CN109709742B - Structured light projector and 3D camera - Google Patents
Structured light projector and 3D camera Download PDFInfo
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- CN109709742B CN109709742B CN201910020239.8A CN201910020239A CN109709742B CN 109709742 B CN109709742 B CN 109709742B CN 201910020239 A CN201910020239 A CN 201910020239A CN 109709742 B CN109709742 B CN 109709742B
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Abstract
The structured light projector and the 3D camera provided by the invention realize the structured light projector with adjustable light output modes by using the lens structure with adjustable positions or adjustable focal lengths, can project an infrared speckle dot matrix in one mode, and can project light output with continuously distributed light intensity in the other mode, namely, the functions of the structured light projector and the infrared floodlight are simultaneously realized, the space and the cost of an independent infrared floodlight are saved, and the miniaturized design of the 3D camera is facilitated.
Description
Technical Field
The present invention relates to the field of optical projection technology, and more particularly, to a structured light projector and a 3D camera.
Background
The structured light is a system structure composed of a projector and a camera, and is acquired by the camera after the projector projects undetermined optical information to the surface of an object, and the information such as the position and the depth of the object is calculated according to the change of an optical signal caused by the object, so that the whole three-dimensional space is restored.
Based on a 3D camera, the implementation mainly includes three types, one of which is structured light; second, Time of Flight (ToF for short); and thirdly, a binocular camera. In the field of consumer electronics, a structured light scheme and a ToF scheme are mainstream, both of which require active infrared light projection, the structured light scheme requires projection of infrared speckles, and the ToF scheme requires projection of light output with continuously distributed infrared light intensity, i.e., floodlight. Meanwhile, both require an infrared receiving module, i.e., a CMOS camera that receives infrared light.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a conventional structured light 3D camera, where the conventional structured light 3D camera includes the following main components: speckle dot matrix projecting apparatus, infrared camera, infrared floodlight illuminator and RGB camera. Because an infrared 2D image needs to be formed in a dark environment, an infrared floodlight illuminator needs to be additionally arranged on a common 3D camera to illuminate an object in the dark, and the infrared 2D image is recorded by using the infrared camera.
However, since the infrared floodlight generally consists of one or more infrared lasers and a diffusion film, it can be known that the cost and power consumption of the whole 3D camera are increased by the arrangement of the infrared floodlight, which is not favorable for the miniaturized design of the 3D camera.
Disclosure of Invention
In view of the above, to solve the above problems, the present invention provides a structured light projector and a 3D camera, and the technical solution is as follows:
a structured light projector, comprising: a first lens structure, and/or a second lens structure disposed at a light exit of the structured light projector;
the position or the focal length of the first lens structure is adjustable, and the position or the focal length of the second lens structure is adjustable;
wherein the structured light projector emits a speckle pattern or a light output with a continuous distribution of light intensity by adjusting the position or focal length of the first lens structure or adjusting the position or focal length of the second lens structure.
Preferably, in the above structured light projector, the structured light projector further includes: the device comprises a laser emitter, a beam shaper, a diffraction grating and an optical projection lens;
the laser emitter is used for emitting laser;
the beam shaper is used for expanding and collimating the laser;
the diffraction grating is used for diffracting the laser processed by the beam shaper;
the optical projection lens is used for projecting the laser processed by the diffraction grating;
wherein the optical projection lens or the beam shaper is the first lens structure, and the position or the focal length of the optical projection lens or the beam shaper is adjustable.
Preferably, in the above-described structured light projector, the beam shaper includes: an optical beam expander and an optical collimator;
the optical beam expanding device is used for performing beam expanding processing on laser emitted by the laser emitter;
the optical collimating device is used for collimating the laser processed by the optical beam expanding device.
Preferably, in the above structured light projector, the second lens structure is a voice coil motor;
wherein the voice coil motor is located at a light outlet of the structured light projector, and the position of the voice coil motor is fixed.
Preferably, in the above-structured light projector, the voice coil motor includes:
a base;
the lower elastic sheet, the magnet, the coil, the lens carrier, the upper elastic sheet, the pressing plate, the upper fixing ring and the antimagnetic cover are sequentially arranged on the base;
a lens fixed on the lens carrier;
the current is added into the coil to generate magnetic lines of force to push the magnet and the lens to move, and the position of the lens is further adjusted, so that the structured light projector emits light output with speckle lattices or continuous light intensity distribution.
Preferably, in the above structured light projector, the second lens structure is a liquid lens;
wherein the focal length of the liquid lens is changed by changing the curvature of the liquid lens.
