A phase-shift fringe encoding and decoding method

Abstract

The present invention discloses a method for encoding and decoding phase-shift stripes, and relates to the technical field of phase-shift stripes. The method comprises: adaptively adjusting the parameters of a phase-shift stripe measurement device group through an intelligent parameter adjustment algorithm according to the measurement task, collecting phase-shift stripe images, verifying and optimizing the phase-shift stripe images through intelligent detection and optimization technology, decomposing the phase-shift stripe images through phase-shift stripe decomposition and coding technology, generating decomposed sub-stripes, calculating self-calibration correction values based on the decomposed sub-stripes, restoring the original phase-shift stripe images through decomposition stripe reconstruction technology, calculating modulation phase values through phase-shift stripe decoding technology, and performing three-dimensional reconstruction. The present invention can improve decoding stability and accuracy through phase-shift stripe encoding and decoding technology based on the core factors affecting the accuracy of phase-shift stripes, thereby significantly improving the decoding accuracy of phase-shift stripes and the quality of three-dimensional reconstruction, reducing equipment configuration requirements, and effectively saving costs, bringing efficient and economical technological innovation to the field of industrial automation three-dimensional reconstruction.

Description

Technical Field

[0001] The present invention relates to the technical field of phase-shift fringes, and in particular to a method for encoding and decoding phase-shift fringes. Background Art

[0002] Phase-shift fringe encoding and decoding solutions are widely used in 3D reconstruction technology for industrial automation, owing to their advantages of achieving sub-pixel encoding and high decoding accuracy. Common encoding methods for single-frequency phase-shift reconstruction include three-step and four-step phase shifting. Multi-frequency, multi-step phase shifting, such as three-frequency, four-step phase shifting, can encode the entire projection space. High-frequency, short-period phase-shift fringe patterns are crucial for improving 3D reconstruction accuracy.

[0003] However, existing technologies have obvious flaws. First, there is a contradiction between the continuity of phase-shifting stripes and their anti-interference ability. Although low-frequency and long-period stripes with strong continuity are conducive to encoding, they are sensitive to disturbances. Slight disturbances will seriously affect the decoding accuracy. Currently, they can only be dealt with by increasing the resolution of cameras or optical machines. Second, although high-frequency phase-shifting stripes are robust to disturbances, they are easily affected by adjacent pixels at peaks and valleys due to the characteristics of camera image acquisition, resulting in abnormal grayscale values, which in turn reduces the accuracy of phase resolution, and there is no effective solution. Due to the above problems, it is difficult for the three-dimensional reconstruction system to improve its accuracy by using high-quality high-frequency stripes. It can only rely on increasing the resolution of the equipment, which is subject to technical bottlenecks and cost limitations. Summary of the Invention

[0004] The present invention provides a method for encoding and decoding phase-shifted fringes, comprising:

[0005] Step S1: adaptively adjusting the parameters of the phase-shift fringe measurement equipment group through the intelligent parameter adjustment algorithm according to the measurement task, and collecting the phase-shift fringe image;

[0006] Step S2: Calculating the quality intelligent inspection value through intelligent inspection and optimization technology to verify and optimize the phase-shifted fringe image and generate a phase-shifted fringe image set;

[0007] Step S3, decomposing each phase-shift fringe image in the phase-shift fringe image set by using a phase-shift fringe decomposition coding technique to generate decomposed sub-fringe images;

[0008] Step S4, calculating the self-calibration correction value based on the decomposed sub-fringe and restoring the original phase-shifted fringe image by using the decomposed fringe reconstruction technology;

[0009] Step S5: Calculate the modulation phase value based on the original phase-shifted fringe image by using the phase-shifted fringe decoding technology to perform three-dimensional reconstruction.

[0010] The above-mentioned method for encoding and decoding phase-shifted fringes, wherein the parameters of the phase-shifted fringe measurement equipment group are adaptively adjusted by the intelligent parameter adjustment algorithm according to the measurement task, and the phase-shifted fringe image is collected, includes the following sub-steps:

[0011] Step S11: Analyze the measurement task and obtain key measurement parameters;

[0012] Step S12: adaptively adjusting the phase shift fringe measurement equipment group parameters through the intelligent environment parameter adjustment algorithm according to the key measurement parameters;

[0013] Step S13: sequentially collecting phase-shift fringe images using a phase-shift fringe measurement device group.

[0014] The above-mentioned method for encoding and decoding phase-shifted fringe images, wherein each phase-shifted fringe image in the phase-shifted fringe image set is decomposed by using the phase-shifted fringe decomposition coding technology to generate decomposed sub-fringe images, includes the following sub-steps:

[0015] Step S31, analyzing the phase-shift fringe image set to obtain phase-shift fringe detailed information;

[0016] Step S32: Decompose each phase-shift fringe image in the phase-shift fringe image set according to the phase-shift fringe detailed information by using a phase-shift fringe decomposition coding technology to generate decomposed sub-fringe images.

[0017] In the above-mentioned method for encoding and decoding phase-shifted fringe images, restoring the original phase-shifted fringe image by decomposing the sub-fringe images through the fringe decomposition reconstruction technique includes the following sub-steps:

[0018] Step S41, obtaining a decomposed sub-fringe image by using a phase-shift fringe measurement device group according to the decomposed sub-fringe;

[0019] Step S42, calculating a self-calibration correction value according to the decomposed sub-fringe image using a fringe self-calibration correction algorithm;

[0020] Step S43: Restore the original phase-shifted fringe image by a decomposition and reconstruction algorithm according to the decomposed sub-fringe images and the self-calibration correction value.

[0021] The above-mentioned method for encoding and decoding phase-shifted fringe images, wherein the modulation phase value is calculated by the phase-shifted fringe decoding technology based on the original phase-shifted fringe image, and three-dimensional reconstruction is performed, includes the following sub-steps:

[0022] Step S51, calculating the modulation phase value by using the phase-shift fringe decoding technology according to the original phase-shift fringe image;

[0023] Step S52: Perform three-dimensional reconstruction using phase unwrapping technology according to the modulation phase value.

