CN102289144A - Intelligent three-dimensional (3D) video camera equipment based on all-around vision sensor - Google Patents

Abstract

The invention discloses intelligent three-dimensional (3D) video camera equipment based on an all-around vision sensor. The intelligent 3D video camera equipment comprises the all-around vision sensor, a group of 3D video camera devices consisting of two high-resolution cameras, and a computer by which a cameraman clicks a 3D video close-up image to be shot on a panoramic image displayed on a display by using a mouse and which can automatically control a focusing direction and regulate a shooting direction, a shooting angle and a 3D depth of the 3D video camera devices, wherein the all-around vision sensor is connected with the 3D video camera devices through a supporting rod; the all-around vision sensor is fixed on the upper part of the supporting rod; the 3D video camera devices are fixed in the middle of the supporting rod; the central shaft of the all-around vision sensor is overlapped with the central shafts of the 3D video camera devices; the all-around vision sensor is connected with the computer; and the two high-resolution cameras of the 3D video camera devices are connected with the computer through an image acquisition unit. The focal length, the shooting direction, the shooting angle and the 3D depth consistency of the intelligent 3D video camera equipment are convenient to regulate; the intelligent 3D video camera equipment is convenient to operate and has higher shooting quality.

Description

Intelligent 3D picture pick-up device based on omnibearing vision sensor

Technical field

The present invention relates to the application of technology aspect the intelligent three-dimensional stereo camera apparatus such as a kind of intelligent three-dimensional picture pick-up device, especially omnibearing vision sensor, computer control, Electromechanical Design.

Background technology

Popularizing of 3D TV is more and more faster, and at present a lot of families have bought the 3D TV, but the actual 3D film source of seeing seldom, and in this case, the consumer wants the 3D TV of better utilization oneself, and the 3D video camera is a kind of well additional certainly.

With about the simulation of two video cameras two, the distance between two video cameras of general words, promptly baseline is apart from few with the range difference between two of people.As long as with two an eye line about two video camera emulation, take two films respectively, show these two films in the screen simultaneously then; Adopt the necessary technology means during projection again, make spectators' left eye can only see left-eye image, right eye also can only be seen eye image.After two width of cloth images process filmgoer's brain coincided, they had just produced three-dimensional depth feelings to the screen picture.Stereoscopic shooting seems very simple simulation, and is but very difficult in practical operation.In shooting, the consistent degree of two machines requires very high, otherwise is difficult to take good effect.

Current up-to-date 3D camera carrying a manual manipulation dial, the adjusting focusing that is possessed except the 2D type on the dial, exposure, aperture, shutter, automatic exposure conversion and white balance are switched, this time also increased the 3D degree of depth and adjusted function, can adjust the stereoscopic depth effect of 3D according to different scenes.

The optical axis of two camera lenses is the thing of a difficulty from wide-angle to the alignment all the time of long burnt end, if can not guarantee, 3D effect will variation so, generally can process be accurate to micron-sized adjustment the 3D video camera dispatches from the factory before, aligns all the time so that guarantee the twin-lens optical axis; But in use, for avoiding taking place deviation, the user need realize that 3D adjusts automatically by manual mode, makes the right and left eyes picture all the time on rational position.

When large-scale activities such as relay 3 D stereo competitive sports and concert in real time, requirement to the 3D cameraman is very high, often increase the new work position of the pushing hands (3D Puller) of a 3D degree of depth adjustment again, this post is responsible for the parameter of 3D processing layer equipment is set, and controls the 3D depth of field of video camera and the quality of 3D effect.Be similar to the light modulation I position of 2D a little.Technology among the 2D coordinates also to have the 3D technology to coordinate corresponding the be responsible for setting of the 3D depth of field and the guidance of 3D effect.The 3D pushing hands need be dig-inned screen rapid adjustment at any time.

In general, even increase the also very difficult consistent degree that guarantees two machines of assistant that a 3D degree of depth is adjusted more; Existing 3D technique for taking will guarantee that the consistance of focal length, shooting direction, shooting angle and the 3D degree of depth etc. is an extremely difficult thing, and especially under the situation of dynamically taking, promptly time-consuming effort again is difficult to guarantee the 3D shooting quality simultaneously.

Summary of the invention

For overcome focal length, the consistance adjustment difficulty of taking direction, shooting angle and the 3D degree of depth that existing 3D video camera exists, take time-consuming in the 3D video image process, require great effort, be difficult to guarantee deficiency such as shooting quality, the invention provides a kind of focal length, take the intelligent 3D picture pick-up device that consistance is easy to adjust, easy to operate, shooting quality is higher of direction, shooting angle and the 3D degree of depth based on omnibearing vision sensor.

