CN101516041B - Control method and control system for three-dimensional video acquisition - Google Patents
Control method and control system for three-dimensional video acquisition Download PDFInfo
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Abstract
The invention discloses a control method and a control system for three-dimensional video acquisition, belonging to the technical field of scene acquisition. The method comprises the following steps that: a control center computer configures control strategies of the three-dimensional video acquisition and sends the control strategies to a master controller; the master controller receives the control strategies and sends the control strategies of slave controllers to the corresponding slave controllers according to identification numbers of the slave controllers, wherein the slave controllers are in charge of directly controlling image acquisition of the video acquisition devices and light control of light devices; the master controller periodically sends synchronous signals to each slave controller; and each slave controller sends a driving signal to the video acquisition devices and light devices according to the respective control strategy, and adjusts self signal phase according to the synchronous signals.
Description
Technical field
The present invention relates to scene acquisition technique field, particularly the control method of three-dimensional video acquisition and system.
Background technology
The three-dimensional world of reproducing ours on every side on screen truly is the target of people's unremitting pursue always.In recent years, along with the fast development of free 3 D display technology, the 3 D stereo video can allow people experience the breathtaking third dimension and the sense of reality, does not require that simultaneously the onlooker wears anaglyph spectacles or other special equipments.Therefore, it is considered to one of developing direction of video technique of new generation, has obtained research circle and industrial quarters is more and more paid close attention to.
At the collection of real scene, many universities and scientific research institution have have designed and Implemented many three-dimensional video acquisitions system in the world:
The University of California has realized a two-dimentional acquisition system that is used under the variation illumination condition at the static person face, but static two-dimensional object can only be gathered by this system.Afterwards, the University of California has realized a various visual angles acquisition system that is used under synthetic virtual illumination condition at dynamic human body again.But this system is because be based on image, so only used a camera to gather, this also causes this system can not carry out real three-dimensional acquisition.
University of Southern California has realized a two-dimentional acquisition system that is used under the variation illumination condition at dynamic human face, but the high-speed camera that this system adopts is too expensive, consider and system can only be installed by a video camera, carry out the collection of two-dimentional dynamic scene in single visual angle.Therefore this system does not realize the IMAQ of various visual angles, and this system cost is very high, has limited its application.
Surrey Roehampton has realized a 3D collection system that is used under constant illumination condition at dynamic human body, and this system is not owing to consider that illumination to gathering the influence of scene, can not realize the scene collection under any illumination condition.
After prior art was analyzed, the inventor finds: existing systems all can not be carried out the multi-angle video collection to the dynamic scene under any illumination.
Summary of the invention
For the dynamic scene that is implemented under any illumination can carry out the multi-angle video collection, the embodiment of the invention provides a kind of control method and system of three-dimensional video acquisition.Described technical scheme is as follows:
A kind of control method of three-dimensional video acquisition may further comprise the steps: the control strategy of control centre's computer configuration three-dimensional video acquisition also sends it to master controller, and described control strategy comprises the control strategy of all slave controllers; Described master controller receives described control strategy, and the control strategy of described slave controller is issued corresponding slave controller according to the identification number of slave controller, wherein, described slave controller is responsible for the illumination control of the IMAQ and the light irradiation apparatus of direct control of video collecting device; Described master controller periodically sends synchronizing signal to each described slave controller; Each described slave controller is respectively according to separately control strategy, sends drive signal and adjusts the signal phase of self to video capture device and light irradiation apparatus and according to described synchronizing signal; Wherein, the control strategy of described slave controller comprises: the duration of a trigger action of described video capture device and/or described light irradiation apparatus and the trigger action of the duration of an attonity and described video capture device and/or described light irradiation apparatus and the sequential list of attonity.
Further, described master controller receives described control strategy and is specially: described master controller receives described control strategy by serial ports.
Described identification number according to slave controller is issued corresponding slave controller to the control strategy of described slave controller and is specially: according to the identification number of slave controller, the control strategy of described slave controller is issued described slave controller by the CAN bus.
