CN115661321A - Method and device for acquiring hologram, electronic device and medium - Google Patents
Method and device for acquiring hologram, electronic device and medium Download PDFInfo
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Abstract
The application provides a method, a device, an electronic device and a medium for acquiring a hologram, wherein the method comprises the following steps: acquiring initial multi-source three-dimensional composition data of a target area, and acquiring a target three-dimensional image of the target area according to the initial multi-source three-dimensional composition data; acquiring N layer images of a target three-dimensional image and amplitude distribution of the layer images; acquiring a phase adjustment value of the layer image, and obtaining a first complex amplitude of the layer image according to the amplitude distribution and the phase adjustment value; and acquiring an initial hologram of the bedding image according to the first complex amplitude, and acquiring a target hologram of the target three-dimensional image based on all the initial holograms of the N bedding images. According to the method and the device, the experience of workers in the process of acquiring the related information of the target area is optimized, the error degree between the acquired related information of the target area and the actual scene of the target area is reduced, the noise of the hologram is reduced, and the quality of the hologram obtained based on the three-dimensional image is improved.
Description
Technical Field
The present application relates to the field of data processing, and in particular, to a method and an apparatus for acquiring a hologram, an electronic device, and a medium.
Background
With the development of society, the environment of a part of areas still exists in the actual environment and is relatively bad, and a certain degree of potential safety hazards exist for workers entering the part of areas to work.
In the related technology, the three-dimensional map of the partial area can be constructed, so that the staff is assisted to acquire the related information of the partial area, the experience is insufficient, and an error exists between the related information acquired from the three-dimensional map by the staff and an actual scene.
Disclosure of Invention
The object of the present application is to solve at least to some extent one of the technical problems in the above-mentioned technology.
The first aspect of the present application provides a method for obtaining a hologram, including: acquiring initial multi-source three-dimensional composition data of a target area, and acquiring a target three-dimensional image of the target area according to the initial multi-source three-dimensional composition data; acquiring N layer images of the target three-dimensional image and the amplitude distribution of the layer images; obtaining a phase adjustment value of the bedding surface image, and obtaining a first complex amplitude of the bedding surface image according to the amplitude distribution and the phase adjustment value; and acquiring the initial hologram of the layer image according to the first complex amplitude, and acquiring a target hologram of the target three-dimensional image based on all the initial holograms of the N layer images.
The method for acquiring the hologram provided by the first aspect of the present application further has the following technical features, including:
according to an embodiment of the present application, the obtaining an initial hologram of the plane image according to the first complex amplitude and obtaining a target hologram of the target three-dimensional image based on all the initial holograms of the N plane images includes: performing diffraction processing on the first complex amplitude to obtain the initial hologram of the slice image; and superposing the initial holograms of the N bedding surface images to obtain the target hologram of the target three-dimensional image.
According to an embodiment of the present application, the superimposing initial holograms of the N slice images to obtain the target hologram of the target three-dimensional image includes: performing iterative optimization on the initial holograms of the N bedding surface images to obtain a candidate optimized hologram after iterative optimization; and superposing the respective candidate optimized holograms of the N bedding surface images to obtain the target hologram of the target three-dimensional image.
According to an embodiment of the present application, the iteratively optimizing initial holograms of the N slice images to obtain an iteratively optimized candidate optimized hologram includes: acquiring a first expected amplitude and a second expected amplitude of initial holograms of the N slice images respectively; optimizing the initial holograms of the N bedding surface images based on the first expected amplitude and the second expected amplitude to obtain first optimized holograms of the N bedding surface images; and returning to use the first expected amplitude and the second expected amplitude, and continuing to optimize the first optimized hologram of each of the N bedding images to obtain the second optimized hologram of each of the N bedding images after optimization until iteration is finished to obtain the candidate optimized hologram of each of the N bedding images.
According to an embodiment of the present application, the optimizing the initial hologram of each of the N slice images based on the first desired amplitude and the second desired amplitude to obtain a first optimized hologram of each of the N slice images includes: acquiring modulation holograms of initial holograms of the N bedding surface images based on the first expected amplitude; performing reverse diffraction on the modulation hologram to obtain modulation layer images of the modulation holograms of the N layer images; and obtaining a first optimized hologram of the modulation level image of each of the N level images based on the second expected amplitude.
According to an embodiment of the application, the obtaining a modulation hologram of an initial hologram of each of the N slice images based on the first desired amplitude includes: acquiring an initial holographic phase of the initial hologram; and acquiring a modulation hologram of the initial hologram according to the initial holographic phase and the first expected amplitude.
According to an embodiment of the present application, the obtaining a first optimized hologram of a modulation level image of each of the N level images based on the second desired amplitude includes: acquiring a modulation level phase of the modulation level image, and acquiring a second complex amplitude of the modulation level image according to the modulation level phase and the second expected amplitude; obtaining the first optimized hologram of the modulation level image based on the second complex amplitude.
According to an embodiment of the present application, the method further comprises: and acquiring a complex amplitude hologram in the target hologram, and correcting a plurality of second pixel points adjacent to a first pixel point according to the pixel error of the first pixel point in the complex amplitude hologram to obtain a phase hologram of the target hologram.
According to an embodiment of the present application, the acquiring initial multi-source three-dimensional composition data of a target region and acquiring a target three-dimensional image of the target region according to the initial multi-source three-dimensional composition data includes: acquiring initial multi-source three-dimensional composition data of a target area, and preprocessing the initial multi-source three-dimensional composition data to obtain target multi-source three-dimensional composition data of the target area; processing the target multi-source three-dimensional composition data based on SLAM to generate the target three-dimensional image of the target region.
