CN104897086B - Structured light phase decoding method based on double-frequency cosine wave - Google Patents
Structured light phase decoding method based on double-frequency cosine wave Download PDFInfo
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Abstract
The invention discloses a structured light phase decoding method based on a double-frequency cosine wave and belongs to the technical field of structured light three-dimensional measurement. The method comprises: projecting a first cosine wave and a second cosine wave, wherein the first cosine wave has a waveform function of y1 = k1*cos (2[pi]x/a1)+b1 and the second cosine wave has a waveform function of y2 = k2* cos (2[pi]x/a2)+b2; according to a given spatial position X, solving the phase main value phi1 of the first cosine wave and the phase main value phi2 of the second cosine wave; reassigning the phase main value phi1 of the first cosine wave and the phase main value phi2 of the second cosine wave: phi1 = a1*phi1/(2[pi]), phi2 = a2*phi2/(2[pi]); solving the difference between the phi1 and the phi2: h = phi1-phi2; solving the period integer of the first cosine wave and the period integer of the second cosine wave contained in the spatial position X, wherein the period integer of the first cosine wave n1 = mod (h, a2)/abs (a1-a2) and the period integer of the second cosine wave n2 = mod (h, a1)/abs (a1-a2); and solving a phase extended value by using n1*a1+phi1 or n2*a2+phi2. The method retains all technical advantages of the methods in the previous inventions and is better in flexibility and specific in algorithm compared with the methods in the previous inventions.
Description
Technical field
Structural light three-dimensional field of measuring technique is belonged to based on the structure light phase decoding method of double frequency cosine wave.
Background technology
Measuring three-dimensional morphology has in fields such as scientific research, medical diagnosiss, engineering design, criminal investigations widely should
With.And structure light is used as the important component part of measuring three-dimensional morphology means, with its contactless, low cost, high resolution and
Fireballing advantage, has obtained the extensive concern of scholars and engineers and technicians.
Structure light is one group of system structure being made up of projector and photographic head.Arrived with the specific optical information of projector projects
After body surface and after background, then it is acquired by photographic head, the change in optical signal caused according to object is calculating the position of object
Put and depth information, and then restore whole object three-dimensional appearance.
Encoding and decoding technique is one of key technical problem of structure light, and the decoding method of most original is by the whole of projected light
The individual cycle is projected on testee, and this mode is due to the gray value difference very little before two neighboring pixel therefore anti-dry
Disturb ability.For the problems referred to above, the decoding method that two beam different frequency light combine is developed, wherein just including two
The method that individual analog code light combines, the method have high sampling density, high-resolution and high measurement accuracy.However, this
The phase-unwrapping algorithm of class method is complicated, and in actual application, discovery can have phase place main value measurement error to be caused
Phase hit problem.
The problem of complicated and phase hit for phase-unwrapping algorithm, this seminar were applied on November 18th, 2014
Patent of invention《A kind of fault-tolerant phase unwrapping engineering method of double frequency analog code light》, hereinafter《Phase unwrapping engineering method》,
The patent employs a kind of very simple calculations rule, you can realizes phase unwrapping, and overcomes the problem of phase hit.
And deepening continuously with work, find《Phase unwrapping engineering method》Can be more perfect, first, the work can
With specific to employing《Phase unwrapping engineering method》The double frequency cosine wave not referred to, then, breaks through cosine period of wave for integer
Restriction, and the restriction that double frequency cosine wave cycle difference is 1 finally, provides the computational methods of cosine wave phase unwrapping.
The content of the invention
It is an object of the invention to invent to earlier application《A kind of fault-tolerant phase unwrapping engineering side of double frequency analog code light
Method》Further refined with it is perfect, realization double frequency cosine wave is decoded.
To achieve these goals, the invention discloses a kind of structure light phase decoding method based on double frequency cosine wave,
The method is continued on the basis of this seminar earlier application patent of invention, not only remains the whole of earlier application invention
Technical advantage, and compared with earlier application invention, more preferably, algorithm is more specific for motility.
