CN108718406A - A kind of varifocal 3D depth cameras and its imaging method - Google Patents
A kind of varifocal 3D depth cameras and its imaging method Download PDFInfo
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- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
- G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
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- G02B26/105—Scanning systems with one or more pivoting mirrors or galvano-mirrors
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Abstract
The invention belongs to field of photodetection, and in particular to a kind of varifocal 3D depth cameras and its imaging method, including coded structured light projection module, image receiver module and main system control module；Coded structured light projection module generates coded structured light；According to subject area size to be measured, image receiver module visible area and/or coded structured light projection module scanning area are adjusted, it is ensured that object to be measured is in image receiver module visible area and coded structured light projection module scanning area simultaneously；Object to be measured is scanned；Image receiver module acquires the coded structured light from object reflection to be measured；Main system control module obtains the 3D information of object to be measured according to the opposite variation for projecting to the coded structured light on object to be measured of the collected coded structured light from object reflection to be measured of image receiver module, extraction.Visual field size and imaging precision are taken into account, 3D depth cameras is made both to have can detect determinand Global Information under the big visual field, while also obtaining object under test partial high-precision information.
Description
Technical field
The invention belongs to field of photodetection, and in particular to a kind of varifocal depth being used for carrying out 3D detections or 3D imagings
Camera and its imaging method.
Background technology
Optics upgrading rests on always the two-dimentional level such as pixel, photosensitive and the main driving force in smart mobile phone innovation period,
It takes pictures the important attraction of always smart mobile phone, pixel and performance of taking pictures are one of the main driving forces changed planes, by taking iPhone as an example,
Rearmounted camera is upgraded to double 12M from single 2M, and for Front camera from nothing to 8M, performance boost amplitude far surpasses other any zero group
Part.2D imaging techniques have the limitation for being promoted by dimension and could continuing to break through imaging technique to 3D development only to attain maturation.3D at
As on the basis of two-dimensional, realizing the superposition of the pixel depth of field, the steric information of object is recorded while taking pictures, pushes face
Identification, iris recognition, gesture control, machine vision etc. come true, and are the perception keys for opening AI the and AR epoch, comparable to originally
Touch screen and it is double take the photograph, 3D imagings can be broken out quickly.
3D imagings at present and detection are based primarily upon three kinds of schemes：TOF, structure light, binocular ranging.Wherein TOF schemes are anti-dry
Immunity can be good, and visual angle is wider, but depth image resolution ratio is relatively low, can only do some simple avoidances and vision guided navigation, is not suitable for height
Precision occasion, and it is high to sensor chip performance requirement, of high cost, volume production is difficult；Binocular scheme, hardware cost is minimum, still
Depth information relies on pure software algorithm and obtains, this algorithm complexity is high, difficult, and processing chip needs very high computational
Can, while the shortcomings that it also inherits common RGB cameras：Under dim environment and feature is unconspicuous and uncomfortable
With；Structure light scheme advantage is that technology maturation, depth image resolution ratio can be made relatively high, although easily being shone shadow by ambient light
It rings, but the advantage for having other two schemes incomparable in terms of short distance, high-precision, adaptability, a kind of master will certainly be become
The 3D detection schemes of stream.
3D imagings are carried out based on structure light scheme, resolution ratio and precision can be different with the variation of distance, usually survey
Span is from bigger, and resolution ratio is lower, and measurement accuracy is poorer.The Kinect1 of Israel PrimeSense companies is according to three kinds at present
Different distances has used three kinds of various sizes of speckles, can obtain relatively good measurement in nearly three kinds of distances in remote
Precision：Closely (0.8~1.2m) can obtain higher measurement accuracy；Middle distance (1.2~2.0m) can obtain medium
Measurement accuracy；(2.0~3.5m) can obtain lower measurement accuracy at a distance.But the structural light stripes that such mode obtains
Only there are three rank, structural light stripes density can be limited to the luminous sensitivity of energy of light source and imaging sensor, cannot project
Structure light highdensity enough；It is limited to the resolution ratio of image receiving sensor simultaneously, 3D depth information precision improves also limited.
Invention content
In order to as 2D imagings it is the same, obtain more comprehensively higher precision 3D information, 3D depth cameras need to take into account visual field size and
Imaging precision, the present invention propose a kind of 3D depth cameras that varifocal scanning is received with zoom, 3D depth cameras are made both to can detect
Determinand Global Information under to the big visual field, while can also take into account object under test partial high-precision information.
