CN101854485A - Method and device for automatically adjusting shake of hand-held three-dimensional shooting equipment - Google Patents
Method and device for automatically adjusting shake of hand-held three-dimensional shooting equipment Download PDFInfo
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Abstract
The invention discloses a method for automatically adjusting shake of hand-held three-dimensional shooting equipment, which comprises the following steps of: in a shooting process, measuring the value of gravitational acceleration of the hand-held three-dimensional shooting equipment by using an accelerometer; calculating an included angle between a central connecting line of double cameras on the hand-held three-dimensional shooting equipment and a horizontal plane according to the measured value of the gravitational acceleration; and converting a left eye image and a right eye image which are acquired by shooting according to the calculated included angle. The invention also discloses a device for automatically adjusting the shake of the hand-held three-dimensional shooting equipment. Due to the adoption of the method and the device, the influence of the shake of the hand-held three-dimensional shooting equipment on image shooting quality can be effectively reduced and image viewing effect is further enhanced.
Description
Technical field
The present invention relates to the shooting stereo images technology, relate in particular to a kind of method and device of automatic adjusting shake of hand-held three-dimensional shooting equipment.
Background technology
At present, can adopt several different methods to show stereo-picture, for example: look point-score, light point-score, time-sharing procedure and raster method etc. all are to utilize the parallax characteristic of people's eyes to realize.Though the specific implementation of above-mentioned several method is different, the basic principle of institute's foundation is similar, that is: during shooting, utilize two capture apparatus of placing side by side, as video camera, represent people's left eye and right eye respectively, two capture apparatus are shot two kinds of slightly images of horizontal parallax synchronously; During projection, two kinds of images are respectively charged into left eye projecting device and right eye projecting device, left eye projecting device and the run-in synchronism of right eye projecting device, simultaneously image projection is come out, formation comprises the slur image of left-eye image and eye image, but spectators' bore hole or by some special-purpose evaluation equipments, for example: polaroid glasses etc., watch the image of showing out, make spectators' left eye can only see left-eye image, right eye can only be seen eye image, and is respectively that left-eye image and eye image is superimposed on retina by the aggregation feature of spectators' eyes again, produced the visual effect of 3 D stereo by cerebral nerve.
Wherein, the imaging basic principle of described smooth point-score is: the left-eye image that will watch for images of left and right eyes and eye image are converted to the mutually orthogonal polarised light of two bundles and project human eye, wear the glasses that a pair can see through polarised light when spectators watch, make two to see each self-corresponding image respectively.Here, the display screen of image can be that 90 phosphor screens of spending are formed by two angles, a polarising sheet that only can see through a direction polarised light is set before each phosphor screen, and the polarised light that sends from two polarising sheets is by all becoming the half-reflecting mirror of miter angle to project on beholder's the glasses with two phosphor screens; Perhaps, during projection, a polarising sheet is set respectively before two groups of projecting devices, purpose is to make the mutually perpendicular polarised light of two bundles invest same display screen, promptly the form with polarised light projects left-and right-eye images on the display screen, and the picture quality that this method shows is good, but spectators can not torticollis when watching.
The imaging basic principle of described raster method is: in vertical direction display screen is divided into the gratings strips of a rule, and staggered left-eye image and the eye image of showing of gratings strips, for example: gratings strips 1, gratings strips 3, gratings strips 5 ... show left-eye image; Gratings strips 2, gratings strips 4, gratings strips 6 ... show eye image, one deck " parallax obstacle " is set between display screen and spectators then, should " parallax obstacle " also be made up of the gratings strips on the vertical direction, as shown in Figure 1, A1 represents left-eye image, A2 represents eye image, have parallax between left-and right-eye images, when spectators watched by grating, left eye was seen A1, right eye is seen A2, and the aggregation feature by spectators' eyes forms has relief image.Here, spectators need not to wear special-purpose evaluation equipment, and just bore hole can be watched, so raster method can be conveniently used in hand-held three-dimensional shooting equipment.