The object of the present invention is achieved like this：
Based on the structure light phase decoding method of double frequency cosine wave, comprise the following steps：
Step a, respectively projection wave function the first cosine wave and wave function for y1=k1 × cos (2 π x/a1)+b1
For second cosine wave of y2=k2 × cos (2 π x/a2)+b2；
Wherein：
K1 determines the contrast of the first cosine wave, and a1 is the wavelength of the first cosine wave, and b1 determines the brightness of the first cosine wave；
K2 determines the contrast of the second cosine wave, and a2 is the wavelength of the second cosine wave, and b2 determines the brightness of the second cosine wave；
X is locus；
And：
Two cosine wave starting points are identical；
A1/ (a2-a1) ∈ N, N are natural number；
Step b, according to given locus X, X ∈ (0, a1 × a2/ (a2-a1)), seek the locus X correspondences the
The phase place main value phi2 of the phase place main value phi1 and the second cosine wave of one cosine wave；
Step c, the phase place main value phi2 to the phase place main value phi1 and the second cosine wave of the first cosine wave are assigned again
Value：
Phi1=a1 × phi1/ (2 π)；
Phi2=a2 × phi2/ (2 π)；
Step d, the difference for asking phi1 obtained by step c and phi2：H=phi1-phi2；
The cycle integer of step e, the cycle Integer n 1 of included the first cosine waves of solution room position X and the second cosine wave
n2：
N1=mod (h, a2)/abs (a1-a2)；
N2=mod (h, a1)/abs (a1-a2)；
Wherein：To take the remainder computing, abs is the computing that takes absolute value to mod ()；
Step f, phase unwrapping value is solved using n1 × a1+phi1 or n2 × a2+phi2.
The above-mentioned structure light phase decoding method based on double frequency cosine wave, described a1 and a2 is all integer, or is all non-
Integer, or one be integer one be non-integer.
The above-mentioned structure light phase decoding method based on double frequency cosine wave, for simulation calculating, adopts and obtains with the following method
Phi1 and phi2 in step b：
Phi1=arccos (2 π X/a1)；
If：
tan(2πX/a1)>0, and cos (2 π X/a1)>0, assignment again is carried out to phi1, is had：Phi1=phi1；
tan(2πX/a1)<0, and cos (2 π X/a1)<0, assignment again is carried out to phi1, is had：Phi1=phi1；
tan(2πX/a1)>0, and cos (2 π X/a1)<0, assignment again is carried out to phi1, is had：Phi1=2 π-phi1；
tan(2πX/a1)<0, and cos (2 π X/a1)>0, assignment again is carried out to phi1, is had：Phi1=2 π-phi1；
Tan (2 π X/a1)=0, and cos (2 π X/a1)>0, assignment again is carried out to phi1, is had：Phi1=0；
Tan (2 π X/a1)=0, and cos (2 π X/a1)<0, assignment again is carried out to phi1, is had：Phi1=π；
Phi2=arccos (2 π X/a2)；
If：
tan(2πX/a2)>0, and cos (2 π X/a2)>0, assignment again is carried out to phi2, is had：Phi2=phi2；
tan(2πX/a2)<0, and cos (2 π X/a2)<0, assignment again is carried out to phi2, is had：Phi2=phi2；
tan(2πX/a2)>0, and cos (2 π X/a2)<0, assignment again is carried out to phi2, is had：Phi2=2 π-phi2；
tan(2πX/a2)<0, and cos (2 π X/a2)>0, assignment again is carried out to phi2, is had：Phi2=2 π-phi2；
Tan (2 π X/a2)=0, and cos (2 π X/a2)>0, assignment again is carried out to phi2, is had：Phi2=0；
Tan (2 π X/a2)=0, and cos (2 π X/a2)<0, assignment again is carried out to phi2, is had：Phi2=π；
The above-mentioned structure light phase decoding method based on double frequency cosine wave, between step d and step e, also including step
d’：
If abs (h) is more than threshold value, h=h；
If abs (h) is not more than threshold value, h=0.
Described threshold value is 10-10。
A kind of projection acquisition system for realizing the above-mentioned structure light phase decoding method based on double frequency cosine wave, including projection
Instrument, measured object and image capturing system, described projector to measured object projecting structural optical, throw by image capturing system collection
The tested object image of structure light is penetrated, the structure light of the projector projects is：
Wave function is y2=k2 × cos (2 for first cosine wave and wave function of y1=k1 × cos (2 π x/a1)+b1
π x/a2)+b2 the second cosine wave；
Wherein：
K1 determines the contrast of the first cosine wave, and a1 is the wavelength of the first cosine wave, and b1 determines the brightness of the first cosine wave；
K2 determines the contrast of the second cosine wave, and a2 is the wavelength of the second cosine wave, and b2 determines the brightness of the second cosine wave；
X is locus；
And：
Two cosine wave starting points are identical；
A1/ (a2-a1) ∈ N, N are natural number.
