CN108225217A - Method for measuring three-dimensional profile of color object - Google Patents
Method for measuring three-dimensional profile of color object Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré
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Abstract
The invention belongs to the technical field of optical measurement, and particularly relates to a method for measuring a three-dimensional profile of a colored object. The method firstly utilizes the photometer to measure the three-channel coupling matrix of the 3CCD camera, eliminates the influence of physical devices on the measuring process, and has higher precision compared with the method of calculating the coupling matrix by projecting red, green and blue images onto white paper; for the calculation of the surface reflectivity of the colored object, the method is substantially equivalent to that three primary colors are projected on each point of the object, and the interference is counteracted by utilizing a complementary relation and a calculated reflectivity matrix K through superposing complementary colors. Compared with the reflectivity K obtained by projecting uniform white light, the method for projecting the complementary color stripes can achieve better structural light stripe compensation effect, and the compensated image has better sine property. According to the method, the three-dimensional profile information of the color object can be obtained more accurately only by projecting four images onto the surface of the color object, the measurement speed is considered, and the target of rapid measurement can be realized.
Description
Technical field
The invention belongs to field of optical measuring technologies, and in particular to a kind of color body measuring three-dimensional profile method.
Background technology
The instrument of existing color body measuring three-dimensional profile mainly uses one-dimensional or two-dimentional machinery device control structure
Light carries out the scanning of object, and the common drawback of these instruments is slower for measuring speed.As Italian Civil research committee utilizes
Structure light scan realizes that the instrument of color three dimension profile measurement and the Vivid910 series of Konica Minolta companies of Japan are adopted
With the portable laser scanner of laser triangulation principle.
Structured light projection formula measuring system has：The advantages of measuring speed is fast, and the whole audience is Polaroid.But existing structure
The measurement object of light projection system for white or light-colored object or sprays developer on colored measured object, for color body
Measurement find a kind of good method not yet.
In traditional structured light projection formula three-dimensional measurement, the structure light that is projected out by testee surface color shadow
It rings, structured light color erroneous judgement is caused to increase.Since body surface has different colors, that is, the reflection to RGB triple channels
Rate is uneven, leads to the color that its color of CCD the image collected is not the structure light of projection, but structure light and object are certainly
State after body color aliasing.
Caspi etc. is carried in paper ' Range imaging with adaptive color structured light '
Color response model is gone out, the image of the collected pixel value of CCD camera and projector in the model reflected measurement system
Between response relation be：
That is, M=AKP (I)+M0
In formula, M=[R G B]TBe CCD camera the image collected take up an official post mean fixed point pixel actual value；M0=[R0
G0 B0]TIt is the pixel background value under the influence of ambient light, under indoor lighting conditions, usually ignores M0Influence；I=[r g
b]TIt is the pixel placement value of corresponding points on image that projecting apparatus is projected；Matrix A is the threeway between projecting apparatus and CCD camera
Road coupling matrix；P is the correspondence between the rgb value of pixel placement value and the image being actually projected out；Reflectivity matrix K is
This is to the different reflectivity of tri- components of RGB.
Paper " a kind of optical grating projection method for three-dimensional measurement for color body " proposes the light by projecting the complementation of two width
Grid, ask for the point-by-point reflectivity of body surface, and this method has only partly slackened the influence of color body, measurement accuracy up for
It further improves；And this method can only ask for wrapped phase using fourier transform method, limit its use scope, for
It is difficult to acquire accurate Phase- un- wrapping knot that complicated, precipitous or there are isolated area color body, which is measured in phase unwrapping,
Fruit.Caspi is compensated by projecting the figure of a width white and a width black to body surface, and paper is " in three dimension profile measurement
Reduce the new method that object color texture influences " it proposes to demarcate the color response of blank in advance, approximation asks for the face of body surface
Color information reduces the influence to measuring system, but above two method cannot improve the sine of grating well.
It is always a hot research problem to measure object three-dimensional contour outline using structured light projection method, and forefathers have done very
More research work.Measurement for color body three-D profile, many researchs have also been made in domestic and international scientific research personnel, but measure
Precision is not high, it is impossible to slacken influence of the color body surface color to measurement well.
Invention content
It is an object of the present invention to provide a kind of color body measuring three-dimensional profile methods, solve existing measuring method because of coloured silk
The technical issues of color object color is interfered and causes measurement accuracy low.
