Imaging apparatus, imaging system, imaging method, and program

Abstract

To use a camera of general-purpose equipment for photographing an image for data processing related to a shape of a surface of a photographing object.SOLUTION: A photographing device includes an attachment means to / from which a device including a camera can be attached / detached, and one or more light sources which can be switched on / off for each light source and are provided so that each light source can irradiate a photographing area of the camera.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a photographing device, a photographing system, a photographing method, and a program. [Background technology]

[0002] Dimensions of parts of a tire may be calculated using an image obtained by photographing the tire. For example, in the tire groove measurement method described in Patent Document 1, a camera having a light projecting unit and two imaging units arranged on either side of the light projecting unit photographs a tire. When photographing the tire, the light projecting unit projects a measurement pattern onto the tire, and the two imaging units are aligned in the same direction as the tire grooves extend, and each of the two imaging units photographs the tire.

[0003] This tire groove measurement method calculates the facing relationship between the outer surface of the tire and the camera based on the captured image, and calculates the tire groove depth when it is determined that the outer surface of the tire and the camera are facing directly. The tire groove depth calculation involves using the captured image to calculate the three-dimensional position of the outer surface of the tread based on the stereo camera principle, and then calculating the tire groove depth based on the calculated three-dimensional position. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2022-166698 Summary of the Invention [Problem to be solved by the invention]

[0005] When a dedicated camera for photographing tires is required, such as in the tire groove measurement method described in Patent Document 1, the hardware costs are expected to be relatively high due to the need to prepare a dedicated camera. However, if a general-purpose camera can be used to capture images for data processing related to the surface shape of the photographed object, such as determining tire groove depth, it is expected that the hardware costs can be reduced relatively.

[0006] An example of an object of the present disclosure is to provide an imaging device, an imaging system, an imaging method, and a program that can solve the above-mentioned problems. [Means for solving the problem]

[0007] According to a first aspect of the present disclosure, a photographing device includes an attachment means for attaching and detaching a device equipped with a camera, and one or more light sources, each of which can be switched on or off and is arranged so that each light source can illuminate the photographing area of ​​the camera.

[0008] According to a second aspect of the present disclosure, a photography system includes a photography device and a device equipped with a camera, and the photography device includes an attachment means to which the camera device can be attached and detached, and one or more light sources, each of which can be switched on or off and is arranged so that each light source can illuminate the photography area of ​​the camera.

[0009] According to a third aspect of the present disclosure, a photography method includes a photography device having an attachment means to which a camera-equipped device can be attached and detached, and one or more light sources, each of which can be switched on or off and is arranged so that each light source can illuminate the photography area of ​​the camera, and a computer controlling the camera-equipped device attached to the photography device causes the camera to take photographs in each of a plurality of lighting patterns of the one or more light sources.

[0010] According to a fourth aspect of the present disclosure, the program causes a computer that controls a photographing device that includes an attachment means to which a device equipped with a camera can be attached and detached, and one or more light sources that can be switched on or off for each light source and are each configured to be able to illuminate the photographing area of ​​the camera, and a device equipped with the camera that is attached to the photographing device, to execute the program to cause the camera to take photographs in each of a plurality of lighting patterns using the one or more light sources. [Effects of the Invention]

[0011] According to one aspect of the present disclosure, a general-purpose camera can be used to capture images for data processing related to the surface shape of an object to be photographed. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 illustrates an example of the configuration of an imaging device according to at least one embodiment. [Figure 2] 1 is a diagram illustrating an example of the appearance of an imaging system according to at least one embodiment. [Figure 3] FIG. 2 illustrates a first example of an arrangement of light sources according to at least one embodiment. [Figure 4] FIG. 10 illustrates a second example of an arrangement of light sources according to at least one embodiment. [Figure 5] FIG. 10 illustrates a third example of an arrangement of light sources according to at least one embodiment. [Figure 6] 10A-10C illustrate examples of setting marks for a user to adjust the camera position and orientation in accordance with at least one embodiment. [Figure 7] FIG. 10 illustrates another example of a configuration of an imaging device according to at least one embodiment. [Figure 8] FIG. 1 is a diagram illustrating an example of a processing procedure for photographing using a photographing system according to at least one embodiment. [Figure 9] FIG. 1 illustrates an example of the configuration of an imaging device according to at least one embodiment. [Figure 10] FIG. 1 is a diagram illustrating an example of the configuration of an imaging system according to at least one embodiment. [Figure 11] FIG. 1 is a diagram illustrating an example of a processing procedure in an imaging method according to at least one embodiment. [Figure 12] FIG. 1 illustrates an example configuration of a computer according to at least one embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] The following describes embodiments of the present invention, but the following embodiments do not limit the scope of the invention as claimed. Furthermore, not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0014] First Embodiment Fig. 1 is a diagram showing an example of the configuration of an imaging device according to at least one embodiment. In the configuration shown in Fig. 1, imaging device 100 includes a mounting unit 110, a position adjustment unit 120, an illumination unit 130, a synchronization unit 150, and an operation unit 160. Illumination unit 130 includes a light source 131.

[0015] 1 also shows a general-purpose imaging device 910, a camera 911 of the general-purpose imaging device 910, and a camera lens 912 of the camera 911. The general-purpose imaging device 910 may be configured externally to the imaging device 100. The combination of the imaging device 100 and the general-purpose imaging device 910 is also referred to as an imaging system 1.

[0016] The photography system 1 is a system for taking photographs. In particular, the photography system 1 photographs an object from each of a plurality of light irradiation directions. The contrast of the surface of the object can be enhanced by applying a photometric stereo method to the images taken by the photography system 1. This makes it possible to determine the presence or absence of defects such as scratches and wrinkles on the surface of the object and to calculate the shape of the object with relatively high accuracy.

[0017] In the following, an example will be described in which the object to be photographed is a tire and the images photographed by the photographing system 1 are used for inspecting the tire. Also, in the following, an example will be described in which the photographing system 1 photographs images to be used in a photometric stereo method. Black objects such as tires have low light reflectance, making it relatively difficult to grasp the surface shape from an image. In this respect, when the object being photographed is a tire, it is expected that the effect of applying the photometric stereo method to the images captured by the imaging system 1 to enhance the surface contrast will be more pronounced.

[0018] Furthermore, when the object to be photographed is a tire, it is also possible to use the image photographed by the photographing system 1 to determine whether the tire tread depth is sufficient. However, there is no particular limitation on the object to be photographed by the photographing system 1. Furthermore, there is no particular limitation on the method for performing data processing on the surface shape of the photographed object using the image photographed by the photographing system 1.

[0019] The general-purpose imaging device 910 is a device equipped with a camera 911, and takes pictures using the camera 911 while attached to the imaging device 100. The images taken by the general-purpose imaging device 910 correspond to the images taken by the imaging system 1. The general-purpose imaging device 910 is not limited to a specific type of device. For example, various devices equipped with a camera, such as a smartphone, a tablet device with a camera, or a digital camera, can be used as the general-purpose imaging device 910. In particular, it is not necessary to prepare a device dedicated to the imaging system 1 as the general-purpose imaging device 910, and a general-purpose device (a device that can be used for purposes other than the imaging system 1) can be used.

[0020] With the general-purpose imaging device 910 attached, the imaging device 100 causes the general-purpose imaging device 910 to take images in each of a plurality of illumination patterns (patterns of turning on or off the light source 131). The mounting unit 110 receives the mounting of the general-purpose imaging device 910 and holds the general-purpose imaging device 910. The mounting portion 110 corresponds to an example of a mounting means.

