CN109443239A - Structural light measurement method, apparatus, equipment, storage medium and system - Google Patents
Structural light measurement method, apparatus, equipment, storage medium and system Download PDFInfo
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- CN109443239A CN109443239A CN201811467493.4A CN201811467493A CN109443239A CN 109443239 A CN109443239 A CN 109443239A CN 201811467493 A CN201811467493 A CN 201811467493A CN 109443239 A CN109443239 A CN 109443239A
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- G—PHYSICS
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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
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Abstract
The embodiment of the present application discloses a kind of structural light measurement method, apparatus, equipment, storage medium and system, comprising: receives structure light coding mode selection instruction；Object construction grating fringe is generated according to the structure light coding mode selection instruction, different structure pumped FIR laser mode selection instruction corresponds to different object construction grating fringes；The object construction grating fringe is sent to projector, so that projector projects object construction grating fringe is to target object；It obtains the projected image comprising the target object and generates the three dimensional topography information of the target object.It can solve the technical problem that structural light three-dimensional scan method application scenarios are single in the prior art by adopting the above technical scheme.
Description
Technical field
The invention relates to computer vision measurement technical field more particularly to a kind of structural light measurement methods, dress
It sets, equipment, storage medium and system.
Background technique
The three dimensional topography of object is that object is most basic, one of most important feature.The mankind pass through three dimensional topography
It determines the profile of object, and then realizes the understanding to object, to realize to the comparison of object, record and duplication.Therefore, real
The three dimensional topography measurement of existing object has great significance.
In the prior art, there are a variety of three dimensional topography measurement methods.For example, structural light three-dimensional scan method.Wherein,
Structural light three-dimensional scan method be a kind of integrated structure light technology, phase measurement, computer vision technique complex three-dimensional
Non-contact measuring technology.However, existing structural light three-dimensional scan method is only capable of using specific structure fringe striped to spy
The object for determining scene carries out three dimensional topography measurement, so that structural light three-dimensional scan method application scenarios are single.
Summary of the invention
This application provides a kind of structural light measurement method, apparatus, equipment, storage medium and systems, to solve existing skill
The single technical problem of structural light three-dimensional scan method application scenarios in art.
In a first aspect, the embodiment of the present application provides a kind of structural light measurement method, comprising:
Receive structure light coding mode selection instruction；
Object construction grating fringe, different structure pumped FIR laser mode are generated according to the structure light coding mode selection instruction
Selection instruction corresponds to different object construction grating fringes；
The object construction grating fringe is sent to projector, so that projector projects object construction grating fringe is to mesh
Mark object；
It obtains the projected image comprising the target object and generates the three dimensional topography information of the target object.
Further, the object construction grating fringe include: three step phase-shifted grating stripeds, four-step phase-shifting grating fringe with
And 2 × 3 at least one of phase-shifted grating striped.
Further, it is described according to the structure light when object construction grating fringe is 2 × 3 phase-shifted grating striped
Coding mode selection instruction generates object construction grating fringe
Three the first black and white strip phase-shift patterns and three second are generated according to the structure light coding mode selection instruction
Black and white strip phase-shift pattern, the space periodic of the first black and white strip phase-shift pattern and the second black and white strip phase-shift pattern
Difference, and difference sets phase-shift phase, the second black and white strip phase described in three width between the first black and white strip phase-shift pattern described in three width
Move difference setting phase-shift phase between pattern.
Further, the first black and white strip phase-shift pattern and the second black and white strip phase-shift pattern are the sinusoidal black and white of row
Striped phase-shift pattern arranges sinusoidal black and white strip phase-shift pattern.
Further, the second black and white strip phase shift figure described in the first black and white strip phase-shift pattern and the first width described in the first width
The sine streak intensity distribution of each pixel in case are as follows:
Each picture in second black and white strip phase-shift pattern described in first black and white strip phase-shift pattern and the second width described in second width
The sine streak intensity distribution of vegetarian refreshments are as follows:
Each picture in second black and white strip phase-shift pattern described in first black and white strip phase-shift pattern and third width described in third width
The sine streak intensity distribution of vegetarian refreshments are as follows:
Wherein, (x, y) indicates that pixel, I ' (x, y) are the mean intensity of striped, and I " (x, y) is modulate intensity, and δ is to set
Determine phase-shift phase and π/3 δ=2,For wrapped phase and
Further, the projected image is obtained by image collecting device, and described image acquisition device is at least two.
Second aspect, the embodiment of the present application also provide a kind of structural light measurement device, comprising:
Command reception module, for receiving structure light coding mode selection instruction；
Striped generation module, for generating object construction grating fringe according to the structure light coding mode selection instruction,
Different structure pumped FIR laser mode selection instruction corresponds to different object construction grating fringes；
Fringe projection module, for the object construction grating fringe to be sent to projector, so that projector projects mesh
Structure fringe striped is marked to target object；
Information determination module, for obtaining the projected image comprising the target object and generating the three of the target object
Tie up shape characteristic information.
The third aspect, the embodiment of the present application also provide a kind of structural light measurement equipment, comprising: one or more processors,
Communication device and memory；
The communication device with other equipment for being communicated；
The memory is for storing one or more programs, when one or more programs are executed by the processor,
So that processor realizes structural light measurement method as described in relation to the first aspect.
Fourth aspect, the embodiment of the present application also provide a kind of computer-readable storage medium, are stored thereon with computer
Program realizes structural light measurement method as described in relation to the first aspect when the program is executed by processor.
5th aspect, the embodiment of the present application also provides a kind of structured light measurement systems, comprising: projector and such as third
Structural light measurement equipment described in aspect；
The structural light measurement equipment is connected with the projector；The projector is for projecting object construction grating fringe
To target object.
It is above-mentioned, by receiving structure light coding mode selection instruction and generating corresponding object construction grating fringe, in turn
Projector object construction grating fringe is set to obtain the projected image comprising target object, Jin Ertong later to target object
The technological means that projected image determines the three dimensional topography information of target object is crossed, realizes and is set in structural light measurement equipment
Determine various structures pumped FIR laser mode, and can be solved by the structure light coding mode that user needs determines according to actual conditions
The single technical problem of structural light three-dimensional scan method application scenarios in the prior art, it is special in the three-dimensional appearance of measurement target object
It when sign, realizes and selects required structure light in various structures light, expand the use scope and application scenarios of measurement method.
