CN102289144B - Intelligent three-dimensional (3D) video camera equipment based on all-around vision sensor - Google Patents
Intelligent three-dimensional (3D) video camera equipment based on all-around vision sensor Download PDFInfo
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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
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 will better utilize the 3D TV of oneself, and the 3D video camera is a kind of well supplementary certainly.
By two of two video cameras simulation left and right, the distance between two video cameras of general words, baseline is few apart from the range difference with between two of people.As long as by two camera simulation left and right two an eye line, take respectively two films, then show in screen by these two films simultaneously; Adopt necessary technological means during projection again, make spectators' left eye can only see left-eye image, right eye also can only be seen eye image.When two width images, after filmgoer's brain coincides, they have just produced three-dimensional depth feelings to the screen picture.Stereoscopic shooting seems very simply simulation, 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 driver plate, the adjusting focusing possessed except the 2D type on driver plate, exposure, aperture, shutter, automatic exposure conversion and white balance switching, this time also increase the 3D degree of depth and adjusted function, can adjust according to different scenes the stereoscopic depth effect of 3D.
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 be through being accurate to micron-sized adjustment, in order to guarantee that the twin-lens optical axis aligns all the time before the 3D video camera dispatches from the factory; But in use, for avoiding occurring deviation, the user need to realize that 3D adjusts automatically by manual mode, make the right and left eyes picture all the time on rational position.
When the 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 again the new work position of the pushing hands (3D Puller) of a 3D degree of depth adjustment, 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 a little the light modulation I position of 2D.Technology in 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 to be dig-inned screen rapid adjustment at any time.
In general, also be difficult to guarantee the consistent degree of two machines even increase the assistant of a 3D degree of depth adjustment more; The consistance that existing 3D technique for taking will guarantee focal length, take direction, shooting angle and the 3D degree of depth etc. is an extremely difficult thing, and especially in the situation that dynamically take, time-consuming effort again is difficult to guarantee the 3D shooting quality simultaneously.
Summary of the invention
In order to 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 3D video image process, require great effort, be difficult to guarantee the deficiency such as shooting quality, the invention provides a kind of focal length, take the intelligent 3D picture pick-up device based on omnibearing vision sensor that consistance is easy to adjust, easy to operate, shooting quality is higher of direction, shooting angle and the 3D degree of depth.
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, comprise that an omnibearing vision sensor, one group of 3D camera head consisted of 2 high-definition cameras and cameraman are according on the panoramic picture shown on display, with mouse, clicking the focusing wanting to take 3D video close-up image and can automatically control the 3D camera head, 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, the top of support bar is fixed wtih described omnibearing vision sensor, the middle part of support bar is fixed wtih described 3D camera head, 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 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 for reading the panoramic picture of omnibearing vision sensor, and this panoramic picture is presented on display, is used to the 3D cameraman that one personal-machine interactive interface is provided;
3D camera head parameter adjustment unit, for responding when the 3D cameraman clicks the some grids on panorama sketch with mouse the event produced, automatically carry out setting and the adjustment of 3D effect and the focal length of video camera of the 3D depth of field, take direction and shooting angle adjustment, the specific implementation process is: when the 3D cameraman clicks the some grids on panorama sketch with mouse, the event that the information of numbering with preset point is parameter that software systems produce automatically, a software interruption response occurs in software systems, read the parameter with the information of preset point numbering, then remove to retrieve with the information of this preset point numbering the focal length that preset point table corresponding to the various parameters of equipment obtains video camera, take direction, shooting angle and 3D depth of field parameter value, then according to these parameter values, by the PELCO-D control protocol, control the focusing in described 3D camera head, horizontally rotate, the action of the adjustment motor of vertical rotation and the 3D degree of depth,
The 3D rendering reading unit, for read respectively the video image of two passages in left and right that described 3D camera head obtains from described high definition video collecting unit, its output is connected with the input of described 3D rendering synthesis unit;
The 3D rendering synthesis unit, synthesize processing for the video image of two passages in left and right that described 3D camera head is obtained, and 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 consisted 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 corresponding drive motor in described 3D camera head is realized, wherein, the focusing of camera lens is that the inside institute translator in described high-definition camera is realized, 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 to 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, thereby driving two gear sheet engagements rotates, the final adjustment that relatively rotates to realize the 3D degree of depth that drives the high-definition camera on two gear sheets, also include a demoder in described 3D camera head, the effect of demoder is: the control code that receives described computing machine by serial ports, and this control code is resolved, and the results conversion of resolving is become to drive the control voltage that in described 3D camera head, corresponding motor is rotated, then pass to described 3D camera head with the focusing of controlling its camera lens, horizontally rotate, adjustment and the shut-down operation of vertical rotation, the 3D degree of depth.