A second aspect of the present application provides a hologram acquiring apparatus, including: the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring initial multi-source three-dimensional composition data of a target area and acquiring a target three-dimensional image of the target area according to the initial multi-source three-dimensional composition data; the second acquisition module is used for acquiring N layer images of the target three-dimensional image and the amplitude distribution of the layer images; a third obtaining module, configured to obtain a phase adjustment value of the bedding surface image, and obtain a first complex amplitude of the bedding surface image according to the amplitude distribution and the phase adjustment value; and the generating module is used for acquiring the initial hologram of the plane image according to the first complex amplitude and obtaining the target hologram of the target three-dimensional image based on all the initial holograms of the N plane images.
The apparatus for acquiring a hologram according to the second aspect of the present application further includes:
according to an embodiment of the present application, the generating module is further configured to: performing diffraction processing on the first complex amplitude to obtain the initial hologram of the slice image; and superposing the initial holograms of the N bedding surface images to obtain the target hologram of the target three-dimensional image.
According to an embodiment of the present application, the generating module is further configured to: performing iterative optimization on the initial holograms of the N layer images to obtain a candidate optimized hologram after the iterative optimization; and superposing the respective candidate optimized holograms of the N bedding surface images to obtain the target hologram of the target three-dimensional image.
According to an embodiment of the present application, the generating module is further configured to: acquiring a first expected amplitude and a second expected amplitude of each initial hologram of the N bedding surface images; optimizing the initial holograms of the N bedding surface images based on the first expected amplitude and the second expected amplitude to obtain first optimized holograms of the N bedding surface images; and returning to use the first expected amplitude and the second expected amplitude, and continuing to optimize the first optimized hologram of each of the N bedding images to obtain the second optimized hologram of each of the N bedding images after optimization until iteration is finished to obtain the candidate optimized hologram of each of the N bedding images.
According to an embodiment of the present application, the generating module is further configured to: acquiring modulation holograms of initial holograms of the N bedding surface images based on the first expected amplitude; performing reverse diffraction on the modulation hologram to obtain modulation layer images of the modulation holograms of the N layer images; and obtaining a first optimized hologram of the modulation level image of each of the N level images based on the second expected amplitude.
According to an embodiment of the present application, the generating module is further configured to: acquiring an initial holographic phase of the initial hologram; and acquiring a modulation hologram of the initial hologram according to the initial holographic phase and the first expected amplitude.
According to an embodiment of the present application, the generating module is further configured to: acquiring a modulation level phase of the modulation level image, and acquiring a second complex amplitude of the modulation level image according to the modulation level phase and the second expected amplitude; obtaining the first optimized hologram of the modulation profile image based on the second complex amplitude.
According to an embodiment of the present application, the generating module is further configured to: and acquiring a complex amplitude hologram in the target hologram, and correcting a plurality of second pixel points adjacent to a first pixel point according to the pixel error of the first pixel point in the complex amplitude hologram to obtain a phase hologram of the target hologram.
According to an embodiment of the present application, the first obtaining module is further configured to: acquiring initial multi-source three-dimensional composition data of a target area, and preprocessing the initial multi-source three-dimensional composition data to obtain target multi-source three-dimensional composition data of the target area; processing the target multi-source three-dimensional composition data based on SLAM to generate the target three-dimensional image of the target region.
An embodiment of a third aspect of the present application provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executable by the at least one processor to enable the at least one processor to perform the method of obtaining a hologram as provided in the first aspect of the present application.
In a fourth aspect, the present application provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the method for acquiring a hologram provided in the first aspect of the present application.
In a fifth aspect, the present application provides a computer program product, and when executed by an instruction processor in the computer program product, the method for acquiring a hologram provided in the first aspect of the present application is performed.
The method and the device for acquiring the hologram acquire initial multi-source three-dimensional composition data of a target area to acquire a target three-dimensional image of the target area, further acquire N layer images of the target three-dimensional image to further acquire respective amplitude distributions of the N layer images, and acquire respective first complex amplitudes of the N layer images based on a phase adjustment value and the amplitude distributions to acquire respective initial holograms of the N layer images. Further, a target hologram of a target three-dimensional image of the target area is obtained based on all the initial holograms. According to the method and the device, the target hologram is obtained based on the target three-dimensional image, so that the experience of the actual environment of the target area can be realized based on the target hologram of the target area under the condition that a worker does not enter the target area, the experience sense of the worker in the process of obtaining the relevant information of the target area is optimized, the error degree between the relevant information of the target area obtained by the worker and the actual scene of the target area is reduced, the accuracy of obtaining the information of the target area is improved, and the safety protection effect on the worker is optimized.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic flow chart of a hologram obtaining method according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of a hologram acquisition method according to another embodiment of the present application;
FIG. 3 is a schematic flow chart of a hologram acquisition method according to another embodiment of the present application;
FIG. 4 is a schematic flow chart of a hologram acquisition method according to another embodiment of the present application;
FIG. 5 is a schematic diagram illustrating the generation of a three-dimensional image of a target according to an embodiment of the present application;
FIG. 6 is a schematic flow chart of a hologram acquisition method according to another embodiment of the present application;
FIG. 7 is a schematic flow chart of a hologram acquisition method according to another embodiment of the present application;
FIG. 8 is a schematic view of a target three-dimensional image composition data acquisition robot according to an embodiment of the present application;
FIG. 9 is a schematic structural diagram of a hologram obtaining apparatus according to an embodiment of the present application;
fig. 10 is a block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present application and should not be construed as limiting the present application.
The following describes a method, an apparatus, an electronic device, and a storage medium for acquiring a hologram according to an embodiment of the present application with reference to the drawings.
Fig. 1 is a schematic flowchart of a hologram obtaining method according to an embodiment of the present application, and as shown in fig. 1, the method includes:
s101, obtaining initial multi-source three-dimensional composition data of a target area, and obtaining a target three-dimensional image of the target area according to the initial multi-source three-dimensional composition data.