Detailed description of the invention
Fig. 1 is a kind of flow chart of structural light measurement method provided by the embodiments of the present application；
Fig. 2 is optical grating projection structure chart；
First the first black and white strip phase-shift pattern schematic diagram when Fig. 3 is 2 × 3 phase-shift coding mode；
Second the first black and white strip phase-shift pattern schematic diagram when Fig. 4 is 2 × 3 phase-shift coding mode；
Third the first black and white strip phase-shift pattern schematic diagram when Fig. 5 is 2 × 3 phase-shift coding mode；
First the second black and white strip phase-shift pattern schematic diagram when Fig. 6 is 2 × 3 phase-shift coding mode
Second the second black and white strip phase-shift pattern schematic diagram when Fig. 7 is 2 × 3 phase-shift coding mode；
Third the second black and white strip phase-shift pattern schematic diagram when Fig. 8 is 2 × 3 phase-shift coding mode；
First width black and white strip phase-shift pattern schematic diagram when Fig. 9 is three step phase-shift coding mode；
Second width black and white strip phase-shift pattern schematic diagram when Figure 10 is three step phase-shift coding mode；
Third width black and white strip phase-shift pattern schematic diagram when Figure 11 is three step phase-shift coding mode；
First width black and white strip phase-shift pattern schematic diagram when Figure 12 is four-step phase-shifting coding mode；
Second width black and white strip phase-shift pattern schematic diagram when Figure 13 is four-step phase-shifting coding mode；
Third width black and white strip phase-shift pattern schematic diagram when Figure 14 is four-step phase-shifting coding mode；
4th width black and white strip phase-shift pattern schematic diagram when Figure 15 is four-step phase-shifting coding mode；
Figure 16 is a kind of structural schematic diagram of structural light measurement device provided by the embodiments of the present application；
Figure 17 is a kind of structural schematic diagram of structural light measurement equipment provided by the embodiments of the present application；
Figure 18 is a kind of structural schematic diagram of structured light measurement system provided by the embodiments of the present application.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is for explaining the application, rather than the restriction to the application.It also should be noted that for the ease of retouching
It states, part relevant to the application is illustrated only in attached drawing rather than entire infrastructure.
Fig. 1 is a kind of flow chart of structural light measurement method provided by the embodiments of the present application, which can
To be executed by structural light measurement device, structural light measurement device can be realized by way of software and/or hardware, and be integrated in
In structural light measurement equipment.
Specifically, structural light measurement equipment can be the data processing equipments such as computer.Structural light measurement equipment is included in
In structured light measurement system, meanwhile, it further include projector in structured light measurement system, optional includes image collecting device.Implement
In example, it is described so that structured light measurement system includes simultaneously projector and image collecting device as an example.
Specifically, structural light measurement equipment is connected with projector and image collecting device respectively, wherein the connection type can
To be wired connection mode or radio connection.In general, each used the same space coordinate of equipment in structured light measurement system
System needs to demarcate structured light measurement system that is, after carrying out system building and before target object measurement.Wherein, specifically
Calibration mode embodiment be not construed as limiting.Specifically, the structure fringe striped for needing to emit can be generated in structural light measurement equipment,
And structure fringe striped is sent to projector, so that projector is to target object projection structure gratings strips line.Meanwhile image is adopted
Acquisition means acquire the projected image of target object, and are sent to structural light measurement equipment, so that structural light measurement equipment is to projection
The operations such as image is decoded, Stereo matching and disparity computation, and then point cloud model is generated, and using point cloud model as object
The three dimensional topography information of body.
Wherein, the quantity and positional relationship of projector and image collecting device may be set according to actual conditions.For example, setting
Set a projector and two image collecting devices.At this point, the center of gravity of projector and two image collecting devices is located at always
Line, which is preferably horizontal line, and projector is located between two image collecting devices.Preferably, two image collectors
The angle between projector is set between 15 ° -20 °.At this point, two image collecting devices are from two different angle acquisition targets
The projected image of object, and it is sent to structural light measurement equipment.For another example, two projectors and four image collecting devices are set,
Wherein, a projector and two image collectors are set to one group, and two groups of equipment be individually positioned in target object front and
Rear.At this point, the positional relationship of every group of equipment and positional relationship phase when one projector of setting and two image collecting devices
Together.For another example, four projectors and eight image collecting devices are set, wherein a projector and two image collectors are set to
One group, and four groups of equipment are individually positioned in front, left, rear and the right of target object.At this point, the position of every group of equipment is closed
It is identical as positional relationship when one projector of setting and two image collecting devices.In general, the number of projector is
At least one, the number of image collecting device is at least two, and at least one projector at least two images of corresponding configuration are adopted
Acquisition means.
With reference to Fig. 1, the structural light measurement method provided in the present embodiment is specifically included:
Step 110 receives structure light coding mode selection instruction.
Wherein, structure light coding mode selection instruction is what user issued, for selecting the instruction of structure light coding mode.
Specifically, there are various structures pumped FIR laser modes in structural light measurement equipment, can be given birth to by different structure light coding modes
At different structure fringe stripeds.Wherein, the concrete type of structure light coding mode may be set according to actual conditions.Meanwhile
User can also add or reject the structure light coding mode in structural light measurement equipment according to actual needs.Optionally, structure
Optical measuring device is that different structure light coding modes establishes corresponding index in advance, by indexing accessible structure light coding
The configuration file of mode.When user needs to reject structure light coding mode, structural light measurement equipment can show phase to user
The rejecting page answered, index comprising current existing structure light coding mode in the page or other and the associated body of index
Part information, user can obtain corresponding configuration file by way of selected index, and then reject to the configuration file.
