CN102523472A - Self-rotary scaffolding convergent multi-view three-dimensional data collection system and method - Google Patents
Self-rotary scaffolding convergent multi-view three-dimensional data collection system and method Download PDFInfo
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- CN102523472A CN102523472A CN2011104251880A CN201110425188A CN102523472A CN 102523472 A CN102523472 A CN 102523472A CN 2011104251880 A CN2011104251880 A CN 2011104251880A CN 201110425188 A CN201110425188 A CN 201110425188A CN 102523472 A CN102523472 A CN 102523472A
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Abstract
The invention belongs to the technical field of three-dimensional image collection and relates to a self-rotary scaffolding convergent multi-view three-dimensional data collection system, comprising a primary camera, a secondary camera, a laser distance measuring module, a main controller and a camera support, wherein the camera support comprises a supporting tray, a primary beam, a plurality of secondary beams and a plurality of electronic rotary shafts; the middle part of the primary beam is fixed on the supporting tray; the corresponding ends of the adjacent upper and lower secondary beams are connected through the electronic rotary shafts by taking the primary beam as the centre; and the primary controller controls the convergence and focus synchronization of the plurality of cameras according to distance signals output by the laser distance measuring module. The invention also provides a convergent multi-view three-dimensional data collection method which is realized by using the system. The self-rotary scaffolding convergent multi-view three-dimensional data collection system and method disclosed by the invention can obtain parallax images of vivid represented display effects of three dimensional scenes and realize synchronized convergent three-dimensional data collection.
Description
Technical field
The invention belongs to the three-dimensional image acquisition technical field, be specifically related to a kind of many viewpoints of convergence type three dimensional data collection system.
Background technology
Free stereo shows it is one of present topmost stereo display mode, in brain, forms the stereo-picture with depth feelings after it utilizes people two to observe to see the plane picture with parallax.Image with parallax can utilize a plurality of cameras to take actual three-dimensional scenic and obtain.The disposing way of camera array is divided into assembles camera array method and two kinds of parallel phase Array Method.Each camera optical axis of parallel camera array method is parallel to each other; Object plane overlaps; Whole three-dimensional scenic all has only negative horizontal parallax not have positive horizontal parallax, on auto-stereoscopic display, obtains having only outside the protrusion screen, does not have the reproduction display effect of the three-dimensional scenic in the recessed screen; Therefore this and beholder watch the depth visual custom of actual three-dimensional scenic inconsistent, and the anaglyph obtained of parallel camera array method can not realize the true reappearance of three-dimensional scenic.The anaglyph that convergence camera array method is obtained has positive and negative horizontal parallax, outside auto-stereoscopic display can obtain existing protrusion screen, the reproduction display effect true to nature of the three-dimensional scenic in the recessed screen is arranged again.
Tradition convergence type many viewpoints three dimensional data collection system can only realize that fixed focal length observes target and take, and taking has significant limitation.Existing many viewpoints of auto-convergence formula three dimensional data collection system realizes the convergence of polyphaser through the angle that changes camera, and does not change the radian of support, and this has limitation in shooting.The camera lens of two adjacent cameras is called stereobase or base length at interval in many viewpoints three dimensional data collection.Generally be decided to be people two interorbital space 7cm, can present extremely natural stereo-picture like this at many viewpoints three dimensional data collection neutral body benchmark, but according to the size of appreciating picture with taken the photograph the distance of body, situation about also changing.Basically be: when stereobase was increased, then the parallax amount increase more can be stressed third dimension; And when reducing stereobase, parallax amount reduces thereupon, and third dimension also reduces thereupon.Say that generally when making a video recording with stereobase 7cm, the target at a distance of about camera 2～10m can photograph the relief scene of nature.But take the photograph body for the quilt of distant places such as building or landscape, do not increase stereobase and just be difficult to occur third dimension, so observation scope is limited.When observation target far away, in order to obtain third dimension, generally all can make stereobase greater than 7cm, if only change the direction of camera, when target when changing, be difficult to realize that all cameras equate to photographic subjects.
