CN102905076A - Device, system and method for intelligently controlling three-dimensional (3D) stereoscopic shooting - Google Patents
Device, system and method for intelligently controlling three-dimensional (3D) stereoscopic shooting Download PDFInfo
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Abstract
The invention provides a device for intelligently controlling three-dimensional (3D) stereoscopic shooting. The device comprises a 3D stereoscopic shooting intelligent control unit, wherein the 3D stereoscopic shooting intelligent control unit comprises a main camera parameter acquisition module, an auxiliary camera parameter acquisition module, an image identification module and a micro processor circuit module; if parallax data acquired by the image identification module is not in a preset parallax range, the image identification module sends a signal to the micro processor circuit module; and the micro processor circuit module receives the signal and sends a command of moving a motor to a motor driving module, so that the motor can move, and the reacquired parallax data is in the preset parallax range. The invention also discloses a system and a method for intelligently controlling the 3D stereoscopic shooting. By the device, the system and the method for intelligently controlling the 3D stereoscopic shooting, an auxiliary camera tracks a main camera, and positions of the cameras are intelligently controlled and continuously adjusted, so that a 3D stereoscopic shooting effect can be guaranteed no matter what state a shot object is.
Description
Technical field
The present invention relates to the field of 3D stereoscopic shooting, particularly a kind of device, system and method thereof of 3D stereoscopic shooting Based Intelligent Control.
Background technology
Stereopsis is obtained with reducing will satisfy the known mechanism about stereoscopic vision, and namely binocular stereo vision melts the picture rule.According to the understanding of optometry to stereoscopic vision, stereoscopic vision that it is generally acknowledged human eye is the highest ability of feeling to melt picture.The mankind have two eyes, and two eyes are horizontally, and the interval is about 60mm～65mm.We are during with the same object of eyes, because residing angle is different, what see is two differentiated images.Stereo is exactly the principle poor according to human binocular vision, takes from different perspectives same object, and is then that the photo that obtains is synthetic on computers, is that to be presented in face of ours be exactly three-dimensional stereo effect figure when watching the synchronized playback process.In 3D stereoscopic shooting system, main camera (main camera) and the secondary video camera (secondary video camera) of simulation human eye picked-up stereo landscape focus on the photoelectric sensor chip to photographic images, after chip is changed picture breakdown, again that these two groups of visual angles are different, and the image information with simultaneity is delivered to the processing processing of encoding in the microprocessor, has just formed a width of cloth 3D digital image.Above process moves in circles and carries out continuously, namely becomes movable 3D stereoscopic picture plane.Because the mechanism of the reaction stereoscopic vision of human eye optic nerve, the melting when conforming to as rule of synchronized playback process and binocular stereo vision, human eyes are looked the effect that thing and normal sense organ will be presented at the moment identical with true scenery (similar).
Ensure that video capture meets the effect of 3D, except to the photoelectric properties of taking even machine, basic parameter, transfer of data, the conforming requirement such as auxiliary device, when being presented in before many human eyes for shooting picture, because subject move, and moving and do not have rule and route.Photography in actual photographed (as) Shi Quan guarantees the stereoeffect of taking by rule of thumb with to the operation of machine consummation.But often in the operation accurately parameter and two-shipper machine apart from, camera lens primary optical axis variable angle is difficult to requires to reach consistent with the synchronous variation of the motion of made thing body, so although outstanding photography (as) two-shipper manual adjustment shooting effect also was difficult to the 3D effect that reaches desirable when the teacher showed for high speed, continuous motion object and scene.
Summary of the invention
The present invention proposes a kind of device and system thereof of 3D stereoscopic shooting Based Intelligent Control, has solved manually to carry out 3D shooting inaccuracy, insecure problem.