Above-mentioned smooth point-score and raster method require the line of centres need of dual camera on the capture apparatus parallel with ground level in the shooting process of stereo-picture, otherwise can influence spectators' viewing effect.Wherein, for the light point-score, if the line of centres of dual camera is not parallel with ground level, as: the camera of taking eye image is on the low side, the camera of taking left-eye image is higher, and spectators watch Shi Zexu torticollis to the right, and promptly right eye is on the low side, left eye is higher just can be watched, otherwise can only see fuzzy image.For raster method, if the line of centres of dual camera is not parallel with ground level, the image of then shooting parallax in the horizontal direction can diminish, because stereo-picture is to utilize the parallax characteristic of people's eyes to realize, if the parallax between left-and right-eye images diminishes, then can weaken spectators the stereoeffect of picture with the aid of pictures, spectators' viewing experience is not good.
For the out-of-level problem of the line of centres that solves dual camera, fixtures such as many at present employing tripods are fixed professional capture apparatus, in case because the shake of capture apparatus produces the out-of-level problem of the line of centres of dual camera.But for most hand-held three-dimensional shooting equipment, as portable terminal, be amateur capture apparatus, do not dispose corresponding fixture, therefore, photographer is easy to cause the line of centres of dual camera not parallel with ground level because of the shake of both hands when taking, and influences shooting effect, and then influences the viewing effect of image.
Summary of the invention
In view of this, main purpose of the present invention is to provide a kind of method and device of automatic adjusting shake of hand-held three-dimensional shooting equipment, can effectively reduce because the shake of hand-held three-dimensional shooting equipment to the influence of image taking quality, and then improves the viewing effect of image.
For achieving the above object, technical scheme of the present invention is achieved in that
A kind of method of automatic adjusting shake of hand-held three-dimensional shooting equipment, this method comprises:
In the shooting process, utilize the value of the suffered acceleration of gravity of accelerometer measures hand-held three-dimensional shooting equipment, value according to the acceleration of gravity of measuring gained is calculated the line of centres of dual camera on the hand-held three-dimensional shooting equipment and the angle of ground level, and according to the angle that calculates gained the left-eye image and the eye image of taking gained is carried out conversion process.
Wherein, the sensitive axes of described accelerometer is parallel with the horizontal line of dual camera.
Wherein, the value of the acceleration of gravity of described measurement gained is: the component of gravity acceleration g on the sensitive axes direction of accelerometer.
In the such scheme, the computational methods of the line of centres of described dual camera and ground level angle are:
Value g and trigonometric function formula according to the value of the acceleration of gravity of measuring gained, known acceleration of gravity calculate the line of centres of dual camera on the hand-held three-dimensional shooting equipment and the angle of ground level.
In the such scheme, described conversion process to left-eye image and eye image execution is:
Utilize digital image processing techniques to left-eye image with eye image is rotated and cutting.
Wherein, the described angle that left-eye image or eye image are rotated is: calculate the line of centres of dual camera of gained and the angle of ground level;
Described pivot when left-eye image or eye image are rotated is: any point in left-eye image or the eye image; Or be the outer any point of left-eye image or eye image.
Wherein, the described method that left-eye image and eye image are carried out cutting is:
In the overlapping part of the left-and right-eye images of postrotational left-and right-eye images and shooting gained, the rectangular image of a maximum of intercepting is as final image from postrotational left-and right-eye images.
Further, the proportionate relationship of rectangular image two adjacent sides of described intercepting gained is identical with the proportionate relationship of left-and right-eye images two adjacent sides of taking gained.
The present invention also provides a kind of device of automatic adjusting shake of hand-held three-dimensional shooting equipment, and this device comprises: accelerometer, angle computing module and image transform module; Wherein,
Described accelerometer is used to measure the value of the suffered acceleration of gravity of hand-held three-dimensional shooting equipment;
Described angle computing module, be used to read the value of the acceleration of gravity of accelerometer measures gained, and calculate the line of centres of dual camera on the hand-held three-dimensional shooting equipment and the angle of ground level, and angle result of calculation is sent to the image transform module according to the value of the acceleration of gravity of measuring gained;
Described image transform module is used for calculating left-eye image and the eye image execution conversion process of the angle of gained to the shooting gained according to the angle computing module.
Wherein, described accelerometer is single-axis accelerometer, twin-axis accelerometer or three axis accelerometer.
