CN108563032A - Structured light projector, camera assembly and electronic equipment - Google Patents
Structured light projector, camera assembly and electronic equipment Download PDFInfo
- Publication number
- CN108563032A CN108563032A CN201810338840.7A CN201810338840A CN108563032A CN 108563032 A CN108563032 A CN 108563032A CN 201810338840 A CN201810338840 A CN 201810338840A CN 108563032 A CN108563032 A CN 108563032A
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- lens
- laser
- light source
- structured light
- light projector
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Classifications
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/30—Collimators
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/42—Diffraction optics, i.e. systems including a diffractive element being designed for providing a diffractive effect
- G02B27/4205—Diffraction optics, i.e. systems including a diffractive element being designed for providing a diffractive effect having a diffractive optical element [DOE] contributing to image formation, e.g. whereby modulation transfer function MTF or optical aberrations are relevant
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B15/00—Special procedures for taking photographs; Apparatus therefor
- G03B15/02—Illuminating scene
Abstract
The invention discloses a kind of structured light projector, camera assembly and electronic equipments.Structured light projector includes light source, collimating element and diffraction element.Light source is for emitting laser.Collimating element is used for the laser of collimated light source transmitting.Collimating element includes Fresnel lens.The light-emitting surface of Fresnel lens is curved surface.Light source is edge-emitting laser, and edge-emitting laser includes light-emitting surface, and light-emitting surface is towards collimating element.Diffraction element is for the laser after the collimated element collimation of diffraction.Laser of structured light projector, camera assembly and the electronic equipment of embodiment of the present invention using the Fresnel lens of curved surface as collimating element to emit for collimated light source, on the one hand the volume and manufacturing cost that can reduce structured light projector, on the other hand can reduce influence of the spherical aberration to laser alignment.
Description
Technical field
The present invention relates to 3 Dimension Image Technique field, more particularly to a kind of structured light projector, camera assembly and electronics are set
It is standby.
Background technology
Structured light projector is generally made of light source, collimating element and diffraction element.Wherein, collimating element is used for collimated light
The laser of source transmitting.Existing collimating element generally use spherical lens is as collimation lens, ball of such lens because of its own
There is the spherical aberration that can not be completely eliminated in face structure, and the aperture of lens is bigger, and spherical aberration is more serious.Due to spherical surface
The presence of aberration, light source transmitting the collimated element of laser after, the quality of laser has different degrees of decline.
Invention content
The embodiment provides a kind of structured light projector, camera assembly and electronic equipments.
The structured light projector of embodiment of the present invention includes light source, collimating element and diffraction element.The light source is used for
Emit laser.The collimating element is used to collimate the laser of the light source transmitting, and the collimating element includes Fresnel lens, described
The light-emitting surface of Fresnel lens is curved surface.The light source is edge-emitting laser, and the edge-emitting laser includes light-emitting surface, described
Light-emitting surface is towards the collimating element.Laser of the diffraction element for diffraction after collimating element collimation.
The camera assembly of embodiment of the present invention includes above-mentioned structured light projector, image acquisition device and processor.Institute
Image acquisition device is stated for acquiring the laser pattern projected from the structured light projector into object space.The processor is used
In the processing laser pattern to obtain depth image.
The electronic equipment of embodiment of the present invention includes shell and above-mentioned camera assembly.The camera assembly is arranged in institute
It states in shell and is exposed out of described shell to obtain depth image.
Structured light projector, camera assembly and the electronic equipment of embodiment of the present invention use the Fresnel lens conduct of curved surface
Laser of the collimating element to emit for collimated light source can reduce influence of the spherical aberration to laser alignment.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obviously, or practice through the invention is recognized.
Description of the drawings
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, wherein：
Fig. 1 is the structural schematic diagram of the electronic equipment of certain embodiments of the present invention.
Fig. 2 is the structural schematic diagram of the camera assembly of certain embodiments of the present invention.
Fig. 3 is the structural schematic diagram of the structured light projector of certain embodiments of the present invention.
Fig. 4 to fig. 6 be certain embodiments of the present invention structured light projector in light source emit laser light path signal
Figure.
