技术领域technical field
本发明涉及光学成像领域，尤其涉及一种结构光场三维成像方法及其系统。The invention relates to the field of optical imaging, in particular to a structured light field three-dimensional imaging method and system thereof.
背景技术Background technique
基于条纹投影的光学三维成像是一种非接触式、全场测量的方法，以其高成像密度、高成像速度和高成像精度而得到广泛应用。Optical 3D imaging based on fringe projection is a non-contact, full-field measurement method that has been widely used for its high imaging density, high imaging speed, and high imaging accuracy.
传统的条纹投影三维成像方法一次采集只能获取一个特定方向的三维数据。随着条纹投影三维成像方法应用范围的扩展，单视点三维成像已经难以满足针对特殊物体、特殊性能的三维成像要求。因此，亟需发展一次采集、多方向三维成像的光学成像方法。The traditional fringe projection 3D imaging method can only acquire 3D data in a specific direction at one time. With the expansion of the application range of the fringe projection 3D imaging method, it has become difficult for single-viewpoint 3D imaging to meet the 3D imaging requirements for special objects and special performance. Therefore, there is an urgent need to develop an optical imaging method for one-time acquisition and multi-directional three-dimensional imaging.
发明内容Contents of the invention
有鉴于此，本发明的目的在于提供一种结构光场三维成像方法及其系统，旨在解决现有的条纹投影三维成像方法单视点成像的局限性问题，以实现一次采集、多方向结构光场三维成像。In view of this, the purpose of the present invention is to provide a structured light field three-dimensional imaging method and its system, which aims to solve the limitation of single-viewpoint imaging in the existing fringe projection three-dimensional imaging method, so as to realize one-time collection, multi-directional structured light 3D imaging of the field.
本发明提出一种结构光场三维成像方法，所述方法包括：The present invention proposes a structured light field three-dimensional imaging method, the method comprising:
获取结构光场三维成像系统的成像装置所记录的结构光场，求解所述结构光场的相位；Obtaining the structured light field recorded by the imaging device of the structured light field three-dimensional imaging system, and solving the phase of the structured light field;
将求解得到的所述结构光场的相位与参考面相位进行比较以获取二者相位差，利用所述结构光场的相位-深度映射关系计算每条光线的深度值；Comparing the phase of the structured light field obtained by solving with the phase of the reference surface to obtain the phase difference between the two, and calculating the depth value of each ray by using the phase-depth mapping relationship of the structured light field;
利用所述结构光场中每条光线所记录的方向和计算的深度值，构建多方向三维成像。Using the direction recorded by each light in the structured light field and the calculated depth value, a multi-directional three-dimensional imaging is constructed.
优选的，所述结构光场为在结构照明条件下记录的光线的光场，该光场记录了受场景深度调制的结构光信息，所述结构光信息包括调制相位信息和光线方向信息，所述结构光场的参考面为所述结构光场三维成像系统的测量空间中的一个基准平面，被测物体位于所述结构光场三维成像系统与所述基准平面之间。Preferably, the structured light field is a light field of light recorded under structured lighting conditions, the light field records structured light information modulated by scene depth, and the structured light information includes modulation phase information and light direction information, so The reference plane of the structured light field is a reference plane in the measurement space of the structured light field three-dimensional imaging system, and the measured object is located between the structured light field three-dimensional imaging system and the reference plane.
优选的，所述结构光场表示为：Preferably, the structured light field is expressed as:
L(u,s)＝Ra(u,s)+Rb(u,s)cosφ，其中，Ra(u,s)和Rb(u,s)分别表示所述结构光场的背景强度和条纹调制强度，u表示光线lus的方向，s表示光线lus的位置，L表示光线的辐射强度，φ是经场景深度调制的相位。L(u,s)=Ra (u,s)+Rb (u,s)cosφ, wherein, Ra (u,s) and Rb (u,s) respectively represent the background of the structured light field Intensity and fringe modulation intensity, u denotes the direction of the ray lus , s denotes the position of the ray lus , L denotes the radiation intensity of the ray, and φ is the phase modulated by the scene depth.