Technical solution of the invention is to provide a kind of varifocal 3D depth cameras, is characterized in that：Including compiling
Code structured light projection module, image receiver module and main system control module；
Above-mentioned coded structured light projection module projects coded structured light to object to be measured for varifocal；Pass through change
View field, which realizes, can be changed out-of-focus projection, and equivalent changes visual field size in optical field zoom；
Above-mentioned image receiver module acquires the coded structured light from object reflection to be measured for zoom；
Above system main control module is electrically connected with coded structured light projection module and image receiver module, for coupling control
Coded structured light projection module and image receiver module, according to the collected coding from object reflection to be measured of image receiver module
The opposite variation for projecting to the coded structured light on object to be measured of structure light, extraction obtain the 3D information of object to be measured.
Further, above-mentioned coded structured light projection module includes laser light source, scanning galvanometer and coded structured light projection
Control system；
Above-mentioned coded structured light projection control system is electrically connected with laser light source, scanning galvanometer, is used for modulated in real time laser
Light source luminous power and scanning galvanometer scanning area；It is big to change structured light projection region by changing scanning galvanometer scanning area
Small, equivalent changes visual field size in optical field zoom；
Scanning galvanometer is located in laser light source emitting light path, anti-after the laser light incident to scanning galvanometer of laser light source outgoing
It penetrates, projects specific coded structured light.
Further, above-mentioned scanning galvanometer is 2D scanning galvanometers or n 1D scanning galvanometer, and wherein n is equal to 1 or 2；
When n is equal to 2, two 1D scanning galvanometers are arranged along the straight direction of shaft phase mutual respect；
When for 2D scanning galvanometers or when being 2 1D scanning galvanometers, laser light source is laser point light source；
When for 1 1D scanning galvanometer, laser light source is laser line light source.
Further, above-mentioned coded structured light projection module can also be LCD, LED or DLP projection system and varifocal light
Learn camera lens；The view field of LCD, LED or DLP are adjusted by adjusting varifocal optical lens.
Further, above-mentioned image receiver module includes that image receiving sensor receives optical lens with image；
Above-mentioned image receiving sensor is CCD or CMOS；It is Varifocal zoom lens that above-mentioned image, which receives optical lens, is passed through
The focal length that image receives optical lens is adjusted, the size of image receiver module visual field is adjusted.
Further, further include movable microscope carrier, above-mentioned coded structured light projection module, image receiver module and system master
Module is each attached on movable microscope carrier.
The present invention also provides a kind of imaging methods of above-mentioned varifocal 3D depth cameras, include the following steps：
Step 1：Coded structured light projection module generates coded structured light；
Step two：According to subject area size to be measured, image receiver module visible area and/or coded structured light projection are adjusted
Module scans region so that coded structured light projection module scanning area is matched with image receiver module visible area visual field, really
It protects object to be measured while being in image receiver module visible area and coded structured light projection module scanning area；To object to be measured
It is scanned；Image receiver module acquires the coded structured light from object reflection to be measured；
Step 3：Main system control module is according to the collected coded structured light from object reflection to be measured of image receiver module
The opposite variation for projecting to the coded structured light on object to be measured, extraction obtain the 3D information of object to be measured.
Further, when coded structured light projection module includes laser light source, scanning galvanometer and coded structured light projection control
System processed；When image receiver module includes that image receiving sensor receives optical lens with image；
Step 1 is specially：Coded structured light projects control system modulated in real time laser light source luminous power, through certain frequency
Scanning galvanometer reflection, generate coded structured light；
Step 2 is specially：According to subject area size to be measured, image sensor visual region and/or scanning galvanometer are adjusted
Scanning area so that scanning galvanometer scanning area is matched with image sensor visual region visual field, it is ensured that object to be measured is located simultaneously
In image sensor visual region and scanning galvanometer scanning area；Object to be measured is scanned；Imaging sensor acquisition is from waiting for
Survey the coded structured light of object reflection.
Further, when only by adjusting image receiver module visible area so that object to be measured is in imaging sensor
When visible area is with coded structured light projection module scanning area, main system control module adjusts laser power and structured light projection
Module projection code structured light patterns increase structural light stripes or point number density in visual field.
Further, it in step 2, when scanning galvanometer is resonant mode scanning galvanometer, is projected and is controlled by coded structured light
The corner size of system adjustment scanning galvanometer and the position of scanning galvanometer relative image receiving sensor, shake to adjust scanning
Scarnning mirror regional center realizes the adjusting of scanning galvanometer scanning area；When scanning galvanometer be can vector controlled scanning galvanometer when,
The scanning range that control system changes scanning galvanometer is projected by coded structured light, realizes the adjusting of scanning galvanometer scanning area；
The focal length that optical lens is received by adjusting image realizes that image sensor visual region is adjusted.
