CN104930984A

CN104930984A - n frequency coding structured light range computing method

Info

Publication number: CN104930984A
Application number: CN201510330596.6A
Authority: CN
Inventors: 赵烟桥; 孙晓明; 于双; 刘爽; 于晓洋; 吴海滨; 于舒春
Original assignee: Harbin University of Science and Technology
Current assignee: Shenlan Artificial Intelligence Application Research Institute (Shandong) Co.,Ltd.
Priority date: 2015-06-16
Filing date: 2015-06-16
Publication date: 2015-09-23
Anticipated expiration: 2035-06-16
Also published as: CN104930984B

Abstract

The invention provides an n frequency coding structured light range computing method which belongs to the technical filed of structured light three-dimensional measuring. The method comprises the steps that coding stripes are projected; according to whether the periods of the coding stripes are all positive integers, coding periods are selectively adjusted; substance factors are decomposed; range is computed; and according to whether the coding periods are adjusted, selective re-adjusting is carried out. According to the n frequency coding structured light range computing method provided by the invention, the n frequency coding structured light range computing method is provided; if the period of a coding stripe is an integer multiple of the period of another coding stripe, the coding stripe of a short period makes no contribution to change the range; the projection sequence of n frequency coding structured lights does not affect the range; and when the substance factors are decomposed, if the substance factors are in ascending order and the like, the whole derivation process is unique.

Description

A kind of range computing method of n frequency coded structured light

Technical field

A kind of range computing method of n frequency coded structured light belong to structural light three-dimensional field of measuring technique.

Background technology

Measuring three-dimensional morphology is all widely used in fields such as scientific research, medical diagnosis, engineering design, criminal investigations.And structured light is as the important component part of measuring three-dimensional morphology means, contactless with it, cost is low, resolution is high and fireballing advantage, receive the extensive concern of scholars and engineering technical personnel, and be developed rapidly.

Structured light is one group of system architecture be made up of projector and camera.With after projector projects specific optical information to body surface and after background, then gathered by camera, the change in optical signal caused according to object calculates position and the depth information of object, and then restores whole object dimensional pattern.

The simplest form of structured light is exactly to body surface projection single-frequency light beam, but, the projected light not only poor anti jamming capability of single-frequency, and range is also confined to the one-period of projected light; Address this problem, can adopt two bundles or the combined mode of multi beam different frequency projected light, such as this seminar has applied for patent of invention " the fault-tolerant phase unwrapping engineering method of a kind of double frequency analog encoding light " on November 18th, 2014.By combined for multi beam different frequency projected light, need to carry out encoding and decoding to it.The main research of this work determines range and launches phase place, but, also do not find have the algorithm being applicable to calculate multifrequency coding structured light range and phase unwrapping to occur in prior art.

In this case, we have a series of problem needs to solve:

The first, there are the unique computing method being applicable to calculate multifrequency coding structured light range?

Can the second, whether any frequency coding structured light all work to range extension?

Can three, the projection sequence of these coded structured lights change range?

Summary of the invention

In order to explain the problems referred to above, the invention discloses the range computing method of a kind of n frequency coded structured light, these computing method can not only calculate the range of n frequency coded structured light, and can illustrate that the change of short period strip encoding to range is not contributed when the cycle of a strip encoding is another strip encoding cycle integral multiple; Can illustrate that the projection sequence of n frequency coded structured light does not affect range simultaneously; In addition, in prime factor decomposes, if arranged from small to large by prime factor, algorithm also has uniqueness.

The object of the present invention is achieved like this:

Range computing method for n frequency coded structured light, comprise the following steps:

S1, projection strip encoding

Project n strip encoding, the cycle of described strip encoding is respectively a ₁, a ₂..., a _n,

Wherein, a ₁, a ₂..., a _nbe positive integer;

S2, resolve into factors of prime number

According to the following formula respectively to a ₁, a ₂..., a _ncarry out prime factor decomposition:

a_{1} = {b_{1}}^{a_{11}} \times {b_{2}}^{a_{12}} \times \cdot \cdot \cdot \times {b_{m}}^{a_{1 m}}

a_{2} = {b_{1}}^{a_{21}} \times {b_{2}}^{a_{22}} \times \cdot \cdot \cdot \times {b_{m}}^{a_{2 m}}

…………………………

a_{n} = {b_{1}}^{a_{n 1}} \times {b_{2}}^{a_{n 2}} \times \cdot \cdot \cdot \times {b_{m}}^{a_{nm}}