In the implementation, the three-dimensional image of the target area can be processed by an algorithm based on a hologram generation algorithm, so that the hologram of the target area is obtained.
In the embodiment of the application, data acquisition can be performed on a target area based on a three-dimensional image composition data acquisition technology in the related technology, so that three-dimensional composition data of the target area is obtained, wherein the three-dimensional composition data of the target area can be acquired based on different acquisition equipment, so that multi-source three-dimensional composition data of the target area is obtained, and the data is identified as initial multi-source three-dimensional composition data of the target area.
Further, based on a three-dimensional composition algorithm in the related technology, the initial multi-source three-dimensional composition data is subjected to algorithm processing, so that a target three-dimensional image of a target area is obtained.
The target region may be a distal region having a set distance from a display end of the hologram of the target three-dimensional image, and is not particularly limited herein.
S102, obtaining N layer images of the target three-dimensional image and amplitude distribution of the layer images.
In the embodiment of the application, a depth map corresponding to a target three-dimensional image can be obtained, the target three-dimensional image is divided based on the depth map, and therefore N layer images of the target three-dimensional image are obtained, wherein the target three-dimensional image can be converted to obtain a two-dimensional image corresponding to the target three-dimensional image, and the two-dimensional image is layered based on the depth map, so that the N layer images in the two-dimensional image of the target three-dimensional image are obtained.
Further, based on an amplitude distribution algorithm in the related art, each slice image in the N slice images is subjected to algorithm processing, so that amplitude distribution of each slice image in the N slice images is obtained.
S103, acquiring a phase adjustment value of the bedding image, and obtaining a first complex amplitude of the bedding image according to the amplitude distribution and the phase adjustment value.
In the embodiment of the application, each layer image in the N layer images has a preset phase adjustment value, and the phase adjustment of the layer images can be performed based on the preset phase adjustment value.
The N slice images may be processed by an algorithm based on a phase acquisition algorithm in the related art, so as to obtain respective phases of the N slice images, and further, respective adjusted phases of the N slice images are obtained based on a preset phase adjustment value and the respective phases of the N slice images.
In this scenario, the adjusted phases and the respective amplitude distributions of the N acquired slice images may be subjected to algorithm processing based on a complex amplitude algorithm in the related art, so as to obtain respective complex amplitudes of the N slice images, and identify the respective complex amplitudes as respective first complex amplitudes of the N slice images.
S104, acquiring the initial hologram of the layer image according to the first complex amplitude, and obtaining the target hologram of the target three-dimensional image based on all the initial holograms of the N layer images.
In the embodiment of the application, the algorithm processing may be performed on the first complex amplitudes of the N plane images based on the algorithm of the hologram, and the initial holograms of the N plane images are obtained based on the result of the algorithm processing.
In this scenario, all the initial holograms of the acquired N layer images may be integrated, and a target hologram of a target three-dimensional image may be acquired based on the hologram obtained after the integration.
It should be noted that, as shown in fig. 2, in the process of generating the initial hologram, the level to which the N level images belong may be identified and sorted, and the initial hologram may be generated for the N level images layer by layer.
As shown in fig. 2, if the identification information of the currently processed layer image is not the last level identification of the N layer images, the process returns to continue to acquire the next layer image and generate the initial hologram of the next layer image until all the initial holograms of the N layer images are generated, and the target hologram of the target three-dimensional image is obtained based on all the initial holograms of the N layer images.
The method for acquiring the hologram acquires initial multi-source three-dimensional composition data of a target area to acquire a target three-dimensional image of the target area, further acquires N layer images of the target three-dimensional image to further acquire respective amplitude distribution of the N layer images, and acquires respective first complex amplitude of the N layer images based on a phase adjustment value and the amplitude distribution, thereby acquiring respective initial holograms of the N layer images. Further, a target hologram of a target three-dimensional image of the target area is obtained based on all the initial holograms. According to the method and the device, the target hologram is obtained based on the target three-dimensional image, so that the experience of the actual environment of the target area can be realized based on the target hologram of the target area under the scene that the worker does not enter the target area, the experience sense of the worker in the process of obtaining the relevant information of the target area is optimized, the error degree between the relevant information of the target area obtained by the worker and the actual scene of the target area is reduced, the accuracy of obtaining the information of the target area is improved, and the safety protection effect on the worker is optimized.
In the above embodiment, regarding the acquisition of the target hologram, it can be further understood with reference to fig. 3, fig. 3 is a schematic flow chart of a hologram acquisition method according to another embodiment of the present application, and as shown in fig. 3, the method includes:
s301, diffraction processing is performed on the first complex amplitude to obtain an initial hologram of the slice image.
In some implementations, the first complex amplitude may be diffracted to obtain an initial hologram of the slice image, wherein the first complex amplitude may be diffracted based on angular spectrum diffraction theory to obtain the initial hologram of each of the N slice images.
Optionally, the algorithm formula for obtaining the initial hologram of each of the N slice images by performing algorithm processing on the first complex amplitude based on an algorithm corresponding to an angular spectrum diffraction theory may be as follows:
in the above formula, i =1,2,3, … …, N,
for the initial hologram of each of the N slice images,
is the first complex amplitude of each of the N slice images, j is an imaginary number,
u represents the spatial frequency of the plane wave along the x-axis, v represents the spatial frequency of the plane wave along the y-axis,
representing the distance of the slice image of the i-layer from the holographic surface, F represents the fourier transform,
denotes an inverse Fourier transform, exp]An exponential function with a natural constant e as the base is shown.
S302, overlapping the initial holograms of the N layer images to obtain a target hologram of the target three-dimensional image.
In the embodiment of the present application, initial holograms of the N plane images may be superimposed, and the formula is as follows:
in the above formula, H is the target hologram of the target three-dimensional image,
an initial hologram for each of the N slice images.
