JP5364861B1 - 3D information measuring apparatus and 3D information measuring method - Google Patents

Abstract

To measure three-dimensional information of the shape of a part of a subject that has been difficult to measure conventionally.
A three-dimensional information measuring apparatus includes a light source unit, an imaging unit, a support unit, and a control unit. The light source unit 11 can emit pattern light having a plurality of boundaries along the first direction. The imaging unit 12 images the subject irradiated with the pattern light. The support unit 13 supports the light source unit 11 and the imaging unit 12 so as to be rotatable about a rotation axis RX. The control unit 14 generates three-dimensional information of the subject based on an image obtained by imaging with the imaging unit 12 in a state where the subject is irradiated with pattern light at a plurality of different rotational positions.
[Selection] Figure 1

Description

  The present invention relates to a three-dimensional information measuring apparatus and a three-dimensional information measuring method for measuring the shape of a subject as three-dimensional information.

  Various methods for measuring the shape of a subject as three-dimensional information have been proposed. For example, as a method for measuring three-dimensional information, for example, a gray code pattern light projection method, a spatially coded pattern light projection method (see Patent Document 1), a light cutting method (see Patent Document 2), and the like have been proposed.

JP 2012-127819 A Japanese Patent Laying-Open No. 2005-3410

  However, in the known measurement method, since the three-dimensional coordinates of the subject are measured using an image picked up from a single direction, three-dimensional information such as a portion of the subject that is not imaged, for example, a portion hidden from the image pickup direction, is obtained. It could not be measured.

  The present invention has been made in view of such a viewpoint, and provides a three-dimensional information measuring apparatus and a three-dimensional information measuring method capable of measuring three-dimensional information of the shape of a part of a subject, which has been difficult to measure in the past. It is the purpose.

In order to solve the above-described problems, the three-dimensional information measuring apparatus according to the first aspect is
A light source unit capable of emitting pattern light having a plurality of boundaries along the first direction;
An imaging unit for imaging the subject irradiated with the pattern light;
An attitude capable of irradiating the pattern light from a direction inclined with respect to the rotation axis such that the plurality of boundaries and the rotation axis intersect so that the light source unit and the imaging unit can be rotated around the rotation axis. A support unit that supports the imaging unit in a posture capable of imaging the subject from a direction inclined from the rotation axis at an angle different from that of the light source unit.
Three-dimensional of the subject based on images obtained by imaging of the imaging unit in a state where the subject placed near the rotational axis is irradiated with the pattern light at a plurality of different rotational positions with respect to the rotational axis. And a control unit for generating information.

In the three-dimensional information measuring apparatus according to the second aspect,
The light source unit can emit reference pattern light having a boundary smaller than the pattern light,
The control unit determines a reference position of the subject based on an image obtained by imaging of the imaging unit in a state where the reference pattern is irradiated on the subject, and determines the three-dimensional information based on the reference position. It is preferable to generate.

In the three-dimensional information measuring apparatus according to the third aspect,
An index indicating a position where the subject is to be placed,
The control unit preferably generates the three-dimensional information based on a position indicated by the index.

In the three-dimensional information measuring apparatus according to the fourth aspect,
The light source unit can emit illumination light,
The control unit is configured to display an image of the subject viewed from an arbitrary direction based on an image obtained by imaging of an imaging unit in a state where the illumination light is irradiated at the plurality of different rotational positions and the three-dimensional information. It is preferable to create it.

As described above, the solution of the present invention has been described as an apparatus. However, the present invention can be realized as a method, a program, and a storage medium storing the program, which are substantially equivalent thereto, and the scope of the present invention. It should be understood that these are also included.

For example, the three-dimensional information measuring method according to the fifth aspect, which realizes the present invention as a method,
The pattern light from the direction inclined from the rotation axis so that a plurality of boundaries of the pattern light intersect the rotation axis is different from the irradiation angle of the object near the rotation axis and the angle at which the pattern light is irradiated A sampling step of performing imaging of the subject from a direction inclined with respect to the rotation axis at an angle at a plurality of rotation positions with respect to the rotation axis;
A generating step of generating three-dimensional information of the subject based on a plurality of images captured in the collecting step.