Beneficial effect：
Firstth, as the basic thought of the present invention continues《Phase unwrapping engineering method》, therefore, equally have and avoid image
The technical advantage of the measurement gross error that information retrieval error is brought, and with avoid the n1 with gross error or n2 to meter
Calculate the technical advantage that locus X actual values affect.
Secondth, present invention employs《Phase unwrapping engineering method》The double frequency cosine wave not referred to, gives more than double frequency
The concrete decoding algorithm of string ripple, at the same solve two《Phase unwrapping engineering method》Will not go out in the fundamental formular for being given
It is existing, unforeseeable two problems of those skilled in the art：
First, as the phase place main value of cosine curve is from 0 to 2 π so that each dependent variable can be by two from change
Amount correspondence, it is therefore desirable to carry out judging to phase place main value and assignment again, The present invention gives specifically algorithm, solves this and ask
Topic；
Secondly, due to calculating process in round up so that the slight error of h causes the jumbo saltus step of cycle integer,
Phase unwrapping value mistake in computation is in turn resulted in, and the present invention gives assignment algorithm again by threshold decision being carried out to h, solves
This problem.
3rd, it is same《Phase unwrapping engineering method》Compare, as definition of the present invention to cosine wave function includes determining
The k1 and k2 of cosine wave contrast, determines the b1 and b2 of cosine wave brightness, and when phase unwrapping value is calculated, and do not joined by these
Several impacts, therefore the inventive method can be on the premise of cosine wave wavelength not be changed, arbitrarily adjustment is remaining according to actual needs
The waveform of string ripple, motility have more advantage.
4th, it is same《Phase unwrapping engineering method》Compare, adopt a1/ (a2-a1) ∈ N to limit cosine wave due to the present invention
Cycle, therefore should not complementation string length period of wave be necessary for positive integer, do not require that the difference of two cosine periods of wave is necessary yet
For 1, therefore the scope of application of waveform is expanded, the motility of waveform selection when increased practical application.
5th, it is same《Phase unwrapping engineering method》Compare, adopt a1/ (a2-a1) ∈ N to limit cosine wave due to the present invention
Cycle so that solve n1 and n2 when, need not adopt《Phase unwrapping engineering method》Employed in round rounding operations,
Therefore simplify calculation step.
In sum, the structure light phase decoding method based on double frequency cosine wave of the invention, not only remains this problem
Whole technical advantages of group earlier application invention, and compared with earlier application invention, more preferably, algorithm is more specific for motility.
Description of the drawings
Fig. 1 is the oscillogram of two cosine waves that specific embodiment one is drawn.
Fig. 2 is the oscillogram of two cosine waves that specific embodiment two is drawn.
Fig. 3 is the oscillogram of two cosine waves that specific embodiment three is drawn.
Specific embodiment
Below in conjunction with the accompanying drawings the specific embodiment of the invention is described in further detail.
Specific embodiment one
The structure light phase decoding method based on double frequency cosine wave of the present embodiment, for checking with《Phase unwrapping work
Cheng Fangfa》Effectiveness under parameter the same terms.
