CN104897616B - The measuring method and system of the multispectral bidirectional reflectance distribution function of arbitrary shape sample - Google Patents
The measuring method and system of the multispectral bidirectional reflectance distribution function of arbitrary shape sample Download PDFInfo
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Abstract
The present invention relates to the measuring method and system of the multispectral bidirectional reflectance distribution function of arbitrary shape sample, wherein, the system includes beaded support, sample holder, array of source unit, array of rear-projectors unit, imaging spectrometer array element and central control server, gray code map picture is projected to testing sample by array of rear-projectors unit, then array of source unit projects the collimated light beam of different directions to testing sample, imaging spectrometer array element gathers the multispectral image of testing sample, central control server obtains the three-dimensional coordinate and normal of each sampled point on testing sample by handling the gray code map picture on testing sample surface, the multispectral bidirectional reflectance distribution function of testing sample is obtained by handling the multispectral image under different directions illumination condition；The present invention can measure the multispectral bidirectional reflectance distribution function data of arbitrary shape testing sample.
Description
Technical field
The present invention relates to a kind of optical gauge, specifically a kind of multispectral BRDF Measure System and
Method.
Background technology
Bidirectional reflectance distribution function (Bidirectional Reflectance Distribution Function, referred to as
BRDF spectral radiance dL of the micro- bin of body surface along outgoing) is referred tor(unit is W/ (m2Sr μm)) and along
Incident direction incides the spectral irradiance dE of measured surfacei(unit is W/ (m2μm)) ratio, as shown in figure 1, its formula
It is expressed as follows：
θ i and φ i represent zenith angle and the azimuth of incident direction respectively in formula, and θ r and φ r represent reflection direction respectively
Zenith angle and azimuth, a length of λ of incident light wave.Bidirectional reflectance distribution function, which is one, has the function of five dimensions.
Bidirectional reflectance distribution function generally is measured with omnidirectional's reflectance meter, it includes light source, sample clamping device, detection
Device and precision corner device.Wei Qingnong of Anbui Optical Machinery Inst., Chinese Academy of Sciences etc. establishes a set of full-automatic bidirectional reflection distribution letter
Number measuring system, can measure the polarization BRDF under nearly all angle in half spherical space.The Chinese Academy of Sciences
Changchun ray machine the measuring system of the completion such as Jin Xifeng can equally realize the measurement to bidirectional reflectance distribution function.It is domestic its
The research unit of his omnidirectional's reflectance meter mainly includes Harbin Institute of Technology, Xian Electronics Science and Technology University and Beijing Aviation space flight
University etc..These omnidirectional's reflectance meters are mainly used in studying scattering properties and its pass with material optical characteristics of typical material
System.Most of this kind of omnidirectional's reflectance meters use LASER Light Source, can only obtain the measured value of several discrete wavelength scattered lights；It is few
This quasi-instrument of number can measure wide range bidirectional reflectance distribution function by using wide spectrum light source and spectrophotometer.But it is this kind of complete
Special planar sample can only be measured to reflectance meter, it is impossible to measure arbitrary shape curved surface sample.
Method based on image-forming principle can be for measurement arbitrary shape curved surface sample.In the prior art, can be using solid
Optical point source, several are have taken by a mobile ccd video camera from some positions demarcated in advance and angle to same object
Photo, in the case of known object geometry data, the curved surface with uniform material is obtained by inverse rendering algorithm
The bidirectional reflectance distribution function of object；Light source can also be rotated in a plane using a pivoted arm, it is fixed by one
Camera shoots the measurement that photo realizes bidirectional reflectance distribution function to spherical sample；Can also be by by non-isotropic material
Bar samples are cut into by different surfaces grain direction, and these bar samples are pasted onto on a cylinder successively, are realized
The measurement of bidirectional reflectance distribution function is tieed up to non-isotropy object 4.The Spherical Gantry of Stanford University include two
Individual rotatable mechanical arm is to change the position of light source and camera relative to sample.Ma Zongquan of BJ University of Aeronautics ＆ Astronautics etc.
The polyphaser multiple light courcess array measurement system of foundation can be entered to the bidirectional reflectance distribution function of arbitrary shaped body uniform material
Row measurement.The advantage of this method is that measurement efficiency is high, can measure the sample of arbitrary shape, has the disadvantage only to support RGB color
Data acquisition on passage, spectral resolution is not high.This kind of measuring table generally requires to match somebody with somebody with a three-dimensional reconstruction system simultaneously
Work is closed, with the normal data for the sampled point for obtaining arbitrary shape sample surfaces, causes measurement efficiency relatively low.
To sum up, current existing BRDF Measure System mostly can only measurement plane sample it is multispectral double
To the bidirectional reflectance distribution function of Reflectance Distribution Function or arbitrary shape sample on tri- passages of RGB.Appoint without that can measure
The multispectral bidirectional reflectance distribution function measuring instrument of meaning shaped samples.
The content of the invention
The technical problems to be solved by the invention are the multispectral bidirectional reflectance distributions for the sample for how measuring arbitrary shape
Function.
For this purpose, the present invention, which is proposed, a kind of can measure the multispectral bidirectional reflectance distribution function of arbitrary shape sample
Multispectral BRDF Measure System and method.
The present invention provides a kind of multispectral BRDF Measure System, including：
Beaded support, for fixing LED collimation light source, imaging spectrometer and projecting apparatus；
Sample holder, is arranged at the center of the beaded support, for carrying testing sample；
Array of source unit, including multiple LED collimation light sources, multiple LED collimation light sources are uniformly distributed in institute
State on beaded support, and the center of the optical axis sensing beaded support of each LED collimation light source, the array of source
Unit is used to project collimated light beam to the testing sample from different directions；
Array of rear-projectors unit, including multiple projecting apparatus, multiple projecting apparatus are uniformly distributed in the spherical branch
On frame, and the optical axis of each projecting apparatus points to the center of the beaded support, the array of rear-projectors unit be used for
The testing sample surface projects gray code map picture；
Imaging spectrometer array element, including multiple imaging spectrometers, multiple imaging spectrometers are uniformly distributed
In on the beaded support, and the optical axis of each imaging spectrometer points to the center of the beaded support, the imaging
Spectrometer array element be used for gather the testing sample by the projector projects gray code map as when or the LED collimation
Sample image when light source irradiates；
Central control server, for sending control signals to the array of source unit, the imaging spectrometer array
Unit and the array of rear-projectors unit, and the sample image gathered according to the imaging spectrometer array element, calculate each
The three-dimensional coordinate of sampled point, the normal of corresponding sampled point is calculated according to the three-dimensional coordinate, according to each three-dimensional coordinate and correspondingly
Method line computation described in all sampled points on testing sample multispectral bidirectional reflectance distribution function.