In the three-dimensional information measuring method according to the sixth aspect,
In the sampling step, the direction inclined with respect to the rotation axis at an angle different from the irradiation angle of the illumination light from the direction inclined with respect to the rotation axis and the angle with which the illumination light is irradiated Performing imaging of the subject from the plurality of rotational positions;
In the generating step, the image of the subject viewed from an arbitrary direction based on the generated three-dimensional information of the subject and the image of the subject irradiated with the illumination light imaged in the sampling step It is preferable to create

  According to the present invention, it is also possible to measure three-dimensional information of the shape of a part of a subject that has been difficult to measure conventionally.

It is a functional block diagram which shows roughly the structure of the three-dimensional information measuring apparatus which concerns on one Embodiment of this invention. It is a figure which shows the optical image of pattern light. It is a figure which shows the optical image of reference | standard pattern light. It is a figure for demonstrating the projection position and incident angle to the rotating shaft of the optical image of each boundary. It is a figure which shows a state when a test object is irradiated with reference | standard pattern light. It is a figure which shows a state when pattern light is irradiated to a subject. It is a figure for demonstrating the height from a rotating shaft. It is a figure for demonstrating the calculation principle of the height from a rotating shaft. It is the figure which showed the shape of OBJ on the θyh coordinate. It is the figure which showed the shape of OBJ on an xyz coordinate. It is a figure for demonstrating the conversion principle of the three-dimensional information from (theta) yh coordinate system to xyz coordinate system. It is a figure for demonstrating the production method of the image of the subject seen from arbitrary rotation positions. It is a flowchart for demonstrating the shape measurement process which a control unit performs. It is a flowchart for demonstrating the image creation process which a control unit performs. It is a functional block diagram which shows roughly the structure of the modification of a three-dimensional information measuring device.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a functional block diagram schematically showing a three-dimensional information measuring apparatus according to an embodiment of the present invention.

  The three-dimensional information measuring apparatus 10 includes a light source unit 11, an imaging unit 12, a support unit 13, and a control unit 14.

  The light source unit 11 can switch and emit pattern light, reference pattern light, and illumination light. As shown in FIG. 2, the pattern light is an optical image having a plurality of boundaries BL along a first direction which is an arbitrary direction. The plurality of boundaries BL are formed by a white area WA having a relatively high brightness and a black area BA having a relatively low brightness. The position of each boundary BL in the first direction is determined in advance. For example, in the present embodiment, the interval between the first boundaries BL from one end along the first direction of the pattern light, and between the boundaries BL The positions are determined so that the intervals are equal. As shown in FIG. 3, the reference pattern light is an optical image having boundaries BL less than the pattern light along the first direction at substantially the same positions as the boundaries BL in the pattern light. For example, in this embodiment, the reference pattern light has the boundary BL at the same position as the 15th and 29th boundaries BL from the base end of the pattern light. Illumination light is homogeneous white light.

  The imaging unit 12 includes an optical system 15 that forms a subject image and an imaging element such as a line sensor or an area sensor (see FIG. 1). The imaging unit 12 captures a subject image and generates an image. The optical system 15 is preferably object-side telecentric.

