CN106918307A - A kind of reliable definitely simulation code search method - Google Patents

Abstract

A kind of reliable definitely simulation code search method belongs to structural light three-dimensional field of measuring technique；The method is comprised the following steps：First, the preferable high frequency of calculating definitely simulates code and preferable low frequency definitely simulates code respectively, then, the actual high frequency of acquisition definitely simulates code and actual low frequency definitely simulates code respectively, 3rd, calculate actual high frequency and definitely simulate code and the difference between actual low frequency definitely simulates code, 4th, code is definitely simulated according to actual high frequency and the difference between actual low frequency definitely simulates code, and high-frequency phase shift fringe period, calculate compensating parameter, 5th, the high frequency for calculating correction definitely simulates code, finally, it is determined that the condition that the present invention sets up；Reliable definitely simulation code search method of the invention, rebuilds and does not exist gross error in three-dimensional result, and reconstructed results preferably embody the minutia of measured surface, and effect is preferable.

Description

A kind of reliable definitely simulation code search method

Technical field

A kind of reliable definitely simulation code search method belongs to structural light three-dimensional field of measuring technique.

Background technology

Method for three-dimensional measurement based on structure light is as a kind of non-contact measurement method in reverse-engineering, industrial detection, doctor The application in the fields such as, virtual reality has huge development potentiality.Method of structured light is a kind of active optical e measurement technology, General principle is that controllable luminous point, light or strip encoding structure are projected to testee surface from structured light projector, and Image is obtained by imageing sensor, the three-dimensional coordinate of measured surface is calculated by the geometrical relationship of measuring system.

Based on digital stripe projection Structure light method due to its have quickly, noncontact, high-resolution, high accuracy and Advantage easy to use is widely used.For fringe projection method, there are Fourier transformation, wavelet transformation and phase shifting method at present To calculate parcel simulation code, wherein Fourier transformation and wavelet transformation calculates complicated, and effect is not when measuring condition is severe Ideal, decoding precision is low.And phase shifting method to calculate the simple, degree of accuracy high, be suitable for measuring complex surface, phase shifting method includes remaining String phase shift, trapezoidal phase shift, triangle phase shift.Phase shifting method is calculated parcel simulation code, its master according to the stripe pattern of deformation Value scope for [0, T), T be phase shift fringe period, parcel simulation code include discontinuous cycle T, it is therefore necessary to be simulated code Launch to obtain continuous definitely simulation code.When complicated or discontinuous surface is measured, simulation code launches will be highly difficult.

Simulation code method of deploying mainly includes the two frequency analogs code method of development, the multi-frequency simulation code method of development and makes at present Realize that simulation code launches with auxiliaring coding striped.Two frequencies and multi-frequency simulation code method of deploying be respectively necessary for two groups and it is multigroup not The phase shift candy strip of same frequency, determines simulation code series, so as to carry out using the algebraic relation between different frequency simulation code Simulation code launches.Because simulation code is analog quantity, antijamming capability is low, if there is a certain degree of error in parcel simulation code, May result in larger simulation code and launch error.

Compared with other auxiliaring codings, Gray code has high anti-jamming capacity, therefore generally using Gray code simulation Code launches.Gray code can measure height acute variation with phase shift combinations method or discontinuous surface keeps high accuracy again, is The method being widely used at present.But the method is due to non-uniform reflection rate, noise, background intensity, the defocus of measurand And the influence of the non-linear grade of digital projector, phase shift stripe pattern can deviate its preferable cosine waveform and make parcel simulate code Occur solution code error, and Gray code stripe pattern black and white transform boundary be frequently not it is sharp block and go out gray code decoder Mistake, both of which can cause there is obvious simulation code saltus step in definitely simulation code, be similar to the error of integral multiple fringe period, We term it cycle jump error, this can make measurement result produce gross error.