Further, when coded structured light projection module includes LCD, LED or DLP light source and varifocal optical lens；
Step 1 is specially：According to subject area size to be measured, the throwing of LCD, LED or DLP are adjusted by adjusting varifocal optical lens
Shadow zone domain.
The beneficial effects of the invention are as follows：
1, the varifocal scanning of 3D depth cameras proposed by the present invention is received with zoom, takes into account visual field size and imaging precision,
So that 3D depth cameras had both been can detect determinand Global Information under the big visual field, while also obtaining object under test partial high-precision letter
Breath.
2,3D depth cameras structure light scan module is realized by scanning galvanometer projecting structural optical, by controlling scanning galvanometer
Scanning angle can realize the continuously adjustable of 3D depth camera scan module scanning ranges, and coordinate laser light source quenched, be easy to
Change structural light stripes number or points, to realize to the zoom scan to be measured to picture.
Description of the drawings
Fig. 1 is 3D depth cameras schematic diagram of the present invention；
Fig. 2 is 3D depth cameras scanning field of view one of the present invention；
Fig. 3 is 3D depth cameras scanning field of view two of the present invention；
Fig. 4 is 3D depth cameras zoom scan example of the present invention；
Fig. 5 is that the present invention is based on the 3D depth camera schematic diagrames of 2D scanning galvanometers；
Reference numeral is in figure：1- coded structured light projection modules, 11-1D scanning galvanometers, 12- laser light sources, 13- codings
Structured light projection control system, 2- image receiver modules, 21- image receiving sensors, 22- images receive optical lens, 3- systems
System main control module, the first objects under test of 4-, the second objects under test of 5-, 6-2D scanning galvanometers.
Specific implementation mode
Below in conjunction with drawings and the specific embodiments, the present invention will be further described.
Embodiment one
It will be seen from figure 1 that the 3D depth cameras that the present embodiment is related to include mainly following three parts：Coded structured light is thrown
Shadow module 1, image receiver module 2, main system control module 3.Wherein coded structured light projection module 1 is used for varifocal projection knot
Structure striations to object under test, image receiver module 2 is used for the structure light that varifocal acquisition is reflected from object under test, system master
Module 3 is controlled for coupling control coded structured light projection module 1 and image receiver module 2, coded structured light is projected to and is waited for
It surveys on object, and uses the collected structure light from object reflection to be measured of image receiver module 2, become according to structural light stripes
Change, extraction obtains the 3D information of object under test.
Specific as follows, coded structured light projection module 1 includes 1D scanning galvanometers 11, laser line light source 12, coded structured light
Project control system 13；The line laser that laser line light source 12 is emitted is incident to 1D scanning galvanometers 11, and is reflected, coded structured light
Project control system 13 can modulated in real time laser line light source 12 11 scanning angle of luminous power and 1D scanning galvanometers size, from
And project specific structural light stripes.
Here, variable out-of-focus projection is accomplished by the following way in coded structured light projection module 1：Ensure structural light stripes number not
Become and 1D scanning galvanometer scan frequencies are constant, change the scanning angle of 1D scanning galvanometers, you can is tied away from object under test and coding
Structure light projection module apart from it is constant with structure striped energy it is constant in the case of, change scanning model of the structure light on object under test
It encloses, becomes out-of-focus projection to realize.And if fringe number is identical, scanning galvanometer scan frequency is identical, and laser line light source sends out power phase
Together, scanning area is smaller, and corresponding structural light stripes are closeer, and structural light stripes clear zone energy does not reduce, and structural light stripes are just
The more accurate 3D information of scanning area can be reacted.
Image receiver module 2 includes that image receiving sensor 21 receives optical lens 22 with image, here, image receives light
Camera lens 22 is varifocal, passes through and adjusts the focal length that image receives optical lens 22, and the size of image receiver module visual field is adjusted.
Image receiving sensor can be CCD or CMOS, be fixed, field of view of receiver for an image receiving sensor pixel quantity
Smaller, image-forming information is more detailed on the image sensor for object under test in visual field.