The technical solution adopted for the present invention to solve the technical problems is:

A kind of intelligent 3D picture pick-up device based on omnibearing vision sensor comprises that an omnibearing vision sensor, one group of 3D camera head and cameraman who is made of 2 high-definition cameras take the computing machine of direction, angle and the 3D degree of depth according to focusing, the adjustment wanting to take 3D video close-up image and can control the 3D camera head automatically with click on panorama image displayed on the display; Described omnibearing vision sensor and described 3D camera head link together by support bar, described omnibearing vision sensor is being fixed on the top of support bar, described 3D camera head is being fixed at the middle part of support bar, the central shaft of described omnibearing vision sensor overlaps with the central shaft of described 3D camera head, described omnibearing vision sensor is connected with described computing machine by video card, and 2 high-definition cameras in the described 3D camera head are connected with described computing machine by image acquisition units; Described 3D camera head is connected with described computing machine;

Described computing machine comprises:

The panoramic picture reading unit is used to read the panoramic picture of omnibearing vision sensor, and this panoramic picture is presented on the display, is used to the 3D cameraman that one personal-machine interactive interface is provided;

3D camera head parameter adjustment unit, the incident that is produced when being used to respond the 3D cameraman with some grids of click on panorama sketch, automatically carry out the setting of the 3D depth of field and the adjustment and the focus of camera of 3D effect, take direction and shooting angle adjustment, the specific implementation process is: as 3D cameraman during with the some grid of click on panorama sketch, the information that has the preset point numbering that software systems produce automatically is the incident of parameter, a software interruption response takes place in software systems, read the parameter of the information that has the preset point numbering, the various parameter corresponding tables of going to retrieve preset point and equipment with the information of this preset point numbering obtain focus of camera then, take direction, shooting angle and 3D depth of field parameter value are then controlled focusing in the described 3D camera head according to these parameter values by the PELCO-D control protocol, horizontally rotate, the action of the adjustment motor of the vertical rotation and the 3D degree of depth;

The 3D rendering reading unit, be used for from described high definition video collecting unit read respectively that described 3D camera head obtained about the video image of two passages, its output is connected with the input of described 3D rendering synthesis unit;

The 3D rendering synthesis unit, be used for described 3D camera head obtained about the video image of two passages synthesize processing, the video streaming image of left passage is transferred to the left side video image input end of stereoscopic display device; The video streaming image of right passage is transferred to the right side video image input end of stereoscopic display device.

Further, described 3D camera head is made of one group of high-definition camera by 2 identical camera parameters, the focal length of described high-definition camera, take direction, shooting angle and 3D degree of depth adjustment action are realized by corresponding driving motor in the described 3D camera head, wherein, the focusing of camera lens is to be realized by the institute of the inside in described high-definition camera translator, the adjustment of the shooting direction of described 3D camera head is realized by the horizontal direction rotary electric machine, the adjustment of the shooting angle of described 3D camera head is realized by the vertical direction rotary electric machine, the adjustment of the 3D degree of depth of described 3D camera head is realized by rotary electric machine, specific implementation is that described high-definition camera is separately fixed at by two meshed gears sheets, the other end of one of them gear sheet is processed into the turbine shape, rotary electric machine directly drives scroll bar, scroll bar drives the turbine rotation on one of them gear sheet, rotate thereby drive two gear sheet engagements, finally drive the adjustment that relatively rotating of two high-definition cameras on the gear sheet realized the 3D degree of depth; In described 3D camera head, also include a demoder, the effect of demoder is: the control code that receives described computing machine by serial ports, and this control code resolved, and the result that will resolve converts to and drives the control voltage that corresponding motor is rotated in the described 3D camera head, pass to then described 3D camera head with the focusing of controlling its camera lens, horizontally rotate, the adjustment and the shut-down operation of vertical rotation, the 3D degree of depth.

Further again, described computing machine is by a RS232/RS485 converter two communication interfaces to be connected to the control of described 3D camera head, and described 3D camera head write serial port command realizes, utilize the PELCO-D control protocol to develop as the control protocol of described 3D camera head;

Panoramic picture is divided into several little zones, the corresponding network in each zone, each grid all corresponding corresponding focus of camera, take direction, shooting angle and the 3D depth of field, be provided with 128 preset point, each preset point is numbered, then with the various parameters of 3D processing layer equipment, adjust and be set to the preset point of corresponding numbering in advance as focus of camera, shooting direction, shooting angle and 3D depth of field parameter, form the various parameter corresponding tables of a preset point and equipment, as shown in table 1;

Table 1

The various parameter corresponding tables of preset point and equipment leave in the described Computer Storage unit, as 3D cameraman during with some grids of click on panorama sketch, because this grid has the information of preset point numbering, thereby the various parameter corresponding tables that described computing machine has obtained just to go to retrieve preset point and equipment after the information of preset point numbering obtain focus of camera, take direction, shooting angle and 3D depth of field parameter value, described then computing machine is controlled focusing in the described 3D camera head according to these parameter values by the PELCO-D control protocol, horizontally rotate, the action of the adjustment motor of the vertical rotation and the 3D degree of depth realizes that action is adjusted in the 3D shooting of panorama point control automatically; Level angle in the table 1 and vertical angle all are as benchmark with the coordinate system of described omnibearing vision sensor.

