Photosensor processing for improved line scanner performance

A method performed by a device having a projector, a camera with a photosensitive array, and a processor, the method comprising:

• projecting with the projector a first line of light onto an object;
• capturing with the camera a first image of the first line of light on the object within a first window subregion of the photosensitive array, the first image producing at least two collections of pixel readout values from the photosensitive array, the at least two collections including a first collection of pixel readout values having a first exposure time and a second collection of pixel readout values having a second exposure time greater than the first exposure time, the first collection of pixel readout values being assigned to even rows within the first window, the second collection of pixel readout values being assigned to odd rows within the first window, wherein a first size of the first window subregion is based at least in part on a first number of rows and a first number of columns within the photosensitive array;
• determining with the at least one processor a plurality of three-dimensional (3D) coordinates of points on the object based on the first line of light, the first image of the line of light, the first exposure time, and the second exposure time;
• determining with the at least one processor a second window subregion within the first window subregion based at least in part on the captured image of the first line of light on the object, a second size of the second window subregion based on at least one of:
• a second number of rows of the photosensitive array, that are different from the first number of rows of the photosensitive array, and
• a second number of columns of the photosensitive array, that are different from the first number of columns of the photosensitive array;
• and
• projecting with the projector a second line of light on the object;
• capturing with the camera a second image of the second line of light on the object within the second window subregion;
• determining with the at least one processor a plurality of 3D coordinates of second points on the object based at least in part on the second line of light and the second image of the second line of light;
• storing the plurality of 3D coordinates of the points determined for the first image, and the plurality of 3D coordinates of second points on the object based on the second size of the second window subregion.

A method performed by a device having a projector, a camera with a photosensitive array, and at least one processor, the method comprising:

• projecting a first line of light onto an object;
• capturing with the camera a first image of the first line of light on the object within a first window subregion, the first image producing two collections of pixel readout values, the two collections including a first collection of pixel readout values having a first exposure time and a second collection of pixel readout values having a second exposure time, the first collection of pixel readout values being assigned to odd rows, the second collection of pixel readout values being assigned to even rows, wherein a first size of the first window subregion is based at least in part on a first number of rows and a first number of columns of the photosensitive array;
• determining three-dimensional (3D) coordinates of points on the object based at least in part on the projected first line of light, the captured first image of the first line of light, the first exposure time, and the second exposure time;
• determining a second window subregion based at least in part on the captured image of the first line of light on the object, wherein a second size of the second window subregion is based at least in part on:
• a second number of rows of the photosensitive array, that are different from the first number of rows of the photosensitive array,
• a second number of columns of the photosensitive array, that are different from the first number of columns of the photosensitive array;
• and
• storing the determined 3D coordinates, and 3D coordinates of second points on the object based at least in part on the second size of the second window subregion.