Imaging device, image processing device, storage medium, and imaging system

An imaging device, comprising:

• an imager that images an object from particular positions;
• a distance measurer that measures distances from the particular positions to the object;
• an object data generator that uses an image taken by the imager and measurement results of the distance measurer to sequentially arrange unit data including pairs each having a pixel value in the taken image and the distance corresponding to the pixel value, while maintaining a first arrangement order that includes an arrangement order of pixel values in the taken image and a pixel reading order in the taken image, and generate object data;
• and
• a point cloud data generator that sequentially arranges point data including positional information on points on the object based on the object data in the first arrangement order to generate point cloud data.

An imaging system, comprising:

• a first imager that images an object from a particular position;
• a first distance measurer that measures a distance from the particular position to the object;
• a first object data generator that uses an image taken by the first imager and a measurement result of the first distance measurer to sequentially arrange unit data including pairs each having a pixel value in the image taken by the first imager and the distance corresponding to the pixel value in the image taken by the first imager, while maintaining a first arrangement order that includes an arrangement order of the pixel values in the image taken by the first imager and a pixel reading order in the image taken by the first imager, and generate first object data;
• a first point cloud data generator that sequentially arranges point data including positional information on points on the object based on the first object data in the first arrangement order to generate first point cloud data;
• a second imager that images the object from a position different from the particular position;
• a second object data generator that sequentially arranges unit data including pairs each having an image taken by the second imager and a distance from the different position to the object, while maintaining a second arrangement order that includes an arrangement order of the pixel values in the image taken by the second imager and a pixel reading order in the image taken by the second imager, and generate second object data;
• a second point cloud data generator that sequentially arranges point data including positional information on points on the object based on the second object data in the second arrangement order to generate second point cloud data;
• and
• a model integrator that integrates first model information based on the first point cloud data and second model information based on the second point cloud data.