Structured light encoding and decoding method and device with sinusoidal phase shift asymmetry combined with Gray code

Abstract

The present application discloses a structured light encoding and decoding method, device, and computer-readable storage medium with sinusoidal phase shift asymmetry combined with Gray codes. Wherein, the method includes performing area division and area encoding on the sinusoidal phase shift area according to the preset encoding rules determined based on the phase shift interval of the sinusoidal phase shift and the gray value of the preset pixel position in the sinusoidal encoded image, and establishing the sinusoidal phase shift area. Correspondence between relative phase and area coding of sinusoidal phase shift periods. In the process of combining sinusoidal phase shift and Gray code, the minimum encoding period of Gray code is set in advance to be smaller than the period of sinusoidal phase shift, and the minimum encoding period boundary of Gray code is set in the middle area of ​​the sinusoidal phase shift area, so that the minimum encoding period of Gray code Between the boundary and the boundary of the sinusoidal phase shift area, there is a tolerance range of periodic misalignment of multiple pixels. Based on the relative phase of the sinusoidal phase shift and the Gray code, the absolute phase of the space of the object to be measured is calculated, thereby effectively improving the accuracy and density of the three-dimensional measurement of the object to be measured.

Description

technical field [0001] The present application relates to the technical field of three-dimensional measurement, in particular to a structured light encoding and decoding method, device and computer-readable storage medium with sinusoidal phase shift asymmetry combined with Gray code. Background technique [0002] The three-dimensional measurement technology based on structured light projection has the advantages of non-contact, high efficiency and low cost, and is widely used in industrial measurement, mold manufacturing, medical imaging, cultural relic reconstruction and other fields. The encoding method of structured light determines the sampling density, precision and efficiency of 3D measurement, and is an important basis for 3D measurement technology based on structured light projection. With the rapid development of DLP digital projection technology, the flexibility and diversity of structured light coding have greatly increased. Existing structured light coding method...

AI Technical Summary

Problems solved by technology

However, since the trapezoidal phase shift can only six-subdivide the smallest Gray code coding unit, there is a large gap between it and the sinusoidal phase shift with continuous phase change in terms of sampling density and measurement accuracy, and it is difficult to apply to high-frequency three-dimensional information changes. High-precision 3D measurement of object surfaces

[0006] In view of this, how to avoid the inherent defects of related technologies in sampling density and measurement accuracy, and effectively improve the accuracy of 3D measurement, on the basis of solving the problem of periodic misalignment errors in the combination of sinusoidal phase shift symmetry and Gray code, which leads to the reduction of decoding accuracy of periodic edge positions and density are technical problems to be solved by those skilled in the art

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