优选的，所述利用所述结构光场的相位-深度映射关系计算每条光线的深度值表示为：Preferably, the calculation of the depth value of each ray using the phase-depth mapping relationship of the structured light field is expressed as:
其中，dus是对应于光线lus的深度值，mus和nus是结构光场的相位-深度映射系数，Δφ是场景的调制相位和参考面相位的相位差。 Among them, dus is the depth value corresponding to the light lus ,mus and nus are the phase-depth mapping coefficients of the structured light field, and Δφ is the phase difference between the modulation phase of the scene and the phase of the reference plane.
优选的，所述利用所述结构光场中每条光线所记录的方向和计算的深度值，构建多方向三维成像的步骤包括：Preferably, the step of constructing multi-directional three-dimensional imaging by using the direction recorded by each ray in the structured light field and the calculated depth value includes:
在所记录的结构光场的光线方向中选取一个特定的光线方向ui；Select a specific ray direction ui among the ray directions of the recorded structured light field;
从所有光线的深度信息中选取方向为ui的光线的深度信息，得到该选取方向的场景深度估计，并建立三维成像模型Select the depth information of the ray with the direction ui from the depth information of all rays, obtain the scene depth estimation of the selected direction, and establish a 3D imaging model
重复上述两个步骤，得到不同方向的三维成像模型以完成构建多方向三维成像，其中，N是光场的角度分辨率。Repeat the above two steps to obtain 3D imaging models in different directions To complete the construction of multi-directional three-dimensional imaging, where N is the angular resolution of the light field.
优选的，在所述获取结构光场三维成像系统的成像装置所记录的结构光场的步骤之前，所述方法还包括：Preferably, before the step of acquiring the structured light field recorded by the imaging device of the structured light field three-dimensional imaging system, the method further includes:
利用计算机生成标准正弦条纹投影图案，并由所述结构光场三维成像系统的投影装置投射到待测物体表面，经所述待测物体表面调制的变形条纹由所述结构光场三维成像系统的成像装置进行记录；A standard sinusoidal fringe projection pattern is generated by a computer, and is projected onto the surface of the object to be measured by the projection device of the structured light field three-dimensional imaging system, and the deformed fringes modulated by the surface of the object to be measured are produced by the three-dimensional imaging system of the structured light field imaging device for recording;
其中，利用计算机生成标准正弦条纹投影图案表示为：I(X)＝A+Bcos(2πfX)，I是条纹投影图的归一化强度，A和B分别是用户设计的条纹背景强度和调制强度，f是条纹投影图的条纹空间频率。Among them, the standard sinusoidal fringe projection pattern generated by computer is expressed as: I(X)=A+Bcos(2πfX), I is the normalized intensity of the fringe projection image, A and B are the fringe background intensity and modulation intensity designed by the user respectively , f is the fringe spatial frequency of the fringe projection map.
优选的，在所述利用所述结构光场的相位-深度映射关系计算每条光线的深度值的步骤之前，所述方法还包括：标定结构光场三维成像系统，确定每条记录光线的相位-深度映射系数；Preferably, before the step of calculating the depth value of each ray using the phase-depth mapping relationship of the structured light field, the method further includes: calibrating the structured light field 3D imaging system, and determining the phase of each recorded ray - depth map coefficient;
其中，标定的具体步骤包括：Among them, the specific steps of calibration include:
利用位移平台控制平面标靶移动到相对于参考面深度为di的位置，结构光场三维成像系统的成像装置记录该位置下的结构光场，并计算每条光线相对参考面的相位差值Δφus|i；Use the displacement platform to control the planar target to move to a position with a depth of di relative to the reference surface, and the imaging device of the structured light field 3D imaging system records the structured light field at this position, and calculates the phase difference of each ray relative to the reference surface Δφus|i ;
利用一系列的深度和相位差值(di,Δφus|i),i＝1,2,…,N拟合出该光线lus的相位-深度映射系数(mus,nus)，最终生成光线索引的相位-深度映射系数查找表LUTus{(mus,nus)}。Use a series of depth and phase difference values (di ,Δφus|i ), i=1,2,…,N to fit the phase-depth mapping coefficient (mus ,nus ) of the ray lus , and finally A ray-indexed phase-depth mapping coefficient lookup table LUTus {(mus ,nus )} is generated.