  The support unit 13 includes a main body 16 and a motor 17. The main body 16 has a connecting portion 18 and a base portion 19. The connecting portion 18 is supported so that the main body 16 can rotate around the rotation axis RX in a state where the longitudinal direction of the base portion 19 is parallel to the rotation axis RX. The base unit 19 is provided with a light source unit 11 and an imaging unit 12. In the light source unit 11, images on the rotation axis RX of the plurality of boundaries BL intersect the rotation axis RX from a direction inclined so that the optical axis OX <b> 1 of the illumination optical system included in the light source unit 11 intersects the rotation axis RX. Thus, it is supported in a posture capable of irradiating pattern light. In the present embodiment, the image on the rotation axis RX of the plurality of boundaries BL of the pattern light is orthogonal on the plane having the rotation axis RX and the image on the rotation axis RX of each boundary BL and the rotation axis RX. The light source unit 11 has an attitude in which the optical axis OX1 intersects the rotation axis RX and the optical axis OX2 of the optical system 15 at an angle different from each other, and an angle formed by both optical axes is greater than 0 ° and less than 90 °. Supported. In the present embodiment, the optical axis OX2 of the optical system 15 of the imaging unit 12 is orthogonal to the rotation axis RX. Furthermore, when the line sensor is used, the imaging unit 12 is arranged so that at least a linear image in a direction parallel to the rotation axis RX can be captured. The motor 17 is fixed to, for example, a housing and rotates the light source unit 11 and the imaging unit 12 together with the main body 16 around the rotation axis RX to arbitrary rotation positions.

  The control unit 14 is a computer such as a personal computer, for example, and controls the operation of each part of the three-dimensional information measuring apparatus 10. The control unit 14 is connected to an input unit 21 such as a keyboard and a mouse, a storage unit 22 such as an SDRAM and a hard disk, and a display 23.

  The input unit 21 detects various inputs from the operator. For example, an input for starting measurement of the shape of the subject placed near the rotation axis RX and an input for creating an image of the subject viewed from an arbitrary direction are detected.

  As will be described later, the storage unit 22 stores a projection position and an incident angle that intersect the rotation axis RX of each boundary BL optical image in the pattern light emitted from the light source unit 11. In the state where the pattern light is emitted from the light source unit 11, the intersection of the end of the pattern light on the light source unit 11 side and the rotation axis RX is determined as the start point SP, and from the start point SP to the intersection point of the boundary BL and the rotation axis RX. Is calculated or measured in advance as a projection position on the rotation axis RX of each boundary BL, and stored in the storage unit 22. Also, the incident angle of each boundary BL at the position of the intersection with the rotation axis RX is calculated or measured in advance as the incident angle on the rotation axis RX of each boundary BL and stored.

The calculation method of the projection position and incident angle on the rotation axis RX of the optical image of each boundary BL in the present embodiment will be described with reference to FIG. The number of pattern light boundaries BL is (N−1), the spread angle of the entire pattern light is φ, the angle formed by the normal NV of the pattern light and the rotation axis RX is α, and the width of the pattern light passing through the start point SP is L _0. Then, the projection position _{yr (n / N)} of the _nth boundary BL from the start point SP is calculated by the equation (1). Further, the incident angle α _{(n / N) at the nth} boundary BL from the start point SP is calculated by the equation (2).

  In addition, the storage unit 22 stores the projection position and the incident angle on the rotation axis RX of each boundary BL in the reference pattern light emitted from the light source unit 11. Furthermore, the storage unit 22 stores three-dimensional information generated by the control unit 14.

  The display 23 displays various images such as an image for operating the three-dimensional information measuring apparatus 10 and an image obtained by viewing the subject from an arbitrary direction.

  Next, measurement of the shape of the subject by the three-dimensional information measuring apparatus 10 will be described below. When the input unit 21 detects an input for starting shape measurement in a state where the subject is placed in the vicinity of the rotation axis RX, preferably on the rotation axis RX, the control unit 14 detects each part to generate three-dimensional information. Begin control.

