monocular+structured light
I tried 3 ways to unwrap the phase
1: http://www.opticsjournal.net/richHtml/lop/2019/56/1/011202.html successfully unwrapped the phase with the gap, should try to eliminate the abrupt change
2: ./image/unwrap_formular.png the phase is smooth thant the previouse one, but still looking for the theory.