CN106228530B - A kind of stereography method, device and stereo equipment - Google Patents

A kind of stereography method, device and stereo equipment Download PDF

Info

Publication number
CN106228530B
CN106228530B CN201610410762.8A CN201610410762A CN106228530B CN 106228530 B CN106228530 B CN 106228530B CN 201610410762 A CN201610410762 A CN 201610410762A CN 106228530 B CN106228530 B CN 106228530B
Authority
CN
China
Prior art keywords
lt
gt
mi
mo
mrow
Prior art date
Application number
CN201610410762.8A
Other languages
Chinese (zh)
Other versions
CN106228530A (en
Inventor
刘江
Original Assignee
深圳超多维光电子有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳超多维光电子有限公司 filed Critical 深圳超多维光电子有限公司
Priority to CN201610410762.8A priority Critical patent/CN106228530B/en
Publication of CN106228530A publication Critical patent/CN106228530A/en
Application granted granted Critical
Publication of CN106228530B publication Critical patent/CN106228530B/en

Links

Abstract

The invention provides a kind of stereography method, device and stereo equipment, it is related to display technology field, this method includes:According to the left and right original image of photographed scene, determine stereo camera to the distance of nearest object and the distance to farthest object;It is equal with the ratio to the 4th parallax under the distance of farthest object with the 3rd parallax under the distance of photographed scene neutral body video camera to nearest object according to the ratio of the second parallax under the first parallax and maximum recessed distances of the maximum protrusion in real scene under, it is determined that regarding spacing and image cropping parameter;According to regarding spacing, the distance of left and right binocular stereo camera is adjusted;Using image cropping parameter, cutting processing is carried out to the left images gathered after adjustment;The left images after cutting processing are exported, the stereo-picture of present filming scene is built so as to the left images after being handled according to cutting.The solution of the present invention has reached preferable stereoeffect.

Description

A kind of stereography method, device and stereo equipment

Technical field

The present invention relates to display technology field, more particularly to a kind of stereography method, device and stereo equipment.

Background technology

With the stereo display technique and virtual constantly improve and maturation with real VR (Virtual Reality) technology, The numerous common people are also constantly increasing for the interest and demand of stereoscopic display.Realize that the key of stereoscopic display is to build difference The different images with nuance that observed person's left eye and right eye are received, the visual pattern received due to right and left eyes is not Together, brain combines the information of right and left eyes two images and image is overlapped lived again, so that beholder produces third dimension.

Three-dimensional film is applied as one kind of stereo display technique, has been the critically important part of current cinematic industry. When watching three-dimensional film, people can have sensation on the spot in person.Three-dimensional film early stage is usually using with two simulation people The filming apparatus of the camera lens of eye, shoots the double vision dot image of lower scenery, by projector that the image of two viewpoints is same during projection Step projection, makes this slightly differentiated two images be shown in screen, spectators' left eye is seen the picture shot from LOOK LEFT, right The picture shot from LOOK RIGHT is arrived soon, and then synthesizes stereoscopic vision image.

The influence of hardware projection equipment and capture apparatus is limited by, the stereoeffect of viewing can also make a big difference, and And, three-dimensional film can have a variety of projection occasions, and such as movie theatre, stereoscopic display terminal, identical three-dimensional film film source exists The stereoeffect of different projection occasion projections is probably different, therefore, makes the three-dimensional film film source that shooting is obtained and projection Occasion is adapted, so that stereoeffect is truer, has become a difficult point of stereo technology.

The content of the invention

The technical problem to be solved in the present invention is to provide a kind of stereography method, device and stereo equipment, solve Three-dimensional film film source can not preferably be adapted to projection occasion so as to be unable to reach asking for preferably stereoeffect in the prior art Topic.

In order to solve the above technical problems, embodiments of the invention provide a kind of stereography method, the stereo side Method is applied to stereo equipment, and the stereo equipment includes left and right binocular stereo camera, the stereography method Including:

The left and right original image of present filming scene is gathered using the left and right binocular stereo camera;

According to the left and right original image, distance of the stereo camera to nearest object under the present filming scene is determined With the distance of stereo camera to farthest object;

According between the second parallax under the first parallax and maximum recessed distances of the maximum protrusion in real scene under Ratio and photographed scene neutral body video camera to the distance of nearest object under the 3rd parallax and stereo camera to farthest thing The ratio between the 4th parallax under the distance of body is equal, so that according to the stereo camera to the distance of nearest object and institute Stereo camera is stated to the distance of farthest object, determine left and right binocular stereo camera regards spacing and image cropping parameter;

Spacing is regarded according to the left and right binocular stereo camera, adjust between the left and right binocular stereo camera away from From;

The left images of the present filming scene are gathered using the left and right binocular stereo camera after adjustment, and utilize institute Image cropping parameter is stated, cutting processing is carried out to the left images;

The left images after cutting processing are exported, are built so as to the left images after being handled according to cutting described current The stereo-picture of photographed scene.

Furthermore, it is understood that it is described according to the left and right original image, determine stereo camera under the present filming scene To the distance and stereo camera of nearest object to farthest object apart from the step of include:

Extract the characteristic point information of left and right original image described in two width;

According to the characteristic point information, the Feature Points Matching point set pair between left and right original image described in two width is determined;

Obtain the horizontal parallax between the match point set pair;

According to the horizontal parallax between the match point set pair, the depth of the object point corresponding to the match point set pair is obtained Degree;

According to the depth of the object point determine stereo camera under the present filming scene to the distance of nearest object and Distance of the stereo camera to farthest object.

