3D imaging system
By setting the camera module in the binocular camera to have an angle of 2° to 8° with the axis of the light emission surface, and using a beam splitter to split the light rays, the problem of insufficient three-dimensional information caused by parallel light paths is solved, and a highly efficient 3D imaging effect is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-27
- Publication Date
- 2026-04-07
AI Technical Summary
The parallel optical path of existing binocular cameras makes it impossible to acquire enough 3D information, especially in high-working-distance, small-field-of-view systems composed of high-resolution cameras, resulting in a lack of observation details and making them unsuitable for polarized 3D screen imaging or VR glasses imaging.
An angle θ1 and θ2 are formed between the axes of the first and second camera modules and the axis of the light emitting surface, with the sum of the angles being 2° to 8°. There can be one or two light emitting surfaces. The light is split into the camera modules by a beam splitter to simulate the vision of the real human eye and obtain parallax images.
It achieves 3D imaging that acquires sufficient three-dimensional information under non-parallel optical paths, providing excellent microscopic images, and is suitable for polarized 3D screens and VR glasses imaging.
Smart Images
Figure CN224097754U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to 3D vision technical field more particularly, relate to a kind of 3D imaging system. BACKGROUND
[0002] Binocular camera is a kind of increasingly concerned equipment capable of providing stereo vision. Based on the images obtained by binocular camera, the three-dimensional spatial position of the target object photographed by the binocular camera relative to the camera can be calculated through the binocular parallax principle.
[0003] In the prior art, the binocular camera includes two cameras parallel to each other and a light path conversion device that projects light beams to the two cameras respectively. By having different viewing angles of the same imaging target object through the two cameras, different images are obtained. By processing the two images of the two cameras simultaneously, a 3D image can be obtained to achieve 3D vision.
[0004] However, in the prior art, the light path conversion device not only needs to split light, but also needs to reflect the light beams through a mirror to project the two light beams into the two parallel cameras simultaneously, resulting in a large overall volume. At the same time, for high-resolution cameras, due to having more light-sensitive points, the sensor chip (CMOS, light-sensitive chip) is larger. For a fixed microscopic field size, a larger magnification is required (magnification = chip size / field size). In addition to the larger magnification, a higher working distance is also required. Therefore, for a high working distance small field of view binocular vision system composed of high-resolution cameras, the equivalent light path is close to parallel light path (e.g. industrial telecentric lens). Parallel light path results in the lack of observation details (such as side information of three-dimensional objects) even if sufficient parallax is retained for the two cameras, thereby resulting in the inability to obtain sufficient three-dimensional information and the inability to use binocular images for polarized 3D screen imaging or VR glasses imaging. SUMMARY
[0005] The utility model discloses a kind of 3D imaging systems to overcome the problem that parallel light path in the prior art cannot obtain sufficient three-dimensional information, provide 3D imaging and information with excellent microscopic picture.
[0006] To solve the above technical problems, the utility model adopts the technical scheme of: a kind of 3D imaging system, including the first camera module and the second camera module for shooting to be collected object, the collection surface of the first camera module and the second camera module is all towards the same light emitting surface of to be collected object or respectively towards two different light emitting surfaces;The first included angle θ 1 between the axis of the first camera module and the axis of the light emitting surface, the second included angle θ 2 between the axis of the second camera module and the axis of the light emitting surface, the angle θ of the first included angle θ 1 and the second included angle θ 2 is 2 ° to 8 °.
[0007] In the above technical solution, since the light emitted by the object to be collected is divergent, a plurality of different light emitting surfaces can be formed according to the placement position of the camera, and the light of the object to be collected enters the collection surfaces of the first camera module and the second camera module based on the same or two different light emitting surfaces. Since the first camera module and the second camera module each form an included angle with the axis of the light emitting surface, the two can simultaneously obtain image information in the field of view from two angles. In this arrangement, the equivalent light path of the first camera module and the second camera module is not parallel light path, sufficient three-dimensional information can be obtained, and excellent microscopic 3D imaging and information are provided.
[0008] In the case of taking two light emitting surfaces as the reference, the first camera module corresponds to one of the light emitting surfaces, and the second camera module corresponds to the other light emitting surface. The first included angle θ1 refers to the included angle formed between the first camera module and the corresponding light emitting surface, and the second included angle θ2 refers to the included angle formed between the second camera module and the corresponding light emitting surface.
