Imaging device and imaging method

Abstract

To increase the possibility that point group data on a transparent object can be obtained suitably.SOLUTION: An image pick-up device according to an embodiment of the present disclosure includes: an image pick-up unit that radiates light on a subject which is at least partially transparent or semi-transparent and measures the distance to the subject by using reflected light of the light; and a light weakening unit arranged opposite to the image pick-up device with the subject interposed therebetween to weaken light that has passed through the subject.SELECTED DRAWING: Figure 11

Description

【Technical Field】 【0001】 The present disclosure relates to a photographing apparatus and a photographing method. 【Background Art】 【0002】 Conventionally, when estimating the three-dimensional shape of an object, a technique that is relatively less affected by the influence of the background color and the shadow of the object in the background is known (see, for example, Patent Document 1). 【0003】 In the technique disclosed in Patent Document 1, a photographing unit that is provided at a position where light from a light source is blocked by an object and photographs the object photographs a silhouette image of the object. Further, Patent Document 1 discloses that the object may be a transparent object. 【Prior Art Documents】 【Patent Documents】 【0004】 【Patent Document 1】 Japanese Patent Application Laid-Open No. 2018-189623 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0005】 However, since the technique disclosed in Patent Document 1 estimates the three-dimensional shape by detecting the contour of the object from the silhouette image, it does not obtain the point cloud data of the transparent object. Therefore, even when using the technique disclosed in Patent Document 1, it is difficult to reproduce the local features of the transparent object. 【0006】 The non-limiting embodiments of the present disclosure contribute to providing a photographing apparatus and a photographing method that can increase the possibility of appropriately obtaining the point cloud data of a transparent object. 【Means for Solving the Problems】 【0007】 An imaging device according to one embodiment of the present disclosure includes an imaging unit that irradiates light onto a subject that is at least partially transparent or translucent, and measures the distance to the subject using the reflected light, and an imaging unit that is positioned opposite the imaging unit with the subject in between. By irradiating the aforementioned subject with light that interferes with the light that has passed through it, It includes a light weakening unit that weakens the light transmitted through the subject. 【0008】 A photographic method according to one embodiment of the present disclosure is a photographic method in which a photographic unit irradiates light onto a subject that is at least partially transparent or translucent, and measures the distance to the subject using the reflected light, wherein a photographic unit is positioned opposite the photographic unit with the subject in between. , irradiate the subject with light that interferes with the light that has passed through it. The light-weakening unit weakens the light that has passed through the subject. 【0009】 These comprehensive or specific embodiments may be implemented as a system, apparatus, method, integrated circuit, computer program, or recording medium, or as any combination of a system, apparatus, method, integrated circuit, computer program, and recording medium. [Effects of the Invention] 【0010】 According to one embodiment of the present disclosure, the light transmitted through the subject by the imaging unit is weakened, which relatively strengthens the reflected light from the subject, thereby increasing the possibility of appropriately acquiring point cloud data of transparent objects. 【0011】 Further advantages and effects of one embodiment of this disclosure will be made apparent from the specification and drawings. Such advantages and / or effects are provided by several embodiments and features described in the specification and drawings, but not all of them are necessarily provided in order to obtain one or more identical features. [Brief explanation of the drawing] 【0012】 [Figure 1] A diagram showing an example configuration of the imaging system according to the embodiment. [Figure 2] Perspective view of the imaging device [Figure 3] Perspective view of a photographing apparatus with the illustration of the box omitted [Figure 4] Diagram showing the state where a subject is placed on a turntable [Figure 5] Side view of the photographing apparatus [Figure 6] Top view of the photographing apparatus [Figure 7] Perspective view of the turntable and the rotating frame [Figure 8] View of the turntable and the rotating frame seen from above [Figure 9] View of the turntable and the rotating frame seen from the side [Figure 10] Partial perspective view of the rotating frame [Figure 11] Cross-sectional view of the photographing apparatus seen from the side [Figure 12] Cross-sectional view of the photographing apparatus seen from above [Figure 13A] Diagram showing a configuration example of illumination [Figure 13B] Diagram showing a configuration example of a light source [Figure 14] Diagram showing a hardware configuration example of a photographing control device [Figure 15] Diagram showing a block configuration example of a photographing control device [Figure 16A] Diagram for explaining the acquisition of subject information when there is no illumination provided in the photographing apparatus [Figure 16B] Diagram for explaining the acquisition of subject information when there is illumination provided in the photographing apparatus [Figure 16C] Diagram for explaining the acquisition of subject information when there is illumination and a polarizing plate provided in the photographing apparatus [Figure 16D] Diagram for explaining the acquisition of subject information when additional illumination is provided in the photographing apparatus [Figure 17A] Diagram for explaining the acquisition of subject information when there is no illumination provided in the photographing apparatus by pattern matching using a random dot pattern [Figure 17B]This diagram illustrates the acquisition of subject information when the imaging device is equipped with lighting, using pattern matching with a random dot pattern. [Figure 18] A flowchart illustrating an example of the shooting system's operation. [Modes for carrying out the invention] 【0013】 The embodiments of this disclosure will be described in detail below, with reference to the drawings as appropriate. However, some unnecessarily detailed explanations may be omitted. For example, detailed explanations of already well-known matters and redundant explanations of substantially identical configurations may be omitted. This is to avoid the following explanation becoming unnecessarily verbose and to facilitate understanding for those skilled in the art. 【0014】 The attached drawings and the following description are provided to enable a person skilled in the art to fully understand this disclosure, and are not intended to limit the subject matter described in the claims. 【0015】 Furthermore, the dimensions of the elements shown in the drawings are not necessarily drawn to scale. 【0016】 <Embodiment> (Example system configuration) Figure 1 is a diagram showing an example configuration of an imaging system according to an embodiment. As shown in Figure 1, the imaging system includes an imaging device 1, an imaging control device 2, and a display (display device) 3. In the following, the x, y, and z axes shown in Figure 1 are set for the imaging device 1. 