Furthermore, it is understood that including described in two width of the extraction the step of characteristic point information of left and right original image:

The characteristic point information of left and right original image described in two width is extracted using Scale invariant features transform SIFT algorithms;

It is described according to the characteristic point information, determine the Feature Points Matching point set pair between left and right original image described in two width The step of include:

Using Minimum Mean Square Error ZSSD algorithms, according to the characteristic point information, determine left and right original image described in two width it Between Feature Points Matching point set pair.

Furthermore, it is understood that under first parallax and maximum recessed distances according to maximum protrusion in real scene under The second parallax between ratio and photographed scene neutral body video camera to the distance of nearest object under the 3rd parallax and solid The ratio between the 4th parallax under video camera to the distance of farthest object is equal, so that according to the stereo camera to recently The distance of object and the stereo camera are to the distance of farthest object, and determine left and right binocular stereo camera regards spacing and figure Include as the step of cutting parameter:

First parallax d of the maximum protrusion under in real scene is obtained by equation belowN_R

Wherein, N_R is the maximum protrusion distance, and E_R is the spacing that regards in real scene, and Z_R is double in real scene Eye arrives the distance of real screen;

The second parallax d in real scene under maximum recessed distances is obtained by equation belowF_R

Wherein, F_R is the maximum recessed distances;

Ratio between the first parallax according to real scene and second parallax is taken the photograph with photographed scene neutral body Between the 4th parallax under the 3rd parallax and stereo camera to the distance of farthest object under camera to the distance of nearest object The equal constructed following relational expression of ratio, determine stereo camera to parallax free plane first apart from Con:

Wherein:N_O is distance of the stereo camera to nearest object, and F_O is distance of the stereo camera to farthest object, R is the first parallax dN_RWith the second parallax dF_RBetween ratio,

According to first distance, determine the left and right binocular stereo camera regards spacing;

According to described first distance and the left and right binocular stereo camera regard spacing, determine the left and right binocular stand The image cropping parameter of body video camera.

Furthermore, it is understood that described according to first distance, the spacing that regards of the left and right binocular stereo camera is determined Step includes:

By equation below determine the left and right binocular stereo camera regard interval S ep:

Wherein, Con is first distance, and W_R is the width of real screen in real scene, dN_RRegarded for described first Difference, N_O is distance of the stereo camera to nearest object, and θ is the angle of visual field of stereo camera;

Or

By equation below determine the left and right binocular stereo camera regard interval S ep:

Wherein, dF_RFor second parallax, F_O is distance of the stereo camera to farthest object;

Or

By equation below determine the left and right binocular stereo camera regard interval S ep:

Wherein, WfFor the width of stereo camera sensor, the focal length of lens of f stereo cameras;

Or

By equation below determine the left and right binocular stereo camera regard interval S ep:

Furthermore, it is understood that it is described according to described first distance and the left and right binocular stereo camera regard spacing, really The step of image cropping parameter of the fixed left and right binocular stereo camera, includes:

The width W of virtual screen in present filming scene is obtained by equation belowCon

Wherein, Con is first distance, and θ is the angle of visual field of stereo camera;

Or

The width W of virtual screen in present filming scene is obtained by equation belowCon

Wherein, WfFor the width of stereo camera sensor, the focal length of lens of f stereo cameras;

The image cropping parameter Crop of the left and right binocular stereo camera is determined by equation below:

Wherein, Sep regards spacing for the left and right binocular stereo camera.

Furthermore, it is understood that the utilization described image cutting parameter, the step of carrying out cutting processing to the left images Including:

Using described image cutting parameter, the high order end in left image horizontal direction is cropped into X*Crop pixels, so that Left image after being cut;

And

Using described image cutting parameter, the low order end in right image horizontal direction is cropped into X*Crop pixels, so that Right image after being cut;Wherein, X is the Horizontal number of pixels of the left images, and Crop is described image cutting parameter.

Furthermore, it is understood that the left images after the cutting processing of output are specifically used in movie theatre occasion, and it is described Movie theatre possesses two projection equipments in left and right, and left image is supplied to the left projection equipment of movie theatre, right image is supplied into movie theatre Right projection equipment, so as to carry out showing stereoscopic shooting scene;

Furthermore, it is understood that the left images after the cutting processing of output are specifically used in virtual implementing helmet, and And the virtual implementing helmet possesses left and right display screen, left image is provided to the left display screen of virtual implementing helmet, by right image It is supplied to the right display screen of virtual implementing helmet;

Furthermore, it is understood that the left images after the cutting processing of output are specifically used in augmented reality glasses, and And the augmented reality glasses possess left and right and show eyeglass, left image are provided to the left display eyeglass of augmented reality glasses, by the right side Image is supplied to the right display eyeglass of augmented reality glasses.

In order to solve the above technical problems, embodiments of the invention also provide a kind of stereoradiographic unit, the stereo Device is applied to stereo equipment, and the stereo equipment includes left and right binocular stereo camera, the stereo dress Put including:

Acquisition module, the left and right original graph for gathering present filming scene using the left and right binocular stereo camera Picture;

First determining module, for according to the left and right original image, determining stereo camera shooting under the present filming scene Machine to nearest object distance and stereo camera to farthest object distance;

Second determining module, for according to first parallax of the maximum protrusion under in real scene and maximum recessed distances Under the second parallax between ratio and photographed scene neutral body video camera to the distance of nearest object under the 3rd parallax with standing The ratio between the 4th parallax under body video camera to the distance of farthest object is equal, so that according to the stereo camera to most The distance and the stereo camera of nearly object arrive the distance of farthest object, determine left and right binocular stereo camera regard spacing with Image cropping parameter;

Adjusting module, for regarding spacing according to the left and right binocular stereo camera, adjusts the left and right binocular solid The distance between video camera;

The acquisition module, is additionally operable to gather the present filming scene using the left and right binocular stereo camera after adjustment Left images;

Module is cut, for utilizing described image cutting parameter, cutting processing is carried out to the left images;

Output module, for exporting the left images after cutting processing, so as to the left and right figure after being handled according to cutting Stereo-picture as building the present filming scene.