The structure light phase decoding method based on double frequency cosine wave of the present embodiment, it is characterised in that comprise the following steps：
Step a, respectively projection wave function the first cosine wave and wave function for y1=k1 × cos (2 π x/a1)+b1
For second cosine wave of y2=k2 × cos (2 π x/a2)+b2；
Wherein：
K1=1, a1=9, b1=0；
K2=1, a2=10, b2=0；
X is locus；
And：
Two cosine wave starting points are identical；
A1/ (a2-a1)=9；
The figure drawn according to step a parameter is as shown in Figure 1；
The given locus 38.75 of step b, basis, seek the phase place of the first cosine wave of correspondence of the locus 38.75
The phase place main value phi2 of main value phi1 and the second cosine wave；
Wherein：
Phi1=arccos (cos (2 π × 38.75/9))=1.9199；
Due to tan (2 π × 38.75/9)<0, cos (2 π × 38.75/9)<0, therefore：Phi1=phi1=1.9199
Phi2=arccos (cos (2 π × 38.75/10))=0.7854；
Due to tan (2 π × 38.75/10)<0, cos (2 π × 38.75/10)>0, therefore：Phi2=2 π-phi2=
5.4978；
Step c, the phase place main value phi2 to the phase place main value phi1 and the second cosine wave of the first cosine wave are assigned again
Value：
Phi1=9 × 1.9199/ (2 π)=2.7501；
Phi2=10 × 5.4978/ (2 π)=8.7500；
Step d, the difference for asking phi1 obtained by step c and phi2：H=2.7501-8.7500=-5.9999；Due to abs (h)
More than threshold value 10-10, therefore h=-5.9999 reservations；
Step e, solution room position 38.75 the cycle Integer n 1 comprising the first cosine wave and the second cosine wave cycle
Integer n 2：
N1=mod (- 5.9999,10)/abs (9-10)=4.0001；
N2=mod (- 5.9999,9)/abs (9-10)=3.0001；
Wherein：To take the remainder computing, abs is the computing that takes absolute value to mod ()；
Step f, phase unwrapping value is solved using n1 × a1+phi1 or n2 × a2+phi2, specially：
N1 × a1+phi1=4.0001 × 9+2.7501=38.751；
N2 × a2+phi2=3.0001 × 10+8.7500=38.751.
It should be noted that the phase unwrapping value actually tried to achieve has 0.001 error with given locus, it is
It is rounded what computing was caused in matlab software calculating processes, due to the error very little, is negligible, it can be said that bright phase
Position expansion value result of calculation it is identical with given locus, demonstrate the method with《Phase unwrapping engineering method》Parameter
Effectiveness under the same terms.
Specific embodiment two
The structure light phase decoding method based on double frequency cosine wave of the present embodiment, for verifying that a1 and a2 are not all integer
When effectiveness.
The structure light phase decoding method based on double frequency cosine wave of the present embodiment, it is characterised in that comprise the following steps：
Step a, respectively projection wave function the first cosine wave and wave function for y1=k1 × cos (2 π x/a1)+b1
For second cosine wave of y2=k2 × cos (2 π x/a2)+b2；
Wherein：
K1=1, a1=9, b1=0；
K2=1, a2=10.5, b2=0；
X is locus；
And：
Two cosine wave starting points are identical；
A1/ (a2-a1)=6；
The figure drawn according to step a parameter is as shown in Figure 2；
The given locus 38.75 of step b, basis, seek the phase place of the first cosine wave of correspondence of the locus 38.75
The phase place main value phi2 of main value phi1 and the second cosine wave；
Wherein：
Phi1=arccos (cos (2 π × 38.75/9))=1.9199；
Due to tan (2 π × 38.75/9)<0, cos (2 π × 38.75/9)<0, therefore：Phi1=phi1=1.9199
Phi2=arccos (cos (2 π × 38.75/10.5))=1.9448；
Due to tan (2 π × 38.75/10.5)>0, cos (2 π × 38.75/10.5)<0, therefore：Phi2=2 π-phi2=
4.3384；
Step c, the phase place main value phi2 to the phase place main value phi1 and the second cosine wave of the first cosine wave are assigned again
Value：
Phi1=9 × 1.9199/ (2 π)=2.7501；
Phi2=10.5 × 4.3384/ (2 π)=7.2500；
Step d, the difference for asking phi1 obtained by step c and phi2：H=2.7501-7.2500=-4.4999；Due to abs (h)
More than threshold value 10-10, therefore h=-4.4999 reservations；
Step e, solution room position 38.75 the cycle Integer n 1 comprising the first cosine wave and the second cosine wave cycle
Integer n 2：
N1=mod (- 4.4999,10.5)/abs (9-10.5)=4.0001；
N2=mod (- 4.4999,9)/abs (9-10.5)=3.0001；
Wherein：To take the remainder computing, abs is the computing that takes absolute value to mod ()；
Step f, phase unwrapping value is solved using n1 × a1+phi1 or n2 × a2+phi2, specially：
N1 × a1+phi1=4.0001 × 9+2.7501=38.751；
N2 × a2+phi2=3.0001 × 10.5+7.2500=38.751.
It should be noted that the phase unwrapping value actually tried to achieve has 0.001 error with given locus, it is
It is rounded what computing was caused in matlab software calculating processes, due to the error very little, is negligible, it can be said that bright phase
The result of calculation of position expansion value is identical with given locus, demonstrates the method effective when a1 and a2 are not all integer
Property.
