CN102523472B - 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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- CN102523472B CN102523472B CN201110425188.0A CN201110425188A CN102523472B CN 102523472 B CN102523472 B CN 102523472B CN 201110425188 A CN201110425188 A CN 201110425188A CN 102523472 B CN102523472 B CN 102523472B
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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 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 current topmost stereo display mode, and it forms the stereo-picture with depth feelings after utilizing people two to observe to see the plane picture with parallax in brain.The 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 only has negative horizontal parallax there is no positive horizontal parallax, on auto-stereoscopic display, obtain only having and protrude outside screen, the reproduction display effect that there is no the three-dimensional scenic in recessed screen, this and beholder watch the depth visual custom of actual three-dimensional scenic inconsistent, and the anaglyph that therefore parallel camera array method is obtained 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, has again the reproduction display effect true to nature of the three-dimensional scenic in recessed screen.
Many viewpoints of tradition convergence type three dimensional data collection system can only realize fixed focal length and target observed and taken, and takes and has significant limitation.Existing many viewpoints of self-convergence type three dimensional data collection system realizes the convergence of polyphaser by changing the angle of camera, and does not change the radian of support, and this has limitation in shooting.In many viewpoints three dimensional data collection, the camera lens interval of two adjacent cameras is called stereobase or base length.Generally at many viewpoints three dimensional data collection neutral body benchmark, be decided to be people two interorbital space 7cm, can present so extremely naturally stereo-picture, but according to appreciating the size of picture and the distance of subject, situation about also changing.Substantially: when stereobase is increased, parallax amount increase more can be emphasized third dimension; And while reducing stereobase, parallax amount reduces thereupon, third dimension also reduces thereupon.Generally, during with stereobase 7cm shooting, the target at a distance of camera 2～10m left and right, can photograph the relief scene of nature.But for the subject of the distant places such as building or landscape, do not increase stereobase and be just 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 be greater than 7cm, if only change the direction of camera, when target is when changing, be difficult to realize all cameras and equate to photographic subjects.
Summary of the invention
The object 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 synchronous three dimensional data collection system of assembling of many viewpoints.Technical scheme of the present invention is as follows:
A self-rotary scaffolding convergent multi-view three-dimensional data collection system, comprises main camera, from video camera, laser ranging module, master controller, camera mount, wherein,
Described laser ranging module is for measuring the distance between main camera and observed object, and the distance signal of its output is admitted to master controller;
Described camera mount comprises support tray, main beam, a plurality of from crossbeam, a plurality of electric rotation shaft, described support tray is used for supporting whole camera mount and each video camera, the middle part of main beam is fixed on support tray, the The Cloud Terrace of main camera is fixed on the middle part of main beam, from crossbeam from locus, be divided into from crossbeam and from crossbeam, upper from crossbeam with from crossbeam and main beam interphase distribution, each length from crossbeam is identical with main beam, at each, from the middle part of crossbeam, fixes one from the The Cloud Terrace of video camera;
Described electric rotation shaft comprises base, be arranged on rolling disc on base, be fixed on the cylindrical shell on rolling disc, and rolling disc and cylindrical shell rotate under the driving of motor;
At the two ends of main beam, respectively erect an electric rotation shaft, the base of these two electric rotation shafts is fixed on the two ends of main beam, and the top of two cylindrical shell is above fixedly connected with from one end of crossbeam with two respectively; These two the upper bases of two other electric rotation shaft that are fixedly connected with respectively from other one end of crossbeam, with these two upper from crossbeam adjacent from crossbeam, be fixedly linked with the cylindrical shell top of corresponding electric rotation shaft, by that analogy, centered by main beam, adjacent upper from crossbeam and between the corresponding end of crossbeam, by electric rotation shaft, be connected;
Master controller, according to the distance signal of laser ranging module output, by the same angle of the rotation of each electric rotation shaft of Electric Machine Control, is positioned at all from crossbeam rotation equal angular of main beam the same side thereby drive, and realizes the convergence of multiple-camera; And according to this distance signal, by lens control circuit, control the variation of each camera lens focal length, realize the synchronous of multiple-camera focal length.
Many viewpoints three dimensional data collection system of the present invention, described main camera is preferably the video camera of can finding range, and its inside is with laser ranging module.