[0009] Further, the smaller the θ, the weaker the 3D imaging; the larger the θ value, the greater the difference in the picture, and the stronger the observation dizziness. The angle θ of the sum of the first included angle θ1 and the second included angle θ2 is preferably 3°.
[0010] Further, the angle range of the first included angle θ1 and the second included angle θ2 is 0° to 8°. One of the first included angle θ1 and the second included angle θ2 can be 0°, as long as the sum of the two satisfies the angle.
[0011] Further, the axis of the first camera module is deflected to the positive direction of the first direction to form the first included angle θ1, and the axis of the second camera module is deflected to the negative direction of the first direction to form the second included angle θ2. The first camera module and the second camera module are deflected in the same direction in opposite directions to form the included angle, and the equivalent light path is more different from the parallel light path, so that more image information in the field of view can be obtained.
[0012] Further, the parallax of the first camera module and the second camera module is L, 2m*sin(θ / 2)-L0<L<2m*sin(θ / 2)+L0, where L0 is the longest side length corresponding to the observation field of view, and m is the optimal working distance of the camera. The parallax refers to the Euclidean distance between the center points of the photosensitive chips (imaging surfaces) of the first camera module and the second camera module after being projected on the same side. After the first camera module and the second camera module satisfy the parallax condition after forming the included angle θ, sufficient three-dimensional information can be further obtained, and excellent microscopic 3D imaging and information are provided.
[0013] The smaller the L is, the larger the cross of left and right eyes of the picture is, and the stronger the observation dizziness is; the larger the L is, the smaller the effective view of the final synthesis 3D is. Further, the parallax of the first camera module and the second camera is 2m*sin(θ / 2) optimal.
[0014] Further, the optical path conversion device is further included, and the optical path conversion device includes at least one light emitting surface and a light inlet surface, and the collection surfaces of the first camera module and the second camera module are both towards one light emitting surface or respectively towards two different light emitting surfaces. A first included angle θ1 is formed between the axis of the first camera module and the axis of the light emitting surface, and a second included angle θ2 is formed between the axis of the second camera module and the axis of the light emitting surface, and the sum θ of the first included angle θ1 and the second included angle θ2 is 2° to 8°.
[0015] The light of the view field plane of the to-be-collected object enters the collection surfaces of the first camera module and the second camera module from the light emitting surface of the optical path conversion device after passing through the optical path conversion device, and the first camera module and the second camera module can simultaneously obtain the image information in the view field from two angles because the included angles are respectively formed between the axes of the first camera module and the second camera module and the axis of the light emitting surface, and in such a setting, the equivalent optical paths of the first camera module and the second camera module are not parallel optical paths, sufficient three-dimensional information can be obtained, and excellent microscopic picture 3D imaging and information can be provided.
[0016] The optical path conversion device can have one light emitting surface or can be provided with two light emitting surfaces. In the case of only one light emitting surface, the first camera module and the second camera module correspond to one light emitting surface together, and in the case of two light emitting surfaces, the first camera module corresponds to one of the light emitting surfaces, and the second camera module corresponds to the other light emitting surface. The first included angle θ1 refers to the included angle formed between the first camera module and the corresponding light emitting surface, and the second included angle θ2 refers to the included angle formed between the second camera module and the corresponding light emitting surface.
[0017] Further, the axis of the first camera module is offset by a first preset distance along the positive direction of the second direction with the reference point of the light emitting surface as the starting point, and the axis of the second camera module is offset by a second preset distance along the negative direction of the second direction with the reference point of the light emitting surface as the starting point. The first camera module and the second camera module are offset in opposite directions with the same reference point and the same direction, so that the first camera module and the second camera module can simulate the visual conditions of real human eyes to obtain two images with parallax, and 3D images can be obtained by processing the two images with parallax, and the imaging effect of the 3D images obtained by simulating the visual conditions of real human eyes is more consistent with the real effect.
[0018] Further, the first preset distance is equal to the second preset distance.
[0019] Further, the reference point is a center point of the light emitting surface.
