Implicit structured light decoding method, computer equipment and readable storage medium

A computer equipment, comprising a memory, a processor and a computer program stored in the memory and executed by the processor, wherein the processor executes the computer program to implement the following acts of:

• traversing a captured image to acquire a grayscale value of each pixel point, and constructing, according to the grayscale values of pixel points, an ideal neighborhood grayscale distribution of pixel points in a direction perpendicular to a stripe direction;
• traversing the captured image, finding all stripe central points in the captured image according to the grayscale value of each pixel point and the ideal neighborhood grayscale distribution and in combination with a preset output image, and performing, whenever finding out each of the stripe central points, update the preset output image according to the found stripe central point;
• classifying stripe central points in an updated output image into different stripes;
• determining, according to the different stripes, a correspondence between stripes in the updated output image and stripes in a structured light image;
• and
• decoding the stripe central points in the updated output image, by using triangulation method in combination with the correspondence between the stripes in the updated output image and the stripes in the structured light image.

A non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores a computer program being used to execute the following acts of:

• traversing a captured image to acquire a grayscale value of each pixel point, and constructing, according to the grayscale values of pixel points, an ideal neighborhood grayscale distribution of pixel points in a direction perpendicular to a stripe direction;
• traversing the captured image, finding all stripe central points in the captured image according to the grayscale value of each pixel point and the ideal neighborhood grayscale distribution and in combination with a preset output image, and performing, whenever finding out each of the stripe central points, update the preset output image according to the found stripe central point;
• classifying stripe central points in an updated output image into different stripes;
• determining, according to the different stripes, a correspondence between stripes in the updated output image and stripes in a structured light image;
• and
• decoding the stripe central points in the updated output image, by using triangulation method in combination with the correspondence between the stripes in the updated output image and the stripes in the structured light image.