Further, comprise hyperboloid minute surface, loam cake, transparent housing, image unit, base, gib screw, bracing frame, protective cover and web joint at described omnibearing vision sensor; Described hyperboloid minute surface is fixed on and covers the last assembly that constitutes omnibearing vision sensor on described, described image unit is fixed on the described base by described gib screw, the described base of fixing described image unit constitutes the following assembly of omnibearing vision sensor again in described bracing frame by screw retention, then described transparent housing is connected with threaded connector with described bracing frame, follow with screw described protective cover, the last assembly of omnibearing vision sensor and the following assembly of omnibearing vision sensor connect into an omnibearing vision sensor, with screw the bottom that described web joint is fixed on omnibearing vision sensor are sealed at last; To guarantee the axial line of described hyperboloid minute surface and the axial line overlaid of described image unit during assembling, so just form one and had fixedly single view omnibearing vision sensor.

Further again, in described omnibearing vision sensor, adopt the fixedly design of single view omnibearing vision sensor, enter the light at the center of hyperbolic mirror, reflect towards its virtual focus according to bi-curved minute surface characteristic.Material picture reflexes to imaging in the collector lens through hyperbolic mirror, a some P on this imaging plane (x, y) corresponding the coordinate A of a point spatially in kind (X, Y, Z);

The optical system that hyperbolic mirror constitutes is represented by following 5 formulas;

((X ²+ Y ²)/a ²)-((Z-c) ²/ bW)=-1 when Z＞0 (1)

$c=\sqrt{a^2+b^2}---\left(2\right)$

φ＝tan ^-1(Y/X) (3)

α＝tan ^-1[(b ²+c ²)sinγ-2bc]/(b ²+c ²)cosγ (4)

$\mathrm{\γ}={\tan }^{-1}[f/\sqrt{(x^2+y^2)}]---\left(5\right)$

X, Y, Z representation space coordinate in the formula, c represents the focus of hyperbolic mirror, and 2c represents two distances between the focus, a, b is respectively the real axis of hyperbolic mirror and the length of the imaginary axis, Φ represents the angle of incident ray on the XY plane, i.e. position angle, and α represents the angle of incident ray on the XZ plane, here with α greater than or be called the angle of depression at 0 o'clock, α was called the elevation angle less than 0 o'clock, and f represents the distance of imaging plane to the virtual focus of hyperbolic mirror, and γ represents to fold into the angle of penetrating light and Z axle;

The core of hyperbolic mirror design is the design of vertical field of view scope, and promptly the scope of binocular stereo vision is determined at last;

Can be determined that from the hyp as can be known shape of formula (1) these two parameters also can be with expressing apart from 2c and eccentricity k between the hyperbolic focus by parameter a, b, its mutual relationship is calculated by formula (6);

$a=\frac{c}{2}\sqrt{\frac{k-2}{k}}$ (6)

$b=\frac{\mathrm{<figure-callout\; id="2"\; label="c"\; filenames="HDA0000072784370000011.png"\; state="\{\{state\}\}">c</figure-callout>}}{2}\sqrt{\frac{2}{k}}$

k＝a/b

For the design of omnibearing shooting device, the size of minute surface and vertical field of view scope are the design parameters that must consider, and formula (7) has been represented the computing method of vertical angle of view α,

$\mathrm{\&alpha;}=\arctan \left(\frac{h}{R_i}\right)+\frac{\mathrm{\&pi;}}{2}---\left(7\right)$

Here, Ri represents the radius at catadioptric minute surface edge, and h represents the vertical range of the focus of hyperboloid catadioptric minute surface to the mirror surface edge;

The eccentricity k design of hyperboloid minute surface must be satisfied following 3 constraint conditions, as shown in Equation (8);

k＞b/R _i

k＜(h+2c)/R _i (8)

k＞[(h+2c)/4cb]-[b/(h+2c)]

In the formula, k is the eccentricity of hyperboloid minute surface, and Ri represents the radius at catadioptric minute surface edge, h represents the vertical range of the focus of hyperboloid catadioptric minute surface to the mirror surface edge, b is the length of the imaginary axis of hyperbolic mirror, and c is the distance of the focus of hyperbolic mirror to true origin, i.e. focal length.

