CN102262345A - Method and device of twin-lens three-dimensional camera capable of changing visual angle, - Google Patents
Method and device of twin-lens three-dimensional camera capable of changing visual angle, Download PDFInfo
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Abstract
The invention discloses a twin-lens three-dimensional camera, a theory, a formula algorithm, a method and a device thereof, wherein a servo drive and control device capable of automatically adjusting camera positions and focal lengths which can realize the theory is included. A twin-lens pick-up lens system in a three-dimensional pick-up system makes the common focus of two pick-up lenses maintain uniformity by according to the focal lengths between themselves and the caught object, the theory and the formula algorithm of the invention and adjusting respective deflected pick-up angle according to the calculated result, so that the caught image is clearer and is in accordance with the human visual idioms. The problems of three-dimensional image defocusing and image non-rational distortion caused by manually adjusting or using the immovable parallel twin-lens three-dimensional camera in the three-dimensional dynamic pick-up process are solved. The invention is mainly applied to the professional three-dimensional live-action film, the television pick-up, the three-dimensional live-action pick-up system device, the consumer small personal hand-hold three-dimensional camera and the three-dimensional camera product.
Description
Technical field
The present invention relates to the three-dimensional camera shooting technical field, particularly a kind ofly change visual angle three-dimensional (3D) image capture method and three-dimensional camera, and the twin-lens follow-up control system device of unifying.
Background technology
The Information technology of today has developed into the 3D epoch.3D film, 3D animation, 3D recreation, 3D display, 3D camera, 3D video camera, in a word, 3D is becoming new technology, industry and mass consumption developing direction.At present, 3D dynamic image (3D film, 3D video etc.) mainly is the motion picture film that is generated by computer photograph.The film film source of 3D shoot on location success is very rare.The small-sized 3D video camera of specialty does not also occur.Existing 3D film and 3D photo, a lot of spectators have seen the uncomfortable feeling such as dizzy that has in various degree.
3D is just three-dimensional.The 3-dimensional image technology is one and is incorporated into comprehensive complicated brand-new field such as drawing perspective theory, space imagination, human vision custom rule, psychology, optics, electric mechanical, Flame Image Process, infotech.Any one link is not handled well, will produce bad effect.In all age, specialty and the consumer three-dimensional camera of selling with existing market that generally adopts, exist all is the two cover optical lens camera heads that adopt secured in parallel simply.Two cover optical lens simplicity of design of such three-dimensional camera shooting system, but owing to adopt fixing visual angle, different with the changeed visual angle of human and animal's vision system, can not two cover optical lens primary optical axis gonglions be focused on the same focus of this subject according to the distance of subject.Owing to exist (referring to Fig. 7) of the curvature of field, on a flat photosensitive imaging plane, the sharpness of video outwards changes from central authorities, focuses on to form camber.Reason is that the center is near from camera lens, and is peripheral far away from camera lens.The center is clear, and it is fuzzy more to arrive periphery more.Parallel camera lens adopts edge fog zone focusing, image blur.In addition, the view that is produced with the right and left eyes different visual angles is also different fully.Therefore, produced defocus, keystone distortion (referring to Fig. 8) and image deformity (see table one, table two).Especially this phenomenon is more obvious when the shoot on location close shot.Though also can adopt the optics of other non-physical location change or electronically to focus on, perhaps means such as post-production are carried out picture mosaic and correction.But, if the relative position and the angle of camera lens and sensitization plane and scenery are constant, handle in any case, all can't proofread and correct and eliminate the phenomenon of distortion by post-production, and aftertreatment also can produce new fault image.The fixing image of taking in separately with parallel optical lens of two covers is with normally the eyes method of focusing is different fully with image, because it has seriously run counter to the imaging law of human and animal's vision system after all.Three-dimensional film or video image that the three-dimensional camera shooting system that produces with it takes, from taking on the source, just on countless details, produced a large amount of different with two bore hole imagings mankind's nature, defocus, the image of the improper vision of distortion and distortion, just as put on the image that near-sighted glasses or farsighted glasses are seen to the normal person.Make spectators when watching three-dimensional film or video, produce visual fatigue, giddy, dizzy, nauseating, uncomfortable Physiological Psychology reaction such as heartbeat is overrun.Damaged spectators' physical and mental health.On the other hand, influence popularizing of consumer 3D video camera, also hindered the development of whole three-dimensional industry.For eliminating this phenomenon, just must find in the process of continuous conversion focal length, position and the angle of shoot on location, keep accurately adjusting twin-lens in real time and focus on the method for same point and corresponding twin-lens deflection angle and invent out this device.