Further again, described computing machine is connected two communication interfaces by a RS232/RS485 converter the control of described 3D camera head, and described 3D camera head is write to 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 to several little zones, the corresponding network in each zone, each grid corresponding the focal length of corresponding video camera, take direction, shooting angle and the 3D depth of field, be provided with 128 preset point, each preset point is numbered, then by the various parameters of 3D processing layer equipment, as the focal length of video 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 a preset point and the corresponding table of the various parameters of equipment, as shown in table 1;
Table 1
Preset point leaves in described Computer Storage unit with the corresponding table of the various parameters of equipment, when the 3D cameraman clicks the some grids on panorama sketch with mouse, due to the information of this grid with the preset point numbering, thereby described computing machine just removes to retrieve the preset point focal length of showing acquisition video camera corresponding with the various parameters of equipment after having obtained the information of preset point numbering, take direction, shooting angle and 3D depth of field parameter value, then described computing machine is controlled the focusing in described 3D camera head according to these parameter values by the PELCO-D control protocol, horizontally rotate, the action of the adjustment motor of vertical rotation and the 3D degree of depth, realize the 3D shooting adjustment action automatically of panorama point control, level angle in table 1 and vertical angle are all to using the coordinate system of described omnibearing vision sensor as benchmark.
Further, described omnibearing vision sensor comprises hyperboloid minute surface, upper cover, transparent housing, image unit 4, base, gib screw, bracing frame, protective cover and web joint, described hyperboloid minute surface is fixed on described and covers the upper assembly that forms omnibearing vision sensor, described image unit 4 is fixed on described base by described gib screw, the described base that is fixed wtih described image unit 4 is fixed by screws in again the lower assembly that forms omnibearing vision sensor in described bracing frame, then described transparent housing is connected with threaded connector with described bracing frame, follow with screw described protective cover, the upper assembly of omnibearing vision sensor and the lower assembly of omnibearing vision sensor connect into an omnibearing vision sensor, the bottom that finally with screw, described web joint is fixed on to omnibearing vision sensor is sealed, to guarantee the axial line of described hyperboloid minute surface and the axial line overlaid of described image unit 4 during assembling, so just form one and there is fixedly single view omnibearing vision sensor.
Further again, adopt the fixedly design of single view omnibearing vision sensor in described omnibearing vision sensor, enter the light at the center of hyperbolic mirror, according to bi-curved minute surface characteristic, towards its virtual focus, reflect.Material picture reflexes to imaging in collector lens through hyperbolic mirror, a some P (x, y) on this imaging plane corresponding the coordinate A (X, Y, Z) of a point spatially in kind;
The optical system that hyperbolic mirror forms is meaned by following 5 formulas;
((X
2+ Y
2)/a
2)-((Z-c)
2/ b
2)=-1 is as Z>0 the time (1)
β=tan
-1(Y/X) (3)
α=tan
-1[(b
2+c
2)sinγ-2bc]/(b
2+c
2)cosγ (4)
X, Y, Z representation space coordinate in formula, c means the focus of hyperbolic mirror, and 2c means two distances between focus, a, b is respectively the real axis of hyperbolic mirror and the length of the imaginary axis, β means the angle of incident ray on the XY plane, i.e. position angle, and α means the angle of incident ray on the XZ plane, here α is more than or equal to at 0 o'clock and is called the angle of depression, α is less than at 0 o'clock and is called the elevation angle, f means the distance of imaging plane to the virtual focus of hyperbolic mirror, and γ means to fold into the angle of penetrating light and Z axis;
The core of hyperbolic mirror design is the design of vertical field of view scope, and the scope of binocular stereo vision is finally determined;
From the known hyp shape of formula (1), can be determined by parameter a, b, these two parameters also can be with being expressed apart from 2c and eccentricity k between hyperbolic focus, and its mutual relationship is calculated by formula (6);
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 meaned the computing method of vertical angle of view α,
Here, R
ithe radius that means catadioptric minute surface edge, h means 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 meet 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 formula, the eccentricity that k is the hyperboloid minute surface, R
ithe radius that means catadioptric minute surface edge, h means the vertical range of the focus of hyperboloid catadioptric minute surface to the mirror surface edge, the length of the imaginary axis that b is hyperbolic mirror, the focus that c is hyperbolic mirror is to the distance of true origin, i.e. focal length.
