RESUMO
By combining a fringe projection setup with a telecentric lens, a fringe pattern could be projected and imaged within a small area, making it possible to measure the three-dimensional (3D) surfaces of micro-components. This paper focuses on the flexible calibration of the fringe projection profilometry (FPP) system using a telecentric lens. An analytical telecentric projector-camera calibration model is introduced, in which the rig structure parameters remain invariant for all views, and the 3D calibration target can be located on the projector image plane with sub-pixel precision. Based on the presented calibration model, a two-step calibration procedure is proposed. First, the initial parameters, e.g., the projector-camera rig, projector intrinsic matrix, and coordinates of the control points of a 3D calibration target, are estimated using the affine camera factorization calibration method. Second, a bundle adjustment algorithm with various simultaneous views is applied to refine the calibrated parameters, especially the rig structure parameters and coordinates of the control points forth 3D target. Because the control points are determined during the calibration, there is no need for an accurate 3D reference target, whose is costly and extremely difficult to fabricate, particularly for tiny objects used to calibrate the telecentric FPP system. Real experiments were performed to validate the performance of the proposed calibration method. The test results showed that the proposed approach is very accurate and reliable.