In order to reduce cycle jump error, domestic and international researcher proposes some measures, achieves certain effect.Article 《Self-correction phase unwrapping method based on Gray-code light》Propose one kind Code method of deploying is simulated in self-correcting, and the method corrects the position of Gray code saltus step using the position of saltus step T in parcel simulation code, But the method need to determine by the simulation code and Gray code of adjacent pixel respectively the position of saltus step T in parcel simulation code with The position of Gray code saltus step, and it needs to be determined that hunting zone, greatly, adaptivity is poor for time overhead.Article《3-D shape measurement based on complementary Gray-code light》Propose a kind of based on complementary Gray code Simulation code method of deploying, compared with traditional Gray code method, the method is needed this complementarity method compared with traditional Gray code method The Gray code pattern that a width is extra is wanted, Gray's number of codes is the twice of traditional Gray code method, and needs one are relative complex Decoding process.Article《Unequal-period combination approach of gray code and phase- shifting for 3-D visual measurement》A kind of Gray code grade cycle combined method non-with phase shift is proposed, should The gray encoding cycle of method is unequal with the phase shift cycle, and Gray code jump position is not weighed with parcel simulation jump position Close, do not produce cycle jump error then under applicable elements.However, as measuring environment deteriorates and is tested scenery Surface complexity Increase, when the qualifications of defined are not being met, cycle saltus step mistake is still present in the absolute simulation code that the method is obtained Difference, measurement result still occur gross error.

The content of the invention

For there is cycle jump error in definitely simulation code, the invention discloses a kind of reliable definitely simulation Code search method, the method is respectively adopted and high-frequency non-waits cycle Gray code and phase shift combinations pattern and low-frequency same group Close pattern respectively to measure complex surface, high frequency and low is obtained respectively using the non-grade cycle combined method of Gray code and phase shift Frequently two absolute simulations of frequency yard.Because accuracy of measurement is about directly proportional to the frequency of phase shift striped, and the frequency of phase shift striped Rate is higher, produces the probability of cycle jump error bigger.The difference that high and low frequency is definitely simulated between code is exhausted as high frequency To the criterion in simulation code with the presence or absence of cycle jump error, and by increasing or subtracting the high-frequency phase shift striped week of integral multiple Phase eliminates high frequency and definitely simulates cycle jump error present in code, then is definitely simulated code and recovered tested using the high frequency of correction The three-dimensional appearance on surface, while the applicable elements of institute's extracting method are determined, the applicable elements are non-compared with Gray code and phase shift to wait the cycle The applicable elements of combined method are looser.Experiment show more may be used using the absolute simulation code that institute's extracting method is obtained Lean on.

The object of the present invention is achieved like this：

A kind of reliable definitely simulation code search method, comprises the following steps：

The preferable high frequency of step a, respectively calculating definitely simulates a yard x_hA yard x is definitely simulated with preferable low frequency_l：

Wherein, k_mhFor code series, k are simulated in the high frequency second level_mlFor code series is simulated in the low frequency second level；For high frequency wraps up mould Intend code,It is low frequency parcel simulation code；T_hIt is high-frequency phase shift fringe period, T_lIt is low frequency phase shift fringe period, and has T_l=NT_h, N It is the odd number not less than 3；x_h=x_l；

Step b, the respectively actual high frequency of acquisition definitely simulate codeCode is definitely simulated with actual low frequency

Wherein, Δ k_mhFor code series error, Δ k are simulated in the high frequency second level_mlFor code series error is simulated in the low frequency second level；It is high frequency parcel simulation code error, and has k_h=-1,0,1,It is low frequency parcel simulation code error, and has k_l =-1,0,1；It is the remaining simulation code error of high frequency,It is the remaining simulation code error of low frequency；

Step c, the actual high frequency of calculating definitely simulate codeCode is definitely simulated with actual low frequencyBetween poor Δ x^c：

Wherein, Δ x_hFor high frequency definitely simulates code error,Δx_lFor low frequency definitely simulates code error,

Step d, code is definitely simulated according to actual high frequencyCode is definitely simulated with actual low frequencyBetween poor Δ x^c, and High-frequency phase shift fringe period T_h, calculate compensating parameter k_c：

Wherein, k_c=round () is round；

Step e, the high frequency of calculating correction definitely simulate code

Step f, the condition for determining step e establishments：

Under conditions of step f, according to the computational methods of step e, compensate actual high frequency and definitely simulate codeCorrected High frequency definitely simulate code