Technical scheme of the present invention is achieved in that
The invention discloses a kind of device of 3D stereoscopic shooting Based Intelligent Control, link to each other with motor, the device of described 3D stereoscopic shooting Based Intelligent Control comprises power supply unit, also comprise 3D stereoscopic shooting intelligent control unit, described 3D stereoscopic shooting intelligent control unit is made of each circuit module, and described each circuit module comprises:
The main camera parameter acquisition module is used for the first picture image information of obtaining and storage;
Secondary camera parameters acquisition module is used for the second picture image information of obtaining and storage;
Picture recognition module is used for described the first picture image information and the second picture image information are compared, and obtains parallax data;
The microcontroller circuit module is for the operating state of control motor drive block;
Motor drive block is used for the movement of drive motor;
Wherein, described main camera parameter acquisition module sends synchronized data signal to described secondary camera parameters acquisition module, so that main camera parameter and secondary camera parameters keep synchronized relation,
And, if the parallax data that picture recognition module obtains is not in default disparity range, picture recognition module is then sent signal to the microcontroller circuit module, the microcontroller circuit module receives signal and sends the order that needs travel motor to motor drive block, motor is realized mobile, to cause the parallax data that regains in default disparity range.
In the device of 3D stereoscopic shooting Based Intelligent Control of the present invention, described default disparity range comprises: the primary optical axis angle span of main camera is: 6 °～12 °.
In the device of 3D stereoscopic shooting Based Intelligent Control of the present invention, described default disparity range comprises: when described the first picture image information and the second picture image information are required to play at full HD video terminal, the disparity range value then is: negative parallax＜240 pixels, and, positive parallax＜80 pixels.
The invention discloses a kind of system of 3D stereoscopic shooting Based Intelligent Control, comprise main camera, secondary video camera, motor, wherein, main camera and secondary video camera are flexibly connected by track, motor is connected with described secondary video camera, also comprise the control unit that is connected between described motor and the main camera, described control unit has the device of above-mentioned 3D stereoscopic shooting Based Intelligent Control.
In the system of 3D stereoscopic shooting Based Intelligent Control of the present invention, described main camera, secondary video camera are connected with synchronous data line.
The invention discloses a kind of method of 3D stereoscopic shooting Based Intelligent Control, comprising:
S1. power-up initializing;
S2. obtain respectively the first picture image information and the second picture image information and storage;
S3. described the first picture image information and the second picture image information are compared, obtain parallax data, if not in default disparity range, enter step S4, if in default disparity range, return step S2;
S4. receive the described signal that needs the moving sets video camera, and send the order of displacement to described electric motor drive unit;
S5. the movement of drive motor.
In the method for 3D stereoscopic shooting Based Intelligent Control of the present invention, described default disparity range comprises: the primary optical axis angle span of main camera is: 6 °～12 °.
In the method for 3D stereoscopic shooting Based Intelligent Control of the present invention, described default disparity range comprises: when described the first picture image information and the second picture image information are required to play at full HD video terminal, the disparity range value then is: negative parallax＜240 pixels, and, positive parallax＜80 pixels.
In the method for 3D stereoscopic shooting Based Intelligent Control of the present invention, described the first picture image information and the second picture image information are stored in SD card or the portable hard drive.
Implement device, system and the method thereof of a kind of 3D stereoscopic shooting Based Intelligent Control of the present invention, have following useful technique effect:
In the 3D stereoscopic shooting, adopt secondary video camera to follow the tracks of main camera Based Intelligent Control continuity and regulate the camera position, comprise and transfer spacing and camera lens primary optical axis angle, ensure no matter subject is in the effect that any state can both ensure the 3D stereoscopic shooting.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art, the below will do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art, apparently, accompanying drawing in the following describes only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the device construction block diagram of a kind of 3D stereoscopic shooting of the present invention Based Intelligent Control;
Fig. 2 a is the schematic diagram when the ab distance is constant among Fig. 1 of the present invention;
Fig. 2 b is the schematic diagram when ab is apart from increase among Fig. 1 of the present invention;
Fig. 3 is the System Construction block diagram of a kind of 3D stereoscopic shooting of the present invention Based Intelligent Control;
Fig. 4 is the method flow diagram of a kind of 3D stereoscopic shooting of the present invention Based Intelligent Control.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that obtains under the creative work prerequisite.
