Measuring system providing shape from shading

A measuring system for measuring an object, the measuring system comprising a measuring device and a controlling and processing unit,

• the measuring device comprises at least one camera, a first optical sensor and a second optical sensor,
• the first optical sensor provides a first field of view and is configured for collecting first measuring data representing a first part of the object,
• the second optical sensor provides a second field of view and is configured for collecting second measuring data representing a second part of the object,
• the second optical sensor comprises at least three light sources configured for illuminating the object from at least three different poses,
• the controlling and processing unit comprises a second capturing mode which is configured to provide the second measuring data by:
• illuminating the object from the at least three different poses by performing at least three illumination steps with each illumination step providing illumination by one of the three light sources,
• capturing at least three images by capturing an image for each of the illumination steps,
• deriving surface topography information based on processing the at least three images and the at least three different poses of the light sources, and
• the controlling and processing unit comprises a referencing functionality which is configured to provide registered measuring data by referencing the first measuring data with the second measuring data,
• wherein the controlling and processing unit comprises a motion compensation functionality which is configured to provide compensated surface topography information by:
• tracking of a position and/or orientation of the object relative to the measuring device while performing the second capturing mode,
• determining a relative orientation information for each of the at least three images based on the tracking,
• computing an adjusted orientation for at least one of the at least three images for providing corresponding orientations of the at least three images, and
• deriving the compensated surface topography information by deriving the surface topography information by additionally processing the adjusted orientation.

A measuring system for measuring an object, the measuring system comprising a measuring device and a controlling and processing unit,

• the measuring device comprises at least one camera, a first optical sensor and a second optical sensor,
• the first optical sensor provides a first field of view and is configured for collecting first measuring data representing a first part of the object,
• the second optical sensor provides a second field of view and is configured for collecting second measuring data representing a second part of the object,
• the second optical sensor comprises at least three light sources configured for illuminating the object from at least three different poses,
• the controlling and processing unit comprises a second capturing mode which is configured to provide the second measuring data by:
• illuminating the object from the at least three different poses by performing at least three illumination steps with each illumination step providing illumination by one of the three light sources,
• capturing at least three images by capturing an image for each of the illumination steps,
• deriving surface topography information based on processing the at least three images and the at least three different poses of the light sources, and
• the controlling and processing unit comprises a referencing functionality which is configured to provide registered measuring data by referencing the first measuring data with the second measuring data,
• wherein the measuring device comprises a hand-held body and the at least one camera, the first optical sensor and the second optical sensor are arranged in or at the hand-held body.