[0024] The present invention also provides a phase-shift fringe encoding and decoding system, comprising:

[0025] The image acquisition module adaptively adjusts the parameters of the phase-shift fringe measurement equipment group through the intelligent parameter adjustment algorithm according to the measurement task and collects the phase-shift fringe image;

[0026] The image intelligent inspection and optimization module verifies and optimizes the phase-shift fringe image by calculating the quality intelligent inspection value through intelligent inspection and optimization technology, and generates a phase-shift fringe image set;

[0027] The fringe decomposition module decomposes each phase-shift fringe image in the phase-shift fringe image set by using the phase-shift fringe decomposition coding technology to generate decomposed sub-fringe;

[0028] An image restoration module calculates self-calibration correction values based on the decomposed sub-fringe and restores the original phase-shifted fringe image through the decomposed fringe reconstruction technology;

[0029] The 3D reconstruction module calculates the modulation phase value based on the original phase-shifted fringe image through the phase-shifted fringe decoding technology to perform 3D reconstruction.

[0030] In the above-mentioned phase-shift fringe encoding and decoding system, the image acquisition module specifically includes:

[0031] The task analysis submodule analyzes the measurement task and obtains key measurement parameters;

[0032] The device parameter adaptive adjustment submodule adaptively adjusts the phase shift fringe measurement device group parameters based on the key measurement parameters through the intelligent parameter adjustment algorithm;

[0033] The image acquisition submodule collects phase-shift fringe images in sequence through a phase-shift fringe measurement device group.

[0034] In the above-mentioned phase-shift fringe encoding and decoding system, the fringe decomposition module specifically includes:

[0035] An image analysis submodule analyzes the phase-shift fringe image set to obtain detailed information on the phase-shift fringe;

[0036] The decomposition sub-fringe acquisition sub-module decomposes each phase-shift fringe image in the phase-shift fringe image set according to the detailed information of the phase-shift fringe by using the phase-shift fringe decomposition coding technology to generate decomposition sub-fringe.

[0037] In the above-mentioned phase-shift fringe encoding and decoding system, the image restoration module specifically includes:

[0038] A decomposed sub-fringe image acquisition submodule is configured to acquire a decomposed sub-fringe image through a phase-shift fringe measurement device group according to the decomposed sub-fringe;

[0039] A self-calibration correction value acquisition submodule calculates a self-calibration correction value based on the decomposed sub-fringe image using a fringe self-calibration correction algorithm;

[0040] The phase-shift fringe image restoration submodule restores the original phase-shift fringe image through a decomposition and reconstruction algorithm based on the decomposed sub-fringe images and the self-calibration correction value.

[0041] In the above-mentioned phase-shift fringe encoding and decoding system, the three-dimensional reconstruction module specifically includes:

[0042] The modulation phase value acquisition submodule calculates the modulation phase value based on the original phase-shifted fringe image through the phase-shifted fringe decoding technology;

[0043] The 3D reconstruction submodule performs 3D reconstruction based on the modulation phase value through phase unwrapping technology.

[0044] The beneficial effects achieved by the present invention are as follows: the present invention can improve the decoding stability and accuracy through phase-shift fringe encoding and decoding technology based on the core factors affecting the accuracy of phase-shift fringe, thereby greatly improving the phase-shift fringe decoding accuracy and three-dimensional reconstruction quality, reducing equipment configuration requirements, and effectively saving costs, bringing efficient and economical technological innovation to the field of industrial automation three-dimensional reconstruction, and has significant application advantages and broad market prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments described in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0046] Figure 1 This is a flow chart of a method for encoding and decoding phase-shifted fringes provided in Example 1 of the present application;

[0047] Figure 2 This is a schematic diagram of a phase-shift stripe encoding and decoding system provided in Example 2 of the present application. DETAILED DESCRIPTION

[0048] The following is a clear and complete description of the technical solutions in the embodiments of the present invention, in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0049] Example 1

[0050] like Figure 1 As shown, the first embodiment of the present application provides a method for encoding and decoding phase-shifted fringes, the method comprising the following steps:

[0051] Step S1: adaptively adjusting the parameters of the phase-shift fringe measurement equipment group through the intelligent parameter adjustment algorithm according to the measurement task, and collecting the phase-shift fringe image;

[0052] Furthermore, according to the measurement task, the parameters of the phase-shift fringe measurement equipment group are adaptively adjusted by the intelligent parameter adjustment algorithm, and the phase-shift fringe image is collected, which includes the following sub-steps:

[0053] Step S11: Analyze the measurement task and obtain key measurement parameters;

[0054] Specifically, the key measurement parameters include, but are not limited to, measurement accuracy requirement parameters, measurement object surface feature parameters, measurement range parameters, measurement environment parameters, and the step size and frequency of the phase shift fringes.

[0055] Step S12: adaptively adjusting the phase shift fringe measurement equipment group parameters through the intelligent environment parameter adjustment algorithm according to the key measurement parameters;

[0056] Specifically, the phase-shift fringe measurement equipment group includes a projector, a 2D camera, and an intelligent fill light device.

[0057] The specific implementation method of the intelligent environment parameter adjustment algorithm is as follows:

[0058] The ambient light sensor collects ambient light data in real time and uses the intelligent light balance adjustment formula Calculate the real-time light balance adjustment value of the intelligent fill light device, where: is the light balance adjustment value, The minimum light adjustment intensity of the intelligent fill light device. The maximum light adjustment intensity of the intelligent fill light device. The ambient light intensity collected by the ambient light sensor, is the minimum light intensity of the phase-shifted fringe image projection acquisition environment, is the maximum light intensity of the phase-shifted fringe image projection acquisition environment, Is the light balance adjustment factor, the intelligent fill light device adjusts the value according to the light balance Adjust the fill light brightness, angle and color in real time. The intelligent fill light device adjusts the value according to the light balance Adjust the light intensity of the image projection acquisition environment.