【0017】 As shown in Figure 1, the imaging device 1 has a box 1a. Inside the box 1a, the imaging device 1 has a sensor that acquires information such as image data and depth data (distance data) of the subject, lighting to assist in acquiring image data and depth data of transparent subjects, a turntable for placing the subject, and a polarizing plate to assist in acquiring image data and depth data of transparent subjects. Hereafter, information such as image data and depth data of the subject may be referred to as subject information. Also, hereafter, the acquisition of subject information of a subject may be referred to as imaging. 【0018】 Box 1a has a door 1b. When the user wants to photograph a subject, they open door 1b and place the subject on the turntable inside box 1a. The user closes door 1b and operates the shooting control device 2 to start photographing the subject. 【0019】 Box 1a is constructed of a material that prevents light from outside Box 1a from penetrating to the inside. In other words, the imaging device 1 photographs the subject without being affected by external light. In addition, there are several movable parts inside Box 1a. Box 1a ensures safety by preventing the user from touching the movable parts. However, if the room in which the imaging device 1 is installed is shielded from external light, or if the image of the subject is to be taken while considering the effects of external light, Box 1a may be omitted. 【0020】 The shooting control device 2 is connected to the shooting device 1 and the display 3. The shooting control device 2 receives user input and controls the shooting device 1. The shooting control device 2 also displays an image of the subject on the display 3 based on the subject information of the subject captured by the shooting device 1. The shooting control device 2 may be configured as an information processing device such as a personal computer (PC), tablet terminal, or smartphone. The shooting control device 2 may also include a display 3. 【0021】 Display 3 displays an image of the subject. The image of the subject may be, for example, an image based on image data or an image based on depth data. Display 3 also displays setting information for taking a picture. This setting information may be input and configured by the user. 【0022】 (Example of imaging device configuration) Figure 2 is a perspective view of the imaging device 1. Figure 3 is a perspective view of the imaging device 1 with the box 1a omitted. As shown in Figures 2 and 3, the imaging device 1 has a base 11, a turntable 12, and a rotating frame 13. The imaging device 1 also has other components such as illumination (e.g., illumination 51, described later) and polarizing plates (e.g., polarizing plate 52, described later), but these other components are not shown in Figures 2 to 10 in order to make other components easier to see. These other components will be described with reference to Figures 11, 12, 13A, and 13B. 【0023】 As shown in Figure 2, the base 11 is fixed inside the box 1a. The base 11 supports the turntable 12 so that it can rotate in the direction of the double arrow A3a shown in Figure 3. The base 11 also supports the rotating frame 13 so that it can rotate in the direction of the double arrow A3b shown in Figure 3. 【0024】 The turntable 12 has a disc shape. The disc-shaped turntable 12 is supported on the base 11, for example, so that its surface is horizontal. 【0025】 The rotating frame 13 has a ring shape. The ring-shaped rotating frame 13 is supported on the base 11 such that the plane containing the frame intersects perpendicularly with the surface of the turntable 12. The ring-shaped rotating frame 13 is also supported on the base 11 such that the turntable 12 is positioned (fitted) within the ring frame. A sensor is attached to the rotating frame 13 to acquire subject information of the subject on the turntable 12 (see, for example, sensor 31 in Figure 10). 【0026】 Figure 4 shows the object X placed on the turntable 12. In Figure 4, the same components as in Figure 3 are denoted by the same reference numerals. As shown in Figure 4, the object X is placed on the turntable 12. The turntable 12 is made of a transparent or light-transmitting (semi-)transparent material. That is, the turntable 12 is light-transmitting or light-semi-transmitting. This is not only to ensure that the bottom surface of the object X is photographed by the sensor, but also to address cases where, if the object X is a transparent object, the object information (and therefore the point cloud data of the transparent object) of the transparent object cannot be properly acquired due to the reflected light from the turntable 12 of the light emitted from the sensor. For example, if the sensor emits infrared light, the turntable 12 may be a red light-transmitting (semi-)transparent plate. 【0027】 The turntable 12 is an example of a mounting unit according to this disclosure. 【0028】 Figure 5 is a side view of the imaging device 1. In Figure 5, the same components as in Figure 3 are denoted by the same reference numerals. As shown in Figure 5, the base 11 has guides 11a to 11d. The guides 11a to 11d are fixed to the base 11. The guides 11a to 11d rotatably support the rotating frame 13. 【0029】 The rotating frame 13 rotates in a plane perpendicular to the surface of the turntable 12. The rotating frame 13 is positioned such that its axis of rotation lies on the plane of the turntable 12. In Figure 5, the rotating frame 13 rotates clockwise and counterclockwise, as indicated by the double arrow A3b in Figure 5. 【0030】 Figure 6 is a top view of the imaging device 1. In Figure 6, the same components as in Figure 3 are denoted by the same reference numerals. As shown in Figure 6, the base 11 has guides 11e to 11h. The guides 11e to 11h are fixed to the base 11. The guides 11e to 11h rotatably support the turntable 12 at its circumferential end. 【0031】 The turntable 12 rotates, for example, in a horizontal plane. The turntable 12 is positioned such that its axis of rotation lies on the plane of the rotating frame 13. In Figure 6, the turntable 12 rotates clockwise and counterclockwise, as shown by the double arrow A3a in Figure 6. 【0032】 Figure 7 is a perspective view of the turntable 12 and the rotating frame 13. In Figure 7, the same components as in Figure 3 are denoted by the same reference numerals. Figure 7 also shows the guides 11a to 11d that rotatably support the rotating frame 13 as described in Figure 5, and the guides 11e to 11h that rotatably support the turntable 12 as described in Figure 6. 【0033】 The dotted line A7a in Figure 7 indicates the axis of rotation of the turntable 12. The dashed line A7b in Figure 7 indicates the axis of rotation of the rotating frame 13. The turntable 12 and the rotating frame 13 are positioned so that the axis of rotation of the turntable 12 and the axis of rotation of the rotating frame 13 are perpendicular to each other. Furthermore, the turntable 12 and the rotating frame 13 are positioned so that the center of the disc-shaped turntable 12 coincides with the center of the ring-shaped rotating frame 13. Therefore, the turntable 12 rotates around the center of the rotating frame 13, and the rotating frame 13 rotates around the center of the turntable 12. 【0034】 Figure 8 is a view of the turntable 12 and rotating frame 13 from above. In Figure 8, the same components as in Figure 7 are denoted by the same reference numerals. As shown in Figure 8, the imaging device 1 includes a drive unit 21a and a belt 22a. 