The present invention technical solution be：A kind of color body measuring three-dimensional profile method, is characterized in that, packet
Include following steps：
1) the triple channel coupling matrix A of colour 3CCD cameras is measured, and inverse matrix A is obtained-1；
2) make three width by three colour cell of red, green, blue into the bar graph in complementary relationship, the first width bar graph be by it is red,
Green, blue tactic Gray code bar graph, the second width bar graph are ranked sequentially as green, blue, red, and third width bar graph is pressed
It is blue, red, green to be ranked sequentially；The sum of the pixel value of same pixel in three width bar graphs is 255；
3) bar graph for the three width complementation for making step 2) is projected to the surface of tested color body；
4) deforming stripe figure is collected respectively with colour 3CCD cameras, and pass through color digital image card by deforming stripe
The image data of figure is delivered to computer；
5) actual pixel value of the same pixel in three amplitude variation shape bar graphs is overlapped one by one, solves each
The reflectivity matrix K of pixel, and inverse matrix K is obtained-1；
6) three width of generation have the sine streak figure of 120 degree of phase differences with same period, same to amplitude, adjacent stripes, then will
Three layer datas of this three width sine streak figure as coloured image generate colored phase shift bar graph；
7) the colored phase shift bar graph that step 6) generates is projected to the surface of tested color body；
8) deformation phase shift bar graph is collected with colour 3CCD cameras, and pass through color digital image card to deform phase shift
The image data of bar graph is delivered to computer；
9) A obtained using step 1)-1The K obtained with step 5)-1Each pixel in deformation phase shift bar graph is clicked through
Row compensation, restores accurate color-coded information and phase information；
10) wrapped phase information is extracted from the image after compensation using phase shift method, and carries out Phase- un- wrapping；According to
Phase diagram after Phase- un- wrapping is acquired the elevation information of each pixel using trigonometry principle, obtains color body
Three-D profile.
Further, the sine streak figure in step 6) is to be changed by the light intensity of Matlab Software Creates by sinusoidal rule
Sine streak figure.
Further, the formula of generation sine streak figure is in step 6)
Wherein, (u, v) is pixel coordinate, and I is projects light intensity value, ImTo project the maximum value of light intensity, f is fringe spatial frequency
Rate, δ are the initial phase of striped.
Further, the formula of the colored phase shift bar graph of generation is in step 6)
Wherein, I1、I2And I3The projection light intensity value of respectively three sine streak figures.
Further, the method for wrapped phase information being extracted in step 10 is collected deformation using Matlab softwares
Phase shift bar graph is divided into three width phase shift gray level images, and the phase distribution of deformation phase shift bar graph is solved using three step phase-shifting techniques,
Acquire the wrapped phase of object.
The beneficial effects of the present invention are：The present invention goes out the triple channel coupling moment of 3CCD cameras first with photometer measurement
Battle array, eliminates influence of the physical device to measurement process, and coupling moment is calculated on red, green, blue image to blank sheet of paper compared to utilizing to project
Battle array has higher precision；For asking for for color body surface reflectivity, this method is substantially equivalent in object every bit
Three primary colors are all projected, using complementary relationship, by being superimposed complementary colours, the reflectivity matrix K asked for counteracts interference.Compared with throwing
The reflectivity K that equal white light is asked for is penetrated, the method for projecting complementary color fringe can play better structural light stripes compensation effect,
Image after compensation has better sine.This method need to only project four sub-pictures to color body surface can be more accurate
The three-D profile information for acquiring color body, taken into account measuring speed, can realize the target quickly measured.
Description of the drawings
Fig. 1 is RGB Gray code bar graph.
Fig. 2 is the complementary color figure of RGB Gray code striped.
Fig. 3 is colored phase shift bar graph.