Furthermore, it is understood that first determining module includes:

Extracting sub-module, the characteristic point information for extracting left and right original image described in two width;

First determination sub-module, for according to the characteristic point information, determining between left and right original image described in two width Feature Points Matching point set pair;

First acquisition submodule, for obtaining the horizontal parallax between the match point set pair;

Second acquisition submodule, for according to the horizontal parallax between the match point set pair, obtaining the matching point set To the depth of corresponding object point;

Second determination sub-module, for determining stereo camera under the present filming scene according to the depth of the object point To nearest object distance and stereo camera to farthest object distance.

Furthermore, it is understood that the extracting sub-module includes:

Extraction unit, the spy for extracting left and right original image described in two width using Scale invariant features transform SIFT algorithms Levy an information;

First determination sub-module includes:

First determining unit, for using Minimum Mean Square Error ZSSD algorithms, according to the characteristic point information, determines two width institutes State the Feature Points Matching point set pair between the original image of left and right.

Furthermore, it is understood that second determining module includes:

3rd acquisition submodule, for obtaining first parallax of the maximum protrusion under in real scene by equation below dN_R

Wherein, N_R is the maximum protrusion distance, and E_R is the spacing that regards in real scene, and Z_R is double in real scene Eye arrives the distance of real screen;

4th acquisition submodule, for obtaining the second parallax in real scene under maximum recessed distances by equation below dF_R

Wherein, F_R is the maximum recessed distances;

3rd determination sub-module, for the ratio between the first parallax according to real scene and second parallax With the 3rd parallax under the distance of photographed scene neutral body video camera to nearest object and stereo camera to farthest object away from The equal constructed following relational expression of the ratio between the 4th parallax under, determines stereo camera to the of parallax free plane One apart from Con:

Wherein:N_O is distance of the stereo camera to nearest object, and F_O is distance of the stereo camera to farthest object, R is the first parallax dN_RWith the second parallax dF_RBetween ratio,

4th determination sub-module, for according to first distance, determining between the regarding of the left and right binocular stereo camera Away from;

5th determination sub-module, for according between the described first distance and the regarding of the left and right binocular stereo camera Away from determining the image cropping parameter of the left and right binocular stereo camera.

Furthermore, it is understood that the 4th determination sub-module includes:

Second determining unit, for by equation below determine the left and right binocular stereo camera regard interval S ep:

Wherein, Con is first distance, and W_R is the width of real screen in real scene, dN_RRegarded for described first Difference, N_O is distance of the stereo camera to nearest object, and θ is the angle of visual field of stereo camera;

Or

By equation below determine the left and right binocular stereo camera regard interval S ep:

Wherein, dF_RFor second parallax, F_O is distance of the stereo camera to farthest object;

Or

By equation below determine the left and right binocular stereo camera regard interval S ep:

Wherein, WfFor the width of stereo camera sensor, the focal length of lens of f stereo cameras;

Or

By equation below determine the left and right binocular stereo camera regard interval S ep:

Furthermore, it is understood that the 5th determination sub-module includes:

First acquisition unit, the width W for obtaining virtual screen in present filming scene by equation belowCon

Wherein, Con is first distance, and θ is the angle of visual field of stereo camera;

Or

The width W of virtual screen in present filming scene is obtained by equation belowCon

Wherein, WfFor the width of stereo camera sensor, the focal length of lens of f stereo cameras;

3rd determining unit, the image cropping parameter for determining the left and right binocular stereo camera by equation below Crop:

Wherein, Sep regards spacing for the left and right binocular stereo camera.

Furthermore, it is understood that the cutting module includes:

First cuts submodule, for utilizing described image cutting parameter, and the high order end in left image horizontal direction is cut out X*Crop pixels are cut, so that the left image after being cut;

And

Second cuts submodule, for utilizing described image cutting parameter, and the low order end in right image horizontal direction is cut out X*Crop pixels are cut, so that the right image after being cut;

Wherein, X is the Horizontal number of pixels of the left images, and Crop is described image cutting parameter.

Furthermore, it is understood that the left images after the cutting processing of output are specifically used in movie theatre occasion, and it is described Movie theatre possesses two projection equipments in left and right, and left image is supplied to the left projection equipment of movie theatre, right image is supplied into movie theatre Right projection equipment, so as to carry out showing stereoscopic shooting scene;

Furthermore, it is understood that the left images after the cutting processing of output are specifically used in virtual implementing helmet, and And the virtual implementing helmet possesses left and right display screen, left image is provided to the left display screen of virtual implementing helmet, by right image It is supplied to the right display screen of virtual implementing helmet;

Furthermore, it is understood that the left images after the cutting processing of output are specifically used in augmented reality glasses, and And the virtual reality glasses possess left and right and show eyeglass, left image are provided to the left display eyeglass of augmented reality glasses, by the right side Image is supplied to the right display eyeglass of augmented reality glasses.

