N步相移算法的推导

相机采集的N步相移图案可以表示为
$$\begin{array}{c}\begin{array}{rl}{I}_n& =a+b\cos (\phi +\Delta {\phi }_n)\\ & =a+b\cos \phi \cos \Delta {\phi }_n-b\sin \phi \sin \Delta {\phi }_n\end{array}\end{array}$$
将$b\cos \phi$记作$c$，将$b\sin \phi$记作$s$，那么
$$\begin{array}{c}{I}_n=a+c\cos \Delta {\phi }_n-s\sin \Delta {\phi }_n\end{array}$$
我们需要从N个公式（2）中求取未知量$a,c$和$s$,很自然地采用最小二乘法求解，最优化以下偏差：
$$\begin{array}{c}\epsilon =\sum _{n=1}^N(I_n-(a+c\cos \Delta {\phi }_n-s\sin \Delta {\phi }_n){)}^2\end{array}$$
由偏导$\frac{\partial \epsilon }{\partial a}=0$可得
$$\begin{array}{c}\sum _{n=1}^N{I}_n=aN+c\sum _{n=1}^N\cos \Delta {\phi }_n-s\sum _{n=1}^N\sin \Delta {\phi }_n\end{array}$$
由偏导$\frac{\partial \epsilon }{\partial c}=0$可得
$$\begin{array}{c}\sum _{n=1}^N{I}_n\cos \Delta {\phi }_n=a\sum _{n=1}^N\cos \Delta {\phi }_n+c\sum _{n=1}^N{\cos }^2\Delta {\phi }_n-s\sum _{n=1}^N\sin \Delta {\phi }_n\cos \Delta {\phi }_n\end{array}$$
由偏导$\frac{\partial \epsilon }{\partial s}=0$可得
$$\begin{array}{c}\sum _{n=1}^N{I}_n\sin \Delta {\phi }_n=a\sum _{n=1}^N\sin \Delta {\phi }_n+c\sum _{n=1}^N\sin \Delta {\phi }_n\cos \Delta {\phi }_n-s\sum _{n=1}^N{\sin }^2\Delta {\phi }_n\end{array}$$
综合公式（4），公式（5）和公式（6），整理成矩阵形式，为
$$\begin{array}{c}\left(\begin{array}{cccc}N& {\sum }_{n=1}^N\cos \Delta {\phi }_n& -{\sum }_{n=1}^N\sin \Delta {\phi }_n& \\ {\sum }_{n=1}^N\cos \Delta {\phi }_n& {\sum }_{n=1}^N{\cos }^2\Delta {\phi }_n& -{\sum }_{n=1}^N\sin \Delta {\phi }_n\cos \Delta {\phi }_n& \\ {\sum }_{n=1}^N\sin \Delta {\phi }_n& {\sum }_{n=1}^N\sin \Delta {\phi }_n\cos \Delta {\phi }_n& -{\sum }_{n=1}^N{\sin }^2\Delta {\phi }_n& \end{array}\right)\left(\begin{array}{c}a\\ c\\ s\end{array}\right)=\left(\begin{array}{c}{\sum }_{n=1}^N{I}_n\\ {\sum }_{n=1}^N{I}_n\cos \Delta {\phi }_n\\ {\sum }_{n=1}^N{I}_n\sin \Delta {\phi }_n\end{array}\right)\end{array}$$
由于${\sum }_{n=1}^N\cos \Delta {\phi }_n=0$, ${\sum }_{n=1}^N\sin \Delta {\phi }_n=0$,${\sum }_{n=1}^N\sin \Delta {\phi }_n\cos \Delta {\phi }_n=0$, ${\sum }_{n=1}^N{\cos }^2\Delta {\phi }_n=\frac{N}{2}$, ${\sum }_{n=1}^N{\sin }^2\Delta {\phi }_n=\frac{N}{2}$, 代入公式（7）中可得，
$$\begin{array}{c}\left(\begin{array}{ccc}N& 0& 0\\ 0& \frac{N}{2}& 0\\ 0& 0& -\frac{N}{2}\end{array}\right)\left(\begin{array}{c}a\\ c\\ s\end{array}\right)=\left(\begin{array}{c}{\sum }_{n=1}^N{I}_n\\ {\sum }_{n=1}^N{I}_n\cos \Delta {\phi }_n\\ {\sum }_{n=1}^N{I}_n\sin \Delta {\phi }_n\end{array}\right)\end{array}$$
此时，易得
$$\begin{array}{c}\begin{array}{rl}a& =\frac{1}{N}\sum _{n=1}^N{I}_n\\ c& =\frac{2}{N}\sum _{n=1}^N{I}_n\cos \Delta {\phi }_n\\ s& =-\frac{2}{N}\sum _{n=1}^N{I}_n\sin \Delta {\phi }_n\end{array}\end{array}$$
由于$b\cos \phi =c$, $b\sin \phi =s$,可得
$$\begin{array}{c}\begin{array}{rl}\tan \phi & =-\frac{{\sum }_{n=1}^N{I}_n\sin \Delta {\phi }_n}{{\sum }_{n=1}^N{I}_n\cos \Delta {\phi }_n}\\ b& =\frac{2}{N}\sqrt{(\sum _{n=1}^N{I}_n\sin \Delta {\phi }_n{)}^2+(\sum _{n=1}^N{I}_n\cos \Delta {\phi }_n{)}^2}\end{array}\end{array}$$
推导完毕。