WO2017098755A1

WO2017098755A1 - Stereoscopic imaging apparatus

Info

Publication number: WO2017098755A1
Application number: PCT/JP2016/075141
Authority: WO
Inventors: 輝幸西原
Original assignee: オリンパス株式会社
Priority date: 2015-12-08
Filing date: 2016-08-29
Publication date: 2017-06-15

Abstract

This stereoscopic imaging apparatus comprises: imaging elements (13, 14) for subjecting optical images of optical systems (11, 12) to photoelectric conversion and outputting image data; a cut-out region setting unit (24) which sets a first region of the imaging element (13) and a second region of the imaging element (14) so that a cross point (CRP), where a line extending from the center of the first region to the principal point of the optical system (11) and a line extending from the center of the second region to the principal point of the optical system (12) intersect, moves to a farther side or a closer side; and a stereo image generation unit (22) for generating stereo image data from image data of the first and second regions.

Description

Stereo image pickup device

The present invention relates to a stereo image capturing apparatus that generates stereo image data from a plurality of image data obtained by capturing a plurality of optical images formed by a stereo optical system.

Conventionally, a stereo image capturing apparatus that generates stereo image data from a plurality of image data obtained by capturing a plurality of optical images formed by a stereo optical system has been proposed. A plurality of image data obtained in such a stereo image capturing apparatus has parallax, and a technique for adjusting the parallax has also been proposed.

For example, Japanese Unexamined Patent Application Publication No. 2011-209634 discloses an imaging unit that generates a plurality of viewpoint images by imaging the same subject from a plurality of viewpoints, and adjusts the parallax of the plurality of viewpoint images to adjust the parallax. A compound eye camera is described that includes a three-dimensional processing unit that generates a stereoscopic image based on a plurality of viewpoint images that are generated, and a monitor that displays the generated stereoscopic image.

In Japanese Patent Laid-Open No. 2015-126288, the optical axes are set so that the same observation object is imaged from different viewpoints, and the focus position can be changed to a plurality of different focus distances. A frame that is detachably attached to a mirror unit having an imaging optical system for the left eye and an imaging optical system for the right eye, and at least of an imaging optical system for the left eye and an imaging optical system for the right eye An adjustment jig having an index held by the frame at positions corresponding to two or more specific in-focus distances is described.

Furthermore, Japanese Patent Application Laid-Open No. 2012-182746 discloses a motion within a moving image screen in which a plurality of three-dimensional images composed of two image data having parallax with each other are continuously reproduced in time series. An image processing apparatus including a moving object region detection unit that detects a moving object region including a certain subject and a parallax adjustment unit that performs adjustment to reduce parallax in two image data of the moving object region detected by the moving object region detection unit. Has been.

By the way, in the stereo image pickup device, for example, a line connecting the center of the right-eye image sensor and the principal point of the right-eye lens, the center of the left-eye image sensor, and the main of the left-eye lens. The image is displayed so that the subject at the cross point where the line connecting the points intersects can be seen as if it is located on the display screen, but closer to the cross point (closer side) than the cross point. Some other subject appears to jump out from the display screen. Such an image that appears to pop out may cause fatigue to the observer during long-time observation.

It is also possible to change the cross point by mechanically adjusting the distance between the left and right image sensors. In this case, however, it is necessary to move the image sensor in a direction perpendicular to the optical axis of the lens. Space is needed. For example, when a stereo image pickup apparatus is applied to an endoscope, the size in the direction perpendicular to the optical axis of the optical system (in the endoscope insertion portion) (Diameter) becomes large. Therefore, such a configuration is not suitable for a field where a reduction in diameter is required.

Furthermore, with respect to a subject on the far side (far side) from the cross point, the spread on the display screen between the right eye image and the right eye image is wider than the distance between the left and right eyes of the observer. If this occurs, eye strain may occur, causing a phenomenon such as the inability to stereoscopically view the subject.

The present invention has been made in view of the above circumstances, and provides a stereo image imaging device capable of adjusting the position of a cross point without enlarging the size in the direction perpendicular to the optical axis of the optical system. It is an object.

