There are two general methods for single-purpose structure cursor setting: 1. Use the projector as an inverse camera, 2. Model the projector as a new model, we introduce the second method first.

In this method, the projector is modeled as a new model (reverse pinhole model), and the calibration of the projector is directly simplified to the calibration of 8 unknown parameters. The specific calibration steps are as follows:

1. Fix the camera and projector at an appropriate Angle and ensure that they are relatively stationary during calibration

2. Prepare calibration plates. Printed calibration plates can be used, or ceramic calibration plates can be used

3. The projector is off and the camera takes pictures of the calibration plate

4. The projector projects multi-frequency phase-shift pictures (only Y-direction stripes are projected), and the camera shoots at the same time

5. Change the position and pose of the system relative to the calibration plate, repeat Step 3\4, shoot >;15 sets of data

6. Cameras were calibrated by using the pictures of calibration plates, internal and external parameters of the camera were obtained, and corner position information of each calibration plate was saved

标定模型如下所示：

• OXYZ：参考坐标系，根据投影装置建立的：
  1）OXY平面平行于投影面
  2）Y轴平行于光栅条纹
  3）Z轴经过投影中心Op

• P'：物点P在OXY平面上的投影
• P''：P'在OXY平面的X轴上的投影
• D: Op与OXY平面的交点
• D''：D在OXY平面的X轴上的投影

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