Beneficial effect：

The mechanism that the inventive method is produced according to cycle jump error, targetedly takes steps to the saltus step of elimination cycle Error, forms a kind of more reliable absolute simulation code search method.The method is respectively adopted high-frequency non-grade cycle Gray code Complex surface is measured respectively with phase shift combinations pattern and low-frequency same combination pattern, it is non-with phase shift using Gray code Obtain the absolute simulation code of two frequencies of high and low frequency respectively Deng cycle combined method.Because accuracy of measurement and phase shift striped Frequency be about directly proportional, and the frequency of phase shift striped is higher, produces the probability of cycle jump error bigger.High and low frequency is exhausted Definitely simulate the criterion in code with the presence or absence of cycle jump error as high frequency to the difference between simulation code, and by increasing or Person subtracts the high-frequency phase shift fringe period of integral multiple and definitely simulates cycle jump error present in code eliminating high frequency, then uses The high frequency of correction definitely simulates the three-dimensional appearance that code recovers measured surface, experiment show using institute's extracting method obtain it is exhausted It is relatively reliable to simulation code.

Brief description of the drawings

Fig. 1 is the waveform and location diagram for simulating code sum of series parcel simulation code.

Fig. 2 is tested gypsum head portrait.

Fig. 3 is the high frequency gray code map picture of deformation.

Fig. 4 is the high-frequency phase shift stripe pattern of deformation.

Fig. 5 is the low frequency gray code map picture of deformation.

Fig. 6 is the low frequency phase shift stripe pattern of deformation.

Fig. 7 is high frequency parcel simulation code figure.

Fig. 8 is low frequency parcel simulation code figure.

Fig. 9 definitely simulates code figure for high frequency.

Figure 10 definitely simulates code figure for low frequency.

Figure 11 is the three-dimensional result that code reconstruction is definitely simulated by high frequency.

Figure 12 is the partial enlarged drawing of Figure 11.

Figure 13 is definitely simulated the three-dimensional result of code reconstruction by low frequency.

Figure 14 is the partial enlarged drawing of Figure 13.

Figure 15 is that the high frequency of the correction obtained using the inventive method definitely simulates code figure.

Figure 16 is that the high frequency by correcting definitely simulates the three-dimensional result that code is rebuild.

Figure 17 is the partial enlarged drawing of Figure 16.

Specific embodiment

The specific embodiment of the invention is described in further detail below in conjunction with the accompanying drawings.

Reliable definitely simulation code search method of the invention, comprises the following steps：

The preferable high frequency of step a, respectively calculating definitely simulates a yard x_hA yard x is definitely simulated with preferable low frequency_l：

Wherein, k_mhFor code series, k are simulated in the high frequency second level_mlFor code series is simulated in the low frequency second level；For high frequency wraps up mould Intend code,It is low frequency parcel simulation code；T_hIt is high-frequency phase shift fringe period, T_lIt is low frequency phase shift fringe period, and has T_l=NT_h, N It is the odd number not less than 3；x_h=x_l；

Step b, the respectively actual high frequency of acquisition definitely simulate codeCode is definitely simulated with actual low frequency

Wherein, △ k_mhFor code series error, △ k are simulated in the high frequency second level_mlFor code series error is simulated in the low frequency second level；It is high frequency parcel simulation code error, and has k_h=-1,0,1,It is low frequency parcel simulation code error, and has k_l=-1,0,1；It is the remaining simulation code error of high frequency,It is the remaining simulation code error of low frequency；

Step c, the actual high frequency of calculating definitely simulate codeCode is definitely simulated with actual low frequencyBetween poor △ x^c：

Wherein, △ x_hFor high frequency definitely simulates code error,△x_lFor low frequency definitely simulates code error,

Step d, code is definitely simulated according to actual high frequencyCode is definitely simulated with actual low frequencyBetween poor △ x^c, and High-frequency phase shift fringe period T_h, calculate compensating parameter k_c：

Wherein, k_c=round () is round；

Step e, the high frequency of calculating correction definitely simulate code

It should be noted that it can be seen from the non-error analysis for waiting cycle combined method of Gray code hereinafter and phase shift, in height The absolute value of the simulation code series error of frequency and low frequency | △ k_gh|≤N-1, | △ k_gl|≤2, the remaining simulation code of high and low frequency The absolute value of errorUnder conditions of, high frequency definitely simulates code errorm∈ Z, | m |≤(N-1)/2, low frequency definitely simulates code errorM ∈ Z, | m |≤1, actual high frequency definitely simulates code Present in cycle jump error eliminated using above formula.