According to an aspect of the present invention, there is provided a stereo image capturing apparatus including a first optical system and a stereo optical system including a second optical system having a parallax with the first optical system, and the first optical system forms an image. A first image sensor that photoelectrically converts an optical image and outputs first image data; a second image sensor that photoelectrically converts an optical image formed by the second optical system and outputs second image data; and A first visual field center line from the center of the first region of the first image sensor to the principal point of the first optical system, and a center of the second region of the second image sensor to the principal point of the second optical system. From the first image data, a cut-out area setting unit for setting the first area and the second area so that a cross point where the second visual field center line intersects moves to the far side or the near side. The image data of the first area is cut out and the second image data A stereo image generating unit that generates a stereo image data cutting out image data of al the second region.

1 is a block diagram showing a configuration of a stereo image capturing device in Embodiment 1 of the present invention. FIG. 5 is a diagram illustrating a first example of a focus adjustment mechanism of the stereo optical system according to the first embodiment. FIG. 6 is a diagram illustrating a second example of the focus adjustment mechanism of the stereo optical system according to the first embodiment. FIG. 6 is a diagram illustrating a third example of the focus adjustment mechanism of the stereo optical system according to the first embodiment. FIG. 4 is a diagram illustrating an example of a focus adjustment area in a captured image in the first embodiment. In the said Embodiment 1, the figure which shows the example of the 1st area | region and 2nd area | region set so that a cross point may become a 1st to-be-photographed object. FIG. 4 is a diagram showing an example of a first area and a second area set so that a cross point becomes a second subject closer to the first subject in the first embodiment. FIG. 4 is a diagram illustrating an example of a depth of field when the focus is adjusted so as to focus on a first subject located at a cross point in the first embodiment. FIG. 4 is a diagram illustrating an example of a depth of field when the focus is adjusted so as to focus on a second subject located at a cross point in the first embodiment. 5 is a flowchart showing the operation of the stereo image capturing apparatus according to the first embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[Embodiment 1]
FIGS. 1 to 10 show Embodiment 1 of the present invention, and FIG. 1 is a block diagram showing a configuration of a stereo image pickup apparatus.

In the present embodiment, the stereo image pickup apparatus is applied to an endoscope apparatus. However, the present invention is not limited to this, and may be applied to apparatuses other than the endoscope apparatus.

As shown in FIG. 1, the stereo image pickup device includes an endoscope 1, a video processor 2, and a display device 3.

The endoscope 1 includes a stereo optical system including a first optical system 11 and a second optical system 12, a first imaging element 13, a second imaging element 14, and an operation unit 15.

The first optical system 11 and the second optical system 12 are arranged so as to have a parallax, and each of them is constituted by, for example, one lens or a combination of a plurality of lenses. Here, an example in which the first optical system 11 and the second optical system 12 are configured as independent optical systems has been described. However, the present invention is not limited to this, and at least a part of the optical elements is shared. It may be an optical system.

The first image sensor 13 photoelectrically converts the optical image formed by the first optical system 11 and outputs first image data.

The second image sensor 14 photoelectrically converts the optical image formed by the second optical system 12 and outputs second image data. The first image sensor 13 and the second image sensor 14 are not limited to being configured as independent image sensors, and a part of one image sensor is used as the first image sensor 13, and The other part may be configured to be used as the second image sensor 14.

The operation unit 15 is an operation circuit such as an operation switch (or an operation member such as an operation button) for inputting an operation signal for moving the cross point CRP to the far side (far side) or the near side (near side). ). Here, the cross point CRP is the first from the center 13c of the first region 13a of the first image sensor 13 toward the principal point 11p of the first optical system 11, as shown in FIGS. This is a point where the one visual field center line and the second visual field center line from the center 14 c of the second region 14 a of the second image sensor 14 toward the principal point 12 p of the second optical system 12 intersect.

In addition, although the example in which the operation unit 15 is provided in the endoscope 1 is shown here, the operation unit 15 may be configured as a foot switch or the like separate from the endoscope 1, or other configurations. It doesn't matter.

Also, the video processor 2 includes an image input unit 21, a stereo image generation unit 22, an image processing unit 23, a cutout region setting unit 24, a focus control unit 25, and a control unit 26.

The image input unit 21 is an image input circuit that inputs the first image data output from the first image sensor 13 and the second image data output from the second image sensor 14.

The stereo image generation unit 22 is a stereo image generation circuit that extracts the image data of the first area 13a from the first image data and generates the stereo image data by extracting the image data of the second area 14a from the second image data. .