  First, the motor 17 rotates the main body 16 so that the base portion 19 is disposed at a rotation position at which imaging starts. As shown in FIG. 5, the light source unit 11 irradiates the subject OBJ with the reference pattern light at the rotational position where imaging starts. In the state in which the reference pattern light is irradiated, the imaging unit 12 determines a reference position using a linear image LI where the plane PL having the optical axis OX2 and the rotation axis RX of the optical system 15 intersects the surface of the subject OBJ. The image is taken. Next, as shown in FIG. 6, the light source unit 11 irradiates the subject OBJ with pattern light. In a state where the pattern light is irradiated, the imaging unit 12 uses, as a measurement image, a linear image LI where the plane PL having the optical axis OX2 and the rotation axis RX of the optical system 15 and the surface of the subject OBJ intersect. Take an image. Further, the light source unit 11 irradiates the subject OBJ with illumination light. In a state where the illumination light is irradiated, the imaging unit 12 uses, as a display image, a linear image LI where the plane PL having the optical axis OX2 and the rotation axis RX of the optical system 15 and the surface of the subject OBJ intersect. Take an image.

  When an image for measurement is captured, the motor 17 rotates the main body 16 by a predetermined angle from the rotation position at which imaging starts. In the present embodiment, for example, the light source unit 11 and the imaging unit 12 are arranged together with the main body 16 at different rotational positions by rotating at an angle of 0.5 °. At this rotational position, the light source unit 11 irradiates the subject OBJ with pattern light. In a state where the pattern light is irradiated, the imaging unit 12 uses, as a measurement image, a linear image LI where the plane PL having the optical axis OX2 and the rotation axis RX of the optical system 15 and the surface of the subject OBJ intersect. Take an image. Further, at this rotational position, the light source unit 11 irradiates the subject OBJ with illumination light. In a state where the illumination light is irradiated, the imaging unit 12 uses, as a display image, a linear image LI where the plane PL having the optical axis OX2 and the rotation axis RX of the optical system 15 and the surface of the subject OBJ intersect. Take an image.

  Thereafter, the rotation of the main body 16 from the rotation position at which imaging starts to a predetermined angle, for example, 180 ° rotation, rotation of the main body 16 by 0.5 °, irradiation of pattern light, imaging for measurement, irradiation of illumination light, And the imaging of the display image is repeated.

  When the irradiation of illumination light at the rotation position at a predetermined angle and the imaging of the display image are completed from the rotation position at which the imaging is started, the control unit 14, based on the captured image, will be described in detail below. Three-dimensional information of the shape of the specimen OBJ is generated.

The control unit 14 converts the three-dimensional coordinates of each minute region on the surface of the subject OBJ into a position y along the rotation axis RX, a height h from the rotation axis RX, and rotation for starting imaging as shown in FIG. The rotation angle from the position is calculated as a coordinate axis with the rotation position θ. That is, at each rotation position θ _{0 ° to} θ _{360 °} , the height h from the rotation axis RX at each position y along the rotation axis RX of the surface of the subject OBJ is calculated.

The height calculation principle will be described below. Since the light source unit 11 is inclined from the rotation axis RX, as shown in FIG. 8, the projection position along the y-axis of the optical image indicating the boundary BL is projected on the rotation axis RX (symbol “y _r ”). (See reference) and when projected onto the object OBJ (see reference sign “y _o ”), a deviation d occurs at the projection position. Therefore, the height h is calculated by the expression (3) using the incident angle α _{(n / N)} with respect to the rotation axis RX of the optical image indicating the boundary BL.

Deviation d of the projection position is the difference projection position y _r of the optical image of the boundary BL projected on the projection position y _o, and the rotation axis RX of the optical image of the boundary BL projected to the subject OBJ. That is, the deviation d _{(n / N)} of the projection position of the nth boundary BL from the start point SP is calculated by the equation (4).

As described above, the projection position _{yr (n / N)} of the optical image of each boundary BL projected on the rotation axis RX is calculated in advance and stored in the storage unit 22. Each incident angle α _{(n / N) with} respect to the rotation axis RX of the optical image at each boundary BL is also calculated in advance and stored in the storage unit 22. Accordingly, in the measurement image, the height h of the nth boundary BL from the start point SP can be calculated by detecting the projection position _{yo (n / N)} of the optical image of the boundary BL projected on the subject OBJ. It is.