A kind of control system of three-dimensional video acquisition comprises: control centre's computer, and be used to dispose the control strategy of three-dimensional video acquisition and send it to master controller, described control strategy comprises the control strategy of all slave controllers; A described master controller is used to receive described control strategy and according to the identification number of slave controller the control strategy of described slave controller is issued corresponding slave controller, and periodically sends synchronizing signal to each described slave controller; A plurality of described slave controllers, be used for the illumination control of the IMAQ and the light irradiation apparatus of responsible direct control of video collecting device, and send drive signal to video capture device and light irradiation apparatus, and adjust the signal phase of self according to described synchronizing signal according to the control strategy of described slave controller; Wherein, the control strategy of described slave controller comprises: the duration of a trigger action of described video capture device and/or described light irradiation apparatus and the trigger action of the duration of an attonity and described video capture device and/or described light irradiation apparatus and the sequential list of attonity.
Particularly, described master controller comprises: serial interface unit is used to receive from the control strategy of described control centre computer and sends to main control unit;
Described main control unit, be used for receiving described control strategy by described serial interface unit, identification number according to slave controller, by main CAN Bus Interface Unit the control strategy of described slave controller is issued corresponding slave controller, and periodically send synchronizing signal to each described slave controller by described main CAN Bus Interface Unit; Described main CAN Bus Interface Unit is used for described control strategy and described synchronizing signal that described main control unit sends are sent to corresponding described slave controller by the CAN bus.
Further, described master controller also comprises the voltage-regulation unit, described voltage-regulation unit comprises pressurizer and auxiliary circuit thereof, is used for converting the voltage of Switching Power Supply input to supply power voltage that suitable described serial interface unit, CAN Bus Interface Unit and main control unit require respectively.
Particularly, described slave controller comprises: from the CAN Bus Interface Unit, be used to receive described control strategy and the described synchronizing signal that described master controller sends and send to from control unit; Described from control unit, be used for transmitting control signal to video capture device driver element and light irradiation apparatus driver element respectively according to described control strategy and described synchronizing signal; Described video capture device driver element is used for triggering described video capture device according to described control signal from control unit; Described light irradiation apparatus driver element is used for according to described control signal from control unit, controls the bright dark of described light irradiation apparatus.
Further, described slave controller also comprises: the photoelectricity isolated location, comprise photoisolator and auxiliary circuit thereof, link to each other with described video capture device driver element from control unit with described respectively, be used to isolate described from the control signal of control unit and the triggering signal of described video capture device driver element.
The voltage-regulation unit, described voltage-regulation unit comprises pressurizer and auxiliary circuit thereof, is used for converting the voltage of Switching Power Supply input to be fit to described serial interface unit, CAN Bus Interface Unit and require from control unit supply power voltage respectively.
The beneficial effect of the technical scheme that the embodiment of the invention provides is:
The embodiment of the invention is come control of video collecting device and light irradiation apparatus by adopting control centre's computer control master controller, and user and bottom hardware are separated, and good ease for use is provided.Master controller has improved the stability of system by the total line traffic control slave controller of CAN, has simplified design, has reduced the development and maintenance cost of system.
Description of drawings
Fig. 1 is the schematic diagram of the control system of embodiment of the invention three-dimensional video acquisition;
Fig. 2 is an embodiment of the invention master controller structured flowchart;
Fig. 3 is an embodiment of the invention slave controller structured flowchart;
Fig. 4 is the control method flow chart of embodiment of the invention three-dimensional video acquisition;
Fig. 5 is the detail flowchart of the control method of embodiment of the invention three-dimensional video acquisition;
Fig. 6 is a slave controller typical control strategy file schematic diagram of the embodiment of the invention;
Fig. 7 is the realization circuit diagram of the video capture device driver element of the embodiment of the invention;
Fig. 8 is the realization circuit diagram of the light irradiation apparatus driver element of the embodiment of the invention;
Fig. 9 is the realization circuit diagram of the photoelectricity isolated location of the embodiment of the invention;
Figure 10 is the control method flow chart of the three-dimensional video acquisition of the embodiment of the invention;
Figure 11 is the detail flowchart of the control method of embodiment of the invention three-dimensional video acquisition;
Figure 12 is the control strategy file schematic diagram of the slave controller that provides of the embodiment of the invention two.
