The combination of Gray-code method with phase-shifting algorithm has been widely used in three-dimensional (3D) shape measurement. However, the non-uniform surface reflectance, the defocus of the projector and the object motion will cause order jump error at the boundary of adjacent Gray-code. This paper proposes a 3D shape measurement method based on misaligned Gray-code (MGC) light to avoid this kind of error. In this method, all the traditional Gray-code patterns are pre-moved by half fringe period before projection so that the edges of the decoding order and the wrapped phase are staggered exactly, and then each period of decoding order is divided into four sub-regions to construct correct phase order and unwrap the wrapped phase. In addition, the fringe period number can be further expanded by introducing the virtual plane to improve the measurement efficiency and accuracy simultaneously. Two sets of comparative experiments on static scenes confirm that our method can successfully avoid the order jump error without projecting additional Gray-code pattern. And the dynamic experimental results demonstrate that proposed method can especially realize high-efficiency and high-speed 3D shape measurement at a rate of 2381 fps by labeling 32-period fringe patterns with only 4 misaligned Gray-code patterns.

格雷码法与相移算法的结合已广泛应用于三维（3D）形状测量。然而，不均匀的表面反射率、投影仪的散焦和物体运动会导致相邻格雷码边界处的阶跃误差。本文提出了一种基于失准格雷码 (MGC) 光的 3D 形状测量方法来避免这种误差。该方法将所有传统的格雷码图案在投影前预先移动半个条纹周期，使解码顺序和包裹相位的边缘精确交错，然后将每个解码顺序周期分为四个子周期。区域以构建正确的相序并展开包裹的相。此外，通过引入虚拟平面可以进一步扩大边缘周期数，同时提高测量效率和精度。两组静态场景对比实验证实，我们的方法可以成功避免阶跃错误，而无需投射额外的格雷码图案。动态实验结果表明，该方法通过仅用 4 个未对齐的格雷码图案标记 32 周期条纹图案，尤其可以实现 2381 fps 的高效、高速 3D 形状测量。