【0035】 The drive unit 21a has a rotating shaft. The drive unit 21a is composed of, for example, a motor. The drive unit 21a is fixed to, for example, the guide 11e. 【0036】 The belt 22a is placed over the rotating shaft of the drive unit 21a and the outer circumference of the disc-shaped turntable 12. When the rotating shaft of the drive unit 21a rotates, the belt 22a rotates, causing the turntable 12 to rotate. For example, the turntable 12 rotates clockwise and counterclockwise in Figure 8, as shown by the double arrow A8a in Figure 8. 【0037】 The rotation axis of the drive unit 21a rotates in accordance with the control of the imaging control device 2. Therefore, the turntable 12 rotates in accordance with the control of the imaging control device 2. 【0038】 Figure 9 is a side view of the turntable 12 and the rotating frame 13. In Figure 9, the same components as in Figures 7 and 8 are denoted by the same reference numerals. As shown in Figure 9, the imaging device 1 includes a drive unit 21b and a belt 22b. 【0039】 The drive unit 21b has a rotating shaft. The drive unit 21b is composed of, for example, a motor. The drive unit 21b is fixed to, for example, the guide 11c. 【0040】 The belt 22b is placed over the rotating shaft of the drive unit 21b and the outer circumference of the ring-shaped rotating frame 13. When the rotating shaft of the drive unit 21b rotates, the belt 22b rotates, and the rotating frame 13 rotates. For example, the rotating frame 13 rotates clockwise and counterclockwise in Figure 9, as shown by the double arrow A9a in Figure 9. 【0041】 The structure for rotating the turntable 12 does not necessarily have to use a belt. However, if images of the subject taken from the back of the turntable 12 are also to be acquired, it is desirable to ensure that the mechanism for rotating the turntable 12 does not appear in the images. Specifically, this could involve using an arm or the like to grip and rotate the side of the turntable 12. Alternatively, if there is no need to photograph the subject from the back of the turntable 12, the turntable 12 may be rotated directly by a motor or the like. 【0042】 The rotation axis of the drive unit 21b rotates in accordance with the control of the imaging control device 2. Therefore, the rotating frame 13 rotates in accordance with the control of the imaging control device 2. 【0043】 Figure 10 is a partial perspective view of the rotating frame 13. In addition to the rotating frame 13, Figure 10 also shows the guide 11a described in Figure 5. As shown in Figure 10, the sensor 31 is fixed inside the rotating frame 13. The sensor 31 rotates along with the rotation of the rotating frame 13. 【0044】 Sensor 31 is connected to the image capture control device 2. In response to the control of the image capture control device 2, sensor 31 acquires subject information, such as image data of the subject and depth data from sensor 31 to the surface of the subject. Sensor 31 can capture part and all of the subject placed on the turntable 12 by rotating the turntable 12 and the rotating frame 13. 【0045】 Sensor 31 may be composed of, for example, an imaging camera that acquires image data. Alternatively, sensor 31 may be composed of, for example, a depth camera (3D camera) that measures the distance from sensor 31 to the subject. The depth camera may be, for example, a TOF (Time Of Flight) camera or a stereo camera. Sensor 31 transmits the acquired subject information of the subject to the shooting control device 2. 【0046】 In the following description, we will use as an example a sensor 31 that irradiates an infrared random dot pattern and measures the distance to the subject by pattern matching using a stereo camera. However, this disclosure is not limited to such a sensor and can be applied to any sensor or camera that photographs a subject by irradiating it with light. 【0047】 Sensor 31 is an example of an imaging unit related to this disclosure. 【0048】 Figure 11 is a cross-sectional view of the imaging device 1 seen from the side, and Figure 12 is a cross-sectional view of the imaging device 1 seen from above. In Figures 11 and 12, the same reference numerals are used for components that are the same as those in Figure 4, etc. Figures 11 and 12 show the imaging device 1 with a simplified shape and some components omitted from the illustration. Figure 11 shows a turntable 12, a rotating frame 13, a sensor 31, a light 51, a polarizing plate 52, and a subject X, and Figure 12 shows a turntable 12, a sensor 31, a light 51, a polarizing plate 52, and a subject X. 【0049】 The lighting 51 has a plate-like shape. The lighting 51 is a light source equipped with multiple light sources (for example, light sources 61 described later). The lighting 51 is fixed to all surfaces (for example, 6 surfaces) of the inner wall of a rectangular box 1a. The lighting 51 may be sized to cover approximately the entire area of ​​the corresponding surface to which it is fixed. Note that the lighting 51 is not limited to the arrangement described above, and at a minimum, it should be positioned opposite the sensor 31 with the subject X in between when the sensor 31 photographs the subject X. 【0050】 Illumination 51 is used to assist in acquiring subject information of a transparent object (also referred to as transparent object X) when the subject X is a transparent object. As described later, the light emitted from illumination 51 is used to interfere with and diffuse the light emitted from sensor 31 that has passed through transparent object X, and the light reflected from that light (unless otherwise specified, "light that has passed through transparent object X" includes the light that has been reflected). Therefore, illumination 51 weakens the light that has passed through transparent object X. The wavelengths of this light are likely to be close to the wavelengths of the light emitted from sensor 31, but they may change to different wavelengths during the process of passing through the transparent object. For this reason, it is desirable that the wavelengths of the light emitted from the light source include a wider variety of wavelengths than the wavelengths of the light emitted from sensor 31. In addition, illumination 51 may also be used to adjust the overall brightness of the shooting environment by emitting visible light. Visible light may also contribute to the diffusion of the light that has passed through transparent object X and the light that has been reflected from that light. 【0051】 The illumination 51 may emit light from all or some of the light sources in accordance with the control of the imaging control device 2 (i.e., the imaging control device 2 may adjust (determine) the light sources of the illumination 51 that emit light). 【0052】 Furthermore, the illumination 51 may change the intensity of the light emitted from the light source in accordance with the control of the imaging control device 2 (i.e., the imaging control device 2 may adjust (determine) the intensity of the light emitted from the light source of the illumination 51). 