另一方面，本发明还提供一种结构光场三维成像系统，所述识别系统包括：On the other hand, the present invention also provides a structured light field three-dimensional imaging system, and the identification system includes:
结构光照明模块，用于生成条纹投影图，由结构光场三维成像系统的投影装置投射到物体表面；The structured light illumination module is used to generate a fringe projection map, which is projected onto the object surface by the projection device of the structured light field three-dimensional imaging system;
光场成像模块，使用光场数据形式记录在结构光照明下物体表面反射光线的信息，其中，记录的信息包括光线的方向信息和受深度调制的相位信息；The light field imaging module uses the light field data form to record the information of the light reflected on the surface of the object under the structured light illumination, wherein the recorded information includes the direction information of the light and the phase information modulated by the depth;
相位-深度标定模块，用于标定结构光场三维成像系统，确定每条记录光线的相位-深度映射系数；The phase-depth calibration module is used to calibrate the structured light field three-dimensional imaging system, and determine the phase-depth mapping coefficient of each recorded light;
三维成像模块，用于根据每条记录光线的相位-深度映射系数计算每条光线的深度值，以及利用所述结构光场中每条光线所记录的方向和计算的深度值，构建多方向三维成像。The three-dimensional imaging module is used to calculate the depth value of each light according to the phase-depth mapping coefficient of each recorded light, and use the recorded direction and calculated depth value of each light in the structured light field to construct a multi-directional three-dimensional imaging.
优选的，所述三维成像模块具体包括：Preferably, the three-dimensional imaging module specifically includes:
选取子模块，用于在所记录的结构光场的光线方向中选取一个特定的光线方向ui；The selection sub-module is used to select a specific light direction ui among the light directions of the recorded structured light field;
建模子模块，用于从所有光线的深度信息中选取方向为ui的光线的深度信息，得到该选取方向的场景深度估计，并建立三维成像模型The modeling sub-module is used to select the depth information of the light with direction ui from the depth information of all light rays, obtain the scene depth estimation of the selected direction, and establish a three-dimensional imaging model
重复子模块，用于重复上述两个步骤，得到不同方向的三维成像模型以完成构建多方向三维成像，其中，N是光场的角度分辨率。The repeating sub-module is used to repeat the above two steps to obtain 3D imaging models in different directions To complete the construction of multi-directional three-dimensional imaging, where N is the angular resolution of the light field.
本发明提供的技术方案结合光场成像和结构照明获取结构光场，推导了结构光场中相位和场景深度的映射关系，提出一种基于光线的结构光场相位-深度映射标定和三维成像的方法和系统。该方法和系统能够实现一次采集、多方向三维成像，有利于进一步深入研究结构光场三维成像的理论和应用，满足多视角三维数字成像和测量的要求。The technical solution provided by the invention combines light field imaging and structured lighting to obtain structured light field, deduces the mapping relationship between phase and scene depth in structured light field, and proposes a light-based structured light field phase-depth mapping calibration and three-dimensional imaging methods and systems. The method and system can realize one-time acquisition and multi-directional three-dimensional imaging, which is conducive to further in-depth research on the theory and application of structured light field three-dimensional imaging, and meets the requirements of multi-view three-dimensional digital imaging and measurement.
附图说明Description of drawings
图1为本发明一实施方式中结构光场三维成像方法流程图；Fig. 1 is a flowchart of a structured light field three-dimensional imaging method in an embodiment of the present invention;
图2为本发明一实施方式中结构光场三维成像方法的平面原理图；2 is a schematic plan view of a structured light field three-dimensional imaging method in an embodiment of the present invention;
图3为本发明一实施方式中实验中石膏像的几个特定方向的三维成像模型；Fig. 3 is the three-dimensional imaging model of several specific directions of the plaster image in the experiment in one embodiment of the present invention;
图4为本发明一实施方式中结构光场三维成像系统10的内部结构示意图。FIG. 4 is a schematic diagram of the internal structure of a structured light field three-dimensional imaging system 10 according to an embodiment of the present invention.