Specific embodiment three
The structure light phase decoding method based on double frequency cosine wave of the present embodiment, for verifying that a1 and a2 are not integer entirely
When effectiveness.
Step a, respectively projection wave function the first cosine wave and wave function for y1=k1 × cos (2 π x/a1)+b1
For second cosine wave of y2=k2 × cos (2 π x/a2)+b2；
Wherein：
K1=1, a1=8.8, b1=0；
K2=1, a2=9.9, b2=0；
X is locus；
And：
Two cosine wave starting points are identical；
A1/ (a2-a1)=8；
The figure drawn according to step a parameter is as shown in Figure 3；
The given locus 38.75 of step b, basis, seek the phase place of the first cosine wave of correspondence of the locus 38.75
The phase place main value phi2 of main value phi1 and the second cosine wave；
Wherein：
Phi1=arccos (cos (2 π × 38.75/8.8))=2.5347；
Due to tan (2 π × 38.75/8.8)<0, cos (2 π × 38.75/8.8)<0, therefore：Phi1=phi1=2.5347
Phi2=arccos (cos (2 π × 38.75/9.9))=0.5395；
Due to tan (2 π × 38.75/9.9)<0, cos (2 π × 38.75/9.9)>0, therefore：Phi2=2 π-phi2=
5.7437；
Step c, the phase place main value phi2 to the phase place main value phi1 and the second cosine wave of the first cosine wave are assigned again
Value：
Phi1=8.8 × 2.5347/ (2 π)=3.5500；
Phi2=9.9 × 5.7437/ (2 π)=9.0500；
Step d, the difference for asking phi1 obtained by step c and phi2：H=3.5500-9.0500=-5.5000；Due to abs (h)
More than threshold value 10-10, therefore h=-5.5000 reservations；
Step e, solution room position 38.75 the cycle Integer n 1 comprising the first cosine wave and the second cosine wave cycle
Integer n 2：
N1=mod (- 5.5000,9.9)/abs (8.8-9.9)=4.0000；
N2=mod (- 5.5000,8.8)/abs (8.8-9.9)=3.0000；
Wherein：To take the remainder computing, abs is the computing that takes absolute value to mod ()；
Step f, phase unwrapping value is solved using n1 × a1+phi1 or n2 × a2+phi2, specially：
N1 × a1+phi1=4.0000 × 8.8+3.5500=38.75；
N2 × a2+phi2=3.0000 × 9.9+9.0500=38.75.
It can be seen that, the result of calculation of phase unwrapping value is identical with given locus, demonstrates the method complete in a1 and a2
Effectiveness when not being integer.
Specific embodiment four
The structure light phase decoding method based on double frequency cosine wave of the present embodiment, for verifying that k1 and k2 is not all 1, b1
When being not all 0 with b2, effectiveness of the invention.
The structure light phase decoding method based on double frequency cosine wave of the present embodiment, comprises the following steps：
Step a, respectively projection wave function the first cosine wave and wave function for y1=k1 × cos (2 π x/a1)+b1
For second cosine wave of y2=k2 × cos (2 π x/a2)+b2；
Wherein：
K1=k1, a1=a1, b1=b1；
K2=k2, a2=a2, b2=b2；
So represent, illustrate that the selection of k1, a1, b1, k2, a2 and b2 has universality；
X is locus；
And：
Two cosine wave starting points are identical；
A1/ (a2-a1) ∈ N, N are natural number；
The given locus X of step b, basis, seeks the phase place main value phi1 of the first cosine wave of the locus X correspondences
With the phase place main value phi2 of the second cosine wave；Specially：
Phi1=arccos (2 π X/a1)；
If：
tan(2πX/a1)>0, and cos (2 π X/a1)>0, assignment again is carried out to phi1, is had：Phi1=phi1；
tan(2πX/a1)<0, and cos (2 π X/a1)<0, assignment again is carried out to phi1, is had：Phi1=phi1；
tan(2πX/a1)>0, and cos (2 π X/a1)<0, assignment again is carried out to phi1, is had：Phi1=2 π-phi1；
tan(2πX/a1)<0, and cos (2 π X/a1)>0, assignment again is carried out to phi1, is had：Phi1=2 π-phi1；