Configuration file is temporarily stored it should be noted that rejecting configuration file and referring to postponement region, and retains certain time limit, it should
Time limit may be set according to actual conditions.When user needs to reuse the configuration file, can restore from postponement region
Configuration file.When user needs to increase structure light coding mode, structural light measurement equipment can show corresponding increasing to user
Add the page, at this point, user can increase new structure light coding mode, in turn by way of burning projector arrangement file
So that structural light measurement equipment loads out new structure fringe striped according to new structure light coding mode.
Further, when needing user to select structure fringe striped, structural light measurement equipment is mentioned in desktop for user
It can choose the operation interface of structure light coding mode for one, or be to provide one and can choose structure light coding mode
Selection port, so that user selects suitable structure light to compile according to current scene, target object and the actual demand of itself
Code mode.When user has selected suitable structure light coding mode, the determination of structural light measurement equipment receives structure light coding
Mode selection instruction.
It is understood that above-mentioned in such a way that user manually selects, to the addition of structure light coding mode, reject and
Selection is described, and in practical application, voluntarily can also be added according to the actual situation, rejected and selected by structural light measurement equipment
Select structure light coding mode.
Step 120 generates object construction grating fringe, different structure light according to the structure light coding mode selection instruction
The corresponding different object construction grating fringe of coding mode selection instruction.
Specifically, finding corresponding configuration file according to structure light coding mode selection instruction, and then according to configuration file
Generate corresponding grating fringe.In embodiment, the grating fringe of generation is denoted as object construction grating fringe.Usual object construction light
Grizzly bar line is sinusoidal grating fringe.Optionally, object construction grating fringe is saved in a manner of pattern.
In embodiment, setting structure pumped FIR laser mode is included at least: three step phase-shift coding modes, four-step phase-shifting coding mode
And 2 × 3 at least one of phase-shift coding mode.Object construction light that is corresponding, being generated according to three step phase-shift coding modes
Grizzly bar line is denoted as three step phase-shifted grating stripeds.Four steps are denoted as according to the object construction grating fringe that four-step phase-shifting coding mode generates
Phase-shifted grating striped.2 × 3 phase-shifted grating stripeds are denoted as according to the object construction grating fringe that 2 × 3 phase-shift coding modes generate.
I.e. object construction grating fringe includes: three step phase-shifted grating stripeds, four-step phase-shifting grating fringe and 2 × 3 phase-shifted grating stripeds
At least one of.In general, using the above-mentioned available more accurately phase value of three kinds of structure light coding modes, in turn
Obtain accurate three dimensional topography information.It, can also be using phase shift combination Gray code, colour pase coding knot in practical application
The structure light codings modes such as structure light, the color structured light based on Gray code, five step phase-shift coding modes generate corresponding structure light.
In general, being set in generation object construction to guarantee the subsequent accuracy for obtaining three dimensional topography information
When grating fringe, using the time as axis, several object construction grating fringes with different phase shifts are generated.
Optionally, different structure light coding mode selection instructions corresponds to different object construction grating fringes.If with
Family confirmation is current to need at least two object construction grating fringes, selects then at least two structure light coding modes can be issued
Instruction.At this point, structural light measurement equipment sequentially generates corresponding object construction according to multiple structure light coding mode selection instructions
Grating fringe.
The object construction grating fringe is sent to projector by step 130, so that projector projects object construction grating
Striped is to target object.
Wherein, the concrete type embodiment of projector without limitation, for example, digital light processing projector.Specifically, structure
After optical measuring device generates object construction grating fringe, by the configuration file of object construction grating fringe write-in projector, in turn
So that projector goes out corresponding object construction grating fringe.Specifically, since structural light measurement equipment generates at least three width
Object construction grating fringe with different phase shifts, therefore, projector successively project the object construction grating fringe of different phase shifts,
And the frame per second of projector, projective parameter may be set according to actual conditions, embodiment is without limitation.
Further, the object construction grating fringe that projector is sent can be projected to target object.Wherein, target object
The object of three dimensional topography information is obtained for this plan measurement.
Optionally, when generating plurality of target structure fringe striped, structural light measurement equipment can be successively by every kind of target
Structure fringe striped is sent in projector, at this point, projector successively projects every kind of object construction grating fringe.Either, it uses
Family is synchronous to select each structure light coding mode selection instruction corresponding when issuing multiple structure light coding mode selection instructions
Projector.At this point, synchronizing when structural light measurement equipment generates object construction grating fringe and determining corresponding projector.Later, to
The corresponding object construction grating fringe of each projector.It should be noted that every kind of object construction grating fringe includes extremely
Few three width have the object construction grating fringe of different phase shifts.For example, structural light measurement equipment sequentially generates four-step phase-shifting grating
Striped and 2 × 3 phase-shifted grating stripeds, and four-step phase-shifting grating fringe and 2 × 3 phase-shifted grating stripeds are successively sent to throwing
In shadow instrument, so that projector successively projects four-step phase-shifting grating fringe and 2 × 3 phase-shifted grating stripeds.For another example, structural light measurement
Equipment generates three step phase-shifted grating stripeds and 2 × 3 phase-shifted grating stripeds, and confirms that three step phase-shifted grating stripeds correspond to No.1 throwing
Shadow instrument, corresponding No. two projectors of 2 × 3 phase-shifted grating stripeds, wherein No.1 projector is located in front of target object, No. two projections
Instrument is located at the rear of target object.At this point, No.1 projector projects three step phase-shifted grating stripeds, No. two projectors to target object
2 × 3 phase-shifted grating stripeds are projected to target object.
Step 140 obtains the projected image comprising the target object and generates the three-dimensional appearance spy of the target object
Reference breath.
Specifically, projected image is obtained by image collecting device.In general, in order to guarantee result accuracy, image is adopted
Acquisition means at least two obtain projected image to realize from least two angles.Further, it can select according to the actual situation
Image collecting device, for example, selecting industrial camera according to current application scene, wherein industrial camera is chosen as gray scale camera.Into
One step, the shooting space of image collecting device is the space where target object.When projector is to target object projection target
When structure fringe striped, structural light measurement equipment controls image collecting device simultaneously and starts to shoot projected image, and obtains image
The projected image of acquisition device shooting.Wherein, the acquisition frame rate of image collecting device is identical as the projection frame per second of projector.