Beneficial effect of the present invention mainly shows: 1, shooting process is extremely simple and convenient, as long as the object-based device that photographer 3D click wants on the panoramic picture to take is just finished focusing automatically, is horizontally rotated, the actions such as adjustment of vertical rotation and the 3D degree of depth, has robotization and intelligentized function; 2, intelligent degree height does not need distinctive professional can shoot the high 3D video image of quality yet.Can be widely used in many applications such as important competitive sports, theatrical performances, animated film, recreation.

Description of drawings

Fig. 1 has the fixedly structural drawing of the omnibearing vision sensor of single view;

Fig. 2 is the captured panorama sketch of omnibearing vision sensor;

Fig. 3 is the imaging schematic diagram of omnibearing vision sensor;

Fig. 4 is a 3D camera head plan view;

Fig. 5 is the structural drawing based on the intelligent 3D picture pick-up device of omnibearing vision sensor;

Fig. 6 is the man-machine interface figure of the technical solution of panoramic picture gridding processing and the control of panorama point.

Embodiment

Below in conjunction with accompanying drawing the present invention is further described.

Embodiment 1

With reference to Fig. 1～Fig. 6, a kind of intelligent 3D picture pick-up device based on omnibearing vision sensor comprises that an omnibearing vision sensor, one group of 3D camera head and cameraman who is made of 2 high-definition cameras take the computing machine of direction, angle and the 3D degree of depth according to focusing, the adjustment wanting to take 3D video close-up image and can control the 3D camera head automatically with click on panorama image displayed on the display; Described omnibearing vision sensor and described 3D camera head link together by support bar, as shown in Figure 5, described omnibearing vision sensor is being fixed on the top of support bar, described 3D camera head is being fixed at the middle part of support bar, the central shaft of described omnibearing vision sensor overlaps with the central shaft of described 3D camera head, described omnibearing vision sensor is connected with described computing machine by video card, and 2 high-definition cameras in the described 3D camera head are connected with described computing machine by image acquisition units; Demoder in the described 3D camera head is connected with described computing machine by the RS232/RS485 converter;

Described omnibearing vision sensor is used to obtain on-the-spot full-view video image; Described 3D camera head is used to obtain on-the-spot 3D video image;

Described full-view video image is used to express image information macroscopic view, the overall situation; Described 3D video image is used to express microcosmic, stereo image information local, feature; Comprising the 3D video image information in the full-view video image information, promptly the 3D video image information is the part in the full-view video image information; Described full-view video image is obtained by described omnibearing vision sensor, does not produce any relative motion at the omnibearing vision sensor described in the shooting process; Described 3D video image is obtained by described 3D camera head, will be at the 3D camera head described in the shooting process according to the residing direction of feature object, position and the far and near focal length of adjusting camera, the shooting direction of 3D camera head, parameters such as the shooting angle and the 3D depth of field, the cameraman is according to the feature object of selecting to want on shown full-view video image to take, by produce an incident of adjusting various controlled variable in the described 3D camera head with the feature object of click on full-view video image, described computer system software makes described 3D camera head aim at the feature object and obtains high-quality 3D video image from this trigger event of dynamic response;

Described 3D camera head is used to obtain the 3D video image of a certain part of floor; Mainly constituted by one group of high-definition camera by 2 identical camera parameters, as shown in Figure 4, the focal length of described high-definition camera, take direction, adjustment such as the shooting angle and 3D degree of depth action is realized by corresponding driving motor in the described 3D camera head, wherein the focusing of camera lens is to be realized by the institute of the inside in described high-definition camera translator, the adjustment of the shooting direction of described 3D camera head is realized by horizontal direction rotary electric machine 32, the adjustment of the shooting angle of described 3D camera head is realized by vertical direction rotary electric machine 33, the adjustment of the 3D degree of depth of described 3D camera head is realized by rotary electric machine 31, specific implementation is with described high- definition camera 34,35 are separately fixed at by two meshed gears sheets 36,37, the other end of gear sheet 37 is processed into the turbine shape, rotary electric machine 31 directly drives scroll bar 38, turbine rotation on the scroll bar 38 driven gear sheets 37, thereby driven gear sheet 37 and 36 engagements of gear sheet are rotated, and have finally driven gear sheet 36, high-definition camera 34 on 37,35 relatively rotate the adjustment that realizes the 3D degree of depth; In described 3D camera head, also include a demoder, the effect of demoder is: the control code that receives described computing machine by serial ports, and this control code resolved, and the result that will resolve converts to and drives the control voltage that corresponding motor is rotated in the described 3D camera head, pass to then described 3D camera head with the focusing of controlling its camera lens, horizontally rotate, the adjustment of vertical rotation, the 3D degree of depth and operation such as stop;