The image processing unit 23 may reduce the sharpness of the image data corresponding to the distance region other than the distance region including the cross point CRP, as necessary, with respect to the stereo image data generated by the stereo image generation unit 22. An image processing circuit that performs image processing. Specifically, the process of reducing the sharpness of the image performed by the image processing unit 23 is a blurring process using, for example, a Gaussian filter. Further, the image processing unit 23 is adapted to general image processing necessary for displaying an image on the display device 3, for example, white balance processing, color matrix processing, gamma conversion processing, or the number of pixels of the display device 3. Also performs pixel number conversion processing.

The cut-out area setting unit 24 sets the first area 13a for the first image sensor 13 so that the above-described cross point CRP moves to the far side or the near side, and also sets the second area for the second image sensor 14. 14a is a cut-out area setting circuit for setting 14a. Information on the first region 13a and the second region 14a set by the cutout region setting unit 24 is output to the control unit 26 and used for control of the stereo image generation unit 22.

The focus control unit 25 controls an actuator 16 (see FIG. 2), which will be described later, to at least a part of a lens constituting the first optical system 11 (so-called focus lens) and a lens constituting the second optical system 12. This is a focus control circuit that drives at least a part (the same focus lens) and adjusts the focus position so as to focus on the cross point CRP.

The control unit 26 is a control circuit that controls each unit in the video processor 2 and controls the entire stereo image pickup device as necessary. The control unit 26 controls the stereo image generation unit 22 to generate stereo image data based on the first region 13a and the second region 14a set by the cutout region setting unit 24. Further, when the automatic focus adjustment mode is set, the control unit 26 controls the focus control unit 25 to adjust the focus position. Further, the control unit 26 is configured so that the first optical system 11 and the second optical system 12 are, for example, pan-focus optical systems and do not include a focus lens or the like (or focus positions so as to focus on the cross point CRP). The image processing unit 23 performs control so that the image processing unit 23 performs image processing even when the amount of blur of another subject at a different distance from the cross point CRP is small.

The display device 3 is a stereoscopic monitor (3D monitor) that displays stereo image data generated by the stereo image generating unit 22 and subjected to image processing by the image processing unit 23 so as to enable stereoscopic viewing. When a stereo image is displayed on the display device 3, a subject at the same distance as the cross point CRP is observed to be located on the display screen of the display device 3, and a subject farther than the cross point CRP is observed on the display device 3. The subject is observed so as to be located behind the display screen, and the subject closer to the cross point CRP jumps out of the display screen of the display device 3 and is observed.

Next, FIG. 2 is a diagram showing a first example of the focus adjustment mechanism of the stereo optical system. 2 and FIGS. 3 and 4 to be described later, the first optical system 11 and the second optical system 12 are both configured by combining one or more lenses. , The first lens 10a, the second lens 10b, and the third lens 10c. In the following, an example in which the second lens 10b of these three lenses is a focus lens will be described.

The example shown in FIG. 2 is an example in which the focus position is adjusted by moving the second lens 10b, which is a focus lens, in the direction of the optical axis by the driving force of the actuator 16 included in the focus adjustment mechanism.

The actuator 16 is composed of, for example, an electromagnetic actuator, and is driven based on the control of the focus control unit 25 to move the second lens 10b in the optical axis direction and automatically adjust the focus position.

FIG. 3 is a diagram showing a second example of the focus adjustment mechanism of the stereo optical system.

The example shown in FIG. 3 is an example in which the focus position is adjusted by moving the second lens 10b, which is a focus lens, in the optical axis direction with the wires 10h1 and 10h2.

The second lens 10b is held by, for example, the lens frame 10f, the wire 10h1 is connected to the lens frame 10f, and the wire 10h2 is connected to the lens frame 10f via the fixed pulley 10g. Here, the fixed pulley 10g is fixed in the distal end portion 1a (see FIGS. 6 to 9) of the endoscope 1 on the distal end side of the lens frame 10f.

With such a configuration, if the wire 10h1 is pulled, the second lens 10b moves to the image side (hand side), and if the wire 10h2 is pulled, the second lens 10b moves to the object side (tip side).

The wires 10h1 and 10h2 may be configured to be manually pulled (in this case, the focus adjustment mechanism is a manual focus adjustment mechanism) or configured to be pulled using an actuator or the like. It doesn't matter.