In order to solve the above technical problems, embodiments of the invention also provide a kind of stereo equipment, including:Left and right binocular Stereo camera, display screen, housing, processor, memory, circuit board and power circuit, wherein:

The left and right binocular stereo camera, display screen interlocking are on the housing;

The circuit board is placed in the interior volume that the housing is surrounded, and the processor and the memory are arranged on institute State on circuit board;

The power circuit, for being powered for each circuit or device of above-mentioned stereo equipment;

The memory is used to store executable program code;

The executable program code that the processor is stored by reading in memory is run and executable program code Corresponding program, is performed:

The left and right original image of present filming scene is gathered using the left and right binocular stereo camera;

According to the left and right original image, distance of the stereo camera to nearest object under the present filming scene is determined With the distance of stereo camera to farthest object;

According between the second parallax under the first parallax and maximum recessed distances of the maximum protrusion in real scene under Ratio and photographed scene neutral body video camera to the distance of nearest object under the 3rd parallax and stereo camera to farthest thing The ratio between the 4th parallax under the distance of body is equal, so that according to the stereo camera to the distance of nearest object and institute Stereo camera is stated to the distance of farthest object, determine left and right binocular stereo camera regards spacing and image cropping parameter;

Spacing is regarded according to the left and right binocular stereo camera, adjust between the left and right binocular stereo camera away from From;

The left images of the present filming scene are gathered using the left and right binocular stereo camera after adjustment, and utilize institute Image cropping parameter is stated, cutting processing is carried out to the left images;

Export the left images after cutting processing;

Left images after being handled according to cutting build the stereo-picture of the present filming scene, so that by described aobvious Display screen shows stereo-picture.

The above-mentioned technical proposal of the present invention has the beneficial effect that:

Stereography method, device and the stereo equipment of the embodiment of the present invention, obtain three-dimensional under present filming scene Video camera to nearest object distance and stereo camera to farthest object distance, then according to real scene (correspond to put Reflect the projecting device of occasion) in ratio between the second parallax under the first parallax and maximum recessed distances of the maximum protrusion under Value and the 3rd parallax under photographed scene neutral body video camera to the distance of nearest object and stereo camera to farthest object The ratio between the 4th parallax under is equal, so that according to the distance and stereo camera of stereo camera to nearest object To the distance of farthest object, determine left and right binocular stereo camera regards spacing and image cropping parameter;Further according to left and right binocular Stereo camera regards spacing, adjustment the distance between left and right binocular stereo camera;Utilize the left and right binocular solid after adjustment The left images of camera acquisition present filming scene, and according to image cropping parameter, cutting processing is carried out to left images;Most Left images after output cutting is handled afterwards, the left images after projecting device can be handled according to cutting build current shooting The stereo-picture of scape, that is, show stereopsis.So, it is in equal proportions according to the parallax of real scene and photographed scene vertical to set Being cut depending on spacing and to picture between body video camera, solid is built utilizing the stereo-picture of obtained photographed scene During photographed scene, photographed scene is mapped between the maximum protrusion distance in real scene and maximum recessed distances so that clapped Take the photograph scene and occasion can be shown with real scene and be preferably adapted to, so as to reach preferable stereoeffect, improve use The viewing experience at family, solve the film source of three-dimensional film in the prior art preferably can not be adapted to reach with projection occasion The problem of to preferably stereoeffect.

Brief description of the drawings

Fig. 1 is the flow chart of stereography method of the present invention;

Fig. 2 is real scene observation what comes into a driver's schematic diagram in stereography method of the present invention;

Fig. 3 is photographed scene observation what comes into a driver's schematic diagram in stereography method of the present invention;

Fig. 4 is the left symmetrical perspective view of stereo camera in stereography method of the present invention;

Fig. 5 is the structural representation of stereoradiographic unit of the present invention;

Fig. 6 is the structural representation of stereo equipment of the present invention.

Embodiment

To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool Body embodiment is described in detail.

In order that those skilled in the art are better understood from the present invention, the first true field to being sayed in the embodiment of the present invention Scape and photographed scene are introduced.

Real scene is the real observation space of people, and space seen by person, observer can pass through cognitive and experience etc. It is using long measure as measurement under the information such as the depth and size of the object under acquisition real scene, real scene.It is of the invention real Apply in example, the real scene of observer's observation is display, and people and display constitute " observer-display space ".It is appreciated that , in the embodiment of the present invention, for stereo, real scene may be considered the projection occasion of captured content, i.e., Projection display.

Photographed scene is the scene shot using stereo camera apparatus.Photographed scene is shown by display, and people is true Fixed position under real field scape receives the content shown by display by human eye.The content of photographed scene is wanted to show true In scene, and presented in the way of three-dimensional, it is necessary to the mapping of scene.

Stereography method provided in an embodiment of the present invention and device, i.e., there is provided a kind of mode of stereo, pass through The left images for obtaining certain scene are shot and cut out, the left images will be shown as three-dimensional film source in real scene, i.e., Photographed scene is mapped to real scene, so that the stereo-picture of photographed scene be presented in real scene.

Stereography method provided in an embodiment of the present invention and device, actually simulate the void built using graphics engine Intend scene, left and right virtual video camera is formed by the skew of virtual video camera, passes through the asymmetric perspective of left and right virtual video camera Projection, virtual scene is configured to the principle of virtual three-dimensional scene, photographed scene is equal into virtual scene, left and right binocular is stood Body video camera is equal to left and right virtual video camera, and the left images that left and right binocular stereo camera is shot are equal to left and right and virtually taken the photograph Scene content after the asymmetric perspective projection of camera, so that photographed scene solid is presented on into real scene.

With reference to shown in Fig. 1 to Fig. 3, the stereography method of the embodiment of the present invention, applied to stereo equipment, solid is taken the photograph Shadow equipment includes left and right binocular stereo camera, and the stereography method includes:

Step 101, the left and right original image of present filming scene is gathered using left and right binocular stereo camera.

Here, behind the position of initialization left and right binocular stereo camera, stereo camera production is started, collection is three-dimensional in real time Two width that video camera is shot or so original image.