[0059] Adjust the value according to the light balance And measure key parameters through the intelligent environment parameter adjustment formula Real-time calculation of intelligent environment parameter values, including: is the parameter value of the wisdom realm, is the 2D camera parameter adjustment coefficient, The number of parameters that need to be adjusted for a 2D camera, The value range is , For the The parameter values of the 2D camera need to be adjusted. Adjust the value for light balance For the first The adjustment factor of the parameters that need to be adjusted for each 2D camera, To measure key parameters The adjustment weights of the parameters of each 2D camera need to be adjusted. For the The number of key measurement parameters that need to be adjusted for each 2D camera, The value range is , For the The 2D camera needs to adjust the parameters to adjust the The sub-adjustment weights of the key parameters of the measurement, For the The 2D camera needs to adjust the parameters to adjust the The key parameter values of the measurement are For the The 2D camera needs to adjust the parameters to adjust the An adjustment factor for a key measurement parameter, is the projector parameter adjustment coefficient, The number of parameters that need to be adjusted for the projector, The value range is , For the Each projector needs to adjust the parameter value. Adjust the value for light balance For the first The adjustment factor of the parameters that need to be adjusted for each projector, To measure key parameters The adjustment weights of the parameters that need to be adjusted for each projector, For the The number of key measurement parameters that need to be adjusted for each projector, The value range is , For the The parameters of the projector need to be adjusted. The sub-adjustment weights of the key parameters of the measurement, For the The parameters of the projector need to be adjusted. The key parameter values of the measurement are For the The projector needs to adjust the parameters to adjust the An adjustment factor for a key measurement parameter.

[0060] The parameters that need to be adjusted for the 2D camera include but are not limited to exposure time, gain, and aperture, and the parameters that need to be adjusted for the projector include but are not limited to projection brightness, fringe frequency, and phase shift step.

[0061] According to the intelligent environment parameter value The projector parameters and 2D camera parameters and their adjustable parameter ranges are trained by machine learning technology to train the adaptive parameter adjustment model, so that it can output the adjustment parameters of the projector and 2D camera in real time according to the real-time input intelligent environment parameter values. The projector and 2D camera adaptively adjust their operating parameters according to the adjustment parameters.

[0062] Step S13, sequentially collecting phase-shift fringe images using a phase-shift fringe measurement device group;

[0063] Specifically, the projector accurately projects the phase-shift fringe pattern onto the surface of the measured object in sequence, and the 2D camera synchronously collects phase-shift fringe images with the object's morphology information in sequence. During the image projection and collection, the operating parameters of the phase-shift fringe measurement equipment group are adjusted in real time through the intelligent parameter adjustment algorithm to ensure that the projection and collection parameters of each phase-shift fringe image are the same.

[0064] Step S2: Calculating the quality intelligent inspection value through intelligent inspection and optimization technology to verify and optimize the phase-shifted fringe image and generate a phase-shifted fringe image set;

[0065] Specifically, the specific implementation method of the intelligent inspection and optimal collection technology is to calculate the quality intelligent inspection value of each phase-shift fringe image through the phase-shift fringe intelligent inspection formula, set the quality verification threshold according to the measurement task, compare the quality intelligent inspection value of each phase-shift fringe image with the quality verification threshold, judge whether the collected phase-shift fringe image meets the image acquisition requirements of the measurement task, and use the phase-shift fringe image that meets the image acquisition requirements as a high-quality phase-shift fringe image. The phase-shift fringe image that does not meet the image acquisition requirements is re-projected and collected through the phase-shift fringe measurement equipment group and verified through the phase-shift fringe intelligent inspection formula to finally become a high-quality phase-shift fringe image, and a phase-shift fringe image set is constructed based on the high-quality phase-shift fringe image.

[0066] Furthermore, the expression of the phase-shift fringe intelligent detection formula is as follows: in, is the quality inspection value, is the number of sub-image areas of the phase-shifted fringe image, is the contrast quality verification weight coefficient, For the The contrast quality verification sub-weight coefficient of the sub-image area, For the The contrast value of the sub-image area, For the Contrast quality verification scoring factor for sub-image regions, The weight coefficient for clarity quality verification, For the The clarity quality verification sub-weight coefficient of the sub-image area, For the The clarity value of the sub-image area, For the The clarity quality verification scoring factor of each sub-image area, is the uniformity quality verification weight coefficient, For the The uniformity quality verification sub-weight coefficient of the sub-image area, For the The uniformity value of the sub-image area, For the Uniformity quality verification scoring factor for each sub-image region, is the noise quality verification weight coefficient, For the The noise quality verification sub-weight coefficient of the sub-image area, For the The noise value of the sub-image area, For the Noise quality verification scoring factor for each sub-image region.

[0067] Step S3, decomposing each phase-shift fringe image in the phase-shift fringe image set by using a phase-shift fringe decomposition coding technique to generate decomposed sub-fringe images;

[0068] Furthermore, each phase-shift fringe image in the phase-shift fringe image set is decomposed by using a phase-shift fringe decomposition coding technique to generate decomposed sub-fringe images, including the following sub-steps:

[0069] Step S31, analyzing the phase-shift fringe image set to obtain phase-shift fringe detailed information;

[0070] Specifically, the detailed information of the phase-shifted stripes includes the projected stripe period of each phase-shifted stripe image, stripe pixel position information, grayscale value difference between adjacent pixels, consistency of grayscale value changes of multiple adjacent pixels, and light intensity information, etc., providing a data basis for subsequent operations.

[0071] Step S32: Decompose each phase-shift fringe image in the phase-shift fringe image set by using a phase-shift fringe decomposition coding technique according to the phase-shift fringe detailed information to generate decomposed sub-fringe images;

[0072] Specifically, the specific implementation method of the phase-shift fringe decomposition coding technology is to determine the peak and trough positions and the number of decomposed sub-stripes in the phase-shift fringe image based on the grayscale value difference between adjacent pixels and the consistency of the grayscale value changes of multiple adjacent pixels, set the peak value or trough value for one or more cycles on the other side of the peak or trough according to the actual needs of the measurement task, set the decomposition judgment conditions of each phase-shift fringe image according to the projection fringe period, pixel position information and light intensity value, and determine the combination method of the light intensity components, decompose each phase-shift fringe image through the decomposition coding algorithm of the phase-shift fringe coding technology to generate U*G decomposition sub-stripes, where U is the number of phase-shift fringe images and G is the number of decomposition sub-stripes after each phase-shift fringe image is decomposed.