[0020] Further, the light path conversion device comprises a box body and a beam splitter installed in the box body, the box body is provided with a light inlet surface, a first light emitting surface corresponding to a refractive surface of the beam splitter and a second light emitting surface corresponding to a reflective surface of the beam splitter; the collection surface of the first camera module faces the first light emitting surface, and the first angle θ1 is formed between the axis of the first camera module and the axis of the first light emitting surface; the second angle θ2 is formed between the axis of the second camera module and the axis of the second light emitting surface. Through the action of the beam splitter, the box body of the light path conversion device forms the first light emitting surface and the second light emitting surface, the light on the field plane enters the box body from the light inlet surface, is emitted from the first light emitting surface and enters the first camera module through the refractive surface of the beam splitter, and is emitted from the second light emitting surface and enters the second camera module through the reflective surface of the beam splitter, the first camera module and the second camera module can be distributed on two adjacent surfaces through the action of the beam splitter, and the size of the first camera module and the second camera module is too large to correspond to the same light emitting surface.
[0021] Compared with the prior art, the beneficial effects are that the first camera module and the second camera module form an angle with the axis of the light emitting surface respectively, so that the two can simultaneously obtain image information in the field of view from two angles, can obtain sufficient three-dimensional information, provide excellent microscopic 3D imaging and information of a microscopic picture, and realize that binocular images are used for polarized 3D screen imaging or VR glasses imaging. BRIEF DESCRIPTION OF DRAWINGS
[0022] Figure 1 is a structural schematic view of embodiment 2 of the 3D imaging system of the utility model;
[0023] Figure 2 is a structural schematic view of embodiment 2 of the 3D imaging system of the utility model;
[0024] Figure 3 is a three-dimensional schematic view of embodiment 4 of the 3D imaging system of the utility model;
[0025] Figure 4 is a structural schematic view of embodiment 4 of the 3D imaging system of the utility model;
[0026] Figure 5 is a structural schematic view of the front view angle of embodiment 4 of the 3D imaging system of the utility model;
[0027] Figure 6 is a top view angle structure schematic view of embodiment 4 of the 3D imaging system of the utility model;
[0028] Figure 7 is a light path schematic view of embodiment 4 of the 3D imaging system of the utility model;
[0029] Figure 8 is a front view angle structure schematic view of embodiment 5 of the 3D imaging system of the utility model;
[0030] Figure 9 is a top view angle structure schematic view of embodiment 5 of the 3D imaging system of the utility model;
[0031] Figure 10 is a front view angle structure schematic view of embodiment 5 of the 3D imaging system of the utility model;
[0032] Figure 11 is a top view angle structure schematic view of embodiment 5 of the 3D imaging system of the utility model.
[0033] In the figure, 100-light path conversion device;110-box body;120-splitting mirror;200-first camera module;300-second camera module. DETAILED DESCRIPTION
[0034] The drawings are only for example description, and can not be understood as the limitation of the patent;In order to better illustrate the embodiment, some components of the drawings can be omitted, enlarged or reduced, and the size of the actual product is not represented;For those skilled in the art, it is understandable that some well-known structures and their description in the drawings can be omitted. The position relationship described in the drawings is only for example description, and can not be understood as the limitation of the patent.
[0035] The same or similar reference numerals in the drawings of the utility model embodiment correspond to the same or similar parts;In the description of the utility model, it is understood that if the orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "long" and "short" is based on the orientation or position relationship shown in the drawings, only for the convenience of describing the utility model and simplifying the description, and not indicating or implying that the device or element must have a particular orientation, a particular orientation and operation, therefore the terms describing the position relationship in the drawings are only for example description, and can not be understood as the limitation of the patent, for those skilled in the art, the specific meaning of the above terms can be understood according to the specific situation.
[0036] In addition, the terms "first", "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more than two, unless otherwise explicitly specified and limited.
[0037] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.
[0038] The technical scheme of the present application will be further described in detail below by specific embodiments and in conjunction with the drawings:
[0039] Embodiment 1
[0040] As Figure 1 Embodiment 1 of a 3D imaging system, comprising a first camera module 200 and a second camera module 300 for shooting a to-be-collected object, the collection surfaces of the first camera module 200 and the second camera module 300 are both directed to the same light emitting surface of the to-be-collected object or respectively directed to two different light emitting surfaces; the axis of the first camera module 200 and the axis of the light emitting surface form a first included angle θ1, the axis of the second camera module 300 and the axis of the light emitting surface form a second included angle θ2, and the sum θ of the first included angle θ1 and the second included angle θ2 is 2° to 8°.