Step 102, according to left and right original image, distance of the stereo camera to nearest object under present filming scene is determined N_O and stereo camera are to farthest object apart from F_O.

Here, according to left and right original image, the N_O and F_O under present filming scene are determined, to obtain present filming scene Stereo-picture.

Step 103, according to first parallax d of the maximum protrusion under N_R in real sceneN_RWith maximum recessed distances F_R Under the second parallax dF_RBetween the 3rd under N_O of ratio and photographed scene neutral body video camera to nearest object regard Ratio between difference and the 4th parallax under F_O of stereo camera to farthest object is equal, so that according to the solid Video camera to nearest object apart from N_O and the stereo camera to farthest object apart from F_O, determine left and right binocular solid Video camera regard spacing and image cropping parameter.

Wherein, referring to Fig. 2, maximum protrusion shows field apart from N_R and maximum recessed distances F_R for characterizing real scene The depth bounds for the stereo scene that the stereoscopic display capabilities of the three-dimensional display of conjunction, i.e. three-dimensional display can be presented, that is, The depth bounds for the stereo scene that three-dimensional display can be presented is limited between maximum protrusion distance and maximum recessed distances In fixed interval, the most projection of stereo scene protrudes distance not over the maximum, and most recess is not over this Maximum recessed distances.

Here, based on the 3rd parallax in the ratio and photographed scene in real scene between the first parallax and the second parallax with Ratio between 4th parallax is equal, and determine left and right binocular stereo camera regards spacing and image cropping, and bat can be effectively ensured Take the photograph the stereoeffect that scene is mapped to real scene.

Wherein, the stereoscopic display of the virtual scene from being built using graphics engine is different, and the left and right of virtual scene is virtually taken the photograph What camera was built is asymmetric projection visual body, and stereo camera correspondence uses symmetrical projection visual body, in order to ensure Preferable stereoeffect, so to imitate asymmetric what comes into a driver's body (virtual scene that similar OpenGL is built), and remains identical Visual field width, it is therefore desirable to be cut to the stereo-picture of acquisition, and the spacing of stereo camera is adjusted. In general, video camera then can not directly correspond to asymmetric what comes into a driver's body in the case where that can not adjust the angle of visual field or focal length, because This will first being finely adjusted depending on spacing to left and right binocular camera, so as to meet the parallax free plane under asymmetric what comes into a driver's body first Locational requirement, then the plane having more is cut again.

Step 104, according to left and right binocular stereo camera regard spacing, adjustment left and right binocular stereo camera between away from From.

Step 105, the left images of present filming scene, and profit are gathered using the left and right binocular stereo camera after adjustment Image cropping parameter is used, cutting processing is carried out to left images.

Step 106, the left images after output cutting processing, build so as to the left images after being handled according to cutting The stereo-picture of present filming scene.

Here, spacing is regarded according to left and right binocular stereo camera, after the position adjustment of left and right binocular stereo camera, Using image cropping parameter, cutting processing is carried out to the left images of the left and right binocular stereo camera collection after adjustment, finally Export the left images after cutting processing.When left images are shown as film source, projecting device can be handled according to cutting Left images afterwards build the stereo-picture of present filming scene, that is, show stereo-picture.

The stereography method of the embodiment of the present invention, is in equal proportions to set according to the parallax of real scene and photographed scene Being cut depending on spacing and to picture between stereo camera, stands utilizing the stereo-picture of obtained photographed scene to build During body photographed scene, photographed scene is mapped between the maximum protrusion distance in real scene and maximum recessed distances so that Photographed scene can be that projection occasion is preferably adapted to real scene, so as to reach preferable stereoeffect, improve The viewing experience of user, solving the film source of three-dimensional film in the prior art can not preferably be adapted to so that can not with projection occasion The problem of reaching preferably stereoeffect.

It is preferred that, it can include the step of above-mentioned steps 102:

Step 1021, the characteristic point information of two width or so original image is extracted;

Step 1022, according to characteristic point information, the Feature Points Matching point set pair between two width or so original image is determined;

Step 1023, the horizontal parallax between match point set pair is obtained;

Step 1024, according to the horizontal parallax between match point set pair, the depth of the object point corresponding to match point set pair is obtained Degree;

Step 1025, determine under present filming scene stereo camera to nearest object apart from N_ according to the depth of object point O and stereo camera are to farthest object apart from F_O.

Now, by setting up the Feature Points Matching point set pair between two width or so original image, and match point set pair is obtained Between horizontal parallax, with reference to the theory and formula of binocular vision system, can accurately and rapidly obtain match point set pair institute right The depth for the object point answered, i.e. stereo camera to object distance, so that it is determined that stereo camera is to nearest thing under photographed scene Body apart from N_O and stereo camera to farthest object apart from F_O.

Specifically, above-mentioned steps 1021 can extract two width or so original image using Scale invariant features transform SIFT algorithms Characteristic point information.

Here, SIFT algorithms can be used respectively for two width or so original image, obtain characteristic point information.

Specifically, above-mentioned steps 1022 can use Minimum Mean Square Error ZSSD algorithms, according to characteristic point information, determine that two width are left Feature Points Matching point set pair between right original image.

Here, using the characteristic point information and ZSSD algorithms of two width of extraction or so original image, two width can accurately be set up Match point set pair between the original image of left and right.

Further, above-mentioned steps 1025 can build the depth information histogram of object point, and filter out the data of fluctuation, directly Connect and navigate to depth maximum and deep minimum, taken the photograph so as to obtain stereo camera to nearest object apart from N_O and solid Camera is to farthest object apart from F_O.