Table one:
Table two:
Summary of the invention
The present invention has clearly proposed a kind of, diverse with twin-lens three-dimensional camera shooting principle and method (referring to Fig. 1) present and secured in parallel in the past, with meet human visual system's image-forming principle more, principle and the method (referring to Fig. 2) that can change visual angle twin-lens three-dimensional camera shooting.Promptly, the mutual alignment and the angle of two pick-up lens systems in the three-dimensional camera shooting system, must according to by the distance of the distance of shooting object and three-dimensional camera or two pick-up lenss separately with the focal length of the object of being made a video recording, adjust according to formula among the present invention and algorithm, make the common focus of two pick-up lenss remain unanimity.Solved the 3-D photography shooting from the source defocus, the phenomenon of the improper vision of keystone distortion and distortion.The present invention is the progress and the development of a highly significant to existing three-dimensional camera system product, whole industry is produced the influence that is highly profitable.
Among the present invention according to this principle and the method that propose, invented a kind of three-dimensional camera system (referring to Fig. 3), in this three-dimensional camera system, the key device that comprises comprises: two (such as sensitive film or sensitive chip) video cameras of photosensitive imaging device independently, the self-adjusting servo-actuated driving and the control device of seat in the plane angle and focal length, three-dimensional camera control system and interface, Three-Dimensional Dynamic image or video display system, the two video source recording apparatus of three-dimensional camera, power supply part.This three-dimensional camera system is different fully with existing like product.Wherein, unique key device is the self-adjusting servo-actuated driving and the control device of seat in the plane angle and focal length, and the three-dimensional camera control system.
The present invention also comprises the seat in the plane angle of the twin camera in a kind of three-dimensional camera and the self-adjusting servo-actuated driving and the control device (referring to Fig. 5) of focal length.In dynamic shooting process, be that 3-dimensional image focuses on same focus with artificial very difficult synchronous in real time accurately focal length and the corresponding deflection angle of adjusting twin-lens, there is deviation then to cause slightly and defocuses, influence shooting quality.Therefore, the self-adjusting servo-actuated driving and the control device of seat in the plane of the present invention angle and focal length, automatic focus and adjustment angle, very accurate, fundamentally solved this problem.Can be applicable in professional three-dimensional movie, the television pickup system equipment, and in the hand-held three-dimensional camera of consumer small sized personal.
Formula that the present invention clearly proposes and algorithm: (A B) forms isosceles triangle △ ABC to the two pick-up lens fuselages in focus of the object of being made a video recording (C) and the three-dimensional camera all-in-one.On the top of △ ABC, (A B) is positioned at two base angles of △ ABC isosceles triangle to the two pick-up lens fuselages in the three-dimensional camera all-in-one by the focus (C) of shooting object.Two base angles of △ ABC isosceles triangle are respectively ∠ CAB (being made as the α angle) and ∠ CBA (being made as the β angle).Wherein these two base angles equate, just: α=β.By the photosensitive imaging planar central of camera lens in shooting object (C) and every the pick-up lens fuselage and photosensitive device these three o'clock on (primary optical axis) axis.That is to say that each single camera system all can focus on separately on this object of being made a video recording (referring to Fig. 6).