具体实施方式detailed description
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
以下将对本发明所提供的一种结构光场三维成像方法进行详细说明。A structured light field three-dimensional imaging method provided by the present invention will be described in detail below.
请参阅图1，为本发明一实施方式中结构光场三维成像方法流程图。Please refer to FIG. 1 , which is a flowchart of a structured light field three-dimensional imaging method in an embodiment of the present invention.
在步骤S1中，获取结构光场三维成像系统的成像装置所记录的结构光场，求解所述结构光场的相位。In step S1, the structured light field recorded by the imaging device of the structured light field three-dimensional imaging system is obtained, and the phase of the structured light field is calculated.
在本实施方式中，所述结构光场为在结构照明条件下记录的光线的光场，该光场记录了受场景深度调制的结构光信息，所述结构光信息包括调制相位信息和光线方向信息，所述结构光场的参考面为所述结构光场三维成像系统的测量空间中的一个基准平面，被测物体位于所述结构光场三维成像系统与所述基准平面之间。In this embodiment, the structured light field is a light field of light recorded under structured lighting conditions, the light field records structured light information modulated by scene depth, and the structured light information includes modulation phase information and light direction Information, the reference plane of the structured light field is a reference plane in the measurement space of the structured light field 3D imaging system, and the measured object is located between the structured light field 3D imaging system and the reference plane.
在本实施方式中，在所述获取结构光场三维成像系统的成像装置所记录的结构光场的步骤S1之前，所述结构光场三维成像方法还包括：In this embodiment, before the step S1 of acquiring the structured light field recorded by the imaging device of the structured light field 3D imaging system, the structured light field 3D imaging method further includes:
利用计算机生成标准正弦条纹投影图案，并由所述结构光场三维成像系统的投影装置投射到待测物体表面，经所述待测物体表面调制的变形条纹由所述结构光场三维成像系统的成像装置进行记录；A standard sinusoidal fringe projection pattern is generated by a computer, and is projected onto the surface of the object to be measured by the projection device of the structured light field three-dimensional imaging system, and the deformed fringes modulated by the surface of the object to be measured are produced by the three-dimensional imaging system of the structured light field imaging device for recording;
其中，利用计算机生成标准正弦条纹投影图案表示为：I(X)＝A+Bcos(2πfX)，I是条纹投影图的归一化强度，A和B分别是用户设计的条纹背景强度和调制强度，f是条纹投影图的条纹空间频率。Among them, the standard sinusoidal fringe projection pattern generated by computer is expressed as: I(X)=A+Bcos(2πfX), I is the normalized intensity of the fringe projection image, A and B are the fringe background intensity and modulation intensity designed by the user respectively , f is the fringe spatial frequency of the fringe projection map.
在本实施方式中，结构光场三维成像系统的成像装置所记录的所述结构光场表示为：In this embodiment, the structured light field recorded by the imaging device of the structured light field three-dimensional imaging system is expressed as:
L(u,s)＝Ra(u,s)+Rb(u,s)cosφ，其中，L(u,s)表示四维光场；u表示光线lus的方向；s表示光线lus的位置；L表示光线的辐射强度；φ是经场景深度调制的相位，利用相移法即可求解；Ra(u,s)和Rb(u,s)分别表示结构光场的背景强度和条纹调制强度，它们都与光线方向有关。L(u,s)=Ra (u,s)+Rb (u,s)cosφ, where L(u,s) represents the four-dimensional light field; u represents the direction of light lus ; s represents the light lus L represents the radiation intensity of the light; φ is the phase modulated by the depth of the scene, which can be solved by the phase shift method; Ra (u, s) and Rb (u, s) respectively represent the background intensity of the structured light field and fringes modulate intensity, both of which are related to the light direction.