Furthermore, FIG. 4 is a diagram showing a third example of the focus adjustment mechanism of the stereo optical system.

The example shown in FIG. 4 is an example in which the focus position is adjusted by moving the second lens 10b, which is a focus lens, in the optical axis direction by the wire 10h and the tension spring 10i.

The second lens 10b is held by a lens frame 10f, for example, and the wire 10h and the tension spring 10i are connected to the lens frame 10f. Here, the tension spring 10i is disposed on the front end side of the lens frame 10f so as to apply a biasing force toward the front end side to the lens frame 10f.

With such a configuration, if the wire 10h is pulled, the second lens 10b moves to the image side (hand side), and if the wire 10h is relaxed, the second lens 10b is moved to the object side (tip) by the tensile force of the tension spring 10i. To the side). The wire 10h may be configured to be manually pulled (in this case, the focus adjustment mechanism is a manual focus adjustment mechanism), or may be configured to be pulled using an actuator or the like. .

Note that the focus adjustment mechanism of the stereo optical system is not limited to the first to third examples described with reference to FIGS. 2 to 4, and other configurations can be appropriately employed. For example, in the configuration shown in FIG. 4, if a wire that has flexibility but does not bend with a pressing force below a predetermined level is used as the wire 10h, the tension spring 10i can be omitted. In this configuration, when the wire 10h is pulled, the second lens 10b moves to the image side (hand side), and when the wire 10h is pressed, the second lens 10b moves to the object side (tip side).

Next, FIG. 5 is a diagram showing an example of the focus adjustment area 31A in the captured image 31. As shown in FIG.

Since the main subject observed by the user is often located at the center of the captured image 31, an example in which the focus adjustment area 31A is set at the center of the captured image 31 is shown here. However, it is not limited to this.

The cutout region setting unit 24 measures the subject distance with respect to the subject in the focus adjustment area 31A based on at least one of the first image data and the second image data input from the image input unit 21. Do. Since the first image data and the second image data have parallax, the cutout region setting unit 24 can measure the subject distance based on, for example, phase difference detection. However, the subject distance may be measured by performing contrast AF, and other distance measurement methods may be used without being limited thereto.

FIG. 6 is a diagram showing an example of the first area 13a and the second area 14a set so that the cross point CRP becomes the first subject OBJ1.

A stereo optical system including the first optical system 11 and the second optical system 12 described above, a first image sensor 13, and a second image sensor 14 are disposed at the distal end portion 1 a of the endoscope 1. Yes.

The first image sensor 13 photoelectrically converts the optical image formed by the first optical system 11 in the effective pixel region 13e to generate first image data. The second image sensor 14 photoelectrically converts the optical image formed by the second optical system 12 in the effective pixel area 14e, thereby generating second image data.

In such a configuration, when a stereo image is generated and displayed based on the image data of the first region 13a in the effective pixel region 13e and the image data of the second region 14a in the effective pixel region 14e, The cross point CRP includes the first visual field center line from the center 13c of the first region 13a of the first image sensor 13 to the principal point 11p of the first optical system 11, and the center 14c of the second region 14a of the second image sensor 14. Is a point where the second visual field center line going to the principal point 12p of the second optical system 12 intersects.

Note that the area sizes of the first area 13a and the second area 14a are set in advance, but the area size may be changed.

In the example shown in FIG. 6, the center 13c of the first region 13a coincides with the center of the effective pixel region 13e, the center 14c of the second region 14a coincides with the center of the effective pixel region 14e, and the cross point CRP. The first subject OBJ1 exists at the position of.

In addition, the second subject OBJ2 is present closer to the first subject OBJ1. Therefore, when a stereo image generated from the first image and the second image captured in the state shown in FIG. 6 is displayed on the display device 3, the first subject OBJ1 is displayed on the display screen of the display device 3. The second subject OBJ <b> 2 is observed by jumping forward from the display screen of the display device 3.

Therefore, as shown in FIG. 7, the cutout area setting unit 24 sets the first area 13a and the second area 14a so that the cross point CRP becomes the second subject OBJ2. FIG. 7 is a diagram illustrating an example of the first region 13a and the second region 14a set so that the cross point CRP becomes the second subject OBJ2 closer to the first subject OBJ1.