Further, projected image includes the data for projection of target object.Wherein, when image collecting device is shot,
The gray scale striped structured light patterns in tri- channels available corresponding R, G, B, the striated structure light pattern is it is to be understood that target
Data for projection when structure fringe fringe projection is to target object.In general, at least two image collecting devices are respectively from certainly
Station acquisition projected image where body, then, the available at least two width projected images of structural light measurement equipment synchronization.
It should be noted that projector successively projects the object construction grating fringe of different phase shifts, correspondingly, image in above-mentioned steps
Acquisition device can obtain the projected image under different phase shifts respectively.
Further, three dimensional topography information can embody the three-dimensional feature of target object.Structural light measurement equipment
Target object is recognized by three-dimensional Facial Features information, and then realizes the work such as subsequent duplicate analysis.
Specifically, being decoded when structural light measurement equipment obtains projected image to projected image, Stereo matching and parallax
It calculates, generates point cloud model, and then using the point cloud model of generation as three dimensional topography information.Further, schemed with two
As acquisition device is described for a projector left and right sides acquired projections image respectively.Since synchronization obtains
Two width projected images be by projector at left and right sides of image acquisition device therefore can copy human eye vision, i.e.,
Three-dimensional Facial Features information is obtained using computer vision technique.Wherein, the decoding of projected image can be understood as determining throwing
Phase in shadow image after grating fringe deformation, and be compared with original phase to obtain phase difference, and then according to phase difference
Determine that target object corresponds to the height value of reference planes.Wherein, original phase refers to when not having target object, projects target knot
The phase of grating fringe in the projected image obtained after structure grating fringe.Stereo matching and disparity computation can be understood as determining mesh
Mark the parallax and depth information of any target point on object, wherein since either objective o'clock is in two image collecting devices
There are corresponding Matching unit and relativeness, target point can be determined based on two width projected images by principle of triangulation
Parallax, while can determine according to projection model the depth information of target point.Wherein, the specific generating mode of projection model is real
Example is applied to be not construed as limiting.Finally, three-D profile is embodied in the form of point cloud model.
Further, since two image collecting devices obtain the projected image under different phase shifts respectively, and due to phase
Difference is moved, therefore the grating fringe deformation in each projected image is different, therefore, structural light measurement equipment, which can pass through, combines difference
Phase shift and grating fringe deformation determine target object three-D profile.Specifically, being briefly described as follows in embodiment three-dimensional
The Computing Principle of shape characteristic information.Wherein, image collecting device is by taking CCD camera as an example.Wherein, Fig. 2 is optical grating projection structure
Figure.With reference to Fig. 2, the projector of projection target structure fringe striped is located along the same line with CCD camera, and the straight line is level
Line and parallel with reference planes.Wherein, reference planes refer to when not having target object, and object construction grating fringe projects extremely flat
Face.The vertical line and reference planes of CCD camera to reference planes intersect at O point.Further, when projector is projected, projection
System entrance pupil plane central point is denoted as Q1, when CCD camera acquired projections image, imaging system entrance pupil plane central point is denoted as Q2, and
Reference planes and imaging system entrance pupil plane central point Q2Vertical range be L.Projector projects object construction grating fringe is extremely
When reference planes, the light beam of certain a branch of sinusoidal grating striped and the crosspoint of reference planes are denoted as A.When reference planes put target
After object, due to the relationship of objects' contour, so that being formed when on light beam projecting to target object corresponding with crosspoint A new
Crosspoint D.Meanwhile for CCD camera, deformation is equally had occurred in the projected image of acquisition, so that and A pairs of crosspoint
The light beam answered is in projected image and the crosspoint of reference planes is moved into point C.It is also understood that due to object body surface
There are certain height (vertical range of such as D point to reference planes are h) between face and reference planes, so that the projection of light beam
Position is changed.Further, the light intensity for the projected image that CCD camera obtains can be denoted as:
I (x, y)=R (x, y) [A (x, y)+B (x, y) cos θ (x, y)] (1)
Wherein, I (x, y) indicates the light intensity of pixel (x, y) in projected image, and R (x, y) indicates target object surface not
Uniform reflectivity, A (x, y) indicate background intensity, and B (x, y)/A (x, y) indicates the contrast of grating fringe, and θ (x, y) is phase
Function indicates the phase of deformed grating in the projected image of CCD camera acquisition.In general, θ (x, y) can embody target
Object is to the vertical range of reference planes, i.e. the elevation information h (x, y) of target object.
In general, projector in projection target structure fringe striped, understands the transverse shifting 1/N period, correspondingly, CCD camera
New projected image can be collected, i.e. the projector object construction grating fringe and two Image Acquisition that successively project different phase shifts
Device obtains the projected image under different phase shifts respectively.At this point, the light intensity of each projected image can be denoted as In(x,y).In general,
Setting N is at least 3, i.e. CCD camera at least obtains the different projected image of 3 frames.The above method is referred to as phase shift method, that is, exists
Time shaft moves up moving-target structure fringe striped, and node-by-node algorithm on a timeline, to obtain final elevation information, and then obtains
To three dimensional topography information.At this point, the circular used is referred to as time domain phase outline surveying (Time
Phase Measurement Profilometry,TPMP).In general, when N phase mobile to object construction grating fringe,
Its phase function can indicate are as follows:
Further, it is set in when there is no target object, in the projected image of CCD camera acquisition, the phase of crosspoint A is remembered
ForAnd in the presence of target object, in the projected image of CCD camera acquisition, the phase of crosspoint D is denoted asWith reference to Fig. 2, by
In the distance l of point O to crosspoint COCIt is known that and O point to crosspoint A distance lOAPhase measurement and mapping relations can be passed through
It finds out, then the distance l of crosspoint A to crosspoint CACL can be passed throughOC—lOAIt obtains.At this point, can by Similar Principle of Triangle
Be calculated crosspoint D to reference planes vertical line distance h,
Wherein, d is optical projection system entrance pupil plane central point Q1With imaging system entrance pupil plane central point Q2Between straight line away from
From.Further, due to lAC< < d, therefore formula (3) can simplify are as follows:
Wherein, β is point O, Q1And Q2O corresponding interior angle in vertex in the triangle of composition.