Alternatively, the array of rear-projectors unit also includes projection control server, and the projection control server is used for
The synchro measure signal is received, and one group of gray code map picture is exported to the projecting apparatus, each projecting apparatus is treated to described
Test sample product project the gray code map picture successively；
The imaging spectrometer array element also includes spectrometer and controls server, and the spectrometer control server is used for
Synchronous triggering signal is sent to all imaging spectrometers, so that the imaging spectrometer synchronous acquisition sample image；
The center control takes device, is additionally operable to control server and spectrometer control server to send to the projection
Synchro measure signal,
The coding on imaging spectrometer, projecting apparatus and gray code map picture is generated for each pixel in the sample image
(c, p, g), wherein c are the numbering of imaging spectrometer, and p is the numbering of projecting apparatus, and g is the corresponding Gray code of the pixel,
Determine the image plane coordinate set (x of the corresponding same sampled point of different sample images1,y1)、(x2,
y2)、……、(xm,ym), wherein, m is the imaging spectrometer quantity it is observed that this sampled point,
According to the internal reference of the CCD camera of the imaging spectrometer and outer ginseng and the image plane coordinate set of the sampled point
Close, determine the different sample image reflection direction set of vectors of the sampled point correspondence
The intersection point of the reflection direction set of vectors is calculated, the coordinate of the intersection point is the three-dimensional seat of the sampled point
Mark；
The central control server, is additionally operable to calculate the sampled point according to the set of the three-dimensional coordinate of the sampled point
Normal,
By the pixel coder of each sampled point, image plane coordinate set, reflection direction set of vectors, three-dimensional coordinate and
Normal is stored in a data structure.
Alternatively, the imaging spectrometer array element also includes IMAQ isochronous controller；
The array of source unit also includes light source control server；
The multispectral BRDF Measure System also includes：
Wherein, the central control server, is additionally operable to send light source control signal to the light source control server,
The light source control server, for switching the LED collimation light one by one according to light source control signal control
Source；
The central control server, gathers synchronous when being additionally operable to open a LED collimation light source every time to described image
Controller sends image cube collection signal；
Described image gathers isochronous controller, for gathering signal according to described image cube, to the imaging spectrometer
The synchronous triggering signal under the N number of wavelength of collection is sent, and N number of sample image is synthesized into an image cube,
The central control server, is additionally operable to encode (c, l) for each pixel generation in each image cube, its
Middle c is the numbering of imaging spectrometer, and l is the numbering of LED collimation light source,
The data structure is retrieved according to the pixel coordinate of image cube, the picture corresponding to the coordinate of each pixel is obtained
Plain coding, reflection direction set of vectors, three-dimensional coordinate and normal；And according to the numbering and three-dimensional coordinate of the LED collimation light source,
The incident direction vector of the sampled point corresponding to the pixel is determined, according to the incident direction vector, normal and reflection direction
Vector, calculates the zenith angle and the zenith angle and azimuth of azimuth and reflection direction of the incident direction of the sampled point,
Using relative measurement, image side's cube pixel value of standard of comparison sample and the testing sample, it is determined that
The multispectral bidirectional reflectance distribution function of all sampled points on the testing sample.
Alternatively, the imaging spectrometer includes tunable filter；
Alternatively, the imaging spectrometer array element, when opening each LED collimation light source one by one, obtains institute
Reflected image of the LED collimation light source on the minute surface spheroid of a known form and size is stated, is set according on the sample holder
The incidence reflection relation for the minute surface spheroid put and the internal reference of the imaging spectrometer and outer ginseng, determine each LED collimation
The three-dimensional coordinate of light source.
The present invention also provides a kind of method measured using above-mentioned multispectral BRDF Measure System,
Including：
S1, determines the three-dimensional coordinate and normal of the sampled point on the testing sample surface；
S2, according to the three-dimensional coordinate and normal, measures the multispectral two-way of each sampled point in testing sample surface
Reflectance Distribution Function data.
Alternatively, the step S1 includes：
S101, the center control takes device and controls server and spectrometer control server to send together to the projection
Walk measurement signal；
S102, the projection control server receives the synchro measure signal, and one group of Gray is exported to the projecting apparatus
Code image, each projecting apparatus projects the gray code map picture successively to the testing sample；
S103, the spectrometer controls server to send synchronous triggering signal to all imaging spectrometers, so that institute
State the sample image that imaging spectrometer collection has been projected the gray code map picture；
S104, is that each pixel in the sample image is generated on imaging spectrometer, projecting apparatus and gray code map picture
Coding (c, p, g), wherein c be imaging spectrometer numbering, p be projecting apparatus numbering, g be the corresponding Gray of the pixel
Code；
S105, determines the image plane coordinate set (x of the corresponding same sampled point of the different sample images1,y1)、
(x2,y2)、……、(xm,ym), wherein, m is it is observed that the quantity of the imaging spectrometer of this sampled point；
S106, sits according to the internal reference of the CCD camera of the imaging spectrometer and outer ginseng and the image plane of the sampled point
Mark set, determines the reflection direction set of vectors of the different sample images of the sampled point correspondence
S107, calculates the intersection point of the reflection direction set of vectors, the coordinate of the intersection point is the three of the sampled point
Dimension coordinate；
S108, the normal of the sampled point is calculated according to the set of the three-dimensional coordinate of the sampled point；
S109, by the pixel coder of each sampled point, image plane coordinate set, reflection direction set of vectors,
Three-dimensional coordinate and normal are stored in a data structure.
