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. 2018 Oct 3;7:71. doi: 10.1038/s41377-018-0072-3

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© The Author(s) 2018

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 5 — According to the parameters c and n, a part of a GOBO wheel is generated (1). Based on the parameters σ_blur, ω, and e, subpatterns of the rotating GOBO wheel are determined (2). The subpatterns that are related to a pattern are projected onto a plane and the corresponding camera images are rendered (3). After computing the disparity map (4) and reconstructing the 3D point cloud (5), the standard deviation σ_3D and completeness p are estimated