Wherein, b ₁, b ₂..., b _mfor from a ₁, a ₂..., a _nmiddle decomposition all different prime factor out;

S3, calculating range

Calculate range according to the following formula:

t = {b_{1}}^{\max (a_{11}, a_{21}, \cdot \cdot \cdot, a_{n 1})} \times {b_{2}}^{\max (a_{12}, a_{22}, \cdot \cdot \cdot, a_{n 2})} \times \cdot \cdot \cdot \times {b_{m}}^{\max (a_{1 m}, a_{2 m}, \cdot \cdot \cdot, a_{nm})}

Wherein, t is the range of n frequency coded structured light.

The range computing method of said n frequency coded structured light, described b ₁, b ₂..., b _maccording to order arrangement from small to large.

S1, projection strip encoding

Wherein, a ₁, a ₂..., a _nbe not entirely positive integer or complete be not positive integer;

S2, adjustment code period

To the cycle a of strip encoding ₁, a ₂..., a _nadjust, concrete grammar is:

A ₁＝ka ₁

A ₂＝ka ₂

…………

A _n＝ka _n

In formula, A ₁, A ₂..., A _nfor the cycle after adjustment, be positive integer; K is for making A ₁, A ₂..., A _nbe the positive number of positive integer;

S3, resolve into factors of prime number

A_{1} = {B_{1}}^{A_{11}} \times {B_{2}}^{A_{12}} \times \cdot \cdot \cdot \times {B_{m}}^{A_{1 m}}

A_{2} = {B_{1}}^{A_{21}} \times {B_{2}}^{A_{22}} \times \cdot \cdot \cdot \times {B_{m}}^{A_{2 m}}

………………………………

A_{n} = {B_{1}}^{A_{n 1}} \times {B_{2}}^{A_{n 2}} \times \cdot \cdot \cdot \times {B_{m}}^{A_{nm}}

S4, calculating range

Calculate range according to the following formula:

T = {B_{1}}^{\max (A_{11}, A_{21}, \cdot \cdot \cdot, A_{n 1})} \times {B_{2}}^{\max (A_{12}, A_{22}, \cdot \cdot \cdot, A_{n 2})} \times \cdot \cdot \cdot \times {B_{m}}^{\max (A_{1 m}, A_{2 m}, \cdot \cdot \cdot, A_{nm})}

Wherein, T is the range of the n frequency coded structured light after adjustment code period;

S5, adjustment range

Calculate range according to the following formula:

t＝T/k

Wherein, t is the range of n frequency coded structured light.

The range computing method of said n frequency coded structured light, in step S2, k is for making A ₁, A ₂..., A _nbe the minimum positive number of positive integer.

Beneficial effect:

The first, this application provides the range computing method of a kind of n frequency coded structured light;

The second, the application can illustrate that the change of short period strip encoding to range is not contributed when the cycle of a strip encoding is another strip encoding cycle integral multiple;

Three, the application can illustrate that the projection sequence of n frequency coded structured light does not affect range.

Four, the application's prime factor decomposes, and prime factor arranges from small to large, and k is for making A ₁, A ₂..., A _nbe the minimum positive number of positive integer, whole derivation all can be made to have uniqueness.

Embodiment

Specific embodiment one

The range computing method of the n frequency coded structured light of the present embodiment, for 4 frequently, comprise the following steps:

S1, projection strip encoding

Project 4 strip encodings, the cycle of described strip encoding is respectively 4,5,6,7, and in the present embodiment, the cycle of all strip encodings is positive number;

S2, resolve into factors of prime number

Because 4 can resolve into 2 × 2,5 can not prime factor decompose, 6 can resolve into 2 × 3,7 can not prime factor decompose, all prime factors according to from small to large order arrangement after result be 2,3,5,7, now, carry out prime factor decomposition to 4,5,6,7, be specially:

4＝2 ²×3 ⁰×5 ⁰×7 ⁰

5＝2 ⁰×3 ⁰×5 ¹×7 ⁰

6＝2 ¹×3 ¹×5 ⁰×7 ⁰

7＝2 ⁰×3 ⁰×5 ⁰×7 ¹

S3, calculating range

Calculate range t according to the following formula:

t＝2 ^max(2,0,1,0)×3 ^max(0,0,1,0)×5 ^max(0,1,0,0)×7 ^max(0,0,0,1)＝2 ²×3 ¹×5 ¹×7 ¹＝420。