Step f, the condition for determining step e establishments：

Under conditions of step f, according to the computational methods of step e, compensate actual high frequency and definitely simulate codeCorrected High frequency definitely simulate code

Separately below by theory analysis and laboratory facilities, beneficial effects of the present invention are verified.

Theory analysis is verified

Cycle combined method is waited Gray code and phase shift are non-, the waveform of simulation code sum of series parcel simulation code and position close System is as shown in Figure 1.Wherein, phase shift fringe period is T, and the gray encoding cycle is T/2, and Gray code pattern leading phase moves pattern T/ 4, it is misaligned with parcel simulation code jump position to ensure simulation code series jump position；It is parcel simulation code, its main value scope For [0, T), It is the wrapped phase obtained by phase shift method；k_gFor the simulation code level that decoding Gray code is obtained Number, k_mIt is according to simulation code series k_gAnd parcel simulation codeSecond simulation code series of the parcel simulation code being calculated, k_gWith k_mIt is integer；X is absolute simulation code.

Second simulation code series of parcel simulation code may be calculated：

Definitely simulating code is

It is non-for Gray code and phase shift to wait cycle combined method, if simulation code series k_gWith parcel simulation codeIt is preferable Value, does not preferably definitely exist error in simulation code x, however, in actually measurement, due to the non-uniform reflection of test object The nonlinear influence of rate, background intensity, defocus, noise, ambient light and digital projector, in actual simulation code seriesCode is simulated with actual parcelIn be inevitably present error delta k_gWithK=-1,0,1,For residue is simulated Code error,Gray code it is non-with phase shift wait cycle combined method applicable elements be：Jumped in simulation code series Become in the range of the left T/8 in position, simulate code series error delta k_g=0 or Δ k_g=1, in the simulation right T/8 models of code series jump position In enclosing, simulation code series error delta k_g=0 or △ k_g=-1, and in the range of other, simulate code series error delta k_g=0；It is surplus Complementary modul intends the absolute value of code errorAs △ k_gWithWhen meeting applicable elements, △ k_m+ k=0, △ k_mIt is the second mould Intend code series error, It is according to realistic simulation code seriesAnd actual package simulation codeIt is calculated Actual second simulates code series, actual definitely simulation code x^cIn do not exist cycle jump error, i.e.,But During measurement complex surface, △ k_gApplicable elements may be unsatisfactory for, as a result may cause △ k_m+ k ≠ 0, and then cause actual definitely mould Intend that cycle jump error is still present in code, i.e.,

As simulation code series k_gWith parcel simulation codeWhen being ideal value, the second simulation code series k_mIn parcel simulation code It is respectively in four intervals of main value scope：

1st, existIn interval, k_gIt is even number,k_m=k_g/2；

2nd, existIn interval, k_gIt is odd number,k_m=(k_g-1)/2；

3rd, existIn interval, k_gIt is odd number,k_m=(k_g-1)/2；

4th, existIn interval, k_gIt is even number,k_m=k_g/2-1。

In actual measurement, Gray code grade cycle combined method non-with phase shift can be described as：

In actual simulation code seriesIn there is error delta k_g, the absolute value of residue simulation code errorBar Under part, the main value scope that will wrap up simulation code is divided into four intervals and carries out following error analysis.

1st, existIn interval, k_gIt is even number.

In △ k_gIn the case of for even number, as k=0,△k_m =△ k_g/ 2,As △ k_gWhen=0, definitely do not exist cycle jump error in simulation code；As △ k_g≠0 When, definitely there is cycle jump error in simulation code；As k=1, △k_m=△ k_g/ 2-1,As △ k_gWhen=0, definitely in the absence of week in simulation code Phase jump error；As △ k_gWhen ≠ 0, definitely there is cycle jump error in simulation code.