[0073] The specific implementation method of the decomposition coding algorithm is as follows:

[0074] Construct a decomposition coding formula based on the gray value difference of adjacent pixels and the consistency of the gray value changes of multiple adjacent pixels ,in, For the Phase shift fringe image decomposition stripes, For the Phase shift fringe image at pixel point The light intensity value at is the extreme value detection function, For the Phase shift fringe image Decomposition sub-strip range selection function, For the Phase shift fringe image The decomposition sub-stripes periodic constraint function.

[0075] Extreme value detection function , where 1 represents a pixel is the extreme point, 0 represents the pixel point Not an extreme point. is the grayscale gradient, is a very small integer (used to exclude non-extreme areas), Pixel The local offset of Pixel The local neighborhood of Indicates the peak, Indicates the trough, Indicates the Phase shift fringe image at pixel point The light intensity value is the maximum value in the local neighborhood, marked as a peak. Indicates the Phase shift fringe image at pixel point The light intensity value is the minimum in the local neighborhood, marked as a trough.

[0076] No. Phase shift fringe image Decomposition sub-strip range selection function ,in, Represents pixel points The phase value at (the range is ), Indicates the The number of decomposed sub-fringe patterns of the phase-shifted fringe image, Indicates the Phase shift fringe image decomposition sub-stripes, 1 represents the phase Belong to Phase shift fringe image decomposition sub-stripes, 0 represents the phase Does not belong to Phase shift fringe image decomposition stripes.

[0077] No. Phase shift fringe image Decomposition sub-strip periodicity constraint function ,in, Represents pixel points The phase value at (the range is ), is the extreme value mark ( The symbol is a wave crest. Marked as trough), is the number of cycles to be retained, Indicates the The number of decomposed sub-stripes of the amplitude-phase shifted fringe image. 1 means that the periodic constraint is satisfied, and 0 means that the periodic constraint is not satisfied.

[0078] Each phase-shifted fringe image is decomposed by the decomposition coding formula, and the sub-fringe output formula is decomposed by the decomposition coding formula. Put the decomposed sub-stripes into a set, where represents the set of decomposed sub-stripes, Indicates the Phase shift fringe image decomposition sub-stripes. U is the number of phase-shifted fringe images, and G is the number of decomposition sub-stripes after each phase-shifted fringe image is decomposed.

[0079] Step S4, calculating the self-calibration correction value based on the decomposed sub-fringe and restoring the original phase-shifted fringe image by using the decomposed fringe reconstruction technology;

[0080] Furthermore, restoring the original phase-shifted fringe image by using the decomposition fringe reconstruction technique according to the decomposed sub-fringe includes the following sub-steps:

[0081] Step S41, obtaining a decomposed sub-fringe image by using a phase-shift fringe measurement device group according to the decomposed sub-fringe;

[0082] Specifically, the projector accurately projects the decomposed sub-fringe pattern onto the surface of the measured object in sequence, and the 2D camera synchronously collects the decomposed sub-fringe images in sequence.

[0083] Step S42, calculating a self-calibration correction value according to the decomposed sub-fringe image using a fringe self-calibration correction algorithm;

[0084] Specifically, the fringe characteristics are extracted according to the decomposed sub-fringe image, and the calibration adjustment algorithm is adjusted according to the characteristics of the phase-shift fringe measurement device group, the fringe characteristics, the measurement object characteristics and the measurement environment. Calculate the self-calibration correction value for each phase-shifted fringe image, where is the self-calibration correction value, is the weight coefficient of the influence of the phase shift fringe measurement equipment group characteristics on the measurement accuracy, is the amount of influence of the phase-shift fringe measurement equipment group characteristics on the measurement accuracy, For the The sub-weight coefficients of the influence of the characteristics of the phase-shift fringe measurement equipment group on the measurement accuracy, For the The error impact value of the characteristics of the phase-shift fringe measurement equipment group on the measurement accuracy, is the weight coefficient of the influence of fringe characteristics on measurement accuracy, is the amount by which the fringe characteristics affect the measurement accuracy, For the The weight coefficient of the influence of each fringe characteristic on the measurement accuracy, For the The error impact value of each fringe characteristic on the measurement accuracy, is the weight coefficient of the influence of the characteristics of the measuring object on the measurement accuracy, To measure the amount by which the characteristics of the object affect the measurement accuracy, For the The weight coefficient of the influence of the characteristics of the measured object on the measurement accuracy, For the The error impact value of the characteristics of the measured object on the measurement accuracy, is the weight coefficient of the influence of the measurement environment on the measurement accuracy, is the amount of influence of the measurement environment on the measurement accuracy, For the The weight coefficient of the influence of each measurement environment on the measurement accuracy, For the The error impact value of the measurement environment on the measurement accuracy.

[0085] Step S43, restoring the original phase-shifted fringe image by a decomposition and reconstruction algorithm according to the decomposed sub-fringe images and the self-calibration correction value;

[0086] Specifically, the decomposition and reconstruction algorithm is used according to the decomposition sub-strip image and the self-calibration correction value. Restore the original phase-shifted fringe image, where is the restored original phase-shifted fringe image, is the number of images to be restored, The value range is , For the The number of decomposed sub-strip images of the image to be restored, For the The first image to be restored decomposed sub-fringe image, For the The self-calibration correction value of the image to be restored.

[0087] Step S5: Calculate the modulation phase value based on the original phase-shifted fringe image by using the phase-shifted fringe decoding technology to perform three-dimensional reconstruction;

[0088] Furthermore, the modulation phase value is calculated based on the original phase-shifted fringe image by using the phase-shifted fringe decoding technology, and three-dimensional reconstruction includes the following sub-steps:

[0089] Step S51, calculating the modulation phase value by using the phase-shift fringe decoding technology according to the original phase-shift fringe image;

[0090] Specifically, according to the original phase-shift fringe image, the phase-shift fringe decoding formula Calculate the modulation phase value, where is the modulation phase value, is the number of original phase-shifted fringe images, The value range is , For the The original phase-shifted fringe image intensity, For the The phase shift amount of the original phase-shifted fringe image.