[0041] The axes of the first camera module 200 and the second camera module 300 are not parallel, specifically, the axis of the first camera module 200 is deflected to the positive direction of the first direction to form the first included angle θ1, and the axis of the second camera module 300 is deflected to the negative direction of the first direction to form the second included angle θ2. The first camera module 200 and the second camera module 300 are deflected in the same direction in opposite directions to form an included angle, and the equivalent light path is more different from the parallel light path, which can obtain more image information in the field of view.
[0042] The parallax of the first camera module 200 and the second camera module 300 is L, 2m*sinθ / 2-L0
[0043] Since the light emitted by the object to be collected is divergent, a plurality of different light emitting surfaces can be formed according to the placement position of the camera. In this embodiment, the light emitted by the object to be collected enters the collection surface of the first camera module and the second camera module based on the same light emitting surface. Since the first camera module and the second camera module each form an angle with the axis of the light emitting surface, the two can simultaneously obtain image information in the field of view from two angles. In this arrangement, the equivalent light path of the first camera module and the second camera module is not a parallel light path, and sufficient three-dimensional information can be obtained to provide excellent microscopic 3D imaging and information.
[0044] Embodiment 2
[0045] As shown in Figure 2 Embodiment 2 of a 3D imaging system, comprising a light path conversion device 100, a first camera module 200 and a second camera module 300 collecting light from the light path conversion device 100, the light path conversion device 100 comprising a light emitting surface, the collection surfaces of the first camera module 200 and the second camera module 300 facing the same light emitting surface; the axis of the first camera module 200 forms a first angle θ1 with the axis of the light emitting surface, and the axis of the second camera module 300 forms a second angle θ2 with the axis of the light emitting surface, the sum θ of the first angle θ1 and the second angle θ2 being 2° to 8°.
[0046] The axes of the first camera module 200 and the second camera module 300 are not parallel, specifically, the axis of the first camera module 200 is deflected in the positive direction of the first direction to form the first angle θ1, and the axis of the second camera module 300 is deflected in the negative direction of the first direction to form the second angle θ2. The first camera module 200 and the second camera module 300 are deflected in the same direction in opposite directions to form an angle, and the equivalent light path is more different from the parallel light path, and more image information in the field of view can be obtained.
[0047] The parallax of the first camera module 200 and the second camera module 300 is L, 2m*sinθ / 2-L0
[0048] In the embodiment, the smaller the θ is, the weaker the 3D imaging is; the larger the θ is, the larger the picture difference is, and the stronger the observation dizziness is. The optimal angle of the angle θ is 3°. The smaller the L is, the larger the left and right eye crossing of the picture is, and the stronger the observation dizziness is. The larger the L is, the smaller the effective field of view of the finally synthesized 3D is, and the optimal parallax is 2m*sinθ / 2. The first direction is the direction as shown in the figure, and the projection on the same side referred to by the parallax is parallel to the first direction and the plane of the first camera module 200 and the second camera module 300. Figure 2
[0049] The working principle or working process of the embodiment is as follows: the light of the field plane passes through the light path conversion device 100 and enters the collection surface of the first camera module 200 and the second camera module 300 from the light emitting surface of the light path conversion device 100. Since the first camera module 200 and the second camera module 300 each form an angle with the axis of the light emitting surface, the two can simultaneously obtain image information in the field of view from two angles. At the same time, the first camera module 200 and the second camera module 300 meet the set parallax range. Under such a setting, the equivalent light path of the first camera module 200 and the second camera module 300 is obviously different from the parallel light path, and sufficient three-dimensional information can be obtained, and excellent 3D imaging and information of microscopic pictures can be provided.
[0050] The embodiment has the beneficial effect that the imaging system of the embodiment can obtain sufficient three-dimensional information, can provide excellent 3D imaging and information of microscopic pictures for the imaging of a polarized 3D screen or a VR glasses, and thus can be used for both.
