Between ray the systematic parameter apart from sum when minimum as the biocular systems for calibrating systematic parameter.
It is described second demarcate submodule 12, for combine the systematic parameter, by mapping policy of sampling calibrate phase-
Three-dimensional mapping coefficient, and obtain phase-three-dimensional mapping coefficient look-up table.
The second demarcation submodule 12 is specifically included：
Space ray projects submodule 121, any on imaging device image for being determined using the systematic parameter for calibrating
The space ray of the coordinate back projection of pixel；
Phase value acquisition submodule 122, for being sampled along the space ray in demarcation space, obtains a series of
Spatial sampling point, the serial spatial sampling point is projected on projection arrangement image respectively, obtain corresponding phase value；
Phase-three-dimensional mapping coefficient demarcates submodule 123, for using the series of samples point distinguish corresponding phase value and
The three-dimensional coordinate of the series of samples point fits the phase-three-dimensional mapping coefficient of any pixel point；
Phase-three-dimensional mapping coefficient look-up table acquisition submodule 124, for each picture on the imaging device image
Vegetarian refreshments is processed, and obtains the phase-three-dimensional mapping coefficient of each pixel, and generates phase-three-dimensional mapping coefficient look-up table.
The phase-three-dimensional mapped system also includes：
Phase acquisition module 2, for utilizing projection device striped sequence to object under test surface, and is filled using imaging
Deforming stripe figure of the collection by the object under test surface modulation is put, imaging device figure is calculated according to the deforming stripe figure
As the phase of upper all pixels point；
Three-dimensional coordinate acquisition module 3, for finding out each picture in preset phase-three-dimensional mapping coefficient look-up table
The corresponding phase of vegetarian refreshments-three-dimensional mapping coefficient, and be by the phase of each pixel and corresponding phase-three-dimensional mapping
Number substitutes into preset phase-three-dimensional mapping function, so as to calculate the corresponding object point of each pixel on imaging device image
Three-dimensional coordinate.
Specifically, the phase-three-dimensional mapping function is：
Wherein, (Xc(φc),Yc(φc),Zc(φc)) be the object under test spatial point three-dimensional coordinate, φcIt is pixel
The corresponding phase of point, an,bn,cn,cX,cY,cZIt is phase-three-dimensional mapping coefficient, wherein, an,bn,cnIt is respectively phase-three-dimensional to be
Mapping function Xc(φc),Yc(φc),Zc(φc) in polynomial coefficient, cX,cY,cZIt is respectively phase-three-dimensional mapping function Xc
(φc),Yc(φc),Zc(φc) in constant term.
The efficient phase based on fringe projection technology of profiling that the present invention is provided-three-dimensional mapped system meets efficiently, in high precision
3 D digital imaging with measurement requirement.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of efficient phase-three-dimensional mapping method based on fringe projection technology of profiling, the fringe projection technology of profiling is based on double
Mesh system, the biocular systems include projection arrangement and imaging device, it is characterised in that methods described includes：
Step S1, using projection device striped sequence to object under test surface, and is treated using imaging device collection by described
The deforming stripe figure of body surface modulation is surveyed, all pixels point on imaging device image is calculated according to the deforming stripe figure
Phase；
Step S2, finds out the corresponding phase-three-dimensional of each pixel in preset phase-three-dimensional mapping coefficient look-up table
Mapping coefficient, and the phase of each pixel and corresponding phase-three-dimensional mapping coefficient are substituted into preset phase-three
Dimension mapping function, so as to calculate the three-dimensional coordinate of the corresponding object point of each pixel on imaging device image.
2. efficiently phase-three-dimensional mapping method as claimed in claim 1, it is characterised in that the phase-three-dimensional mapping function
For：
Wherein, (Xc(φc),Yc(φc),Zc(φc)) be the object under test spatial point three-dimensional coordinate, φcIt is pixel correspondence
Phase, an,bn,cn,cX,cY,cZIt is phase-three-dimensional mapping coefficient, wherein, an,bn,cnIt is respectively phase-three-dimensional mapping letter to be
Number Xc(φc),Yc(φc),Zc(φc) in polynomial coefficient, cX,cY,cZIt is respectively phase-three-dimensional mapping function Xc(φc),Yc
(φc),Zc(φc) in constant term.
3. efficiently phase-three-dimensional mapping method as claimed in claim 1, it is characterised in that also include before the step S1：
Step S01, the systematic parameter of the biocular systems is gone out by ray re-projection calibration；
Step S02, with reference to the systematic parameter, calibrates phase-three-dimensional mapping coefficient, and obtain phase by mapping policy of sampling
Position-three-dimensional mapping coefficient look-up table.
4. efficiently phase-three-dimensional mapping method as claimed in claim 3, it is characterised in that the step S01 is specifically included：
Step S011, the target that will be printed on index point is placed in demarcation space, using the imaging device gather the target into
As installation drawing picture, then using in the orthogonal striped sequence of projection device to the target, gathered using the imaging device
By the orthogonal bar graph of the target surface modulation for being printed on the index point；
Step S012, extracts the coordinate of index point pixel on the imaging device image；
Step S013, calculates quadrature phase, and determine that the index point is being thrown by quadrature phase by the orthogonal bar graph
The coordinate of pixel on image device image；
Step S014, by back projection stereoscopic model, coupling system parameter determination index point is on imaging device image
The coordinate of pixel distinguishes the space ray of back projection on the coordinate and projection arrangement image of pixel, by preset ray
Systematic parameter described in re-projection Developing Tactics, during with the index point to two corresponding space rays apart from sum minimum
Systematic parameter as the biocular systems for calibrating systematic parameter.