[0091] Step S52: Perform three-dimensional reconstruction using phase unwrapping technology according to the modulation phase value;

[0092] Specifically, the modulation phase value calculated by the inverse tangent function is exist The periodic phase wrapping phenomenon causes the phase distribution to appear discontinuously stepped. The wrapped modulated phase value is unwrapped through phase unwrapping technology, and the truncated wrapped phase is restored to a continuous phase distribution that reflects the actual change of physical quantity. A phase-three-dimensional coordinate mapping relationship is established to convert the phase value of each point into a three-dimensional coordinate, and construct a three-dimensional model that meets the requirements.

[0093] Example 2

[0094] like Figure 2 As shown, the second embodiment of the present application provides a phase-shift fringe encoding and decoding system, including:

[0095] Image acquisition module 21, adaptively adjusts the parameters of the phase-shift fringe measurement equipment group through the intelligent environment parameter adjustment algorithm according to the measurement task, and collects the phase-shift fringe image;

[0096] Furthermore, the image acquisition module 21 includes the following submodules:

[0097] The task analysis submodule analyzes the measurement task and obtains key measurement parameters;

[0098] Specifically, the key measurement parameters include, but are not limited to, measurement accuracy requirement parameters, measurement object surface feature parameters, measurement range parameters, measurement environment parameters, and the step size and frequency of the phase shift fringes.

[0099] The device parameter adaptive adjustment submodule adaptively adjusts the phase shift fringe measurement device group parameters based on the key measurement parameters through the intelligent parameter adjustment algorithm;

[0100] Specifically, the phase-shift fringe measurement equipment group includes a projector, a 2D camera, and an intelligent fill light device.

[0101] The specific implementation method of the intelligent environment parameter adjustment algorithm is as follows:

[0102] The ambient light sensor collects ambient light data in real time and uses the intelligent light balance adjustment formula Calculate the real-time light balance adjustment value of the intelligent fill light device, where: is the light balance adjustment value, The minimum light adjustment intensity of the intelligent fill light device. The maximum light adjustment intensity of the intelligent fill light device. The ambient light intensity collected by the ambient light sensor, is the minimum light intensity of the phase-shifted fringe image projection acquisition environment, is the maximum light intensity of the phase-shifted fringe image projection acquisition environment, Is the light balance adjustment factor, the intelligent fill light device adjusts the value according to the light balance Adjust the fill light brightness, angle and color in real time. The intelligent fill light device adjusts the value according to the light balance Adjust the light intensity of the image projection acquisition environment.

[0103] Adjust the value according to the light balance And measure key parameters through the intelligent environment parameter adjustment formula Real-time calculation of intelligent environment parameter values, including: is the parameter value of the wisdom realm, is the 2D camera parameter adjustment coefficient, The number of parameters that need to be adjusted for a 2D camera, The value range is , For the The parameter values of the 2D camera need to be adjusted. Adjust the value for light balance For the first The adjustment factor of the parameters that need to be adjusted for each 2D camera, To measure key parameters The adjustment weights of the parameters of each 2D camera need to be adjusted. For the The number of key measurement parameters that need to be adjusted for each 2D camera, The value range is , For the The 2D camera needs to adjust the parameters to adjust the The sub-adjustment weights of the key parameters of the measurement, For the The 2D camera needs to adjust the parameters to adjust the The key parameter values of the measurement are For the The 2D camera needs to adjust the parameters to adjust the An adjustment factor for a key measurement parameter, is the projector parameter adjustment coefficient, The number of parameters that need to be adjusted for the projector, The value range is , For the Each projector needs to adjust the parameter value. Adjust the value for light balance For the first The adjustment factor of the parameters that need to be adjusted for each projector, To measure key parameters The adjustment weights of the parameters that need to be adjusted for each projector, For the The number of key measurement parameters that need to be adjusted for each projector, The value range is , For the The projector needs to adjust the parameters to adjust the The sub-adjustment weights of the key parameters of the measurement, For the The projector needs to adjust the parameters to adjust the The key parameter values of the measurement are For the The projector needs to adjust the parameters to adjust the An adjustment factor for a key measurement parameter.

[0104] The parameters that need to be adjusted for the 2D camera include but are not limited to exposure time, gain, and aperture, and the parameters that need to be adjusted for the projector include but are not limited to projection brightness, fringe frequency, and phase shift step.

[0105] According to the intelligent environment parameter value The projector parameters and 2D camera parameters and their adjustable parameter ranges are trained by machine learning technology to train the adaptive parameter adjustment model, so that it can output the adjustment parameters of the projector and 2D camera in real time according to the real-time input intelligent environment parameter values. The projector and 2D camera adaptively adjust their operating parameters according to the adjustment parameters.

[0106] An image acquisition submodule, which sequentially acquires phase-shift fringe images through a phase-shift fringe measurement device group;

[0107] Specifically, the projector accurately projects the phase-shift fringe pattern onto the surface of the measured object in sequence, and the 2D camera synchronously collects phase-shift fringe images with the object's morphology information in sequence. During the image projection and collection, the operating parameters of the phase-shift fringe measurement equipment group are adjusted in real time through the intelligent parameter adjustment algorithm to ensure that the projection and collection parameters of each phase-shift fringe image are the same.

[0108] The image intelligent inspection and optimization module 22 verifies and optimizes the phase-shift fringe image by calculating the quality intelligent inspection value through intelligent inspection and optimization technology, and generates a phase-shift fringe image set;

[0109] Specifically, the specific implementation method of the intelligent inspection and optimal collection technology is to calculate the quality intelligent inspection value of each phase-shift fringe image through the phase-shift fringe intelligent inspection formula, set the quality verification threshold according to the measurement task, compare the quality intelligent inspection value of each phase-shift fringe image with the quality verification threshold, judge whether the collected phase-shift fringe image meets the image acquisition requirements of the measurement task, and use the phase-shift fringe image that meets the image acquisition requirements as a high-quality phase-shift fringe image. The phase-shift fringe image that does not meet the image acquisition requirements is re-projected and collected through the phase-shift fringe measurement equipment group and verified through the phase-shift fringe intelligent inspection formula to finally become a high-quality phase-shift fringe image, and a phase-shift fringe image set is constructed based on the high-quality phase-shift fringe image.