  However, when the subject OBJ is installed at a position farther from the light source unit 11 than the starting point SP, the entire boundary BL cannot be irradiated to the subject OBJ, and therefore the boundary BL irradiated to the subject OBJ. It is impossible to determine the number of the boundary BL from the starting point SP. Therefore, the ordinal number of the boundary BL irradiated to the subject OBJ is detected using the reference pattern light. As described above, the reference pattern light has the boundary BL at the same position as the 15th and 29th boundaries BL in the pattern light. Therefore, the positions of the two boundaries BL detected in the image for determining the reference position are determined as the reference position. In the first measurement image captured, the reference position boundary BL from the start point SP or the reference position distance BL from the start point SP is defined as the fifteenth or 29th boundary BL, and another boundary with the boundary BL as a reference. The ordinal number of BL is determined. Based on the determined ordinal number and the position of the detected boundary BL, the height h of the subject OBJ at each boundary BL is calculated as described above. Note that in the measurement image at the rotation position next to the rotation position at which imaging starts, the boundary BL closest to each boundary BL of the measurement image at the rotation position at which imaging starts is measured at the rotation position at which imaging starts. The same ordinal number as the boundary BL of the image is used to calculate the height h.

In all the images for measurement, the height h of the detected boundary BL is calculated, and the height of each boundary BL is normalized to a value up to 1 using the maximum value among them. The control unit 14 generates three-dimensional information of the normalized height h _s of the boundary BL, the rotational position θ of the main body 16, and the position y with reference to the start point SP.

  When the shape of the subject OBJ is drawn on the θyh coordinates, a shape of the subject OBJ different from the actual three-dimensional shape is formed as shown in FIG. Therefore, the control unit 14 uses the equations (5) and (6) to determine from the three-dimensional information in the θyh coordinate system that the axis perpendicular to the rotation axis RX at the rotation position when imaging starts is the x axis and the xy plane. This is converted into three-dimensional information (see FIG. 10) in an xyz coordinate system with the correct axis as the z-axis. Note that the three-dimensional information converted by the equations (5) and (6) corresponds to the position viewed from the direction of the rotational position 90 °.

In equations (5) and (6), W is an arbitrary length that is equal to or smaller than the width of the image that can be displayed on the display 23, and corresponds to the maximum value used for normalizing the height h. As shown in FIG. 11, h _s (θ, y) is a normalized height from the rotation axis RX of the surface of the subject OBJ at the specific rotation position θ and the specific position y. θ is an angle of an arbitrary rotational position from the rotational position at which imaging starts.

  Further, the control unit 14 subdivides the display image and combines the subdivided images with the three-dimensional information at the same y-coordinate position in the measurement image captured at the same rotational position. Further, the control unit 14 converts the display image into an image viewed from the rotation position 90 °. As shown in FIG. 11, the image for measurement at each rotational position has a width Δθ in a direction perpendicular to the rotational position. By multiplying the width Δθ seen from each rotational position by sin θ, the width Δx seen from the rotational position 90 ° can be converted. The control unit 14 stores the converted display image in the storage unit 22 in combination with the three-dimensional information of the xyz coordinate system.

  The control unit 14 can create an image of the subject OBJ viewed from the rotation position 90 ° by combining the converted display image with the three-dimensional coordinates of the xyz coordinate system. Further, regarding the image of the object OBJ (see FIG. 12) viewed from another rotational position ω °, in equations (5) and (6) and sin θ multiplied for conversion of the width Δθ of the display image, By substituting (θ + ω−90 °) into θ, it can be converted into three-dimensional information calculated and subdivided images.

  Next, the shape measurement process of the object OBJ executed by the control unit 14 will be described using the flowchart of FIG. As described above, when the input unit 21 detects an input for starting shape measurement, the shape measurement process is started.

  In step S100, the control unit 14 rotates the main body 16 to a rotation position at which imaging starts. Once rotated to the starting rotational position, the process proceeds to step S101.

  In step S101, the control unit 14 irradiates the object OBJ with the reference pattern light. Furthermore, the control unit 14 images the subject OBJ irradiated with the reference pattern light, and acquires an image for determining the reference position. When the image for determining the reference position is captured, the process proceeds to step S102.