Alternatively, the step S2 includes：
S201, the central control server sends light source control signal to the light source control server；
S202, the light source control server switchs the LED collimation light one by one according to light source control signal control
Source；
S203, when opening a LED collimation light source every time, the central control server is controlled to described image collection is synchronous
Device processed sends image cube collection signal,
Described image gathers isochronous controller and gathers signal according to described image cube, sends and adopts to the imaging spectrometer
Collect the synchronous triggering signal under N number of wavelength；
N number of sample image is synthesized an image cube by described image collection isochronous controller；
S204, is each pixel generation coding (c, l) in each image cube, and wherein c is the volume of imaging spectrometer
Number, l is the numbering of LED collimation light source；
S205, the data structure is retrieved according to the pixel coordinate of image cube, is obtained corresponding to each pixel coordinate
Pixel coder, reflection direction set of vectors, three-dimensional coordinate and normal；
According to the numbering and three-dimensional coordinate of the LED collimation light source, the incidence of the sampled point corresponding to the pixel is determined
Direction vector, according to the incident direction vector, normal and reflection direction vector calculate the day of the incident direction of the sampled point
The zenith angle and azimuth of drift angle and azimuth and reflection direction；
S206, using relative measurement, image side's cube pixel value of standard of comparison sample and the testing sample,
Determine the multispectral bidirectional reflectance distribution function of all sampled points on the testing sample.
Alternatively, the step S205 includes：
S2051, when opening each LED collimation light source one by one, the imaging spectrometer array element obtains described
Reflected image image of the LED collimation light source in a known form and size minute surface spheroid, set according on the sample holder
The incidence reflection relation for the minute surface spheroid put and the internal reference of the imaging spectrometer and outer ginseng, determine each LED collimation
The three-dimensional coordinate of light source.
Multispectral BRDF Measure System disclosed in this invention includes beaded support, sample holder, light
Source array element, array of rear-projectors unit, imaging spectrometer array element and central control server, pass through array of rear-projectors list
Member projects gray code map picture to testing sample, and then array of source unit projects the collimated light beam of different directions to testing sample,
Imaging spectrometer array element gathers the multispectral image of testing sample, and central control server is by handling testing sample surface
Gray code map picture obtain testing sample on each sampled point three-dimensional coordinate and normal, by handling different directions illumination bar
Multispectral image under part obtains the multispectral bidirectional reflectance distribution function of testing sample；The present invention can measure arbitrary shape and treat
The multispectral bidirectional reflectance distribution function data of test sample product.
Brief description of the drawings
The features and advantages of the present invention can be more clearly understood from by reference to accompanying drawing, accompanying drawing is schematical without that should manage
Solve to carry out any limitation to the present invention, in the accompanying drawings：
The system that Fig. 1 shows one of embodiment of the multispectral BRDF Measure System of the present invention
Structural representation；
Fig. 2 shows the light source of one of embodiment of the multispectral BRDF Measure System of the present invention
Array schematic diagram；
Fig. 3 shows the LED of one of embodiment of the multispectral BRDF Measure System of the present invention
Collimated light source schematic diagram；
Fig. 4 shows the imaging of one of embodiment of the multispectral BRDF Measure System of the present invention
Spectrometer array element schematic diagram；
Fig. 5 shows the imaging of one of embodiment of the multispectral BRDF Measure System of the present invention
Spectrometer architecture schematic diagram；
Fig. 6 shows the projection of one of embodiment of the multispectral BRDF Measure System of the present invention
Instrument array element schematic diagram；
Fig. 7 shows one of embodiment of the multispectral bidirectional reflectance distribution function measuring method of the present invention wherein
One schematic flow sheet；
Fig. 8 shows one of embodiment of the multispectral bidirectional reflectance distribution function measuring method of the present invention wherein
One schematic flow sheet；
Fig. 9 shows one of embodiment of the multispectral bidirectional reflectance distribution function measuring method of the present invention wherein
One schematic flow sheet.
Embodiment
It is below in conjunction with the accompanying drawings and specific real in order to be more clearly understood that the above objects, features and advantages of the present invention
Mode is applied the present invention is further described in detail.It should be noted that in the case where not conflicting, the implementation of the application
Feature in example and embodiment can be mutually combined.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still, the present invention may be used also
Implemented with being different from other modes described here using other, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
The present invention provides a kind of multispectral BRDF Measure System, as shown in figure 1, including：
Beaded support 4, for fixing LED collimation light source, spectrometer and projecting apparatus；
Sample holder 5, is arranged at the center of beaded support 4, for carrying testing sample；
Array of source unit 1, as shown in Fig. 2 including multiple LED collimation light sources 11, multiple LED collimation light sources 11 uniformly divide
It is distributed on beaded support 4, and the center of the optical axis sensing beaded support 4 of each LED collimation light source 11, array of source unit 1
For projecting collimated light beam to testing sample from different directions.
Array of rear-projectors unit 3, as shown in fig. 6, including multiple projecting apparatus 31, multiple projecting apparatus 31 are uniformly distributed in spherical
On support 4, and the optical axis of each projecting apparatus 31 points to the center of beaded support 4, and array of rear-projectors unit 3 is used for treating test sample
Product surface projects gray code map picture.
Imaging spectrometer array element 2, as shown in figure 4, including multiple imaging spectrometers 21, multiple imaging spectrometers 21 are equal
It is even to be distributed on beaded support 4, and the center of the optical axis sensing beaded support 4 of each imaging spectrometer 21, imaging spectrometer
Array element 2 is used for the image for gathering testing sample.
Central control server 6, for sending control signals to array of source unit 1, the and of imaging spectrometer array element 2
Array of rear-projectors unit 3, and the sample image gathered according to imaging spectrometer array element 2, calculate the three-dimensional of each sampled point
Coordinate, the normal of corresponding sampled point is calculated according to three-dimensional coordinate, according to each three-dimensional coordinate and corresponding method line computation sample to be measured
The multispectral bidirectional reflectance distribution function of all sampled points on product.
