| 主权项 |
1. A camera system comprising:
a projector selectively operable to project a pattern of electromagnetic radiation toward a target object, the electromagnetic radiation comprising at least three different wavelengths including a first wavelength, a second wavelength, and a third wavelength; a sensor directed toward the target object to receive reflected electromagnetic radiation from the target object; a storage device; and one or more processors coupled to the projector, sensor, and storage device; wherein, by the one or more processors executing software loaded from the storage device, the one or more processors are operable to: send one or more control signals to the projector causing the projector to project the pattern of electromagnetic radiation toward the target object at each of the first, second and third wavelengths; store into the storage device a plurality of image data received from the sensor, the image data corresponding to the reflected electromagnetic radiation detected by the sensor at each of the first, second, and third wavelengths; process the image data to compute a refractive normal according to a wavelength dispersion represented by differences in the image data at each of the first, second, and third wavelengths; process the image data to compute an interface distance corresponding to a distance from a center point of the sensor to a first refractive interface nearest the sensor according to the refractive normal; generate a 3D representation of the target object by back projecting each pixel of the image data at the first, second, and third wavelengths in order to determine an object point location according to the refractive normal and interface distance; and store the 3D representation of the target object in the storage device. |