  In step S102, the control unit 14 irradiates the subject OBJ with pattern light. Furthermore, the control unit 14 images the subject OBJ irradiated with the pattern light and acquires a measurement image. When the measurement image is captured, the process proceeds to step S103.

  In step S103, the control unit 14 irradiates the subject OBJ with illumination light. Further, the control unit 14 images the subject OBJ irradiated with the illumination light, and acquires a display image. When the display image is captured, the process proceeds to step S104. Note that the display image may be acquired before the measurement image by changing the order of step S102 and step S103.

  In step S104, the control unit 14 determines whether or not the current rotational position is the final rotational position. If it is not the final rotational position, the process proceeds to step S105. If it is the final rotational position, the process proceeds to step S106.

  In step S105, the control unit 14 rotates the main body 16 by 0.5 °. After the main body 16 is rotated, the process returns to step S102.

  In step S106, the control unit 14 determines the reference position based on the reference position determination image acquired in step S101. Furthermore, the control unit 14 determines the ordinal number of the boundary BL in the measurement image acquired in step S102 based on the determined reference position. When the ordinal number of the boundary BL is determined, the process proceeds to step S107.

In Step S107, the control unit 14 projects the projection position _yr and the incident angle on the rotation axis RX of each boundary BL stored in the storage unit 22, and the projection position of the boundary BL based on the measurement image acquired in Step S102. by using the y _o, we calculate three-dimensional information in the xyz coordinate system of the object OBJ. When the three-dimensional information of the xyz coordinate system is calculated, the process proceeds to step S108.

  In step S108, the control unit 14 converts the width Δθ of the display image acquired in step S103. Furthermore, the control unit 14 combines the image obtained by converting the width Δθ with the three-dimensional information calculated in step S107. After the combination, the process proceeds to step S109.

  In step S109, the control unit 14 causes the storage unit 22 to store the three-dimensional information and the display image combined in step S108. If it memorize | stores in the memory | storage part 22, a shape measurement process will be complete | finished.

  Next, the image creation processing of the subject OBJ viewed from an arbitrary rotation position executed by the control unit 14 will be described with reference to the flowchart of FIG. As described above, when the input unit 21 detects an input for creating an image of the subject OBJ viewed from an arbitrary direction, the image creation process is started.

  In step S200, the control unit 14 performs coordinate conversion using (θ + ω−90 °) instead of θ in the coordinate conversion in step S107 of the shape measurement process. After coordinate transformation, the process proceeds to step S201.

  In step S201, the control unit 14 performs image conversion using (θ + ω−90 °) instead of θ in the image conversion in step S108 of the shape measurement process. Further, the control unit 14 combines the image obtained by converting the width Δθ with the three-dimensional information calculated in step S200. After combination, the process proceeds to step S202.

  In step S202, the control unit 14 stores the three-dimensional information and the display image combined in step S202 in the storage unit 22. When stored in the storage unit 22, the image creation process is terminated.

  According to the three-dimensional information measuring apparatus of the present embodiment configured as described above, the subject OBJ irradiated with the pattern light is imaged while the imaging unit 12 is rotated around the subject OBJ. 3D information of a part that becomes a blind spot can be measured by imaging from.

  Further, according to the three-dimensional information measuring apparatus of the present embodiment, an image of the subject OBJ viewed from an arbitrary rotational position can be created by a combination of the calculated three-dimensional information and a display image.

  Although the present invention has been described based on the drawings and embodiments, it should be noted that those skilled in the art can easily make various changes and modifications based on the present disclosure. Therefore, it should be noted that these variations and modifications are included in the scope of the present invention.