Specific embodiment two

The range computing method of the n frequency coded structured light of the present embodiment, still for 4 frequently, comprise the following steps:

S1, projection strip encoding

Project 4 strip encodings, the cycle of described strip encoding is respectively 3.5,4,5,6, and in the present embodiment, the cycle of all strip encodings is not positive integer entirely;

S2, adjustment code period

Adjust the cycle 3.5,4,5,6 of strip encoding, concrete grammar is:

A ₁＝3.5k

A ₂＝4k

A ₃＝5k

A ₄＝6k

In formula, A ₁, A ₂, A ₃, A ₄for the cycle after adjustment, be positive integer; K is for making A ₁, A ₂..., A _nbe the minimum positive number of positive integer, can k=2 be known, and have:

A ₁＝7

A ₂＝8

A ₃＝10

A ₄＝12

S3, resolve into factors of prime number

Due to 7 can not prime factor decompose, 8 can resolve into 2 × 2 × 2, and 10 can resolve into 2 × 5, and 12 can resolve into 2 × 2 × 3, all prime factors according to from small to large order arrangement after result be 2,3,5,7, now, carry out prime factor decomposition to 7,8,10,12:

7＝2 ⁰×3 ⁰×5 ⁰×7 ¹

8＝2 ³×3 ⁰×5 ⁰×7 ⁰

10＝2 ¹×3 ⁰×5 ¹×7 ⁰

12＝2 ²×3 ¹×5 ⁰×7 ⁰

S4, calculating range

Calculate range according to the following formula:

T＝2 ^max(0,3,1,2)×3 ^max(0,0,0,1)×5 ^max(0,0,1,0)×7 ^max(1,0,0,0)＝2 ³×3 ¹×5 ¹×7 ¹＝840

S5, adjustment range

Calculate range according to the following formula:

t＝T/k＝840/2＝420。

Specific embodiment three

S1, projection strip encoding

Project 4 strip encodings, the cycle of described strip encoding is respectively 3.5,4.2,5.4,6.3, and in the present embodiment, the cycle of all strip encodings is not positive integer entirely;

S2, adjustment code period

Adjust the cycle 3.5,4.2,5.4,6.3 of strip encoding, concrete grammar is:

A ₁＝3.5k

A ₂＝4.2k

A ₃＝5.4k

A ₄＝6.3k

In formula, A ₁, A ₂, A ₃, A ₄for the cycle after adjustment, be positive integer; K is for making A ₁, A ₂..., A _nbe the minimum positive number of positive integer, can k=10 be known, and have:

A ₁＝35

A ₂＝42

A ₃＝54

A ₄＝63

S3, resolve into factors of prime number

Because 35 can resolve into 5 × 7,42 can resolve into 2 × 3 × 7, and 54 can resolve into 2 × 3 × 3 × 3,63 can resolve into 3 × 3 × 7, all prime factors according to from small to large order arrangement after result be 2,3,5,7, now, carry out prime factor decomposition to 35,42,54,63:

35＝2 ⁰×3 ⁰×5 ¹×7 ¹

42＝2 ¹×3 ¹×5 ⁰×7 ¹

54＝2 ¹×3 ³×5 ⁰×7 ⁰

63＝2 ⁰×3 ²×5 ⁰×7 ¹

S4, calculating range

Calculate range according to the following formula:

T＝2 ^max(0,1,1,0)×3 ^max(0,1,3,2)×5 ^max(1,0,0,0)×7 ^max(1,1,0,1)＝2 ¹×3 ³×5 ¹×7 ¹＝1890

S5, adjustment range

Calculate range according to the following formula:

t＝T/k＝1890/10＝189。

Specific embodiment four

The range computing method of the n frequency coded structured light of the present embodiment, comprise the following steps:

S1, projection strip encoding

Project n strip encoding, the cycle of described strip encoding is respectively a ₁, a ₂..., a _i..., a _j..., a _n; Wherein, a _j/ a _i∈ N

S2, adjustment code period

To the cycle a of strip encoding ₁, a ₂..., a _i..., a _j..., a _nadjust, concrete grammar is:

A ₁＝ka ₁

A ₂＝ka ₂

…………

A _i＝ka _i

…………

A _j＝ka _j

…………

A _n＝ka _n

In formula, A ₁, A ₂..., A _i..., A _j..., A _nfor the cycle after adjustment, be positive integer; K is for making A ₁, A ₂..., A _i..., A _j..., A _nfor the minimum positive number of positive integer;