Preferably, in the above structured light projector, the liquid lens includes:
a semiconductor substrate;
an insulating layer disposed on a surface of the semiconductor substrate;
and the liquid is arranged on one side of the insulating layer, which faces away from the semiconductor substrate.
Preferably, in the above structured light projector, the liquid lens further includes: a voltage control circuit;
one end of the voltage control circuit is connected with the liquid, and the other end of the voltage control circuit is connected with the semiconductor substrate;
wherein different voltage conditions are provided by the voltage control circuit to change the curvature of the liquid lens, thereby changing the focal length of the liquid lens.
A 3D camera, comprising: a structured light projector as claimed in any preceding claim.
Compared with the prior art, the invention has the following beneficial effects:
under certain conditions, the structured light projector can focus light emitted by the structured light projector and further output a clear speckle lattice by adjusting the position or the focal length of the first lens structure and/or the second lens structure, or can defocus light emitted by the structured light projector, that is, the size of each point is increased, and when the density of the points is high enough, all the points are connected into a piece after being defocused, and further the light output with continuously distributed light intensity is obtained.
That is, the structured light projector can switch back and forth between emitting the speckle pattern and the light output with continuously distributed light intensity by switching back and forth the position or focal length of the first lens structure and/or the second lens structure, i.e. the functions of the structured light projector and the infrared floodlight are realized simultaneously, and the space and the cost of a separate infrared floodlight are saved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a conventional structured light 3D camera;
FIG. 2 is a schematic diagram of an embodiment of a structured light projector according to the present invention;
FIG. 3 is a schematic diagram of an output light from a structured light projector according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of another output light from a structured light projector according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of another configuration of a structured light projector according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of another configuration of a structured light projector according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a voice coil motor according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a liquid lens provided by an embodiment of the present invention;
FIG. 9 is a schematic view of a curvature state of a liquid lens according to an embodiment of the invention;
FIG. 10 is a schematic view of another curvature state of a liquid lens according to an embodiment of the invention;
FIG. 11 is a schematic structural diagram of a liquid lens provided by an embodiment of the present invention;
fig. 12 is a schematic structural diagram of a 3D camera according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 2, fig. 2 is a schematic diagram of a structure of a structured light projector according to an embodiment of the present invention, where the structured light projector 21 includes: a first lens structure 22, and/or a second lens structure 23 disposed at the light exit of the structured light projector 21;
the position or focal length of the first lens structure 22 is adjustable, and the position or focal length of the second lens structure 23 is adjustable;
wherein the structured light projector 21 emits a speckle pattern or a light output with a continuous distribution of light intensity by adjusting the position or focal length of the first lens structure 22 or the position or focal length of the second lens structure 23.
In this embodiment, the first lens structure 22 includes, but is not limited to, a lens structure that is part of the structured light projector 21, and the first lens structure 22 is a lens structure that is adjustable in position or focal length.
When the position or the focal length of the first lens structure 22 is adjustable, the focal length of the output light of the structured light projector 21 can be adjusted, and further, referring to fig. 3, fig. 3 is a schematic diagram of the output light of the structured light projector according to the embodiment of the present invention, in a certain case, the output light of the structured light projector 21 can be focused, so that the output light of the structured light projector 21 is finally in a speckle lattice; referring to fig. 4, fig. 4 is a schematic diagram of another output light of the structured light projector according to the embodiment of the present invention, in another case, the output light of the structured light projector 21 can be defocused, that is, each dot is large in size, and when the density of dots is high enough, all the dots are connected into one piece after being defocused, and then become a light output with continuously distributed light intensity.
It can be seen that the structured light projector 21 can switch back and forth between emitting the speckle pattern and the light output having the continuous distribution of light intensity by switching back and forth the position or focal length of the first lens structure 22, i.e., the functions of the structured light projector and the infrared floodlight are simultaneously realized, thereby saving space and cost of a separate infrared floodlight.
In this embodiment, when the position and the focal length of the lens structure forming part of the structured light projector 21 are not changeable, a second lens structure 23 may be further disposed at the light outlet of the structured light projector 21, and the second lens structure 23 may be a lens structure with an adjustable position or an adjustable focal length.
When the position or focal length of the second lens structure 23 is adjustable, the output light of the structured light projector 21 may be focused, and further, as shown in fig. 3, the output light of the structured light projector 21 may be focused under certain conditions, so that the output light of the structured light projector 21 is finally in a speckle lattice; in another case, as shown in fig. 4, the output light of the structured light projector 21 may be defocused, that is, each dot becomes large in size, and when the density of dots is high enough, all the dots are connected into one piece after being defocused, thereby becoming a light output with a continuous distribution of light intensity.