Multispectral BRDF Measure System disclosed in this invention include beaded support 4, sample holder 5,
Array of source unit 1, array of rear-projectors unit 3, imaging spectrometer array element 2 and central control server 6；The system passes through
Array of rear-projectors unit 3 projects gray code map picture to testing sample, and then array of source unit 1 projects not Tongfang to testing sample
To collimated light beam, imaging spectrometer array element 2 gathers the multispectral image of testing sample, and central control server 6 passes through
The gray code map picture for handling testing sample surface obtains the three-dimensional coordinate and normal of each sampled point on testing sample, passes through place
Manage the multispectral bidirectional reflectance distribution function that the multispectral image under different directions illumination condition obtains testing sample；Due to this hair
Bright LED collimation light source 11, projecting apparatus 31 and imaging spectrometer 21 is uniformly distributed on beaded support 44, so passing through meter
Calculation can obtain the three-dimensional coordinate and normal at any point on testing sample, so as to enable the invention to measure treating for arbitrary shape
The multispectral bidirectional reflectance distribution function data of test sample product.
In the specific implementation, beaded support 4 can be made up of the steel pole of different length, and the steel pole passes through bolt
Connection；The sphere of the beaded support 4 is by multiple triangle proximate compositions, and the length of every pole is by triangular curved algorithm of subdivision
It is determined that, those skilled in the art will be appreciated that the triangular curved algorithm of subdivision is known and disclosed, not repeat one by one herein.The ball
The steel pole of shape support 4 is blacked with anodic oxidation, reduces the reflective of beaded support 4, is conducive to improving the quality of gathered data.
In the specific implementation, sample holder 5 is located at the center of beaded support 4, and is coated with black matt paint, reduces sample
Product support 5 it is reflective, be conducive to improve gathered data quality；Further, sample holder 5 is provided with arrangement for adjusting height,
The height of testing sample is adjusted so as to the size according to testing sample, to ensure that testing sample is in the centre bit of beaded support 4
Put.
Specifically, array of source unit 1 also includes：
Light source control server 12, for being connected with central control server 6 by LAN, receives center control service
The light source control signal that device 6 is sent, and light source control signal is changed into light source sequences number, luminance signal and color signal；
Light source synchronous controller 13, for receive light source control server 12 transmission light source sequences number, luminance signal and
Color signal, controls brightness and the color of any one LED collimation light source 11；
LED drive power 14, for being powered for LED collimation light source 11；
LED collimation light source 11 also includes light source controller 116, and light source controller 116 is sent out according to light source synchronous controller 13
Light source sequences number, luminance signal and the color signal sent, the switch of control LED collimation light source 11.
Further, as shown in figure 3, LED collimation light source 11, including it is circular lamp receptacle 111, LED 112, diaphragm 113, accurate
Straight mirror 114, collimation lens barrel 115 and light source controller 116.The center of the lamp socket 111 is provided with LED/light source deck, deck
For connecting power line；The other end of the power line is connected to light source controller 116；LED 112 is full-color LED lamp, Ke Yiyou
The brightness of the regulation output of light source controller 116 and color；Diaphragm 113 is provided with collimation lens barrel 115, the light extraction of lens barrel 115 is collimated
Collimating mirror 114 is set, and the position of diaphragm 113 is overlapped with the focal plane of collimating mirror 114, the emergent light of LED 112 is by collimation at mouthful
After diaphragm and collimating mirror in lens barrel 115 parallel light emergence is sentenced from collimation lens barrel light-emitting window.The light source control of LED collimation light source 11
Device 116 processed controls brightness and the color of LED 112 according to the light source control signal of input.Light source control server 12 passes through it
RS232 interfaces connection light source synchronous controller 13, and send light source sequences number, brightness value and color value.Light source synchronous controller
13 signal output part is connected with the light source controller 116 of each LED collimation light source 11, sends brightness and color control signal.
LED drive power 14 is connected that there is provided electric energy with the light source controller 116 of each LED collimation light source 11；Light source control server 12
The light source control signal that can be sent according to central control server 6 controls light source, can also set LED by software interface
The parameters of collimated light source 11, are easy to adjust light source according to actual conditions.
Specifically, imaging spectrometer array element 2 also includes：
Spectrometer controls server 22, for receiving the IMAQ control signal of central control server 6, and sends
Synchronous acquisition signal controls every synchronous acquisition image of imaging spectrometer 21, and the image after collection is saved in into hard disk；
IMAQ isochronous controller 23, for controlling the wavelength control signal that server 22 is sent, control according to spectrometer
Make every acquired image wavelength of imaging spectrometer 21.
Imaging spectrometer 21 also includes：The tunable filter 211 of interconnection, wave filter drive system 212, CCD camera
213 and acquisition control system 214, wherein,
Tunable filter 211 is used to receive the light that the LED collimation light source 11 of preset wavelength is sent；
Wave filter drive system 212 is used to drive tunable filter 211；
CCD camera 213 is used to be imaged；
Acquisition control system 214 receives the synchronous triggering signal that IMAQ isochronous controller 23 is sent, and receives wavelength
Control signal, for setting the preset wavelength that tunable filter 211 is passed through according to wavelength signals.
Further, as shown in figure 5, imaging spectrometer 21, including tunable filter 211, wave filter drive system 212,
CCD camera 213 and acquisition control system 214.The synchronous triggering signal input connection IMAQ of acquisition control system 214 is same
Walk the trigger signal output end of controller 23；The wavelength signals input connection IMAQ of acquisition control system 214 is synchronously controlled
The wavelength control signal output end of device 23 processed, changes the transmission peak wavelength of tunable filter 211 according to the wavelength control signal of reception.
The data output end connection imaging spectrometer of acquisition control system 214 controls the IMAQ input of server 22.
Further, spectrometer control server 22 connects central control server 6 by LAN；IMAQ is serviced
The signal input part of the serial port connection IMAQ isochronous controller 23 of device 22；The IMAQ of IMAQ server 22
The data output end of acquisition control system 214 contained by input connection imaging spectrometer 21.
The synchronous triggering signal of its signal input part is converted to acquisition control system 214 by IMAQ isochronous controller 23
Synchronous triggering signal, be sent to the synchronous triggering signal input of acquisition control system 214；By the wavelength of its signal input part
Control signal fills the wavelength control signal for being changed to acquisition control system 214, and the wavelength signals for being sent to acquisition control system 214 are defeated
Enter end.