在步骤S2中，将求解得到的所述结构光场的相位与参考面相位进行比较以获取二者相位差，利用所述结构光场的相位-深度映射关系计算每条光线的深度值。In step S2, the phase of the structured light field obtained by solving is compared with the phase of the reference surface to obtain the phase difference between the two, and the depth value of each ray is calculated by using the phase-depth mapping relationship of the structured light field.
在本实施方式中，所述利用所述结构光场的相位-深度映射关系计算每条光线的深度值表示为：In this embodiment, the calculation of the depth value of each ray by using the phase-depth mapping relationship of the structured light field is expressed as:
其中，dus是对应于光线lus的深度值，mus和nus是结构光场的相位-深度映射系数，Δφ是场景的调制相位和参考面相位的相位差。 Among them, dus is the depth value corresponding to the light lus ,mus and nus are the phase-depth mapping coefficients of the structured light field, and Δφ is the phase difference between the modulation phase of the scene and the phase of the reference plane.
图2示出了本发明提供的结构光场三维成像系统的平面原理图，其中，u-s平行线对表示双平面参数化光场，P点表示投影装置的投影中心，参考平面设置于Z＝0处。对于光线BC，无物体时记录了投影线PA在参考面上A点的反射光线；有物体时记录了投影线PD在物体上D点的反射光线。Fig. 2 shows the plane schematic diagram of the structured light field three-dimensional imaging system provided by the present invention, wherein the u-s parallel line pair represents a two-plane parameterized light field, point P represents the projection center of the projection device, and the reference plane is set at Z=0 place. For light BC, when there is no object, the reflected light of projection line PA at point A on the reference plane is recorded; when there is an object, the reflected light of projection line PD at point D on the object is recorded.
在本实施方式中，将求解得到的结构光场相位与参考面相位进行比较，得到二者相位差表示为：In this embodiment, the phase of the structured light field obtained from the solution is compared with the phase of the reference surface, and the phase difference between the two is expressed as:
Δφ＝φobj-φref＝2πf(XE-XA)Δφ＝φobj -φref =2πf(XE -XA )
其中，φobj和φref分别是物点和参考面上的相位，由物体和参考面上的结构光场Lobj和Lref经步骤S1计算得到，f是条纹空间频率，XE和XA是E点和A点的X坐标。Among them, φobj and φref are the phases of the object point and the reference plane respectively, which are obtained by calculating the structured light field Lobj and Lref of the object and the reference plane through step S1, f is the fringe spatial frequency, XE and XA are the X coordinates of points E and A.
进一步的，在本实施方式中，利用所述结构光场的相位-深度映射关系计算每条光线的深度值dus表示为：Further, in this embodiment, the calculation of the depth value dus of each ray by using the phase-depth mapping relationship of the structured light field is expressed as:
其中，(XB,ZB)，(XC,ZC)和(XP,ZP)分别是B点，C点和P点的坐标，mus和nus是相位-深度映射系数。对于每条记录光线，B、C、P点的坐标都是确立的，因此每条光线对应的相位-深度映射关系可由映射系数mus和nus来确定。一旦标定出结构光场三维成像系统的相位-深度映射系数(mus,nus)，就能够进行多方向深度估计，实现结构光场多方向三维成像。Among them, (XB , ZB ), (XC , ZC ) and (XP , ZP ) are the coordinates of point B, point C and point P respectively, andmus and n usare phase-depth mapping coefficients. For each recorded ray, the coordinates of points B, C, and P are established, so the phase-depth mapping relationship corresponding to each ray can be determined by the mapping coefficientsmus and n us. Once the phase-depth mapping coefficients (mus , n us) of the structured light field 3D imaging system are calibrated, multi-directional depth estimation can be performed to realize multi-directional 3D imaging of the structured light field.