Fig. 7 to Fig. 9 is the partial schematic diagram of the structured light projector of certain embodiments of the present invention.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " first ", " second " are used for description purposes only, and cannot
It is interpreted as indicating or implies relative importance or implicitly indicate the quantity of indicated technical characteristic.Define as a result, " the
One ", the feature of " second " can explicitly or implicitly include one or more feature.In description of the invention
In, the meaning of " plurality " is two or more, unless otherwise specifically defined.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
Can also be to be electrically connected or can be in communication with each other to be mechanical connection；It can be directly connected, it can also be by between intermediary
It connects connected, can be the interaction relationship of the connection or two elements inside two elements.For the ordinary skill of this field
For personnel, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
Following disclosure provides many different embodiments or example is used for realizing the different structure of the present invention.In order to
Simplify disclosure of the invention, hereinafter the component of specific examples and setting are described.Certainly, they are merely examples, and
And it is not intended to limit the present invention.In addition, the present invention can in different examples repeat reference numerals and/or reference letter,
This repetition is for purposes of simplicity and clarity, itself not indicate between discussed various embodiments and/or setting
Relationship.In addition, the present invention provides various specific techniques and material example, but those of ordinary skill in the art can be with
Recognize the application of other techniques and/or the use of other materials.
Also referring to Fig. 1 and Fig. 2, the present invention provides a kind of electronic equipment 3000.Electronic equipment 3000 can be intelligence
Mobile phone, Intelligent bracelet, smartwatch, tablet computer, intelligent glasses, intelligent helmet, somatic sensation television game equipment etc..Electronic equipment 3000
Including shell 2000 and camera assembly 1000.The setting of camera assembly 1000 exposes in shell 2000 and from shell 2000 to obtain
Depth image.Camera assembly 1000 includes structured light projector 100, image acquisition device 200 and processor 300.Project structured light
Device 100 is for projecting laser pattern into object space.Image acquisition device 200 is for acquiring structured light projector 100 to target
The laser pattern projected in space.Processor 300 is for obtaining laser pattern to obtain depth image.
Specifically, structured light projector 100 projects laser pattern into object space by projecting window 901, and image is adopted
Storage 200 is acquired by acquisition window 902 by the modulated laser pattern of target object.Image acquisition device 200 can be infrared phase
Machine, it is corresponding with reference pattern each that processor 300 uses image matching algorithm to calculate each pixel in the laser pattern
The deviation value of pixel further obtains the depth image of the laser pattern further according to deviation value.Wherein, image matching algorithm can
For related (Digital Image Correlation, the DIC) algorithm of digital picture.It is of course also possible to use other images match
Algorithm replaces DIC algorithms.
As shown in figure 3, structured light projector 100 includes board unit 60 and lens barrel 50.Board unit 60 includes substrate 62
With the circuit board 61 of setting on the substrate 62.Circuit board 61 can be hardboard, soft board or Rigid Flex.Lens barrel 50 includes side wall
51 and from side wall 51 extend plummer 52.The setting of side wall 51 surrounds host cavity 53 on circuit board 61, and with circuit board 61.
Structured light projector 100 further includes light source 10, collimating element 20 and diffraction element 30.Light source 10, collimating element 20
Be housed in host cavity 53 with diffraction element 30, and collimating element 20 and diffraction element 30 along light source 10 luminous light path successively
Arrangement.Specifically, circuit board 61 offers via 611, and light source 10 is carried on the substrate 62 and is housed in via 611.Light source
10 for emitting laser.Collimating element 20 is used for the laser that collimated light source 10 emits.Diffraction element 30 is used for the collimated member of diffraction
Laser after the collimation of part 20 is to form laser pattern.
Wherein, light source 10 can be edge-emitting laser (edge-emitting laser, EEL), and specifically, light source 10 can
For distributed feedback laser (Distributed Feedback Laser, DFB).At this point, 11 direction of light-emitting surface of light source 10
Collimating element 20.The temperature drift of distributed feedback laser is smaller, and is single-point light emitting structure, it is not necessary that array structure is arranged, makes
Simply, the cost of structured light projector 100 is relatively low.The laser of distributed feedback laser is when propagating, by optical grating construction
Feedback obtains the gain of power, to improve the power of distributed feedback laser, needs by increasing Injection Current and/or increase
The length of distributed feedback laser, due to increase pouring-in electric current can make the power consumption of distributed feedback laser increase and
There is serious problem of generating heat, therefore, in order to ensure that distributed feedback laser can work normally, needs to increase distributed feed-back
The length of formula laser.When the length of distributed feedback laser increases, the height of structured light projector 100 can also increase therewith
Add.The distributed feedback laser of embodiment of the present invention is housed in via 611, can reduce the length of distributed feedback laser
Degree increases the influence generated to the height of structured light projector 100, while ensureing that distributed feedback laser can work normally.