Obtain stereo camera to nearest object apart from N_O and stereo camera to farthest object after F_O, need Will be according to N_O and F_O, determine left and right binocular stereo camera regards spacing and image cropping parameter.Below to how to determine a left side Right binocular stereo camera describes in detail depending on spacing and image cropping parameter.

It is preferred that, it can include the step of above-mentioned steps 103:

Step 1031, first parallax d of the maximum protrusion under N_R in real scene is obtained by equation belowN_R

Wherein, N_R is maximum protrusion distance, and E_R is the spacing that regards in real scene, and Z_R arrives for eyes in real scene The distance of real screen.

Step 1032, the second parallax d in real scene under maximum recessed distances F_R is obtained by equation belowF_R

Wherein, F_R is maximum recessed distances.N_R, E_R, Z_R and F_R are values set in advance.

Here, it can be seen from Fig. 2, above-mentioned relation formula (1) and (2) are obtained according to the proportional relation of similar fitgures corresponding sides. As shown in Fig. 2 in real scene left eye L and right eye R regard spacing E_R, eyes to real screen Display apart from Z_R, most Big protrusion is apart from N_R, maximum recessed distances F_R, real screen display width W_R, the first parallax dN_RWith the second parallax dF_RIndicated in figure.Above formula (1), (2) can be obtained according to similar triangles theorem.

Now, first parallax of the maximum protrusion under in real scene can accurately be obtained by above-mentioned formula (1), (2) With the second parallax under maximum recessed distances, and then the ratio between the first parallax and the second parallax can be accurately obtained, using several What relation improves the accuracy and convenience of calculating.

Step 1033, according to the first parallax d in real sceneN_RWith the second parallax dF_RBetween ratio and photographed scene in Threeth parallax d apart from N_O under of the stereo camera to nearest objectN_OWith stereo camera to farthest object under F_O The 4th parallax dF_OBetween the equal constructed following relational expression of ratio, determine stereo camera to parallax free plane (i.e. void Intend screen) first apart from Con:

Wherein:N_O is distance of the stereo camera to nearest object, and F_O is distance of the stereo camera to farthest object, R is the first parallax dN_RWith the second parallax dF_RBetween ratio,

Wherein:

3rd parallax

4th parallax

The ratio of 3rd parallax and the 4th parallax

Relational expression (3) byDerive and obtain.

Here, as shown in figure 3, the left stereo camera L ' and corresponding right eye of correspondence left-eye output image are defeated in photographed scene Go out between the right stereo camera R ' of image and regard interval S ep, stereo camera to virtual screen Virtual Display 2 The first of (also referred to as parallax free plane) cuts being arrived apart from N_V, stereo camera for plane 1 apart from Con, stereo camera near Yonder clipping plane 3 apart from F_V, stereo camera to nearly the 5th parallax d for cutting plane 1N_VWith stereo camera to remote cutting 6th parallax d of plane 3F_VIndicated in figure.It can be obtained according to similar triangles theorem:

Analogy above-mentioned formula (8), (9) can be obtained:

Therefore, the ratio relation formula between the 3rd parallax and the 4th parallax can be obtained by above-mentioned formula (5), (6):

Based on above-mentioned formula (7), there is following relational expression:

Here, although parallax reduced unit and numerical value in photographed scene and real scene are different from, they With identical ratio R.

Carrying out deformation to formula (10) can obtain:

Now, according to the first parallax, the second parallax, the distance and stereo camera of stereo camera to nearest object are to most The distance of far object, can accurately try to achieve stereo camera to the first distance of virtual screen.

Step 1034, according to first apart from Con, determine left and right binocular stereo camera regards interval S ep;

Step 1035, interval S ep is regarded apart from Con and left and right binocular stereo camera according to first, it is determined that left and right is double The image cropping parameter of eye stereo camera shooting machine.

Now, first according to the parallax ratio under maximum protrusion distance and maximum recessed distances in real scene with shooting field Scape neutral body video camera to the distance and stereo camera of nearest object to the distance of farthest object under parallax ratio it is equal, can Effectively determine stereo camera to the first distance of parallax free plane;Then according to the first distance, left and right binocular can effectively be determined Stereo camera regard spacing;Finally according to the first distance and regarding spacing, determine that the image of left and right binocular stereo camera is cut out Cut parameter.It is in equal proportions according to the parallax of real scene and photographed scene and regards spacing and to figure between stereo camera to set Piece is cut, and when utilizing the stereo-picture structure stereoscopic shooting scene of obtained photographed scene, photographed scene can map Between maximum protrusion distance and maximum recessed distances into real scene so that photographed scene can be projection with real scene Occasion is preferably adapted to, so as to reach preferable stereoeffect..

Further, the step of above-mentioned steps 1034 can include:

By equation below determine left and right binocular stereo camera regard interval S ep:

Wherein, Con is the first distance, and W_R is the width of real screen in real scene, dN_RFor the first parallax, N_O is Stereo camera is to the distance of nearest object, and θ is the angle of visual field of stereo camera;

Or

By equation below determine left and right binocular stereo camera regard interval S ep:

Wherein, dF_RFor the second parallax, F_O is distance of the stereo camera to farthest object;

Or

By equation below determine left and right binocular stereo camera regard interval S ep:

Wherein, WfFor the width of stereo camera sensor, the focal length of lens of f stereo cameras;

Or

By equation below determine the left and right binocular stereo camera regard interval S ep:

Wherein, W_R, θ, WfIt is value set in advance with f.

Now, the true field of correspondence in photographed scene can accurately be obtained by above-mentioned formula (11), (12), (13) or (14) Scape regards spacing regarding the left and right binocular stereo camera of spacing.