In summary, objects' contour is converted into the height calculating of each point on objects' contour to reference planes
The measurement of the upper each point phase difference of imaging point on the reference plane.
It should be noted that when projector successively projects different object construction grating fringes, structural light measurement equipment
The corresponding projected image of available different target structure fringe striped, and handle different projected images respectively to obtain every kind of mesh
Mark the corresponding three dimensional topography information of structure fringe striped.Later, multiple three dimensional topography information are compared, and sieved
Best three dimensional topography information is selected as final result.When plurality of target structure fringe striped is by different projector projects
When, the corresponding projected image of the available different target structure fringe striped of structural light measurement equipment, at this point it is possible to think every kind
Object construction grating fringe corresponds to a direction of projection target object, the direction include but is not limited to front, side and
Rear.Later, the corresponding three dimensional topography information of every kind of object construction grating fringe is combined by structural light measurement equipment,
To obtain final result.
Further, it in order to guarantee the accurate calculating of phase difference, needs to construct using suitable structure light coding mode full
The object construction grating fringe of sufficient demand.It include: three step phase-shift coding modes, four steps in a manner of structure light coding in embodiment
It is described for phase-shift coding mode and 2 × 3 phase-shift coding modes.
When structure light coding mode be 2 × 3 phase-shift coding mode when, it is corresponding, the object construction grating fringe be 2 ×
3 phase-shifted grating stripeds.At this point, step 120 includes: to generate three the first black and white according to the structure light coding mode selection instruction
Striped phase-shift pattern and three the second black and white strip phase-shift patterns, the first black and white strip phase-shift pattern and second black and white
The space periodic of striped phase-shift pattern is different, and difference setting phase-shift phase between the first black and white strip phase-shift pattern described in three width,
Difference setting phase-shift phase between second black and white strip phase-shift pattern described in three width.
Specifically, needing to generate 6 frame black and white strip phase-shifted gratings, wherein every frame when using 2 × 3 phase-shift coding mode
Black and white strip phase-shifted grating corresponds to a width black and white strip phase-shift pattern.Wherein, every three width black and white in 6 width black and white strip phase-shift patterns
The space periodic of striped phase-shift pattern is identical.At this point, 6 width black and white strip phase-shift patterns are divided into three the first black and white strip phase shift figures
Case and three the second black and white strip phase-shift patterns, and the sky of the first black and white strip phase-shift pattern and the second black and white strip phase-shift pattern
Between the period it is different.Wherein, the occurrence of the space periodic of the first black and white strip phase-shift pattern and the second black and white strip phase-shift pattern
It can be according to the setting of grating fringe pattern, for example, the sky of the first black and white strip phase-shift pattern determines according to actual conditions
Between the period be 16, the space periodic of the second black and white strip phase-shift pattern is 1.Meanwhile three the first black and white strip phase shift figures
Difference setting phase-shift phase between case moves three times on a timeline.Wherein, setting phase-shift phase is preferably 2 π/3, i.e., exists every time
Mobile 1/3 period on time shaft.Likewise, between three the second black and white strip phase-shift patterns difference setting phase-shift phase, i.e., when
Between on axis it is mobile three times.Wherein, setting phase-shift phase is preferably 2 π/3, i.e., moved for 1/3 period on a timeline every time.
Further, the first black and white strip phase-shift pattern and the second black and white strip phase-shift pattern are the sinusoidal black and white strip of row
Phase-shift pattern arranges sinusoidal black and white strip phase-shift pattern.Specifically, since object construction grating fringe is sinusoidal grating fringe, that
Corresponding black and white strip phase-shift pattern can be the sinusoidal black and white strip phase-shift pattern of row and/or the sinusoidal black and white strip phase shift figure of column
Case in embodiment, is described by taking the sinusoidal black and white strip phase-shift pattern of row as an example.In general, row sine black and white strip phase shift
Figure can satisfy primary demand.
Further, the second black and white strip phase shift figure described in the first black and white strip phase-shift pattern and the first width described in the first width
The sine streak intensity distribution of each pixel in case are as follows:
Each picture in second black and white strip phase-shift pattern described in first black and white strip phase-shift pattern and the second width described in second width
The sine streak intensity distribution of vegetarian refreshments are as follows:
Each picture in second black and white strip phase-shift pattern described in first black and white strip phase-shift pattern and third width described in third width
The sine streak intensity distribution of vegetarian refreshments are as follows:
Wherein, (x, y) indicates that pixel, I ' (x, y) are the mean intensity of striped, and I " (x, y) is modulate intensity, and δ is to set
Determine phase-shift phase and π/3 δ=2,For wrapped phase and
Further, by taking the sinusoidal black and white strip phase-shift pattern of row as an example, 2 × 3 phase-shift coding modes generate first the
One black and white strip phase-shift pattern refers to Fig. 3, and second the first black and white strip phase-shift pattern refers to Fig. 4, third the first black and white item
Line phase-shift pattern refers to Fig. 5, and first the second black and white strip phase-shift pattern refers to Fig. 6, second the second black and white strip phase shift figure
Case refers to Fig. 7, and third the second black and white strip phase-shift pattern refers to Fig. 8.At this point, structural light measurement equipment passes through projector projects
6 kinds of black and white strip phase-shift patterns make the perspective view of target object under image acquisition device difference black and white strip phase-shift pattern
Picture, and then obtain the three dimensional topography information of accurate target object.
Corresponding object construction grating fringe is generated using 2 × 3 phase-shift coding modes, and by projector projects in object
On body, since the number of patterns of object construction grating fringe is more, the data bulk that the number of projections accordingly acquired includes is larger,
Therefore contour of object can be effectively measured, especially solves the difficulty of irregular historical relic or some incomplete historical relics on three-dimensional modeling
Topic.
Equally, when structure light coding mode is three step phase-shift coding mode, corresponding, the object construction grating fringe
For three step phase-shifted grating stripeds.At this point, step 120 includes: black according to structure light coding mode selection instruction generation three
Informal voucher line phase-shift pattern.Wherein, the phase shift difference between three width black and white strip phase-shift patterns is 2 π/3, i.e. three width black and white strip phase shifts
Respectively differed for 1/3 period between structure fringe striped in pattern.