See also Fig. 1, Fig. 2 a and Fig. 2 b, preferred embodiment of the present invention, a kind of device 1 of 3D stereoscopic shooting Based Intelligent Control, link to each other with motor 10, the device 1 of 3D stereoscopic shooting Based Intelligent Control comprises power supply unit 11, also comprise 3D stereoscopic shooting intelligent control unit 12,3D stereoscopic shooting intelligent control unit 12 is made of each circuit module, and described each circuit module comprises:
Main camera parameter acquisition module 121 is used for the first picture image information of obtaining and storage;
Secondary camera parameters acquisition module 122 is used for the second picture image information of obtaining and storage;
Picture recognition module 123 is used for described the first picture image information and the second picture image information are compared, and obtains parallax data;
Microcontroller circuit module 124 is for the operating state of control motor drive block;
Motor drive block 125 is used for the movement of drive motor;
Wherein, main camera parameter acquisition module 121 sends synchronized data signal to secondary camera parameters acquisition module 122, so that main camera parameter and secondary camera parameters keep synchronized relation,
And, if the parallax data that picture recognition module obtains is not in default disparity range, 123 of picture recognition module are sent signal to microcontroller circuit module 124, microcontroller circuit module 124 receives signals and sends the order that needs travel motor 10 to motor drive block 125, motor 10 is realized mobile, to cause the parallax data that regains in default disparity range.
Further, described default disparity range comprises: the primary optical axis angle span of main camera is: 6 °～12 °, further, described default disparity range comprises: when described the first picture image information and the second picture image information are required to play at full HD video terminal, the disparity range value then is: negative parallax＜240 pixels, and, positive parallax＜80 pixels.
The below is elaborated:
If subject apart from photography (as) distance of machine increases when changing, major and minor video camera is also chased the shooting thing, its secondary camera lens primary optical axis and main camera camera lens primary optical axis angle change (revolute pair video camera under the driven by motor).If it is constant to guarantee that 3D takes stereoeffect, just must make the normal difference of two simple eye figure be unlikely to become too little, camera two camera lens primary optical axis angles are corresponding reducing thereupon also; Less than 6 ° the time, two machines are apart from reducing; Otherwise also anti-.
During real scene shooting the generation of stereoeffect be equivalent to by two photographies of right and left eyes (as) the machine camera lens is by manual operation main camera camera lens picked-up subject A, and A and environmental information pass to secondary video camera by synchronous data line, make secondary video camera and main camera light, electric basic parameter etc., keep synchronously in taking with main camera.Main camera passes to intelligence controlling device to the picture reading information of taking simultaneously, the image information and the various status data record that read with secondary video camera carry out Disparity Analysis and compare, analyze immediately and process in conjunction with the three-dimensional data that ensure, intelligence controlling device is according to the stereoeffect parameter matching, draw accurate data command and pass to mechanical driving device, make and take secondary video camera by distance, the rotational angle of instruction moving direction, movement, thereby the good stereoeffect of 3D stereoscopic shooting is ensured.
Above process is constantly circulation, when main camera is worked, new signal is arranged, and just the circulation of a new round just begins to start.When the main camera power cut-off, when not having the input information of a new round, the duty cycle of this intelligence controlling device finishes at this point.
When photography (machine) the primary optical axis angle theta＞more than 12 ° of simulation human eye, L, two simple eye figure image information differentiation of R are excessive, show that three-dimensional effect diagram will occur.When photography (machine) the primary optical axis angle theta＜more than 6 ° of simulation human eye, L, two simple eye figure image information differentiation of R are excessively low, and can not show the stereoeffect image.Experimental results show that: human eye is looked thing and kept the sense organ stereoeffect: the scope of θ is 6 °～12 °, and (namely the θ minimum value is greater than 6 °; The θ maximum is less than 12 °).