In △ k_gIn the case of for odd number, as k=0,△ k_m=(△ k_g- 1)/2,As Δ k_gWhen=1, definitely do not exist cycle jump error in simulation code；When Δk_gWhen ≠ 1, definitely there is cycle jump error in simulation code；As k=1, Δk_m=(Δ k_g- 1)/2,Work as Δ k_gWhen=- 1, definitely do not exist cycle jump error in simulation code；As △ k_gWhen ≠ -1, definitely there is cycle saltus step in simulation code Error.

2nd, existIn interval, k_gIt is odd number, k=0.

In △ k_gIn the case of for even number, whenWhen, △k_m=△ k_g/ 2,As △ k_gWhen=0, definitely do not exist cycle jump error in simulation code；As △ k_g≠ When 0, definitely there is cycle jump error in simulation code；WhenWhen, △k_m=△ k_g/ 2,As △ k_gWhen=0, definitely do not exist the cycle in simulation code Jump error；As △ k_gWhen ≠ 0, definitely there is cycle jump error in simulation code.

In △ k_gIn the case of for odd number, whenWhen, △k_m=(△ k_g+ 1)/2,As △ k_gWhen=- 1, definitely do not exist cycle jump error in simulation code； As △ k_gWhen ≠ -1, definitely there is cycle jump error in simulation code；WhenWhen,△k_m=(△ k_g- 1)/2,As △ k_g When=1, definitely do not exist cycle jump error in simulation code；As △ k_gWhen ≠ 1, definitely there is cycle saltus step mistake in simulation code Difference.

3rd, existIn interval, k_gIt is odd number, k=0.

In △ k_gIn the case of for even number, whenWhen, Δk_m=Δ k_g/ 2,As Δ k_gWhen=0, definitely do not exist cycle jump error in simulation code；As Δ k_g≠ When 0, definitely there is cycle jump error in simulation code；WhenWhen, Δk_m=Δ k_g/ 2,As Δ k_gWhen=0, definitely do not exist the cycle in simulation code Jump error；As Δ k_gWhen ≠ 0, definitely there is cycle jump error in simulation code.

In Δ k_gIn the case of for odd number, whenWhen, Δk_m=(Δ k_g- 1)/2,As Δ k_gWhen=1, definitely do not exist cycle jump error in simulation code； As Δ k_gWhen ≠ 1, definitely there is cycle jump error in simulation code；WhenWhen, Δk_m=(Δ k_g+ 1)/2,As Δ k_gWhen=- 1, definitely do not deposited in simulation code In cycle jump error；As Δ k_gWhen ≠ -1, definitely there is cycle jump error in simulation code.

4th, existIn interval, k_gIt is even number.

In Δ k_gIn the case of for even number, as k=0,Δ k_m=Δ k_g/ 2,As △ k_gWhen=0, definitely do not exist cycle jump error in simulation code；As Δ k_gWhen ≠ 0, Definitely there is cycle jump error in simulation code；As k=-1, Δk_m=(Δ k_g+ 1)/2,As Δ k_gWhen=0, definitely do not exist cycle jump error in simulation code；Work as Δ k_gWhen ≠ 0, definitely there is cycle jump error in simulation code.

It is being Δ k_gIn the case of odd number, as k=0,Δ k_m=(Δ k_g+ 1)/2,As Δ k_gWhen=- 1, definitely do not exist cycle jump error in simulation code； As Δ k_gWhen ≠ -1, definitely there is cycle jump error in simulation code；As k=-1, Δk_m=(Δ k_g+ 1)/2,Work as Δ k_gWhen=1, definitely do not exist cycle jump error in simulation code；As Δ k_gWhen ≠ 1, definitely there is cycle saltus step mistake in simulation code Difference.

Above-mentioned error analysis is summarised in table 1.

The error analysis table of the Gray code of table 1 grade cycle combined method non-with phase shift

As it can be seen from table 1 Gray code is non-with phase shift to wait cycle combined method in simulation code series error delta k_gIt is discontented with it Applicable elements, residue simulation code errorIn the case of meeting its applicable elements, still be there may be in actual definitely simulation code Cycle jump error.