[0051] Embodiment 3
[0052] Embodiment 3 of a 3D imaging system differs from Embodiment 2 in that the axis of the first camera module 200 is offset by a first preset distance along the positive direction of the second direction, starting from a reference point on the light-emitting surface; and the axis of the second camera module 300 is offset by a second preset distance along the opposite direction of the second direction, starting from the reference point on the light-emitting surface. The first camera module 200 and the second camera module 300 are offset in opposite directions from the same reference point and the same direction, allowing them to simulate the visual state of the real human eye to obtain two images with parallax. By processing these two parallax images, a 3D image can be obtained. The 3D image obtained by simulating the real human eye's vision has a more realistic imaging effect. In this embodiment, the second direction is perpendicular to the first direction.
[0053] In this embodiment, the first preset distance and the second preset distance are equal. The reference point is the center point of the light emitting surface.
[0054] The remaining features and working principles of this embodiment are the same as those of Embodiment 2.
[0055] Example 4
[0056] like Figures 3-6 As shown, an embodiment 4 of a 3D imaging system includes an optical path conversion device 100, a first camera module 200 for collecting light from the optical path conversion device 100, and a second camera module 300.
[0057] The optical path conversion device 100 includes a housing 110 and a beam splitter 120 installed inside the housing 110. The housing 110 is provided with a light-inlet surface, a first light-emitting surface corresponding to the refractive surface of the beam splitter 120, and a second light-emitting surface corresponding to the reflective surface of the beam splitter 120. The acquisition surface of the first camera module 200 faces the first light-emitting surface.
[0058] The acquisition surfaces of the first camera module 200 and the second camera module 300 are respectively facing the first light emitting surface and the second light emitting surface; the axis of the first camera module 200 and the axis of the first light emitting surface form a first angle θ1; the axis of the second camera module 300 and the axis of the second light emitting surface form a second angle θ2. The sum of the first angle θ1 and the second angle θ2 is θ, which is between 2° and 8°. In this embodiment, the angle θ is 3°.
[0059] Specifically, the axis of the first camera module 200 is deflected to the positive direction of the first direction to form a first included angle θ1, and the axis of the second camera module 300 is deflected to the negative direction of the first direction to form a second included angle θ2. The first camera module 200 and the second camera module 300 are deflected in the same direction in opposite directions to form an included angle, and the equivalent light path is more different from the parallel light path, so that more image information in the field of view can be obtained. In the embodiment, the first direction is indicated by the arrow in the figure, and the direction indicated by the arrow is the positive direction. Figure 5
[0060] The parallax of the first camera module 200 and the second camera module 300 is L, 2m*sinθ / 2-L0
[0061] The axis of the first camera module 200 is offset by a first preset distance along the positive direction of the second direction from the center point of the first light emitting surface, and the axis of the second camera module 300 is offset by a second preset distance along the negative direction of the second direction from the center point of the second light emitting surface. The center point of the first light emitting surface and the center point of the second light emitting surface are collinear with the center point of the reflector, so the actual first camera module 200 and the second camera module 300 are offset from the center point of the beam splitter 120 in the same direction in opposite directions, so that the first camera module 200 and the second camera module 300 can simulate the visual conditions of the real human eye to obtain two images with parallax. By processing the two images with parallax, a 3D image can be obtained, and the imaging effect of the 3D image obtained by simulating the real human eye is more consistent with the real effect. In the embodiment, the second direction is consistent with the first direction. The first preset distance is equal to the second preset distance.
[0062] The working principle or working process of the embodiment: through the action of the beam splitter 120, the box body 110 of the light path conversion device 100 forms a first light emitting surface and a second light emitting surface, the light from the field plane enters the box body 110 from the light inlet surface, and is emitted from the first light emitting surface and enters the first camera module 200 through the refractive surface of the beam splitter 120, and is emitted from the second light emitting surface and enters the second camera module 300 through the reflective surface of the beam splitter 120, and the first camera module 200 and the second camera module 300 form an included angle with the axis of the light emitting surface respectively, so that the two can simultaneously obtain image information in the field of view from two angles. At the same time, the first camera module 200 and the second camera module 300 meet the set parallax range, and under such a setting, the equivalent light path of the first camera module 200 and the second camera module 300 is obviously different from the parallel light path, and the specific light path can be seen in Figure 7 , sufficient three-dimensional information can be obtained, and excellent microscopic 3D imaging and information of the screen are provided.