Collimating element 20 includes one or more pieces Fresnel lenses 21.Include a piece of screw thread with collimating element 20 shown in Fig. 3
For lens 21, the modes of emplacement of Fresnel lens 21 can be：The incidence surface 211 of Fresnel lens 21 is towards light source 10, light-emitting surface 212
Towards diffraction element 30.Wherein, the descending concentric circles of incidence surface 211 imprinting, light-emitting surface 212 are a curved surface, the curved surface
Can be cylindrical surface or paraboloid.The distance between light source 10 and Fresnel lens 21 are less than or equal to the focal length of Fresnel lens 21, such as
This, can reduce the height of structured light projector 100.
It is appreciated that the collimating element 20 in existing structured light projector 100 is used as usually using spherical lens and collimates
Lens collimate laser.But the manufacture craft of spherical lens is complex, of high cost, and because of the spherical structure of its own,
In the presence of the spherical aberration that can not be completely eliminated, the collimating effect for seriously affecting laser is led.
The collimating element 20 of embodiment of the present invention is swashed using what 21 collimated light source 10 of Fresnel lens as shown in Figure 3 emitted
Light.In terms of the sectional view of Fresnel lens 21, the surface of Fresnel lens 21 is made of some incised grooves, and central part is ellipse
Round camber line.Angle each between groove part and adjacent grooves is different, but all light is concentrated at one, anxious in formation
Point, that is, Fresnel lens 21 prime focus.Each groove can regard an independent lenslet as, light is adjusted to parallel
Light, to eliminate spherical aberration.
Secondly, Fresnel lens 21 is in the case where the curvature for retaining lens surface is constant, and reduction as much as possible is saturating
The optical material of mirror, therefore, compared to spherical lens, the thickness of Fresnel lens 21 is smaller.
In addition, Fresnel lens 21 is generally using thin slice made of polyolefine material injection pressure as machining blanks, can also be glass
The thin slice that glass is fabricated to forms smooth surface as machining blanks, to the polishing that is polished on one side of blank thin slice, then in hair
The ascending concentric circles of imprinting on the another side of base thin slice, wherein the concentric circles texture of imprinting is according to the interference of light, spreads out
It penetrates, relative sensitivity and receiving angle requirement design.Compared to spherical lens, the manufacturing process of Fresnel lens 21 is simpler
It is single, it polishes without twin polishing, more saves raw material, there are the spies such as small, light-weight, processing cost is low and compact-sized
Point.
Furthermore the light-emitting surface 212 of Fresnel lens 21 is curved surface, compared with flat thread lens 21, the Fresnel lens of plane
21 have higher transmissivity in center, and along the direction far from center, the transmissivity of Fresnel lens 21 gradually drops
It is low.But the Fresnel lens 21 of curved surface either center or marginal position all have higher transmissivity.In addition, curved surface
The precision of the correction spherical aberration of Fresnel lens 21 is higher than the Fresnel lens 21 of plane, the collimating effect of the Fresnel lens 21 of curved surface
The better than collimating effect of the Fresnel lens 21 of plane.
Structured light projector 100 further includes protective cover 70.Protective cover 70 can be made of translucent material, such as glass, poly-
Methyl methacrylate (Polymethyl Methacrylate, PMMA), makrolon (Polycarbonate, PC), polyamides
Imines (Polyimide, PI) etc..Since the translucent materials such as glass, PMMA, PC and PI all have excellent light transmission, protection
Cover 70 can not have to open up loophole.In this way, protective cover 70 can be while preventing diffraction element 30 from falling off, additionally it is possible to avoid
Diffraction element 30 is exposed in the outside of lens barrel 50, so that 30 water proof and dust proof of diffraction element.Certainly, in other embodiment
In, protective cover 70 can offer loophole, and loophole is opposite with the maximum optics effective district of the area of diffraction element 30 to keep away
Exempt to block the light path of diffraction element 30.
The structured light projector 100 of embodiment of the present invention use the Fresnel lens 21 of curved surface as collimating element 20 with
The laser for carrying out the transmitting of collimated light source 10, on the one hand can reduce the volume and manufacturing cost of structured light projector 100, on the other hand
Influence of the spherical aberration to laser alignment can be reduced.
In some embodiments, collimating element 20 may include at least a piece of Fresnel lens 21 and at least a piece of ordinary lens
Combination.Wherein, ordinary lens can be one or more, the Fresnel lens in convex lens 22, concavees lens 23 or microlens array
The descending concentric circles of 21 211 imprinting of incidence surface, light-emitting surface 212 are a curved surface, which can be cylindrical surface or parabolic
Face.