The present invention provides a kind of self-rotary scaffolding convergent multi-view three-dimensional data collection method that adopts described system to realize simultaneously, comprises the following steps:
(1) according to observed object, arrange main camera and from the position of video camera, make main camera over against observed object, each The Cloud Terrace from video camera from crossbeam is fixed, and make from the optical axis direction of video camera with from beam vertical;
(2) by laser ranging module, measure main camera camera lens to the distance between observed object;
(3) distance measuring according to laser ranging module, calculates the angle need to rotate from the shooting angle of video camera and from the focal length variations of video camera;
(4) by each electric rotation shaft of Electric Machine Control, rotate same angle, then make each from crossbeam, rotate, thereby 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 synchronous of multiple-camera focal length;
(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 observed object, preset from video camera shooting angle and need to adjust the distance threshold regulating with focal length of camera, during lower than the change of distance of this distance threshold, do not trigger the synchronous of the convergence of multiple-camera and focal length; If the distance of adjacent two video cameras is D, when the distance of main camera camera lens and observed object is from L
1adjust to L
2time, in the time of should adjusting to over against observed object from video camera, the rotational angle of electric rotation shaft be
Existing many viewpoints three dimensional data collection system adopts parallel shooting Array Method mostly, the anaglyph of obtaining only has negative horizontal parallax, there is no positive horizontal parallax, on auto-stereoscopic display, obtain only having and protrude outside screen, there is no the reproduction display effect of the three-dimensional scenic in recessed screen.And some many viewpoints three dimensional data collection system adopts convergence shooting Array Method, can only adopt fixed focal length to carry out data acquisition to target, can not realize moving target is taken continuously.Existing many viewpoints of self-convergence type three dimensional data collection system can only realize carrying out target observation in particular range.And many viewpoints of rotation support convergence type three dimensional data collection system of the present invention, camera mount adopts segmented, rack body consists 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 sensitive, real-time, accuracy is higher.Particularly, the present invention has following technique effect:
1. utilize the video camera of can finding range to measure object distance, and can show in real time object distance parameter;
2. camera mount adopts segmented, and the support at adjacent camera place connects by electric rotation shaft, and connection bracket electric rotation shaft can change according to the change of object distance; Multiple-camera camera lens can be according to the lens focus regulative mode of selecting with object distance automatic focusing, can realize and manually focus simultaneously, 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 that adopts control box to realize multiple-camera high-precise synchronization and support rotating manner, lens focus regulative mode and manually focus;
4. show in real time the video image of camera acquisition;
5. control panel can be exported the parameters such as shooting time, focal length, and can be by regulating the focal length of camera lens;
Accompanying drawing explanation
Fig. 1 general construction block diagram that turns many viewpoints of support convergence type three dimensional data collection system of the present invention;
In Fig. 2 video camera of the present invention, range finding realizes schematic diagram;
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 schematic diagram;
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 as follows: 1 is main camera, 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, and 7 and 15 is electric rotation shaft, and 8 and 14 is electric rotation shaft cylindrical shell top, 9 and 13 is electric rotation shaft base, 10 is crossbeam fixing hole, and 11 is support tray, and 12 is tripod.
Embodiment
The structural representation of the convergence acquisition system of this invention as shown in Figure 1.By the built-in distance measurement function of main camera, realize the range measurement between main camera and observed object, distance signal is admitted to master controller, and by the real-time range of a signal information of LED, master controller is mainly realized by single-chip microcomputer and peripheral components thereof.Master controller calculates according to distance signal angle and the camera lens focal length variations that support rotates, and then drives the motor of electric rotation shaft and the lens control circuit of video camera motor-driven lens, realizes the convergence of video camera and the focus adjustment of multiple-camera.In the present embodiment, from video camera, there are 8, in figure, just drawn 2.
1. the video camera of can finding range
In a 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 200m left and right, and precision is at 2mm.This video camera can show and export the parameters such as distance, lens focus in real time, and can input lens focus parameter by control box and control lens focus.The video camera of can finding range is realized range measurement principle as shown in Figure 2, and the module that the video camera of can finding range comprises as shown in Figure 3.