The method of automatic adjusting shake of hand-held three-dimensional shooting equipment provided by the invention and device, in the shooting process, utilize the value of the suffered acceleration of gravity of accelerometer measures hand-held three-dimensional shooting equipment, value according to the acceleration of gravity of measuring gained is calculated the line of centres of dual camera on the hand-held three-dimensional shooting equipment and the angle of ground level, and according to the angle that calculates gained the left-eye image and the eye image of taking gained is carried out conversion process.After the present invention can carry out rotation and cutting map function with the non-level left-and right-eye images that photographs because of shake of hand-held three-dimensional shooting equipment, again obtain the left-and right-eye images of level, the line of centres and the uneven problem of ground level of dual camera have been remedied, reached the purpose of automatic adjusting shake of hand-held three-dimensional shooting equipment, the shooting quality of image is improved, and then guaranteed spectators' viewing effect to improve spectators' viewing experience.
Description of drawings
Fig. 1 is the basic principle schematic of raster method imaging in the prior art;
Fig. 2 is the front view and the vertical view of single camera;
Fig. 3 regulates the method realization flow schematic diagram of shake of hand-held three-dimensional shooting equipment automatically for the present invention;
Fig. 4 is parallel to the schematic diagram of ground level and corresponding accelerometer sensitive axle for the horizontal line of one embodiment of the invention dual camera;
Fig. 5 is not parallel to the schematic diagram of ground level and corresponding accelerometer sensitive axle for the horizontal line of one embodiment of the invention dual camera;
The schematic diagram of the ideal image that Fig. 6 photographs for one embodiment of the invention hand-held three-dimensional shooting equipment;
The schematic diagram of the original real image that Fig. 7 photographs when being one embodiment of the invention shake of hand-held three-dimensional shooting equipment;
The postrotational schematic diagram of original real image that Fig. 8 photographs when being one embodiment of the invention shake of hand-held three-dimensional shooting equipment;
Fig. 9 is superimposed on the schematic diagram of original real image for the postrotational real image of one embodiment of the invention;
Figure 10 is the schematic diagram of the postrotational real image of one embodiment of the invention after cutting;
Figure 11 regulates the apparatus structure schematic diagram of shake of hand-held three-dimensional shooting equipment automatically for the present invention.
Embodiment
Existing digital image processing techniques are very ripe, so-called image transform is exactly the coordinate transform of source images to target image in the Digital Image Processing, briefly, exactly the coordinate of each point of source images is converted to the new coordinate of target image respective point by transform operation.Therefore, digital image processing techniques can reverse the Any Digit image, conversion process such as stretching, convergent-divergent or cutting.
In addition, along with development of electronic technology, accelerometer is miniaturization more and more, yet precision is but more and more higher, can responsive minor variations to acceleration, now be widely used in the various handheld devices.
Basic thought of the present invention is: in the shooting process, utilize the value of the suffered acceleration of gravity of accelerometer measures hand-held three-dimensional shooting equipment, value according to the acceleration of gravity of measuring gained is calculated the line of centres of dual camera on the hand-held three-dimensional shooting equipment and the angle of ground level, and according to the angle that calculates gained the left-eye image and the eye image of taking gained is carried out conversion process.
Below in conjunction with drawings and the specific embodiments the present invention is described in further detail.
For the ease of understanding, at first the front view of camera and the corresponding relation of vertical view are described in conjunction with Fig. 2.Fig. 2 is the front view and the vertical view of single camera, and as shown in Figure 2, the below of chain-dotted line 10 is the vertical view of camera, and the top of chain-dotted line 10 is the front view of camera, and the camera 102 in the vertical view is corresponding to the camera in the front view 101; Optical axis 112 in the vertical view is corresponding to the optical axis in the front view 111, promptly shown in the black round dot among Fig. 2.During shooting, photographer's eyes are arranged in the side of vertical view camera 102 near chain-dotted line 10, just are arranged in the inboard of front view camera 101 place papers.
