Fig. 1. Flow chart of calibration for proposed method

Fig. 2. Schematic of calibration board

Fig. 3. Speckle image of calibration board

Fig. 4. Fitting of the projector's optical center

Fig. 5. Experiment system

Fig. 6. Depth map of the planar board

Fig. 7. Displacement measurement results of the planar board

Fig. 8. Speckle image of standard spheres

Fig. 9. 3D model of the right sphere in Fig. 8

Fig. 10. Experimental images of the fifth group. (a) Speckle image of camera; (b) virtual speckle image of projector

Fig. 11. Test object and its 3D reconstruction results. (a) Color image; (b) speckle image; (c) reconstruction result of Astra-Pro;(d) reconstruction result of proposed method