# 背景

## 结构光

$I(x,y)={I}'(x,y)+{I}''(x,y)\cdot&space;\cos&space;(\Phi&space;(x,y))$

$\large&space;\boldsymbol{\boldsymbol{f(x,y)={I}'+{I}''\cdot&space;\cos&space;(\Phi&space;(x,y)-\alpha&space;))}}$
$\large&space;\boldsymbol{\boldsymbol{f(x,y)={I}'+{I}''\cdot&space;\cos&space;(\Phi&space;(x,y)))}}$
$\large&space;\boldsymbol{\boldsymbol{f(x,y)={I}'+{I}''\cdot&space;\cos&space;(\Phi&space;(x,y)+\alpha&space;))}}$

$\large&space;\boldsymbol{\Phi&space;(x,y)=&space;\arctan&space;\left&space;[&space;\frac{(1-\cos&space;\alpha&space;)(I_{1}-I_{3})}{\sin&space;\alpha&space;(2I_{2}-I_{1}-I_{3})}&space;\right&space;]}$

$\large&space;\boldsymbol{\Phi&space;(x,y)=&space;\arctan&space;\left&space;[&space;\frac{&space;\sqrt{3}(I_{1}-I_{3})}{2I_{2}-I_{1}-I_{3}}&space;\right&space;]}$

$\boldsymbol{{I}'(x,y)=(I_{1}+I_{2}+I_{3})/3}$
$\boldsymbol{{I}''(x,y)=\sqrt{3(I_{1}-I_{2})^{2}+(2I_{2}-I_{1}-I_{3})^{2}}/3}$

$\boldsymbol{I(x,y)={I}'(x,y)+{I}''(x,y)}$

1）主流的结构光三维测量方法，包括：线扫，格雷码，相移，散斑等；
2）摄像机标定和投影仪标定；
3）点云处理；
4）图像处理；
5）Halcon应用；
6）机器视觉相机选型。

04-25

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