Fig. 3 is the method realization flow schematic diagram that the present invention regulates shake of hand-held three-dimensional shooting equipment automatically, and as shown in Figure 3, the performing step of this flow process is as follows:
Step 301: the value of utilizing the suffered acceleration of gravity of accelerometer measures hand-held three-dimensional shooting equipment;
Here, described accelerometer can be single-axis accelerometer, twin-axis accelerometer or three axis accelerometer, the acceleration of the only responsive direction of described single-axis accelerometer; Described twin-axis accelerometer can responsive both direction acceleration, responsive both direction orthogonal, if two single-axis accelerometers are vertically placed, then form twin-axis accelerometer; Described three axis accelerometer can responsive three directions acceleration, orthogonal between responsive three directions, if, then form three axis accelerometer three orthogonal placements of single-axis accelerometer.
Counting routine method of measurement to the suffered acceleration of gravity of hand-held three-dimensional shooting equipment with individual axis acceleration below is described in detail.Fig. 4 is parallel to the schematic diagram of ground level and corresponding accelerometer sensitive axle for the horizontal line of one embodiment of the invention dual camera, as shown in Figure 4, the optical axis 21 of right eye camera 20 is parallel with the optical axis 23 of left eye camera 22, described images of left and right eyes camera is from photographer's angle, photographer's left eye right camera be the left eye camera; Photographer's right eye right camera be the right eye camera.Accelerometer 10 is a single-axis accelerometer, the sensitive axes 13 of accelerometer 10 is vertical with optical axis 23 with optical axis 21, the sensitive axes 13 of accelerometer 10 is parallel with the horizontal line of dual camera all the time, and this moment, the sensitive axes 13 of accelerometer 10 was parallel to ground level, the direction of gravity acceleration g is the direction of arrow 11 indications, and this moment, sensitive axes 13 was vertical with the direction of gravity acceleration g.
Wherein, because sensitive axes 13 is parallel to ground level, so the component of gravity acceleration g on the sensitive axes 13 of accelerometer 10 is 0, so the output valve of accelerometer 10 is 0, and this value is the value of the suffered acceleration of gravity of the hand-held three-dimensional shooting equipment of accelerometer measures gained.From prior art as can be known, the output valve of described accelerometer be the accelerometer sensitive axle the value of the responsive acceleration that arrives, be the component of gravity acceleration g on the sensitive axes direction, the value of the acceleration of gravity that the hand-held three-dimensional shooting equipment of accelerometer measures gained just of the present invention is suffered.
Here, if accelerometer is elected twin-axis accelerometer or three axis accelerometer as, then finally the value of required acceleration also only is the value of the acceleration on sensitive axes 13 directions shown in Fig. 4.
Fig. 5 is not parallel to the schematic diagram of ground level and corresponding accelerometer sensitive axle for the horizontal line of one embodiment of the invention dual camera, as shown in Figure 5, because the shake of photographer's both hands causes the horizontal line of dual camera not parallel with ground level, produced certain included angle, therefore, the component of gravity acceleration g on the sensitive axes 13 of accelerometer 10 is not 0, the output valve of accelerometer 10 is not 0, the value that is the suffered acceleration of gravity of hand-held three-dimensional shooting equipment no longer is 0, and the value of measuring the acceleration of gravity of gained here is used for the horizontal line and the ground level angle of subsequent calculations dual camera.
Step 302: the value according to the acceleration of gravity of measuring gained is calculated the line of centres of dual camera on the hand-held three-dimensional shooting equipment and the angle of ground level;
Be specially: value g and existing trigonometric function formula according to the value of the acceleration of gravity of measuring gained, known acceleration of gravity calculate the line of centres of dual camera on the hand-held three-dimensional shooting equipment and the angle of ground level.
Here, be example still with Fig. 5, make the line of centres of dual camera and the angle of ground level be expressed as a, make the output valve of accelerometer 10, promptly the value representation of the suffered acceleration of gravity of the hand-held three-dimensional shooting equipment that records of accelerometer is acc.The output valve of supposing accelerometer 10 this moment is: acc=-2.54m/s
2, the general value of gravity acceleration g is 9.8m/s
2,, and utilize the trigonometric function formula to calculate a to be on accelerometer 10 sensitive axes 13 directions and two components on vertical sensitive axes 13 directions in conjunction with gravity acceleration g shown in Figure 5:
A=Sin
-1(acc/g)=Sin
-1(-2.54/9.8)=-15 (degree)
Can get the line of centres of dual camera and the angle of ground level is-15 degree.Here, described negative value represents that the line of centres of dual camera is that original position has been rotated counterclockwise 15 degree with the ground level, if on the occasion of the line of centres of representing dual camera is original position with the ground level 15 degree that turned clockwise.
