Three-dimensional coordinate measuring apparatus and three-dimensional coordinate measuring method

A method of controlling a three-dimensional coordinate measuring apparatus, comprising:

• inputting a captured image of an object in which internal scattering can occur onto which a pattern that has bright section areas and dark section areas is projected;
• estimating an internal scattering light component in a first area that corresponds to a bright section area of the projected pattern in the captured image input in the inputting step, based on a luminance value of a second area that corresponds to a dark section area of the projected pattern;
• and
• deriving three-dimensional coordinates of the object based on data of the captured image and the internal scattering light component estimated in the estimating step,
• wherein the pattern is constituted by a plurality of measuring lines that are a combination of bright sections and dark sections, and
• wherein deriving the three-dimensional coordinates of the object includes identifying the measuring lines based on a location of the first area or the second area, and calculating three-dimensional coordinates of the object.

A non-transitory computer-readable storage medium storing a program for, by being read and executed by a computer, causing the computer to function as a three-dimensional coordinate measuring apparatus, the computer executing the program to execute a method comprising:

• inputting a captured image of an object in which internal scattering can occur onto which a pattern that has bright section areas and dark section areas is projected;
• estimating an internal scattering light component in a first area that corresponds to a bright section area of the projected pattern in the captured image input in the inputting step, based on a luminance value of a second area that corresponds to a dark section area of the projected pattern;
• and
• deriving three-dimensional coordinates of the object based on data of the captured image and the internal scattering light component estimated in the estimating step,
• wherein the pattern is constituted by a plurality of measuring lines that are a combination of bright sections and dark sections, and
• wherein deriving the three-dimensional coordinates of the object includes identifying the measuring lines based on a location of the first area or the second area, and calculating three-dimensional coordinates of the object.