【0053】 Furthermore, the illumination 51 may change the wavelength of the light emitted from its light source in accordance with the control of the shooting control device 2 (i.e., the shooting control device 2 may adjust (determine) the wavelength of the light emitted from the light source of illumination 51). If other objects besides transparent objects (i.e., objects that do not have transparent parts) are also to be photographed, the wavelength (color) of the light emitted from the light source of illumination 51 can be adjusted to match the other objects (for example, based on the color of the other objects) to make the other objects stand out when displaying the image. Note that the presence of a mixture of transparent objects and other objects may be specified by user control, or the shooting control device 2 may determine it itself. If the shooting control device 2 makes the determination itself, it may determine that there are non-transparent objects if a subject with a different color from the background is placed on the image. It is difficult to determine whether a transparent object is placed on the image, but it can be determined that at least a non-transparent object is placed on the image. 【0054】 Furthermore, the lighting fixture 51 does not necessarily need to be installed on all surfaces of the interior wall; it may be installed on only some surfaces. Also, the size of the lighting fixture 51 may be smaller than the area of ​​the corresponding surface on which it is fixed. 【0055】 The polarizing plate 52 has a spherical shape. The polarizing plate 52 may be a polarizing filter, a colored light (semi)transmitting plate or light (semi)transmitting filter having a similar function. The polarizing plate 52 attenuates the (wavelength) light irradiated from the sensor 31. Therefore, the polarizing plate 52 weakens the light that has passed through the transparent object X. For example, the polarizing plate 52 may be composed of a material that attenuates the light that has passed through the subject. For example, if the sensor 31 irradiates infrared light, the polarizing plate 52 may be a red light (semi)transmitting plate. In addition, as long as the polarizing plate 52 has the function of attenuating the wavelength of light irradiated from the sensor 31, it may also attenuate light of other wavelengths. For example, the polarizing plate 52 may be a black plate or other configuration that absorbs and attenuates light of all wavelengths. In the case of a black plate, etc., it does not have a polarization function because it absorbs all light, but in this embodiment, such a configuration is also included and referred to as the polarizing plate 52. However, if a polarizing plate 52 is configured to attenuate light including visible light, the light illuminating the subject X for the purpose of adjusting its brightness will also be attenuated, affecting the operation of other sensors such as RGB cameras. For example, if a material that attenuates both infrared and visible light is used as the polarizing plate 52, the image captured by the RGB camera, etc., will be darker than if the polarizing plate 52 were not used. Therefore, when using a device that utilizes light at wavelengths other than those emitted by the sensor 31, it is advisable to adopt a configuration that attenuates light at wavelengths not used by such devices. 【0056】 The polarizing plate 52 is fixed inside the rotating frame 13 and positioned opposite the sensor 31 with respect to the center of the turntable 12, and is positioned between the illumination 51 and the subject X, facing the sensor 31. Therefore, the polarizing plate 52 rotates along with the rotation of the rotating frame 13. Note that the polarizing plate 52 is not limited to the above arrangement, and at least it is sufficient that it is positioned opposite the sensor 31 with the subject X in between (between the illumination 51 and the subject X) when the sensor 31 photographs the subject X. Also, the shape of the polarizing plate 52 is not limited to a spherical shape, but may be a flat shape or the like. 【0057】 Figure 13A shows an example of the configuration of the lighting 51. As shown in Figure 13A, the lighting 51 has multiple light sources 61 arranged in a grid. 【0058】 Figure 13B shows an example configuration of the light source 61. As shown in Figure 13B, the light source 61 includes a light-emitting diode (LED) 61a, a diffuser plate 61b that diffuses the light emitted by the LED 61a, and a lens 61c. The diffuser plate 61b is placed between the LED 61a and the lens 61c. The light source 61 may also be configured without the diffuser plate 61b by using a diffuser lens for the lens 61c. 【0059】 Illumination 51 is an example of an illumination unit, light source unit, light weakening unit, and light diffusion unit according to this disclosure. LED 61a is an example of an illumination unit and light source unit according to this disclosure. Diffuser plate 61b or diffusion lens is an example of a light weakening unit and light interference unit according to this disclosure. Polarizing plate 52 is an example of a light weakening unit and light attenuation unit according to this disclosure. 【0060】 (Example of hardware configuration for a camera control device) Figure 14 shows an example of the hardware configuration of the imaging control device 2. As shown in Figure 14, the imaging control device 2 includes a processor 2a, RAM (Random Access Memory) 2b, HDD (Hard Disk Drive) 2c, communication interface 2d, input device 2e, display device 2f, and bus 2g. 【0061】 The entire imaging control device 2 is controlled by a processor 2a. The processor 2a may be, for example, a CPU (Central Processing Unit) or a DSP (Digital Signal Processor). The processor 2a is connected to a RAM 2b, an HDD 2c, a communication interface 2d, an input device 2e, and a display device 2f via a bus 2g. 【0062】 RAM2b temporarily stores the OS (Operating System) and application programs to be executed by processor 2a. RAM2b also temporarily stores various data necessary for processing by processor 2a. 【0063】 HDD2c stores the OS and application programs. It also stores various data necessary for processing by processor 2a. 【0064】 The communication interface 2d communicates with the imaging device 1 via wired or wireless connection. 【0065】 The input device 2e receives user input and outputs a signal corresponding to the user input to the processor 2a. The input device 2e may be, for example, a keyboard, a mouse, or a touch panel. 【0066】 The display device 2f displays an image based on the image signal output from the processor 2a. The display device 2f also displays setting information for taking an image. This setting information may be input and configured by the user. The display device 2f may also be a display 3. 【0067】 (Example of block configuration for a camera control device) Figure 15 is a diagram showing an example of the block configuration of the image capture control device 2. As shown in Figure 15, the image capture control device 2 includes a control unit 41, a storage unit 42, and a communication unit 43. The control unit 41's functions are realized, for example, by the processor 2a shown in Figure 14. The storage unit 42's functions are realized, for example, by both or one of the RAM 2b and HDD 2c shown in Figure 14. The communication unit 43's functions are realized, for example, by the communication interface 2d shown in Figure 14. The communication unit 43 may include a transmitter and a receiver. 【0068】 The control unit 41 includes a shooting control unit 41a, an illumination control unit 41b, and an image processing unit 41c. 【0069】 The shooting control unit 41a controls the rotation of the turntable 12 and the rotating frame 13, and controls the shooting device 1 to photograph the subject placed on the turntable 12. For example, the shooting control unit 41a controls the rotation of the turntable 12 and the rotating frame 13, and controls the shooting device 1 to photograph part or the entire circumference of the subject placed on the turntable 12. 