Further, black and white strip phase-shift pattern can be the sinusoidal black and white strip phase-shift pattern of row and/or the sinusoidal black and white of column
Striped phase-shift pattern in embodiment, is described by taking the sinusoidal black and white strip phase-shift pattern of row as an example.At this point, the first width black and white item
Line phase-shift pattern refers to Fig. 9, wherein the sine streak intensity distribution of each pixel are as follows:
Second width black and white strip phase-shift pattern refers to Figure 10, wherein the sine streak intensity distribution of each pixel are as follows:
Third width black and white strip phase-shift pattern refers to Figure 11, wherein the sine streak intensity distribution of each pixel are as follows:
Above-mentioned, (x, y) indicates that pixel, I ' (x, y) are the mean intensity of striped, and I " (x, y) is modulate intensity, and δ is to set
Determine phase-shift phase and π/3 δ=2,For wrapped phase and
At this point, structural light measurement equipment passes through 3 kinds of black and white strip phase-shift patterns of projector projects, and then pass through Image Acquisition
Device acquires corresponding 3 kinds of projected images, can obtain the three dimensional topography information of accurate target object.
Equally, when structure light coding mode is four-step phase-shifting coding mode, corresponding, the object construction grating fringe
For four-step phase-shifting grating fringe.At this point, step 120 includes: black according to structure light coding mode selection instruction generation four
Informal voucher line phase-shift pattern.Wherein, the phase shift difference between four width black and white strip phase-shift patterns is pi/2, i.e. four width black and white strip phase shift figures
Respectively differed for 1/4 period between structure fringe striped in case.
Further, black and white strip phase-shift pattern can be the sinusoidal black and white strip phase-shift pattern of row and/or the sinusoidal black and white of column
Striped phase-shift pattern in embodiment, is described by taking the sinusoidal black and white strip phase-shift pattern of row as an example.At this point, the first width black and white item
Line phase-shift pattern refers to Figure 12, wherein the sine streak intensity distribution of each pixel are as follows:
Second width black and white strip phase-shift pattern refers to Figure 13, wherein the sine streak intensity distribution of each pixel are as follows:
Third width black and white strip phase-shift pattern refers to Figure 14, wherein the sine streak intensity distribution of each pixel are as follows:
4th width black and white strip phase-shift pattern refers to Figure 15, wherein the sine streak intensity distribution of each pixel are as follows:
Above-mentioned, (x, y) indicates that pixel, I ' (x, y) indicate the mean intensity of striped, and I " (x, y) indicates modulate intensity, δ
To set phase-shift phase and being pi/2,For wrapped phase and
At this point, structural light measurement equipment passes through 4 kinds of black and white strip phase-shift patterns of projector projects, and then pass through Image Acquisition
Device acquires corresponding 4 kinds of projected images, can obtain the three dimensional topography information of accurate target object.
It is above-mentioned, by receiving structure light coding mode selection instruction and generating corresponding object construction grating fringe, in turn
Projector object construction grating fringe is set to obtain the projected image comprising target object, Jin Ertong later to target object
The technological means that projected image determines the three dimensional topography information of target object is crossed, realizes and is set in structural light measurement equipment
Determine various structures pumped FIR laser mode, and can be solved by the structure light coding mode that user needs determines according to actual conditions
The single technical problem of structural light three-dimensional scan method application scenarios in the prior art, it is special in the three-dimensional appearance of measurement target object
It when sign, realizes and selects required structure light in various structures light, expand the use scope and application scenarios of measurement method.
Figure 16 is a kind of structural schematic diagram of structural light measurement device provided by the embodiments of the present application.With reference to Figure 16, this reality
The structural light measurement device for applying example offer includes: command reception module 201, striped generation module 202, fringe projection module 203
And information determination module 204.
Wherein, command reception module 201, for receiving structure light coding mode selection instruction；Striped generation module 202,
For generating object construction grating fringe according to the structure light coding mode selection instruction, different structure pumped FIR laser mode is selected
The corresponding different object construction grating fringe of instruction；Fringe projection module 203, for sending the object construction grating fringe
To projector, so that projector projects object construction grating fringe is to target object；Information determination module 204, for obtaining packet
Projected image containing the target object and the three dimensional topography information for generating the target object.
It is above-mentioned, by receiving structure light coding mode selection instruction and generating corresponding object construction grating fringe, in turn
Projector object construction grating fringe is set to obtain the projected image comprising target object, Jin Ertong later to target object
The technological means that projected image determines the three dimensional topography information of target object is crossed, realizes and is set in structural light measurement equipment
Determine various structures pumped FIR laser mode, and can be solved by the structure light coding mode that user needs determines according to actual conditions
The single technical problem of structural light three-dimensional scan method application scenarios in the prior art, it is special in the three-dimensional appearance of measurement target object
It when sign, realizes and selects required structure light in various structures light, expand the use scope and application scenarios of measurement method.
On the basis of the above embodiments, the object construction grating fringe includes: three step phase-shifted grating stripeds, four step phases
At least one of shifted raster striped and 2 × 3 phase-shifted grating stripeds.
On the basis of the above embodiments, when the object construction grating fringe is 2 × 3 phase-shifted grating striped, the item
Line generation module 202 is specifically used for:
Three the first black and white strip phase-shift patterns and three second are generated according to the structure light coding mode selection instruction
Black and white strip phase-shift pattern, the space periodic of the first black and white strip phase-shift pattern and the second black and white strip phase-shift pattern
Difference, and difference sets phase-shift phase, the second black and white strip phase described in three width between the first black and white strip phase-shift pattern described in three width
Move difference setting phase-shift phase between pattern.
On the basis of the above embodiments, the first black and white strip phase-shift pattern and the second black and white strip phase-shift pattern are equal
For the sinusoidal black and white strip phase-shift pattern of row or arrange sinusoidal black and white strip phase-shift pattern.