It should be pointed out that coded structured light projection module view field will match with the visual field of image receiver module, tool
Body is as follows：Object under test will be in image sensor visual region and coded structured light projection module scanning area, and two simultaneously
Subregion can be adjusted according to object under test area size, as Fig. 2 and Fig. 3 show.In Fig. 2, the first object under test 4 and
Two objects under test 5 are respectively positioned on depth camera test zone, can be by changing image receiver module optical lens focal length, downscaled images
Receiving module visible area only allows the first object under test 4 to be located at visible area；At the same time, coded structured light projective module is reduced
Block view field only projects structural light stripes, striped invariable number on the first object under test 4, and scan frequency is constant, such as schemes
3 show, then the 3D information of 4 higher precision of the first object under test can be obtained.
The visual field matched form of coded structured light projection module view field and image receiver module is divided into following two types
Type：
For 1D resonant mode scanning galvanometers, scanning galvanometer is centered on its equilbrium position, shuttle-scanning：It can be tied by encoding
Structure light projects control system and adjusts the corner size of scanning galvanometer, and rotation mechanism of separately putting english adjusts scanning galvanometer relative image and receives
The position of sensor, to adjust the equilbrium position of scanning galvanometer, i.e. scanning area center so that scanning galvanometer view field with
Image receiving sensor visual field matches；
For 1D can vector controlled scanning galvanometer：Controllable scanning galvanometer arbitrary region in its scanning range is back and forth swept
It retouches, to match imaging sensor field of view of receiver, as Fig. 4 shows：Image receiver module maximum field of view angle is ± θ, and scanning galvanometer can be swept
It is 1≤α of α≤α 2 to retouch region；When image scanning field angle is reduced into ± θ 1 by ± θ, it is logical that coded structured light projects control system
It crosses control coded structured light projection module 13 and realizes that scanning galvanometer is projected in 3≤α of α≤α, 4 scanned in regions, so that structure striation
Line is incident upon smaller region, and image receiver module field of view of receiver reduces, i.e., the object under test of smaller area is received in image and passed
Sensor is imaged, that is, increases the imaging resolution in the region to be measured, the finer detailed information of object under test can be obtained.
Embodiment two
What is different from the first embodiment is that laser light source is laser point light in coded structured light projection module 1 in the embodiment
Source, galvanometer is 2D scanning galvanometers, includes mainly following three parts specifically as Fig. 5 shows：Coded structured light projection module 1, image connects
Receive module 2, main system control module 3.Wherein coded structured light projection module for varifocal projection coded structured light to be measured
Object, image receiver module b are used for the coded structured light that varifocal acquisition is reflected from object under test, and main system control module 3 is used
In coupling control coded structured light projection module 1 and image receiver module 2, coded structured light is projected on object to be measured,
And the coded structured light reflected from object under test is acquired using image receiver module 2, changed according to structural light stripes, extraction obtains
The 3D information of object under test.
Specific as follows, coded structured light projection module 1 includes 2D scanning galvanometers 6, laser point light source, coded structured light projection
Control system 13；Laser point light source is incident to 2D scanning galvanometers 6, and is reflected, and coded structured light projects control system 13 can be real
When modulation laser point light source luminous power and 6 scan angle of 2D scanning galvanometers size, to project specific coded structured light.
Here, variable out-of-focus projection is accomplished by the following way in coded structured light projection module 1：Ensure coding structure spot number
Constant and 2D scanning galvanometers are constant around two torsional axis scan frequencies, change 2D scanning galvanometers around two torsional axis scanning angles, i.e.,
It can change and compile in the case of constant apart from constant and coding structure light energy with coded structured light projection module away from object under test
Scanning range of the code structure light on object under test, becomes out-of-focus projection to realize.And if coding structure spot number is identical, scanning is shaken
Scarnning mirror frequency is identical, and laser point light source sends out that power is identical, and scanning area is smaller, and corresponding coded structured light is closeer, structure
Striations clear zone energy does not reduce, and coded structured light can react the more accurate 3D information of scanning area.
Image receiver module 2 includes that image receiving sensor 21 receives optical lens 22 with image, here, optical lens can
The size of image receiver module visual field is adjusted by adjusting the focal length of optical lens in zoom.Image receiving sensor can be
CCD or CMOS is fixed for an image receiving sensor pixel quantity, and field of view of receiver is smaller, determinand in visual field
Image-forming information is more detailed on the image sensor for body.
It should be pointed out that coded structured light projection module view field will match with the visual field of image receiver module, tool
Body is as follows：Object under test will be in image sensor visual region and coded structured light projection module scanning area, and two simultaneously
Subregion can be adjusted according to object under test area size.