5. the efficient phase-three-dimensional mapping method as described in claim 3 or 4, it is characterised in that the step S02 is specifically wrapped
Include：
Step S021, the coordinate back projection of any pixel on imaging device image is determined using the systematic parameter for calibrating
Space ray；
Step S022, is sampled in space demarcating along the space ray, obtains a series of spatial sampling point, is by this
Column space sampled point is projected on projection arrangement image respectively, obtains corresponding phase value；
Step S023, using the series of samples point, corresponding phase value and the three-dimensional coordinate of the series of samples point fit institute respectively
State the phase-three-dimensional mapping coefficient of any pixel point；
Step S024, to each pixel repeat step S021-S023 on the imaging device image, obtains each pixel
Phase-three-dimensional mapping coefficient, and generate phase-three-dimensional mapping coefficient look-up table.
6. a kind of efficient phase-three-dimensional mapped system based on fringe projection technology of profiling, the fringe projection technology of profiling is based on double
Mesh system, the biocular systems include projection arrangement and imaging device, it is characterised in that the phase-three-dimensional mapped system bag
Include：
Phase acquisition module, for utilizing projection device striped sequence to object under test surface, and is adopted using imaging device
Collection is calculated on imaging device image by the deforming stripe figure of the object under test surface modulation according to the deforming stripe figure
The phase of all pixels point；
Three-dimensional coordinate acquisition module, for finding out each pixel in preset phase-three-dimensional mapping coefficient look-up table
Corresponding phase-three-dimensional mapping coefficient, and by the phase of each pixel and corresponding phase-three-dimensional mapping coefficient generation
Enter preset phase-three-dimensional mapping function, so as to calculate three of the corresponding object point of each pixel on imaging device image
Dimension coordinate.
7. efficiently phase-three-dimensional mapped system as claimed in claim 6, it is characterised in that the phase-three-dimensional mapping function
For：
Wherein, (Xc(φc),Yc(φc),Zc(φc)) be the object under test spatial point three-dimensional coordinate, φcIt is pixel correspondence
Phase, an,bn,cn,cX,cY,cZIt is phase-three-dimensional mapping coefficient, wherein, an,bn,cnIt is respectively phase-three-dimensional mapping letter to be
Number Xc(φc),Yc(φc),Zc(φc) in polynomial coefficient, cX,cY,cZIt is respectively phase-three-dimensional mapping function Xc(φc),Yc
(φc),Zc(φc) in constant term.
8. efficiently phase-three-dimensional mapped system as claimed in claim 6, it is characterised in that the phase-three-dimensional mapped system
Also include demarcating module, the demarcating module is used to demarcate phase-three-dimensional mapping coefficient, and the demarcating module includes the
One demarcates submodule and second demarcates submodule；
Described first demarcates submodule, the systematic parameter for going out the biocular systems by ray re-projection calibration；
Described second demarcates submodule, for combining the systematic parameter, calibrates phase-three-dimensional by mapping policy of sampling and reflects
Coefficient is penetrated, and obtains phase-three-dimensional mapping coefficient look-up table.
9. efficiently phase-three-dimensional mapped system as claimed in claim 8, it is characterised in that described first demarcates submodule has
Body includes：
Collection submodule, the target for will be printed on index point is placed in demarcation space, and the mark is gathered using the imaging device
The imaging device image of target, then using in the orthogonal striped sequence of projection device to the target, is filled using the imaging
Put orthogonal bar graph of the collection by the target surface modulation for being printed on the index point；
First coordinate acquisition submodule, the coordinate for extracting index point pixel on the imaging device image；
Second coordinate acquisition submodule, for calculating quadrature phase by the orthogonal bar graph, and is determined by quadrature phase
The coordinate of index point pixel on projection arrangement image；
System parameter calibration submodule, for by back projection stereoscopic model, coupling system parameter determination index point to exist
The coordinate of pixel distinguishes the space ray of back projection on the coordinate of pixel and projection arrangement image on imaging device image,
By systematic parameter described in preset ray re-projection Developing Tactics, with the index point to two corresponding space rays
Apart from systematic parameter of sum when minimum as the biocular systems for calibrating systematic parameter.
10. as claimed in claim 8 or 9 efficiently phase-three-dimensional mapped system, it is characterised in that it is described second demarcation submodule
Block is specifically included：
Space ray projects submodule, for determining any pixel on imaging device image using the systematic parameter for calibrating
The space ray of coordinate back projection；
Phase value acquisition submodule, for being sampled along the space ray in demarcation space, obtains a series of space
Sampled point, the serial spatial sampling point is projected on projection arrangement image respectively, obtains corresponding phase value；
Phase-three-dimensional mapping coefficient demarcates submodule, for distinguishing corresponding phase value and the series using the series of samples point
The three-dimensional coordinate of sampled point fits the phase-three-dimensional mapping coefficient of any pixel point；
Phase-three-dimensional mapping coefficient look-up table acquisition submodule, for being clicked through to each pixel on the imaging device image
Row treatment, obtains the phase-three-dimensional mapping coefficient of each pixel, and generate phase-three-dimensional mapping coefficient look-up table.
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