Summary of the invention
The objective of the invention is to overcome the above-mentioned deficiency of prior art; Solve traditional many viewpoints of convergence type three dimensional data collection system and can only realize the problem that fixed focal length is observed and taken target; A kind of anaglyph that can obtain the reproduction display effect true to nature of three-dimensional scenic is provided, realizes the three dimensional data collection system that many viewpoints are assembled synchronously.Technical scheme of the present invention is following:
A kind of many viewpoints of rotation stent-type convergence type three dimensional data collection system comprises main camera, from video camera, laser ranging module, master controller, camera mount, wherein,
Described laser ranging module is used to measure the distance between main camera and the observed object, and the distance signal of its output is admitted to master controller;
Described camera mount comprises support pallet, main beam, a plurality of from crossbeam, a plurality of electric rotation shaft; Described support pallet is used to support whole camera mount and each video camera; The middle part of main beam is fixed on to be supported on the pallet, and the The Cloud Terrace of main camera is fixed in the middle part of main beam, from crossbeam from the locus; Be divided into from crossbeam with down from crossbeam; Go up from crossbeam with down from crossbeam and main beam interphase distribution, each length from crossbeam is identical with main beam, fixes the The Cloud Terrace from video camera at each from the middle part of crossbeam;
Described electric rotation shaft comprises base, be arranged on rolling disc on the base, be fixed on the cylindrical shell on the rolling disc, and rolling disc and cylindrical shell rotate under the driving of motor;
Respectively erect an electric rotation shaft at the two ends of main beam, the base of these two electric rotation shafts is fixed on the two ends of main beam, and the top of its two cylindrical shells is fixedly connected with two last ends from crossbeam respectively; Go up the base that is fixedly connected two other electric rotation shaft from an other end of crossbeam respectively for these two; With these two go up from adjacent following of crossbeam and then be fixedly linked with the cylindrical shell top of corresponding electric rotation shaft from crossbeam; By that analogy; With the main beam is the center, and adjacent goes up from crossbeam with down from linking to each other through electric rotation shaft between the corresponding end of crossbeam;
Master controller is according to the distance signal of laser ranging module output, through the same angle of the rotation of each electric rotation shaft of Electric Machine Control, rotates equal angular thereby drive all that be positioned at main beam the same side from crossbeam, realizes the convergence of multiple-camera; And, realize the synchronous of multiple-camera focal length according to of the variation of this distance signal through each camera lens focal length of lens control circuit control.
Many viewpoints three dimensional data collection of the present invention system, described main camera is preferably the video camera of can finding range, and its inside has the laser ranging module.
The present invention provides a kind of many viewpoints of rotation stent-type convergence type three dimensional data collection method that adopts described system to realize simultaneously, comprises the following steps:
(1) arranges that according to observed object main camera reaches the position from video camera, make main camera, each is fixed from the The Cloud Terrace from video camera on the crossbeam, and make from the optical axis direction of video camera and from beam vertical over against observed object;
(2) measure the main camera camera lens to the distance between observed object with the laser ranging module;
(3) distance that measures based on the laser ranging module is calculated the angle that need rotate from the shooting angle of video camera and is changed from focus of camera;
(4) rotate same angle through each electric rotation shaft of Electric Machine Control, each rotated from crossbeam, thus make each from video camera over against observed object, realize the convergence of multiple-camera;
(5) control the variation of each camera lens focal length, realize the multiple-camera focal length synchronously;
(6) carry out many viewpoints collection of three-dimensional data.