Described omnibearing vision sensor below represents that with ODVS ODVS comprises hyperboloid minute surface 2, loam cake 1, transparent housing 3, image unit 4, base 5, gib screw 6, bracing frame 7, protective cover 8 and web joint 9, as shown in Figure 1; Described hyperboloid minute surface 2 is fixed on the last assembly that constitutes ODVS on the described loam cake 1, described image unit 4 is fixed on the described base 5 by described gib screw 6, the described base 5 of fixing described image unit 4 constitutes the following assembly of ODVS again in described bracing frame 7 by screw retention, then described transparent housing 3 is connected with described bracing frame 7 usefulness threaded connectors, follow with screw described protective cover 8, the last assembly of ODVS and the following assembly of ODVS connect into an ODVS, with screw the bottom that described web joint 9 is fixed on ODVS are sealed at last; To guarantee the axial line of described hyperboloid minute surface 2 and the axial line overlaid of described image unit 4 during assembling, so just form one and had fixedly single view ODVS;

Fixedly the principle of work of single view ODVS is: enter the light at the center of hyperbolic mirror, reflect towards its virtual focus according to bi-curved minute surface characteristic.Material picture reflexes to imaging in the collector lens through hyperbolic mirror, a some P on this imaging plane (x, y) corresponding the coordinate A of a point spatially in kind (X, Y, Z);

2-hyperbolic curve face mirror among Fig. 3,12-incident ray, the real focus Om (0 of 13-hyperbolic mirror, 0, c), the virtual focus of 14-hyperbolic mirror is the center O c (0 of image unit 6,0 ,-c), the 15-reflection ray, the 16-imaging plane, the volume coordinate A of 17-material picture (X, Y, Z), 18-incides the volume coordinate of the image on the hyperboloid minute surface, 19-be reflected in some P on the imaging plane (x, y);

The optical system that hyperbolic mirror shown in Fig. 3 constitutes is represented by following 5 formulas;

((X ²+ Y ²)/a ²)-((Z-c) ²/ b ²)=-1 is when Z＞0 (1)

$c=\sqrt{a^2+b^2}---\left(2\right)$

φ＝tan ^-1(Y/X) (3)

α＝tan ^-1[(b ²+c ²)sinγ-2bc]/(b ²+c ²)cosγ (4)

$\mathrm{\&gamma;}={\tan }^{-1}[f/\sqrt{({\mathrm{<figure-callout\; id="2"\; label="x"\; filenames="HDA0000072784370000011.png"\; state="\{\{state\}\}">x</figure-callout>}}^2+y^2)}]---\left(5\right)$

X, Y, Z representation space coordinate in the formula, c represents the focus of hyperbolic mirror, and 2c represents two distances between the focus, a, b is respectively the real axis of hyperbolic mirror and the length of the imaginary axis, Φ represents the angle of incident ray on the XY plane, i.e. position angle, and α represents the angle of incident ray on the XZ plane, here with α more than or equal to being called the angle of depression at 0 o'clock, α was called the elevation angle less than 0 o'clock, and f represents the distance of imaging plane to the virtual focus of hyperbolic mirror, and γ represents to fold into the angle of penetrating light and Z axle;

The core of hyperbolic mirror design is the design of vertical field of view scope, and promptly the scope of binocular stereo vision is determined at last.

Can be determined that from the hyp as can be known shape of formula (1) these two parameters also can be with expressing apart from 2c and eccentricity k between the hyperbolic focus by parameter a, b, its mutual relationship is calculated by formula (6);

$a=\frac{c}{2}\sqrt{\frac{k-2}{k}}---\left(6\right)$

$b=\frac{\mathrm{<figure-callout\; id="2"\; label="c"\; filenames="HDA0000072784370000011.png"\; state="\{\{state\}\}">c</figure-callout>}}{2}\sqrt{\frac{2}{k}}$

k＝a/b

For the design of ODVS, the size of minute surface and vertical field of view scope are the design parameters that must consider, and formula (7) has been represented the computing method of vertical angle of view α,

$\mathrm{\&alpha;}=\arctan \left(\frac{h}{R_i}\right)+\frac{\mathrm{\&pi;}}{2}---\left(7\right)$

Here, Ri represents the radius at catadioptric minute surface edge, and h represents the vertical range of the focus of hyperboloid catadioptric minute surface to the mirror surface edge;

The eccentricity k design of hyperboloid minute surface must be satisfied following 3 constraint conditions, as shown in Equation (8);

k＞b/R _i

k＜(h+2c)/R _j (8)

k＞[(h+2c)/4cb]-[b/(h+2c)]

It is 360 ° of the horizontal directions at center, the panoramic picture of 120 ° of vertical direction that design by above-mentioned ODVS can obtain with ODVS, as shown in Figure 2;