The position of photosensitive device sensitization planar central is (A in two pick-up lens fuselages, B) and angle (∠ CAB and ∠ CBA), the horizontal connecting line of the photosensitive device of two pick-up lenss (that is: the distance of two sensitization planar central, be made as: d) with by the shooting object (C) distance, the i.e. object distance (L) of definition here, with by the shooting object in single pick-up lens system image distance and the relation of focal length value sum (F) meet following formula.
Formula 1:Tan α=Tan β=2L/d.
Formula 1 can be according to by the distance of shooting object and sensitization planar central line, that is: the distance (d) of object distance (L) and two sensitization planar central, calculate two pick-up lens fuselages mutual angle (α, β).
Formula 2:Cos α=Cos β=d/2F.
Formula 2 can be according to by the distance (d) apart from F and two sensitization planar central of shooting object and sensitization planar central, calculate two pick-up lens fuselages mutual angle (α, β).
Formula 3:4F
2+ 4L
2=d
2
Formula 3 shown object distance, image distance+focal length and two sensitization planar central apart from the logical relation between the three.
Algorithm 1:, can be applied in any three-dimensional camera system according to above three formula.In the three-dimensional camera all-in-one that contains two pick-up lenss.This all-in-one, portable strong, use simple to operately, can be used in the professional or consumer three-dimensional camera system.Use equally, need face subject during use and take with common camera.Certainly, no matter comprise two optical camera systems in this three-dimensional camera system, still the three-dimensional camera system that is made of two video cameras independent, that separate all can obtain related data information such as accurate seat in the plane, angle, object distance, image distance+focal length according to these three formula.Such as, if with two independent video cameras when taking three-dimensional film, video, photo, calculate the angle of two video cameras according to the relative distance and the object distance of two video cameras with respect to line.
Algorithm 2:, between two video cameras that can allow the simulation binocular vision in the three-dimensional camera shooting system and the subject three different distances and angle are arranged because three-dimensional camera shooting is different with single camera.Therefore, the triangle that constitutes of this three isosceles triangle not necessarily.The present invention proposes more professional, relatively large, be used for film or large-scale stage performing active, the relatively-stationary three-dimensional camera in position system, relation of following up formula 4, formula 5 and formula 6 between object and two the video camera threes.By knowing in the three-dimensional camera system that one focal length in two video cameras and this video camera and another distance just can calculate the deflection angle of another video camera.Design the method that is used to adopt electronics and machinery thus, the control system of operation twin camera collaborative work, guaranteeing in shooting process, with meet the human visual system more, convenient method is accurately taken film or video, or produces three-dimensional camera shooting/photographic system (referring to Fig. 6).
If the image distance+focal length of A video camera is F
a, the image distance+focal length of B video camera is F
b, the focus on the subject is to the line F of A
aWith A, the angle of B line is α, and the focus on the subject is to the line F of B
bWith length be the A of d, the angle of B line is β (referring to Fig. 6).
Formula 4:F
bSin β=F
aSin α.
Formula 5:F
aCos α+F
bCos β=d.
Formula 6:Tan β (d-F
aCos α)=F
aSin α.
Video camera just can calculate and control image distance+focal length and the deflection angle parameter that three-dimensional is taken the photograph two video cameras in the machine according to formula 4, formula 5, formula 6 when taking actual scenery (especially track up moving target).And, just can calculate the correlation parameter of another video camera according to the parameter of a video camera in two video cameras.These parameters can be used for the parameter setting that servomechanism is controlled another video camera.
Description of drawings
Fig. 1 is a schematic diagram of fixing parallel twin-lens three-dimensional camera shooting.
Fig. 2 is the schematic diagram that can change visual angle twin-lens three-dimensional camera shooting.
Fig. 3 is a kind of three-dimensional camera integrated machine system schematic diagram of the present invention.
Fig. 4 is discrete three-dimensional camera shooting system and device schematic diagram.
Fig. 5 is a visual angle deflection driven systematic schematic diagram.
Fig. 6 is the geometric figure of formula and algorithm.
Fig. 7 is a curvature of field key diagram.
Fig. 8 is the comparison synoptic diagram of keystone distortion image and normal picture.