The derivation to above-mentioned formula (11) is described in detail as follows below:

Shown in reference picture 4, for the symmetrical projection visual body of left and right binocular stereo camera, left video camera left The part that camera intersects with right video camera right camera scene, as virtual screen are parallax free plane, its width For WCon

First, the scaling between virtual screen and real screen can be obtained by equation below

Wherein, WConFor the width of virtual screen, W_R is the width of real screen.

It can be obtained by above-mentioned formula (15):

Above-mentioned formula (16) is entered into line translation to obtain:

Sep is met:

Above-mentioned formula (18) is entered into line translation to obtain:

Above-mentioned formula (19) is substituted into above-mentioned formula (17) to obtain:

Above-mentioned formula (20) is substituted into above-mentioned formula (18) again to obtain:

Shown in reference picture 4, for the symmetrical projection visual body of stereo camera, the angle of visual field meets equation below:

Above-mentioned formula (22) is substituted into above-mentioned formula (21) can try to achieve above-mentioned formula (11):

Above-mentioned formula (12) can be tried to achieve with reference to the derivation of above-mentioned formula (11).

In addition, above-mentioned formula (22) is replaced with into equation below:

Above-mentioned formula (13), (14) can be tried to achieve according to same derivation.

So far, obtained regarding spacing between the first distance and left and right binocular stereo camera, also needed to afterwards further The image cropping parameter of left and right binocular stereo camera is determined, after the position adjustment to left and right binocular stereo camera, according to Image cropping parameter is cut to image.

As shown in figure 4, live part of the scene content when building stereo scene captured by the binocular camera of left and right is Wcon, and the ratio shared by inactive portion Sep is Sep/ (Sep+Wcon), therefore, can be according to left images of the ratio to shooting Cut.

For the position adjustment of left and right binocular stereo camera, the current position of left and right binocular stereo camera is referred to, Then spacing is regarded according between the binocular stereo camera of left and right, the position of two stereo cameras is finely adjusted.

For the image cropping parameter of left and right binocular stereo camera, it is preferred that can wrap the step of above-mentioned steps 1035 Include:

Step 10351, the width W of virtual screen in present filming scene is obtained by equation belowCon

Wherein, Con is first distance, and θ is the angle of visual field of stereo camera;

Or

The width W of virtual screen in present filming scene is obtained by equation belowCon

Wherein, WfFor the width of stereo camera sensor, the focal length of lens of f stereo cameras.

As shown in figure 4, live part of the scene content when building stereo scene captured by the binocular camera of left and right is Wcon, and the ratio shared by inactive portion Sep is Sep/ (Sep+Wcon), therefore, can be according to left images of the ratio to shooting Cut.Therefore:

Step 10352, the image cropping parameter Crop of the left and right binocular stereo camera is determined by equation below:

Wherein, Sep regards spacing for the left and right binocular stereo camera.

Now, the image cropping parameter of left and right binocular stereo camera can be accurately obtained by above-mentioned formula (26).

Specifically, in above-mentioned steps 105, using image cropping parameter, the step of carrying out cutting processing to left images can With including:

Step 1051, using image cropping parameter, the high order end in left image horizontal direction is cropped into X*Crop pixels, So as to the left image after being cut;

And

Step 1052, using image cropping parameter, the low order end in right image horizontal direction is cropped into X*Crop pixels, So as to the right image after being cut;

Wherein, X is the Horizontal number of pixels of the left images, and Crop is described image cutting parameter.

Now, for the left image of left stereo camera Left Camera shootings, high order end starts to cut from horizontal direction The width of left image is after X*Crop pixels, cutting:X* (1-Crop) pixel.Clapped for right stereo camera Right Camera The right image taken the photograph, from horizontal direction low order end start cut X*Crop pixels, the width of right image is also after cutting:X*(1- Crop) pixel.

The method of the embodiment of the present invention can be according to above-mentioned flow according to a frame or so raw image data adjustment left and right binocular The distance of stereo camera, and using the image cropping parameter calculated, the left and right binocular stereo camera after adjustment is shot Left images cut, reprocess next frame image data, i.e., dynamic is adjusted.Also it can be pre-adjusted according to default scene The distance of left and right binocular stereo camera, and using the image cropping parameter calculated, the left and right binocular solid after adjustment is taken the photograph The left images that camera is shot are cut.

Further, the left images after the cutting processing of output are specifically used in movie theatre occasion, and the shadow Institute possesses two projection equipments in left and right, and left image is supplied to the left projection equipment of movie theatre, right image is supplied to the right side of movie theatre Projection equipment, so as to carry out showing stereoscopic shooting scene;

Further, the left images after the cutting processing of output are specifically used in virtual implementing helmet, and The virtual implementing helmet possesses left and right display screen, and left image is provided to the left display screen of virtual implementing helmet, right image is carried Supply the right display screen of virtual implementing helmet;

Further, the left images after the cutting processing of output are specifically used in augmented reality glasses, and The augmented reality glasses possess left and right and show eyeglass, left image are provided to the left display eyeglass of augmented reality glasses, by right figure Right display eyeglass as being supplied to augmented reality glasses.

It is understood that the virtual video camera sayed in the embodiment of the present invention, parallax free plane, closely cut plane, it is remote It is known term in computer graphics to cut the terms such as plane, here without describing in detail.

Embodiment is implemented to the one of stereography method of the present invention below to be illustrated below:

Assuming that:Maximum protrusion is 50mm apart from N_R in real scene, and maximum recessed distances F_R is 60mm, real screen Width W_R is 435mm, and Binocular vison spacing E_R is 65mm, and eyes to real screen are 500mm apart from Z_R.Pass through above-mentioned step The photographed scene neutral body video camera that rapid 101-102 is determined is 2135mm apart from N_O to nearest object, and stereo camera is to most Far object apart from F_O be 2584mm.The resolution ratio of stereo camera is X (1600) * Y (900), and the lens of stereo camera are burnt It is 80mm, the width W of stereo camera sensor away from ffFor 36mm.