2D galvanometers around the vibration of its two axis can be simultaneously resonant mode or can vector controlled formula or two kinds of vibration modes group
It closes, the visual field of coded structured light projection module view field and image receiver module wants matched form to be divided into following two types：
For one axis of 2D scanning galvanometers resonance type vibration, centered on its equilbrium position, shuttle-scanning：It can be tied by encoding
Structure light projects control system and adjusts the corner size of scanning galvanometer, and rotation mechanism of separately putting english adjusts scanning galvanometer relative image and receives
The position of sensor, to adjust the equilbrium position of scanning galvanometer, i.e. scanning area center so that scanning galvanometer view field with
Image receiving sensor visual field matches；
For can vector controlled one axis of 2D scanning galvanometers：It also can be by controlling scanning galvanometer around the torsional axis in scanning model
Interior arbitrary region shuttle-scanning is enclosed, to match imaging sensor field of view of receiver.
Embodiment three
2D scanning galvanometers are replaced with two by the embodiment from coded structured light projection module 2 unlike embodiment two
The combination of 1D scanning galvanometers, two 1D scanning galvanometers arrange along the straight direction of shaft phase mutual respect, and laser point light source is first incident to the
One scanning galvanometer, then second scanning galvanometer is reflexed to from first scanning galvanometer, 2D projections are realized, to project coding knot
Structure light is to object under test；Coding structure light projection system controls the vibration of two scanning galvanometers and realizes laser point light source power tune
System.
Example IV
It is distinguishable in image receiving sensor in embodiment one to three, structure light module projects can not be changed
The size in region, merely by projecting more highdensity structured light patterns, to improve accuracy of detection；Or camera lens is received by change
Focal length, the visual field of downscaled images receiving sensor, while increasing structure light line density in visual field, to improve accuracy of detection.
It is noted that structured light patterns lines energy may be reduced by increasing structure optical density, may cause to be less than imaging sensor
Sensitivity, can coordinate herein increase laser power come improve structured light patterns lines energy realize.
Embodiment five
In the embodiment, on the basis of embodiment one to example IV, 3D depth cameras can be fixed on movable microscope carrier,
The movement for controlling movable microscope carrier can control the rotation and movement of 3D cameras, realizes and is scanned to the direction and location of testee, is obtained
The 3D information of testee more comprehensively higher precision.
Embodiment six
Zoom projection structure optical module be not limited to that the various embodiments described above mention based on scanning galvanometer projection laser structure light
Pattern can also be the coded structured light projection form of other forms, such as LCD, LED, DLP projection realization zoom throwing
Shadow.Specifically it can realize zoom by optical lens.
Claims (11)
1. a kind of varifocal 3D depth cameras, it is characterised in that：Including coded structured light projection module, image receiver module and it is
System main control module；
The coded structured light projection module projects coded structured light to object to be measured for varifocal；
Described image receiving module acquires the coded structured light from object reflection to be measured for zoom；
The main system control module is electrically connected with coded structured light projection module and image receiver module, for coupling control coding
Structured light projection module and image receiver module, according to the collected coding structure from object reflection to be measured of image receiver module
The opposite variation for projecting to the coded structured light on object to be measured of light, extraction obtain the 3D information of object to be measured.
2. varifocal 3D depth cameras according to claim 1, it is characterised in that：The coded structured light projection module packet
Include laser light source, scanning galvanometer and coded structured light projection control system；The coded structured light projection control system and laser
Light source, scanning galvanometer electrical connection, for modulated in real time laser light source luminous power and the scanning area of scanning galvanometer；
Scanning galvanometer is located in laser light source emitting light path, is reflected after the laser light incident to scanning galvanometer of laser light source outgoing,
Project specific coded structured light.
3. varifocal 3D depth cameras according to claim 2, it is characterised in that：The scanning galvanometer is 2D scanning galvanometers
Or n 1D scanning galvanometer, wherein n are equal to 1 or 2；
When n is equal to 2, two 1D scanning galvanometers are arranged along the straight direction of shaft phase mutual respect；
When for 2D scanning galvanometers or when being 2 1D scanning galvanometers, laser light source is laser point light source；
When for 1 1D scanning galvanometer, laser light source is laser line light source.
4. varifocal 3D depth cameras according to claim 1, it is characterised in that：The coded structured light projection module packet
Include LCD, LED or DLP projection system and varifocal optical lens；LCD, LED or DLP are adjusted by adjusting varifocal optical lens
View field.