Described computing machine is used for described 3D camera head is carried out parameter adjustment and setting, is used to obtain the captured 3D video image of described 3D camera head; Mainly comprise hardware and software, the PC of the higher gears that the hardware using of described computing machine is commercially available, comprising the video card that is used to connect ODVS, be used for connecting the RS232/RS485 converter of the demoder of described 3D camera head, be used for connecting the high definition video collecting unit of two video cameras of described 3D camera head; The software of described computing machine comprises panoramic picture reading unit, 3D camera head parameter adjustment unit, 3D rendering reading unit, 3D rendering synthesis unit;

Described panoramic picture reading unit is used to read the panoramic picture of ODVS, and this panoramic picture is presented on the display, is used to the 3D cameraman that one personal-machine interactive interface is provided;

The incident that described 3D camera head parameter adjustment unit is produced when being used to respond the 3D cameraman with some grids of click on panorama sketch, automatically carry out the setting of the 3D depth of field and the adjustment and the focus of camera of 3D effect, take adjustment such as direction and shooting angle, the specific implementation process is: as 3D cameraman during with the some grid of click on panorama sketch, the information that has the preset point numbering that software systems produce automatically is the incident of parameter, a software interruption response takes place in software systems, read the parameter of the information that has the preset point numbering, the various parameter corresponding tables of going to retrieve preset point and equipment with the information of this preset point numbering obtain focus of camera then, take direction, parameter values such as the shooting angle and the 3D depth of field are then controlled focusing in the described 3D camera head according to these parameter values by the PELCO-D control protocol, horizontally rotate, the action of the motors such as adjustment of the vertical rotation and the 3D degree of depth;

Described 3D rendering reading unit be used for from described high definition video collecting unit read respectively that described 3D camera head obtained about the video image of two passages, its output is connected with the input of described 3D rendering synthesis unit;

Described 3D rendering synthesis unit be used for described 3D camera head obtained about the video image of two passages synthesize processing, the video streaming image of left passage is transferred to the left side video image input end of stereoscopic display device; The video streaming image of right passage is transferred to the right side video image input end of stereoscopic display device;

Described computing machine is by a RS232/RS485 converter two communication interfaces to be connected to the control of described 3D camera head, and described 3D camera head write serial port command realizes, utilize the PELCO-D control protocol to develop among the present invention as the control protocol of described 3D camera head;

For the setting of carrying out the 3D depth of field automatically and the adjustment and the focus of camera of 3D effect, take adjustment such as direction and shooting angle, adopt the technical solution of panorama point control among the present invention, specific practice is that panoramic picture is divided into several little zones, as the grid above the accompanying drawing 2, each grid all corresponding corresponding focus of camera, take direction, the shooting angle and the 3D depth of field, we are preset point with these mesh definition, for having 128 preset point in the accompanying drawing 2, each preset point is numbered, then with the various parameters of 3D processing layer equipment, as focus of camera, take direction, the preset point of corresponding numbering is adjusted and be set to parameters such as the shooting angle and the 3D depth of field in advance, can form the various parameter corresponding tables of a preset point and equipment like this, as shown in table 1:

The preset point numbering	Focal length (cm)	Level angle (°)	Vertical angle (°)	The 3D depth of field (cm)
					1	8	275	5	300
2	8	280	5	352
					...	?...	...	...	...

The various parameter corresponding tables of preset point and equipment leave in the described Computer Storage unit, as 3D cameraman during with some grids of click on panorama sketch as shown in Figure 2, because this grid has the information of preset point numbering, thereby the various parameter corresponding tables that described computing machine has obtained just to go to retrieve preset point and equipment after the information of preset point numbering obtain focus of camera, take direction, parameter values such as the shooting angle and the 3D depth of field, described then computing machine is controlled focusing in the described 3D camera head according to these parameter values by the PELCO-D control protocol, horizontally rotate, the action of the motors such as adjustment of the vertical rotation and the 3D degree of depth realizes that action is adjusted in the 3D shooting of panorama point control automatically; Level angle in the table 1 and vertical angle all are as benchmark with the coordinate system of described omnibearing vision sensor.

When live football race, as long as the 3D cameraman is seeing the object that panoramic picture is taken with wanting on the click panoramic picture, pounce on action such as ball as what pay close attention to shooting in the panorama sketch and goalkeeper in the accompanying drawing 2, described 3D camera head is just automatically aimed at the subject area of being paid close attention to, do not need expensive manpower, energy, by computer control at a dass, easily the task of finishing 3D shooting, whole 3D shooting process can be confirmed by the man-machine interface shown in the accompanying drawing 6 simultaneously.