Specifically, as shown in figure 4, collimating element 20 includes a piece of Fresnel lens 21 and a piece of convex lens 22.Along light source 10
Light emission direction, convex lens 22, Fresnel lens 21 and diffraction element 30 are arranged in order.The laser planoconvex lens 22 that light source 10 emits
After-contraction and the back focal plane for focusing on convex lens 22, subsequent laser are spread to the direction of Fresnel lens 21, and the laser of diffusion is through spiral shell
The modulation of line lens 21 projects laser in the form of directional light to diffraction element 30.Wherein, Fresnel lens 21 is positioned over convex lens 22
Rear, and should to be equal to or approximately equal to the focus point that is formed after laser planoconvex lens 22 focus saturating to screw thread for its focal length
The distance at 21 center of mirror.Preferably, along the light emission direction of light source 10, the prime focus position of Fresnel lens 21 is located at convex lens 22
The right side of back focus position, the benefit of such setting are reduced whole while can reducing the spherical aberration of laser to a certain degree
The volume of a collimating element 20, to further decrease the height of structured light projector 100.
For another example as shown in figure 5, collimating element 20 includes a piece of Fresnel lens 21 and a piece of convex lens 22.Along light source 10
Light emission direction, convex lens 22, Fresnel lens 21 and diffraction element 30 are arranged in order.The laser planoconvex lens 22 that light source 10 emits
Occur a degree of contraction after refraction but focusing can not be formed, the laser after contraction is after Fresnel lens 21, with directional light
Mode invests diffraction element 30.Wherein, the focus of Fresnel lens 21 is located at the left side of light source 10, and the left side of Fresnel lens 21 is burnt
Away from the left side focal length that should be more than convex lens 22.Preferably, along the light emission direction of light source 10, the prime focus position of Fresnel lens 21
Left side positioned at the position of the front focus of convex lens 22, and the prime focus of Fresnel lens 21 is located at the left side of the position of light source.This
The benefit of kind setting is contracted to the maximum extent while the laser pattern for ensureing that structured light projector 100 projects is clearly uniform
The height of small collimating element 20 further reduces the height of structured light projector 100.
For another example as shown in fig. 6, collimating element 20 includes a piece of Fresnel lens 21 and a piece of concavees lens 23.Light source 10 is sent out
There is different degrees of diverging after concavees lens 23 in the laser penetrated, and invests Fresnel lens 21.The laser of transmitting is through Fresnel lens
After 21 modulation laser is projected to diffraction element 30 in the form of directional light.Wherein, along the light emission direction of light source 10, Fresnel lens 21
Prime focus position should be located at concavees lens 23 preceding virtual focus position right side.The benefit of such setting is can to reduce entirely
The volume of collimating element 20, to further decrease the height of structured light projector 100.
Fig. 3 and Fig. 7 are please referred to, in some embodiments, structured light projector 100 further includes fixing piece.Specifically, light
Source 10 is in the form of a column, and an end face of the light source 10 far from substrate 62 forms light-emitting surface 11.Laser is sent out from light-emitting surface 11, light-emitting surface 11
Towards collimating element 20.Light source 10 is fixed on the substrate 62.Fixing piece can be sealing 15, and light source 10 is bonded in base by sealing 15
On plate 62, for example, the one side bonding opposite with light-emitting surface 11 of light source 10 is on the substrate 62.Incorporated by reference to Fig. 3 and Fig. 8, light source 10
Side 12 can also be bonded on the substrate 62, sealing 15 wraps the side 12 of surrounding, can also only be bonded a certain of side 12
A face and substrate 62 or certain be bonded several face and substrate 62.Sealing at this time 15 can be heat-conducting glue, and the work of light source 10 is generated
Heat is conducted into substrate 62.Since edge-emitting laser is in usually fine strip shape, when 11 direction of light-emitting surface of edge-emitting laser
When collimating element 20, edge-emitting laser is placed vertically, and edge-emitting laser, which is susceptible to, at this time the meanings such as falls, shifts or shake
Outside, thus by be arranged sealing 15 edge-emitting laser can be fixed, prevent edge-emitting laser transmitting fall, shift or
Shaking etc. is unexpected.
Also referring to Fig. 3 and Fig. 9, in some embodiments, fixing piece can also be the supporting rack 16 of elasticity.Supporting rack
16 number is two or more.Receiving space 161 is collectively formed in multiple supporting racks 16.Receiving space 161 is for accommodating
Light source 10, multiple supporting racks 16 support light source 10, in this way, can prevent light source 10 from shaking.