Step 303: the left-eye image and the eye image of taking gained are carried out conversion process according to the angle that calculates gained;
Be specially:, and utilize digital image processing techniques that dual camera is taken the left-eye image of gained and the map function that eye image is all carried out rotation and cutting according to the angle that utilizes trigonometric function formula calculating gained.
Here, the conversion process of described rotation that left-eye image and eye image are carried out and cutting is identical; It is described when left-and right-eye images is carried out rotation, the anglec of rotation is to calculate the angle of gained in the step 302, for example: if the angle of the line of centres of dual camera and ground level is-15 degree, the left-and right-eye images that then will take gained rotates to the angle of ground level also spends for-15, just makes left-and right-eye images begin to be rotated counterclockwise 15 degree from horizontal level.
Below in conjunction with an embodiment conversion process of rotation and cutting is described in detail.
Suppose that the left-and right-eye images that photographs when hand-held three-dimensional shooting equipment is not shaken should be as shown in Figure 6, can be referred to as ideal image, because the profile of the image that hand-held three-dimensional shooting equipment photographs is commonly rectangle, represent the image as rectangle among Fig. 6, four summits of establishing ideal image are respectively an A, some B, some C and some D.If the line of centres of dual camera is not parallel with ground level, with the angle of ground level be-15 degree, the left-and right-eye images of then taking gained as shown in Figure 7, can be referred to as original real image, four summits are respectively an A1, some B1, some C1 and some D1, then according to the angle that calculates gained, promptly-15 spend, original real image is rotated counterclockwise, the anglec of rotation is 15 degree, obtain image shown in Figure 8, four summits of establishing the postrotational real image shown in Fig. 8 are respectively an A2, some B2, some C2 and some D2.
Among the present invention, when the left-and right-eye images that photographs was rotated, corresponding pivot can be any point in the left-and right-eye images that photographs; Or the outer any point of left-and right-eye images for photographing, then the postrotational left-and right-eye images shown in Fig. 8 is carried out trimming operation, described method of cutting out is:
In the overlapping part of the left-and right-eye images of postrotational left-and right-eye images and shooting gained, the rectangular image of a maximum of intercepting is as final image from postrotational left-and right-eye images.Wherein, the proportionate relationship of rectangular image two adjacent sides of described intercepting gained is identical with the proportionate relationship of original real image two adjacent sides.
Here, in order to simplify follow-up trimming operation, elect pivot as a some A1 in the present embodiment, like this, the some A2 in the postrotational real image overlaps with some A1 in the original real image, as shown in Figure 9.If the intersection point of the limit D1C1 of the limit B2C2 of postrotational real image and original real image is an E, as shown in figure 10, be vertical line EF by an E to the limit of original real image A1B1, some B2 by postrotational real image is vertical line B2G to the limit of original real image A1D1, if the intersection point of vertical line EF and vertical line B2G is a H, then rectangle GHED1 is the final image that obtains after rotation and cutting, as seen from the figure, this image is maximum in postrotational real image and an original real image lap rectangle, and the proportionate relationship that can get rectangle GHED1 two adjacent sides according to known principle such as triangle similitudes is identical with the proportionate relationship of original real image A1B1C1D1 two adjacent sides, and rectangle GHED1 is the left side of gained after the conversion process, eye image.
Among the present invention, the dual camera line of centres that causes because of the shake of hand-held three-dimensional shooting equipment and the angle of ground level are not too large, if the absolute value of angle is generally less than 15 degree, therefore, finally the big or small gap of the size of the left-and right-eye images after regulating automatically and ideal image is less, can not influence the final shooting quality of image.
Step 304: the process of regulating shake of hand-held three-dimensional shooting equipment automatically finishes.
For realizing said method, the present invention also provides a kind of device of automatic adjusting shake of hand-held three-dimensional shooting equipment, and as shown in figure 11, this device comprises: accelerometer, angle computing module and image transform module; Wherein,
Described accelerometer is used to measure the value of the suffered acceleration of gravity of hand-held three-dimensional shooting equipment;
Described angle computing module, be used to read the value of the acceleration of gravity of accelerometer measures gained, and calculate the line of centres of dual camera on the hand-held three-dimensional shooting equipment and the angle of ground level, and angle result of calculation is sent to the image transform module according to the value of the acceleration of gravity of measuring gained;
Described image transform module is used for calculating left-eye image and the eye image execution conversion process of the angle of gained to the shooting gained according to the angle computing module.