在本实施方式中，在所述利用所述结构光场的相位-深度映射关系计算每条光线的深度值的步骤S2之前，所述结构光场三维成像方法还包括：标定结构光场三维成像系统，确定每条记录光线的相位-深度映射系数；In this embodiment, before the step S2 of calculating the depth value of each ray by using the phase-depth mapping relationship of the structured light field, the three-dimensional imaging method of the structured light field further includes: calibrating the three-dimensional imaging of the structured light field The system determines the phase-depth mapping coefficient of each recorded ray;
其中，标定的具体步骤包括：Among them, the specific steps of calibration include:
利用位移平台控制平面标靶移动到相对于参考面深度为di的位置，结构光场三维成像系统的成像装置记录该位置下的结构光场，并计算每条光线相对参考面的相位差值Δφus|i；Use the displacement platform to control the planar target to move to a position with a depth of di relative to the reference surface, and the imaging device of the structured light field 3D imaging system records the structured light field at this position, and calculates the phase difference of each ray relative to the reference surface Δφus|i ;
利用一系列的深度和相位差值(di,Δφus|i),i＝1,2,…,N拟合出该光线lus的相位-深度映射系数(mus,nus)，最终生成光线索引的相位-深度映射系数查找表LUTus{(mus,nus)}。Use a series of depth and phase difference values (di ,Δφus|i ), i=1,2,…,N to fit the phase-depth mapping coefficient (mus ,nus ) of the ray lus , and finally A ray-indexed phase-depth mapping coefficient lookup table LUTus {(mus ,nus )} is generated.
在步骤S3中，利用所述结构光场中每条光线所记录的方向和计算的深度值，构建多方向三维成像。In step S3, a multi-directional three-dimensional imaging is constructed using the recorded direction and calculated depth value of each ray in the structured light field.
在本实施方式中，所述利用所述结构光场中每条光线所记录的方向和计算的深度值，构建多方向三维成像的步骤S3包括：In this embodiment, the step S3 of constructing multi-directional three-dimensional imaging by using the direction recorded by each light in the structured light field and the calculated depth value includes:
在所记录的结构光场的光线方向中选取一个特定的光线方向ui；Select a specific ray direction ui among the ray directions of the recorded structured light field;
从所有光线的深度信息中选取方向为ui的光线的深度信息，得到该选取方向的场景深度估计，并建立三维成像模型Select the depth information of the ray with the direction ui from the depth information of all rays, obtain the scene depth estimation of the selected direction, and establish a 3D imaging model
重复上述两个步骤，得到不同方向的三维成像模型以完成构建多方向三维成像，其中，N是光场的角度分辨率。Repeat the above two steps to obtain 3D imaging models in different directions To complete the construction of multi-directional three-dimensional imaging, where N is the angular resolution of the light field.
以下以实例说明上述结构光场三维成像方法的执行过程：The following is an example to illustrate the execution process of the above structured light field three-dimensional imaging method:
首先，计算生成投影条纹图案，作为系统标定与场景重建的结构照明；First, calculate and generate projected fringe patterns as structured lighting for system calibration and scene reconstruction;
之后，在结构光场三维成像系统的成像范围内设置位移平台和一块标定白板，位移平台按照一定的步长移动白板，每到一个位置投影装置投射条纹图，成像装置采集该结构光场并求解其相位；Afterwards, a displacement platform and a calibration whiteboard are set up within the imaging range of the structured light field 3D imaging system. The displacement platform moves the whiteboard according to a certain step length, and the projection device projects fringe patterns at each position, and the imaging device collects the structured light field and solves the its phase;
之后，在得到一系列位置和相位的情况下，以离成像系统最远的位置为相对参考面，其余位置与之相比较，得到对应的相对深度和相位差；Afterwards, when a series of positions and phases are obtained, the position farthest from the imaging system is used as the relative reference plane, and the other positions are compared with it to obtain the corresponding relative depth and phase difference;
之后，对每条光线的一系列深度和相位差拟合出该光线的相位-深度映射系数，生成光线索引的相位-深度映射系数查找表；Afterwards, the phase-depth mapping coefficient of each ray is fitted to a series of depths and phase differences of the ray, and a phase-depth mapping coefficient lookup table of the ray index is generated;
之后，投影装置投射条纹图案到物体表面，成像装置记录该结构光场并求解其相位，与相对参考面的相位比较，得到该物体相对于参考面的相位差；Afterwards, the projection device projects the fringe pattern onto the surface of the object, and the imaging device records the structured light field and solves its phase, and compares it with the phase of the relative reference surface to obtain the phase difference of the object relative to the reference surface;
之后，对于每条记录光线，从相位-深度映射系数查找表中找出相应的映射系数，计算该光线的深度值；Afterwards, for each recorded ray, find the corresponding mapping coefficient from the phase-depth mapping coefficient lookup table, and calculate the depth value of the ray;
之后，所有相同方向的深度值组合为该方向的深度图，最后重建该方向下物体的三维模型。Afterwards, all depth values in the same direction are combined into a depth map in that direction, and finally the 3D model of the object in that direction is reconstructed.