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, embodiment of the present invention is described further in detail below in conjunction with accompanying drawing.
Embodiment one
The invention provides a kind of control system of three-dimensional video acquisition,, comprising referring to Fig. 1:
Control centre's computer 101 is used to dispose the control strategy of three-dimensional video acquisition and sends it to master controller, and this control strategy comprises the control strategy of all slave controllers;
A master controller 102 is used to receive this control strategy and according to the identification number of slave controller the control strategy of slave controller is issued corresponding slave controller; Periodically send synchronizing signal to each slave controller 103;
A plurality of slave controllers 103 are used for control strategy and synchronizing signal according to slave controller, send drive signal to video capture device and light irradiation apparatus.
Control centre's computer 101 has good control interface, is responsible for the mutual of user and system, comprises that the user imports the control strategy file, and the user starts and stop acquisition system.Master controller 102 has two effects: at first being by data-interface, is that the RS232 serial ports receives configuration file and the dependent instruction from control centre's computer 101 in the present embodiment; The another one effect is by CAN (Controller Area Network, controller local area network) total all slave controllers 103 of line traffic control, comprise and send control strategy to slave controller 103, send from the order of controlling central computer 101 and give slave controller, and the control signal on the synchronous slave controller.Slave controller 103 is responsible for the illumination control of the IMAQ and the light irradiation apparatus of direct control of video collecting device, it carries out corresponding control strategies in strict accordance with the instruction of master controller 102, and by receiving the periodic synchronous signal of master controller 102, adjust the signal phase of self, reach purpose with the signal Synchronization of master controller 102.
Particularly, as shown in Figure 2, master controller 102 comprises:
Main CAN Bus Interface Unit 203 is used for control strategy and synchronizing signal that main control unit 202 sends are sent to corresponding slave controller 103 by the CAN bus.What present embodiment used is the CAN transceiver SN65HVD230D and the peripheral circuit thereof of TI company, sees Fig. 4 for details.Main CAN Bus Interface Unit 203 can convert the level signal of main control unit 202 outputs to meet the CAN bus standard level signal and transmit.
Further, master controller 102 also comprises voltage-regulation unit 204, voltage-regulation unit 204 comprises pressurizer and auxiliary circuit thereof, is used for converting the voltage of Switching Power Supply input to be fit to serial interface unit 201, CAN Bus Interface Unit 203 and main control unit 202 requirements supply power voltage respectively.That present embodiment uses is source of stable pressure LM2594, and peripheral circuit, sees Fig. 5 for details.Voltage-regulation unit 204 converts the 24V DC input voitage that Switching Power Supply provides to the 5V direct voltage, gives other unit power supplies of master controller 102.
Particularly, as shown in Figure 6, slave controller 103 comprises:
From CAN Bus Interface Unit 601, be used to receive control strategy and the synchronizing signal that master controller 102 sends and send to from control unit 602.What present embodiment used is the CAN transceiver SN65HVD230D and the peripheral circuit thereof of TI company, sees Fig. 5 for details.
From control unit 602, be used for according to control strategy and synchronizing signal, transmit control signal to video capture device driver element 603 and light irradiation apparatus driver element 604 respectively.Present embodiment uses be Cygnal company the C8051F040 single-chip microcomputer with and peripheral circuit.From the core cell of control unit 602, also be responsible for coordinating the signal of other unit as slave controller 103.Such as, slave controller 103 is received confirmation signal by sending to master controller 102 from CAN Bus Interface Unit 601 after receiving the control strategy that master controller 102 issues.
Video capture device driver element 603 is used for triggering video capture device according to the control signal from control unit 602.What present embodiment used is driver 74HC365 and peripheral circuit thereof, sees Fig. 7 for details.Video capture device driver element 603 is according to GPIO (the Gereral Programable Input Output of video capture device, the general programmable input/output port) configuration, obtain the power supply that video capture device provides, and will flow to video capture device as triggering signal from the control signal of control unit 602 inputs.