As preferred implementation; The present invention is according to the distance between main camera camera lens and the observed object; Preestablish from the video camera shooting angle and need adjust the distance threshold of regulating with focal length of camera; When being lower than the variable in distance of this distance threshold, do not trigger multiple-camera convergence and focal length synchronously; If the distance of adjacent two video cameras is D, when the distance of main camera camera lens and observed object from L
1Adjust to L
2The time, the rotational angle of electric rotation shaft did in the time of should adjusting to over against observed object from video camera
Existing many viewpoints three dimensional data collection system adopts parallel shooting Array Method mostly; The anaglyph of obtaining has only negative horizontal parallax; Do not have positive horizontal parallax, on auto-stereoscopic display, obtain having only outside the protrusion screen, do not have the reproduction display effect of the three-dimensional scenic in the recessed screen.And some many viewpoints three dimensional data collection system adopts convergence shooting Array Method, can only adopt fixed focal length that target is carried out data acquisition, can not realize moving target is taken continuously.Existing many viewpoints of auto-convergence formula three dimensional data collection system can only realize carrying out target observation in the particular range.And many viewpoints of rotation support convergence type three dimensional data collection of the present invention system, camera mount adopts segmented, and rack body is made up of a plurality of crossbeams that can change radian; Thereby can be easily along with the change of object distance realizes auto convergence and focusing; Obtain the anaglyph of the reproduction display effect true to nature of three-dimensional scenic, and can realize the three dimensional data collection that many viewpoints are searched for and observed moving target on a large scale, reasonable in design and clear; Simple to operate; Be swift in response and sensitivity, real-time, accuracy is higher.Particularly, the present invention has following technique effect:
1. utilize the video camera measurement object distance of to find range, and can show the object distance parameter in real time;
2. camera mount adopts segmented, and the support at adjacent camera place connects through electric rotation shaft, and connecting the support electric rotation shaft can change based on the change of object distance; The multiple-camera camera lens can be based on the lens focus regulative mode of selecting with the object distance automatic focusing; Simultaneously can realize manually focusing; Obtain the anaglyph of the reproduction display effect true to nature of three-dimensional scenic, and can realize the three dimensional data collection that many viewpoints are searched for and observed moving target on a large scale.
3. the control of adopting control box realization multiple-camera high-precise synchronization and support rotating manner, lens focus regulative mode and manually focusing;
4. the video image that shows camera acquisition in real time;
5. control panel can be exported parameters such as shooting time, focal length, and can be through regulating the focal length of camera lens;
Description of drawings
The general construction block diagram of many viewpoints of Fig. 1 commentaries on classics support of the present invention convergence type three dimensional data collection system;
Range finding realizes schematic diagram in Fig. 2 video camera of the present invention;
Fig. 3 the present invention module that video camera comprises of finding range;
Fig. 4 support Design principle analysis of the present invention figure;
Fig. 5 support Design front view of the present invention;
Fig. 6 support Design vertical view of the present invention;
Fig. 7 control box panel designs of the present invention and signal move towards sketch map;
The support control module fundamental diagram of Fig. 8 master controller of the present invention;
The focal length of camera control module fundamental diagram of Fig. 9 master controller of the present invention;
The real-time flow for displaying figure of Figure 10 the present invention.
Reference numeral is following: 1 is main camera, and 2 and 18 is from video camera, and 3 and 16 is from crossbeam; 4. main beam, 5 main camera The Cloud Terraces, 6 and 17 is from camera pan-tilt; 7 and 15 is electric rotation shaft, and 8 and 14 is electric rotation shaft cylindrical shell top, and 9 and 13 is the electric rotation shaft base; 10 is the crossbeam fixing hole, and 11 for supporting pallet, and 12 is tripod.
Embodiment
The structural representation of the convergence acquisition system of this invention is as shown in Figure 1.Realize the range measurement between main camera and the observed object by the built-in distance measurement function of main camera, distance signal is admitted to master controller, and through the real-time range of a signal information of LED, master controller is mainly realized through single-chip microcomputer and peripheral components thereof.Master controller calculates angle and the camera lens focal length variations that support rotates according to distance signal, drives the motor of electric rotation shaft and the lens control circuit of video camera motor-driven lens then, realizes the convergence of video camera and the focus adjustment of multiple-camera.In the present embodiment, there are 8, just drawn 2 among the figure from video camera.