Specifically, array of rear-projectors unit 3, in addition to：Projection control server 32；
Projection control server 32 receives the projection control signal that central control server 6 is sent, and according to projection control
Signal, makes projecting apparatus 31 export gray code map picture, and gray code map picture is projected testing sample table from multiple directions successively
Face.
Center control in the present embodiment takes device, is additionally operable to projection control server 32 and spectrometer control server 22
Send synchro measure signal；
Projection control server 32, one group of gray code map picture is exported for receiving synchro measure signal, and to projecting apparatus 31,
Each projecting apparatus 31 projects gray code map picture to testing sample successively；
Spectrometer controls server 22, for sending synchronous triggering signal to all imaging spectrometers 21, so that imaging
Spectrometer 21, which is gathered, has been projected the sample image of gray code map picture, the quantity and institute of the quantity of sample image for imaging spectrometer 21
The product of the quantity of the gray code map picture of projection；
The center control takes device, is additionally operable to control server and spectrometer control server to send to the projection
Synchro measure signal,
The coding on imaging spectrometer 21, projecting apparatus 31 and gray code map picture is generated for each pixel in sample image
(c, p, g), wherein c are the numbering of imaging spectrometer 21, and p is the numbering of projecting apparatus 31, and g is the corresponding Gray code of pixel,
Determine the image plane coordinate set (x of the corresponding same sampled point of different sample images1,y1)、(x2,
y2)、……、(xm,ym), wherein, m is the quantity for the imaging spectrometer for being observed that this sampled point,
According to the internal reference and outer ginseng and the image plane coordinate set of sampled point of the CCD camera 213 of imaging spectrometer 21, really
Determine the reflection direction set of vectors of the different sample images of sampled point correspondence
The intersection point of reflection direction set of vectors is calculated, the coordinate of intersection point is the three-dimensional coordinate of sampled point,
The normal of sampled point is calculated according to the set of the three-dimensional coordinate of sampled point,
By the pixel coder of each sampled point, image plane coordinate set, reflection direction set of vectors, three-dimensional coordinate and normal
It is stored in a data structure.
Imaging spectrometer array element also includes IMAQ isochronous controller；
Array of source unit also includes light source control server,
Wherein, central control server 6, are additionally operable to send light source control signal to light source control server 12,
Light source control server 12, for switching LED collimation light source 11 one by one according to light source control signal control,
Central control server 6, to IMAQ isochronous controller when being additionally operable to open a LED collimation light source 11 every time
23 send image cube collection signal,
IMAQ isochronous controller 23, for gathering signal according to image cube, collection N is sent to imaging spectrometer 21
Synchronous triggering signal under individual wavelength, wherein N are the positive integer more than 1, and N number of sample image is synthesized into an image cube
Body,
Central control server 6, is additionally operable to as each pixel generation coding (c, l) in each image cube, wherein c
For the numbering of imaging spectrometer 21, l is the numbering of LED collimation light source 11, and determines each pixel in each image cube
Coordinate (x, y),
Data structure is retrieved according to the pixel coordinate of image cube, the pixel corresponding to the coordinate of each pixel is obtained and compiles
Code, reflection direction set of vectors, three-dimensional coordinate and normal；And according to the numbering and three-dimensional coordinate of LED collimation light source 11, it is determined that picture
The incident direction vector of sampled point corresponding to element, according to incident direction vector, normal and reflection direction vector calculate sampled point
Incident direction zenith angle and the zenith angle and azimuth of azimuth and reflection direction,
Using relative measurement, image side's cube pixel value of standard of comparison sample and testing sample is determined to be measured
The multispectral bidirectional reflectance distribution function of all sampled points on sample.
Further, standard sample can be using selected shape to be spherical, and article uniform in material, and standard sample is double
To Reflectance Distribution Function value, it is known that the material of standard sample can include barium sulfate and tetrafluoroethene.Using relative measurement,
Each point on testing sample need not be measured, you can it is determined that the multispectral bidirectional reflectance distribution function of measurement testing sample, this
Method can improve measurement efficiency.
In addition, it is necessary to explanation, operation and corresponding function performed by above-mentioned central control server 6 can also be by
Individual subscriber server is completed, and central control server 6 is mainly used in data acquisition.
In the specific implementation, imaging spectrometer includes tunable filter；
In the specific implementation, imaging spectrometer array element 2, when opening each LED collimation light source 11 one by one, is obtained
Reflected image of the LED collimation light source in a known form and size minute surface spheroid, according to the minute surface set on sample holder 5
The incidence reflection relation of spheroid and the internal reference of imaging spectrometer and outer ginseng, it is determined that the three-dimensional coordinate of each LED collimation light source 11.
Based on same inventive concept, the present invention also provides a kind of using above-mentioned multispectral bidirectional reflectance distribution function measurement system
The method that system is measured, as shown in fig. 7, comprises following steps：
S1, determines the three-dimensional coordinate and normal of the sampled point on testing sample surface；
S2, according to three-dimensional coordinate and normal, the multispectral bidirectional reflectance distribution of the measurement each sampled point in testing sample surface
Function data.
The present embodiment employs above-mentioned multispectral BRDF Measure System and measured, and the system includes
Beaded support 4, and equally distributed projecting apparatus 31 and imaging spectrometer 21 are provided with beaded support 4, using projecting apparatus 31
Gray code map picture is projected to testing sample, imaging spectrometer 21 gathers determination of the mode of image so as to realize step S1 and treated
Survey the three-dimensional coordinate and normal of sample surfaces sampled point.
Further, according to determined by step S1 testing sample surface sampled point three-dimensional coordinate and normal, then determine
Go out the multispectral bidirectional reflectance distribution function data of each sampled point in testing sample surface.