[0021] The mounting unit 110 is configured to be able to mount various types of general-purpose imaging devices 910. In particular, the mounting unit 110 is configured to be able to mount various sizes of general-purpose imaging devices 910. The shape of the mounting unit 110 and the method by which the mounting unit 110 holds the general-purpose imaging device 910 are not limited to a particular shape or method. For example, the mounting unit 110 may have two arms and hold the general-purpose imaging device 910 by sandwiching it between the two arms. Alternatively, the mounting unit 110 may have a component with a hole into which the general-purpose imaging device 910 is inserted, and the size and shape of the hole change when the general-purpose imaging device 910 is inserted so as to hold the general-purpose imaging device 910. Alternatively, the mounting unit 110 may have a belt and hold the general-purpose imaging device 910 by wrapping the belt around the general-purpose imaging device 910.

[0022] Position adjustment unit 120 adjusts the positional relationship between camera 911 and light source 131. In particular, position adjustment unit 120 adjusts the positional relationship between camera lens 912 and light source 131. This allows devices with cameras in various positions to be used as general-purpose imaging device 910, such as various smartphones being usable as general-purpose imaging device 910. The position adjustment unit 120 is an example of a position adjustment means.

[0023] The position adjustment unit 120 may be configured as a mechanism for adjusting the relative positional relationship between the main body of the photographing device 100 and the general-purpose photographing device 910. Alternatively, the position adjustment unit 120 may be configured as a mechanism for adjusting the relative positional relationship between the main body of the photographing device 100 and the light source 131. Alternatively, the position adjustment unit 120 may be configured as a mechanism for adjusting the positional relationship between both of them.

[0024] Position adjustment unit 120 may be provided so as to be able to adjust the positional relationship between camera lens 912 and light source 131 in three axes. For example, position adjustment unit 120 may be provided so as to be able to adjust the positional relationship between camera lens 912 and light source 131 in each of three directions: the optical axis direction of camera 911, and the x and y directions of a plane perpendicular to the optical axis. The position adjustment unit 120 may automatically or semi-automatically adjust the positional relationship between the camera lens 912 and the light source 131. Alternatively, the position adjustment unit 120 may manually adjust the positional relationship between the camera lens 912 and the light source 131.

[0025] The lighting unit 130 irradiates light (illumination light) onto a tire, which is the object to be photographed. Each of the light sources 131 is provided so as to be able to illuminate the shooting area of ​​the camera 911. When the camera 911 faces the direction of the object to be shot and the positional relationship between the camera lens 912 and the light source 131 is adjusted by the position adjustment unit 120, each of the light sources 131 may be disposed at a position and in a direction so as to be able to illuminate the shooting area of ​​the camera 911.

[0026] Furthermore, it is possible to switch on or off each light source 131. The pattern of turning on or off the light source 131 is also referred to as the illumination pattern of the illumination unit 130 or the illumination pattern of the light source 131. The illumination pattern of the illumination unit 130 is also simply referred to as the illumination pattern. The illumination pattern of the light source 131 is also simply referred to as the illumination pattern. The wavelength of light output from the light sources 131 may be the same for all light sources 131 or may be different for each light source 131. Furthermore, the light output from the light source 131 is not limited to visible light, and may be light of various wavelengths that can be captured by the camera 911.

[0027] The lighting pattern of the light sources 131 may include a pattern in which all of the light sources 131 are turned off. In this case, the camera 911 may capture an image of a subject illuminated with light from a light source other than the light source 131 of the illumination unit 130. The number of light sources 131 included in the illumination unit 130 is not limited to a specific number as long as it is one or more. It is sufficient that the pattern of light irradiation onto the object to be photographed can be switched by switching the lighting pattern of the light source 131. In particular, it is sufficient that the direction of light irradiation onto the object to be photographed can be switched.

[0028] When the images captured by the imaging system 1 are used in the photometric stereo method, the imaging system 1 is configured to capture images using each of three or more lighting patterns. For this purpose, the illumination unit 130 is configured to include two or more light sources 131. On the other hand, when the imaging system 1 captures images using each of the two lighting patterns, it is expected that the contrast of the surface can be enhanced more than when the imaging system 1 captures images using only one lighting pattern.

[0029] The synchronization unit 150 switches the lighting pattern of the light source 131. Then, synchronization unit 150 synchronizes the lighting pattern of light source 131 with the shooting timing of camera 911, and causes camera 911 to shoot for each lighting pattern. During exposure for shooting by camera 911, synchronization unit 150 does not switch the lighting pattern of light source 131, but maintains the same lighting pattern. The synchronization unit 150 is an example of a synchronization means.

[0030] The synchronization unit 150 switches between two or more lighting patterns of the light source 131, each of which has a different light irradiation direction toward the object to be photographed. As a result, the object to be photographed is irradiated with light in each of the two or more irradiation directions. For example, for each lighting pattern of the light sources 131, only one of two or more light sources 131 may be turned on, and the other light sources 131 may be turned off.

[0031] Alternatively, the lighting pattern of the light source 131 may include a pattern in which two or more light sources 131 are lit. For example, if the brightness is insufficient when only one light source 131 is turned on, the object to be photographed can be illuminated more brightly by turning on multiple light sources 131 simultaneously.

[0032] Furthermore, if a shadow appears on the object to be photographed when only one light source 131 is turned on, the shadow can be eliminated or made smaller by irradiating light from multiple directions using multiple light sources 131. This is expected to result in an image with a clearer outline of the object to be photographed. In this way, it is expected that more information can be obtained when multiple light sources 131 are turned on than when only one light source 131 is turned on.

[0033] Furthermore, by turning on multiple light sources 131 simultaneously, the number of times that the camera 911 takes an image is reduced compared to when the light sources 131 are turned on one by one in sequence. In this respect, the time required for the image capturing system 1 to capture an image can be made relatively short. Furthermore, as described above, the lighting patterns of the light sources 131 may include a pattern in which all of the light sources 131 are turned off.

[0034] The synchronization unit 150 may be configured to switch between three or more lighting patterns. The general-purpose imaging device 910 may then capture images (i.e., the camera 911 may capture images) for each lighting pattern of the light source 131, i.e., for each irradiation direction of light from the illumination unit 130. In this case, the imaging system 1 can capture images to be used in the photometric stereo method.

[0035] The camera 911 may capture moving images. In this case, the synchronization unit 150 may switch the lighting pattern of the light source 131 so that the duration of each lighting pattern of the light source 131 is equal to or longer than three frames of the moving images. This is expected to ensure that for each lighting pattern of the light source 131, an image using the light emitted by that lighting pattern is captured in at least one frame of the image.

[0036] The synchronization unit 150 may be configured as a part of the imaging device 100. For example, the imaging device 100 may include a computer such as a single-board computer (SBC), and the computer may execute a program to perform the functions of the synchronization unit 150. Alternatively, the functions of the synchronization unit 150 may be implemented using an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array), and may be installed in the imaging device 100.

[0037] Alternatively, the synchronization unit 150 may be configured external to the photographing device 100. For example, a computer such as a smartphone or a tablet terminal device may be used as the general-purpose photographing device 910, and may execute an application program that functions as the synchronization unit 150. Alternatively, a computer external to the imaging system 1 may function as the synchronization unit 150, and this computer may communicate with the imaging device 100 or the general-purpose imaging device 910.

[0038] The operation unit 160 accepts user operations related to photography by the photography system 1. The operation unit 160 is an example of an operation means. For example, the operation unit 160 may be configured to receive a user operation that instructs the photography system 1 to start photography. Then, the synchronization unit 150 may be configured to automatically repeat control of the lighting pattern of the light source 131 and control of photography by the camera 911, triggered by the operation unit 160 receiving the user operation, so that photography by the camera 911 is performed using all of the preset lighting patterns.

[0039] Alternatively, operation unit 160 may be configured to receive a user operation instructing each shooting by camera 911. Then, synchronization unit 150 may be configured to control the lighting pattern of light source 131 and control one shooting by camera 911 each time operation unit 160 receives a user operation.