Claims (5)

1. intelligent 3D picture pick-up device based on omnibearing vision sensor is characterized in that: described intelligent 3D picture pick-up device based on omnibearing vision sensor comprise 3D camera head that an omnibearing vision sensor, one group are made of 2 high-definition cameras and cameraman according to the focusing of on panorama image displayed on the display, wanting to take 3D video close-up image and can control the 3D camera head automatically with click, adjust the computing machine of taking direction, angle and the 3D degree of depth; Described omnibearing vision sensor and described 3D camera head link together by support bar, described omnibearing vision sensor is being fixed on the top of support bar, described 3D camera head is being fixed at the middle part of support bar, the central shaft of described omnibearing vision sensor overlaps with the central shaft of described 3D camera head, described omnibearing vision sensor is connected with described computing machine by video card, and 2 high-definition cameras in the described 3D camera head are connected with described computing machine by image acquisition units; Described 3D camera head is connected with described computing machine;

Described computing machine comprises:

The panoramic picture reading unit is used to read the panoramic picture of omnibearing vision sensor, and this panoramic picture is presented on the display, is used to the 3D cameraman that one personal-machine interactive interface is provided;

3D camera head parameter adjustment unit, the incident that is produced when being used to respond the 3D cameraman with some grids of click on panorama sketch, automatically carry out the setting of the 3D depth of field and the adjustment and the focus of camera of 3D effect, take direction and shooting angle adjustment, the specific implementation process is: as 3D cameraman during with the some grid of click on panorama sketch, the information that has the preset point numbering that software systems produce automatically is the incident of parameter, a software interruption response takes place in software systems, read the parameter of the information that has the preset point numbering, the various parameter corresponding tables of going to retrieve preset point and equipment with the information of this preset point numbering obtain focus of camera then, take direction, shooting angle and 3D depth of field parameter value are then controlled focusing in the described 3D camera head according to these parameter values by the PELCO-D control protocol, horizontally rotate, the action of the adjustment motor of the vertical rotation and the 3D degree of depth;

The 3D rendering reading unit, be used for from described high definition video collecting unit read respectively that described 3D camera head obtained about the video image of two passages, its output is connected with the input of described 3D rendering synthesis unit;

The 3D rendering synthesis unit, be used for described 3D camera head obtained about the video image of two passages synthesize processing, the video streaming image of left passage is transferred to the left side video image input end of stereoscopic display device; The video streaming image of right passage is transferred to the right side video image input end of stereoscopic display device.

2. the intelligent 3D picture pick-up device based on omnibearing vision sensor as claimed in claim 1, it is characterized in that: described 3D camera head is made of one group of high-definition camera by 2 identical camera parameters, the focal length of described high-definition camera, take direction, shooting angle and 3D degree of depth adjustment action are realized by corresponding driving motor in the described 3D camera head, wherein, the focusing of camera lens is to be realized by the institute of the inside in described high-definition camera translator, the adjustment of the shooting direction of described 3D camera head is realized by the horizontal direction rotary electric machine, the adjustment of the shooting angle of described 3D camera head is realized by the vertical direction rotary electric machine, the adjustment of the 3D degree of depth of described 3D camera head is realized by rotary electric machine, specific implementation is that described high-definition camera is separately fixed at by two meshed gears sheets, the other end of one of them gear sheet is processed into the turbine shape, rotary electric machine directly drives scroll bar, scroll bar drives the turbine rotation on one of them gear sheet, rotate thereby drive two gear sheet engagements, finally drive the adjustment that relatively rotating of two high-definition cameras on the gear sheet realized the 3D degree of depth; In described 3D camera head, also include a demoder, the effect of demoder is: the control code that receives described computing machine by serial ports, and this control code resolved, and the result that will resolve converts to and drives the control voltage that corresponding motor is rotated in the described 3D camera head, pass to then described 3D camera head with the focusing of controlling its camera lens, horizontally rotate, the adjustment and the shut-down operation of vertical rotation, the 3D degree of depth.

3. the intelligent 3D picture pick-up device based on omnibearing vision sensor as claimed in claim 1 or 2, it is characterized in that: described computing machine is by a RS232/RS485 converter two communication interfaces to be connected to the control of described 3D camera head, and described 3D camera head write serial port command realizes, utilize the PELCO-D control protocol to develop as the control protocol of described 3D camera head;

Panoramic picture is divided into several little zones, each grid all corresponding corresponding focus of camera, take direction, shooting angle and the 3D depth of field, be provided with 128 preset point, each preset point is numbered, then with the various parameters of 3D processing layer equipment, as focus of camera, take the preset point that corresponding numbering was adjusted and be set to direction, shooting angle and 3D depth of field parameter in advance, form the various parameter corresponding tables of a preset point and equipment, as shown in table 1;

Table 1

The various parameter corresponding tables of preset point and equipment leave in the described Computer Storage unit, as 3D cameraman during with some grids of click on panorama sketch, because this grid has the information of preset point numbering, thereby the various parameter corresponding tables that described computing machine has obtained just to go to retrieve preset point and equipment after the information of preset point numbering obtain focus of camera, take direction, shooting angle and 3D depth of field parameter value, described then computing machine is controlled focusing in the described 3D camera head according to these parameter values by the PELCO-D control protocol, horizontally rotate, the action of the adjustment motor of the vertical rotation and the 3D degree of depth realizes that action is adjusted in the 3D shooting of panorama point control automatically; Level angle in the table 1 and vertical angle all are as benchmark with the coordinate system of described omnibearing vision sensor.