【0070】 The lighting control unit 41b controls the lighting 51 in response to the user's operation of the input device 2e. For example, the lighting control unit 41b controls the lighting 51 to emit light from one of the multiple lighting 51 designated by the user. The lighting control unit 41b also controls the lighting 51 to emit light from one of the multiple light sources of the lighting 51 designated by the user. Furthermore, the lighting control unit 41b controls the lighting 51 to emit light of an intensity designated by the user. Furthermore, the lighting control unit 41b controls the lighting 51 to emit light of a wavelength designated by the user. 【0071】 The lighting control unit 41b is an example of an adjustment unit according to this disclosure. 【0072】 The image processing unit 41c generates an image based on subject information by performing the following processes and displays the image on the display device 2f or display 3. The image processing unit 41c converts subject information (depth data) acquired by the sensor 31 from each viewpoint (angle) into point cloud data. The image processing unit 41c synthesizes and interpolates the point cloud data and maps it to a predefined coordinate space. The image processing unit 41c performs processes such as image smoothing and outlier removal. The user can adjust the parameters in the above processes as appropriate by operating the input device 2e while checking the results of the above processes in real time on the screen of the display device 2f or display 3. 【0073】 (Acquiring subject information of transparent objects) Next, we will explain how to acquire subject information of a transparent object X placed on the turntable 12 when the shooting device 1 is not equipped with lighting 51, and how to acquire subject information of a transparent object X placed on the turntable 12 in this embodiment. 【0074】 First, with reference to Figure 16A, we will explain how to acquire subject information when the imaging device 1 is not equipped with lighting 51. Figure 16A is a schematic diagram of the imaging device 1 viewed from the side when the imaging device 1 is not equipped with lighting 51. 【0075】 Infrared light 1601 and 1602 emitted from sensor 31 are reflected by the surface of transparent object X, and the reflected infrared light 1601' and 1602' are captured (detected) by sensor 31. In addition, infrared light 1603 emitted from sensor 31 passes through (is transmitted through) transparent object X, is reflected by the surface of the normal wall (the inner wall of box 1a), and the reflected infrared light 1603' that has passed through transparent object X again is captured by sensor 31. 【0076】 In this case, the level of infrared reflected light 1603', which is noise, is significantly larger than the levels of infrared reflected light 1601' and 1602', making it difficult to obtain subject information of the transparent object X. 【0077】 Next, with reference to Figure 16B, the acquisition of subject information in the case where the imaging device 1 is equipped with lighting 51 (this embodiment) will be described. Figure 16B is a schematic diagram of the imaging device 1 viewed from the side when the imaging device 1 is equipped with lighting 51 (lighting 51 fixed to the side). 【0078】 Infrared light 1611 and 1612 emitted from sensor 31 are reflected by the surface of transparent object X, and the reflected infrared light 1611' and 1612' are captured by sensor 31. In addition, infrared light 1613 emitted from sensor 31 passes through transparent object X, is reflected by the surface of illumination 51, and the reflected infrared light 1613' that passes through transparent object X again is captured by sensor 31. 【0079】 In this case, the illumination and diffusion of light from the illumination 51 cause interference between the diffused light 1661 from the illumination 51 and the noise, which is the infrared reflected light 1613', resulting in the weakening of the infrared reflected light 1613'. This relatively strengthens the infrared reflected light 1611' and 1612', increasing the likelihood of properly acquiring subject information (and therefore point cloud data of the transparent object X). 【0080】 Next, with reference to Figure 16C, the acquisition of subject information in the case where the imaging device 1 is equipped with a light 51 and a polarizing plate 52 (this embodiment) will be described. Figure 16C is a schematic diagram of the imaging device 1 viewed from the side when the imaging device 1 is equipped with a light 51 (a light 51 fixed to the side) and a polarizing plate 52. Note that the polarizing plate 52 is shown as a planar shape rather than a spherical shape for clarity. 【0081】 The infrared light 1621 and 1622 emitted from the sensor 31 are reflected by the surface of the transparent object X, and the reflected infrared light 1621' and 1622' are captured by the sensor 31. In addition, the infrared light 1623 emitted from the sensor 31 passes through the transparent object X and the polarizing plate 52, is reflected by the surface of the illumination 51, and the reflected infrared light 1623' that passes through the polarizing plate 52 and the transparent object X again is captured by the sensor 31. 【0082】 In this case, as described above, the illumination and diffusion of light from the illumination 51 causes interference between the diffused light 1671 from the illumination 51 and the noise, which is the infrared reflected light 1623', weakening the infrared reflected light 1623'. Further weakening of the infrared reflected light 1623' occurs as the light passes through the polarizing plate 52. This relatively strengthens the infrared reflected light 1621' and 1622', increasing the likelihood of properly acquiring subject information of the transparent object X (and therefore, point cloud data of the transparent object X). Note that the point cloud data obtained from the infrared reflected light 1621' and 1622' cannot distinguish between the outside and inside of the transparent object X. However, by integrating point cloud data taken of the transparent object X from multiple angles, the shape of the transparent object X can be reproduced even without distinguishing between the outside and inside. Therefore, if it is necessary to distinguish between the outside and inside of the transparent object X, the obtained point cloud data should be analyzed after the imaging of the transparent object X is complete. Furthermore, by analyzing the time it takes for each of the infrared reflected light 1621' and 1622' to be acquired by the sensor 31, it can be estimated that the reflected light that returns earlier is the light reflected from the surface closer to the sensor 31. Therefore, even without photographing the transparent object X from multiple directions, it is possible to distinguish between the outside and inside of the transparent object X based on this analysis result. An example of when it is necessary to distinguish between the inside and outside of a transparent object X is when creating a computer graphics (CG) of the transparent object X. In creating CG, information on the normals of each surface is sometimes used to reproduce the reflection of light, but in this case, the direction of the normals is reversed depending on whether the surface of the transparent object X is facing front or back, so if the direction of the surface is wrong, an accurate CG cannot be reproduced. Therefore, in such cases, it is necessary to distinguish between the outside and inside surfaces of the transparent object X. 【0083】 Next, with reference to Figure 16D, the acquisition of subject information in the case where an additional light 51 is provided to the imaging device 1 (this embodiment) will be described. Figure 16D is a schematic diagram of the imaging device 1 viewed from the side when an additional light 51 (light 51 fixed to the top surface) is provided to the imaging device 1. 