In order to align the cross point CRP with the second subject OBJ2, the first region 13a and the second region 14a are positioned symmetrically (the right eye system including the first optical system 11 and the first image sensor 13 and the second eye system). The left eye system including the optical system 12 and the second image sensor 14 is symmetrically positioned with respect to a plane of symmetry that mirrors the mirror plane), and is set to a position that is separated from the position shown in FIG. ing.

When a stereo image generated from the first image and the second image captured in the state as shown in FIG. 7 is displayed on the display device 3, the first subject OBJ1 is far behind the display screen of the display device 3. The second subject OBJ2 is observed so as to be positioned on the display screen of the display device 3. Therefore, there is no subject to be observed by jumping out from the display screen of the display device 3, and the cause of fatigue to the user can be eliminated.

Next, FIG. 10 is a flowchart showing the operation of the stereo image pickup apparatus. The operation of the stereo image pickup apparatus will be described with reference to FIG. 10 with reference to FIGS. 5 to 7 described above and FIGS.

When this process is started, the image input unit 21 inputs the first image data output from the first image sensor 13 and the second image data output from the second image sensor 14 (step S1).

Then, the control unit 26 determines whether or not this stereo image pickup device is set to the manual mode (step S2). Here, the manual mode is the first region 13a and the second region 14a (and the

centers

13c and 14c of the first and

second regions

13a and 14a with respect to the principal points 11p and 12p of the first and second optical systems 11 and 12). This is a mode in which the user manually inputs the cross point CRP) determined from the position of.

Here, when it is determined that the manual mode is set, the user manually inputs the first area 13a and the second area 14a from the operation unit 15 (step S3). The manual input here is not limited to directly designating the first area 13a and the second area 14a, but the user designates a preferred crosspoint CRP while stereoscopically viewing the stereo image displayed on the display device 3. This may be done, or other designation methods may be used. By adjusting the cross point CRP, it is possible to obtain an optimal stereoscopic effect according to individual differences for each user.

On the other hand, if it is determined in step S2 that the manual mode is not set, the cut-out area setting unit 24 measures the distance to the subject in the focus adjustment area 31A as described above (step S4).

Then, based on the setting value of the user in step S3 or based on the subject distance measured in step S2, the cutout region setting unit 24 determines the cross point CRP, and as a result, the first region 13a and the second region 14a is set (step S5). As a result, a cross point CRP preferred by the user or a cross point CRP that matches the measured subject distance is set.

Subsequently, the control unit 26 determines whether or not the setting for performing the automatic focus adjustment has been made (step S6).

Here, if it is determined that the automatic focus adjustment is set, as shown in FIGS. 8 and 9, the second lens 10b, which is the focus lens, is moved in the optical axis direction to crosspoint. The focal position is adjusted so as to focus on the CRP (step S7).

FIG. 8 shows an example of the depth of field FR0 when the focus is adjusted to focus on the first subject OBJ1 located at the cross point CRP, and FIG. 9 shows the first depth of field FR0 located at the cross point CRP. It is a figure which shows the example of the depth of field FR0 when focus adjustment is carried out so that it may focus on 2 object OBJ2.

In the example shown in FIG. 8, the second subject OBJ2 is not included in the depth of field FR0 when the focus is adjusted to focus on the first subject OBJ1. Accordingly, in the stereo image displayed on the display device 3, the first subject OBJ1 is clearly observed with high contrast, whereas the second subject OBJ2 is blurred and the contrast is lowered, so that the observation target is It becomes difficult to become. In this way, even when the user is observing while paying attention to the first subject OBJ1, it is possible to suppress the second subject OBJ2 from jumping out from the display screen of the display device 3 and being observed.

In the example shown in FIG. 9, the first subject OBJ1 is not included in the depth of field FR0 when the focus is adjusted to focus on the second subject OBJ2. Accordingly, in the stereo image displayed on the display device 3, the second subject OBJ2 is clearly observed with high contrast, whereas the first subject OBJ1 is blurred and the contrast is lowered, so that the observation subject is It becomes difficult to become.

At this time, on the display screen of the display device 3, the distance between the right eye image and the left eye image of the first subject OBJ1 farther than the cross point CRP is the second subject OBJ2 at the cross point CRP. Are displayed more apart than the distance between the right-eye image and the left-eye image. If the interval between the right-eye image and the left-eye image on the display screen is wider than the left-right eye interval of the user who is an observer, a state called divergence occurs and stereoscopic viewing is impossible, or the eyes Phenomenon that causes fine fatigue occurs.