In the specific implementation, as shown in figure 8, step S1 includes：
S101, center control takes device and sends synchro measure letter to projection control server 32 and spectrometer control server 22
Number；
S102, projection control server 32 receives synchro measure signal, exports one group of gray code map picture to projecting apparatus 31, often
Individual projecting apparatus 31 projects gray code map picture to testing sample successively；
S103, spectrometer controls server 22 to send synchronous triggering signal to all imaging spectrometers 21, so that imaging
Spectrometer 21 gathers the sample image for being projected gray code map picture；
S104, is that each pixel in sample image is generated on imaging spectrometer 21, projecting apparatus 31 and gray code map picture
Coding (c, p, g), wherein c be imaging spectrometer 21 numbering, p be projecting apparatus 31 numbering, g be the corresponding Gray of pixel
Code；
S105, determines the image plane coordinate set (x of the corresponding same sampled point of different sample images1,y1)、(x2,
y2)、……、(xm,ym), wherein m is it is observed that the quantity of the imaging spectrometer of this sampled point；
S106, according to the internal reference and outer ginseng and the image plane coordinate set of sampled point of the CCD camera 213 of imaging spectrometer 21
Close, determine the reflection direction set of vectors of the different sample images of sampled point correspondence
Herein it should be noted that needing to carry out geometry mark to the array element 2 of imaging spectrometer 21 before step S106
It is fixed.Calculate to determine that what imaging spectrometer 21 gathered treats test sample by using polyphaser combined calibrating method of the prior art
Mapping relations between the three-dimensional coordinate of sampled point on the two-dimensional coordinate and testing sample of each pixel of product image, wherein
The intrinsic parameter and outer parameter and camera geometric calibration method of the CCD camera 213 for the imaging spectrometer 21 being related in calculating process are (i.e.
Polyphaser combined calibrating method) in intrinsic parameter with outer parameter definition be consistent.
S107, calculates the intersection point of reflection direction set of vectors, the coordinate of intersection point is the three-dimensional coordinate of sampled point；
S108, the normal direction vector of sampled point is calculated according to the set of the three-dimensional coordinate of sampled point；
S109, by the pixel coder of each sampled point, image plane coordinate set, reflection direction set of vectors, three-dimensional coordinate
It is stored in normal in a data structure.
It should be noted that the gray code map picture projected on testing sample surface can be in the image plane of imaging spectrometer 21
One group of light and shade coding is produced in any one pixel, can be one by the light and shade code conversion by identification is made up of 0 and 1
Sequence.Therefore, one group of coding (c, p, g) is generated to any one pixel in the testing sample image that collects, wherein c is into
As the numbering of spectrometer 21；P is the numbering of projecting apparatus 31；G is corresponding Gray code in this pixel, and the coding is one by 0
With the sequence of 1 composition.One sampled point on testing sample surface has difference in the image that different imaging spectrometers 21 are gathered
Coding c, therefore c is different in each coding (c, p, g), and still (p, g) part is identical, due to that can be encoded by this group, from
The same sampled point of body surface is recognized in the testing sample image that many imaging spectrometers 21 are gathered respectively, this is determined
Image plane coordinate (x of the sampled point on many imaging spectrometers 211,y1)、(x2,y2)、……、(xm,ym), m is to observe
To the quantity of the imaging spectrometer of this sampled point.According to the camera intrinsic parameter and outer parameter of known imaging spectrometer 21, just
The corresponding reflection direction vector of these pixels can be obtainedThese reflection direction vectors all point to this
Sampled point.Finally by the intersection point for solving these reflection direction vectors, you can obtain the three-dimensional coordinate of the sampled point.Getting
It is that can calculate the normal of the sampled point according to the computational methods of prior art after the three-dimensional coordinate of testing sample surface sampled point
Direction.The three-dimensional coordinate of other sampled points of testing sample and the determination method of normal direction are identical with this, will not be repeated here.
Step S1 purpose is that the set of the data structure of all sampled points is three-dimensional reconstruction in order to carry out three-dimensional reconstruction
Result.
In the specific implementation, as shown in figure 9, step S2 includes：
S201, central control server 6 sends light source control signal to light source control server 12；
S202, light source control server 12 controls switch LED collimation light source 11 one by one according to light source control signal；
S203, when opening a LED collimation light source 11 every time, central control server 6 is to IMAQ isochronous controller
23 send image cube collection signal,
IMAQ isochronous controller 23 gathers signal according to image cube, is sent to imaging spectrometer 21 and gathers N number of ripple
Synchronous triggering signal under long,
N number of sample image is synthesized an image cube by IMAQ isochronous controller 23；
It can be seen that, if the number of LED collimation light source 11 is L, wherein L is the positive integer more than 1, due to LED collimation light
Source 11 is often switched once, and every imaging spectrometer 21 gathers an image cube, and C platforms imaging spectrometer 21 will gather C figure
As cube, L LED collimation light source 11 will project L sub-beams altogether, then the quantity of the image cube finally gathered be C ×
L；
S204, is each pixel generation coding (c, l) in each image cube, and wherein c is imaging spectrometer 21
Numbering, l is the numbering of LED collimation light source 11,
S205, data structure is retrieved according to the pixel coordinate of image cube, obtains the picture corresponding to each pixel coordinate
Plain coding, reflection direction set of vectors, three-dimensional coordinate and normal；
According to the numbering and three-dimensional coordinate of LED collimation light source 11, the incident direction arrow of the sampled point corresponding to pixel is determined
Amount, according to incident direction vector, normal and reflection direction vector, calculate sampled point incident direction zenith angle and azimuth and
The zenith angle of reflection direction and azimuth；
It should be noted that step S205 purpose be in order to by step S109 carry out three-dimensional reconstruction obtain on treating
The pixel of the data such as three-dimensional coordinate, the normal direction vector reflection direction vector of the sampled point on test sample product and image cube
Point can be corresponding；
For each sampled point of testing sample, by retrieving its pixel coder (c, p, g), the sampled point is obtained in Duo Tai
Reflection direction vector at imaging spectrometer 21With normal direction vectorBy retrieving its pixel
Encode (c, l), the incident direction vector of the sampled point can be calculated by light source numbering lAccording to incident direction vectorNormal
Direction vectorWith reflection direction vectorThe zenith angle and azimuth (θ of the incident direction of the sampled point can be calculatedi,
φi) and reflection direction zenith angle and azimuth (θr,φr)；
S206, using relative measurement, image side's cube pixel value of standard of comparison sample and testing sample, it is determined that
The multispectral bidirectional reflectance distribution function of all sampled points on testing sample；
In the specific implementation, the pixel value in image cube is directly proportional to spectral radiance, using in the prior art
Relative measurement, by standard of comparison sample and the image cube pixel value of testing sample, can calculate and treat test sample
The multispectral bidirectional reflectance distribution function of all sampled points in product surface,
Further, standard sample can be using selected shape to be spherical, and article uniform in material, and standard sample is double
To Reflectance Distribution Function value, it is known that the material of standard sample can include barium sulfate and tetrafluoroethene,
The three-dimensional coordinate of all sampled points, the distribution of normal direction vector bidirectional reflectance on the testing sample finally calculated
The set of function data is the multispectral bidirectional reflectance distribution function data of the testing sample.