Real scene shooting: when shoot on location, shown in the principle of its stereoscopic shooting: a, b be suitable human eye photography (as) the machine camera lens, when subject A when moving nearby, ab spacing constant (angle is increased to β by θ between the camera lens primary optical axis), at this moment two simple eye view information gaps increase, and its stereoeffect is obvious.Experimental results show that: if when human eye is looked thing (in Fig. 2 a) ab, keep the sense organ stereoeffect: the scope of θ is 6 °～12 °, and (namely the θ minimum value is greater than 6 °; The θ maximum is less than 12 °).In real scene shooting, subject A is to guarantee stereoeffect when at a distance mobile: constant when the ab spacing, (angle is reduced to α by θ between two camera lens primary optical axis) then must satisfy: α＞6 °; Subject A is to guarantee stereoeffect when moving nearby: constant when the ab spacing, (angle is increased to β by θ between two camera lens primary optical axis) then must satisfy: β＜12 °.
When two-shipper is taken 6 °＞θ＞12 ° and ab spacing when immobilizing: stereoeffect just has following situation:
During θ＞12 °, take the photograph thing thing A apart from the photography (as) when machine is very near, what " cross-eye " can appear being commonly called as in two lens focus inaccurate (the too large two figure information Overlays of the difference value of two simple eye figure surpass human three-dimensional cognitive authenticity), visual effect looks the thing effect.
If 6 °＞θ, the time, two simple eye view information gaps reduce its stereoeffect with θ and substantially disappear in vision.When A constantly away from photography (as) during machine, two simple eye view information gaps will reduce so that can't see stereoeffect gradually, thereby the synthetic playback picture stereoeffect of impact.The stereoscopic picture plane of showing to the beholder lacks the depth of field and stereovision, is exactly that 3D effect is had a greatly reduced quality.
When historical facts or anecdotes is clapped between two-shipper spacing ab and camera lens primary optical axis angle theta change according to taking needs, to guarantee to take the figure difference (stereoeffect) of finding a view.
See also the system 200 of Fig. 3, a kind of 3D stereoscopic shooting Based Intelligent Control, comprise main camera 210, secondary video camera 220, motor 230, wherein, main camera 210 and secondary video camera 220 are flexibly connected by track, motor 230 is connected with secondary video camera 220, also comprise the control unit 225 that is connected between motor 230 and the main camera 210, described control unit has the device 1 of above-mentioned 3D stereoscopic shooting Based Intelligent Control.
Further, described main camera, secondary video camera are connected with synchronous data line.
The course of work of the system 200 of 3D stereoscopic shooting Based Intelligent Control is: the source of the basic control signal of secondary video camera 220 is by main camera 210, the various status datas record that the device 1 of 3D stereoscopic shooting Based Intelligent Control is received is compared immediately, processing and photooptical data are brought together, produces best stereoeffect; Obtain signal 1, secondary video camera 220 work of signal 2 controls with respect to main camera 210 moving directions, displacement and rotation direction, rotational angle.
When A constantly away from photography (as) during machine, the major-minor video camera begins to get figure.