For the absolute simulation code error shown in upper table, | Δ k_gh|≤N-1, | Δ k_gl| under conditions of≤2, to this Inventive method carries out error analysis.

1st, whenM ∈ Z, | m |≤(N-1)/2,When, | k_c|≤(N-1)/2, k_c=m,The high frequency of correction does not exist cycle saltus step in definitely simulating code Error；

2nd, whenM ∈ Z, (1-N)/2≤m≤- 1,When, (N+1)/2≤k_c≤ N-1, N- mod(k_c, N) and=- m,The high frequency of correction is definitely simulated in code In the absence of cycle jump error；

3rd, whenM ∈ Z, (1-N)/2≤m≤- 1,When, (1-3N)/2≤k_c≤-N-1, N-mod(k_c, N) and=- m,The high frequency of correction definitely simulates code In do not exist cycle jump error；

4th, whenM ∈ Z, 1≤m≤(N-1)/2,When, 1-N≤k_c≤ (- N-1)/2, mod(k_c, N) and=m,The high frequency of correction is definitely simulated in code not There is cycle jump error；

5th, whenM ∈ Z, 1≤m≤(N-1)/2,When, 1+N≤k_c≤ (3N-1)/2, mod (k_c, N) and=m,The high frequency of correction is not deposited in definitely simulating code In cycle jump error；

6th, whenM ∈ Z, during | m |=1, | k_c|=N, The high frequency of correction does not exist cycle jump error in definitely simulating code；

Reliable definitely simulation code search method error analysis of the invention is summarised in table 2.

The reliable definitely simulation code search method error analysis table of the present invention of table 2

In sum, proposed reliable definitely simulation code search method can be described as：In low frequency phase shift bar The line cycle is N times of high-frequency phase shift fringe period, and N >=3, N is odd number；In the range of the main value of parcel simulation code, high frequency and low The absolute value of the simulation code series error of frequency | △ k_gh|≤N-1, | △ k_gl|≤2；The absolute value of the remaining simulation code error of high frequencyThe absolute value of the remaining simulation code error of low frequencyOn the premise of, can be obtained according to the formula of step e High frequency to correction definitely simulates codeAnd in the absence of cycle jump error, the high frequency of correction definitely simulates code errorIf being unsatisfactory for the premise, the high frequency for correcting there will still likely be cycle jump error in definitely simulating code.Dative Thunder code simulates the scope of application of code series error by simulation code series jump position compared with the non-grade cycle combined method of phase shift Left and right T/8 scopes expand to the whole main value scope of parcel simulation code, and the amplitude for simulating code series error expands to N-1 by 1, institute Extracting method can more reliably launch parcel simulation code.

Experimental verification

In order to verify beneficial effects of the present invention, also carried out following experiment, set up experimental measurement system, the system by One digital projector (AcerH7531D) and a cmos camera (AcerH7531D) and a computer composition, numeral are thrown The resolution ratio of shadow instrument is 1024 × 768 pixels, and the imaging resolution of cmos camera is 2048 × 1536 pixels.

We realize the method for the present invention using experimental measurement system, in order to ensure the exhausted of the remaining simulation code error of low frequency To valueWe make 3 times that low frequency phase shift fringe period is high-frequency phase shift fringe period, high frequency Gray code pattern Code period is 4 pixels, and the cycle of high-frequency phase shift candy strip is 8 pixels, and the code period of low frequency Gray code pattern is 12 pixels, the cycle of low frequency phase shift candy strip is 24 pixels, so 8 vertical frame dimension frequency Gray code patterns and three steps are respectively adopted High-frequency phase shift candy strip and 7 frame low frequency Gray code patterns and three step low frequency phase shift candy strips are tested to as shown in Figure 2 Gypsum head portrait is measured, and is finally based on article《Phase error compensation method using smoothing spline approximation for a three-dimensional shape measurement system based on gray-code and phase-shift light projection》The trigonometry of use, is obtained using the inventive method The high frequency of correction definitely simulates code, rebuilds the 3D shape of tested gypsum head portrait.