[0110] Furthermore, the expression of the phase-shift fringe intelligent detection formula is as follows: in, is the quality inspection value, is the number of sub-image areas of the phase-shifted fringe image, is the contrast quality verification weight coefficient, For the The contrast quality verification sub-weight coefficient of the sub-image area, For the The contrast value of the sub-image area, For the Contrast quality verification scoring factor for sub-image regions, The weight coefficient for clarity quality verification, For the The clarity quality verification sub-weight coefficient of the sub-image area, For the The clarity value of the sub-image area, For the The clarity quality verification scoring factor of each sub-image area, is the uniformity quality verification weight coefficient, For the The uniformity quality verification sub-weight coefficient of the sub-image area, For the The uniformity value of the sub-image area, For the Uniformity quality verification scoring factor for each sub-image region, is the noise quality verification weight coefficient, For the The noise quality verification sub-weight coefficient of the sub-image area, For the The noise value of the sub-image area, For the Noise quality verification scoring factor for each sub-image region.

[0111] The fringe decomposition module 23 decomposes each phase-shifted fringe image in the phase-shifted fringe image set by using the phase-shifted fringe decomposition coding technology to generate decomposed sub-fringe images;

[0112] Furthermore, the stripe decomposition module 23 includes the following submodules:

[0113] An image analysis submodule analyzes the phase-shift fringe image set to obtain detailed information on the phase-shift fringe;

[0114] Specifically, the detailed information of the phase-shifted stripes includes the projected stripe period of each phase-shifted stripe image, stripe pixel position information, grayscale value difference between adjacent pixels, consistency of grayscale value changes of multiple adjacent pixels, and light intensity information, etc., providing a data basis for subsequent operations.

[0115] The sub-fringe decomposition acquisition sub-module decomposes each phase-shift fringe image in the phase-shift fringe image set according to the detailed information of the phase-shift fringe by using the phase-shift fringe decomposition coding technology to generate decomposed sub-fringe;

[0116] Specifically, the specific implementation method of the phase-shift fringe decomposition coding technology is to determine the peak and trough positions and the number of decomposed sub-stripes in the phase-shift fringe image based on the grayscale value difference between adjacent pixels and the consistency of the grayscale value changes of multiple adjacent pixels, set the peak value or trough value for one or more cycles on the other side of the peak or trough according to the actual needs of the measurement task, set the decomposition judgment conditions of each phase-shift fringe image according to the projection fringe period, pixel position information and light intensity value, and determine the combination method of the light intensity components, decompose each phase-shift fringe image through the decomposition coding algorithm of the phase-shift fringe coding technology to generate U*G decomposition sub-stripes, where U is the number of phase-shift fringe images and G is the number of decomposition sub-stripes after each phase-shift fringe image is decomposed.

[0117] The specific implementation method of the decomposition coding algorithm is as follows:

[0118] Construct a decomposition coding formula based on the gray value difference of adjacent pixels and the consistency of the gray value changes of multiple adjacent pixels ,in, For the Phase shift fringe image decomposition stripes, For the Phase shift fringe image at pixel point The light intensity value at is the extreme value detection function, For the Phase shift fringe image Decomposition sub-strip range selection function, For the Phase shift fringe image The decomposition sub-stripes periodic constraint function.

[0119] Extreme value detection function , where 1 represents a pixel is the extreme point, 0 represents the pixel point Not an extreme point. is the grayscale gradient, is a very small integer (used to exclude non-extreme areas), Pixel The local offset of Pixel The local neighborhood of Indicates the peak, Indicates the trough, Indicates the Phase shift fringe image at pixel point The light intensity value is the maximum value in the local neighborhood, marked as a peak. Indicates the Phase shift fringe image at pixel point The light intensity value is the minimum in the local neighborhood, marked as a trough.

[0120] No. Phase shift fringe image Decomposition sub-strip range selection function ,in, Represents pixel points The phase value at (the range is ), Indicates the The number of decomposed sub-fringe patterns of the phase-shifted fringe image, Indicates the Phase shift fringe image decomposition sub-stripes, 1 represents the phase Belong to Phase shift fringe image decomposition sub-stripes, 0 represents the phase Does not belong to Phase shift fringe image decomposition stripes.

[0121] No. Phase shift fringe image Decomposition sub-strip periodicity constraint function ,in, Represents pixel points The phase value at (the range is ), is the extreme value mark ( The symbol is a wave crest. Marked as trough), is the number of cycles to be retained, Indicates the The number of decomposed sub-stripes of the amplitude-phase shifted fringe image. 1 means that the periodic constraint is satisfied, and 0 means that the periodic constraint is not satisfied.

[0122] Each phase-shifted fringe image is decomposed by the decomposition coding formula, and the sub-fringe output formula is decomposed by the decomposition coding formula. Put the decomposed sub-stripes into a set, where represents the set of decomposed sub-stripes, Indicates the Phase shift fringe image decomposition sub-stripes. U is the number of phase-shifted fringe images, and G is the number of decomposition sub-stripes after each phase-shifted fringe image is decomposed.

[0123] An image restoration module 24 is configured to restore the original phase-shifted fringe image by calculating the self-calibration correction value based on the decomposed sub-fringe and using a decomposed fringe reconstruction technique;

[0124] Furthermore, the image restoration module 24 includes the following submodules:

[0125] A decomposed sub-fringe image acquisition submodule is configured to acquire a decomposed sub-fringe image through a phase-shift fringe measurement device group according to the decomposed sub-fringe;

[0126] Specifically, the projector accurately projects the decomposed sub-fringe pattern onto the surface of the measured object in sequence, and the 2D camera synchronously collects the decomposed sub-fringe images in sequence.