In the specific implementation, step S205 can include：
S2051, when opening each LED collimation light source 11 one by one, imaging spectrometer array element 2 obtains LED collimation light
Reflected image image of the source 11 on the minute surface spheroid of a known form and size, according to the minute surface set on sample holder 5
The incidence reflection relation of spheroid and the internal reference of imaging spectrometer 21 and outer ginseng, it is determined that the three-dimensional seat of each LED collimation light source 11
Mark (not shown).
The present invention can realize the high-acruracy survey to multispectral bidirectional reflectance distribution function, and with using side of the invention
Method is also higher for the multispectral bidirectional reflectance distribution function measurement efficiency of testing sample, during many experiments, the present invention
Determine the geometry three-dimensional data of testing sample, it is only necessary to the time of tens seconds, and measure the bidirectional reflectance distribution letter of testing sample
Number data only need to complete for more than ten seconds, and compared to prior art, efficiency is improved a lot.
In the present invention, term " multiple " refers to two or more, unless otherwise clear and definite restriction.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (8)
1. a kind of multispectral BRDF Measure System, it is characterised in that including：
Beaded support, for fixing LED collimation light source, imaging spectrometer and projecting apparatus；
Sample holder, is arranged at the center of the beaded support, for carrying testing sample；
Array of source unit, including multiple LED collimation light sources, multiple LED collimation light sources are uniformly distributed in the ball
On shape support, and the center of the optical axis sensing beaded support of each LED collimation light source, the array of source unit
For projecting collimated light beam to the testing sample from different directions；
Array of rear-projectors unit, including multiple projecting apparatus, multiple projecting apparatus are uniformly distributed on the beaded support,
And the optical axis of each projecting apparatus points to the center of the beaded support, the array of rear-projectors unit is used to treat to described
Survey sample surfaces projection gray code map picture；
Imaging spectrometer array element, including multiple imaging spectrometers, multiple imaging spectrometers are uniformly distributed in institute
State on beaded support, and the center of the optical axis sensing beaded support of each imaging spectrometer, the imaging spectral
Instrument array element be used for gather the testing sample by the projector projects gray code map as when or the LED collimation light source
Sample image during irradiation；
Central control server, for sending control signals to the array of source unit, the imaging spectrometer array element
With the array of rear-projectors unit, and the sample image gathered according to the imaging spectrometer array element calculates each sampling
The three-dimensional coordinate of point, the normal of corresponding sampled point is calculated according to the three-dimensional coordinate, according to each three-dimensional coordinate and corresponding method
The multispectral bidirectional reflectance distribution function of all sampled points described in line computation on testing sample；
The array of rear-projectors unit also includes projection control server, and the projection control server is used to receive synchro measure
Signal, and one group of gray code map picture is exported to the projecting apparatus, each projecting apparatus projects institute successively to the testing sample
State gray code map picture；
The imaging spectrometer array element also includes spectrometer and controls server, and the spectrometer control server is used for institute
There is the imaging spectrometer to send synchronous triggering signal, so that the imaging spectrometer synchronous acquisition sample image；
The central control server, is additionally operable to control server and spectrometer control server to send together to the projection
Walk measurement signal,
For in the sample image each pixel generation on imaging spectrometer, projecting apparatus and gray code map picture coding (c,
P, g), wherein c is the numbering of imaging spectrometer, and p is the numbering of projecting apparatus, and g is the corresponding Gray code of the pixel,
Determine the image plane coordinate set (x of the corresponding same sampled point of different sample images1,y1)、(x2,y2)、……、
(xm,ym), wherein, m is the quantity for the imaging spectrometer for being observed that this sampled point,
According to the intrinsic parameter of the CCD camera of the imaging spectrometer and outer parameter and the image plane coordinate set of the sampled point
Close, determine the reflection direction set of vectors of the different sample images of the sampled point correspondence
The intersection point of the reflection direction set of vectors is calculated, the coordinate of the intersection point is the three-dimensional coordinate of the sampled point,
The normal of the sampled point is calculated according to the set of the three-dimensional coordinate of the sampled point,
By the pixel coder of each sampled point, image plane coordinate set, reflection direction set of vectors, three-dimensional coordinate and normal
It is stored in a data structure.
2. multispectral BRDF Measure System according to claim 1, it is characterised in that
The imaging spectrometer array element also includes IMAQ isochronous controller；
The array of source unit also includes light source control server；
Wherein, the central control server, is additionally operable to send light source control signal to the light source control server,
The light source control server, for switching the LED collimation light source one by one according to light source control signal control,
The central control server, Synchronization Control is gathered when being additionally operable to open a LED collimation light source every time to described image
Device sends image cube collection signal,
Described image gathers isochronous controller, for gathering signal according to described image cube, is sent to the imaging spectrometer
The synchronous triggering signal under N number of wavelength is gathered, and N number of sample image is synthesized into an image cube,
The central control server, is additionally operable to as each pixel generation coding (c, l) in each image cube, wherein c
For the numbering of imaging spectrometer, l is the numbering of LED collimation light source,
The data structure is retrieved according to the pixel coordinate of image cube, the pixel corresponding to each pixel coordinate is obtained and compiles
Code, reflection direction set of vectors, three-dimensional coordinate and normal；And according to the numbering and three-dimensional coordinate of the LED collimation light source, it is determined that
The incident direction vector of sampled point corresponding to the pixel, according to the incident direction vector, normal and reflection direction vector,
The zenith angle of the incident direction of the sampled point and the zenith angle and azimuth of azimuth and reflection direction are calculated,
Using relative measurement, the image cube pixel value of standard of comparison sample and the testing sample, it is determined that described treat
The multispectral bidirectional reflectance distribution function of all sampled points on test sample product.