[0040] Alternatively, the image capturing system 1 may automatically start capturing images to be used in the photometric stereo method. For example, the synchronization unit 150 may determine whether the camera 911 can capture an image of the object to be captured, based on images captured by the camera 911. If it is determined that the camera 911 can capture an image of the object to be captured, the synchronization unit 150 may switch the lighting pattern of the light source 131 and cause the camera 911 to capture an image for each lighting pattern. In this case, the photographing system 1 may not be provided with the operation unit 160.

[0041] Fig. 2 is a diagram showing an example of the appearance of the photography system 1. Fig. 2 shows an example of the appearance when the photography system 1 is viewed from the side (particularly, from the side with respect to the optical axis direction of the camera 911) in a state in which the general-purpose photography device 910 is attached to the photography device 100. 2 shows the mounting unit 110, lighting unit 130, operation unit 160, photographing device body 170, and handle 180 of the photographing device 100. Also shown in FIG. 2 are the camera lens 912 and general-purpose photographing device body 913 of the general-purpose photographing device 910.

[0042] 2, parts having the same functions as those in FIG. 1 are given the same reference numerals (100, 110, 130, 910, 912), and detailed description thereof will be omitted here. In the example of FIG. 2, the mounting section 110 and the illumination section 130 are provided on a main body 170 of the photographing device.

[0043] The photographing device main body 170 is a part of the photographing device 100 to which the mounting section 110, the lighting section 130, and the handle 180 can be attached. The synchronization unit 150 may also be provided in the photographing device main body 170. Alternatively, as described above, the synchronization unit 150 may be provided outside the photographing device main body 170, such as being an external component of the photographing device 100.

[0044] The mounting unit 110 may be configured to move relative to the photographing device body 170 while holding the general-purpose photographing device 910, thereby adjusting the positional relationship between the camera 911 and the light source 131. In this case, a mechanism that supports the mounting unit 110 movably relative to the photographing device body 170 corresponds to an example of the position adjustment unit 120. The position adjustment unit 120 may be provided as a part of the photographing device body. Alternatively, the position adjustment unit 120 may be provided as a part separate from the photographing device body. The movement of the relative position of the mounting unit 110 with respect to the photographing device main body 170 may be performed automatically or manually.

[0045] In addition to or instead of moving the relative position of the attachment unit 110 with respect to the photographing device body 170, the illumination unit 130 may be moved relative to the photographing device body 170 to adjust the positional relationship between the camera 911 and the light source 131. In this case, a mechanism that supports the illumination unit 130 movably with respect to the photographing device body 170 corresponds to an example of the position adjustment unit 120. The relative position of the illumination unit 130 with respect to the photographing device main body 170 may be moved automatically or manually.

[0046] 2, the photographing device main body 170 is connected to a handle 180. An operation unit 160 in the form of a push button is provided on the handle 180. The push button as the operation unit 160 accepts a user operation to instruct photographing. 2, the handle 180 is rod-shaped so that the user can easily grip it. The user holds the photographing system 1 by gripping the handle 180 and can adjust the position and orientation of the photographing system 1 by moving their hand. The user can then cause the general-purpose photographing device 910 to take a photograph by pressing a push button, which is an example of the operation unit 160, with their finger. Alternatively, the operation unit 160 may be provided in a form other than that of being provided on the handle 180, such as in the form of a remote controller. Furthermore, as described above, the photographing device 100 may not be configured to include the operation unit 160.

[0047] Fig. 3 is a diagram showing a first example of the arrangement of light sources 131. Fig. 3 shows an example in which the number of light sources 131 is three. In the example of Fig. 3, when it is necessary to distinguish between the three light sources 131, they are also referred to as light sources 131-1, 131-2, and 131-3. In the example of Fig. 3, three light sources 131 are arranged in a ring (doughnut shape). A camera 911 captures an image of an object to be photographed through a hole in the center of the ring shape. In the example of Fig. 3, a camera lens 912 is positioned at the center of the hole in the center of the ring shape in which the three light sources 131 are arranged.

[0048] Fig. 4 is a diagram showing a second example of the arrangement of the light sources 131. Fig. 4 shows a first example in which the number of light sources 131 is four. In the example of Fig. 4, when it is necessary to distinguish between the four light sources 131, they are also referred to as light sources 131-1, 131-2, 131-3, and 131-4. In the example of Fig. 4, four light sources 131 are arranged around a square on the top, bottom, left, and right sides. Camera 911 captures an image of the object through a square hole in the center of the four light sources 131. In the example of Fig. 4, an example is shown in which camera lens 912 is positioned at the center of the square hole in the center of the four light sources 131.

[0049] Fig. 5 is a diagram showing a third example of the arrangement of the light sources 131. Fig. 5 shows a second example in which the number of light sources 131 is four. In the example of Fig. 5, when it is necessary to distinguish between the four light sources 131, they are also referred to as light sources 131-1, 131-2, 131-3, and 131-4. In the example of Fig. 5, two light sources are arranged side by side, one above the other. Specifically, light source 131-2 is arranged to the right of light source 131-1 as one faces Fig. 5. Light source 131-3 is arranged below light source 131-2, and light source 131-4 is arranged to the left of light source 131-3 as one faces Fig. 5.

[0050] The camera 911 captures an image of the object to be photographed from between the light sources 131 arranged above and below. In the example of Fig. 5, the camera lens 912 is positioned at the center between the set of light sources 131-1 and 131-2 and the set of light sources 131-3 and 131-4 (the center of symmetry of the four light sources 131).

[0051] The number and arrangement of the light sources 131 are not limited to a specific number and arrangement, and various numbers and arrangements are possible as long as the object to be photographed can be irradiated with light from each of a plurality of directions. As described above, a lighting pattern in which all the light sources 131 are turned off and an external light source of the illumination unit 130 is used may be included. From the viewpoint of illuminating the object to be photographed from various directions, it is preferable that the light source 131 is provided at a position rotationally symmetrical about the optical axis of the camera 911, as in the examples of Figures 3 and 4, but this is not limited to this.

[0052] Marks may be provided to allow the user to adjust the position and orientation (the photographing position and photographing direction by the camera 911) of the camera 911. For example, the illumination unit 130 may include a movably provided transparent plate, and marks may be displayed on the plate. The lighting unit 130 that moves this plate corresponds to an example of a mark presenting means.

[0053] FIG. 6 is a diagram showing an example of setting marks for the user to adjust the position and orientation of the camera 911. In FIG. In the example of FIG. 6, the illumination unit 130 includes a light source 131 and a transparent plate 132 arranged as in the example of FIG.

[0054] The plate 132 is provided in the illumination unit 130 so as to be rotatable about a point P11 as a rotation axis. The plate 132 also has a cross-shaped mark M11 indicated thereon. When the user adjusts the position and orientation of the camera 911, the user sets the plate 132 so that the mark M11 is positioned on the optical axis of the camera 911. This causes the mark M11 to appear in the preview image or viewfinder of the general-purpose imaging device 910. The user can adjust the position and orientation of the camera 911 by referring to the positional relationship between the target object and the mark M11 in the preview image or viewfinder.

[0055] On the other hand, when the camera 911 captures an image of the object, the plate 132 is moved so that the plate 132 is outside the image capturing range (outside the angle of view) of the camera 911. This makes it possible to prevent the mark M11 from appearing in the image captured by the camera 911. The user may manually set and move the board 132. Alternatively, the lighting unit 130 may automatically set and move the board 132. For example, the board 132 may be automatically moved when the camera 911 takes a picture, and the board 132 may be automatically set when the picture is taken.

[0056] The shape of the mark used by the user to adjust the position and orientation of the camera 911 and its positional relationship with the shooting range of the camera 911 are not limited to a specific one, and can be of various shapes and positions that the user can refer to. The form of providing marks for the user to adjust the position and orientation of the camera 911 is not limited to a specific form, and various forms can be used. When marks are provided for the user to adjust the position and orientation of the camera 911, the number and arrangement of the light sources 131 are not limited to a specific number and arrangement, and can be various numbers and arrangements as described above.