Embodiment
The self-adjusting servo-actuated driving and the control device (referring to Fig. 5) of seat in the plane angle and focal length can have two kinds of control models: Manual focusing and automatic focus.Under the Manual focusing pattern, when the three-dimensional camera shooting control system is received the order that manual dial device sends, formula in according to the present invention and algorithm computation are discharged of the coke apart from pairing deflection angle, drive two pick-up lenss deflection angle separately by micromotor and toothed disc or gear case, and send the electronic pulse signal of corresponding adjustment focal length.Under the automatic focus pattern, formula and the algorithm computation of three-dimensional camera shooting control system in according to the present invention discharged of the coke apart from pairing deflection angle, and according to himself software result to the image definition computational analysis, send the electronic signal of adjusting focal length and corresponding deflection angle, and, drive the angular deflection device and carry out synchronous deflection by flowing to servo-actuated driving and control device pulse signal.Up to reaching the high definition that the three-dimensional camera shooting control system can adjust.
The present invention also comprises two kinds of optical lens system devices realizing that this three-dimensional camera shooting principle and method are adopted.First kind, promptly in the three-dimensional camera integrated machine system that two pick-up lenss constitute, two pick-up lens system constitutes (referring to Fig. 3) by two identical single pick-up lens systems and same visual angle deflection driven device and a control system.Second kind is the discrete three-dimensional camera shooting system and device (referring to Fig. 4) by two identical single pick-up lens systems and two visual angle deflection driven devices and same control system formation.
Each single pick-up lens system is made of critical pieces such as camera lens, aperture, shutter, photosensitive device, control system and fuselages.Here single pick-up lens system fuselage is an electronic mechanical system device with optics axis.What one end of this device was fixing is optical lens, and what the other end was fixing is photosensitive device.The axle center of optical lens and the sensitization plane of photosensitive device vertical (or parallel), the image orthogonal projection that optical lens is taken in is to the sensitization plane.The control system of each single pick-up lens and three-dimensional camera control system are connected and accept the control of its electronic signal.
In the three-dimensional camera integrated machine system that two pick-up lenss constitute, these two single pick-up lens system underbellys respectively are fixed with the disk of band gear, are called visual angle deflection driven device engaged wheel.These two engaged wheels can rotate around engaged wheel axle center separately.The axle center of two engaged wheels is separately fixed on support bracket fastened two pin in the triangle wheel disc center of circle, and with the tangent and gear interlock of driving wheel that is fixed on equally on this support.Driving wheel drives corner by micromachine, thereby drives two engaged wheels inwardly or to the identical angle of extrinsic deflection.The rotation of driving wheel can be adjusted angle by machinery or electronic mode by the artificial rotating disk plectrum that changes on the three-dimensional camera fuselage of dialling, or by the three-dimensional camera control system in according to the present invention formula and algorithm automatic focus and adjust angle.Control system is not only controlled these two lens system fuselages and is horizontally rotated angle relatively conplane, can also adjust corresponding separately focal length, same exposure, same frame and frame per second.The self-adjusting servo-actuated driving and the control device (referring to Fig. 5) of Here it is seat in the plane angle and focal length.
In discrete three-dimensional camera shooting system and device, the self-adjusting servo-actuated driving of seat in the plane angle and focal length and control device are that the electronic signal control of sending by the three-dimensional camera control system is separately fixed at (referring to Fig. 4) that micro-stepping motors on the A-frame and gear case drive the seat in the plane rotational angle.
The Three-Dimensional Dynamic image of three-dimensional camera of the present invention system or video display system are by showing that control subsystem and 3-D display screen (or common display screen+anaglyph spectacles) constitute.Display screen and all-in-one fuselage link together in all-in-one; In the system of two discrete video cameras, display screen is independent device, is connected with two video cameras by lead, and all devices (referring to Fig. 4) of independent control desk control three-dimensional camera system are arranged.