2. the design of support
For the subject of the distant places such as building or landscape, do not increase stereobase and be just 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 be greater than 7cm, if only change the direction of camera, when target is when changing, do not change the radian of support, can not realize all cameras to photographic subjects approximately equal.So want to realize true synchronization, assemble, necessary swinging mounting, and the optical axis direction of camera lens is kept and support vertical.
Identical in order to guarantee adjacent cameras parallax, in this specific embodiment, support is divided into 9 sections of isometric parts, every adjacent two parts connect by electric rotation shaft, connection diagram is as Fig. 4, and establishing every part support long is d, and 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 becomes is
according to Fig. 4, can calculate
when taking target far away, d and L do not possess comparativity, so
?
support has made camera lens over against observed object before adjustment, works as the distance of main camera camera lens and measurement target from L
1adjust to L
2time, the angle that each support rotates under the effect of electric rotation shaft is
Electric rotation shaft comprises base, be arranged on the rotating shaft on base, be installed in the rolling disc on this rotating shaft top, be arranged on the cylindrical shell on rolling disc, in described cylindrical shell, be equiped with a drive motors, 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 being arranged on rolling disc along with turn disc.In cylindrical shell, be also equiped with the control electronics mainboard being connected with drive motors, this control electronics mainboard can receive the control signal that control box sends, thus the angle that the rolling disc that control and drive motors are in transmission connection rotates.The center of base offers installing hole, and rotating shaft is installed in this installing hole.Drive motors and the rolling disc that is installed in this rotating shaft top are that driving gear and the driven gear by being meshed is in transmission connection, driving gear is installed on the output shaft of drive motors, driven gear is installed in the upper end of rotating shaft, during the output shaft rotation of drive motors, driving gear drives driven gear to rotate, thereby drive, is installed in the rolling disc on rotating shaft top and is arranged on simplified the rotating around the axis on rolling disc.Driving gear, driven gear are also provided with a gear box, and the bottom of this gear box is fixedly connected with rolling disc.While being arranged on cylindrical shell on rolling disc along with turn disc, can rotate to the unspecified angle between 0～360 °.The top of cylindrical shell is also fixed with a camera mount for being fixedly connected with camera pan-tilt.
As shown in Figure 5, support tray 11 is fixed on tripod 12, camera mount structure is placed on support tray 11, main camera 1 is fixed on main camera The Cloud Terrace 5, main camera The Cloud Terrace 5 is fixed in the middle of main beam 4, and main beam 4 is fixed on support tray 11 center by crossbeam fixing hole 10 (use fixed screw).Electric rotation shaft base 9 is fixed on main beam 4 two ends, electric rotation shaft cylindrical shell top 8 is fixed on from one end of crossbeam 3, from camera pan-tilt 6, be fixed in the middle of crossbeam 3, from video camera 2, be fixed on from camera pan-tilt 6, from crossbeam 3 other ends, be fixed on electric rotation shaft base 13, from one end of crossbeam 16, be fixed on electric rotation shaft cylindrical shell top 14, from crossbeam 16, be placed in support tray 11, from camera pan-tilt 17, be fixed on from crossbeam 16 central authorities, from video camera 18, be fixed on from camera pan-tilt 17, other parts connect as shown in Figure 5 successively, because whole camera mount structure is about main camera 1 symmetry, so the right supporting structure also so connects.In the design of camera mount structure, adopt hierarchical design, electric rotation shaft cylindrical shell top 8 (or 14) can be rotated relative to electric rotation shaft 7 (or 15), electric rotation shaft base 9 (or 13) is to be fixed on electric rotation shaft 7 (or 15), the main camera left side holder part of take is example, can reach like this when rotate at an electric rotation shaft cylindrical shell top to drive its left side all from crossbeam rotation equal angular, so when shooting distance changes, guarantee that the angle of rotating at all electric rotation shaft cylindrical shells top, the left side all equates, in like manner main camera the right supporting structure is also like this, reach like this convergence of video camera.Fig. 5 and Fig. 6 are respectively front view and the vertical views of support Design of the present invention.