On the other hand, as shown in FIG. 9, the focus adjustment is performed so that the second subject OBJ2 is brought into focus, so that the first subject OBJ1 is blurred and hardly becomes an observation target. Can be suppressed.

In step S7, the automatic focus adjustment is performed on the assumption of the configuration shown in FIG. 2 (or the configuration using an actuator or the like in FIG. 3 or FIG. 4), but instead of this, for example, FIG. Alternatively, in the configuration shown in FIG. 4, the focus adjustment may be performed manually by manually pulling the wires 10h or 10h1, 10h2.

Subsequently, the image input unit 21 inputs the first image data and the second image data captured after focusing on the cross point CRP (step S8).

If it is determined in step S6 that automatic focus adjustment has not been set, the control unit 26 determines whether image processing for changing the sharpness of the image data is automatically executed. Determine (Step S9)
Here, when it is determined that the setting for automatically executing the image processing is made, the image processing unit 23 performs image processing such as blurring processing on the stereo image data generated by the stereo image generating unit 22. It performs (step S10). By this image processing, a distance area other than a distance area including the cross point CRP (for example, a distance area entering the depth of field FR0) (a distance area closer to the depth of field FR0 as shown in FIG. 1). The sharpness of the image data corresponding to the FRN and the distance region FRF on the far side from the depth of field FR0 decreases.

This image processing can also suppress the phenomenon that accompanies the spread, and can prevent the subject from jumping out from the display screen of the display device 3 and being observed, similarly to the focus adjustment performed in step S7.

Then, when the first optical system 11 and the second optical system 12 are, for example, pan focus lenses and the focus adjustment in step S7 cannot be performed, this image processing is suitably applied.

Thereafter, based on the first image data and the second image data, the stereo image generation unit 22 generates stereo image data (step S11).

Here, when it is determined in step S9 that the setting for automatically executing image processing is not made, the stereo image generation unit 22 uses the first image data and the second image data input in step S1.

If it is determined in step S9 that the setting for automatically executing image processing is made, the stereo image generation unit 22 uses the first image data and the second image data that have undergone the image processing in step S10. Use.

Further, when it is determined in step S6 that the setting for performing the automatic focus adjustment is made, the stereo image generating unit 22 performs the focus adjustment so that the cross-point CRP is focused in step S7, and then the step is performed. The first image data and the second image data input in S8 are used.

Thus, the stereo image data generated in step S11 is displayed on the display screen of the display device 3 after performing general image processing for display by the image processing unit 23 (step S12).

Thereafter, it is determined whether or not the next image is further acquired and the stereo image display is performed (step S13).

On the other hand, if it is determined in step S13 that acquisition of the next image is unnecessary, this process is terminated.

In the above-described processing, when the focus is adjusted automatically (or manually) in step S7, the image processing in step S10 is not performed. However, the present invention is not limited to this, and both the focus adjustment and the image processing are performed. It doesn't matter. For example, the first and second

optical systems

11 and 12 have a large F value, or the focal lengths of the first and second

optical systems

11 and 12 are short. Even after the position is adjusted, the blur amount of another subject at a different distance from the cross point CRP may be small. In such a case, other subjects are in the way to stereoscopically view the subject of interest. Therefore, it is preferable to perform not only focus adjustment but also image processing.

According to the first embodiment, the cutout region setting unit 24 sets the first region 13a and the second region 14a so that the cross point CRP moves to the far side or the near side, and the stereo image generation unit 22 is set. Thus, the image data of the first area 13a is cut out from the first image data and the image data of the second area 14a is cut out from the second image data to generate stereo image data. The size in the direction perpendicular to the optical axis is not enlarged. Therefore, in particular, in the stereo image pickup apparatus in which the optical system is provided in the endoscope 1, the effect of not increasing the diameter of the endoscope 1 can be achieved.

Furthermore, since the position of the cross point CRP can be adjusted, it is possible to obtain an optimal stereoscopic effect that matches individual differences for each user. Further, by adjusting the position of the cross point CRP so that there is no subject to be observed by jumping out from the display screen of the display device 3, the user's feeling of fatigue can be reduced and long-time observation can be achieved. It becomes easy.