It can be seen that the structured light projector 21 can switch back and forth between emitting the speckle pattern and the light output with the continuous distribution of light intensity by switching back and forth the position or focal length of the second lens structure 23, i.e. the functions of the structured light projector and the infrared floodlight are realized simultaneously, and the space and cost of a separate infrared floodlight are saved.
It should be noted that, when the positions or focal lengths of the first lens structure 22 and the second lens structure 23 can be adjusted, the positions or focal lengths of the first lens structure 22 and the second lens structure 23 can be adjusted at the same time to change the light output mode of the structured light projector 21, or any one of the lens structures can be selected to adjust the position or focal length thereof to change the light output mode of the structured light projector.
As can be seen from the above description, the structured light projector according to the embodiments of the present invention realizes a structured light projector with adjustable light output mode by using a lens structure with adjustable position or adjustable focal length, in one mode, it can project an infrared speckle dot matrix, and in another mode, it can project light output with continuously distributed light intensity, that is, the functions of the structured light projector and the infrared floodlight are simultaneously realized, and the space and cost of a separate infrared floodlight are saved.
Further, referring to fig. 5, fig. 5 is a schematic diagram of another structure of the structured light projector according to the embodiment of the present invention, wherein the structured light projector further includes: a laser emitter 51, a beam shaper 52, a diffraction grating 53 and an optical projection lens 54;
the laser emitter 51 is used for emitting laser;
the beam shaper 52 is used for expanding and collimating the laser;
the diffraction grating 53 is used for diffracting the laser processed by the beam shaper 52;
the optical projection lens 54 is used for projecting the laser processed by the diffraction grating 53;
wherein the optical projection lens 54 or the beam shaper 52 is the first lens structure, and the position or the focal length of the optical projection lens 54 or the beam shaper 52 is adjustable.
In this embodiment, the laser transmitter 51 includes, but is not limited to, an array of lasers for emitting laser light.
When the lens structure forming part of the structured light projector may be the first lens structure, the lens structure may be a position-adjustable or focal length-adjustable lens structure.
In the embodiment of the present invention, the optical projection lens 54 or the beam shaper 52 is described as an example of the first lens structure.
When the position or focus of the optical projection lens 54 or the beam shaper 52 is adjustable, the output light of the structured light projector can be focused, and in certain cases, can be focused, so that the output light of the structured light projector is finally in a speckle lattice; in another case, the output light of the structured light projector may be defocused, that is, each dot becomes large in size, and when the density of dots is high enough, all the dots are connected into one piece after being defocused, and become a light output with a continuous distribution of light intensity.
Therefore, the structured light projector can realize the back-and-forth switching between the emitted speckle lattice and the light output with continuously distributed light intensity by back-and-forth switching the position or the focal length of the optical projection lens or the light beam shaper, namely, the functions of the structured light projector and the infrared floodlight are realized simultaneously, and the space and the cost of a separate infrared floodlight are saved.
Further, as shown in fig. 5, the beam shaper 52 includes: an optical beam expander 521 and an optical collimator 522;
the optical beam expander 521 is configured to perform beam expanding processing on the laser emitted by the laser emitter 51;
the optical collimator 522 is configured to collimate the laser processed by the optical beam expander 521.
Further, when the position and focal length of the lens structure of the structural light projector are not variable or the lens structure of the structural light projector is not present, a second lens structure may be further disposed at the light outlet of the structural light projector, and referring to fig. 6, fig. 6 is a schematic diagram of another structure of the structural light projector according to an embodiment of the present invention, where the structural light projector includes: a light source; the nano optical chip or the coding structure photomask plate is arranged at the light outlet of the light source; and the projection lens is arranged on one side of the nano optical chip or the coding structure photomask plate, which is deviated from the light source.
The position and focal length of the projection lens of the structural light projector are not variable, so that a second lens structure which is a lens structure with adjustable position or adjustable focal length can be arranged at the light outlet of the structural light projector, and the lens structure with adjustable position is exemplified here.
Optionally, the second lens structure 23 includes, but is not limited to, a voice coil motor;
wherein the voice coil motor is located at the light outlet of the structured light projector 21, and the position of the voice coil motor is fixed.
In this embodiment, a Voice Coil Motor (VCM) is used to implement the position-adjustable lens structure, and the specific principle is as follows:
adjusting the position of the lens in the voice coil motor to adjust the position of the second lens structure 23, and further performing focus adjustment on the output light of the structured light projector 21, in a certain case, the output light of the structured light projector 21 may be focused, so that the output light of the structured light projector 21 is finally in a speckle lattice; in another case, the output light of the structured light projector 21 may be defocused, that is, each dot becomes large in size, and when the density of dots is high enough, all the dots are connected into one piece after being defocused, and become a light output with a continuous distribution of light intensity.