In the implementation, the initial holograms of the N layer images may be optimized, and the target hologram of the target three-dimensional image may be obtained based on the optimized initial hologram of each of the N layer images, wherein the initial holograms of each of the N layer images may be iteratively optimized to obtain a candidate optimized hologram after iterative optimization.
Optionally, a first desired amplitude and a second desired amplitude of the initial hologram for each of the N slice images may be acquired.
In the embodiment of the present application, in order to enable the target hologram to meet a preset requirement, a desired amplitude corresponding to the target hologram may be obtained based on the preset requirement, where the desired amplitude of the target hologram may be obtained as a first desired amplitude, and a desired amplitude of a layer image of the generated target hologram may be obtained as a second desired amplitude.
Optionally, the initial hologram of each of the N slice images may be optimized based on the first desired amplitude and the second desired amplitude, and the first optimized hologram of each of the N slice images is obtained.
Wherein a modulation hologram for the initial hologram for each of the N slice images may be obtained based on the first desired amplitude.
In the embodiment of the present application, the initial holograms of the N slice images may be optimized based on the first desired amplitude, wherein the initial hologram phase of the initial hologram may be obtained.
Optionally, the initial holograms of the N slice images may be subjected to algorithm processing based on a phase acquisition algorithm of a hologram in the related art, and based on a result of the algorithm processing, a phase of the initial hologram of each of the N slice images is obtained and determined as an initial hologram phase of the initial hologram of each of the N slice images.
Further, a modulated hologram of the initial hologram is acquired based on the initial holographic phase and the first desired amplitude.
Alternatively, the amplitude of the initial hologram may be replaced with a first desired amplitude and the modulated hologram of the initial hologram is derived based on the replacement of the first desired amplitude.
The preset plane wave constant can be obtained, a first expected amplitude is obtained based on the plane wave constant, and the amplitude of the initial hologram is replaced, so that the modulation hologram of the initial hologram is obtained.
In this scenario, a corresponding complex amplitude may be obtained based on the first desired amplitude and the initial hologram phase and determined as the complex amplitude at which the modulation hologram is obtained, and further, based on the complex amplitude, the modulation hologram of the initial hologram is obtained.
Further, the modulation hologram may be inversely diffracted to obtain modulation layer images of the modulation holograms of the N layer images, respectively.
In the embodiment of the application, the modulation hologram can be subjected to reverse diffraction processing based on an angular spectrum diffraction theory, and the modulation hologram is converted into a corresponding layer image.
The modulation hologram may be determined as a modulation plane image of each of the N plane images based on a plane image obtained by the inverse diffraction.
In this scenario, the modulation level images of the N level images may be obtained based on obtaining complex amplitudes of the modulation level images of the N level images, where an obtaining formula of the complex amplitudes of the modulation level images of the N level images is as follows:
in the above formula, i =1,2,3, … …, N,
the complex amplitudes of the modulated slice images for each of the N slice images,
the complex amplitude of the modulated hologram for each of the N slice images, j being an imaginary number, u representing the spatial frequency of the plane wave along the x-axis, v representing the spatial frequency of the plane wave along the y-axis,
representing the distance of the slice image of the i-layer from the holographic surface, F represents the fourier transform,
which is indicative of an inverse fourier transform,
，
is the wavelength.
Further, based on the second desired amplitude, a first optimized hologram of the modulation slice image for each of the N slice images is obtained.
In this embodiment of the application, the amplitude of the modulation level image may be obtained based on an amplitude obtaining method in the related art, the second expected amplitude is substituted for the amplitude of the modulation level image of each of the N level images, and the modulation level image obtained after the substitution is determined as the optimized modulation level image of each of the N level images.
And acquiring a second expected amplitude corresponding to the modulation level image based on the preset self-adaptive constrained amplitude.
As an example, the amplitude of the modulation level image of each of the N level images is set to
Then the adaptive amplitude as its corresponding second desired amplitude is
，i=1,2,3,……,N。
Optionally, a modulation level phase of the modulation level image is obtained, and a second complex amplitude of the modulation level image is obtained according to the modulation level phase and the second desired amplitude.
In this embodiment, the phase of the modulation level image of each of the N level images may be determined as the modulation level phase of the modulation level image of each of the N level images.
The modulation level phase and the second desired amplitude of the modulation level image may be calculated based on a complex amplitude calculation formula in the related art, and the second complex amplitude of the modulation level image may be obtained based on the calculation result.
Accordingly, a first optimized hologram of the modulation slice image is derived based on the second complex amplitude.
In this embodiment of the application, the second complex amplitude may be subjected to diffraction processing based on an angular spectrum diffraction theory, and then, based on a result of the diffraction processing, a hologram of the modulation level image corresponding to the second complex amplitude is obtained and determined as a first optimized hologram of the modulation level image.
In some implementations, the complex amplitude of the hologram corresponding to the modulation plane image may be obtained based on the second complex amplitude, wherein the obtaining of the complex amplitude may be implemented based on the following equation:
in the above formula, i =1,2,3, … …, N,
for the complex amplitude of the hologram corresponding to the optimized modulation level image derived based on the second complex amplitude,
the complex amplitudes of the modulated slice images after optimization for each of the N slice images, j being an imaginary number, u representing the spatial frequency of the plane wave along the x-axis, v representing the spatial frequency of the plane wave along the y-axis,
representing the distance of the slice image of the i-layer from the holographic surface, F represents the fourier transform,
which is indicative of an inverse fourier transform,
，
is the wavelength.
And further, returning to use the first expected amplitude and the second expected amplitude, and continuing to optimize the first optimized hologram of each of the N bedding images to obtain the second optimized hologram of each of the N bedding images after optimization until iteration is finished to obtain the candidate optimized hologram of each of the N bedding images.
In the embodiment of the application, in order to enable the target hologram to meet the preset requirement, after the initial holograms of the N level images are optimized to obtain the first optimized holograms of the N level images, the first expected amplitude and the second expected amplitude can be returned to be continuously used for optimizing the first optimized hologram.