【0084】 Infrared light 1631 and 1632 emitted from sensor 31 are reflected by the surface of transparent object X, and the reflected infrared light 1631' and 1632' are captured by sensor 31. In addition, infrared light 1633 emitted from sensor 31 passes through transparent object X, is reflected by the surface of illumination 51, and the reflected infrared light 1633' that passes through transparent object X again is captured by sensor 31. 【0085】 In this case, as described above, the illumination and diffusion of light from the illumination 51 causes interference between the diffused light 1681 from the illumination 51 fixed to the side and the infrared reflected light 1633' which is noise, thereby weakening the infrared reflected light 1633'. Furthermore, the diffused light 1682 from the illumination 51 fixed to the top surface interferes with the infrared reflected light 1633' which is noise, thereby further weakening the infrared reflected light 1633'. As a result, the infrared reflected light 1631' and 1632' are relatively strengthened, increasing the possibility of appropriately acquiring subject information of the transparent object X (and therefore, point cloud data of the transparent object X). Note that the additional illumination is not limited to the illumination 51 fixed to the top surface, but may be placed, for example, at a predetermined position on the box 1a (corner or near a corner, etc.), a predetermined position on the turntable 12, a predetermined position on the rotating frame 13, etc. 【0086】 Next, referring to Figure 17A, we will explain how to acquire subject information when the imaging device 1 is not equipped with illumination 51, using pattern matching with a random dot pattern. Figure 17A is a schematic diagram showing the dot pattern 1700A as seen from the sensor 31 side when the imaging device 1 is not equipped with illumination 51. 【0087】 The infrared light emitted from sensor 31 is either reflected by the surface of the transparent object X and captured by sensor 31, or it passes through the transparent object X, is reflected by the surface of the normal wall (the inner wall of box 1a), and is captured by sensor 31. 【0088】 As described above, since the level of the latter reflected light is relatively large, the dot pattern 1700A within the solid rectangle in Figure 17A is the pattern that would normally be reflected from a wall surface. 【0089】 Therefore, as shown within the dashed rectangle which is an enlarged version of the upper-left corner rectangular area of ​​the solid rectangle of the transparent object X, the boundary of the transparent object X becomes indistinct in the block used during pattern matching. 【0090】 Furthermore, as shown in the dashed rectangle which is an enlarged version of the rectangular area within the solid rectangle of the transparent object X, reflected light (such as glare) from the transparent object X, indicated by an ellipse, becomes less detectable in the blocks used during pattern matching. 【0091】 Next, referring to Figure 17B, we will explain how to acquire subject information by pattern matching using a random dot pattern when the imaging device 1 is equipped with illumination 51. Figure 17B is a schematic diagram showing the dot pattern 1700B as seen from the sensor 31 side when the imaging device 1 is equipped with illumination 51. 【0092】 The infrared light emitted from the sensor 31 is either reflected by the surface of the transparent object X and captured by the sensor 31, or passes through the transparent object X, is reflected by the surface of the illumination 51 and captured by the sensor 31. 【0093】 As described above, the latter reflected light is weakened, making the dot pattern 1700B, shown by the dashed line within the solid rectangle in Figure 17B, difficult to detect. 【0094】 Therefore, as shown within the dashed rectangle which is an enlarged version of the upper-left corner rectangular area of ​​the solid rectangle of transparent object X, the boundary of transparent object X becomes clear in the block used during pattern matching. 【0095】 Furthermore, as shown in the dashed rectangle which is an enlarged version of the rectangular area within the solid rectangle of the transparent object X, reflected light from the transparent object X, indicated by an ellipse, becomes easier to detect in the blocks used during pattern matching. 【0096】 Thus, in this embodiment, the area around the boundary of the transparent object X is clarified and pattern matching is enabled, which increases the likelihood of appropriately acquiring subject information of the transparent object X (and therefore point cloud data of the transparent object X), and improves the accuracy of the point cloud data. 【0097】 (Example of the shooting system in operation) Figure 18 is a flowchart illustrating an example of the operation of the shooting system. The shooting system may, for example, start the operation of the flowchart shown in Figure 18 when the shooting start button (not shown) displayed on the display 3 is pressed while the door 1b is closed. It is assumed that before the flowchart shown in Figure 18 starts, the subject (transparent object) X is placed, for example, by the user, in a predetermined position (e.g., the center) on the turntable 12. 【0098】 The shooting control device 2 (shooting control unit 41a) controls the rotation of the sensor 31 and the turntable 12 to acquire depth data from a predetermined viewpoint (angle) (S1). For example, the viewpoint from which to shoot may be set in advance in the shooting system, or it may be set by the user. The shooting control device 2 (shooting control unit 41a) may control the rotation of the sensor 31 and the turntable 12 based on such a setting. 【0099】 When the rotation of the sensor 31 and the turntable 12 stops, the shooting control device 2 (lighting control unit 41b) controls the lighting 51 to emit diffused light (S2). 【0100】 The shooting control device 2 (shooting control unit 41a) controls the sensor 31 to capture depth data by photographing the subject placed on the turntable 12 while diffuse light is irradiated (S3). 【0101】 The shooting control device 2 (shooting control unit 41a) determines whether or not to shoot from a different viewpoint (S4). For example, the viewpoint from which to shoot may be predetermined in the shooting system, or it may be set by the user. The shooting control device 2 (shooting control unit 41a) may determine whether or not to shoot from a different viewpoint based on such a setting. 【0102】 If shooting from a different perspective (Yes in S4), the flow returns to S1. 【0103】 On the other hand, if no image is taken from a different viewpoint (No in S4), the image capture control device 2 (image processing unit 41c) converts the depth data transmitted from the sensor 31 into point cloud data (S5). Before or after S5, or in parallel with S5, the image capture control device 2 (lighting control unit 41b) controls the lighting 51 to stop the irradiation of diffused light. 【0104】 The image capture control device 2 (image processing unit 41c) performs image processing using the point cloud data (S6). 【0105】 The shooting control device 2 (image processing unit 41c) displays the image of the subject on the display 3 based on the image processing results (S7). Then the process ends. 【0106】 (Supplement to the embodiment) The imaging device 1 and imaging control device 2 described above can be considered as a single device and may be referred to as the imaging device. 