Beneficial effect of the present invention is mainly manifested in: 1, shooting process is extremely simple and convenient, as long as the object-based device that photographer 3D click on panoramic picture wants to take just automatically completes focusing, horizontally rotates, the actions such as adjustment of vertical rotation and the 3D degree of depth, has robotization and intelligentized function; 2, intelligent degree is high, does not need distinctive professional also can shoot the 3D video image that quality is high.Can be widely used in many applications such as important competitive sports, theatrical performances, animated film, game.
The accompanying drawing explanation
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;
The imaging schematic diagram that Fig. 3 is omnibearing vision sensor;
Fig. 4 is 3D camera head plan view;
The structural drawing that Fig. 5 is the intelligent 3D picture pick-up device based on omnibearing vision sensor;
The man-machine interface figure of the technical solution that Fig. 6 is panoramic picture gridding processing and the control of panorama point.
Embodiment
Below in conjunction with accompanying drawing, the invention will be 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, comprise that an omnibearing vision sensor, one group of 3D camera head consisted of 2 high-definition cameras and cameraman are according on the panoramic picture shown on display, with mouse, clicking the focusing wanting to take 3D video close-up image and can automatically control the 3D camera head, 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, as shown in Figure 5, the top of support bar is fixed wtih described omnibearing vision sensor, the middle part of support bar is fixed wtih described 3D camera head, 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 described 3D camera head are connected with described computing machine by image acquisition units; Demoder in described 3D camera head is connected with described computing machine by the RS232/RS485 converter;
Described omnibearing vision sensor is for obtaining on-the-spot full-view video image; Described 3D camera head is for obtaining on-the-spot 3D video image;
Described full-view video image is for expressing image information macroscopic view, the overall situation, described 3D video image is for expressing microcosmic, stereo image information local, feature, comprising the 3D video image information in full-view video image information, the 3D video image information is the part in full-view video image information, described full-view video image is obtained by described omnibearing vision sensor, at the omnibearing vision sensor described in shooting process, does not produce any relative motion, described 3D video image is obtained by described 3D camera head, will be according to the residing direction of feature object at the 3D camera head described in shooting process, position and the far and near focal length of adjusting camera, the shooting direction of 3D camera head, the parameters such as shooting angle and the 3D depth of field, the cameraman is according to select to want the feature object of taking on shown full-view video image, produce an event of adjusting various control parameters in described 3D camera head by the feature object of clicking with mouse on full-view video image, described computer system software is from this trigger event of dynamic response, make described 3D camera head aim at the feature object and obtain high-quality 3D video image,
Described 3D camera head, for the 3D video image of a certain part that obtains floor, mainly by one group of high-definition camera by 2 identical camera parameters, formed, as shown in Figure 4, the focal length of described high-definition camera, take direction, the adjustment such as shooting angle and 3D degree of depth action corresponding drive motor in described 3D camera head is realized, wherein the focusing of camera lens is that inside institute translator in described high-definition camera is realized, 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 by described high-definition camera 34, 35 are separately fixed at 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 scroll bar 38 driven gear sheets 37, thereby driven gear sheet 37 and 36 engagements of gear sheet are rotated, finally driven gear sheet 36, high-definition camera 34 on 37, 35 the adjustment that relatively rotates to realize the 3D degree of depth, also include a demoder in described 3D camera head, the effect of demoder is: the control code that receives described computing machine by serial ports, and this control code is resolved, and the results conversion of resolving is become to drive the control voltage that in described 3D camera head, corresponding motor is rotated, then pass to 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 the operation such as stop,
Described omnibearing vision sensor below means with ODVS that ODVS comprises hyperboloid minute surface 2, upper cover 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 upper assembly that forms ODVS on described upper cover 1, described image unit 4 is fixed on described base 5 by described gib screw 6, the described base 5 that is fixed wtih described image unit 4 is fixed by screws in again the lower assembly of the interior formation of described bracing frame 7 ODVS, then described transparent housing 3 is connected with described bracing frame 7 use threaded connectors, follow with screw described protective cover 8, the upper assembly of ODVS and the lower assembly of ODVS connect into an ODVS, the bottom that finally with screw, described web joint 9 is fixed on to ODVS is sealed, 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 there is 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 collector lens through hyperbolic mirror, a some P (x, y) on this imaging plane corresponding the coordinate A (X, Y, Z) of a point spatially in kind;
11-hyperbolic curve face mirror in Fig. 3,20-incident ray, the real focus Om (0 of 21-hyperbolic mirror, 0, c), the virtual focus of 22-hyperbolic mirror is the center O c (0 of image unit 4,0 ,-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, and 19-is reflected in the some P (x, y) on imaging plane;
The optical system that hyperbolic mirror shown in Fig. 3 forms is meaned by following 5 formulas;