Specific embodiment
The present invention is a kind of color body measuring three-dimensional profile method, and this method can slacken color body color to structure
Light projection three-dimensional measures interference, specifically includes following steps：
The first step, using the triple channel coupling matrix A of photometer measurement colour 3CCD cameras, because of triple channel coupling matrix
It is unrelated with the specific spatial position of pixel in actual acquisition image that A belongs to the attribute of camera in itself, it is only necessary to it measures in advance once,
The correction of all pixels point of acquisition image, triple channel coupling matrix A expression formulas are as follows after its result measured can be used for：
And calculate its inverse matrix A-1；
Second step, design three width by three colour cell of red, green, blue into bar graph, the first width is ranked sequentially by red, green, blue
Gray code bar graph, bar graph is as shown in Figure 1, the second width is ranked sequentially as green, blue, red, and third width is by blue, red, green suitable
Sequence arranges, and corresponds to a kind of color in three primary colors, this three width bar graph phase in the every same pixel of width figure of this three width figure respectively
255 are added as, forms complementary relationship, if the RGB channel setting value of any one pixel is in the first width color-coded grating
x1,y1,z1, the RGB channel setting value of any one pixel is x in the second width color-coded grating2,y2,z2, third width colour
The RGB channel setting value for encoding any one pixel in grating is x3,y3,z3, the RGB channel reality of any one pixel
Pixel value meets
Third walks, by the color fringe of projector this three width complementation to tested color body surface, the complementation of Fig. 1
Color fringe image is as shown in Figure 2；
4th step, the color fringe image deformed with the acquisition of colored 3CCD cameras, and pass through color digital image card by deformation
Color fringe image data be delivered to computer；
The actual pixel value of three width images in previous step is carried out the superposition of corresponding points by the 5th step one by one,
The actual pixel value of three width images is carried out to the superposition of corresponding points one by one, is obtained
Abbreviation obtains equation group
Due to R under indoor lighting conditions0, G0, B0It is approximately zero, the reflection of each point can be solved respectively using above formula
Rate matrix K,
And matrix K is obtained-1；
6th step, using Matlab Software Creates, three there are same period, same to amplitude, adjacent stripes to have 120 degree of phase differences
Sine streak, light intensity generates bar graph by software by the sine streak that sinusoidal rule changes, generates the formula of sine streak figure
For
Wherein, (u, v) is pixel coordinate, and I is projects light intensity value, ImTo project the maximum value of light intensity, f is fringe spatial frequency
Rate, δ are the initial phase of striped.
The formula that colored phase shift striped generates is also to be generated by the fundamental formular of generation sine streak,
Wherein, I1、I2And I3The projection light intensity value of respectively three sine streak figures, the colored phase shift bar graph of generation is such as
Shown in Fig. 3.
7th step, by projector colour phase shift striped to testee surface；
8th step acquires deformation phase shift bar graph, and pass through color digital image card to deform phase with colored 3CCD cameras
It moves stripe image data and is delivered to computer；
9th step, with reference to the A being obtained in the first step-1, to each pixel value [R G B] of imageTIt is multiplied by A-1It carries out
Correction, it is possible to eliminate influence of the triple channel coupling to color image quality.The K being obtained with reference to the 5th step-1, to each of image
A pixel value [R G B]TIt is multiplied by K-1It is corrected, it is possible to slacken the reflection of color body surface every bit, slacken colour
What the color moire pattern of object and projector generated interferes with each other, in the color moire pattern figure of collected deformation
Each pixel makees following operation：
M=K-1A-1[A]
Accurate color-coded information and phase information can be restored；
Tenth step extracts wrapped phase information using phase shift method from the image after compensation, that is, utilizes Matlab softwares
Collected deformation phase shift bar graph is divided into three width phase shift gray level images, deformation phase shift striped is solved using three step phase-shifting techniques
The phase distribution of figure acquires the wrapped phase of object, carries out Phase- un- wrapping, and the calibration of combining camera and projecting apparatus utilizes three
Horn cupping principle can obtain color body three-D profile in the hope of the elevation information of each pixel.
Claims (5)
- A kind of 1. color body measuring three-dimensional profile method, which is characterized in that include the following steps：1) the triple channel coupling matrix A of colour 3CCD cameras is measured, and inverse matrix A is obtained-1；2) make three width by three colour cell of red, green, blue into the bar graph in complementary relationship, the first width bar graph is by red, green, blue Tactic Gray code bar graph, the second width bar graph are ranked sequentially as green, blue, red, third width bar graph by it is blue, red, It is green to be ranked sequentially；The sum of the pixel value of same pixel in three width bar graphs is 255；3) bar graph for the three width complementation for making step 2) is projected to the surface of tested color body；4) deforming stripe figure is collected respectively with colour 3CCD cameras, and pass through color digital image card by deforming stripe figure Image data is delivered to computer；5) actual pixel value of the same pixel in three amplitude variation shape bar graphs is overlapped one by one, solves each pixel The reflectivity matrix K of point, and inverse matrix K is obtained-1；6) three width of generation have the sine streak figure that there are 120 degree of phase differences in same period, same to amplitude, adjacent stripes, then by this three Three layer datas of the width sine streak figure as coloured image generate colored phase shift bar graph；7) the colored phase shift bar graph that step 6) generates is projected to the surface of tested color body；8) deformation phase shift bar graph is collected with colour 3CCD cameras, and pass through color digital image card to deform phase shift striped The image data of figure is delivered to computer；9) A obtained using step 1)-1The K obtained with step 5)-1Each pixel in deformation phase shift bar graph is mended It repays, restores accurate color-coded information and phase information；10) wrapped phase information is extracted from the image after compensation using phase shift method, and carries out Phase- un- wrapping；According to phase Phase diagram after unpacking acquires the elevation information of each pixel using trigonometry principle, obtains color body three-dimensional Profile.