1. the video camera of can finding range
In laser ranging module of the inner interpolation of video camera, comprise laser generator and laser pickoff, laser pickoff connects opto-electronic conversion chip, amplification and rectification circuit, distance calculation module successively.Make video camera not only can have the function of video camera, and can measure the distance of object, easy laser ranging scope can reach about 200m, and precision is at 2mm.This video camera can show and export parameters such as distance, lens focus simultaneously in real time, and can import lens focus parameter control lens focus by control box.The video camera of can finding range realizes that range measurement principle is as shown in Figure 2, and the module that the video camera of can finding range comprises is as shown in Figure 3.
2. the design of support
Take the photograph body for the quilt of distant places such as building or landscape, do not increase stereobase and just be difficult to occur third dimension, so observation scope is limited.When observation target far away, in order to obtain third dimension, generally all can make stereobase greater than 7cm, if only change the direction of camera, when target when changing, do not change the radian of support, can not realize that all cameras are to the photographic subjects approximately equal.Assemble so want to realize true synchronization, necessary swinging mounting, and make the optical axis direction of camera lens keep vertical with support.
Identical in order to guarantee the adjacent cameras parallax, in this specific embodiment, support is divided into 9 sections isometric parts; Every adjacent two parts connect through electric rotation shaft; Connect sketch map such as Fig. 4, establish the long d of being of every part support, the distance between main camera camera lens and target is L; The angle that target and every part support two ends are wired to is θ, and the sharp angle that adjacent two parts support is become does
Then can calculate according to Fig. 4
When taking target far away, d and L do not possess comparativity, so
Promptly
Support has made camera lens over against observed object before adjustment, and the distance of then working as main camera camera lens and measurement target is from L
1Adjust to L
2The time, the angle that each support rotates under the effect of electric rotation shaft does
Electric rotation shaft comprises base, is arranged on the rotating shaft on the base, is installed in the rolling disc on this rotating shaft top; Be arranged on the cylindrical shell on the rolling disc; Be equiped with a drive motors in the said cylindrical shell, this drive motors is in transmission connection with the rolling disc that is installed in rotating shaft top, and drive motors is connected with power supply; When drive motors rotates, can drive the cylindrical shell that is arranged on the rolling disc along with turn disc.Also be equiped with the control electronics mainboard that is connected with drive motors in the cylindrical shell, this control electronics mainboard can receive the control signal that control box sends, thus the angle that rolling disc rotated that control and drive motors are in transmission connection.The center of base offers installing hole, and rotating shaft is installed in this installing hole.Drive motors is to be in transmission connection through driving gear and the driven gear that is meshed with the rolling disc that is installed in this rotating shaft top; Driving gear is installed on the output shaft of drive motors; Driven gear is installed in the upper end of rotating shaft; When the output shaft of drive motors rotated, driving gear drove driven gear and rotates, thereby drove the rolling disc that is installed in rotating shaft top and be arranged on simplified the rotating around the axis on the rolling disc.Driving gear, driven gear also are provided with a gear box, and the bottom of this gear box is fixedly connected with rolling disc.When being arranged on cylindrical shell on the rolling disc, can rotate to the unspecified angle between 0～360 ° along with turn disc.The top of cylindrical shell also is fixed with one and is used for the camera mount that is fixedly connected with camera pan-tilt.
As shown in Figure 5; Supporting pallet 11 is fixed on the tripod 12; The camera mount structure is placed on the support pallet 11; Main camera 1 is fixed on the main camera The Cloud Terrace 5, and main camera The Cloud Terrace 5 is fixed in the middle of the main beam 4, and main beam 4 is fixed on the center of supporting pallet 11 through crossbeam fixing hole 10 (use fixed screw).Electric rotation shaft base 9 is fixed on main beam 4 two ends, and electric rotation shaft cylindrical shell top 8 is fixed on the end from crossbeam 3, is fixed in the middle of crossbeam 3 from camera pan-tilt 6; Be fixed on from camera pan-tilt 6 from video camera 2, be fixed on the electric rotation shaft base 13, be fixed on the electric rotation shaft cylindrical shell top 14 from an end of crossbeam 16 from crossbeam 3 other ends; Be placed on the support pallet 11 from crossbeam 16; Be fixed on from crossbeam 16 central authorities from camera pan-tilt 17, be fixed on from camera pan-tilt 17 from video camera 18, other parts are as shown in Figure 5 to be connected successively; Because whole camera mount structure is about main camera 1 symmetry, the right supporting structure also so connects.In the camera mount structure Design, adopt hierarchical design; Rotate at electric rotation shaft cylindrical shell top 8 (or 14) electric rotation shaft 7 (or 15) relatively; Electric rotation shaft base 9 (or 13) is to be fixed on the electric rotation shaft 7 (or 15), is example with main camera left side holder part, can reach like this can drive its left side when rotate at electric rotation shaft cylindrical shell top all rotate equal angular from crossbeam; So when shooting distance changes; Guarantee that the angle of rotating at all electric rotation shaft cylindrical shell tops, the left side all equates to get final product, in like manner main camera the right supporting structure is also like this, reaches the convergence of video camera like this.Fig. 5 and Fig. 6 are respectively the front view and the vertical views of support Design of the present invention.