The two video source recording apparatus of three-dimensional camera of the present invention are three-dimensional camera Three-Dimensional Dynamic image or video recording device.Adopt the record mode of the video image that writes down each video camera respectively.The twin camera of three-dimensional camera system has synchronous shooting and coordinates signal system, and the video image that is write down has identical frame per second and numbering.Each two field picture in video camera is all corresponding with the two field picture in another video camera.Every frame image information of being stored all is original image information, with in form, quick nondestructive compression algorithm and the frame of uniqueness and the interframe compress mode carry out Real Time Compression storage.Keeping the highest image resolution ratio and sharpness.And, the program to other video format conversion is provided.
Three-dimensional camera control system of the present invention is the core and the brain of whole three-dimensional camera system.It is made up of computing unit, storage unit and input-output unit.Wherein very important function is exactly, and whole actions of video camera are controlled and coordinated to the control system program according to formula of the present invention and algorithm.Comprise that the camera lens of two video cameras in the three-dimensional camera is for the synchronous deflection of the synchronizing focus of same scenery, these two video camera fuselage angles, aperture, electronic shutter, exposure synchronously, convergent-divergent, SFR, frame number, video storage, 2D/3D demonstration, input and output, interface control, angular deflection micromotor synchro control or the like synchronously synchronously synchronously synchronously.
Claims (20)
1. can change visual angle twin-lens three-dimensional camera method and device.
2. the visual angle twin-lens three-dimensional camera that changes as claimed in claim 1, wherein, with different being characterised in that of three-dimensional camera of the fixing parallel double pick-up lens of existing employing, this visual angle twin-lens three-dimensional camera that changes includes two identical, separate, connect or discrete video cameras side by side.
3. as claim 1 and the 2 described visual angle twin-lens three-dimensional cameras that change, wherein, these two video cameras can be accustomed to according to human vision, the principle of three-dimensional camera shooting and the formula among the present invention and the algorithm adjustment focal length separately and the deflection angle of video camera.
4. as the described visual angle twin-lens three-dimensional camera that changes of claim 1-3, wherein, indicated this principle and manufacture method of changeing visual angle twin-lens three-dimensional camera as information as described in the claim 1-3.
5. as the described visual angle twin-lens three-dimensional camera that changes of claim 1-4, wherein, the A in the focus of the object of being made a video recording (C) and the three-dimensional camera all-in-one, two pick-up lens fuselages of B form isosceles triangle △ ABC.Two base angles of △ ABC isosceles triangle are respectively ∠ CAB (being made as the α angle) and ∠ CBA (being made as the β angle), certain relation formula and algorithm are deferred in two base angle angles, the β angle of its image distance and focal length and isosceles triangle △ ABC, the formula algorithm that can change visual angle twin-lens three-dimensional camera is the basis that can change visual angle twin-lens three-dimensional camera, also is the feature of this three-dimensional camera.
6. certain relation formula as claimed in claim 5 and algorithm, wherein, formula 1:Tan α=Tan β=2L/d.Wherein, two sensitization planar central of the photosensitive device of two pick-up lenss apart from d, and be object distance L by the distance definition of shooting object C.
7. certain relation formula as claimed in claim 5 and algorithm, wherein, the made a video recording distance of object C and each sensitization planar central of formula 2:Cos α=Cos β=d/2F, F.
8. certain relation formula as claimed in claim 5 and algorithm, wherein, formula 3:4F
2+ 4L
2=d
2
9. as described certain relation formula of claim 5-8 and algorithm, wherein, algorithm 1: formula 1-3 can be applicable in any three-dimensional camera system, and obtains related data information such as accurate seat in the plane, angle, object distance, image distance+focal length by these three formula.
10. certain relation formula as claimed in claim 5 and algorithm, wherein, algorithm 2: because three-dimensional camera shooting is different with single camera, between two video cameras that can allow the simulation binocular vision in the three-dimensional camera shooting system and the subject three different distances and angle are arranged, the triangle that this three constitutes is isosceles triangle not necessarily, and they are deferring to certain relation formula.