The main camera parameter reads, and simultaneously main camera is got figure and divided the two-way transmission with signal: the one tunnel is to pass to secondary video camera by synchronous data line to make secondary video camera running parameter and main camera synchronous; In addition main camera is got figure signal and two simple eye view information of secondary video camera generation and is carried out major and minor video camera and get figure and compare, when comparison result difference will reduce so that can't see stereoeffect gradually.In order to ensure that 3D takes the constant normal difference of two simple eye figure that just must make of stereoeffect and is unlikely to become too little, start the Disparity Analysis module this moment, two machines make secondary video camera away from main camera apart from increasing, zoom out to a ' b ' ab＜a ' b ' from original ab.For example: (if the θ angle is for showing the minimum three-dimensional viewpoin of information gap, this moment then θ ' maintenances greater than 6 °), the value that the camera pan-tilt motor needs outwards to move be Δ=a ' b '-ab.Meanwhile, also need the integrated treatment that requires in conjunction with the distribution of the front and back scenery of stereo scene and three-dimensional positive and negative parallax value.For example: full HD 1920 * 1080 video display terminals of FHD, effect must at first guarantee negative parallax＜240 pixels, positive parallax＜80 pixels when the three-dimensional broadcast of 3D; Simultaneously, the scope that satisfies θ is the condition of 6 °＞θ＞12 °, ab in the critical zone near 6 ° of values of (6 °＞θ＞12 °) open interval angle value.Afterwards, send signal S1 (traveling priority direction Δ=a ' b '-ab is being for just, then sends to be moved to the left, and Δ numerical value is displacement), signal S2 (in Fig. 2 b, θ ', θ '-θ) then to counterclockwise rotating, is rotated in θ '-θ＞0.When subject A when moving (between its camera lens primary optical axis angle by θ constantly to 12 ° time), guarantee negative parallax＜240 pixels, positive parallax＜80 pixels nearby; Simultaneously, the scope that satisfies θ is the condition of 6 °＞θ＞12 °, ab in the critical zone near 12 ° of values of (6 °＞θ＞12 °) open interval angle value.Afterwards, (such as θ ' among Fig. 2 b, then rotate to clockwise direction θ '-θ＜0, rotates θ '-θ) to send signal S1 (traveling priority direction Δ=a ' b '-ab is for negative, then sends to move right, and Δ numerical value is displacement), signal S2.And in time relevant parameter numerical value is exported with signal 1, signal 2, traffic direction and the machine driving of secondary camera control module controls motor are finished secondary video camera and are moved and rotate for main camera.
Above process is during according to main camera subject and scene factors vary, and the circulation of intelligence control system begins again to start operation, and it is synchronous with the shooting basic parameter of main camera that secondary video camera remains.
See also the method for Fig. 4, a kind of 3D stereoscopic shooting Based Intelligent Control, comprising:
S1. power-up initializing;
S2. obtain respectively the first picture image information and the second picture image information and storage;
S3. described the first picture image information and the second picture image information are compared, obtain parallax data, if not in default disparity range, enter step S4, if in default disparity range, return step S2;
S4. receive the described signal that needs the moving sets video camera, and send the order of displacement to described electric motor drive unit;
S5. the movement of drive motor.
Further, described default disparity range comprises: the primary optical axis angle span of main camera is: 6 °～12 °, further, described default disparity range comprises: when described the first picture image information and the second picture image information are required to play at full HD video terminal, the disparity range value then is: negative parallax＜240 pixels, and, positive parallax＜80 pixels.
Described the first picture image information and the second picture image information are stored in SD card or the portable hard drive.
Implement device, system and the method thereof of a kind of 3D stereoscopic shooting Based Intelligent Control of the present invention, have following useful technique effect:
In the 3D stereoscopic shooting, adopt secondary video camera to follow the tracks of main camera Based Intelligent Control continuity and regulate the camera position, comprise and transfer spacing and camera lens primary optical axis angle, ensure no matter subject is in the effect that any state can both ensure the 3D stereoscopic shooting.
The above only is preferred embodiment of the present invention, and is in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. the device of a 3D stereoscopic shooting Based Intelligent Control, link to each other with motor, the device of described 3D stereoscopic shooting Based Intelligent Control comprises power supply unit, also comprise 3D stereoscopic shooting intelligent control unit, described 3D stereoscopic shooting intelligent control unit is made of each circuit module, it is characterized in that, described each circuit module comprises:
The main camera parameter acquisition module is used for the first picture image information of obtaining and storage;
Secondary camera parameters acquisition module is used for the second picture image information of obtaining and storage;
Picture recognition module is used for described the first picture image information and the second picture image information are compared, and obtains parallax data;
The microcontroller circuit module is for the operating state of control motor drive block;
Motor drive block is used for the movement of drive motor;
Wherein, described main camera parameter acquisition module sends synchronized data signal to described secondary camera parameters acquisition module, so that main camera parameter and secondary camera parameters keep synchronized relation,
And, if the parallax data that picture recognition module obtains is not in default disparity range, picture recognition module is then sent signal to the microcontroller circuit module, the microcontroller circuit module receives signal and sends the order that needs travel motor to motor drive block, motor is realized mobile, to cause the parallax data that regains in default disparity range.