【0107】 Multiple sensors 31 may be present as described above. When multiple sensors 31 are present, the shooting time of the subject can be shortened. For example, when shooting the entire circumference of a subject, it is not necessary to rotate the turntable 12 and the rotating frame 13 360 degrees, thus shortening the shooting time. 【0108】 In the above description, a photographic device 1 equipped with a turntable 12 and a rotating frame 13 was used as an example. However, the configuration of the photographic device 1 may differ from the structure described above, as long as it is possible to photograph the subject from any direction. For example, a platform that does not have a rotating function may be used as the platform on which the subject is placed. In this case, instead of the platform rotating, the range of motion of the camera can be increased. Alternatively, the rotating frame 13 may be omitted, and the position of the sensor (camera), etc., may be controlled using other movable parts other than the rotating frame, such as a robot arm. A platform that does not have a rotating function is an example of a platform according to this disclosure. The rotating frame 13 and the robot arm, etc., are examples of movable parts according to this disclosure. 【0109】 Furthermore, although the above describes a configuration using both the illuminator 51 and the polarizing plate 52, it is not necessary to use both the illuminator 51 and the polarizing plate 52 if the light transmitted through the transparent object X can be sufficiently attenuated. Therefore, either the illuminator 51 or the polarizing plate 52 may be used alone. 【0110】 Furthermore, the transparent object X exemplified above as the subject may be an object that is entirely transparent, or an object that is transparent only in part. Also, the transparent part of transparent object X may be completely transparent, or it may be semi-transparent. 【0111】 Furthermore, although the illumination 51 emits diffused light in the above configuration, it may also be configured to emit undiffused light. The illumination 51 is configured to weaken the light that passes through the transparent object X by interfering with the light emitted from the illumination 51, so the emitted light does not need to be diffused as long as weakening is achieved. However, if it is difficult to predict how the light that passes through the transparent object X will be refracted or reflected, it is advisable to use diffused light to make interference easier to generate regardless of how the light is refracted, etc. Also, if diffused light is used, the light emitted from the illumination 51 and reaching the sensor 31 after reflection, etc., will also be relatively weakened, so it is advisable to use diffused light if there is a risk that the light emitted from the illumination 51 may be misrecognized by the sensor 31. 【0112】 Furthermore, in the above description, the illumination 51 was described as an illumination that can also be used to adjust the brightness of the shooting environment, that is, an illumination capable of emitting visible light. However, since the illumination 51 only needs to be able to diffuse the light emitted by the sensor 31, it may also be configured to emit invisible light. In this case, since the light emitted by illumination 51 does not affect the brightness of the shooting environment (which can be perceived by the naked eye), the adjustment of the brightness of the shooting environment by other illuminations and the adjustment of the degree to which the light transmitted through the transparent object X by illumination 51 is diffused can be performed independently. However, since the wavelength of the reflected light does not necessarily perfectly match the wavelength of the light emitted by the sensor 31, it is desirable that the diffused light emitted by illumination 51 includes light with wavelengths other than the wavelength of the light emitted by the sensor 31. 【0113】 Furthermore, in the above, the illumination 51 was controlled to emit diffused light only after the rotation of the sensor 31 and turntable 12 had stopped. However, when continuously acquiring images of the transparent object X from multiple directions, the illumination 51 may be controlled to emit diffused light while the sensor 31 and turntable 12 are rotating. In this case, the part of the illumination 51 that emits light or the intensity of the light emission may be changed in accordance with the rotation of the sensor 31 and turntable 12. 【0114】 Furthermore, the point cloud data of subject X created as described above can be used for various processes that utilize the three-dimensional dimensions of subject X. For example, it could be used to create computer graphics that reproduce the three-dimensional shape of subject X, or to control robots that grasp or process subject X. 【0115】 (Effects of the embodiment) The imaging device 1 according to the embodiment of this disclosure includes a sensor 31 (imaging unit) fixed to a rotating frame 13 that irradiates infrared light onto a transparent object X placed on a turntable 12 to photograph the transparent object X from a certain angle (viewpoint) or a predetermined angle. The imaging device 1 also includes an illumination unit 51 and / or a polarizing plate 52 (light weakening unit) positioned opposite the sensor 31 with the transparent object X in between, which weakens the light transmitted through the transparent object X. 【0116】 With the above configuration, the light transmitted through the transparent object X by the sensor 31 is weakened. As a result, the reflected light from the transparent object X is relatively strengthened, which increases the likelihood of properly acquiring subject information (and therefore point cloud data of the transparent object X). 【0117】 (Summary of the embodiments) An imaging device according to one embodiment of the present disclosure comprises an imaging unit that irradiates light onto a subject that is at least partially transparent or translucent and measures the distance to the subject using the reflected light, and a light weakening unit that is positioned opposite the imaging unit with the subject in between and weakens the light that has passed through the subject. 【0118】 With the above configuration, the light emitted by the imaging unit and transmitted through the subject is weakened. As a result, the reflected light from the subject is relatively strengthened, which increases the likelihood of properly acquiring point cloud data of the subject. 【0119】 In this imaging device, the light attenuation unit is a light attenuation unit composed of a member that attenuates the light transmitted through the subject. 【0120】 With the above configuration, the light emitted by the imaging unit is attenuated as it passes through the light attenuation unit. This relatively strengthens the reflected light from the subject, thereby increasing the likelihood of properly acquiring point cloud data of the subject. 【0121】 In this imaging device, the light weakening unit is an optical interference unit that emits light that interferes with the light transmitted through the subject. 【0122】 With the above configuration, the light emitted by the imaging unit is weakened by interference from the light emitted from the optical interference unit. Therefore, the reflected light from the subject is relatively strengthened, which increases the likelihood of properly acquiring point cloud data of the subject. 【0123】 In this imaging device, the optical interference unit weakens the light emitted by the imaging unit by irradiating diffused light that interferes with the light transmitted through the subject. 