[0057] Fig. 7 is a diagram showing another example of the configuration of an imaging device. In the configuration shown in Fig. 7, imaging device 100b includes a mounting unit 110, a position adjustment unit 120, an illumination unit 130, a synchronization unit 150, an operation unit 160, a setting unit 210, a processing unit 220, a sensor 230, and a display unit 240. Illumination unit 130 includes a light source 131.

[0058] 7 also shows a general-purpose imaging device 910, a camera 911 of the general-purpose imaging device 910, and a camera lens 912 of the camera 911. The general-purpose imaging device 910 may be configured externally to the imaging device 100b. The combination of the imaging device 100b and the general-purpose imaging device 910 is also referred to as an imaging system 1b.

[0059] In the configuration shown in FIG. 7, parts having similar functions to those in FIG. 1 are given the same reference numerals (110, 120, 130, 131, 150, 160, 910, 911, 912), and detailed description thereof will be omitted here. The configuration of the photographing system 1b is the same as that of the photographing system 1, except that it further includes a setting unit 210, a processing unit 220, a sensor 230, and a display unit 240. The photographing system 1b corresponds to an example of the photographing system 1. The photographing device 100b corresponds to an example of the photographing device 100.

[0060] The setting unit 210, the processing unit 220, the sensor 230, and / or the display unit 240 may be configured externally to the photographing device 100b. As in the case of the photographing system 1, the synchronization unit 150, the operation unit 160, or both of them may be configured externally to the photographing device 100b. As in the case of the photography system 1, the photography system 1b may not be provided with the operation unit 160.

[0061] The setting unit 210 performs various settings related to the imaging system 1. For example, the setting unit 210 may set the exposure time of the camera 911. Furthermore, when the general-purpose image capturing device 910 captures a moving image, the setting unit 210 may set the frame rate.

[0062] Furthermore, the setting unit 210 may set a lighting pattern for the light sources 131. For example, the setting unit 210 may set which light sources 131 are to be lit and in what order. As described above with respect to lighting patterns, the setting unit 210 may set a lighting pattern in which a plurality of light sources 131 are lit simultaneously. Furthermore, the setting unit 210 may set a lighting pattern in which all of the light sources 131 are turned off. Furthermore, the intensity of the illumination by the light source 131 (the luminous intensity of the light source 131) may be variable, and the setting unit 210 may set the intensity of the illumination.

[0063] The setting unit 210 may automatically perform all or part of the settings. In this case, the setting unit 210 may perform the settings using a known setting method. For example, the setting unit 210 may set the exposure time of the camera 911 using an auto exposure (AE) technique.

[0064] Furthermore, the setting unit 210 may perform all or part of the settings in accordance with user operations. In this case, a user interface (UI) provided in the general-purpose imaging device 910 may be used. Alternatively, a user interface may be provided separately from the general-purpose imaging device 910, such as the operation unit 160 having a dial that accepts user operations to set the exposure time, etc.

[0065] The processing unit 220 processes the image captured by the camera 911 . For example, the processing unit 220 may generate a composite image of images captured using each of a plurality of illumination patterns. Furthermore, the processing unit 220 may estimate the shape (for example, surface normal vector) and / or depth of the object to be photographed based on images photographed with each of a plurality of illumination patterns.

[0066] Furthermore, when the images captured by the imaging system 1 are used to inspect an object to be photographed, the processing unit 220 may be configured to perform a defect determination, such as determining the presence or absence of a defective portion, based on a predetermined determination rule. For example, the processing unit 220 may store a determination threshold for the presence or absence of a defect, such as a threshold for the size of a scratch. The processing unit 220 may then compare the size of a candidate defect portion, such as a scratch, detected from the photographed image with the threshold, and determine that a defect exists if the size of the candidate defect portion is greater than or equal to the threshold. Alternatively, the processing unit 220 may determine whether there is a defect using a trained machine learning model. In this case, the machine learning may be performed using training data in which a set of images captured by the imaging system 1 is linked to ground truth data indicating the presence or absence of a defect.

[0067] Furthermore, the sensor 230 measures the position and orientation of the camera 911 (the photographing position and photographing direction by the camera 911). For example, the sensor 230 may be configured using a gyro sensor. As described above, the sensor 230 may be configured as a part of the photographing device 100, or may be configured external to the photographing device 100. For example, if the general-purpose photographing device 910 is equipped with a gyro sensor, the gyro sensor may be used as the sensor 230.

[0068] The processing unit 220 may generate data that maps the shape of the object being photographed onto a three-dimensional coordinate space based on images captured by the camera 911 at multiple shooting positions and directions and information on the position and orientation of the camera 911.

[0069] Based on the results of the mapping, the processing unit 220 may extract portions of the object to be photographed that have not been photographed sufficiently, or portions for which the estimation accuracy based on the photographing results is insufficient, or both. For example, the processing unit 220 may determine whether or not there is a portion of the object that has not been photographed. If it is determined that there is a portion that has not been photographed, the processing unit 220 may present information indicating that portion (for example, a stereoscopic image of the portion that has already been photographed) to the user, and prompt the user to photograph the portion that has not been photographed.

[0070] As described above, the processing unit 220 may be configured as a part of the imaging device 100b, or may be configured external to the imaging device 110b. For example, the functions of the processing unit 220 may be provided by a computer on the cloud, and this computer may communicate with the photography system 1 (for example, with the general-purpose photography device 910) to receive the image to be processed and transmit the processing result. The function of the processing unit 220 may also be provided as a function of the general-purpose imaging device 910 .

[0071] The display unit 240 visualizes the processing results of the processing unit 220 and presents them to the user. As described above, the display unit 240 may be configured as a part of the photographing device 100b, or may be configured external to the photographing device 110b. For example, a display screen provided in the general-purpose imaging device 910 may be used as the display unit 240. Alternatively, the imaging device 100b may be provided with a display device serving as the display unit 240. Alternatively, the display device serving as the display unit 240 may be provided as an external device to the imaging device 100b and the general-purpose imaging device 910.

[0072] Fig. 8 is a diagram showing an example of a processing procedure for photographing using the photographing system 1. As described above, the photographing system 1b corresponds to an example of the photographing system 1. In Fig. 8, the processing performed by the photographing system 1 may include processing performed by the setting unit 210, processing performed by the processing unit 220, or processing performed by the display unit 240. In the process shown in FIG. 8, the user attaches the general-purpose imaging device 910 to the imaging device 100 (step S11).

[0073] Next, the general-purpose imaging device 910 starts an application program for the imaging system 1 (step S12). The functions of this application program may include a function of causing the camera 911 to take an image in response to an instruction from the synchronization unit 150 as a trigger. The functions of this application program may also include a function of aligning the camera 911 with the position of the light source 131, a function of the synchronization unit 150, a function of the setting unit 210, and a function of the processing unit 220, or some of these functions. The general-purpose imaging device 910 may be configured to start an application program in response to a user operation.

[0074] Next, the position adjustment unit 120 adjusts the position of the camera 911 relative to the position of the light source 131 (step S13). The user may manually move the general-purpose imaging device 910, the illumination unit 130, or both. In this case, it can be considered that the position adjustment unit 120 adjusts the position of the camera 911 relative to the position of the light source 131 in accordance with the operation performed by the user.

[0075] Alternatively, the position adjustment unit 120 may include a power source such as a motor for moving the mounting unit 110 relatively to the photographing device main body 170, or for moving the illumination unit 130 relatively to the photographing device main body 170, or for moving both of them. Then, the position adjustment unit 120 may move the mounting unit 110, the illumination unit 130, or both of them in accordance with a user instruction entered by a user operation, thereby adjusting the position of the camera 911 relative to the position of the light source 131.

[0076] Alternatively, the position adjustment unit 120 may automatically adjust the position of the camera 911 relative to the position of the light source 131. For example, in a state where a mark is set as in the example of Fig. 6, the position adjustment unit 120 may move the camera 911, the illumination unit 130, or both of them so that the image of the mark is positioned at the center of the image captured by the camera 911.