On the basis of the above embodiments, second black described in the first black and white strip phase-shift pattern and the first width described in the first width
The sine streak intensity distribution of each pixel in informal voucher line phase-shift pattern are as follows:
Each picture in second black and white strip phase-shift pattern described in first black and white strip phase-shift pattern and the second width described in second width
The sine streak intensity distribution of vegetarian refreshments are as follows:
Each picture in second black and white strip phase-shift pattern described in first black and white strip phase-shift pattern and third width described in third width
The sine streak intensity distribution of vegetarian refreshments are as follows:
Wherein, (x, y) indicates that pixel, I ' (x, y) are the mean intensity of striped, and I " (x, y) is modulate intensity, and δ is to set
Determine phase-shift phase and π/3 δ=2,For wrapped phase and
On the basis of the above embodiments, the projected image is obtained by image collecting device, described image acquisition device
It is at least two.
It is above-mentioned, corresponding object construction grating fringe is generated using 2 × 3 phase-shift coding modes, and existed by projector projects
On target object, since the number of patterns of object construction grating fringe is more, data number that the number of projections accordingly acquired includes
It measures larger, therefore can effectively measure contour of object, especially solve irregular historical relic or some incomplete historical relics are built in three-dimensional
Problem on mould.
Structural light measurement device provided in this embodiment can be used for executing structure optical measurement method provided by the above embodiment,
Have corresponding function and beneficial effect.
Figure 17 is a kind of structural schematic diagram of structural light measurement equipment provided by the embodiments of the present application.With reference to Figure 17, the knot
Structure optical measuring device includes: including processor 301, memory 302, input unit 303, output device 304 and communication device
305；The quantity of processor 301 can be one or more, in Figure 17 by taking a processor 301 as an example；Processor 301, storage
Device 302, input unit 303, output device 304 and communication device 305 can be connected by bus or other modes, Tu17Zhong
For being connected by bus.
Memory 302 is used as a kind of computer readable storage medium, can be used for storing software program, journey can be performed in computer
Sequence and module, as in the structural light measurement method in the embodiment of the present application corresponding program instruction/module (for example, structure light
Command reception module 201, striped generation module 202, fringe projection module 203 and information determination module in measuring device
204).Software program, instruction and the module that processor 301 is stored in first memory 302 by operation, thereby executing knot
The various function application and data processing of structure optical measuring device realize above-mentioned structural light measurement method.
Memory 302 can mainly include storing program area and storage data area, wherein storing program area can store operation system
Application program needed for system, at least one function；Storage data area, which can be stored, uses created data etc. according to equipment.This
Outside, memory 302 may include high-speed random access memory, can also include nonvolatile memory, for example, at least one
Disk memory, flush memory device or other non-volatile solid state memory parts.In some instances, memory 302 can be into one
Step includes the memory remotely located relative to processor 301, these remote memories can pass through network connection to structure light
Measuring device.The example of above-mentioned network includes but is not limited to internet, intranet, local area network, mobile radio communication and its group
It closes.
Input unit 303 can be used for receiving the number or character information of input, and generate and structural light measurement equipment
User setting and the related key signals input of function control.Output device 304 may include the equipment such as loudspeaker, display screen.It is logical
T unit 305 with other equipment for being communicated.Wherein, other equipment include being not limited to projector and Image Acquisition
Device.
It should be noted that above structure optical measuring device can be used for executing above-mentioned arbitrary structures light measurement method, and
Have corresponding function and beneficial effect.
It includes computer readable storage medium that the embodiment of the present application, which also provides a kind of, is stored thereon with computer program, institute
Computer program is stated when being executed by the computer processor of transmitting terminal and at least one receiving end for executing a kind of structure light
Measurement method, the structural light measurement method include:
Receive structure light coding mode selection instruction；
Object construction grating fringe, different structure pumped FIR laser mode are generated according to the structure light coding mode selection instruction
Selection instruction corresponds to different object construction grating fringes；
The object construction grating fringe is sent to projector, so that projector projects object construction grating fringe is to mesh
Mark object；
It obtains the projected image comprising the target object and generates the three dimensional topography information of the target object.
Certainly, a kind of storage medium comprising computer executable instructions, computer provided by the embodiment of the present application
The structural light measurement method operation that executable instruction is not limited to the described above, can also be performed and appoint provided by the embodiment of the present application
Relevant operation in structural light measurement method of anticipating, and have corresponding function and beneficial effect.
By the description above with respect to embodiment, it is apparent to those skilled in the art that, the application
It can be realized by software and required common hardware, naturally it is also possible to which by hardware realization, but in many cases, the former is more
Good embodiment.Based on this understanding, the technical solution of the application substantially in other words contributes to the prior art
Part can be embodied in the form of software products, which can store in computer readable storage medium
In, floppy disk, read-only memory (Read-Only Memory, ROM), random access memory (Random such as computer
Access Memory, RAM), flash memory (FLASH), hard disk or CD etc., including some instructions are with so that a computer is set
Standby (can be robot, personal computer, server or the network equipment etc.) executes structure light described in the embodiment of the present application
Measurement method.
Figure 18 is a kind of structural schematic diagram of structured light measurement system provided by the embodiments of the present application.With reference to Figure 18, the knot
Structure light measurement system includes: projector 402 and structural light measurement equipment 401 as described above；The structural light measurement equipment
401 are connected with the projector 402；The projector 402 is for projecting object construction grating fringe to target object 404.