[0127] A self-calibration correction value acquisition submodule calculates a self-calibration correction value based on the decomposed sub-fringe image using a fringe self-calibration correction algorithm;

[0128] Specifically, the fringe characteristics are extracted according to the decomposed sub-fringe image, and the calibration adjustment algorithm is adjusted according to the characteristics of the phase-shift fringe measurement device group, the fringe characteristics, the measurement object characteristics and the measurement environment. Calculate the self-calibration correction value for each phase-shifted fringe image, where is the self-calibration correction value, is the weight coefficient of the influence of the phase shift fringe measurement equipment group characteristics on the measurement accuracy, is the amount of influence of the phase-shift fringe measurement equipment group characteristics on the measurement accuracy, For the The sub-weight coefficients of the influence of the characteristics of the phase-shift fringe measurement equipment group on the measurement accuracy, For the The error impact value of the characteristics of the phase-shift fringe measurement equipment group on the measurement accuracy, is the weight coefficient of the influence of fringe characteristics on measurement accuracy, is the amount by which the fringe characteristics affect the measurement accuracy, For the The weight coefficient of the influence of each fringe characteristic on the measurement accuracy, For the The error impact value of each fringe characteristic on the measurement accuracy, is the weight coefficient of the influence of the characteristics of the measuring object on the measurement accuracy, To measure the amount by which the characteristics of the object affect the measurement accuracy, For the The weight coefficient of the influence of the characteristics of the measured object on the measurement accuracy, For the The error impact value of the characteristics of the measured object on the measurement accuracy, is the weight coefficient of the influence of the measurement environment on the measurement accuracy, is the amount of influence of the measurement environment on the measurement accuracy, For the The weight coefficient of the influence of each measurement environment on the measurement accuracy, For the The error impact value of the measurement environment on the measurement accuracy.

[0129] The phase-shift fringe image restoration submodule restores the original phase-shift fringe image through a decomposition and reconstruction algorithm based on the decomposed sub-fringe images and the self-calibration correction value;

[0130] Specifically, the decomposition and reconstruction algorithm is used according to the decomposition sub-strip image and the self-calibration correction value. Restore the original phase-shifted fringe image, where is the restored original phase-shifted fringe image, is the number of images to be restored, The value range is , For the The number of decomposed sub-strip images of the image to be restored, For the The first image to be restored decomposed sub-fringe image, For the The self-calibration correction value of the image to be restored.

[0131] A 3D reconstruction module 25 calculates the modulation phase value based on the original phase-shifted fringe image by using a phase-shifted fringe decoding technique to perform 3D reconstruction;

[0132] Furthermore, the 3D reconstruction module 25 includes the following submodules:

[0133] The modulation phase value acquisition submodule calculates the modulation phase value based on the original phase-shifted fringe image through the phase-shifted fringe decoding technology;

[0134] Specifically, according to the original phase-shift fringe image, the phase-shift fringe decoding formula Calculate the modulation phase value, where is the modulation phase value, is the number of original phase-shifted fringe images, The value range is , For the The original phase-shifted fringe image intensity, For the The phase shift amount of the original phase-shifted fringe image.

[0135] The 3D reconstruction submodule performs 3D reconstruction based on the modulation phase value using phase unwrapping technology;

[0136] Specifically, the modulation phase value calculated by the inverse tangent function is exist The periodic phase wrapping phenomenon causes the phase distribution to appear discontinuously stepped. The wrapped modulated phase value is unwrapped through phase unwrapping technology, and the truncated wrapped phase is restored to a continuous phase distribution that reflects the actual change of physical quantity. A phase-three-dimensional coordinate mapping relationship is established to convert the phase value of each point into a three-dimensional coordinate, and construct a three-dimensional model that meets the requirements.

[0137] Corresponding to the above embodiment, an embodiment of the present invention provides a computer storage medium, comprising: at least one memory and at least one processor;

[0138] The memory is used to store one or more program instructions;

[0139] The processor is used for running one or more program instructions to execute a method for encoding and decoding phase-shifted fringes.

[0140] Corresponding to the above embodiment, an embodiment of the present invention provides a computer-readable storage medium, which contains one or more program instructions, and the one or more program instructions are used by a processor to execute a method for encoding and decoding phase-shifted stripes.

[0141] The embodiments disclosed in the present invention provide a computer-readable storage medium, in which computer program instructions are stored. When the computer program instructions are executed on a computer, the computer executes the above-mentioned phase-shift fringe encoding and decoding method.

[0142] In the embodiments of the present invention, the processor may be an integrated circuit chip having signal processing capabilities. The processor may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0143] The methods, steps, and logic diagrams disclosed in the embodiments of the present invention can be implemented or executed. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of the present invention can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules within the decoding processor. The software modules can be located in a storage medium well-established in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. The processor reads the information from the storage medium and, in conjunction with its hardware, completes the steps of the aforementioned methods.

[0144] The storage medium may be a memory and may be, for example, a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memory.

[0145] Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory.

[0146] Volatile memory may be random access memory (RAM), which is used as an external cache memory. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DRRAM).

[0147] The storage media described in the embodiments of the present invention are intended to include, but are not limited to, these and any other suitable types of memory.