((X
2+ Y
2)/a
2)-((Z-c)
2/ b
2)=-1 is as Z>0 the time (1)
β=tan
-1(Y/X) (3)
α=tan
-1[(b
2+c
2)sinγ-2bc]/(b
2+c
2)cosγ (4)
X, Y, Z representation space coordinate in formula, c means the focus of hyperbolic mirror, and 2c means two distances between focus, a, b is respectively the real axis of hyperbolic mirror and the length of the imaginary axis, β means the angle of incident ray on the XY plane, i.e. position angle, and α means the angle of incident ray on the XZ plane, here α is more than or equal to at 0 o'clock and is called the angle of depression, α is less than at 0 o'clock and is called the elevation angle, f means the distance of imaging plane to the virtual focus of hyperbolic mirror, and γ means to fold into the angle of penetrating light and Z axis;
The core of hyperbolic mirror design is the design of vertical field of view scope, and the scope of binocular stereo vision is finally determined.
From the known hyp shape of formula (1), can be determined by parameter a, b, these two parameters also can be with being expressed apart from 2c and eccentricity k between hyperbolic focus, and its mutual relationship is calculated by formula (6);
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 meaned the computing method of vertical angle of view α,
Here, R
ithe radius that means catadioptric minute surface edge, h means 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 meet 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)]
Design by above-mentioned ODVS can obtain 360 ° of horizontal directions centered by ODVS, the panoramic picture of 120 ° of vertical direction, as shown in Figure 2;
Described computing machine, for described 3D camera head is carried out to parameter adjustment and setting, for obtaining 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 for connecting the video card of ODVS, for connecting the RS232/RS485 converter of demoder of described 3D camera head, for the high definition video collecting unit of two video cameras connecting 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 for reading the panoramic picture of ODVS, and this panoramic picture is presented on display, is used to the 3D cameraman that one personal-machine interactive interface is provided;
Described 3D camera head parameter adjustment unit is for responding when the 3D cameraman clicks the some grids on panorama sketch with mouse the event produced, automatically carry out setting and the adjustment of 3D effect and the focal length of video camera of the 3D depth of field, take the adjustment such as direction and shooting angle, the specific implementation process is: when the 3D cameraman clicks the some grids on panorama sketch with mouse, the event that the information of numbering with preset point is parameter that software systems produce automatically, a software interruption response occurs in software systems, read the parameter with the information of preset point numbering, then remove to retrieve with the information of this preset point numbering the focal length that preset point table corresponding to the various parameters of equipment obtains video camera, take direction, the parameter values such as shooting angle and the 3D depth of field, then according to these parameter values, by the PELCO-D control protocol, control the focusing in described 3D camera head, horizontally rotate, the action of the motors such as adjustment of vertical rotation and the 3D degree of depth,
Described 3D rendering reading unit is for reading respectively the video image of two passages in left and right that described 3D camera head obtains from described high definition video collecting unit, its output is connected with the input of described 3D rendering synthesis unit;
Described 3D rendering synthesis unit synthesizes processing for the video image of two passages in left and right that described 3D camera head is obtained, and 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 connected two communication interfaces by a RS232/RS485 converter the control of described 3D camera head, and described 3D camera head is write to serial port command realizes, in the present invention, utilize the PELCO-D control protocol to develop as the control protocol of described 3D camera head;
For setting and the adjustment of 3D effect and the focal length of video camera that automatically carries out the 3D depth of field, take the adjustment such as direction and shooting angle, adopt the technical solution of panorama point control in the present invention, specific practice is that panoramic picture is divided into to several little zones, as the grid above accompanying drawing 2, each grid corresponding the focal length of corresponding video camera, take direction, shooting angle and the 3D depth of field, we are preset point by these mesh definition, for having 128 preset point in accompanying drawing 2, each preset point is numbered, then by the various parameters of 3D processing layer equipment, focal length as video camera, take direction, the preset point of corresponding numbering is adjusted and be set to the parameters such as shooting angle and the 3D depth of field in advance, can form like this preset point and the corresponding table of the various parameters of equipment, 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 |
| … | … | … | … | … |
Preset point leaves in described Computer Storage unit with the corresponding table of the various parameters of equipment, when the 3D cameraman clicks the some grids on panorama sketch as shown in Figure 2 with mouse, due to the information of this grid with the preset point numbering, thereby described computing machine just removes to retrieve the preset point focal length of showing acquisition video camera corresponding with the various parameters of equipment after having obtained the information of preset point numbering, take direction, the parameter values such as shooting angle and the 3D depth of field, then described computing machine is controlled the focusing in 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 vertical rotation and the 3D degree of depth, realize the 3D shooting adjustment action automatically of panorama point control, level angle in table 1 and vertical angle are all to using the coordinate system of described omnibearing vision sensor as benchmark.