[0077] Next, the user or setting unit 210 sets the shooting mode (step S14). Setting the shooting mode here may include selecting a still image shooting mode in which camera 911 shoots still images, or a video shooting mode in which it shoots videos. Setting the shooting mode here may also include setting shooting conditions such as exposure time according to the type of object to be shot. When the setting unit 210 automatically sets the shooting mode, the general-purpose shooting device 910 may function as the setting unit 210 by executing an application program launched in step S12, and set the shooting mode.

[0078] Next, the user or the setting unit 210 sets the lighting pattern of the light source 131 (step S15). For example, a lighting pattern may be determined for each type of object to be photographed, and the setting unit 210 may automatically select a lighting pattern according to the type of object to be photographed.

[0079] Furthermore, a lighting pattern may be determined for each type (e.g., each model number) of the general-purpose imaging device 910. The setting unit 210 may determine the type of the general-purpose imaging device 910 or select a lighting pattern according to the type of the general-purpose imaging device 910 in accordance with a user operation indicating the type of the general-purpose imaging device 910.

[0080] Next, the photography system 1 performs photography (step S16). For example, the synchronization unit 150 may control the general-purpose imaging device 910 and the lighting unit 130 to cause the camera 911 to capture images for each lighting pattern. Then, when the imaging has been completed for all the set lighting patterns, the synchronization unit 150 may notify the user via the display unit 240 that imaging from one location has been completed.

[0081] While the photography system 1 is taking pictures with the camera 911 for each lighting pattern, the user does not move the camera 911. This makes it possible to obtain images taken from the same position in each of a plurality of light irradiation directions, and the obtained images can be used in the photometric stereo method.

[0082] Alternatively, the user may move the camera 911 slowly enough to prevent blurring of the image. In this case, the sensor 230 may measure the position and orientation of the camera 911 each time an image is captured by the camera 911. When processing the captured image, the processing unit 220 can refer to the position and orientation of the camera 911 at the time of capturing the image.

[0083] Next, the user or the photography system 1 checks the photography results (step S17). Then, the photography system 1 determines whether or not the conditions for ending photography are met according to the result of the check in step S17 (step S18). For example, the display unit 240 may display the results of the shooting, such as a composite image of the shot images. The operation unit 160 may then receive a user operation to instruct either the end of shooting or further shooting. In this case, the condition for ending shooting may be that a user operation to instruct the end of shooting has been performed.

[0084] Alternatively, as described above, the processing unit 220 may extract portions of the object to be photographed that are insufficiently photographed, portions for which the estimation accuracy based on the photographing results is insufficient, or both. In this case, the photographing termination condition may be that the processing unit 220 determines that there are no portions for which the photographing is insufficient, or that there are no portions for which the estimation accuracy based on the photographing results is insufficient, or that there are none of these.

[0085] If the photographing system 1 determines that the photographing termination condition is not met (step S18: NO), the process returns to step S16. In this case, the photographing system 1 may notify the user, for example, using the display unit 240, that further photographing will be performed. Then, when the user adjusts the position and orientation of the camera 911 and operates the operation unit 160 to instruct photographing to be performed, the photographing system 1 may perform photographing in step S16. Then, after step S16, the process may proceed to step S17. On the other hand, if it is determined in step S18 that the shooting end condition is met (step S18: YES), the shooting system 1 ends the processing of FIG.

[0086] As described above, the mounting unit 110 is capable of detachably mounting the general-purpose imaging device 910 equipped with the camera 911. The light sources 131 can be switched on or off individually, and each light source 131 is provided so as to be able to illuminate the photographing area of ​​the camera 911.

[0087] According to the photographing device 100, a general-purpose camera can be used to photograph images for data processing relating to the surface shape of an object to be photographed. In particular, the photographing device 100 allows a user to attach a general-purpose device equipped with a camera to the photographing device 100. Then, with the general-purpose device equipped with a camera attached, the photographing device 100 can switch between on and off patterns of the light source 131 and cause the camera 911 to take images for each pattern. This allows photographed images of the object to be obtained in each of a plurality of irradiation directions of light toward the object, and the obtained photographed images can be used for data processing related to the surface shape of the object. For example, when photographed images of the object to be photographed are obtained in each of three or more irradiation directions of light, the photometric stereo method can be applied to the obtained photographed images.

[0088] Furthermore, by carrying and moving the photographing device 100, the user can cause the camera 911 to photograph the object to be photographed in various positions and orientations. For example, even if the object to be photographed is large and photographing the entire object in one shot results in a rough image and reduces the accuracy of image processing, the camera 911 can photograph the object to be photographed in various positions and orientations to obtain an image of the entire object to be photographed. In this respect, the photographing device 100 can process data related to the surface shape of the entire object to be photographed.

[0089] Furthermore, the position adjustment unit 120 adjusts the positional relationship between the camera 911 and the light source 131 . According to the photographing device 100, various devices with different camera positions can be used as the general-purpose photographing device 910.

[0090] Furthermore, the illumination unit 130 displays a mark for adjusting the positional relationship between the camera 911 and the light source 131 at a position where the mark can be included in the image capturing range of the camera 911. With the mark being displayed, the position adjustment unit 120 adjusts the positional relationship between the camera 911 and the light source 131 in accordance with a user operation.

[0091] With the photographing device 100, the user can check the position of the mark on the preview image or viewfinder of the general-purpose photographing device 910 and adjust the position and orientation of the camera 911. This allows the camera 911 to photograph the object with its position and orientation adjusted with relatively high precision. In this respect, with the photographing device 100, it is expected that data processing related to the surface shape of the object can be performed with relatively high precision using the image photographed by the camera 911.

[0092] Furthermore, the synchronization unit 150 synchronizes the lighting patterns of one or more light sources 131 with the timing of the camera 911 to capture images. According to the photographing device 100, it is possible to photograph the object to be photographed for each lighting pattern of the light source 131 more reliably.

[0093] Furthermore, the operation unit 160 accepts a user operation to instruct photography. When a user operation is performed to instruct photography, synchronization unit 150 causes camera 911 to take a photograph for each lighting pattern of light source 131. According to the photographing device 100, it is possible to synchronize the movement of the camera 911 by the user (movement of the photographing device 100) with the photographing by the lighting unit 130 and the camera 911 for each lighting pattern of the light source 131. For example, each time the user moves the camera 911, the camera 911 can take a photograph for each lighting pattern, and it is possible to obtain photographed images of the object to be photographed at various positions and directions of the camera 911.

[0094] Furthermore, the lighting patterns of the light sources 131 include a pattern in which all the light sources 131 are turned off. The photographing device 100 can provide lighting patterns equal to or greater than the number of light sources 131. For example, when the lighting unit 130 is equipped with two light sources 131, the photographing device 100 can obtain photographed images of the object to be photographed in each of three light irradiation directions, including irradiation of light from light sources other than the lighting unit 130. In this case, the photometric stereo method can be applied to the obtained images.

[0095] Furthermore, the lighting patterns of the light sources 131 include a pattern in which a plurality of light sources 131 are lit at the same time. According to the photographing device 100, when the brightness is insufficient when only one light source 131 is turned on, the object to be photographed can be illuminated more brightly by turning on multiple light sources 131 simultaneously.

[0096] Furthermore, with the photographing device 100, if a shadow is created on the object to be photographed when only one light source 131 is turned on, the multiple light sources 131 can emit light from multiple directions to eliminate or reduce the shadow on the object to be photographed. In this respect, the photographing device 100 is expected to be able to obtain an image in which the outline of the object to be photographed is clearer. In this way, it is expected that more information can be obtained when multiple light sources 131 are turned on than when only one light source 131 is turned on.

[0097] Furthermore, with the photographing device 100, multiple light sources 131 are turned on simultaneously, which reduces the number of times the camera 911 takes photographs compared to when the light sources 131 are turned on one by one in sequence. In this respect, with the photographing device 100, the time required for photographing by the photographing system 1 can be made relatively short.