3. master controller
Master controller places in the control box, and control box also comprises the input port of range information, multidata output port and panel.Main camera camera lens and target distance through the input of range information is measured main camera are imported master controller from information.Master controller will realize that the high-precise synchronization of video camera, support rotating manner are regulated, adjusting is regulated, manually focused to camera lens focusing mode, support rotates functions such as control, lens focus calculating.The program of operation comprises that mainly support rotates control, lens focus control module in the master controller.Support rotating manner and camera lens focusing mode are selected through the selector button on the control box panel; Rotating manner can be divided into continuous rotation and stepping is rotated two kinds: when selecting to rotate continuously; Support rotates control module is calculated each electric rotation shaft based on range information rotational angle; And rotate through motor adjustment electric rotation shaft, make each from video camera over against observed object, realize convergence from video camera; When selecting stepping to rotate, can further select the precision of stepping, be divided into 0.5m, 1m, 2m; Promptly have only when target and main camera distance of camera lens change and surpass 0.5m, 1m or 2m (0.5m, 1m, 2m are respectively based on far and near three gears setting of distance; When distance between camera and the observed object is far away, select bigger gear, the gear here; Can be regarded as the distance threshold under the step mode) time; Master controller just can rotate through control motor adjustment electric rotation shaft, make each from video camera over against observed object, realize convergence from video camera.Camera lens focusing mode also can be divided into two kinds of continuous focusing and stepping focusing: when selecting focusing continuously, the focus controlling module is calculated each according to range information and is changed from focus of camera, and transmits control signal to each lens control circuit, realizes focusing; When selecting the stepping focusing, can further select the precision of stepping, be divided into 0.5m, 1m, three gears of 2m; Likewise; Have only when the distance of camera lens of target and camera changes surpass 0.5, when 1m or 2m, the focus controlling module just transmits control signal to each lens control circuit, realizes focusing.Manually focus manually the focus start button, focal length that module comprises on the control box panel and select circulator and focal length output; Press and manually focus start button; The moment inefficacy of camera lens focusing mode module; Can select circulator to select suitable focal length through focal length, and focal length is imported camera lens focus controlling module.Panel construction sketch map such as Fig. 7 of control box.High-precise synchronization, support that following mask body is set forth video camera rotate control module and lens focus control module execution mode:
1. the high-precise synchronization of video camera
In multiple-camera is taken, video camera extremely important synchronously, general hope can reach about 0.2ms, can adapt to the movement velocity of 10m/s like this.In implementation process of the present invention; Outer synchronous input end through synchronizing signal device built-in in the control box is sent specific synchronizing signal into video camera is accomplished the precise synchronization between the multiple-camera; Carry out the Synchronization Control of video camera, error is no more than 125us, satisfies the requirement of video basically.
