Image Processing Apparatus

An image processing apparatus for measuring a height of a measurement object, the apparatus comprising:

• a lighting device including
• a first light projection unit provided with a first light source that emits diffused light, and a first pattern light generation unit that sequentially generates a plurality of first measuring pattern lights having different patterns by receiving diffused light emitted from the first light source, to irradiate the measurement object with the first measuring pattern lights,
• a second light projection unit provided with a second light source that emits diffused light, and a second pattern light generation unit that sequentially generates a plurality of second measuring pattern lights having different patterns by receiving diffused light emitted from the second light source, to irradiate the measurement object with the second measuring pattern lights, and
• a housing that includes an opening at a center and integrally supports the first light projection unit and the second light projection unit in a state where the first light projection unit and the second light projection unit are separated from each other in a circumferential direction of the opening;
• an imaging device that receives the first measuring pattern lights reflected from the measurement object through the opening of the housing to generate a plurality of first pattern images, and receives the second measuring pattern lights reflected from the measurement object through the opening of the housing to generate a plurality of second pattern images, wherein the imaging device is provided separately from the lighting device;
• an angle image generation unit that generates a first angle image with each pixel having irradiation angle information of the first measuring pattern lights on the measurement object based on the plurality of first pattern, images, and a second angle image with each pixel having irradiation angle information of the second measuring pattern lights on the measurement object based on the plurality of second pattern images;
• and
• a height measurement unit that measures a height of the measurement object in a direction of the central axis of the lighting device in accordance with irradiation angle information of each pixel in the first angle image and irradiation angle information of each pixel in the second angle image generated by the angle image generation unit, and relative position information of the first light projection unit and the second light projection unit in the housing.