图3示出石膏像的几个特定方向的三维成像模型。每一子图左上方的圆形表示微透镜，圆形中的小方块表示光线的一个特定方向。Fig. 3 shows three-dimensional imaging models of plaster images in several specific directions. The circles at the upper left of each subfigure represent microlenses, and the small squares within the circles represent a specific direction of light.
本发明提供的一种结构光场三维成像方法，结合光场成像和结构照明获取结构光场，推导了结构光场中相位和场景深度的映射关系，提出一种基于光线的结构光场相位-深度映射标定和三维成像的方法和系统。该方法和系统能够实现一次采集、多方向三维成像，有利于进一步深入研究结构光场三维成像的理论和应用，满足多视角三维数字成像和测量的要求。A three-dimensional imaging method of structured light field provided by the present invention combines light field imaging and structured lighting to obtain structured light field, deduces the mapping relationship between phase and scene depth in structured light field, and proposes a light-based structured light field phase- Methods and systems for depth mapping calibration and three-dimensional imaging. The method and system can realize one-time acquisition and multi-directional three-dimensional imaging, which is conducive to further in-depth research on the theory and application of structured light field three-dimensional imaging, and meets the requirements of multi-view three-dimensional digital imaging and measurement.
请参阅图4，所示为本发明一实施方式中结构光场三维成像系统10的结构示意图。在本实施方式中，结构光场三维成像系统10主要包括结构光照明模块M1、光场成像模块M2、相位-深度标定模块M3以及三维成像模块M4。Please refer to FIG. 4 , which is a schematic structural diagram of a structured light field three-dimensional imaging system 10 in an embodiment of the present invention. In this embodiment, the structured light field three-dimensional imaging system 10 mainly includes a structured light illumination module M1, a light field imaging module M2, a phase-depth calibration module M3 and a three-dimensional imaging module M4.
结构光照明模块M1，用于生成条纹投影图，由结构光场三维成像系统的投影装置投射到物体表面。The structured light illumination module M1 is used to generate a fringe projection image, which is projected onto the object surface by the projection device of the structured light field three-dimensional imaging system.
在本实施方式中，条纹投影图的具体生成方法如前述的相关步骤所述，在此不做重复描述。In this embodiment, the specific method for generating the fringe projection map is as described in the aforementioned related steps, and will not be repeated here.
光场成像模块M2，使用光场数据形式记录在结构光照明下物体表面反射光线的信息，其中，记录的信息包括光线的方向信息和受深度调制的相位信息。The light field imaging module M2 uses the light field data form to record the information of the reflected light on the surface of the object under the structured light illumination, wherein the recorded information includes the direction information of the light and the phase information modulated by the depth.
在本实施方式中，信息记录的方法如前述的相关步骤所述，在此不做重复描述。In this embodiment, the information recording method is as described in the aforementioned related steps, and will not be repeated here.
相位-深度标定模块M3，用于标定结构光场三维成像系统，确定每条记录光线的相位-深度映射系数。The phase-depth calibration module M3 is used to calibrate the structured light field three-dimensional imaging system, and determine the phase-depth mapping coefficient of each recorded ray.
在本实施方式中，结构光场三维成像系统的标定方法如前述的相关步骤所述，在此不做重复描述。In this embodiment, the calibration method of the structured light field three-dimensional imaging system is as described in the above-mentioned related steps, and will not be described repeatedly here.