Further, referring to fig. 7, fig. 7 is a schematic structural diagram of a voice coil motor according to an embodiment of the present invention, where the voice coil motor includes:
a base 61;
the lower elastic sheet 62, the magnet 63, the coil 64, the lens carrier 65, the upper elastic sheet 66, the pressure plate 67, the upper fixing ring 68 and the antimagnetic cover 69 are arranged on the base 61 in sequence;
a lens fixed to the lens carrier 65;
wherein, by adding current into the coil 64, magnetic lines of force are generated to push the magnet 63 and the lens to move, and further, the position of the lens is adjusted, so that the structured light projector emits light output with speckle lattice or continuous light intensity distribution.
In this embodiment, the structure of the voice coil motor is merely illustrated by way of example and is not limited.
The position of the voice coil motor at the light outlet of the structured light projector is fixed, when no current is introduced into the coil 64, the lens cannot move, when current is introduced into the coil 64, magnetic lines of force are generated to push the magnet 63 and the lens to move, and the larger the introduced current is, the larger the lens movement amount is. When the lens moving amount is large enough, the speckle lattice is out of focus and is converted into light output with continuously distributed light intensity.
Then, the position of the lens can be adjusted by controlling the current passing through the coil, so that the fast switching between the speckle dot matrix and the light output with the light intensity continuously distributed is realized.
It should be noted that, in the embodiment of the present invention, the voice coil motor is merely used for illustration and is not limited, and other lens structures with adjustable positions are within the protection scope of the present invention.
Further, when the position and the focal length of the lens structure forming part of the structured light projector are not variable, a second lens structure may be further disposed at the light outlet of the structured light projector, and the second lens structure is a lens structure with adjustable position or adjustable focal length, and is exemplified herein as a lens structure with adjustable focal length.
Optionally, the second lens structure 23 is a liquid lens;
wherein the focal length of the liquid lens is changed by changing the curvature of the liquid lens.
In this embodiment, the liquid lens is used to realize the lens structure with adjustable focal length, and the specific principle is as follows:
adjusting the focal length of the second lens structure by adjusting the curvature of the liquid in the liquid lens, so as to adjust the focal length of the output light of the structured light projector, and under certain conditions, focusing the output light of the structured light projector, so that the output light of the structured light projector is finally in a speckle dot matrix; in another case, the output light of the structured light projector may be defocused, that is, each dot becomes large in size, and when the density of dots is high enough, all the dots are connected into one piece after being defocused, and become a light output with a continuous distribution of light intensity.
Further, referring to fig. 8, fig. 8 is a schematic structural diagram of a liquid lens according to an embodiment of the present invention, where the liquid lens includes:
a semiconductor substrate 71;
an insulating layer 72 provided on a surface of the semiconductor substrate 71;
a liquid 73 arranged on the side of the insulating layer 72 facing away from the semiconductor substrate 71.
In this embodiment, the liquid lens is a lens structure that can realize variable focus by using the electrowetting on dielectric principle, and the liquid lens changes the shape of the liquid by an external voltage, so as to change the focal length thereof, and the liquid lens can realize adjustable focal length of the lens without providing mechanical parts, and has a simple structure.
Referring to fig. 9, fig. 9 is a schematic diagram of a curvature state of the liquid lens provided by the embodiment of the invention, that is, under a voltage condition, the speckle lattice is focused, and the speckle lattice is normally output.
Referring to fig. 10, fig. 10 is a schematic diagram of another curvature state of the liquid lens provided by the embodiment of the invention, that is, under another voltage condition, the speckle lattices are out of focus, and the lattices are connected into one piece to output light with continuously distributed light intensity.
Further, referring to fig. 11, fig. 11 is a schematic structural diagram of a liquid lens according to an embodiment of the present invention, where the liquid lens includes: a voltage control circuit 101;
one end of the voltage control circuit 101 is connected to the liquid 73, and the other end is connected to the semiconductor substrate 71;
wherein, different voltage conditions are provided by the voltage control circuit 101 to change the curvature of the liquid lens, thereby changing the focal length of the liquid lens.
It should be noted that, the embodiment of the present invention is only illustrated by a liquid lens, and is not limited thereto, and other lens structures with adjustable focal length are within the protection scope of the present invention.
Based on all the above embodiments of the present invention, in another embodiment of the present invention, a 3D camera is further provided, referring to fig. 12, fig. 12 is a schematic structural diagram of a 3D camera provided in an embodiment of the present invention, where the 3D camera includes: the structured light projector described above, i.e., the distinguishable speckle dot matrix projector of fig. 11.