When live football race, as long as the 3D cameraman is seeing panoramic picture and is clicking the object of taking of wanting on panoramic picture with mouse, flutter the action such as ball as what pay close attention to shooting in panorama sketch and goalkeeper in accompanying drawing 2, described 3D camera head is just automatically aimed at the subject area of paying close attention to, do not need expensive manpower, energy, by computer control at a dass, the task of completing 3D shooting easily, whole 3D shooting process can be confirmed by the man-machine interface shown in accompanying drawing 6 simultaneously.
Claims (5)
1. the intelligent 3D picture pick-up device based on omnibearing vision sensor is characterized in that: the described intelligent 3D picture pick-up device based on omnibearing vision sensor comprises that an omnibearing vision sensor, one group of 3D camera head consisted of 2 high-definition cameras and cameraman are according on the panoramic picture shown on display, with mouse, clicking the focusing wanting to take 3D video close-up image and can automatically control the 3D camera head, adjust the computing machine of taking direction, shooting angle and the 3D depth of field; Described omnibearing vision sensor and described 3D camera head link together by support bar, the top of support bar is fixed wtih described omnibearing vision sensor, the middle part of support bar is fixed wtih described 3D camera head, 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 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 for reading the panoramic picture of omnibearing vision sensor, and this panoramic picture is presented on display, is used to the 3D cameraman that one personal-machine interactive interface is provided;
3D camera head parameter adjustment unit, for responding when the 3D cameraman clicks the some grids on panorama sketch with mouse the event produced, automatically carry out setting and the adjustment of 3D effect and the focal length of video camera of the 3D depth of field, take direction and shooting angle adjustment, the specific implementation process is: when the 3D cameraman clicks the some grids on panorama sketch with mouse, the event that the information of numbering with preset point is parameter that software systems produce automatically, a software interruption response occurs in software systems, read the parameter with the information of preset point numbering, then remove to retrieve with the information of this preset point numbering the focal length that preset point table corresponding to the various parameters of equipment obtains video camera, take direction, shooting angle and 3D depth of field parameter value, then according to these parameter values, by the PELCO-D control protocol, control the focusing in described 3D camera head, horizontally rotate, the action of the adjustment motor of vertical rotation and the 3D depth of field,
The 3D rendering reading unit, for read respectively the video image of two passages in left and right that described 3D camera head obtains from the high definition video collecting unit, its output is connected with the input of 3D rendering synthesis unit;
The 3D rendering synthesis unit, synthesize processing for the video image of two passages in left and right that described 3D camera head is obtained, and 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 consisted of one group of high-definition camera by 2 identical camera parameters, the focusing of camera lens is that the inside institute translator in described high-definition camera is realized, 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 depth of field of described 3D camera head is realized by rotary electric machine, specific implementation is that described high-definition camera is separately fixed to two meshed gears sheets, gear is processed in the both sides of one of them gear sheet, one side of this gear sheet and another gear sheet are meshed, the opposite side of this gear sheet is processed into the turbine shape and worm screw is meshed simultaneously, rotary electric machine directly drives scroll bar, scroll bar drives the turbine rotation on one of them gear sheet, thereby driving two gear sheet engagements rotates, the final adjustment that relatively rotates to realize the 3D depth of field that drives the high-definition camera on two gear sheets, also include a demoder in described 3D camera head, the effect of demoder is: the control code that receives described computing machine by serial ports, and this control code is resolved, and the results conversion of resolving is become to drive the control voltage that in described 3D camera head, corresponding motor is rotated, then pass to described 3D camera head with the focusing of controlling its camera lens, horizontally rotate, adjustment and the shut-down operation of vertical rotation, the 3D depth of field.