The first optimized hologram may be optimized based on the first desired amplitude to obtain a modulation hologram of the first optimized hologram, and the modulation hologram of the first optimized hologram may be inversely diffracted to obtain modulation layer images of the modulation holograms of the first optimized hologram of each of the N layer images.
Further, the modulation level image of the modulation hologram of the first optimized hologram is optimized based on the second desired amplitude, so that a second optimized hologram of the optimized modulation level image of the modulation hologram of the first optimized hologram of each of the N level images is obtained, and the first desired amplitude and the second desired amplitude are returned to be continuously used for optimizing the second optimized hologram until the iteration is finished.
Optionally, an iteration end condition may be set based on a preset iteration number, and if the iteration number corresponding to the optimization of the hologram of the current round meets the preset iteration end condition, the iteration is ended, and the hologram obtained after the optimization of the last round is determined as the respective candidate optimized holograms of the N plane images.
Optionally, the candidate optimized holograms of the N slice images are overlaid to obtain a target hologram of the target three-dimensional image.
Wherein, the superposition formula is as follows:
in the above-mentioned formula,
a target hologram that is a three-dimensional image of the target,
and optimizing the holograms for the respective candidates of the N slice images.
Further, a target hologram of a target three-dimensional image of the target area is obtained based on superposition of the candidate optimized holograms of the N slice images.
In some implementations, the information of the target area may be obtained based on the phase hologram, and in this scenario, a complex amplitude hologram corresponding to the target hologram may be obtained, and the extraction of the phase hologram may be implemented based on the complex amplitude hologram.
Optionally, a complex amplitude hologram in the target hologram may be obtained, and a plurality of second pixel points adjacent to a first pixel point in the complex amplitude hologram are corrected according to a pixel error of the first pixel point, so as to obtain a phase hologram of the target hologram.
As shown in fig. 4, d is the current iteration number, and i is the level identifier of each of the N slice images, where the N slice images may be sorted, and the level identifiers of the sorted N slice images are determined to be i =1,2,3, … …, N.
As shown in fig. 4, in the N slice images, the complex amplitude of the initial hologram of the slice image of the i-th slice may be obtained, and the amplitude in the complex amplitude may be replaced with the first desired amplitude to obtain the optimized complex amplitude of the initial hologram of the slice image of the i-th slice, and the optimized complex amplitude may be subjected to inverse diffraction processing to obtain the complex amplitude of the modulated slice image of the initial hologram of the slice image of the i-th slice.
Further, the amplitude in the complex amplitude of the modulation plane image of the initial hologram of the slice image of the ith layer is replaced based on the second desired amplitude to obtain an optimized complex amplitude of the modulation plane image of the initial hologram of the slice image of the ith layer, and the optimized complex amplitude is subjected to diffraction processing to obtain the optimized complex amplitude of the initial hologram of the slice image of the ith layer.
As shown in fig. 4, the complex amplitude of the initial hologram of the slice image of the (i + 1) th layer is returned to be continuously optimized, and the optimized complex amplitude of the initial hologram of the slice image of the (i + 1) th layer is obtained until the complex amplitude optimization of the initial hologram of each of the N slice images is finished.
As shown in fig. 4, d may be compared with a preset total number M of iterations, and when d = M, it may be determined that the optimization iteration of the initial hologram of the current N slice images ends.
Further, overlapping the optimized complex amplitudes of the initial holograms of the N layer images to obtain a complex amplitude hologram corresponding to the target three-dimensional image.
Optionally, the pixel error of the first pixel point in the complex amplitude hologram may be obtained based on a pixel error algorithm, where the formula is as follows:
in the above-mentioned formula,
is a first pixel point, which is a second pixel point,
is the coordinate of the first pixel point and is,
for the error of the first pixel, angle () is the phase in the complex amplitude hologram acquiredThe algorithm of (1).
And further, performing error compensation and correction on each second pixel point adjacent to the first pixel point based on the pixel error, traversing all pixel points of the complex amplitude hologram, and determining the traversed hologram as the phase hologram of the target hologram.
The method for acquiring the hologram acquires the initial holograms of the N layer images. And further, based on all the candidate optimized holograms, obtaining a target hologram of a target three-dimensional image of the target area. According to the method and the device, the noise of the target hologram obtained based on the candidate optimized hologram is reduced, the image quality of the target hologram obtained based on the three-dimensional image is improved, and therefore the experience of a worker in the actual environment of the target area is realized based on the target hologram of the target area under the condition that the worker does not enter the target area, the experience of the worker in the process of obtaining the related information of the target area is optimized, the error degree between the related information of the target area obtained by the worker and the actual scene of the target area is reduced, the accuracy of obtaining the information of the target area is improved, and the safety protection effect of the worker is optimized.
In the above embodiment, regarding the acquisition of the three-dimensional image of the target, it can be further understood by referring to fig. 5, where fig. 5 is a schematic flow chart of a method for acquiring a hologram according to another embodiment of the present application, and as shown in fig. 5, the method includes:
s501, obtaining initial multi-source three-dimensional composition data of a target area, and preprocessing the initial multi-source three-dimensional composition data to obtain target multi-source three-dimensional composition data of the target area.
In the embodiment of the application, a laser radar, an Inertial Measurement Unit (IMU), a camera, and a data acquisition device integrated with a synchronous positioning and mapping (SLAM) technology encoder may be used as the initial multi-source three-dimensional composition data of the target area.
Further, the three-dimensional composition data acquired by each data acquisition device are respectively preprocessed, so that target multi-source three-dimensional composition data of a target area are obtained.