2. support rotates control module
Support rotating manner signal has only when this signal has input as the drive signal of single-chip microcomputer, and single-chip microcomputer could drive the work of The Cloud Terrace stepping motor.Single-chip microcomputer is all remembered angle and range information L that camera lens departs from principal phase machine optical axis direction automatically after each stepping motor has rotated
1, as new range information L
2During input, single-chip microcomputer calculates the direction and the angle of required rotation according to angle that originally departed from the main camera camera lens optical axis and new range information, is example with the right four part supports still, and from left to right all support rotational angles are
The positive and negative representative rotation direction of wherein calculating, on duty when just (bearing), rotation direction is contrary (suitable) clockwise, the angle of the absolute value of the value of calculating for rotating according to symmetry, can know that the left side four part supports are just opposite with the right four part support situation.According to rotational angle that calculates and direction, Single-chip Controlling electric rotation shaft motor.Concrete implementation procedure such as Fig. 8.The control module of rotating support has realized the stepping of support and has rotated control continuously, made video camera realize auto-convergence.
3. lens focus control module
Camera lens focusing mode signal has only when this signal has input as the driving signal of single-chip microcomputer, and single-chip microcomputer could calculate focal length based on the range information of input, and when this signal did not have input, the focal length of single-chip microcomputer output did not change all the time.After manually focusing pushbutton enable on the control box, focusing mode Signal Fail, the suitable focal length that output is manually selected.The focus information that single-chip microcomputer calculates is distributed to the lens control circuit of 9 camera lens respectively, the required control voltage of lens control circuit output controls lens, and the focal length of adjustment camera lens makes all camera lens focus on synchronously.Both can realize the continuous synchronously and stepping focusing of polyphaser camera lens through the camera lens control module, and can realize again manually focusing.Concrete sketch map is shown in Fig. 9.
4. real-time video shows
Real-time video shows and is made up of multi-channel video acquisition and recording device and realtime image data treatment system that the realtime image data treatment system comprises front-end server software, video flowing server software and image software for display.Multi-channel video acquisition and recording device images acquired; Convert the analog image of gathering to digital picture; And these data are compressed, view data sends front-end server to through the PCM output port of acquisition and recording device, and the function of front-end server software is for the video flowing server PCM to be provided true form; Through front-end server image data stream is handled; With the form of confirming image data packets is sent to graphic display terminal then, graphic display terminal operation image Real-Time Display Software shows image in real time.Real-time video show can select one the tunnel or multi-channel video show that multi-channel video adopts split screen to show.Real-time video display design flow process such as Figure 10.
5. Interface Control
The real-time video demonstration needs an interface displayed; Designed an interface in this embodiment; The interface is divided into 9 bulks, every be divided into that video shows, parameter output and parameter control three parts, the video that each bulk is responsible for a video camera shows, parameter output and parameter control.Can read video output, camera lens and target range, camera lens focal length through the interface, and can be through the focal length of interface adjustment camera lens.
Claims (5)
1. many viewpoints of rotation stent-type convergence type three dimensional data collection system comprises main camera, from video camera, laser ranging module, master controller, camera mount, wherein,
Described laser ranging module is used to measure the distance between main camera and the observed object, and the distance signal of its output is admitted to master controller;
Described camera mount comprises support pallet, main beam, a plurality of from crossbeam, a plurality of electric rotation shaft; Described support pallet is used to support whole camera mount and each video camera; The middle part of main beam is fixed on to be supported on the pallet, and the The Cloud Terrace of main camera is fixed in the middle part of main beam, from crossbeam from the locus; Be divided into from crossbeam with down from crossbeam; Go up from crossbeam with down from crossbeam and main beam interphase distribution, each length from crossbeam is identical with main beam, fixes the The Cloud Terrace from video camera at each from the middle part of crossbeam;
Described electric rotation shaft comprises base, be arranged on rolling disc on the base, be fixed on the cylindrical shell on the rolling disc, and rolling disc and cylindrical shell rotate under the driving of motor;
Respectively erect an electric rotation shaft at the two ends of main beam, the base of these two electric rotation shafts is fixed on the two ends of main beam, and the top of its two cylindrical shells is fixedly connected with two last ends from crossbeam respectively; Go up the base that is fixedly connected two other electric rotation shaft from an other end of crossbeam respectively for these two; With these two go up from adjacent following of crossbeam and then be fixedly linked with the cylindrical shell top of corresponding electric rotation shaft from crossbeam; By that analogy; With the main beam is the center, and adjacent goes up from crossbeam with down from linking to each other through electric rotation shaft between the corresponding end of crossbeam;
Master controller is according to the distance signal of laser ranging module output, through the same angle of the rotation of each electric rotation shaft of Electric Machine Control, rotates equal angular thereby drive all that be positioned at main beam the same side from crossbeam, realizes the convergence of multiple-camera; And, realize the synchronous of multiple-camera focal length according to of the variation of this distance signal through each camera lens focal length of lens control circuit control.