The structure light projector realizes the structure projector with the adjustable light output mode by using the lens structure with the adjustable position or the adjustable focal length, can project an infrared speckle dot matrix in one mode, can project light output with continuously distributed light intensity in another mode, namely simultaneously realizes the functions of the structure light projector and an infrared floodlight, saves the space and the cost of an independent infrared floodlight, and is favorable for the miniaturized design of a 3D camera.
The structured light projector and the 3D camera provided by the present invention are described in detail above, and the principle and the embodiment of the present invention are explained herein by applying specific examples, and the description of the above examples is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include or include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A structured light projector, comprising: a first lens structure, and/or a second lens structure disposed at a light exit of the structured light projector;
the position or the focal length of the first lens structure is adjustable, and the position or the focal length of the second lens structure is adjustable;
wherein the structured light projector emits a speckle pattern or a light output with a continuous distribution of light intensity by adjusting the position or focal length of the first lens structure or adjusting the position or focal length of the second lens structure.
2. The structured light projector of claim 1, further comprising: the device comprises a laser emitter, a beam shaper, a diffraction grating and an optical projection lens;
the laser emitter is used for emitting laser;
the beam shaper is used for expanding and collimating the laser;
the diffraction grating is used for diffracting the laser processed by the beam shaper;
the optical projection lens is used for projecting the laser processed by the diffraction grating;
wherein the optical projection lens or the beam shaper is the first lens structure, and the position or the focal length of the optical projection lens or the beam shaper is adjustable.
3. The structured light projector of claim 2 wherein the beam shaper comprises: an optical beam expander and an optical collimator;
the optical beam expanding device is used for performing beam expanding processing on laser emitted by the laser emitter;
the optical collimating device is used for collimating the laser processed by the optical beam expanding device.
4. A structured light projector as claimed in claim 1 wherein the second lens structure is a voice coil motor;
wherein the voice coil motor is located at a light outlet of the structured light projector, and the position of the voice coil motor is fixed.
5. The structured light projector of claim 4, wherein the voice coil motor comprises:
a base;
the lower elastic sheet, the magnet, the coil, the lens carrier, the upper elastic sheet, the pressing plate, the upper fixing ring and the antimagnetic cover are sequentially arranged on the base;
a lens fixed on the lens carrier;
the current is added into the coil to generate magnetic lines of force to push the magnet and the lens to move, and the position of the lens is further adjusted, so that the structured light projector emits light output with speckle lattices or continuous light intensity distribution.
6. The structured light projector of claim 1, wherein the second lens structure is a liquid lens;
wherein the focal length of the liquid lens is changed by changing the curvature of the liquid lens.
7. The structured light projector of claim 6, wherein the liquid lens comprises:
a semiconductor substrate;
an insulating layer disposed on a surface of the semiconductor substrate;
and the liquid is arranged on one side of the insulating layer, which faces away from the semiconductor substrate.
8. The structured light projector of claim 7, wherein the liquid lens further comprises: a voltage control circuit;
one end of the voltage control circuit is connected with the liquid, and the other end of the voltage control circuit is connected with the semiconductor substrate;
wherein different voltage conditions are provided by the voltage control circuit to change the curvature of the liquid lens, thereby changing the focal length of the liquid lens.
9. A3D camera, comprising: the structured light projector of any of claims 1 to 8.
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| CN111323931B (en) * | 2019-01-15 | 2023-04-14 | 深圳市光鉴科技有限公司 | Light projection system and method |
| US10585194B1 (en) | 2019-01-15 | 2020-03-10 | Shenzhen Guangjian Technology Co., Ltd. | Switchable diffuser projection systems and methods |
| CN112066907B (en) * | 2019-06-11 | 2022-12-23 | 深圳市光鉴科技有限公司 | Depth imaging device |
| CN112068144B (en) * | 2019-06-11 | 2022-10-21 | 深圳市光鉴科技有限公司 | Light projection system and 3D imaging device |
| CN110346940A (en) * | 2019-07-05 | 2019-10-18 | 深圳市光鉴科技有限公司 | Project structured light device and 3D camera |
| CN110361870A (en) * | 2019-07-29 | 2019-10-22 | 深圳阜时科技有限公司 | A kind of optical module, transmitting unit, sensing mould group and electronic equipment |
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| CN208239772U (en) * | 2017-12-05 | 2018-12-14 | 宁波舜宇光电信息有限公司 | Structured light projecting device, depth camera and electronic equipment including it |
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