【0124】 With the above configuration, the light emitted by the imaging unit and the diffused light interfere, weakening the light transmitted through the subject. Therefore, the reflected light from the subject is relatively strengthened, increasing the likelihood of obtaining accurate point cloud data of the subject. 【0125】 The imaging device further includes a light source unit that illuminates the subject with light and adjusts the brightness of the imaging environment, and the optical interference unit illuminates with light of a different wavelength than the light emitted by the light source unit. 【0126】 The above configuration increases the likelihood of properly acquiring point cloud data of the subject without affecting, or mitigating, the brightness of the shooting environment. 【0127】 The imaging device further includes an adjustment unit that adjusts the wavelength of the light emitted by the light source based on the color of the other subject when the subject to be photographed includes the subject and other subjects that do not have transparent or translucent parts. 【0128】 The above configuration allows other subjects to stand out when displaying an image. 【0129】 This imaging device further includes a mounting section on which the subject is placed and which is light-transmitting or light-semitransmitting. 【0130】 With the above configuration, the reflection of light emitted by the imaging unit from the mounting unit onto the subject is suppressed, thereby increasing the likelihood of properly acquiring point cloud data of the subject. 【0131】 In this imaging device, the imaging unit emits an infrared dot pattern as the light emitted by the imaging unit, and measures the distance to the subject by pattern matching. 【0132】 The above configuration can improve the accuracy of point cloud data. 【0133】 An imaging method according to one embodiment of the present disclosure is an imaging method in which an imaging unit irradiates light onto a subject that is at least partially transparent or translucent, and measures the distance to the subject using the reflected light, wherein a light weakening unit is positioned opposite the imaging unit with the subject in between to weaken the light that has passed through the subject. 【0134】 With the above configuration, the light emitted by the imaging unit and transmitted through the subject is weakened. As a result, the reflected light from the subject is relatively strengthened, which increases the likelihood of properly acquiring point cloud data of the subject. 【0135】 While embodiments have been described above with reference to the drawings, this disclosure is not limited to such examples. It will be apparent to those skilled in the art that various modifications or alterations can be conceived within the scope of the claims. Such modifications or alterations are also understood to fall within the technical scope of this disclosure. Furthermore, the components in the embodiments may be combined in any way without departing from the spirit of this disclosure. 【0136】 In the above-described embodiment, the notation "...part" used for each component may be replaced with other notations such as "...circuitry", "...assembly", "...device", "...unit", or "...module". 【0137】 This disclosure can be implemented in software, hardware, or software in conjunction with hardware. Each functional block used in the description of the above embodiments may be implemented in part or in whole as an integrated circuit (LSI), and each process described in the above embodiments may be controlled in part or in whole by a single LSI or a combination of LSIs. An LSI may consist of individual chips, or it may consist of a single chip that includes some or all of the functional blocks. An LSI may have data inputs and outputs. Depending on the degree of integration, LSIs may be referred to as ICs, system LSIs, super LSIs, or ultra LSIs. 【0138】 The method of integration is not limited to LSIs; it may also be implemented using dedicated circuits, general-purpose processors, or dedicated processors. Furthermore, FPGAs (Field Programmable Gate Arrays) that can be programmed after LSI manufacturing, or reconfigurable processors that allow for the reconfiguration of the connections and settings of circuit cells within the LSI, may also be used. This disclosure may be implemented as digital or analog processing. 【0139】 Furthermore, if advancements in semiconductor technology or related technologies lead to the emergence of integrated circuit technologies that replace LSIs, then naturally, these technologies can be used to integrate functional blocks. The application of biotechnology, for example, is a possible possibility. [Industrial applicability] 【0140】 One embodiment of the present disclosure is useful for a photography device that acquires point cloud data of a transparent object. [Explanation of Symbols] 【0141】 1. Imaging device 1a box 1b Door 2. Imaging control device 3 displays 11 Base 11a-11h Guide 12 Turntables 13 rotation frames 21a, 21b Drive unit 22a, 22b belt 31 Sensors 41 Control Unit 41a Image capture control unit 41b Lighting control unit 41c Image Processing Unit 42 Storage section 43 Communications Department 51 Lighting 52 Polarizing plates 61 Light source 61a LED 61b Diffuser 61c lens

Claims

[Claim 1] A photographic unit that illuminates a subject that is at least partially transparent or semi-transparent with light and measures the distance to the subject using the reflected light, A light weakening unit is positioned opposite the imaging unit with the subject in between, and weakens the light transmitted through the subject by irradiating it with light that interferes with the light transmitted through the subject, A photographic device equipped with the following features. [Claim 2] The light weakening unit weakens the light emitted by the imaging unit by irradiating diffused light that interferes with the light transmitted through the subject. The imaging apparatus according to claim 1. [Claim 3] The aforementioned photographic device further includes a light source unit that illuminates the subject with light and adjusts the brightness of the shooting environment. The light weakening unit emits light of a different wavelength than the light emitted by the light source unit. The imaging apparatus according to claim 1. [Claim 4] The imaging device further includes an adjustment unit that adjusts the wavelength of the light emitted by the light source based on the color of the other subject when the subject to be photographed includes the subject and other subjects that do not have transparent or translucent parts. The imaging apparatus according to claim 3. [Claim 5] The aforementioned photographic device further includes a mounting section on which the subject is placed and which is light-transmitting or light-semitransmitting. The imaging apparatus according to claim 1. [Claim 6] The imaging unit emits an infrared dot pattern as the light emitted by the imaging unit, and measures the distance to the subject by pattern matching. The imaging apparatus according to claim 1. [Claim 7] A photographic method comprising irradiating a subject that is at least partially transparent or semi-transparent with light using a photographic unit, and measuring the distance to the subject using the reflected light, A light weakening unit is positioned opposite the imaging unit with the subject in between, and emits light that interferes with the light transmitted through the subject, thereby weakening the light transmitted through the subject. Shooting method.

Images