- 2. color body measuring three-dimensional profile method according to claim 1, it is characterised in that：Sinusoidal item in step 6) Line figure is the sine streak figure changed by the light intensity of Matlab Software Creates by sinusoidal rule.
- 3. color body measuring three-dimensional profile method according to claim 2, it is characterised in that：It is generated in step 6) sinusoidal The formula of bar graph isWherein, (u, v) is pixel coordinate, and I is projects light intensity value, ImTo project the maximum value of light intensity, f is fringe spatial frequency, δ Initial phase for striped.
- 4. color body measuring three-dimensional profile method according to claim 3, it is characterised in that：It is generated in step 6) colored The formula of phase shift bar graph isWherein, I1、I2And I3The projection light intensity value of respectively three sine streak figures.
- 5. according to the color body measuring three-dimensional profile method any in claim 1-4, it is characterised in that：Step 10) The method of middle extraction wrapped phase information is that collected deformation phase shift bar graph is divided into three width phase shifts using Matlab softwares Gray level image solves the phase distribution of deformation phase shift bar graph using three step phase-shifting techniques, acquires the wrapped phase of object.
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| CN110595364A (en) * | 2019-08-29 | 2019-12-20 | 广州大学 | Space displacement and strain measuring device and method based on CCD camera |
| CN112611341A (en) * | 2020-11-28 | 2021-04-06 | 四川大学 | Color response model-based rapid three-dimensional measurement method for color object |
| CN112781522A (en) * | 2020-12-25 | 2021-05-11 | 复旦大学 | Remove highlight contourgraph based on colored phase shift structured light |
| CN113029037A (en) * | 2019-12-09 | 2021-06-25 | 大族激光科技产业集团股份有限公司 | Method and device for measuring contour of object, computer equipment and readable storage medium |
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| CN109916922A (en) * | 2019-04-02 | 2019-06-21 | 易思维（杭州）科技有限公司 | Mirror surface/class mirror article defect inspection method |
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| CN110595364A (en) * | 2019-08-29 | 2019-12-20 | 广州大学 | Space displacement and strain measuring device and method based on CCD camera |
| CN110595364B (en) * | 2019-08-29 | 2022-03-25 | 广州大学 | Space displacement and strain measuring device and method based on CCD camera |
| CN113029037A (en) * | 2019-12-09 | 2021-06-25 | 大族激光科技产业集团股份有限公司 | Method and device for measuring contour of object, computer equipment and readable storage medium |
| CN112611341A (en) * | 2020-11-28 | 2021-04-06 | 四川大学 | Color response model-based rapid three-dimensional measurement method for color object |
| CN112781522A (en) * | 2020-12-25 | 2021-05-11 | 复旦大学 | Remove highlight contourgraph based on colored phase shift structured light |
| CN113654486A (en) * | 2021-08-17 | 2021-11-16 | 西安交通大学 | Rapid color fringe pattern phase demodulation algorithm and system |
| CN114234847A (en) * | 2021-12-08 | 2022-03-25 | 苏州恒视智能科技有限公司 | Grating projection system and automatic correction and compensation method for grating phase shift height measurement |
| CN114234847B (en) * | 2021-12-08 | 2024-01-30 | 苏州恒视智能科技有限公司 | Grating projection system and grating phase shift height measurement automatic correction compensation method |
| CN114295076A (en) * | 2022-01-05 | 2022-04-08 | 南昌航空大学 | Measuring method for solving shadow measuring problem of tiny object based on structured light |
| CN114295076B (en) * | 2022-01-05 | 2023-10-20 | 南昌航空大学 | Measuring method for solving shadow measuring problem of tiny object based on structured light |
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