Optionally, structural light measurement device systems further include image collecting device 403, image collecting device 403 and structure
Optical measuring device 401 is connected.Wherein, the number and positional relationship of projector 402 and image collecting device 403 can be according to reality
Setting.In general, there are two image collecting devices 403 for a configuration of projector 402.At this point, two image collecting devices 403 are distinguished
Positioned at projector 402 two sides and with projector 402 on the same line.Image collecting device 403 includes target for acquiring
The projected image of object.It should be noted that Figure 18 is merely exemplary to show a projector 402 and two image collecting devices
403。
Specifically, structural light measurement equipment 401, which provides one in desktop for user, can choose structure light coding mode
Operation interface, in order to receive user sending structure light coding mode selection instruction.Further, structural light measurement equipment
401 generate corresponding object construction grating fringe according to structure light coding mode selection instruction.Setting structure pumped FIR laser mode is extremely
It less include: at least one of three step phase-shift coding modes, four-step phase-shifting coding mode and 2 × 3 phase-shift coding modes.It is corresponding
, three step phase-shifted grating stripeds are denoted as according to the object construction grating fringe that three step phase-shift coding modes generate.According to four step phases
It moves the object construction grating fringe that coding mode generates and is denoted as four-step phase-shifting grating fringe.It is generated according to 2 × 3 phase-shift coding modes
Object construction grating fringe be denoted as 2 × 3 phase-shifted grating stripeds.Further, structural light measurement equipment 401 is by object construction light
Grizzly bar line is written into the configuration file of projector 402.Projector 402 according to configuration file projection target structure fringe striped,
And there are target objects 404 in view field.Meanwhile 403 acquired projections image of image collecting device, and it is back to structure flash ranging
Measure equipment 401.Structural light measurement equipment 401 is decoded projected image, Stereo matching and disparity computation, generates point Yun Mo
Type, and point cloud model is denoted as to the three dimensional topography information of target object.
It is above-mentioned, realize in structural light measurement equipment setting various structures pumped FIR laser mode, and can by user according to
Actual conditions determine the structure light coding mode needed, solve structural light three-dimensional scan method application scenarios list in the prior art
One the technical issues of.Meanwhile corresponding object construction grating fringe is generated using 2 × 3 phase-shift coding modes, and thrown by projector
It penetrates on target object, can be effectively solved the problem of irregular historical relic or some incomplete historical relics on three-dimensional modeling.
It should be noted that structured light measurement system can be used for above structure light measurement method in the present embodiment, do not exist
The technical detail being described in detail in structured light measurement system is referring to above structure light measurement method.
It is worth noting that, in the embodiment of above structure optical measurement instrument, included each unit and module are
It is divided according to the functional logic, but is not limited to the above division, as long as corresponding functions can be realized；Separately
Outside, the specific name of each functional unit is also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.
Note that above are only the preferred embodiment and institute's application technology principle of the application.It will be appreciated by those skilled in the art that
The application is not limited to specific embodiment described here, be able to carry out for a person skilled in the art it is various it is apparent variation,
The protection scope readjusted and substituted without departing from the application.Therefore, although being carried out by above embodiments to the application
It is described in further detail, but the application is not limited only to above embodiments, in the case where not departing from the application design, also
It may include more other equivalent embodiments, and scope of the present application is determined by the scope of the appended claims.
Claims (10)
1. a kind of structural light measurement method characterized by comprising
Receive structure light coding mode selection instruction；
Object construction grating fringe is generated according to the structure light coding mode selection instruction, different structure pumped FIR laser mode selects
The corresponding different object construction grating fringe of instruction；
The object construction grating fringe is sent to projector, so that projector projects object construction grating fringe is to object
Body；
It obtains the projected image comprising the target object and generates the three dimensional topography information of the target object.
2. structural light measurement method according to claim 1, which is characterized in that the object construction grating fringe includes:
At least one of three step phase-shifted grating stripeds, four-step phase-shifting grating fringe and 2 × 3 phase-shifted grating stripeds.
3. structural light measurement method according to claim 2, which is characterized in that the object construction grating fringe is 2 × 3
It is described to include: according to the structure light coding mode selection instruction generation object construction grating fringe when phase-shifted grating striped
Three the first black and white strip phase-shift patterns and three the second black and white are generated according to the structure light coding mode selection instruction
The space periodic of striped phase-shift pattern, the first black and white strip phase-shift pattern and the second black and white strip phase-shift pattern is not
Together, and between the first black and white strip phase-shift pattern described in three width difference sets phase-shift phase, the second black and white strip phase shift described in three width
Difference setting phase-shift phase between pattern.
4. structural light measurement method according to claim 3, which is characterized in that the first black and white strip phase-shift pattern and
Second black and white strip phase-shift pattern is the sinusoidal black and white strip phase-shift pattern of row or the sinusoidal black and white strip phase-shift pattern of column.
5. structural light measurement method according to claim 3, which is characterized in that the first black and white strip phase shift described in the first width
The sine streak intensity distribution of each pixel in second black and white strip phase-shift pattern described in pattern and the first width are as follows:
Each pixel in second black and white strip phase-shift pattern described in first black and white strip phase-shift pattern and the second width described in second width
Sine streak intensity distribution are as follows:
Each pixel in second black and white strip phase-shift pattern described in first black and white strip phase-shift pattern and third width described in third width
Sine streak intensity distribution are as follows:
Wherein, (x, y) indicates that pixel, I ' (x, y) are the mean intensity of striped, and I " (x, y) is modulate intensity, and δ is setting phase
Shifting amount and π/3 δ=2,For wrapped phase and
6. structural light measurement method according to claim 1, which is characterized in that the projected image is by image collecting device
It obtains, described image acquisition device is at least two.
7. a kind of structural light measurement device characterized by comprising
Command reception module, for receiving structure light coding mode selection instruction；
Striped generation module, it is different for generating object construction grating fringe according to the structure light coding mode selection instruction
Structure light coding mode selection instruction corresponds to different object construction grating fringes；
Fringe projection module, for the object construction grating fringe to be sent to projector, so that projector projects target knot
Structure grating fringe is to target object；
Information determination module includes the projected image of the target object and the three-dimensional shaped for generating the target object for obtaining
Looks characteristic information.
8. a kind of structural light measurement equipment characterized by comprising one or more processors, communication device and memory；
The communication device with other equipment for being communicated；
The memory is for storing one or more programs, when one or more programs are executed by the processor, so that
Processor realizes such as structural light measurement method as claimed in any one of claims 1 to 6.
9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is held by processor
Such as structural light measurement method as claimed in any one of claims 1 to 6 is realized when row.
10. a kind of structured light measurement system characterized by comprising projector and structure flash ranging as claimed in claim 8
Measure equipment；
The structural light measurement equipment is connected with the projector；The projector is for projecting object construction grating fringe to mesh
Mark object.
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