3. master controller
Master controller is placed in control box, and control box also comprises the input port of range information, multidata output port and panel.The main camera camera lens of main camera being measured by the input of range information and target distance are from input information master controller.High-precise synchronization, the support rotating manner that master controller will be realized video camera regulates, lens focusing mode regulates, manually focuses adjusting, support rotates the functions such as control, lens focus calculating.In master controller, the program of operation mainly comprises that support rotates control, lens focus control module.Support rotating manner and lens focusing mode are selected by the selection button on 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 and according to range information, calculates the rotational angle of each electric rotation shaft, and by motor, adjust electric rotation shaft and rotate, make each from video camera over against observed object, realize the convergence from video camera; When selecting stepping to rotate, can further select the precision of stepping, be divided into 0.5m, 1m, 2m, only have when target and main camera distance of camera lens change and surpass 0.5m, 1m or 2m (0.5m, 1m, 2m are respectively according to far and near three gears setting of distance, when distant between camera and observed object, select larger gear, the gear here, can be regarded as the distance threshold under step mode) time, master controller just can rotate by controlling motor adjustment electric rotation shaft, make each from video camera over against observed object, realize the convergence from video camera.Lens focusing mode also can be divided into continuous focusing and stepping is focused two kinds: when selecting focusing continuously, focus controlling module is calculated each from the focal length variations of video camera according to range information, and transmits control signal to each lens control circuit, realizes and focusing; When selecting stepping focusing, can further select the precision of stepping, be divided into 0.5m, 1m, tri-gears of 2m, similarly, only have when the distance of camera lens of target and camera changes surpass 0.5, when 1m or 2m, 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 control box panel and select circulator and focal length output, press and manually focus start button, the moment inefficacy of lens focusing mode module, can select circulator to select suitable focal length by focal length, and focal length is inputted to lens focus control module.The panel construction schematic diagram of control box is as Fig. 7.High-precise synchronization, support that lower 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 synchronously extremely important, general hope can reach 0.2ms left and right, can adapt to like this movement velocity of 10m/s.In the invention process process, the outer synchronous input end of specific synchronizing signal being sent into video camera by synchronizing signal device built-in in control box is accomplished the precise synchronization between multiple-camera, the Synchronization Control of carrying out video camera, error is no more than 125us, substantially meets the requirement of video.
2. support rotates control module
Support rotating manner signal, as the driving signal of single-chip microcomputer, only has when this signal has input, and single-chip microcomputer could drive the work of The Cloud Terrace stepping motor.Single-chip microcomputer is after each stepping motor has rotated, and all automatic Memory camera lens departs from angle and the range information L of principal phase machine optical axis direction
1, as new range information L
2during input, single-chip microcomputer calculates direction and the angle of required rotation according to the angle and the new range information that originally departed from main camera camera lens optical axis, and the right four part supports of still take are example, and from left to right all support rotational angles are
the positive and negative rotation direction that represents 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, the known left side four part supports are just contrary with the right four part support situations.According to the rotational angle calculating and direction, Single-chip Controlling electric rotation shaft motor.Specific implementation process is as Fig. 8.The control module of rotating support has realized the stepping of support and has rotated and control continuously, makes video camera realize auto-convergence.
3. lens focus control module
Lens focusing mode signal, as the driving signal of single-chip microcomputer, only has when this signal has input, and single-chip microcomputer could calculate focal length according to the range information of input, and when this signal is during without input, the focal length of single-chip microcomputer output does not change all the time.On control box, manually focus after pushbutton enable focusing mode Signal Fail, the suitable focal length that output is manually selected.The focus information that single-chip microcomputer calculates is distributed to respectively the lens control circuit of 9 camera lens, and the required control voltage of camera lens is controlled in lens control circuit output, adjusts the focal length of camera lens, makes all camera lens focusing synchronous.By lens control module, both can realize the synchronously continuous and stepping of polyphaser camera lens and focus, and can realize manually and focusing again.Concrete schematic diagram as shown in Figure 9.
4. video shows in real time
Video in real time demonstration is comprised of multi-channel video capturing register and realtime image data treatment system, and realtime image data treatment system comprises front-end server software, video streaming services device software and image software for display.Multi-channel video capturing register gathers image, convert the analog image of collection to digital picture, and these data are compressed, view data sends front-end server to by the PCM output port of acquisition and recording device, the function of front-end server software is to provide PCM true form for video streaming services device, by front-end server, image data stream is processed, then with the form of determining, image data packets is sent to graphic display terminal, graphic display terminal operation image Real-Time Display Software, shows image in real time.The real-time demonstration of video can select a road or multi-channel video to show, multi-channel video adopts split screen to show.Video Real-time Display Design flow process is as Figure 10.