4. the intelligent 3D picture pick-up device based on omnibearing vision sensor as claimed in claim 1 or 2 is characterized in that: comprise hyperboloid minute surface, loam cake, transparent housing, image unit, base, gib screw, bracing frame, protective cover and web joint at described omnibearing vision sensor; Described hyperboloid minute surface is fixed on and covers the last assembly that constitutes omnibearing vision sensor on described, described image unit is fixed on the described base by described gib screw, the described base of fixing described image unit constitutes the following assembly of omnibearing vision sensor again in described bracing frame by screw retention, then described transparent housing is connected with threaded connector with described bracing frame, follow with screw described protective cover, the last assembly of omnibearing vision sensor and the following assembly of omnibearing vision sensor connect into an omnibearing vision sensor, with screw the bottom that described web joint is fixed on omnibearing vision sensor are sealed at last; To guarantee the axial line of described hyperboloid minute surface and the axial line overlaid of described image unit during assembling, so just form one and had fixedly single view omnibearing vision sensor.

5. the intelligent 3D picture pick-up device based on omnibearing vision sensor as claimed in claim 4, it is characterized in that: in described omnibearing vision sensor, adopt the fixedly design of single view omnibearing vision sensor, enter the light at the center of hyperbolic mirror, reflect towards its virtual focus according to bi-curved minute surface characteristic; Material picture reflexes to imaging in the collector lens through hyperbolic mirror, a some P on this imaging plane (x, y) corresponding the coordinate A of a point spatially in kind (X, Y, Z);

The optical system that hyperbolic mirror constitutes is represented by following 5 formulas;

((X ²+ Y ²)/a ²)-((Z-c) ²/ b ²)=-1 is when Z＞0 (1)

$c=\sqrt{a^2+b^2}---\left(2\right)$

φ＝tan ^-1(Y/X) (3)

α＝tan ^-1[(b ²+c ²)sinγ-2bc]/(b ²+c ²)cosγ (4)

$\mathrm{\&gamma;}={\tan }^{-1}[f/\sqrt{(x^2+y^2)}]---\left(5\right)$

X, Y, Z representation space coordinate in the formula, c represents the focus of hyperbolic mirror, and 2c represents two distances between the focus, a, b is respectively the real axis of hyperbolic mirror and the length of the imaginary axis, Φ represents the angle of incident ray on the XY plane, i.e. position angle, and α represents the angle of incident ray on the XZ plane, here with α greater than or be called the angle of depression at 0 o'clock, α was called the elevation angle less than 0 o'clock, and f represents the distance of imaging plane to the virtual focus of hyperbolic mirror, and γ represents to fold into the angle of penetrating light and Z axle;

The core of hyperbolic mirror design is the design of vertical field of view scope, and promptly the scope of binocular stereo vision is determined at last;

Can be determined that from the hyp as can be known shape of formula (1) these two parameters also can be with expressing apart from 2c and eccentricity k between the hyperbolic focus by parameter a, b, its mutual relationship is calculated by formula (6);

$a=\frac{c}{2}\sqrt{\frac{k-2}{k}}---\left(6\right)$

$b=\frac{c}{2}\sqrt{\frac{2}{k}}$

k＝a/b

For the design of omnibearing shooting device, the size of minute surface and vertical field of view scope are the design parameters that must consider, and formula (7) has been represented the computing method of vertical angle of view α,

$\mathrm{\&alpha;}=\arctan \left(\frac{h}{R_i}\right)+\frac{\mathrm{\&pi;}}{2}---\left(7\right)$

Here, Ri represents the radius at catadioptric minute surface edge, and h represents the vertical range of the focus of hyperboloid catadioptric minute surface to the mirror surface edge;

The eccentricity k design of hyperboloid minute surface must be satisfied following 3 constraint conditions, as shown in Equation (8);

k＞b/R _i

k＜(h+2c)/R _j (8)

k＞[(h+2c)/4cb]-[b/(h+2c)]

In the formula, k is the eccentricity of hyperboloid minute surface, and Ri represents the radius at catadioptric minute surface edge, h represents the vertical range of the focus of hyperboloid catadioptric minute surface to the mirror surface edge, b is the length of the imaginary axis of hyperbolic mirror, and c is the distance of the focus of hyperbolic mirror to true origin, i.e. focal length.

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