Light irradiation apparatus driver element 604 is used for according to the control signal from control unit 602, controls the bright dark of light irradiation apparatus.That present embodiment uses is buffer SN7407D, and adjustable constant pressure source LM350AT, and peripheral circuit see Fig. 8 for details.Light irradiation apparatus driver element 604 receives the control signal since control unit 602, and for light irradiation apparatus provides suitable drive current, thus the lighting and extinguish of control light irradiation apparatus.
Further, slave controller 103 also comprises:
Photoelectricity isolated location 605, comprise photoisolator and auxiliary circuit thereof, link to each other with video capture device driver element 603 respectively with from control unit 602, be used to isolate from the control signal of control unit 602 and the triggering signal of video capture device driver element 603.That present embodiment uses is photoelectricity coupling gate FOD060L, and peripheral circuit, sees Fig. 9 for details.Photoelectricity isolated location 605 is coupled by photoelectricity and transmits control signal from control unit 602, and make Circuits System shown in Figure 6 and video capture device have different ground wires, thereby eliminate mutual effect of signals, improve the picture quality of video capture device, increased the stability of system.
Voltage-regulation unit 606, voltage-regulation unit 606 comprises pressurizer and auxiliary circuit thereof, is used for voltage with Switching Power Supply input and converts the supply power voltage that is fit to CAN Bus Interface Unit 601, requires from control unit 602, video capture device driver element 603 and photoelectricity isolated location 605 respectively to.That present embodiment uses is source of stable pressure LM2594, and peripheral circuit, sees Fig. 5 for details.The 24V DC input voitage that voltage-regulation unit 204 can provide Switching Power Supply converts the 5V direct voltage to.
In the present embodiment, above-mentioned video capture device can be that camera, video camera, the shooting of two dimension is first-class, and light irradiation apparatus can be a light-emitting diode etc.; Correspondingly, above-mentioned video capture device driver element can be camera driver element, camera driver unit, webcam driver unit etc., and above-mentioned light irradiation apparatus driver element can be a light-emitting diode driver element etc.
The present invention adopts control centre's computer control master controller, controls the framework of illumination and camera, and user and bottom hardware are separated, and good ease for use is provided.Master controller has improved the stability of system by the framework of the total line traffic control slave controller of CAN, has simplified design, has reduced the development and maintenance cost of system.
Embodiment two
The invention provides a kind of control method of three-dimensional video acquisition,, may further comprise the steps referring to Figure 10:
1010: the control strategy of configuration three-dimensional video acquisition also sends it to master controller, and this control strategy comprises the control strategy of all slave controllers.
1020: master controller receives this control strategy and according to the identification number of slave controller the control strategy of slave controller is issued corresponding slave controller.
1030: master controller periodically sends synchronizing signal to each slave controller.
1040: slave controller sends drive signal to video capture device and light irradiation apparatus according to the control strategy and the described synchronizing signal of described slave controller.
Below in conjunction with Figure 11, the concrete elaboration.
A kind of control method of three-dimensional video acquisition comprises:
1101: the Control Software that input control strategy file is given control centre's computer.
Behind system's power-up initializing, the user gives Control Software by the input of the control program on control centre's computer control strategy file.In control strategy, the present invention is directed to each slave controller and define the control corresponding control strategy respectively.
1102: the serial ports Control Software is given master controller with the control strategy file transfer.
The serial ports Control Software reads the control strategy file, and this control strategy file is sent to master controller by serial communication.
1103: master controller control strategy for resolution file becomes the control strategy file of each slave controller.
After master controller receives the control strategy file, can send to control centre's computer by serial ports and receive confirmation.This control strategy file comprises the control strategy file of each slave controller, and wherein, the control strategy file of each slave controller begins with the identifier of this slave controller, and finishes with the identifier of next slave controller.The control strategy file of master controller to receiving, identifier according to slave controller sequence number in the control strategy file, the control strategy file is divided into the little control strategy file corresponding with each slave controller, these little control strategy files are represented the control strategy of each slave controller respectively, and its number is identical with the slave controller number.
1104: master controller sends to corresponding slave controller with the control strategy file of each slave controller.
Master controller is the control strategy file that receives, and according to slave controller ID number by the CAN bus, sends to each slave controller corresponding control strategies.After slave controller receives the control strategy file, can send to master controller by the CAN bus and receive confirmation.Master controller can further send to control centre's computer with the confirmation of receiving of this slave controller.