[0148] Those skilled in the art will appreciate that in one or more of the above examples, the functions described herein can be implemented using a combination of hardware and software. When software is used, the corresponding functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media includes any medium that facilitates the transmission of computer programs from one place to another. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0149] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made on the basis of the technical solution of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for encoding and decoding phase-shifted fringes, characterized in that: include: Step S1: adaptively adjusting the parameters of the phase-shift fringe measurement equipment group through the intelligent parameter adjustment algorithm according to the measurement task, and collecting the phase-shift fringe image; The phase-shift fringe measurement equipment set includes a projector, a 2D camera, and an intelligent fill light device; Collect ambient light data in real time, calculate the real-time light balance adjustment value of the intelligent fill light device, calculate the intelligent environment parameter value in real time based on the light balance adjustment value and the measured key parameters, and output the adjustment parameters of the projector and 2D camera in real time based on the real-time input intelligent environment parameter value; Step S2: Calculating a quality intelligent inspection value through intelligent inspection and optimization technology to verify and optimize the phase-shift fringe image and generate a phase-shift fringe image set. The intelligent inspection and optimization technology specifically comprises: calculating a quality intelligent inspection value for each phase-shift fringe image, comparing the quality intelligent inspection value of each phase-shift fringe image with a quality verification threshold, determining whether the acquired phase-shift fringe image meets the image acquisition requirements of the measurement task, and selecting phase-shift fringe images that meet the image acquisition requirements as high-quality phase-shift fringe images. Phase-shift fringe images that do not meet the image acquisition requirements are re-projected and verified to become high-quality phase-shift fringe images. Step S3, decomposing each phase-shift fringe image in the phase-shift fringe image set by using a phase-shift fringe decomposition coding technique to generate decomposed sub-fringe images; The phase-shift fringe decomposition and encoding technology method is as follows: based on the grayscale value difference between adjacent pixels and the consistency of the grayscale value changes of multiple adjacent pixels, the peak and trough positions in the phase-shift fringe image and the number of decomposed sub-fringe stripes are determined. According to the actual requirements of the measurement task, the peak value or trough value is set on the other side of the peak or trough to maintain one or more cycles. The decomposition judgment conditions of each phase-shift fringe image are set according to the projected fringe period, pixel position information and light intensity value, and the combination method of the light intensity components is determined. Each phase-shift fringe image is decomposed to generate multiple decomposed sub-fringe stripes. Step S4, calculating the self-calibration correction value based on the decomposed sub-fringe and restoring the original phase-shifted fringe image by the decomposed fringe reconstruction technology; specifically, Restore the original phase-shifted fringe image, where is the restored original phase-shifted fringe image, is the number of images to be restored, The value range is , For the The number of decomposed sub-strip images of the image to be restored, For the The first image to be restored decomposed sub-fringe image, For the The self-calibration correction value of the image to be restored; Step S5: Calculate the modulation phase value based on the original phase-shift fringe image by using the phase-shift fringe decoding technology to perform three-dimensional reconstruction; specifically, Calculate the modulation phase value, where is the modulation phase value, is the number of original phase-shifted fringe images, The value range is , For the The original phase-shifted fringe image intensity, For the The phase shift amount of the original phase-shifted fringe image.

2. The method for encoding and decoding phase-shifted fringes according to claim 1, wherein: According to the measurement task, the parameters of the phase-shift fringe measurement equipment set are adaptively adjusted using the intelligent parameter adjustment algorithm. The acquisition of the phase-shift fringe image includes the following sub-steps: Step S11: Analyze the measurement task and obtain key measurement parameters; Step S12: adaptively adjusting the phase shift fringe measurement equipment group parameters through the intelligent environment parameter adjustment algorithm according to the key measurement parameters; Step S13: sequentially collecting phase-shift fringe images using a phase-shift fringe measurement device group.

3. A phase-shift fringe encoding and decoding system, characterized in that: include: The image acquisition module adaptively adjusts the parameters of the phase-shift fringe measurement equipment group through the intelligent parameter adjustment algorithm according to the measurement task and collects the phase-shift fringe image; The phase-shift fringe measurement equipment set includes a projector, a 2D camera, and an intelligent fill light device; Collect ambient light data in real time, calculate the real-time light balance adjustment value of the intelligent fill light device, calculate the intelligent environment parameter value in real time based on the light balance adjustment value and the measured key parameters, and output the adjustment parameters of the projector and 2D camera in real time based on the real-time input intelligent environment parameter value; The image intelligent inspection and optimization module verifies and optimizes the phase-shift fringe image by calculating the quality intelligent inspection value through intelligent inspection and optimization technology, and generates a phase-shift fringe image set. The intelligent inspection and optimization technology specifically calculates the quality intelligent inspection value of each phase-shift fringe image, compares the quality intelligent inspection value of each phase-shift fringe image with the quality verification threshold, and determines whether the acquired phase-shift fringe image meets the image acquisition requirements of the measurement task. Phase-shift fringe images that meet the image acquisition requirements are regarded as high-quality phase-shift fringe images, and phase-shift fringe images that do not meet the image acquisition requirements are re-projected and verified to become high-quality phase-shift fringe images. The fringe decomposition module decomposes each phase-shift fringe image in the phase-shift fringe image set by using the phase-shift fringe decomposition coding technology to generate decomposed sub-fringe; The phase-shift fringe decomposition and encoding technology method is as follows: based on the grayscale value difference between adjacent pixels and the consistency of the grayscale value changes of multiple adjacent pixels, the peak and trough positions in the phase-shift fringe image and the number of decomposed sub-fringe stripes are determined. According to the actual requirements of the measurement task, the peak value or trough value is set on the other side of the peak or trough to maintain one or more cycles. The decomposition judgment conditions of each phase-shift fringe image are set according to the projected fringe period, pixel position information and light intensity value, and the combination method of the light intensity components is determined. Each phase-shift fringe image is decomposed to generate multiple decomposed sub-fringe stripes. The image restoration module calculates the self-calibration correction value based on the decomposed sub-stripes and restores the original phase-shifted fringe image through the decomposed fringe reconstruction technology; specifically, Restore the original phase-shifted fringe image, where is the restored original phase-shifted fringe image, is the number of images to be restored, The value range is , For the The number of decomposed sub-strip images of the image to be restored, For the The first image to be restored decomposed sub-fringe image, For the The self-calibration correction value of the image to be restored; The 3D reconstruction module calculates the modulation phase value based on the original phase-shift fringe image through the phase-shift fringe decoding technology to perform 3D reconstruction. Calculate the modulation phase value, where is the modulation phase value, is the number of original phase-shifted fringe images, The value range is , For the The original phase-shifted fringe image intensity, For the The phase shift amount of the original phase-shifted fringe image.

4. The phase-shift fringe encoding and decoding system according to claim 3, wherein: Image acquisition module, specifically including: The task analysis submodule analyzes the measurement task and obtains key measurement parameters; The device parameter adaptive adjustment submodule adaptively adjusts the phase shift fringe measurement device group parameters based on the key measurement parameters through the intelligent parameter adjustment algorithm; The image acquisition submodule collects phase-shift fringe images in sequence through a phase-shift fringe measurement device group.

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