2. many viewpoints of rotation stent-type convergence type three dimensional data collection according to claim 1 system is characterized in that, described main camera is for finding range video camera, and its inside has the laser ranging module.
3. many viewpoints of the rotation stent-type convergence type three dimensional data collection method that adopts the described system of claim 1 to realize comprises the following steps:
(1) arranges that according to observed object main camera reaches the position from video camera, make main camera, each is fixed from the The Cloud Terrace from video camera on the crossbeam, and make from the optical axis direction of video camera and from beam vertical over against observed object;
(2) measure the main camera camera lens to the distance between observed object with the laser ranging module;
(3) distance that measures based on the laser ranging module is calculated the angle that need rotate from the shooting angle of video camera and is changed from focus of camera;
(4) rotate same angle through each electric rotation shaft of Electric Machine Control, each rotated from crossbeam, thus make each from video camera over against observed object, realize the convergence of multiple-camera;
(5) control the variation of each camera lens focal length, realize the multiple-camera focal length synchronously;
(6) carry out many viewpoints collection of three-dimensional data.
4. many viewpoints of rotation stent-type convergence type three dimensional data collection method according to claim 3; It is characterized in that; According to the distance between main camera camera lens and the observed object; Preestablish from the video camera shooting angle and need adjust the distance threshold of regulating with focal length of camera, when being lower than the variable in distance of this distance threshold, do not trigger convergence and focal length synchronous of multiple-camera.
5. many viewpoints of rotation stent-type convergence type three dimensional data collection method according to claim 3 is characterized in that the distance of establishing adjacent two video cameras is D, when the distance of main camera camera lens and observed object from L
1Adjust to L
2The time, the rotational angle of electric rotation shaft did in the time of should adjusting to over against observed object from video camera
The invention belongs to the three-dimensional image acquisition technical field; Relate to a kind of many viewpoints of rotation stent-type convergence type three dimensional data collection system; Comprise main camera, from video camera, laser ranging module, master controller, camera mount; Wherein, camera mount comprises support pallet, main beam, a plurality of from crossbeam, a plurality of electric rotation shaft, and the middle part of main beam is fixed on to be supported on the pallet; With the main beam is the center, and adjacent goes up from crossbeam with down from linking to each other through electric rotation shaft between the corresponding end of crossbeam; Master controller is according to the distance signal of laser ranging module output, and the convergence of control multiple-camera and focusing are synchronously.The present invention provides a kind of many viewpoints of convergence type three dimensional data collection method of utilizing said system to realize simultaneously.The present invention can obtain the anaglyph of the reproduction display effect true to nature of three-dimensional scenic, realizes the three dimensional data collection of assembling synchronously.
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| CN108088385A (en) * | 2017-12-14 | 2018-05-29 | 苏州西博三维科技有限公司 | Three-dimensional regulating mechanism |
| CN108106557A (en) * | 2017-12-14 | 2018-06-01 | 苏州西博三维科技有限公司 | Micromatic setting |
| CN108051804A (en) * | 2017-12-19 | 2018-05-18 | 山东神戎电子股份有限公司 | A kind of inter-linked controlling method of radar and optoelectronic device |
| CN110602401A (en) * | 2019-09-17 | 2019-12-20 | 维沃移动通信有限公司 | Photographing method and terminal |
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| CN113645462B (en) * | 2021-08-06 | 2024-01-16 | 深圳臻像科技有限公司 | Conversion method and device for 3D light field |
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