The control strategy of each slave controller can be divided into for the control method of video capture device with for the control method of light irradiation apparatus.The control strategy of slave controller comprises: the duration of a trigger action of (1) video capture device and/or light irradiation apparatus and the duration of an attonity; (2) sequential list of the trigger action of video capture device and/or light irradiation apparatus and attonity.In the present embodiment, above-mentioned video capture device can be that camera, video camera, the shooting of two dimension is first-class, and light irradiation apparatus can be a light-emitting diode etc.Present embodiment is a camera with video capture device, and light irradiation apparatus is that light-emitting diode (LED) is narrated for example.For the control method of camera and LED, we adopt the method for loop cycle control, and the periodic Control sequence and the time interval of promptly given each camera and every group of LED, camera and LED just periodically move (trigger or light) according to this control sequence then.Present embodiment is established the triggering collection of camera, and lighting or extinguishing of LED is the action of the step of one in the control sequence.And control sequence is made up of a series of such action.Present embodiment is defined as follows parameter respectively in the control strategy of each slave controller: the time interval of (1) one step action; (2) action sequence of control sequence.Like this, we have just defined top two groups of parameters respectively at each camera on the slave controller and each group LED.A slave controller typical control strategy file as shown in figure 12.And these parameters on each slave controller have just been formed the The whole control strategy file.The user can be provided with this control strategy file and control the camera in the whole three-dimensional video acquisition system and the action situation of led light source.
1105: control centre's computer judges whether to start three-dimensional video acquisition.If start execution in step 1106; Otherwise, execution in step 1105.
Control centre's computer receive that all slave controllers reply receive confirmation after, the user can be by the control program on control centre's computer, selects to start and still postpones starting whole three-dimensional video acquisition system.
1106: master controller sends enabling signal to slave controller.
Master controller is after receiving the enabling signal that control centre's computer sends, send enabling signal to all slave controllers, make each slave controller begin control strategy according to storage separately and send the corresponding driving signal to video capture device and light irradiation apparatus.
1107: master controller sends synchronizing signal to slave controller.
After three-dimensional video acquisition system start-up, master controller can periodically send synchronizing signal to each slave controller, so that the drive signal synchronous operation between the slave controller.
1108: control centre's computer judges whether to stop three-dimensional video acquisition, if stop, and execution in step 1105; Otherwise execution in step 1107.
After finishing three-dimensional video acquisition, the user can stop the operation of whole three-dimensional video acquisition system by the control program on control centre's computer.Otherwise, continue to begin to carry out from step 1107.
The present invention adopts control centre's computer control master controller to control illumination and camera, user and bottom hardware can be separated, and good ease for use is provided.Adopt master controller by the total line traffic control slave controller of CAN, improved the stability of three-dimensional video acquisition system, simplified design, reduced the development and maintenance cost of three-dimensional video acquisition system.
The embodiment of the invention can utilize software to realize that corresponding software programs can be stored in the storage medium that can read, for example, and in the hard disk of computer, buffer memory or the CD.
The above only is preferred embodiment of the present invention, and is in order to restriction the present invention, within the spirit and principles in the present invention not all, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. the control method of a three-dimensional video acquisition is characterized in that, may further comprise the steps:
The control strategy of control centre's computer configuration three-dimensional video acquisition also sends it to master controller, and described control strategy comprises the control strategy of all slave controllers;
Described master controller receives described control strategy, and the control strategy of described slave controller is issued corresponding slave controller according to the identification number of slave controller, wherein, described slave controller is responsible for the illumination control of the IMAQ and the light irradiation apparatus of direct control of video collecting device;
Described master controller periodically sends synchronizing signal to each described slave controller;
Each described slave controller sends drive signal to video capture device and light irradiation apparatus respectively according to separately control strategy, and adjusts the signal phase of self according to described synchronizing signal;
Wherein, the control strategy of described slave controller comprises:
The trigger action of the duration of a trigger action of described video capture device and/or described light irradiation apparatus and the duration of an attonity and described video capture device and/or described light irradiation apparatus and the sequential list of attonity.