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 connected two communication interfaces by a RS232/RS485 converter the control of described 3D camera head, and described 3D camera head is write to 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 to several little zones, each grid corresponding the focal length of corresponding video camera, take direction, shooting angle and the 3D depth of field, be provided with 128 preset point, each preset point is numbered, then by the various parameters of 3D processing layer equipment, the preset point of corresponding numbering is adjusted and be set to the focal length of video camera, shooting direction, shooting angle and 3D depth of field parameter in advance, form a preset point and the corresponding table of the various parameters of equipment.
4. 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 omnibearing vision sensor comprises hyperboloid minute surface, upper cover, transparent housing, image unit, base, gib screw, bracing frame, protective cover and web joint, described hyperboloid minute surface is fixed on described and covers the upper assembly that forms omnibearing vision sensor, described image unit is fixed on described base by described gib screw, the described base that is fixed wtih described image unit is fixed by screws in again the lower assembly that forms omnibearing vision sensor in described bracing frame, described transparent housing is connected with threaded connector with described bracing frame, with screw by described protective cover, the upper assembly of omnibearing vision sensor and the lower assembly of omnibearing vision sensor connect into an omnibearing vision sensor, the bottom that described web joint is fixed on to omnibearing vision sensor with screw is sealed, to guarantee the axial line of described hyperboloid minute surface and the axial line overlaid of described image unit during assembling.
5. the intelligent 3D picture pick-up device based on omnibearing vision sensor as claimed in claim 4, it is characterized in that: adopt the fixedly design of single view omnibearing vision sensor in described omnibearing vision sensor, enter the light at hyperboloid catadioptric Jing center, reflect towards its virtual focus according to bi-curved minute surface characteristic; Material picture reflexes to imaging in collector lens through hyperboloid catadioptric mirror, a some P (x, y) on this imaging plane corresponding the coordinate A (X, Y, Z) of a point spatially in kind;
The optical system that hyperboloid catadioptric mirror forms is meaned by following 5 formulas;
((X
2+ Y
2)/a
2)-((Z-c)
2/ b
2)=-1 is as Z>0 the time (1)
β=tan
-1(Y/X) (3)
α=tan
-1[(b
2+c
2)sinγ-2bc]/(b
2+c
2)cosγ (4)
X, Y, Z representation space coordinate in formula, c means the focus of hyperboloid catadioptric mirror, 2c means two distances between focus, a, b is respectively the real axis of hyperboloid catadioptric mirror and the length of the imaginary axis, β means the angle of incident ray on the XY plane, it is position angle, α means the angle of incident ray on the XZ plane, here α is more than or equal to at 0 o'clock and is called the angle of depression, α is less than at 0 o'clock and is called the elevation angle, f means the distance of imaging plane to the virtual focus of hyperboloid catadioptric mirror, and γ means to fold into the angle of penetrating light and Z axis;
The core of hyperboloid catadioptric mirror design is the design of vertical field of view scope, and the scope of binocular stereo vision is finally determined;
From the known hyp shape of formula (1), can be determined by parameter a, b, these two parameters also can be with being expressed apart from 2c and eccentricity k between hyperbolic focus, and its mutual relationship is calculated by formula (6);
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 meaned the computing method of the angle α of incident ray on the XZ plane,
Here, R
ithe radius that means hyperboloid catadioptric minute surface outer ledge, h means the vertical range of the focus of hyperboloid catadioptric minute surface to hyperboloid catadioptric minute surface edge;
The eccentricity k design of hyperboloid catadioptric minute surface must meet 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 formula, the eccentricity that k is hyperboloid catadioptric minute surface, R
ithe radius that means folding hyperboloid catadioptric minute surface outer ledge, h means the vertical range of the focus of hyperboloid catadioptric minute surface to hyperboloid catadioptric minute surface edge, the length of the imaginary axis that b is hyperboloid catadioptric mirror, the focus that c is hyperboloid catadioptric mirror is to the distance of true origin, i.e. focal length.
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