Image Processing Apparatus

An image processing apparatus which measures a height of a measuring object, wherein the image processing apparatus includes

• an illumination housing having four blocks which irradiate light from four different directions and having an opening formed at a center of the illumination housing,
• a first light projecting section provided in a first block and including a first light source that emits diffused light, and a first pattern light generating section which receives the diffused light emitted from the first light source and generates a plurality of first measurement pattern lights having different patterns,
• a second light projecting section provided in a second block which faces the first block via a central axis of the illumination housing and including a second light source that emits diffused light, and a second pattern light generating section which receives the diffused light emitted from the second light source and generates a plurality of second measurement pattern lights having different patterns,
• a third light projecting section provided in a third block and including a third light source that emits diffused light, and a third pattern light generating section which receives the diffused light emitted from the third light source and generates a plurality of third measurement pattern lights having different patterns,
• a fourth light projecting section provided in a fourth block which faces the third block via the central axis and including a fourth light source that emits diffused light, and a fourth pattern light generating section which receives the diffused light emitted from the fourth light source and generates a plurality of fourth measurement pattern lights having different patterns,
• a light projection control section which controls the first light projecting section, the second light projecting section, the third light projecting section, and the fourth light projecting section,
• an imaging device which receives the first measurement pattern light reflected from the measuring object to generate a plurality of first pattern image sets, receives the second measurement pattern light reflected from the measuring object to generate a plurality of second pattern image sets, receives the third measurement pattern light to generate a plurality of third pattern image sets, and receives the fourth measurement pattern light reflected from the measuring object to generate a plurality of fourth pattern image sets,
• a calibration executing section which acquires, based on the first pattern image sets, the second pattern image sets, the third pattern image sets, the fourth pattern image sets, first relative position information between the first light projecting section and the second light projecting section, and second relative position information between the third light projecting section and the fourth light projecting section, a coordinate position of the measuring object in an illumination coordinate system in which a direction along the central axis of the opening of the illumination housing is a Z coordinate and a plane orthogonal to the Z coordinate is X coordinate and Y coordinate, and estimates a camera parameter that associates the illumination coordinate system with a camera coordinate system of the imaging device using the coordinate position, and
• a height measuring section which acquires height information of the measuring object based on the first pattern image sets, the second pattern image sets, the third pattern image sets, the fourth pattern image sets captured by driving at least one of the first light projecting section, the second light projecting section, the third light projecting section, and the fourth light projecting section, and the camera parameter.