Further, as shown in figure 3, substrate 62 offers heat emission hole 621.Can be filled in heat emission hole 621 heat-conducting glue with
It radiates for light source 10.
In addition, in some embodiments, substrate 62 can be omitted, light source 10 is directly carried on circuit board 61.In this way,
The thickness of structured light projector 100 can be reduced.
Structured light projector 100, camera assembly 1000 and the electronic equipment 3000 of embodiment of the present invention use curved surface
Fresnel lens 21, with the laser emitted for collimated light source 10, on the one hand can reduce structured light projector as collimating element 20
On the other hand 100 volume and manufacturing cost can reduce influence of the spherical aberration to laser alignment.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiments or example.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (11)
1. a kind of structured light projector, which is characterized in that the structured light projector includes：
Light source, the light source is for emitting laser；
Collimating element, the collimating element are used to collimate the laser of the light source transmitting, and the collimating element includes Fresnel lens,
The light-emitting surface of the Fresnel lens is curved surface, and the light source is edge-emitting laser, and the edge-emitting laser includes light-emitting surface,
The light-emitting surface is towards the collimating element；With
Diffraction element, laser of the diffraction element for diffraction after collimating element collimation.
2. structured light projector according to claim 1, which is characterized in that the collimation lens includes at least a piece of screw thread
The combination of lens and at least a piece of ordinary lens, the ordinary lens include one in convex lens, concavees lens and microlens array
Kind is a variety of.
3. structured light projector according to claim 2, which is characterized in that along the light emission direction of the light source, the spiral shell
The prime focus position of line lens is located at the right side of the back focus position of the convex lens.
4. structured light projector according to claim 2, which is characterized in that along the light emission direction of the light source, the spiral shell
The prime focus position of line lens is located at the left side of the front focus of the convex lens and the position of the light source.
5. structured light projector according to claim 2, which is characterized in that along the light emission direction of the light source, the spiral shell
The prime focus position of line lens is located at the right side of the preceding virtual focus position of the concavees lens.
6. structured light projector according to claim 1, which is characterized in that the structured light projector further includes substrate in batch
Part and lens barrel, the board unit include the circuit board of substrate and setting on the substrate, and the lens barrel is arranged in the electricity
Host cavity is surrounded on the plate of road and with the circuit board, the collimating element, the diffraction element are housed in the host cavity,
And set gradually along the luminous light path of the light source, the side wall of the lens barrel is extended with plummer to the center of the host cavity,
The diffraction element is arranged on the plummer.
7. structured light projector according to claim 6, which is characterized in that the structured light projector further includes fixing
Part, the fixing piece are used to the edge-emitting laser being fixed on the board unit.
8. structured light projector according to claim 7, which is characterized in that the fixing piece includes sealing, the sealing
It is arranged between the edge-emitting laser and the substrate, the sealing is heat-conducting glue.
9. structured light projector according to claim 7, which is characterized in that the fixing piece includes being arranged in the substrate
Receiving space, the receiving space is collectively formed in the supporting rack of at least two elasticity on component, at least two support frames as described above
For accommodating the edge-emitting laser, at least two support frames as described above are used to support residence and state edge-emitting laser.
10. a kind of camera assembly, feature is, the camera assembly includes：
Structured light projector described in claim 1 to 9 any one；
Image acquisition device, described image collector is for acquiring the laser projected from the structured light projector into object space
Pattern；With
Processor, the processor is for handling the laser pattern to obtain depth image.
11. a kind of electronic equipment, which is characterized in that the electronic equipment includes：
Shell；With
Camera assembly according to any one of claims 10, the camera assembly be arranged in the shell and out of described shell expose with
Obtain depth image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810338840.7A CN108563032A (en) | 2018-04-16 | 2018-04-16 | Structured light projector, camera assembly and electronic equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810338840.7A CN108563032A (en) | 2018-04-16 | 2018-04-16 | Structured light projector, camera assembly and electronic equipment |
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| CN201810338840.7A Pending CN108563032A (en) | 2018-04-16 | 2018-04-16 | Structured light projector, camera assembly and electronic equipment |
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Cited By (3)
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| CN113589621A (en) * | 2021-07-16 | 2021-11-02 | 瑞芯微电子股份有限公司 | Structured light projector, camera module and electronic equipment |
| CN114518686A (en) * | 2020-11-20 | 2022-05-20 | 扬明光学股份有限公司 | Projection system |
| US11402199B2 (en) * | 2018-03-12 | 2022-08-02 | Guangdong Oppo Mobile Telecommunications Corp., Ltd. | Laser generator, structured light projector, and electronic device |
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