Tan (2 π X/a1)=0, and cos (2 π X/a1)>0, assignment again is carried out to phi1, is had：Phi1=0；
Tan (2 π X/a1)=0, and cos (2 π X/a1)<0, assignment again is carried out to phi1, is had：Phi1=π；
Phi2=arccos (2 π X/a2)；
If：
tan(2πX/a2)>0, and cos (2 π X/a2)>0, assignment again is carried out to phi2, is had：Phi2=phi2；
tan(2πX/a2)<0, and cos (2 π X/a2)<0, assignment again is carried out to phi2, is had：Phi2=phi2；
tan(2πX/a2)>0, and cos (2 π X/a2)<0, assignment again is carried out to phi2, is had：Phi2=2 π-phi2；
tan(2πX/a2)<0, and cos (2 π X/a2)>0, assignment again is carried out to phi2, is had：Phi2=2 π-phi2；
Tan (2 π X/a2)=0, and cos (2 π X/a2)>0, assignment again is carried out to phi2, is had：Phi2=0；
Tan (2 π X/a2)=0, and cos (2 π X/a2)<0, assignment again is carried out to phi2, is had：Phi2=π；
Step c, the phase place main value phi2 to the phase place main value phi1 and the second cosine wave of the first cosine wave are assigned again
Value：
Phi1=a1 × phi1/ (2 π)；
Phi2=a2 × phi2/ (2 π)；
Step d, the difference for asking phi1 obtained by step c and phi2：H=phi1-phi2；And have：
If abs (h) is more than threshold value, h=h；
If abs (h) is not more than threshold value, h=0；
Described threshold value is 10-10；
The cycle integer of step e, the cycle Integer n 1 of included the first cosine waves of solution room position X and the second cosine wave
n2：
N1=mod (h, a2)/abs (a1-a2)；
N2=mod (h, a1)/abs (a1-a2)；
Wherein：To take the remainder computing, abs is the computing that takes absolute value to mod ()；
Patent of invention of the strict derivation of the formula in this seminar earlier application《Phase unwrapping engineering method》Have in detail
Illustrate, therefore be not repeated in the application；
Step f, phase unwrapping value is solved using n1 × a1+phi1 or n2 × a2+phi2.
Due to the k1 that step a is related to, b1, k2 and b2 not step b, step c, step d, step e and, in step f
Occur, therefore, this four parameters are illustrated for final result does not have any impact, and then arbitrarily can be arranged, realize that waveform is joined
The motility of number selection.
And follow-up formula is based on strict derivation, therefore equally there is universality, illustrate no matter a1 and a2 is
It is no to be all integer, be not all integer, or it is complete be not integer, the result be it is correct, therefore, demonstrate the inventive method
Effectiveness.
Above example adopts following projection acquisition system, the system to include projector, measured object and image acquisition
System, to measured object projecting structural optical, image capturing system collection projection has the tested object image of structure light to described projector,
These technical characteristics are completely the same with traditional structure photosystem, are not repeated.Difference is that the projector is thrown
The structure light penetrated is：
Wave function is y2=k2 × cos (2 for first cosine wave and wave function of y1=k1 × cos (2 π x/a1)+b1
π x/a2)+b2 the second cosine wave；
Wherein：
K1 determines the contrast of the first cosine wave, and a1 is the wavelength of the first cosine wave, and b1 determines the brightness of the first cosine wave；
K2 determines the contrast of the second cosine wave, and a2 is the wavelength of the second cosine wave, and b2 determines the brightness of the second cosine wave；
X is locus；
And：
Two cosine wave starting points are identical；
A1/ (a2-a1) ∈ N, N are natural number.