Fig. 3 is the high frequency gray code map picture of deformation, and Fig. 4 is the high-frequency phase shift stripe pattern of deformation, and Fig. 5 is the low frequency of deformation Gray code map picture, Fig. 6 is the low frequency phase shift stripe pattern of deformation, and Fig. 7 is high frequency parcel simulation code figure, and Fig. 8 is that low frequency wraps up mould Intend code figure, Fig. 9 definitely simulates code figure for high frequency, and Figure 10 definitely simulates code figure for low frequency, and Figure 11 is that code weight is definitely simulated by high frequency The three-dimensional result built, Figure 12 is the partial enlarged drawing of Figure 11, and Figure 13 is definitely simulated the three-dimensional result of code reconstruction, Tu14Wei by low frequency The partial enlarged drawing of Figure 13.

From Figure 11 to Figure 14, cycle combined method, two measurement results is waited to exist using Gray code and phase shift are non- It is a small amount of by obvious gross error caused by remaining cycle jump error.

Figure 15 is that the high frequency of the correction obtained using the inventive method definitely simulates code figure, and Figure 16 is exhausted by the high frequency for correcting The three-dimensional result rebuild to simulation code, Figure 17 is the partial enlarged drawing of Figure 16.

Figure 16 and Figure 11 and Figure 13 are contrasted, Figure 17 and Figure 12 and Figure 14 are contrasted, by contrast, adopted With not existing gross error in the reconstruction three-dimensional result of the inventive method, reconstructed results preferably embody the details of measured surface Feature, effect is preferable.

Claims (1)

1. it is a kind of reliably definitely to simulate code search method, it is characterised in that to comprise the following steps：

The preferable high frequency of step a, respectively calculating definitely simulates a yard x_hA yard x is definitely simulated with preferable low frequency_l：

Wherein, k_mhFor code series, k are simulated in the high frequency second level_mlFor code series is simulated in the low frequency second level；Simulated for high frequency is wrapped up Code,It is low frequency parcel simulation code；T_hIt is high-frequency phase shift fringe period, T_lIt is low frequency phase shift fringe period, and has T_l=NT_h, N is Odd number not less than 3；x_h=x_l；

Step b, the respectively actual high frequency of acquisition definitely simulate codeCode is definitely simulated with actual low frequency

Wherein, Δ k_mhFor code series error, Δ k are simulated in the high frequency second level_mlFor code series error is simulated in the low frequency second level；It is high frequency parcel simulation code error, and has k_h=-1,0,1,It is low frequency parcel simulation code error, and has k_l =-1,0,1；It is the remaining simulation code error of high frequency,It is the remaining simulation code error of low frequency；

Step c, the actual high frequency of calculating definitely simulate codeCode is definitely simulated with actual low frequencyBetween poor Δ x^c：

Wherein, Δ x_hFor high frequency definitely simulates code error,Δx_lFor low frequency definitely simulates code error,

Step d, code is definitely simulated according to actual high frequencyCode is definitely simulated with actual low frequencyBetween poor Δ x^c, and high frequency Phase shift fringe period T_h, calculate compensating parameter k_c：

$k_c=round\left(\frac{{\mathrm{\Δx}}^c}{T_h}\right)$

Wherein, k_c=round () is round；

Step e, the high frequency of calculating correction definitely simulate code

$x_{hc}^c=\left\{\begin{array}{ccc}{x}_h^c-k_c{T}_h& if:& \left|k_c\right|\≤\left(N-1\right)/2\\ x_h^c+\[N-\mathrm{mod}\left(k_c,N\right)\]T_h& if:& \left(N+1\right)/2\≤k_c\≤N-1\\ x_h^c+\[N-\mathrm{mod}\left(k_c,N\right)\]T_h& if:& \left(1-3N\right)/2\≤k_c\≤-N-1\\ x_h^c-\mathrm{mod}\left(k_c,N\right)T_h& if:& -N\≤k_c\≤\left(-N-1\right)/2\\ x_h^c-\mathrm{mod}\left(k_c,N\right)T_h& if:& N\≤k_c\≤\left(3N-1\right)/2\\ NaN& if:& k_c=others\end{array}\right.$

Step f, the condition for determining step e establishments：

Under conditions of step f, according to the computational methods of step e, compensate actual high frequency and definitely simulate codeThe height for being corrected Frequency definitely simulation code