[0098] The sensor 230 also measures the position and orientation of the camera 911 . The photographing device 100 can obtain information on the position and orientation of the camera 911 when the camera 911 photographs the object. As a result, when the camera 911 photographs the object from various positions and orientations, the photographed image and information on the position and orientation of the camera 911 can be used for data processing related to the shape of the surface of the object by the processing unit 220. In this respect, the photographing device 100 is expected to enable data processing related to the shape of the surface of the object to be photographed with relatively high accuracy.

[0099] The illumination unit 130 also includes a plurality of light sources 131 . According to the photographing device 100, three or more lighting patterns can be provided, and the camera 911 can photograph the object to be photographed in each of three or more light irradiation directions. According to the photographing device 100, the photometric stereo method can be applied to the images photographed by the camera 911.

[0100] The illumination unit 130 includes three or more light sources 131. The photographing device 100 can provide three or more lighting patterns in which one or more light sources 131 are lit, and the camera 911 can photograph the object to be photographed in each of the three or more light irradiation directions. The photographing device 100 is expected to ensure the brightness of the irradiated light in each of the images photographed by the camera 911, and in this regard, it is expected that the photometric stereo method can be applied to the photographed images to perform data processing on the surface shape of the object to be photographed with a relatively high degree of accuracy.

[0101] Second Embodiment 9 is a diagram showing an example of the configuration of an imaging device according to at least one embodiment. In the configuration shown in FIG. 9, an imaging device 610 includes a mounting unit 611 and one or more light sources 612.

[0102] With this configuration, a device equipped with a camera can be attached and detached to the attachment unit 611. Each light source 612 can be switched on or off, and each light source 612 is provided so as to be able to illuminate the shooting area of ​​the camera. The mounting portion 611 is an example of a mounting means.

[0103] According to the photographing device 610, a general-purpose camera can be used to photograph images for data processing relating to the surface shape of the object to be photographed. In particular, the photographing device 610 allows a user to attach a general-purpose device equipped with a camera to the photographing device 610. Then, with the general-purpose device equipped with a camera attached, the photographing device 610 can switch between light source on and off patterns and cause the camera to take images for each pattern. This allows photographed images of the subject to be obtained in each of multiple irradiation directions of light toward the subject, and the obtained photographed images can be used for data processing related to the surface shape of the subject. For example, when photographed images of the subject to be photographed are obtained in each of three or more irradiation directions of light, the photometric stereo method can be applied to the obtained photographed images.

[0104] Furthermore, by carrying and moving the photographing device 610, the user can have the camera photograph the object to be photographed in various positions and orientations. For example, even if the object to be photographed is large and photographing the entire object in one shot results in a grainy image and reduced image processing accuracy, the camera can photograph the object to be photographed in various positions and orientations to obtain an image of the entire object to be photographed. In this respect, the photographing device 610 allows data processing related to the surface shape of the entire object to be photographed.

[0105] <Third embodiment> Fig. 10 is a diagram showing an example of the configuration of an imaging system according to at least one embodiment. In the configuration shown in Fig. 10, imaging system 620 includes imaging device 621 and device 624. Imaging device 621 includes mounting portion 622 and one or more light sources 623. Device 624 includes camera 625.

[0106] In this configuration, the mounting portion 622 can detachably mount a device 624 equipped with a camera 625 . The light sources 623 can be switched on or off individually, and each light source 623 is provided so as to be able to illuminate the photographing area of ​​the camera 625. The mounting portion 622 corresponds to an example of a mounting means.

[0107] According to the imaging system 620, a general-purpose camera can be used to capture images for data processing related to the surface shape of the object to be imaged. In particular, the photographing system 620 allows a user to attach a general-purpose device equipped with a camera to the photographing device 621. Then, with the general-purpose device equipped with a camera attached, the photographing device 621 can switch between light source on and off patterns and cause the camera to take images for each pattern. This allows photographed images of the object to be obtained in each of multiple irradiation directions of light toward the object, and the obtained photographed images can be used for data processing related to the surface shape of the object. For example, when photographed images of the object to be photographed are obtained in each of three or more irradiation directions of light, the photometric stereo method can be applied to the obtained photographed images.

[0108] Furthermore, by moving the photographing device 621, the user can have the camera photograph the object at various positions and orientations. For example, even if the object is large and photographing the entire object in one shot results in a grainy image and reduced image processing accuracy, the camera can photograph the object at various positions and orientations to obtain an image of the entire object. In this respect, the photographing system 620 allows data processing related to the surface shape of the entire object.

[0109] <Fourth embodiment> 11 is a diagram showing an example of a processing procedure in an imaging method according to at least one embodiment. The imaging method shown in FIG. 11 includes performing imaging (step S611). In taking a photograph (step S611), a computer that controls a photographing device that includes an attachment means to which a device equipped with a camera can be attached and detached, one or more light sources that can be switched on or off for each light source and are arranged so that each light source can illuminate the camera's photographing area, and a device equipped with a camera that is attached to the photographing device causes the camera to take a photograph in each of a plurality of lighting patterns using one or more light sources.

[0110] According to the photographing method shown in FIG. 11, a general-purpose camera can be used to photograph an image for data processing relating to the surface shape of the object to be photographed. In particular, according to the photographing method shown in FIG. 11, a user can attach a general-purpose device equipped with a camera to the photographing device 621. Then, with the general-purpose device equipped with a camera attached, the photographing device can switch between on and off patterns of the light source and cause the camera to photograph for each pattern. This allows photographed images of the subject to be obtained in each of multiple irradiation directions of light toward the subject, and the obtained photographed images can be used for data processing related to the surface shape of the subject. For example, when photographed images of the subject to be photographed are obtained in each of three or more irradiation directions of light, the photometric stereo method can be applied to the obtained photographed images.

[0111] Furthermore, by moving the photographing device, the user can have the camera photograph the object at various positions and orientations. For example, even if the object is large and photographing the entire object in one shot results in a grainy image and reduced image processing accuracy, the camera can photograph the object at various positions and orientations to obtain an image of the entire object. In this respect, the photographing method shown in FIG. 11 allows data processing related to the surface shape of the entire object.

[0112] FIG. 12 illustrates an example configuration of a computer according to at least one embodiment. In the configuration shown in FIG. 12, a computer 700 includes a CPU 710, a main memory device 720, an auxiliary memory device 730, an interface 740, and a non-volatile recording medium 750.

[0113] One or more of the above-described photographing device 100, photographing device 100b, photographing device 610, photographing device 621, device 624, and general-purpose photographing device 910, or a part thereof, may be implemented in the computer 700. In this case, the operation of each of the above-described processing units is stored in the auxiliary storage device 730 in the form of a program. The CPU 710 reads the program from the auxiliary storage device 730, loads it into the main storage device 720, and executes the above-described processing in accordance with the program. The CPU 710 also allocates storage areas in the main storage device 720 corresponding to each of the above-described storage units in accordance with the program. Communication between each device and other devices is performed by the interface 740, which has a communication function and performs communication under the control of the CPU 710. The interface 740 also has a port for the nonvolatile recording medium 750, and reads and writes information from and to the nonvolatile recording medium 750.

[0114] When the photographing device 100 is implemented in the computer 700, the operation of the synchronization unit 150 is stored in the form of a program in the auxiliary storage device 730. The CPU 710 reads the program from the auxiliary storage device 730, loads it into the main storage device 720, and executes the above-described processing in accordance with the program.

[0115] Furthermore, the CPU 710 allocates a storage area in the main storage device 720 for the photographing device 100 to perform processing in accordance with the program. Communication between the photographing device 100 and other devices is performed by the interface 740, which has a communication function and operates under the control of the CPU 710. Interaction between the photographing device 100 and a user is performed by the interface 740, which has an input device and an output device, presenting information to the user via the output device under the control of the CPU 710 and accepting user operations via the input device.