Wherein, described accelerometer is single-axis accelerometer, twin-axis accelerometer or three axis accelerometer.
The above is preferred embodiment of the present invention only, is not to be used to limit protection scope of the present invention, all any modifications of being done within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. method of automatically regulating shake of hand-held three-dimensional shooting equipment is characterized in that this method comprises:
In the shooting process, utilize the value of the suffered acceleration of gravity of accelerometer measures hand-held three-dimensional shooting equipment, value according to the acceleration of gravity of measuring gained is calculated the line of centres of dual camera on the hand-held three-dimensional shooting equipment and the angle of ground level, and according to the angle that calculates gained the left-eye image and the eye image of taking gained is carried out conversion process.
2. the method for automatic adjusting shake of hand-held three-dimensional shooting equipment according to claim 1 is characterized in that, the sensitive axes of described accelerometer is parallel with the horizontal line of dual camera.
3. the method for automatic adjusting shake of hand-held three-dimensional shooting equipment according to claim 2 is characterized in that, the value of the acceleration of gravity of described measurement gained is: the component of gravity acceleration g on the sensitive axes direction of accelerometer.
4. according to the method for each described automatic adjusting shake of hand-held three-dimensional shooting equipment of claim 1 to 3, it is characterized in that the computational methods of the line of centres of described dual camera and ground level angle are:
Value g and trigonometric function formula according to the value of the acceleration of gravity of measuring gained, known acceleration of gravity calculate the line of centres of dual camera on the hand-held three-dimensional shooting equipment and the angle of ground level.
5. according to the method for each described automatic adjusting shake of hand-held three-dimensional shooting equipment of claim 1 to 3, it is characterized in that described conversion process to left-eye image and eye image execution is:
Utilize digital image processing techniques to left-eye image with eye image is rotated and cutting.
6. the method for automatic adjusting shake of hand-held three-dimensional shooting equipment according to claim 5 is characterized in that, the described angle that left-eye image or eye image are rotated is: calculate the line of centres of dual camera of gained and the angle of ground level;
Described pivot when left-eye image or eye image are rotated is: any point in left-eye image or the eye image; Or be the outer any point of left-eye image or eye image.
7. the method for automatic adjusting shake of hand-held three-dimensional shooting equipment according to claim 5 is characterized in that, the described method that left-eye image and eye image are carried out cutting is:
In the overlapping part of the left-and right-eye images of postrotational left-and right-eye images and shooting gained, the rectangular image of a maximum of intercepting is as final image from postrotational left-and right-eye images.
8. the method for automatic adjusting shake of hand-held three-dimensional shooting equipment according to claim 7 is characterized in that, the proportionate relationship of rectangular image two adjacent sides of described intercepting gained is identical with the proportionate relationship of left-and right-eye images two adjacent sides of taking gained.
9. a device of regulating shake of hand-held three-dimensional shooting equipment automatically is characterized in that this device comprises: accelerometer, angle computing module and image transform module; Wherein,
Described accelerometer is used to measure the value of the suffered acceleration of gravity of hand-held three-dimensional shooting equipment;
Described angle computing module, be used to read the value of the acceleration of gravity of accelerometer measures gained, and calculate the line of centres of dual camera on the hand-held three-dimensional shooting equipment and the angle of ground level, and angle result of calculation is sent to the image transform module according to the value of the acceleration of gravity of measuring gained;
Described image transform module is used for calculating left-eye image and the eye image execution conversion process of the angle of gained to the shooting gained according to the angle computing module.
10. the device of automatic adjusting shake of hand-held three-dimensional shooting equipment according to claim 9 is characterized in that, described accelerometer is single-axis accelerometer, twin-axis accelerometer or three axis accelerometer.
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| CN104994273A (en) * | 2015-06-16 | 2015-10-21 | 成都西可科技有限公司 | System of maintaining real-time shooting image to be vertical and method thereof |
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