2. the device of 3D stereoscopic shooting Based Intelligent Control according to claim 1 is characterized in that, described default disparity range comprises: the primary optical axis angle span of main camera is: 6 °～12 °.
3. the device of 3D stereoscopic shooting Based Intelligent Control according to claim 2, it is characterized in that, described default disparity range comprises: when described the first picture image information and the second picture image information are required to play at full HD video terminal, the disparity range value then is: negative parallax＜240 pixels, and, positive parallax＜80 pixels.
4. the system of a 3D stereoscopic shooting Based Intelligent Control, comprise main camera, secondary video camera, motor, wherein, main camera and secondary video camera are flexibly connected by track, motor is connected with described secondary video camera, it is characterized in that, also comprise the control unit that is connected between described motor and the main camera, described control unit has the device of each described 3D stereoscopic shooting Based Intelligent Control of claims 1 to 3.
5. the system of 3D stereoscopic shooting Based Intelligent Control according to claim 4 is characterized in that, described main camera, secondary video camera are connected with synchronous data line.
6. the method for a 3D stereoscopic shooting Based Intelligent Control is characterized in that, comprising:
S1. power-up initializing;
S2. obtain respectively the first picture image information and the second picture image information and storage;
S3. described the first picture image information and the second picture image information are compared, obtain parallax data, if not in default disparity range, enter step S4, if in default disparity range, return step S2;
S4. receive the described signal that needs the moving sets video camera, and send the order of displacement to described electric motor drive unit;
S5. the movement of drive motor.
7. the method for 3D stereoscopic shooting Based Intelligent Control according to claim 6 is characterized in that, described default disparity range comprises: the primary optical axis angle span of main camera is: 6 °～12 °.
8. the method for 3D stereoscopic shooting Based Intelligent Control according to claim 7, it is characterized in that, described default disparity range comprises: when described the first picture image information and the second picture image information are required to play at full HD video terminal, the disparity range value then is: negative parallax＜240 pixels, and, positive parallax＜80 pixels.
9. the method for 3D stereoscopic shooting Based Intelligent Control according to claim 6 is characterized in that, described the first picture image information and the second picture image information are stored in SD card or the portable hard drive.
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| CN103634586A (en) * | 2013-11-26 | 2014-03-12 | 深圳市唯特视科技有限公司 | Stereo-image acquiring method and device |
| WO2016187983A1 (en) * | 2015-05-22 | 2016-12-01 | 北京橙鑫数据科技有限公司 | Smart tracking and shooting device |
| CN105892215A (en) * | 2016-04-14 | 2016-08-24 | 刘翔 | Three-dimensional image shooting device |
| CN110692240A (en) * | 2017-06-01 | 2020-01-14 | 麦克赛尔株式会社 | Stereo shooting device |
| WO2020019966A1 (en) * | 2018-07-27 | 2020-01-30 | 阿里巴巴集团控股有限公司 | Detection method and apparatus, and computing device and storage medium |
| TWI694400B (en) * | 2018-07-27 | 2020-05-21 | 香港商阿里巴巴集團服務有限公司 | Detection method and device, computer equipment and storage medium |
| CN113141499A (en) * | 2020-01-20 | 2021-07-20 | 北京芯海视界三维科技有限公司 | Method and device for realizing 3D shooting and 3D display terminal |
| WO2021147750A1 (en) * | 2020-01-20 | 2021-07-29 | 北京芯海视界三维科技有限公司 | Method and device for implementing 3d photographing, and 3d display terminal |
| CN117041501A (en) * | 2023-10-08 | 2023-11-10 | 众芯汉创(西安)科技有限公司 | Unmanned aerial vehicle wind power equipment inspection method based on augmented reality |
| CN117041501B (en) * | 2023-10-08 | 2024-01-23 | 众芯汉创(西安)科技有限公司 | Unmanned aerial vehicle wind power equipment inspection method based on augmented reality |
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