Optionally, as shown in fig. 6, a mileage recording device may be formed based on the IMU and the encoder, perform pre-integration on the three-dimensional composition data of the target area acquired by the IMU, and update a pre-integration measurement value and a pre-integration covariance matrix corresponding to the three-dimensional composition data, so as to obtain changes in speed, position, and posture between adjacent frames in the three-dimensional composition data.
In this scenario, the three-dimensional composition data including the displacement, the speed and the rotation angle at the current moment acquired by the IMU may be corrected by the encoder, wherein the encoder may perform algorithm processing on the three-dimensional composition data including the displacement, the speed and the rotation angle at the current moment based on a kalman filter algorithm, thereby realizing correction of the three-dimensional composition data acquired by the IMU.
Optionally, as shown in fig. 6, the point cloud data of the target area may be acquired by using a laser radar, and the point cloud data is filtered, segmented, and preprocessed based on a Scale-invariant feature transform (SIFT) feature extraction algorithm in the related art, and further, the point cloud data obtained after the segmentation and preprocessing is scanned and matched based on a normal distribution transform algorithm in the related art, where a rotation and translation matrix between two frames of point clouds acquired at different positions in the target area may be obtained to implement a related scanning and matching operation, so that the point cloud data is converted into point cloud data in a coordinate system corresponding to a three-dimensional composition algorithm.
Optionally, as shown in fig. 6, the mileage recording device may further include an image acquisition device, where image data of the target area may be acquired by the image acquisition device, where feature points in the image data of the target area may be extracted based on a feature extraction algorithm in the related art, so as to obtain pixel coordinates and description information of the feature points, and then perform feature matching on the obtained pixel coordinates and description information, so as to obtain a rotation matrix and a translation vector between adjacent frame images.
It should be noted that, in the process of acquiring the image data of the target area by the image acquisition device, the acquired image data may be processed based on an image enhancement and shake elimination algorithm in the related art, as shown in fig. 7, the low-illumination image enhancement of the image data may be performed based on a retina cortex theory (Retinex) algorithm in the related art, and then the image data is subjected to noise reduction processing by a bilateral filtering algorithm in the related art, so as to reduce information loss at the edge of the image data.
Further, the target multi-source three-dimensional composition data of the target area is obtained based on the initial multi-source three-dimensional composition data of the target area, which is obtained by the three-dimensional image composition data acquisition equipment, and based on the preprocessing of the initial multi-source three-dimensional composition data.
It should be noted that the initial multi-source three-dimensional composition data of the target area can be collected by the robot, and the staff can control the movement of the robot, so as to control the collection field of view of the initial multi-source three-dimensional composition data collection device, wherein the initial multi-source three-dimensional composition data collected by the robot can be transmitted back to the staff by a 5G communication technology in the related technology, so as to realize the real-time acquisition of the target three-dimensional image of the target area by the staff, and further realize the real-time acquisition of the target hologram of the target area by the staff.
Alternatively, the setting of the initial multi-source three-dimensional composition data acquisition device on the robot may be as shown in fig. 8, wherein the laser radar, the IMU camera and other sensors are arranged on the upper computer of the robot, and the drive and encoder are arranged on the lower computer of the robot. As shown in fig. 8, a 5G communication module of the robot is further disposed on the upper computer, and is used for realizing data interaction with a worker controlling the robot.
S502, processing target multi-source three-dimensional composition data based on SLAM to generate a target three-dimensional image of a target area.
In the embodiment of the application, the target multi-source three-dimensional composition data can be processed by an algorithm based on a Simultaneous Localization and Mapping (SLAM) algorithm in the related technology, and a target three-dimensional image of a target area is obtained according to a result of the algorithm processing.
In this scenario, in order to generate a target three-dimensional image of a target region based on target multi-source three-dimensional composition data, calibration of a coordinate system may be performed on a data source that obtains the target multi-source three-dimensional composition data.
On the basis of the above example, as shown in fig. 6, target multi-source three-dimensional composition data may be input into the calibration module, and the internal parameters of the IMU, the lidar and the camera in fig. 6 are normalized and calibrated by the calibration module, and further, the external parameters between the IMU and the lidar, the external parameters between the IMU and the camera, and the external parameters between the camera and the lidar are normalized and calibrated, so that generation of a target three-dimensional image based on the target multi-source three-dimensional composition data of the IMU, the lidar and the camera is achieved.
Alternatively, correction of white gaussian noise and random errors of the IMU may be achieved based on debugging of accelerometers and gyroscopes internal to the IMU, and correction of camera matrices and distortion coefficients may be performed based on cross-platform computer vision library (opencv) and calibration plates in the related art.
Optionally, the unified parameter calibration, the initialization of loose coupling, and the unified parameter calibration of tight coupling may be performed on respective rotation matrices of the IMU and the camera, and the unified parameter calibration, the initialization of loose coupling, and the unified parameter calibration of tight coupling may be performed on the rotation matrices between the lidar and the IMU.
Further, as shown in fig. 6, the target multi-source three-dimensional composition data output by the calibration module may be input into the filter shown in fig. 6 for preprocessing, wherein the target multi-source three-dimensional composition data may be filtered through the federal filter.
In the embodiment of the application, the Filter includes a main Filter, a first sub-Filter and a second sub-Filter, wherein the main Filter, the first sub-Filter and the second sub-Filter all use an Error State Kalman Filter (ESKF), and the first sub-Filter and the second sub-Filter independently perform measurement update and State estimation to obtain a locally optimal State estimation fused into the main Filter.
The main filter may perform data fusion and adaptive weight update on the locally optimal state estimates of the first sub-filter and the second sub-filter, so as to obtain a globally optimal state estimate.
Optionally, the first sub-filter may fuse the camera, IMU, and encoder data, resulting in a visual inertial system. The second sub-filter can fuse the laser radar, the IMU and the encoder data to obtain a laser radar inertial system, and fuse the vision inertial system and the laser radar inertial system based on a tight coupling mode.