  For example, in the present embodiment, the reference position is determined based on the image for determining the reference position, but may be determined by another configuration. For example, as illustrated in FIG. 15, the three-dimensional information measurement apparatus 10 may include an index 24 that indicates a position where the tip of the subject OBJ should be aligned. The position indicated by the index 24 is the start point SP, and the first boundary BL from the start point SP in the measurement image is handled as the first boundary BL by performing measurement by aligning the tip of the subject OBJ with the start point SP. Therefore, it is not necessary to capture an image for determining the reference position.

In the present embodiment, the reference position determination image is captured only for the first time. However, the reference position determination image is captured at each rotational position or at any rotational position. May be. In the subject OBJ height with respect to the change in the rotational position changes greatly, the projection position y _o of the boundary BL in the image for measurement adjacent may vary widely. Therefore, for such an object OBJ, the measurement accuracy can be improved by checking the reference position at various rotational positions.

DESCRIPTION OF SYMBOLS 10 3D information measuring device 11 Light source unit 12 Imaging unit 13 Support unit 14 Control unit 15 Optical system 16 Main body 17 Motor 18 Connection part 19 Base part 21 Input part 22 Memory | storage part 23 Display 24 Index BA Black area BL Boundary LI Linear Image NV Normal line OBJ Subject OX1 Optical axis of illumination optical system OX2 Optical axis of optical system PL Plane having optical axis and rotation axis of optical system RX Rotation axis SP Start point WA White region

Claims (6)

A light source unit capable of emitting pattern light having a plurality of boundaries along the first direction;
An imaging unit for imaging the subject irradiated with the pattern light;
An attitude capable of irradiating the pattern light from a direction inclined with respect to the rotation axis such that the plurality of boundaries and the rotation axis intersect so that the light source unit and the imaging unit can be rotated around the rotation axis. A support unit that supports the imaging unit in a posture capable of imaging the subject from a direction inclined from the rotation axis at an angle different from that of the light source unit.
Based on an image of diffuse reflected light obtained by imaging of the imaging unit in a state in which the subject is placed near the rotation axis at a plurality of different rotational positions with respect to the rotation axis and the pattern light is irradiated. And a control unit that generates three-dimensional information of the subject. The three-dimensional information measuring apparatus according to claim 1,
The light source unit can emit reference pattern light having a boundary smaller than the pattern light,
The control unit determines a reference position of the subject based on an image of a diffuse reflected light image obtained by imaging of the imaging unit in a state where the subject is irradiated with the reference pattern, and based on the reference position The three-dimensional information measuring device is characterized in that the three-dimensional information is generated. The three-dimensional information measuring device according to claim 1,
An index indicating a position where the subject is to be placed,
The control unit generates the three-dimensional information based on a position indicated by the index. The three-dimensional information measuring device according to any one of claims 1 to 3,
The light source unit can emit illumination light,
The control unit is viewed from an arbitrary direction based on the image of the diffuse reflected light obtained by imaging of the imaging unit in a state where the illumination light is irradiated at the plurality of different rotational positions and the three-dimensional information. A three-dimensional information measuring apparatus, characterized in that an image of the subject is created. Irradiating a subject near the rotation axis with the pattern light from a direction inclined from the rotation axis such that a plurality of boundaries along a first direction of the pattern light intersect the rotation axis; and A sampling step of performing imaging of the subject from a direction inclined with respect to the rotation axis at an angle different from the angle irradiated with the pattern light at a plurality of rotation positions with respect to the rotation axis;
A three-dimensional information measurement method comprising: a generation step of generating three-dimensional information of the subject based on images of a plurality of diffuse reflected light images captured in the collecting step. The three-dimensional information measuring method according to claim 5,
In the sampling step, the direction inclined with respect to the rotation axis at an angle different from the irradiation angle of the illumination light from the direction inclined with respect to the rotation axis and the angle with which the illumination light is irradiated Performing imaging of the subject from the plurality of rotational positions;
In the generation step, based on the generated three-dimensional information of the subject and the image of the diffuse reflection light image of the subject irradiated with the illumination light imaged in the collection step, the image is viewed from an arbitrary direction. A three-dimensional information measurement method, comprising: creating an image of the subject.

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