Real-time computer-generated frequency-carrier Moiré profilometry with three-frequency heterodyne temporal phase unwrapping

•By combining three-frequency heterodyne temporal phase unwrapping(TPU) with computer-generated frequency-carrier Moiré profilometry(CGFCMP), only three deformed patterns are needed to real-time measure 3D object with higher accuracy.•The projected gratings are skillfully designed to share the same DC component and the same amplitude, which makes it possible to reduce the needed gratings from six frames to three frames. So the real-time measuring feature can be achieved.•The pure frequency-carrier sinusoidal and cosinusoidal gratings are utilized and the carrier frequency is optimized to effectively extract the computer-generated frequency-carrier Moiré fringes as pure as possible. Thus, the measuring accuracy of CGFCMP can be guaranteed.•Normalization process is carried for all captured deformed patterns. The noise caused by the nonuniform reflectivity of the measured object can be eliminated effectively. Therefore,the measuring accuracy is promoted further more.•Three-frequency heterodyne TPU by proper frequency selection strategy makes it possible to measure complex surface with abrupt slope and multiple isolated objects on the premise of high accuracy.