3. multispectral BRDF Measure System according to claim 1 or 2, it is characterised in that it is described into
As spectrometer includes tunable filter.
4. multispectral BRDF Measure System according to claim 1 or 2, it is characterised in that
The imaging spectrometer array element, when opening each LED collimation light source one by one, obtains the LED collimation light
Reflected image of the source on the minute surface spheroid of a known form and size, according to the minute surface set on the sample holder
The incidence reflection relation of spheroid and the intrinsic parameter of the imaging spectrometer and outer parameter, determine each LED collimation light source
Three-dimensional coordinate.
5. the method measured using the multispectral BRDF Measure System described in claim 2, its feature
It is, including：
S1, determines the three-dimensional coordinate and normal of the sampled point on the testing sample surface；
S2, according to the three-dimensional coordinate and normal, the multispectral bidirectional reflectance of each sampled point in measurement testing sample surface
Distribution function data.
6. method according to claim 5, it is characterised in that the step S1 includes：
S101, the central control server controls server and spectrometer control server to send synchronization to the projection
Measurement signal；
S102, the projection control server receives the synchro measure signal, and one group of gray code map is exported to the projecting apparatus
Picture, each projecting apparatus projects the gray code map picture successively to the testing sample；
S103, the spectrometer controls server to send synchronous triggering signals to all imaging spectrometers so that it is described into
As spectrometer collection has been projected the sample image of the gray code map picture；
S104, is that each pixel in the sample image generates volume on imaging spectrometer, projecting apparatus and gray code map picture
Code (c, p, g), wherein c is the numbering of imaging spectrometer, and p is the numbering of projecting apparatus, and g is the corresponding Gray code of the pixel；
S105, determines the image plane coordinate set (x of the corresponding same sampled point of different sample images1,y1)、(x2,
y2)、……、(xm,ym), wherein, m is it is observed that the quantity of the imaging spectrometer of this sampled point；
S106, sits according to the intrinsic parameter of the CCD camera of the imaging spectrometer and outer parameter and the image plane of the sampled point
Mark set, determines the reflection direction set of vectors of the different sample images of the sampled point correspondence
S107, calculates the intersection point of the reflection direction set of vectors, the coordinate of the intersection point is the three-dimensional seat of the sampled point
Mark；
S108, the normal of the sampled point is calculated according to the set of the three-dimensional coordinate of the sampled point；
S109, by the pixel coder of each sampled point, image plane coordinate set, reflection direction set of vectors, three-dimensional coordinate
It is stored in normal in a data structure.
7. method according to claim 5, it is characterised in that the step S2 includes：
S201, the central control server sends light source control signal to the light source control server；
S202, the light source control server switchs the LED collimation light source one by one according to light source control signal control；
S203, when opening a LED collimation light source every time, the central control server gathers isochronous controller to described image
Image cube collection signal is sent,
Described image gathers isochronous controller and gathers signal according to described image cube, and collection N is sent to the imaging spectrometer
Synchronous triggering signal under individual wavelength,
N number of sample image is synthesized an image cube by described image collection isochronous controller；
S204, is each pixel generation coding (c, l) in each image cube, and wherein c is the numbering of imaging spectrometer, l
For the numbering of LED collimation light source；
S205, the data structure is retrieved according to the pixel coordinate of image cube, obtains the picture corresponding to each pixel coordinate
Plain coding, reflection direction set of vectors, three-dimensional coordinate and normal,
According to the numbering and three-dimensional coordinate of the LED collimation light source, the incident direction of the sampled point corresponding to the pixel is determined
Vector, according to the incident direction vector, normal and reflection direction vector calculate the zenith angle of the incident direction of the sampled point
With the zenith angle and azimuth of azimuth and reflection direction；
S206, using relative measurement, the image cube pixel value of standard of comparison sample and the testing sample determines institute
State the multispectral bidirectional reflectance distribution function of all sampled points on testing sample.
8. method according to claim 7, it is characterised in that the step S205 includes：
S2051, when opening each LED collimation light source one by one, it is accurate that the imaging spectrometer array element obtains the LED
Reflected image image of the direct light source on the minute surface spheroid of a known form and size, according to what is set on the sample holder
The incidence reflection relation of minute surface spheroid and the intrinsic parameter of the imaging spectrometer and outer parameter, determine each LED collimation
The three-dimensional coordinate of light source.
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| KR102321554B1 (en) * | 2016-08-22 | 2021-11-04 | 국립대학법인 홋가이도 다이가쿠 | Object state detection transmission system |
| CN107063129B (en) * | 2017-05-25 | 2019-06-07 | 西安知象光电科技有限公司 | A kind of array parallel laser projection three-dimensional scan method |
| CN107589078A (en) * | 2017-09-04 | 2018-01-16 | 铜陵恒合光电科技有限公司 | A kind of field ground feature spectrometer that can measure BRDF spatial distributions |
| GB201721451D0 (en) | 2017-12-20 | 2018-01-31 | Univ Manchester | Apparatus and method for determining spectral information |
| CN109932341B (en) * | 2019-03-11 | 2021-03-23 | 北京环境特性研究所 | Bidirectional reflection distribution function measuring method of typical target in field environment |
| CN110554054B (en) * | 2019-09-05 | 2021-10-29 | 西安多维机器视觉检测技术有限公司 | Three-dimensional blade breakage detection system of mechanically-clamped indexable turning tool |
| CN112040138B (en) * | 2020-08-31 | 2021-12-14 | 英华达（上海）科技有限公司 | Stereoscopic light source system, image pickup method, image pickup device, storage medium, and electronic apparatus |
| CN112611453B (en) * | 2020-12-23 | 2022-03-29 | 吉林大学 | Compound eye in-situ monitoring unit, microscopic adjusting unit and multispectral imaging system thereof |
| CN113390831B (en) * | 2021-05-20 | 2023-03-24 | 常州千明智能照明科技有限公司 | Full-appearance bidirectional reflection distribution characteristic measuring method |
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