2. the control method of three-dimensional video acquisition according to claim 1 is characterized in that, described master controller receives described control strategy and is specially: described master controller receives described control strategy by serial ports.
3. the control method of three-dimensional video acquisition according to claim 1 is characterized in that, described identification number according to slave controller is issued corresponding slave controller to the control strategy of described slave controller and is specially:
According to the identification number of slave controller, the control strategy of described slave controller is issued described slave controller by the CAN bus.
4. the control system of a three-dimensional video acquisition is characterized in that, comprising:
Control centre's computer is used to dispose the control strategy of three-dimensional video acquisition and sends it to master controller, and described control strategy comprises the control strategy of all slave controllers;
A described master controller is used to receive described control strategy and according to the identification number of slave controller the control strategy of described slave controller is issued corresponding slave controller, and periodically sends synchronizing signal to each described slave controller;
A plurality of described slave controllers, be used for the illumination control of the IMAQ and the light irradiation apparatus of responsible direct control of video collecting device, and send drive signal to video capture device and light irradiation apparatus, and adjust the signal phase of self according to described synchronizing signal according to the control strategy of described slave controller;
Wherein, the control strategy of described slave controller comprises:
The trigger action of the duration of a trigger action of described video capture device and/or described light irradiation apparatus and the duration of an attonity and described video capture device and/or described light irradiation apparatus and the sequential list of attonity.
5. the control system of three-dimensional video acquisition according to claim 4 is characterized in that, described master controller comprises:
Serial interface unit is used to receive from the control strategy of described control centre computer and sends to main control unit;
Described main control unit, be used for receiving described control strategy by described serial interface unit, identification number according to slave controller, by main CAN Bus Interface Unit the control strategy of described slave controller is issued corresponding slave controller, and periodically send synchronizing signal to each described slave controller by described main CAN Bus Interface Unit;
Described main CAN Bus Interface Unit is used for described control strategy and described synchronizing signal that described main control unit sends are sent to corresponding described slave controller by the CAN bus.
6. the control system of three-dimensional video acquisition according to claim 5, it is characterized in that, described master controller also comprises the voltage-regulation unit, described voltage-regulation unit comprises pressurizer and auxiliary circuit thereof, is used for converting the voltage of Switching Power Supply input to supply power voltage that suitable described serial interface unit, CAN Bus Interface Unit and main control unit require respectively.
7. the control system of three-dimensional video acquisition according to claim 4 is characterized in that, described slave controller comprises:
From the CAN Bus Interface Unit, be used to receive described control strategy and the described synchronizing signal that described master controller sends and send to from control unit;
Described from control unit, be used for transmitting control signal to video capture device driver element and light irradiation apparatus driver element respectively according to described control strategy and described synchronizing signal;
Described video capture device driver element is used for triggering described video capture device according to described control signal from control unit;
Described light irradiation apparatus driver element is used for according to described control signal from control unit, controls the bright dark of described light irradiation apparatus.
8. the control system of three-dimensional video acquisition according to claim 7 is characterized in that, described slave controller also comprises;
The photoelectricity isolated location, comprise photoisolator and auxiliary circuit thereof, link to each other with described video capture device driver element from control unit with described respectively, be used to isolate described from the control signal of control unit and the triggering signal of described video capture device driver element.
9. the control system of three-dimensional video acquisition according to claim 7 is characterized in that, described slave controller also comprises:
The voltage-regulation unit, described voltage-regulation unit comprises pressurizer and auxiliary circuit thereof, is used for converting the voltage of Switching Power Supply input to be fit to described serial interface unit, CAN Bus Interface Unit and require from control unit supply power voltage respectively.
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| CN101894267B (en) * | 2010-07-06 | 2012-07-18 | 清华大学 | Three-dimensional object characteristic view selection method |
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| 李鸣明.用于快速三维扫描的主从式图像采集处理系统.《小型微型计算机系统》.2006,第24卷(第6期),全文. * |
| 赵灿.三维激光扫描测量机随动运动控制系统与图像采集系统的设计.《电子测量与仪器学报》.2004,第18卷(第4期),全文. * |
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