[0063] The beneficial effects of the embodiment: the imaging system of the embodiment can obtain sufficient three-dimensional information, and can provide excellent microscopic 3D imaging and information for polarized 3D screen imaging or VR glasses imaging, so as to be used for both. Through the action of the beam splitter 120, the first camera module 200 and the second camera module 300 can be distributed on two adjacent surfaces, and in the case of keeping consistent with the effect of embodiment 3, the size of the first camera module 200 and the second camera module 300 is avoided to be too large to correspond to the same light emitting surface.
[0064] Embodiment 5
[0065] As shown in Figure 8 and 9 , embodiment 5 of a 3D imaging system is provided, which is based on embodiment 4, and the difference from embodiment 4 is that other arrangement modes of the first camera module 200 and the second camera module 300 are provided, as shown in Figure 6 and Figure 7 , the first included angle θ1 is 0 degrees, and the second included angle θ2 is greater than 0° and less than or equal to 8°.
[0066] The remaining features and technical effects of the embodiment are consistent with those of embodiment 4.
[0067] Embodiment 6
[0068] As shown in Figure 10 and 11 , embodiment 6 of a 3D imaging system is provided, which is based on embodiment 4, and the difference from embodiment 4 is that other arrangement modes of the first camera module 200 and the second camera module 300 are provided, the first included angle θ1 is greater than 0° and less than or equal to 8°, and the second included angle θ2 is 0°.
[0069] The remaining features and technical effects of this embodiment are consistent with Embodiment 4.
Claims
1. A 3D imaging system, comprising a first camera module (200) and a second camera module (300) for capturing images of an object to be acquired, characterized in that, The acquisition surfaces of the first camera module (200) and the second camera module (300) are both facing the same light-emitting surface of the object to be acquired, or facing two different light-emitting surfaces respectively; the axis of the first camera module (200) forms a first angle θ1 with the axis of the light-emitting surface, and the axis of the second camera module (300) forms a second angle θ2 with the axis of the light-emitting surface, and the sum of the first angle θ1 and the second angle θ2 is θ, which is between 2° and 8°.
2. The 3D imaging system according to claim 1, characterized in that, The sum of the first included angle θ1 and the second included angle θ2 is θ, which is 3°.
3. The 3D imaging system according to claim 1, characterized in that, The angles of the first included angle θ1 and the second included angle θ2 are both within the range of 0° to 8°.
4. The 3D imaging system according to claim 1, characterized in that, The axis of the first camera module (200) is deflected in the positive direction of the first direction to form the first included angle θ1, and the axis of the second camera module (300) is deflected in the negative direction of the first direction to form the second included angle θ2.
5. A 3D imaging system according to claim 4, characterized in that, The parallax between the first camera module (200) and the second camera module (300) is L, 2m*sin(θ / 2)-L0<L<2m*sin(θ / 2)+L0, where: L0 is the length of the longest side of the corresponding field of view, and m is the optimal working distance of the camera.
6. A 3D imaging system according to claim 5, characterized in that, The parallax between the first camera module (200) and the second camera is 2m*sin(θ / 2).
7. A 3D imaging system according to any one of claims 1-6, characterized in that, It also includes an optical path conversion device (100), which includes at least one light emitting surface and a light receiving surface. The acquisition surfaces of the first camera module (200) and the second camera module (300) are both facing the same light emitting surface or facing two different light emitting surfaces respectively.
8. A 3D imaging system according to claim 7, characterized in that, The optical path conversion device (100) includes a housing (110) and a beam splitter (120) installed inside the housing (110). The housing (110) is provided with a light-inlet surface, a first light-emitting surface corresponding to the refractive surface of the beam splitter (120), and a second light-emitting surface corresponding to the reflective surface of the beam splitter (120). The acquisition surface of the first camera module (200) faces the first light-emitting surface, and the axis of the first camera module (200) and the axis of the first light-emitting surface form a first angle θ1. The axis of the second camera module (300) and the axis of the second light-emitting surface form a second angle θ2.
9. A 3D imaging system according to claim 7, characterized in that, The axis of the first camera module (200) is offset by a first preset distance in the positive direction of the second direction, starting from the reference point of the light emitting surface, and the axis of the second camera module (300) is offset by a second preset distance in the opposite direction of the second direction, starting from the reference point of the light emitting surface.
10. A 3D imaging system according to claim 9, characterized in that, The reference point is the center point of the surface from which the light rays are emitted.