Here it should be noted that, if:

A ₁, a ₂..., a _i..., a _j..., a _nbe integer, so k=1, the content that corresponding claims 1 are protected;

A ₁, a ₂..., a _i..., a _j..., a _nbe not entirely positive integer or complete be not positive integer, so k ≠ 1, the content that corresponding claims 3 are protected;

Therefore, without loss of generality;

S3, resolve into factors of prime number

According to the following formula respectively to A ₁, A ₂..., A _i..., A _j..., A _ncarry out prime factor decomposition:

A_{1} = {B_{1}}^{A_{11}} \times {B_{2}}^{A_{12}} \times \cdot \cdot \cdot \times {B_{m}}^{A_{1 m}}

A_{2} = {B_{1}}^{A_{21}} \times {B_{2}}^{A_{22}} \times \cdot \cdot \cdot \times {B_{m}}^{A_{2 m}}

………………………………

A_{i} = {B_{1}}^{A_{i 1}} \times {B_{2}}^{A_{i 2}} \times \cdot \cdot \cdot \times {B_{m}}^{A_{im}}

………………………………

A_{j} = {B_{1}}^{A_{j 1}} \times {B_{2}}^{A_{j 2}} \times \cdot \cdot \cdot \times {B_{m}}^{A_{jm}}

………………………………

A_{n} = {B_{1}}^{A_{n 1}} \times {B_{2}}^{A_{n 2}} \times \cdot \cdot \cdot \times {B_{m}}^{A_{nm}}

Wherein, B ₁, B ₂..., B _mfor from A ₁, A ₂..., A _i..., A _j..., A _nmiddle decomposition all different prime factor out;

Due to a _j/ a _i∈ N, therefore ka _j/ ka _i∈ N, and then A _j/ A _i∈ N, that is: so have: due to B ₁, B ₂..., B _mfor mutually different prime number, therefore require A _jz>=A _i, wherein, z=1,2 ..., m;

S4, calculating range

Calculate range according to the following formula:

T = {B_{1}}^{\max (A_{11}, A_{21}, \cdot \cdot \cdot, A_{i 1}, \cdot \cdot \cdot, A_{j 1}, \cdot \cdot \cdot, A_{n 1})} \times {B_{2}}^{\max (A_{12}, A_{22}, \cdot \cdot \cdot, A_{i 2}, \cdot \cdot \cdot, A_{j 2}, \cdot \cdot \cdot, A_{n 2})} \times \cdot \cdot \cdot \times {B_{m}}^{\max (A_{1 m}, A_{2 m}, \cdot \cdot \cdot, A_{im}, \cdot \cdot \cdot, A_{jm}, \cdot \cdot \cdot, A_{nm})}

With max (A ₁₁, A ₂₁..., A _i1..., A _j1..., A _n1) illustrate, due to A _jz>=A _i, so A _j1>=A _i1, Jin Eryou by that analogy, max (A is had _1z, A _2z..., A _iz..., A _jz..., A _nz)=max (A _1z, A _2z..., A _i-1z, A _i+1z..., A _jz..., A _nz), this explanation cycle is a _ior A _iencoded light whether exist, all can not change range, and then demonstrate when the cycle of a strip encoding is another strip encoding cycle integral multiple, the change of short period strip encoding to range does not have contributive conclusion.

S5, adjustment range

Calculate range according to the following formula:

t＝T/k

Wherein, t is the range of n frequency coded structured light.

Specific embodiment five

In the present embodiment, by changing the projection sequence of i-th coded structured light and a jth coded structured light in n frequency coded structured light, verify that the projection sequence of n frequency coded structured light does not affect range.