Claims (6)
1. the structure light phase decoding method based on double frequency cosine wave, it is characterised in that comprise the following steps：
Step a, respectively projection wave function are y2 for first cosine wave and wave function of y1=k1 × cos (2 π x/a1)+b1
Second cosine wave of=k2 × cos (2 π x/a2)+b2；
Wherein：
K1 determines the contrast of the first cosine wave, and a1 is the wavelength of the first cosine wave, and b1 determines the brightness of the first cosine wave；
K2 determines the contrast of the second cosine wave, and a2 is the wavelength of the second cosine wave, and b2 determines the brightness of the second cosine wave；
X is locus；
And：
Two cosine wave starting points are identical；
A1/ (a2-a1) ∈ N, N are natural number；
Step b, basis given locus X, X ∈ (0, a1 × a2/ (a2-a1)), seek the locus X correspondences more than first
The phase place main value phi2 of the phase place main value phi1 and the second cosine wave of string ripple；
Step c, the phase place main value phi2 to the phase place main value phi1 and the second cosine wave of the first cosine wave carry out assignment again：
Phi1=a1 × phi1/ (2 π)；
Phi2=a2 × phi2/ (2 π)；
Step d, the difference for asking phi1 obtained by step c and phi2：H=phi1-phi2；
The cycle Integer n 2 of step e, the cycle Integer n 1 of included the first cosine waves of solution room position X and the second cosine wave：
N1=mod (h, a2)/abs (a1-a2)；
N2=mod (h, a1)/abs (a1-a2)；
Wherein：To take the remainder computing, abs is the computing that takes absolute value to mod ()；
Step f, phase unwrapping value is solved using n1 × a1+phi1 or n2 × a2+phi2.
2. the structure light phase decoding method based on double frequency cosine wave according to claim 1, it is characterised in that described
A1 and a2 are all integer, or are all non-integer, or one be integer one be non-integer.
3. the structure light phase decoding method based on double frequency cosine wave according to claim 1, it is characterised in that for imitative
True computing, adopts the phi1 and phi2 for being obtained in step b with the following method：
Phi1=arccos (2 π X/a1)；
If：
tan(2πX/a1)>0, and cos (2 π X/a1)>0, assignment again is carried out to phi1, is had：Phi1=phi1；
tan(2πX/a1)<0, and cos (2 π X/a1)<0, assignment again is carried out to phi1, is had：Phi1=phi1；
tan(2πX/a1)>0, and cos (2 π X/a1)<0, assignment again is carried out to phi1, is had：Phi1=2 π-phi1；
tan(2πX/a1)<0, and cos (2 π X/a1)>0, assignment again is carried out to phi1, is had：Phi1=2 π-phi1；
Tan (2 π X/a1)=0, and cos (2 π X/a1)>0, assignment again is carried out to phi1, is had：Phi1=0；
Tan (2 π X/a1)=0, and cos (2 π X/a1)<0, assignment again is carried out to phi1, is had：Phi1=π；
Phi2=arccos (2 π X/a2)；
If：
tan(2πX/a2)>0, and cos (2 π X/a2)>0, assignment again is carried out to phi2, is had：Phi2=phi2；
tan(2πX/a2)<0, and cos (2 π X/a2)<0, assignment again is carried out to phi2, is had：Phi2=phi2；
tan(2πX/a2)>0, and cos (2 π X/a2)<0, assignment again is carried out to phi2, is had：Phi2=2 π-phi2；
tan(2πX/a2)<0, and cos (2 π X/a2)>0, assignment again is carried out to phi2, is had：Phi2=2 π-phi2；
Tan (2 π X/a2)=0, and cos (2 π X/a2)>0, assignment again is carried out to phi2, is had：Phi2=0；
Tan (2 π X/a2)=0, and cos (2 π X/a2)<0, assignment again is carried out to phi2, is had：Phi2=π.
4. the structure light phase decoding method based on double frequency cosine wave according to claim 1, it is characterised in that in step
Between d and step e, also including step d '：
If abs (h) is more than threshold value, h=h；
If abs (h) is not more than threshold value, h=0.
5. the structure light phase decoding method based on double frequency cosine wave according to claim 4, it is characterised in that described
Threshold value is 10-10。
6. a kind of projection for realizing the structure light phase decoding method described in any one of claim 1-5 based on double frequency cosine wave is adopted
Collecting system, including projector, measured object and image capturing system, described projector is to measured object projecting structural optical, image
Acquisition system collection projection has the tested object image of structure light, it is characterised in that the structure light of the projector projects is：
Wave function is y2=k2 × cos (2 π x/ for first cosine wave and wave function of y1=k1 × cos (2 π x/a1)+b1
A2) second cosine wave of+b2；
Wherein：
K1 determines the contrast of the first cosine wave, and a1 is the wavelength of the first cosine wave, and b1 determines the brightness of the first cosine wave；
K2 determines the contrast of the second cosine wave, and a2 is the wavelength of the second cosine wave, and b2 determines the brightness of the second cosine wave；
X is locus；
And：
Two cosine wave starting points are identical；
A1/ (a2-a1) ∈ N, N are natural number.
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