Reality capture device

A reality capture device configured to perform a measuring process for generating a digital representation of an environment, the device comprising:

• a body defining a first axis,
• an imaging unit with one or more 2D cameras configured to provide two-dimensional image data of the environment,
• a ToF camera arrangement configured for capturing three-dimensional point-cloud data of the environment and comprising at least two time-of-flight cameras, wherein:
• each time-of-flight camera comprises a sensor array and one or more laser emitters,
• the sensor array of each of the time-of-flight cameras has an optical axis and is configured to receive reflections of light pulses emitted by the one or more laser emitters of the respective time-of-flight camera, and
• the at least two time-of-flight cameras are arranged around the first axis so that each sensor array has one or two other sensor arrays as a neighbouring sensor array, wherein no angle about the first axis between the optical axes of a sensor array and one of its neighbouring sensor arrays is larger than
• 360
• ⁢
• °
• n
• +
• 20
• ⁢
• °
• ,
• where n is the number or time-of-flight cameras arranged around the first axis, wherein:
• each of the time-of-flight cameras has a rectangular sensor array with a longitudinal axis that is parallel to two sides of the sensor array and orthogonal to the respective optical axis, wherein each sensor array is arranged so that its longitudinal axis is tilted relative to a second axis that is orthogonal to the first axis so that an angle (α) between the longitudinal axis and the second axis is between 10° to 45°, and/or
• the sensor arrays are arranged tilted relative to the first axis, so that an angle (β) between the first axis and the optical axis of each time-of-flight camera is between 45° and 65°,
• wherein each sensor array has an aspect ratio of 4:3.

A reality capture device configured to perform a measuring process for generating a digital representation of an environment, the device comprising:

• a body defining a first axis,
• an imaging unit with one or more 2D cameras configured to provide two-dimensional image data of the environment,
• a ToF camera arrangement configured for capturing three-dimensional point-cloud data of the environment and comprising at least two time-of-flight cameras, wherein:
• each time-of-flight camera comprises a sensor array and one or more laser emitters,
• the sensor array of each of the time-of-flight cameras has an optical axis and is configured to receive reflections of light pulses emitted by the one or more laser emitters of the respective time-of-flight camera, and
• the at least two time-of-flight cameras are arranged around the first axis so that each sensor array has one or two other sensor arrays as a neighbouring sensor array, wherein no angle about the first axis between the optical axes of a sensor array and one of its neighbouring sensor arrays is larger than
• 360
• ⁢
• °
• n
• +
• 20
• ⁢
• °
• ,
• where n is the number of time-of-flight cameras arranged around the first axis, wherein two or more 2D cameras, are arranged around the first axis, wherein:
• the 2D cameras are arranged and configured for jointly covering at least a visual field of view covered by the sensor arrays;
• the 2D cameras are arranged and configured for jointly covering at least 75% of a hemispherical visual field, particularly at least 90%;
• and/or
• at least a subset of the 2D cameras are ultra-high-definition cameras.

A reality capture device configured to perform a measuring process for generating a digital representation of an environment, the device comprising:

• a body defining a first axis,
• an imaging unit with one or more 2D cameras configured to provide two-dimensional image data of the environment,
• a ToF camera arrangement configured for capturing three-dimensional point-cloud data of the environment and comprising at least two time-of-flight cameras, wherein:
• each time-of-flight camera comprises a sensor array and one or more laser emitters,
• the sensor array of each of the time-of-flight cameras has an optical axis and is configured to receive reflections of light pulses emitted by the one or more laser emitters of the respective time-of-flight camera, and
• the at least two time-of-flight cameras are arranged around the first axis so that each sensor array has one or two other sensor arrays as a neighbouring sensor array, wherein no angle about the first axis between the optical axes of a sensor array and one of its neighbouring sensor arrays is larger than
• 360
• ⁢
• °
• n
• +
• 20
• ⁢
• °
• ,
• where n is the number of time-of-flight cameras arranged around the first axis, wherein the imaging unit comprises a fisheye-camera arrangement with a high-resolution 2D camera and a fisheye lens, the camera and the fisheye lens of the fisheye-camera arrangement being arranged and configured to capture image data covering a visual field of 360° around the first axis and at least 160° around a second axis that is orthogonal to the first axis, wherein:
• the high-resolution 2D camera and the fisheye lens of the fisheye-camera arrangement are arranged and configured to capture image data covering a visual field of 360° around the first axis and at least 190° around the second axis,
• the high-resolution 2D camera has a first optical axis that is parallel to the first axis or coincides with the first axis, and/or
• the high-resolution 2D camera is an ultra-high-definition camera, particularly configured to provide images with at least 20 Megapixels.