Further, based on a three-dimensional image generation algorithm in the related technology, the preprocessed target multi-source three-dimensional composition data is processed through an algorithm, and a corresponding three-dimensional image is obtained based on an algorithm result.
Optionally, loop detection may be performed on the three-dimensional image, so as to eliminate a pose error in the three-dimensional image, and the three-dimensional image obtained after loop detection is determined as a target three-dimensional image of the target area.
In the embodiment of the application, local three-dimensional images of the target area can be generated respectively, and the local three-dimensional images are spliced based on a splicing algorithm in the related technology, so that the target three-dimensional image of the target area is obtained.
According to the method for acquiring the hologram, initial multi-source three-dimensional composition data of a target area are acquired, preprocessing is carried out to obtain target multi-source three-dimensional composition data, and a target three-dimensional image of the target area is obtained by processing the target multi-source three-dimensional composition data based on SLAM. According to the method and the device, a basis is provided for generating the target hologram through the target three-dimensional image obtained by collecting target multi-source three-dimensional composition data of the target area, so that a worker can experience the actual environment of the target area based on the target hologram of the target area under the scene that the worker does not enter the target area, the experience sense of the worker in the process of acquiring the related information of the target area is optimized, the error degree between the related information of the target area acquired by the worker and the actual scene of the target area is reduced, the accuracy of information acquisition of the target area is improved, and the safety protection effect on the worker is optimized.
In accordance with the embodiments of the present invention, a hologram acquiring apparatus is further provided, and since the hologram acquiring apparatus provided in the embodiments of the present invention corresponds to the hologram acquiring methods provided in the embodiments of the present invention, the embodiments of the hologram acquiring method are also applicable to the hologram acquiring apparatus provided in the embodiments of the present invention, and will not be described in detail in the following embodiments.
Fig. 9 is a schematic structural diagram of an apparatus for acquiring a hologram according to an embodiment of the present application, and as shown in fig. 9, the apparatus 900 for acquiring a hologram includes a first acquiring module 91, a second acquiring module 92, a third acquiring module 92, and a generating module 94, where:
the first obtaining module 91 is configured to obtain initial multi-source three-dimensional composition data of a target area, and obtain a target three-dimensional image of the target area according to the initial multi-source three-dimensional composition data;
a second obtaining module 92, configured to obtain N slice images of the target three-dimensional image and amplitude distribution of the slice images;
a third obtaining module 92, configured to obtain a phase adjustment value of the bedding surface image, and obtain a first complex amplitude of the bedding surface image according to the amplitude distribution and the phase adjustment value;
and a generating module 94, configured to obtain an initial hologram of the plane image according to the first complex amplitude, and obtain a target hologram of the target three-dimensional image based on all the initial holograms of the N plane images.
According to an embodiment of the present application, the generating module 94 is further configured to: performing diffraction processing on the first complex amplitude to obtain an initial hologram of the bedding surface image; and superposing the initial holograms of the N layer images to obtain a target hologram of the target three-dimensional image.
According to an embodiment of the present application, the generating module 94 is further configured to: carrying out iterative optimization on the initial holograms of the N layer images to obtain a candidate optimized hologram after the iterative optimization; and overlapping the candidate optimized holograms of the N layer images to obtain a target hologram of the target three-dimensional image.
According to an embodiment of the present application, the generating module 94 is further configured to: acquiring a first expected amplitude and a second expected amplitude of an initial hologram of each of the N bedding surface images; optimizing the initial holograms of the N layer images based on the first expected amplitude and the second expected amplitude to obtain first optimized holograms of the N layer images; and returning to use the first expected amplitude and the second expected amplitude, and continuing to optimize the first optimized hologram of each of the N bedding images to obtain the second optimized hologram of each of the N bedding images after optimization until iteration is finished to obtain the candidate optimized hologram of each of the N bedding images.
According to an embodiment of the present application, the generating module 94 is further configured to: acquiring modulation holograms of initial holograms of the N bedding plane images based on the first expected amplitude; carrying out reverse diffraction on the modulation hologram to obtain modulation layer images of the modulation holograms of the N layer images; based on the second expected amplitude, a first optimized hologram of the modulation level image of each of the N level images is obtained.
According to an embodiment of the present application, the generating module 94 is further configured to: acquiring an initial holographic phase of an initial hologram; a modulated hologram of the initial hologram is acquired based on the initial holographic phase and the first desired amplitude.
According to an embodiment of the present application, the generating module 94 is further configured to: acquiring a modulation level phase of the modulation level image, and acquiring a second complex amplitude of the modulation level image according to the modulation level phase and a second expected amplitude; and obtaining a first optimized hologram of the modulation level image based on the second complex amplitude.
According to an embodiment of the present application, the generating module 94 is further configured to: and acquiring a complex amplitude hologram in the target hologram, and correcting a plurality of second pixel points adjacent to the first pixel points according to the pixel error of the first pixel points in the complex amplitude hologram to obtain a phase hologram of the target hologram.
According to an embodiment of the present application, the first obtaining module 91 is further configured to: acquiring initial multi-source three-dimensional composition data of a target area, and preprocessing the initial multi-source three-dimensional composition data to obtain target multi-source three-dimensional composition data of the target area; the target multi-source three-dimensional composition data is processed based on the SLAM to generate a target three-dimensional image of the target area.
The device for acquiring the hologram acquires initial multi-source three-dimensional composition data of a target area to obtain a target three-dimensional image of the target area, further acquires N layer images of the target three-dimensional image to obtain respective amplitude distribution of the N layer images, and obtains respective first complex amplitude of the N layer images based on a phase adjustment value and the amplitude distribution to obtain respective initial holograms of the N layer images. Further, a target hologram of a target three-dimensional image of the target area is obtained based on all the initial holograms. According to the method and the device, the target hologram is obtained based on the target three-dimensional image, so that the experience of the actual environment of the target area can be realized based on the target hologram of the target area under the condition that a worker does not enter the target area, the experience sense of the worker in the process of obtaining the relevant information of the target area is optimized, the error degree between the relevant information of the target area obtained by the worker and the actual scene of the target area is reduced, the accuracy of obtaining the information of the target area is improved, and the safety protection effect on the worker is optimized.