[0116] When the photographing device 100b is implemented in the computer 700, the operations of the synchronization unit 150, the setting unit 210, and the processing unit 220, or some of these, are stored in the form of a program in the auxiliary storage device 730. The CPU 710 reads the program from the auxiliary storage device 730, loads it into the main storage device 720, and executes the above-mentioned processing in accordance with the program.

[0117] Furthermore, the CPU 710 allocates a storage area in the main storage device 720 for the photographing device 100b to perform processing in accordance with the program. Communication between the photographing device 100b and other devices is performed by the interface 740, which has a communication function and operates under the control of the CPU 710. Interaction between the photographing device 100b and a user is performed by the interface 740, which has an input device and an output device, presenting information to the user via the output device under the control of the CPU 710 and accepting user operations via the input device.

[0118] When the photographing device 610 is implemented in the computer 700, its operation is stored in the form of a program in the auxiliary storage device 730. The CPU 710 reads the program from the auxiliary storage device 730, loads it into the main storage device 720, and executes the above-mentioned processing in accordance with the program.

[0119] Furthermore, the CPU 710 allocates a storage area in the main storage device 720 for the photographing device 610 to perform processing in accordance with the program. Communication between the photographing device 610 and other devices is performed by the interface 740, which has a communication function and operates under the control of the CPU 710. Interaction between the photographing device 610 and a user is performed by the interface 740, which has an input device and an output device, presenting information to the user via the output device under the control of the CPU 710 and accepting user operations via the input device.

[0120] When the photographing device 621 is implemented in the computer 700, its operation is stored in the form of a program in the auxiliary storage device 730. The CPU 710 reads the program from the auxiliary storage device 730, loads it into the main storage device 720, and executes the above-mentioned processing in accordance with the program.

[0121] Furthermore, the CPU 710 allocates a storage area in the main storage device 720 for the photographing device 621 to perform processing in accordance with the program. Communication between the photographing device 621 and other devices is performed by the interface 740, which has a communication function and operates under the control of the CPU 710. Interaction between the photographing device 621 and a user is performed by the interface 740, which has an input device and an output device, presenting information to the user via the output device under the control of the CPU 710 and accepting user operations via the input device.

[0122] When the device 624 is implemented in the computer 700, its operation is stored in the form of a program in the auxiliary storage device 730. The CPU 710 reads the program from the auxiliary storage device 730, loads it into the main storage device 720, and executes the above-described processing in accordance with the program.

[0123] Furthermore, the CPU 710 allocates a storage area in the main storage device 720 for the device 624 to perform processing in accordance with the program. Communication between the device 624 and other devices is performed by the interface 740, which has a communication function and operates under the control of the CPU 710. Interaction between the device 624 and a user is performed by the interface 740, which has an input device and an output device, presenting information to the user via the output device under the control of the CPU 710 and accepting user operations via the input device.

[0124] When the general-purpose imaging device 910 is implemented in the computer 700, its operation is stored in the form of a program in the auxiliary storage device 730. The CPU 710 reads the program from the auxiliary storage device 730, loads it into the main storage device 720, and executes the above-described processing in accordance with the program.

[0125] Furthermore, the CPU 710 allocates a storage area in the main storage device 720 for the general-purpose imaging device 910 to perform processing in accordance with a program. Communication between the general-purpose imaging device 910 and other devices is achieved by the interface 740 having a communication function and operating under the control of the CPU 710. Interaction between the general-purpose imaging device 910 and a user is achieved by the interface 740 having an input device and an output device, presenting information to the user via the output device under the control of the CPU 710, and accepting user operations via the input device.

[0126] One or more of the above-described programs may be recorded on nonvolatile recording medium 750. In this case, interface 740 may read the programs from nonvolatile recording medium 750. CPU 710 may then directly execute the programs read by interface 740, or may temporarily store the programs in main storage device 720 or auxiliary storage device 730 and then execute them.

[0127] Note that a program for executing all or part of the processing performed by the photographing device 100, the photographing device 100b, the photographing device 610, the photographing device 621, the device 624, and the general-purpose photographing device 910 may be recorded on a computer-readable recording medium, and the program recorded on this recording medium may be read into a computer system and executed to perform the processing of each part. Note that the term "computer system" here includes the OS (Operating System) and hardware such as peripheral devices. Furthermore, "computer-readable recording media" refers to portable media such as flexible disks, optical magnetic disks, ROMs (Read Only Memory), and CD-ROMs (Compact Disc Read Only Memory), as well as storage devices such as hard disks built into computer systems. The program may be one that realizes part of the aforementioned functions, or may be one that can realize the aforementioned functions in combination with a program already stored in the computer system.

[0128] Although the embodiments have been described above, the specific configuration is not limited to these embodiments, and the present invention also includes designs that do not deviate from the gist of the present invention. Furthermore, the above-described embodiments can be combined with other embodiments as appropriate.

[0129] Some or all of the above-described embodiments can be described as, but are not limited to, the following supplementary notes.

[0130] (Appendix 1) a mounting means for detachably mounting a device having a camera; one or more light sources, each of which can be switched on or off and is provided so as to be able to illuminate a photographing area of ​​the camera; A photographing device comprising:

[0131] (Appendix 2) Position adjustment means for adjusting the positional relationship between the camera and the light source 2. The photographing device according to claim 1, comprising:

[0132] (Appendix 3) a mark presenting means for presenting a mark for adjusting the positional relationship between the camera and the light source at a position where the mark can be included in the photographing range of the camera; Equipped with the position adjustment means adjusts the positional relationship between the camera and the light source in accordance with a user operation while the mark is being presented. 10. The photographic device according to claim 2.

[0133] (Appendix 4) A synchronization means for synchronizing the lighting pattern of the one or more light sources with the timing of photographing by the camera. 4. The photographing device according to any one of claims 1 to 3, comprising:

[0134] (Appendix 5) Operation means for accepting user operations to instruct photography Equipped with the synchronization means causes the camera to take an image for each lighting pattern of the light source when a user operation is performed to instruct the camera to take an image; Attachment 4: The photographing device according to claim 4.

[0135] (Appendix 6) The lighting patterns of the light sources include a pattern in which all of the light sources are turned off. 6. The imaging device according to claim 4 or 5.

[0136] (Appendix 7) The lighting patterns of the light sources include a pattern in which a plurality of the light sources are lit simultaneously. 7. An imaging device according to any one of appendices 4 to 6.

[0137] (Appendix 8) a sensor for measuring the position and orientation of the camera; 8. An imaging device according to any one of claims 1 to 7.

[0138] (Appendix 9) A plurality of the light sources is provided. 9. An imaging device according to any one of claims 1 to 8.

[0139] (Appendix 10) Three or more of the light sources are provided. 10. The photographic device according to claim 9.

[0140] (Appendix 11) A photographic device; a device equipped with a camera; Equipped with The photographing device is a mounting means for detachably mounting the device having the camera; one or more light sources, each of which can be switched on or off and is provided so as to be able to illuminate a photographing area of ​​the camera; Equipped with Shooting system.

[0141] (Appendix 12) The photographing device is Position adjustment means for adjusting the positional relationship between the camera and the light source 12. The imaging system according to claim 11, comprising:

[0142] (Appendix 13) The photographing device is a mark presenting means for presenting a mark for adjusting the positional relationship between the camera and the light source at a position where the mark can be included in the photographing range of the camera; Equipped with the position adjustment means adjusts the positional relationship between the camera and the light source in accordance with a user operation while the mark is being presented. 13. The imaging system according to claim 12.

[0143] (Appendix 14) The photographing device is A synchronization means for synchronizing the lighting pattern of the one or more light sources with the timing of photographing by the camera. 14. The imaging system according to any one of claims 11 to 13, comprising:

[0144] (Appendix 15) The photographing device is Operation means for accepting user operations to instruct photography Equipped with the synchronization means causes the camera to take an image for each lighting pattern of the light source when a user operation is performed to instruct the camera to take an image; 15. The imaging system according to claim 14.