三维成像模块M4，用于根据每条记录光线的相位-深度映射系数计算每条光线的深度值，以及利用所述结构光场中每条光线所记录的方向和计算的深度值，构建多方向三维成像。The three-dimensional imaging module M4 is used to calculate the depth value of each ray according to the phase-depth mapping coefficient of each recorded ray, and use the recorded direction and calculated depth value of each ray in the structured light field to construct a multi-directional 3D imaging.
在本实施方式中，计算每条光线的深度值的方法和构建多方向三维成像的方法如前述的相关步骤所述，在此不做重复描述。In this embodiment, the method for calculating the depth value of each ray and the method for constructing multi-directional three-dimensional imaging are as described in the related steps above, and will not be repeated here.
在本实施方式中，所述三维成像模块M4具体包括：In this embodiment, the three-dimensional imaging module M4 specifically includes:
选取子模块，用于在所记录的结构光场的光线方向中选取一个特定的光线方向ui；The selection sub-module is used to select a specific light direction ui among the light directions of the recorded structured light field;
建模子模块，用于从所有光线的深度信息中选取方向为ui的光线的深度信息，得到该选取方向的场景深度估计，并建立三维成像模型The modeling sub-module is used to select the depth information of the light with direction ui from the depth information of all light rays, obtain the scene depth estimation of the selected direction, and establish a three-dimensional imaging model
重复子模块，用于重复上述两个步骤，得到不同方向的三维成像模型以完成构建多方向三维成像，其中，N是光场的角度分辨率。The repeating sub-module is used to repeat the above two steps to obtain 3D imaging models in different directions To complete the construction of multi-directional three-dimensional imaging, where N is the angular resolution of the light field.
本发明提供的一种结构光场三维成像系统10，结合光场成像和结构照明获取结构光场，推导了结构光场中相位和场景深度的映射关系，提出一种基于光线的结构光场相位-深度映射标定和三维成像的方法和系统。该方法和系统能够实现一次采集、多方向三维成像，有利于进一步深入研究结构光场三维成像的理论和应用，满足多视角三维数字成像和测量的要求。A structured light field 3D imaging system 10 provided by the present invention combines light field imaging and structured lighting to obtain a structured light field, deduces the mapping relationship between the phase in the structured light field and the depth of the scene, and proposes a light-based structured light field phase -Methods and systems for depth mapping calibration and three-dimensional imaging. The method and system can realize one-time acquisition and multi-directional three-dimensional imaging, which is conducive to further in-depth research on the theory and application of structured light field three-dimensional imaging, and meets the requirements of multi-view three-dimensional digital imaging and measurement.
值得注意的是，上述实施例中，所包括的各个单元只是按照功能逻辑进行划分的，但并不局限于上述的划分，只要能够实现相应的功能即可；另外，各功能单元的具体名称也只是为了便于相互区分，并不用于限制本发明的保护范围。It is worth noting that in the above embodiments, the units included are only divided according to the functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of the functional units are also It is only for the convenience of distinguishing each other, and is not intended to limit the protection scope of the present invention.
另外，本领域普通技术人员可以理解实现上述各实施例方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，相应的程序可以存储于一计算机可读取存储介质中，所述的存储介质，如ROM/RAM、磁盘或光盘等。In addition, those of ordinary skill in the art can understand that all or part of the steps in the methods of the above-mentioned embodiments can be completed by instructing related hardware through programs, and the corresponding programs can be stored in a computer-readable storage medium. Storage media, such as ROM/RAM, magnetic disk or optical disk, etc.
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. within range.
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| PCT/CN2016/091547WO2018018363A1 (en) | 2016-07-25 | 2016-07-25 | Structured light field three-dimensional imaging method and system therefor |
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| CN106257995Atrue CN106257995A (en) | 2016-12-28 |
| CN106257995B CN106257995B (en) | 2019-06-07 |
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| CN201680000610.9AActiveCN106257995B (en) | 2016-07-25 | 2016-07-25 | A kind of light field three-D imaging method and its system |
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