To achieve the above embodiments, the present application also provides an electronic device, a computer readable storage medium and a computer program product.
Fig. 10 is a block diagram of an electronic device according to an embodiment of the present application, and as shown in fig. 10, the device 1000 includes a memory 101, a processor 102, and a computer program stored on the memory 101 and executable on the processor 102, and when the processor 102 executes program instructions, the method for acquiring a hologram according to the embodiment of fig. 1 to 8 is implemented.
In order to implement the above embodiments, the present application also provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the hologram acquisition method of the embodiments of fig. 1 to 8.
In order to implement the above embodiments, the present application further provides a computer program product, which when executed by an instruction processor in the computer program product, executes the method for acquiring a hologram of the embodiment of fig. 1 to 8.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. A method for obtaining a hologram, the method comprising:
acquiring initial multi-source three-dimensional composition data of a target area, and acquiring a target three-dimensional image of the target area according to the initial multi-source three-dimensional composition data;
acquiring N layer images of the target three-dimensional image and the amplitude distribution of the layer images;
obtaining a phase adjustment value of the bedding surface image, and obtaining a first complex amplitude of the bedding surface image according to the amplitude distribution and the phase adjustment value;
and acquiring the initial hologram of the layer image according to the first complex amplitude, and acquiring a target hologram of the target three-dimensional image based on all the initial holograms of the N layer images.
2. The method of claim 1, wherein obtaining the initial hologram of the slice image according to the first complex amplitude and obtaining the target hologram of the target three-dimensional image based on all of the initial holograms of the N slice images comprises:
performing diffraction processing on the first complex amplitude to obtain the initial hologram of the slice image;
and superposing the initial holograms of the N bedding surface images to obtain the target hologram of the target three-dimensional image.
3. The method of claim 2, wherein said superimposing initial holograms of each of the N slice images to obtain the target hologram of the target three-dimensional image comprises:
performing iterative optimization on the initial holograms of the N layer images to obtain a candidate optimized hologram after the iterative optimization;
and superposing the respective candidate optimized holograms of the N bedding surface images to obtain the target hologram of the target three-dimensional image.
4. The method of claim 3, wherein iteratively optimizing the initial hologram for each of the N slice images to obtain an iteratively optimized candidate optimized hologram comprises:
acquiring a first expected amplitude and a second expected amplitude of each initial hologram of the N bedding surface images;
optimizing the initial holograms of the N bedding surface images based on the first expected amplitude and the second expected amplitude to obtain first optimized holograms of the N bedding surface images;
and returning to use the first expected amplitude and the second expected amplitude, and continuing to optimize the first optimized hologram of each of the N bedding images to obtain the optimized second optimized hologram of each of the N bedding images until the iteration is finished to obtain the candidate optimized hologram of each of the N bedding images.
5. The method of claim 4, wherein said optimizing initial holograms of each of the N slice images based on the first desired amplitude and the second desired amplitude to obtain a first optimized hologram for each of the N slice images comprises:
acquiring modulation holograms of initial holograms of the N slice images based on the first expected amplitude;
performing reverse diffraction on the modulation hologram to obtain modulation layer images of the modulation holograms of the N layer images;
and obtaining a first optimized hologram of the modulation level image of each of the N level images based on the second expected amplitude.
6. The method of claim 5, wherein said obtaining a modulated hologram of an initial hologram for each of the N slice images based on the first desired amplitude comprises:
acquiring an initial holographic phase of the initial hologram;
and acquiring a modulation hologram of the initial hologram according to the initial holographic phase and the first expected amplitude.
7. The method of claim 5, wherein said deriving a first optimized hologram of a modulation slice image for each of the N slice images based on the second desired amplitude comprises:
acquiring a modulation level phase of the modulation level image, and acquiring a second complex amplitude of the modulation level image according to the modulation level phase and the second expected amplitude;
obtaining the first optimized hologram of the modulation level image based on the second complex amplitude.
8. The method according to any one of claims 1-7, further comprising:
and acquiring a complex amplitude hologram in the target hologram, and correcting a plurality of second pixel points adjacent to a first pixel point according to the pixel error of the first pixel point in the complex amplitude hologram to obtain a phase hologram of the target hologram.
9. The method of claim 1, wherein obtaining initial multi-source three-dimensional composition data for a target region and obtaining a target three-dimensional image of the target region from the initial multi-source three-dimensional composition data comprises:
acquiring initial multi-source three-dimensional composition data of a target area, and preprocessing the initial multi-source three-dimensional composition data to obtain target multi-source three-dimensional composition data of the target area;
processing the target multi-source three-dimensional composition data based on SLAM to generate the target three-dimensional image of the target region.
10. An apparatus for obtaining a hologram, the apparatus comprising:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring initial multi-source three-dimensional composition data of a target area and acquiring a target three-dimensional image of the target area according to the initial multi-source three-dimensional composition data;
the second acquisition module is used for acquiring N layer images of the target three-dimensional image and the amplitude distribution of the layer images;
a third obtaining module, configured to obtain a phase adjustment value of the bedding surface image, and obtain a first complex amplitude of the bedding surface image according to the amplitude distribution and the phase adjustment value;
and the generating module is used for acquiring the initial hologram of the plane image according to the first complex amplitude and obtaining the target hologram of the target three-dimensional image based on all the initial holograms of the N plane images.
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| CN113902808A (en) * | 2021-08-31 | 2022-01-07 | 北京影谱科技股份有限公司 | Camera calibration method, device, equipment and storage medium |
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