S1, project two group coding stripeds

First group: project n strip encoding, the cycle of described strip encoding is respectively a ₁, a ₂..., a _i..., a _j..., a _n;

Second group: project n strip encoding, the cycle of described strip encoding is respectively a ₁, a ₂..., a _j..., a _i..., a _n;

Can be by, in these two groups, the projection sequence of i-th coded structured light and a jth coded structured light has been exchanged;

S2, adjustment code period

To the cycle a of strip encoding ₁, a ₂..., a _i..., a _j..., a _n, and a ₁, a ₂..., a _j..., a _i..., a _nadjust, concrete grammar is:

A ₁＝ka ₁

A ₂＝ka ₂

…………

A _i＝ka _i

…………

A _j＝ka _j

…………

A _n＝ka _n

And

A ₁＝ka ₁

A ₂＝ka ₂

…………

A _j＝ka _j

…………

A _i＝ka _i

…………

A _n＝ka _n

In formula, A ₁, A ₂..., A _i..., A _j..., A _nand A ₁, A ₂..., A _j..., A _i..., A _nbe the cycle after adjustment, be positive integer; K is for making A ₁, A ₂..., A _i..., A _j..., A _nand A ₁, A ₂..., A _j..., A _i..., A _nbe the minimum positive number of positive integer;

Here it should be noted that, if:

A ₁, a ₂..., a _i..., a _j..., a _nand a ₁, a ₂..., a _j..., a _i..., a _nbe integer, so k=1, the content that corresponding claims 1 are protected;

A ₁, a ₂..., a _i..., a _j..., a _nand a ₁, a ₂..., a _j..., a _i..., a _nbe not entirely positive integer or complete be not positive integer, so k ≠ 1, the content that corresponding claims 3 are protected;

Therefore, without loss of generality;

S3, resolve into factors of prime number

According to the following formula respectively to A ₁, A ₂..., A _i..., A _j..., A _nand A ₁, A ₂..., A _j..., A _i..., A _ncarry out prime factor decomposition:

A_{1} = {B_{1}}^{A_{11}} \times {B_{2}}^{A_{12}} \times \cdot \cdot \cdot \times {B_{m}}^{A_{1 m}}

A_{2} = {B_{1}}^{A_{21}} \times {B_{2}}^{A_{22}} \times \cdot \cdot \cdot \times {B_{m}}^{A_{2 m}}

………………………………

A_{i} = {B_{1}}^{A_{i 1}} \times {B_{2}}^{A_{i 2}} \times \cdot \cdot \cdot \times {B_{m}}^{A_{im}}

………………………………

A_{j} = {B_{1}}^{A_{j 1}} \times {B_{2}}^{A_{j 2}} \times \cdot \cdot \cdot \times {B_{m}}^{A_{jm}}

………………………………

A_{n} = {B_{1}}^{A_{n 1}} \times {B_{2}}^{A_{n 2}} \times \cdot \cdot \cdot \times {B_{m}}^{A_{nm}}

And

A_{1} = {B_{1}}^{A_{11}} \times {B_{2}}^{A_{12}} \times \cdot \cdot \cdot \times {B_{m}}^{A_{1 m}}

A_{2} = {B_{1}}^{A_{21}} \times {B_{2}}^{A_{22}} \times \cdot \cdot \cdot \times {B_{m}}^{A_{2 m}}

………………………………

A_{j} = {B_{1}}^{A_{j 1}} \times {B_{2}}^{A_{j 2}} \times \cdot \cdot \cdot \times {B_{m}}^{A_{jm}}

………………………………

A_{i} = {B_{1}}^{A_{i 1}} \times {B_{2}}^{A_{i 2}} \times \cdot \cdot \cdot \times {B_{m}}^{A_{im}}

………………………………

A_{n} = {B_{1}}^{A_{n 1}} \times {B_{2}}^{A_{n 2}} \times \cdot \cdot \cdot \times {B_{m}}^{A_{nm}}

Wherein, B ₁, B ₂..., B _mfor from A ₁, A ₂..., A _i..., A _j..., A _nand A ₁, A ₂..., A _j..., A _i..., A _nmiddle decomposition all different prime factor out;

S4, calculating range

Calculate range according to the following formula:

For the first group coding light:

T_{1} = {B_{1}}^{\max (A_{11}, A_{21}, \cdot \cdot \cdot, A_{i 1}, \cdot \cdot \cdot, A_{j 1}, \cdot \cdot \cdot, A_{n 1})} \times {B_{2}}^{\max (A_{12}, A_{22}, \cdot \cdot \cdot, A_{i 2}, \cdot \cdot \cdot, A_{j 2}, \cdot \cdot \cdot, A_{n 2})} \times \cdot \cdot \cdot \times {B_{m}}^{\max (A_{1 m}, A_{2 m}, \cdot \cdot \cdot, A_{im}, \cdot \cdot \cdot, A_{jm}, \cdot \cdot \cdot, A_{nm})}

For the second group coding light:

T_{2} = {B_{1}}^{\max (A_{11}, A_{21}, \cdot \cdot \cdot, A_{j 1}, \cdot \cdot \cdot, A_{i 1}, \cdot \cdot \cdot, A_{n 1})} \times {B_{2}}^{\max (A_{12}, A_{22}, \cdot \cdot \cdot, A_{j 2}, \cdot \cdot \cdot, A_{i 2}, \cdot \cdot \cdot, A_{n 2})} \times \cdot \cdot \cdot \times {B_{m}}^{\max (A_{1 m}, A_{2 m}, \cdot \cdot \cdot, A_{jm}, \cdot \cdot \cdot, A_{im}, \cdot \cdot \cdot, A_{nm})}

With max (A ₁₁, A ₂₁..., A _i1..., A _j1..., A _n1) and max (A ₁₁, A ₂₁..., A _j1..., A _i1..., A _n1) illustrate, due to get in one group of data the result of maximal value and this to organize data ordering order irrelevant, therefore have:

max(A ₁₁,A ₂₁,…,A _i1,…,A _j1,…，A _n1)＝max(A ₁₁,A ₂₁,…,A _j1,…,A _i1,…,A _n1)

The like, can know:

T＝T ₁＝T ₂

Wherein, T is the range of two groups of n frequency coded structured lights after adjustment code period;

S5, adjustment range

Calculate range according to the following formula:

t＝T/k

Wherein, t is the range of two groups of n coded structured lights frequently, visible, and no matter how the projection sequence of encoded light changes, and final range is all unique, and the projection sequence demonstrating n coded structured light frequently does not affect the conclusion of range.

Claims

1. range computing method for n frequency coded structured light, is characterized in that, comprise the following steps:

S1, projection strip encoding

Wherein, a ₁, a ₂..., a _nbe positive integer;

S2, resolve into factors of prime number

a_{1} = {b_{1}}^{a_{11}} \times {b_{2}}^{a_{12}} \times . . . \times {b_{m}}^{a_{1 m}}

a_{2} = {b_{1}}^{a_{21}} \times {b_{2}}^{a_{22}} \times . . . \times {b_{m}}^{a_{2 m}}

…………………………

a_{n} = {b_{1}}^{a_{n 1}} \times {b_{2}}^{a_{n 2}} \times . . . \times {b_{m}}^{a_{nm}}

S3, calculating range

Calculate range according to the following formula:

t = {b_{1}}^{\max (a_{11}, a_{21}, . . ., a_{n 1})} \times {b_{2}}^{\max (a_{12}, a_{21}, . . ., a_{n 2})} \times . . . \times {b_{m}}^{\max (a_{1 m}, a_{2 m}, . . ., a_{nm})}

Wherein, t is the range of n frequency coded structured light.

2. the range computing method of n frequency coded structured light according to claim 1, is characterized in that, described b ₁, b ₂..., b _maccording to order arrangement from small to large.

3. range computing method for n frequency coded structured light, is characterized in that, comprise the following steps:

S1, projection strip encoding

S2, adjustment code period

A ₁＝ka ₁

A ₂＝ka ₂

…………

A _n＝ka _n

S3, resolve into factors of prime number

A_{1} = {B_{1}}^{A_{11}} \times {B_{2}}^{A_{12}} \times . . . \times {B_{m}}^{A_{1 m}}

A_{2} = {B_{1}}^{A_{21}} \times {B_{2}}^{A_{22}} \times . . . \times {B_{m}}^{A_{2 m}}

………………………………

A_{n} = {B_{1}}^{A_{n 1}} \times {B_{2}}^{A_{n 2}} \times . . . \times {B_{m}}^{A_{nm}}

S4, calculating range

Calculate range according to the following formula:

T = {B_{1}}^{\max (A_{11}, A_{21}, . . ., A_{n 1})} \times {B_{2}}^{\max (A_{12}, A_{22}, . . ., A_{n 2})} \times . . . \times {B_{m}}^{\max (A_{1 m}, A_{2 m}, . . ., A_{nm})}

S5, adjustment range

Calculate range according to the following formula:

t＝T/k

Wherein, t is the range of n frequency coded structured light.

4. the range computing method of n frequency coded structured light according to claim 3, is characterized in that, described B ₁, B ₂..., B _maccording to order arrangement from small to large.

5. the range computing method of n frequency coded structured light according to claim 3, it is characterized in that, in step S20, k is for making A ₁, A ₂..., A _nbe the minimum positive number of positive integer.