Since the focus control unit 25 adjusts the focal position so as to focus on the cross point CRP, even if there is a subject closer to the cross point CRP, the subject is displayed on the display device 3. It is possible to suppress the observation from jumping out from the screen. In addition, it is possible to suppress a phenomenon associated with spreading when the subject is located farther from the cross point CRP.

In addition, since the image processing unit 23 performs the image processing on the stereo image data so that the sharpness of the image data corresponding to the distance area other than the distance area including the cross point CRP is reduced, the first optical Even when the system 11 and the second optical system 12 are, for example, pan focus lenses, it is possible to suppress the subject from jumping out of the display screen of the display device 3 and being observed, and to suppress the phenomenon associated with spreading. .

At this time, by performing the image processing for adjusting the focal position and reducing the sharpness as automatic processing, manual operation is not necessary, and appropriate stereoscopic images can be observed while improving operability.

Furthermore, since the operation unit 15 for inputting an operation signal for moving the cross point CRP to the far side or the near side is provided in the endoscope 1, without taking a troublesome procedure such as requesting an operation from an assistant. A user who operates the endoscope 1 can easily perform a desired operation.

In addition, each part mentioned above may be comprised as a circuit. Any circuit may be mounted as a single circuit or a combination of a plurality of circuits as long as it can perform the same function. Furthermore, an arbitrary circuit is not limited to being configured as a dedicated circuit for performing a target function, and may be configured to perform a target function by causing a general-purpose circuit to execute a processing program. .

Although the stereo image capturing apparatus has been mainly described above, an operation method for operating the stereo image capturing apparatus as described above may be used, or a process for causing a computer to perform the same process as the stereo image capturing apparatus. It may be a program, a non-temporary recording medium readable by a computer for recording the processing program, or the like.

Furthermore, the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. In addition, various aspects of the invention can be formed by appropriately combining a plurality of components disclosed in the embodiment. For example, you may delete some components from all the components shown by embodiment. Furthermore, the constituent elements over different embodiments may be appropriately combined. Thus, it goes without saying that various modifications and applications are possible without departing from the spirit of the invention.

This application is filed on the basis of the priority claim of Japanese Patent Application No. 2015-239449 filed in Japan on December 8, 2015. It shall be cited in the drawing.

Claims

A stereo optical system including a first optical system and a second optical system having parallax with the first optical system;
A first imaging device that photoelectrically converts an optical image formed by the first optical system and outputs first image data;
A second imaging element that photoelectrically converts an optical image formed by the second optical system and outputs second image data;
A first visual field center line from the center of the first region of the first image sensor to the principal point of the first optical system, and from the center of the second region of the second image sensor to the principal point of the second optical system. A cut region setting unit that sets the first region and the second region such that a cross point where the second visual field center line toward the second point moves to the far side or the near side;
A stereo image generator that cuts out the image data of the first area from the first image data and cuts out the image data of the second area from the second image data to generate stereo image data;
A stereo image pickup device comprising:
The first optical system and the second optical system are configured by combining one or more lenses,
2. The focus adjustment mechanism of the stereo optical system for driving at least a part of the lenses constituting the first optical system and at least a part of the lenses constituting the second optical system. The stereo imaging device described in 1.
The focus adjustment mechanism is a manual focus adjustment mechanism that manually moves at least a part of the lens constituting the first optical system and at least a part of the lens constituting the second optical system in the optical axis direction. The stereo image pickup device according to claim 2, wherein
The focus adjustment mechanism includes an actuator that moves at least a part of the lens constituting the first optical system and at least a part of the lens constituting the second optical system in the optical axis direction;
The stereo image capturing apparatus according to claim 2, further comprising a focus control unit that controls the actuator to adjust a focus position so as to focus on the cross point.
An image processing unit that performs image processing on the stereo image data generated by the stereo image generation unit so that the sharpness of the image data corresponding to the distance region other than the distance region including the cross point is reduced; The stereo image pickup device according to claim 1, wherein:
An operation unit for inputting an operation signal for moving the cross point to the far side or the near side;
An endoscope provided with the stereo optical system, the first image sensor, the second image sensor, and the operation unit;
The stereo image capturing apparatus according to claim 1, further comprising: