Fig. 1. Schematic diagram of triangular stereo model

Fig. 2. Camera pinhole imaging model

Fig. 3. Schematic diagram of multi-frequency heterodyne synthesis cycle

Fig. 4. Neighborhood phase error diagram of corner points

Fig. 5. 2D RANSAC fitting and least squares comparison diagram

Fig. 6. Flow chart of algorithm

Fig. 7. Experimental device

Fig. 8. Detection results of calibration plate corner points

Fig. 9. Phase diagram of calibration plate

Fig. 10. RANSAC iteration results of corner points

Fig. 11. Position of corner points in projector pixel coordinate system

Fig. 12. Feature points detection results of dot calibration plate

Fig. 13. Results of round dots calibration plate phase local RANSAC

Fig. 14. Schematic diagram of reprojection errors

Fig. 15. Reprojection errors calibrated by different calibration plates