11. certain relation formula as claimed in claim 10, wherein, formula 4:F
bSin β=F
aSin α.Image distance+focal length of wherein establishing the A video camera is F
a, the image distance+focal length of B video camera is F
b, the focus on the subject is to the line F of A
aWith A, the angle of B line is α, and the focus on the subject is to the line F of B
bWith length be the A of d, the angle of B line is β.
12. certain relation formula as claimed in claim 10, wherein, formula 5:F
aCos α+F
bCos β=d, d are the distance of two sensitization planar central of the photosensitive device of two pick-up lenss.
13. certain relation formula as claimed in claim 10, wherein, formula 6:Tan β (d-F
aCos α)=F
aSin α.
14. the visual angle twin-lens three-dimensional camera that changes as claimed in claim 1 wherein, comprises the seat in the plane angle that can change visual angle twin-lens three-dimensional camera and the self-adjusting servo-actuated driving and the control device of focal length.
15. as claim 10-14 described certain non-isosceles triangle relation formula and algorithm, wherein, be included in the discrete three-dimensional camera shooting system and device, the self-adjusting servo-actuated driving of seat in the plane angle and focal length and control device are to drive the seat in the plane rotational angle by micro-stepping motors and gear case that the electronic signal control that the three-dimensional camera control system is sent is separately fixed on the A-frame.
16. as claimed in claim 14 the commentaries on classics in the twin-lens three-dimensional camera of visual angle wherein, can change seat in the plane angle and the self-adjusting servo-actuated driving of focal length and the principle and the method for control device of visual angle twin-lens three-dimensional camera.
17. the visual angle twin-lens three-dimensional camera that changes as claimed in claim 14, wherein, comprise in the three-dimensional camera shooting system two pick-up lens system according to separately with by the focal length of shooting object, calculate according to claim 2-13 and the described principle of claim 15, algorithm and formula, and, make the common focus of two pick-up lenss remain unanimity according to result of calculation adjustment deflection shooting visual angle separately.
18. the visual angle twin-lens three-dimensional camera that changes as claimed in claim 1 wherein, can change the focal length of control system of visual angle twin-lens three-dimensional camera and the calculating and the control function at deflection visual angle.
19. the visual angle twin-lens three-dimensional camera that changes as claimed in claim 1, wherein, comprising described system and installing only is a kind of mode that embodies this principle, but is not limited to this implementation.
20., be applied to comprise the product of three-dimensional camera, three-dimensional camera class as the described device of claim 1-19, principle and method.
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| CN104808310A (en) * | 2014-01-26 | 2015-07-29 | 昆山富利瑞电子科技有限公司 | Double-lens focusing automatic adjusting device |
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| CN103376638A (en) * | 2012-04-24 | 2013-10-30 | 纬创资通股份有限公司 | Lens expansion seat |
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| CN103369250B (en) * | 2013-07-29 | 2016-05-11 | 中国传媒大学 | A kind of run-in index stereoscopic shooting The Cloud Terrace communication module |
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| CN104808310A (en) * | 2014-01-26 | 2015-07-29 | 昆山富利瑞电子科技有限公司 | Double-lens focusing automatic adjusting device |
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| CN109222860A (en) * | 2018-09-20 | 2019-01-18 | 深圳市精锋医疗科技有限公司 | Adjustable endoscope, motion arm, from operation equipment and operating robot |
| CN109222862B (en) * | 2018-09-20 | 2021-02-19 | 深圳市精锋医疗科技有限公司 | Endoscope, operation arm, slave operation device, and surgical robot |
| CN109222860B (en) * | 2018-09-20 | 2021-09-24 | 深圳市精锋医疗科技有限公司 | Adjustable endoscope, operation arm, slave operation device and surgical robot |
| CN115227392A (en) * | 2022-06-08 | 2022-10-25 | 中国科学院自动化研究所 | Measuring system for skull micropore |
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Addressee: Li Ruosen Document name: Notification of Publication of the Application for Invention |
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Application publication date: 20111130 |