5. Interface Control
Video shows the interface of a demonstration of needs in real time, designed in this embodiment an interface, interface is divided into 9 bulks, and every is divided into video demonstration, parameter output and parameter and controls three parts, the video demonstration of the responsible video camera of each bulk, parameter output and parameter control.By interface, video output, camera lens and target range, camera lens focal length can be read, and the focal length of camera lens can be adjusted by interface.
Claims (5)
1. a self-rotary scaffolding convergent multi-view three-dimensional data collection system, comprises main camera, from video camera, laser ranging module, master controller, camera mount, wherein,
Described laser ranging module is for measuring the distance between main camera and observed object, and the distance signal of its output is admitted to master controller;
Described camera mount comprises support tray, main beam, a plurality of from crossbeam, a plurality of electric rotation shaft, described support tray is used for supporting whole camera mount and each video camera, the middle part of main beam is fixed on support tray, the The Cloud Terrace of main camera is fixed on the middle part of main beam, from crossbeam from locus, be divided into from crossbeam and from crossbeam, upper from crossbeam with from crossbeam and main beam interphase distribution, each length from crossbeam is identical with main beam, at each, from the middle part of crossbeam, fixes one from the The Cloud Terrace of video camera;
Described electric rotation shaft comprises base, be arranged on rolling disc on base, be fixed on the cylindrical shell on rolling disc, and rolling disc and cylindrical shell rotate under the driving of motor;
At the two ends of main beam, respectively erect an electric rotation shaft, the base of these two electric rotation shafts is fixed on the two ends of main beam, and the top of two cylindrical shell is above fixedly connected with from one end of crossbeam with two respectively; These two the upper bases of two other electric rotation shaft that are fixedly connected with respectively from other one end of crossbeam, with these two upper from crossbeam adjacent from crossbeam, be fixedly linked with the cylindrical shell top of corresponding electric rotation shaft, by that analogy, centered by main beam, adjacent upper from crossbeam and between the corresponding end of crossbeam, by electric rotation shaft, be connected;
Master controller, according to the distance signal of laser ranging module output, rotates same angle by each electric rotation shaft of Electric Machine Control, thereby drive, is positioned at all from crossbeam rotation equal angular of main beam the same side, realizes the convergence of multiple-camera; And according to this distance signal, by lens control circuit, control the variation of each camera lens focal length, realize the synchronous of multiple-camera focal length.
2. self-rotary scaffolding convergent multi-view three-dimensional data collection system according to claim 1, is characterized in that, described main camera is for finding range video camera, and its inside is with laser ranging module.
3. a self-rotary scaffolding convergent multi-view three-dimensional data collection method that adopts system claimed in claim 1 to realize, comprises the following steps:
(1) according to observed object, arrange main camera and from the position of video camera, make main camera over against observed object, each The Cloud Terrace from video camera from crossbeam is fixed, and make from the optical axis direction of video camera with from beam vertical;
(2) by laser ranging module, measure main camera camera lens to the distance between observed object;
(3) distance measuring according to laser ranging module, calculates the angle need to rotate from the shooting angle of video camera and from the focal length variations of video camera;
(4) by each electric rotation shaft of Electric Machine Control, rotate same angle, then make each from crossbeam, rotate, thereby 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 synchronous of multiple-camera focal length;
(6) carry out many viewpoints collection of three-dimensional data.
4. self-rotary scaffolding convergent multi-view three-dimensional data collection method according to claim 3, it is characterized in that, according to the distance between main camera camera lens and observed object, preset from video camera shooting angle and need to adjust the distance threshold regulating with focal length of camera, during lower than the change of distance of this distance threshold, do not trigger the synchronous of the convergence of multiple-camera and focal length.
5. self-rotary scaffolding convergent multi-view 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 is from L
1adjust to L
2time, in the time of should adjusting to over against observed object from video camera, the rotational angle of electric rotation shaft be
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