5. varifocal 3D depth cameras according to any one of claims 1 to 4, it is characterised in that：Described image receiving module
Optical lens is received including image receiving sensor and image；
Described image receiving sensor is CCD or CMOS；It is Varifocal zoom lens that described image, which receives optical lens, passes through adjusting
Image receives the focal length of optical lens, adjusts the size of image receiver module visual field.
6. varifocal 3D depth cameras according to claim 1, it is characterised in that：Further include movable microscope carrier, the coding
Structured light projection module, image receiver module and main system control module are each attached on movable microscope carrier.
7. a kind of imaging method of any varifocal 3D depth cameras of claim 1 to 6, which is characterized in that including with
Lower step：
Step 1：Coded structured light projection module generates coded structured light；
Step 2：According to subject area size to be measured, image receiver module visible area and/or coded structured light projective module are adjusted
Block scan region so that coded structured light projection module scanning area is matched with image receiver module visible area visual field, and really
It protects object to be measured while being in image receiver module visible area and coded structured light projection module scanning area；Coded structured light
Projection module is scanned object to be measured；Image receiver module acquires the coded structured light from object reflection to be measured；
Step 3：Main system control module is opposite according to the collected coded structured light from object reflection to be measured of image receiver module
The variation of the coded structured light on object to be measured is projected to, extraction obtains the 3D information of object to be measured.
8. the imaging method of varifocal 3D depth cameras according to claim 7, it is characterised in that：
When coded structured light projection module includes that laser light source, scanning galvanometer and coded structured light project control system；Image connects
When receipts module includes that image receiving sensor receives optical lens with image；
Step 1 is specially：Coded structured light projection control system modulated in real time laser light source luminous power, scanned vibration mirror reflected,
Generate coded structured light；
Step 2 is specially：According to subject area size to be measured, image sensor visual region and/or scanning galvanometer scanning are adjusted
Region so that scanning galvanometer scanning area is matched with image sensor visual region visual field, it is ensured that object to be measured is in figure simultaneously
As sensor visual region and scanning galvanometer scanning area；Scanning galvanometer is scanned object to be measured；Imaging sensor acquires
From the coded structured light of object reflection to be measured.
9. the imaging method of varifocal 3D depth cameras according to claim 8, it is characterised in that：
When only by adjusting image receiver module visible area so that coded structured light projection module scanning area is received with image
When the visual field matching of module visible area, coded structured light projects control system adjustment laser power and is thrown with structured light projection module
Shadow coding structure light pattern increases structural light stripes or point number density in visual field.
10. the imaging method of varifocal 3D depth cameras according to claim 8, it is characterised in that：
In step 2, when scanning galvanometer is resonant mode scanning galvanometer, control system is projected by coded structured light and adjusts scanning
The corner size of galvanometer and the position of scanning galvanometer relative image receiving sensor, to adjust in scanning galvanometer scanning area
The heart realizes the adjusting of scanning galvanometer scanning area；When scanning galvanometer be can vector controlled scanning galvanometer when, pass through coding structure
Light projects the scanning range that control system changes scanning galvanometer, realizes the adjusting of scanning galvanometer scanning area；
The focal length that optical lens is received by adjusting image realizes that image sensor visual region is adjusted.
11. the imaging method of varifocal 3D depth cameras according to claim 7, it is characterised in that：
When coded structured light projection module includes LCD, LED or DLP light source and varifocal optical lens；
Step 1 is specially：According to subject area size to be measured, LCD, LED or DLP are adjusted by adjusting varifocal optical lens
View field.
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| CN109470166A (en) * | 2018-11-09 | 2019-03-15 | 业成科技（成都）有限公司 | Structure light depth sense device and method for sensing |
| CN109963138A (en) * | 2019-02-15 | 2019-07-02 | 深圳奥比中光科技有限公司 | A kind of depth camera and image acquiring method |
| CN110174075A (en) * | 2019-04-08 | 2019-08-27 | 深圳奥比中光科技有限公司 | A kind of list Zoom structure optical depth camera and Zooming method |
| CN111025317A (en) * | 2019-12-28 | 2020-04-17 | 深圳奥比中光科技有限公司 | Adjustable depth measuring device and measuring method |
| CN111025321A (en) * | 2019-12-28 | 2020-04-17 | 深圳奥比中光科技有限公司 | Variable-focus depth measuring device and measuring method |
| CN111982022A (en) * | 2020-08-19 | 2020-11-24 | 长春理工大学 | Spatial structure detection method and system |
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