[0145] (Appendix 16) The lighting patterns of the light sources include a pattern in which all of the light sources are turned off. 16. The imaging system according to claim 14 or 15.

[0146] (Appendix 17) The lighting patterns of the light sources include a pattern in which a plurality of the light sources are lit simultaneously. 17. An imaging system according to any one of appendices 14 to 16.

[0147] (Appendix 18) The photographing device is a sensor for measuring the position and orientation of the camera; 18. An imaging system according to any one of appendices 11 to 17.

[0148] (Appendix 19) A processing means for generating data that maps the shape of the object being photographed onto a three-dimensional coordinate space based on the image photographed by the camera and the measurement results of the position and orientation of the camera by the sensor. 19. The imaging system of claim 18, comprising:

[0149] (Appendix 20) The photographing device is A plurality of the light sources is provided. 19. An imaging system according to any one of appendices 11 to 18.

[0150] (Appendix 21) The photographing device is Three or more of the light sources are provided. 21. The imaging system according to claim 20.

[0151] (Appendix 22) a photographing device including mounting means for detachably mounting a device including a camera, and one or more light sources each capable of being switched on or off and each light source being provided so as to be able to illuminate a photographing area of ​​the camera; and a computer for controlling the device including the camera mounted on the photographing device, causing the camera to capture images in each of a plurality of lighting patterns of the one or more light sources; A shooting method that includes:

[0152] (Appendix 23) The computer adjusting the positional relationship between the camera and the light source; 23. The photographing method according to claim 22, comprising:

[0153] (Appendix 24) The computer a mark for adjusting the positional relationship between the camera and the light source is displayed at a position where the mark can be included in the image capturing range of the camera; This includes: In adjusting the positional relationship between the camera and the light source, the computer adjusts the positional relationship between the camera and the light source in accordance with a user operation while the mark is being presented. Photographing method described in Appendix 23.

[0154] (Appendix 25) The computer Synchronizing the lighting pattern of the one or more light sources with the timing of capturing images by the camera. 25. The photographing method according to any one of appendices 22 to 24, comprising:

[0155] (Appendix 26) The computer Accepting a user operation to instruct photography; This includes: By synchronizing the lighting patterns of the one or more light sources with the timing of photographing by the camera, the computer causes the camera to photograph for each lighting pattern of the light source when a user operation is performed to instruct photographing. Photographing method described in Appendix 25.

[0156] (Appendix 27) The lighting patterns of the light sources include a pattern in which all of the light sources are turned off. 27. The method of photographing described in Appendix 25 or Appendix 26.

[0157] (Appendix 28) The lighting patterns of the light sources include a pattern in which a plurality of the light sources are lit simultaneously. 28. A photographing method according to any one of appendices 25 to 27.

[0158] (Appendix 29) the photographing device includes a sensor for measuring the position and orientation of the camera; 29. A photographing method according to any one of appendices 22 to 28.

[0159] (Appendix 30) The photographing device includes a plurality of the light sources. 30. The photographing method according to any one of appendices 22 to 29.

[0160] (Appendix 31) The photographing device includes three or more of the light sources. 31. The method of photographing described in Appendix 30.

[0161] (Appendix 32) a photographing device including mounting means for detachably mounting a device including a camera, and one or more light sources each of which can be switched on or off and each of which is provided so as to be able to illuminate a photographing area of ​​the camera; and a computer for controlling the device including the camera mounted on the photographing device, causing the camera to capture images in each of a plurality of lighting patterns of the one or more light sources; A program that executes the following.

[0162] (Appendix 33) The computer, adjusting the positional relationship between the camera and the light source; 33. The program of claim 32,

[0163] (Appendix 34) The computer, presenting a mark for adjusting the positional relationship between the camera and the light source at a position where the mark can be included in the shooting range of the camera; Execute In adjusting the positional relationship between the camera and the light source, the computer is caused to adjust the positional relationship between the camera and the light source in accordance with a user operation while the mark is being presented. 33. The program described in Appendix 33.

[0164] (Appendix 35) The computer, Synchronizing the lighting pattern of the one or more light sources with the timing of capturing images by the camera; 35. The program according to any one of appendices 32 to 34,

[0165] (Appendix 36) The computer, Accepting a user operation to instruct photography; Execute By synchronizing the lighting patterns of the one or more light sources with the timing of photographing by the camera, when a user operation is performed to instruct the computer to photograph, the camera is caused to photograph for each lighting pattern of the light source; 36. The program of claim 35,

[0166] (Appendix 37) The lighting patterns of the light sources include a pattern in which all of the light sources are turned off. 37. The program of claim 35 or 36.

[0167] (Appendix 38) The lighting patterns of the light sources include a pattern in which a plurality of the light sources are lit simultaneously. 38. The program of any one of appendices 35 to 37.

[0168] (Appendix 39) the photographing device includes a sensor for measuring the position and orientation of the camera; 39. The program of any one of appendices 32 to 38.

[0169] (Appendix 40) The photographing device includes a plurality of the light sources. 40. The program of any one of appendices 32 to 39.

[0170] (Appendix 41) The photographing device includes three or more of the light sources. 40. The program of claim 40. [Explanation of symbols]

[0171] 1, 1b, 620 Imaging System 100, 100b, 610, 621 Photography equipment 110, 611, 622 mounting part 120 Position adjustment section 130 Lighting Department 131, 612, 623 light source 150 Synchronization Unit 160 Operation section 210 Setting Section 220 Processing section 230 Sensors 240 Display section 624 equipment 625, 911 camera 910 General-purpose imaging equipment 912 Camera Lens

Claims

1. a mounting means for detachably mounting a device having a camera; one or more light sources, each of which can be switched on or off and is provided so as to be able to illuminate a photographing area of ​​the camera; A photographing device comprising:

2. Position adjustment means for adjusting the positional relationship between the camera and the light source The imaging device according to claim 1 , comprising:

3. a mark presenting means for presenting a mark for adjusting the positional relationship between the camera and the light source at a position where the mark can be included in the photographing range of the camera; Equipped with the position adjustment means adjusts the positional relationship between the camera and the light source in accordance with a user operation while the mark is being presented.

3. The imaging device according to claim 2.

4. a synchronization means for synchronizing the lighting pattern of the one or more light sources with the timing of photographing by the camera; The imaging device according to claim 1 , comprising:

5. Operation means for accepting user operations to instruct photography Equipped with the synchronization means causes the camera to take an image for each lighting pattern of the light source when a user operation is performed to instruct the camera to take an image; 5. The photographing device according to claim 4.

6. The lighting patterns of the light sources include a pattern in which all of the light sources are turned off.

5. The imaging device according to claim 4.

7. The lighting patterns of the light sources include a pattern in which a plurality of the light sources are lit simultaneously.

5. The imaging device according to claim 4.

8. A photographic device; a device equipped with a camera; Equipped with The photographing device is a mounting means for detachably mounting the device having the camera; one or more light sources, each of which can be switched on or off and is provided so as to be able to illuminate a photographing area of ​​the camera; Equipped with Shooting system.

9. a photographing device including mounting means for detachably mounting a device including a camera, and one or more light sources each capable of being switched on or off and each light source being provided so as to be able to illuminate a photographing area of ​​the camera; and a computer for controlling the device including the camera mounted on the photographing device, causing the camera to capture images in each of a plurality of lighting patterns of the one or more light sources; A shooting method that includes:

10. a photographing device including mounting means for detachably mounting a device including a camera, and one or more light sources each of which can be switched on or off and each of which is provided so as to be able to illuminate a photographing area of ​​the camera; and a computer for controlling the device including the camera mounted on the photographing device, causing the camera to capture images in each of a plurality of lighting patterns of the one or more light sources; A program that executes the following.

Images