Using the method for the present invention, the of maximum protrusion in real scene under N_R is obtained by equation below first One parallax dN_RWith the second parallax d under maximum recessed distances F_RF_R

The ratio R between the first parallax and the second parallax is obtained by equation below again:

Then stereo camera is obtained to virtual screen first apart from Con by equation below:

Then by regarding interval S ep between equation below acquisition left and right binocular stereo camera:

Therefore the distance between left and right binocular stereo camera will be adjusted to 153.98mm.

The width W of virtual screen is obtained by equation below againCon

The image cropping parameter Crop of left and right binocular stereo camera is obtained by equation below again:

Therefore high order end starts to cut X*Crop=the left image shot to the left stereo camera after adjustment from horizontal direction The width of left image is after 240 pixels, cutting:X* (1-Crop)=1360 pixel.

Low order end starts to cut X*Crop=240 the right image shot to the right stereo camera after adjustment from horizontal direction The width of right image is after pixel, cutting:X* (1-Crop)=1360 pixel.

To sum up, the stereography method of the embodiment of the present invention, is in equal proportions according to the parallax of real scene and photographed scene Come set between stereo camera depending on spacing and picture is cut, utilizing the stereo-picture of obtained photographed scene When building stereoscopic shooting scene, the maximum protrusion distance and maximum recessed distances that photographed scene is mapped in real scene it Between so that photographed scene can be that projection occasion is preferably adapted to real scene, so as to reach preferable stereoeffect, Improve the viewing experience of user, solve three-dimensional film in the prior art film source can not with projection occasion preferably be adapted to from And the problem of be unable to reach preferably stereoeffect.

As shown in figure 5, embodiments of the invention also provide a kind of stereoradiographic unit, the stereoradiographic unit is applied to Stereo equipment, the stereo equipment includes left and right binocular stereo camera, and the stereoradiographic unit includes:

Acquisition module 601, the left and right for gathering present filming scene using the left and right binocular stereo camera is original Image;

First determining module 602, for according to the left and right original image, determining that solid is taken the photograph under the present filming scene Camera to nearest object distance and stereo camera to farthest object distance;

Second determining module 603, it is recessed for the first parallax and maximum according to maximum protrusion in real scene under The ratio between the second parallax under and the 3rd parallax under photographed scene neutral body video camera to the distance of nearest object Ratio between the 4th parallax under the distance of stereo camera to farthest object is equal, so that according to the stereo camera Distance and the stereo camera to nearest object are determined between the regarding of left and right binocular stereo camera to the distance of farthest object Away from image cropping parameter;

Adjusting module 604, for regarding spacing according to the left and right binocular stereo camera, adjusts the left and right binocular and stands The distance between body video camera;

The acquisition module 601, is additionally operable to gather the current shooting using the left and right binocular stereo camera after adjustment The left images of scene;

Module 605 is cut, for utilizing described image cutting parameter, cutting processing is carried out to the left images;

Output module 606, for exporting the left images after cutting processing, so as to the left and right after being handled according to cutting The stereo-picture of present filming scene described in picture construction.

The stereoradiographic unit of the embodiment of the present invention, is in equal proportions to set according to the parallax of real scene and photographed scene Being cut depending on spacing and to picture between stereo camera, stands utilizing the stereo-picture of obtained photographed scene to build During body photographed scene, photographed scene is mapped between the maximum protrusion distance in real scene and maximum recessed distances so that Photographed scene can be that projection occasion is preferably adapted to real scene, so as to reach preferable stereoeffect, improve The viewing experience of user, solving the film source of three-dimensional film in the prior art can not preferably be adapted to so that can not with projection occasion The problem of reaching preferably stereoeffect.

It is preferred that, first determining module 602 can include:

Extracting sub-module, the characteristic point information for extracting left and right original image described in two width;

First determination sub-module, for according to the characteristic point information, determining between left and right original image described in two width Feature Points Matching point set pair;

First acquisition submodule, for obtaining the horizontal parallax between the match point set pair;

Second acquisition submodule, for according to the horizontal parallax between the match point set pair, obtaining the matching point set To the depth of corresponding object point;

Second determination sub-module, for determining stereo camera under the present filming scene according to the depth of the object point To nearest object distance and stereo camera to farthest object distance.

Further, the extracting sub-module can include:

Extraction unit, the spy for extracting left and right original image described in two width using Scale invariant features transform SIFT algorithms Levy an information;

First determination sub-module includes:

First determining unit, for using Minimum Mean Square Error ZSSD algorithms, according to the characteristic point information, determines two width institutes State the Feature Points Matching point set pair between the original image of left and right.

It is preferred that, second determining module 603 can include:

3rd acquisition submodule, for obtaining first parallax of the maximum protrusion under in real scene by equation below dN_R

Wherein, N_R is the maximum protrusion distance, and E_R is the spacing that regards in real scene, and Z_R is double in real scene Eye arrives the distance of real screen;

4th acquisition submodule, for obtaining the second parallax in real scene under maximum recessed distances by equation below dF_R

Wherein, F_R is the maximum recessed distances;

3rd determination sub-module, for the ratio between the first parallax according to real scene and second parallax With the 3rd parallax under the distance of photographed scene neutral body video camera to nearest object and stereo camera to farthest object away from The equal constructed following relational expression of the ratio between the 4th parallax under, determines stereo camera to the of parallax free plane One apart from Con:

Wherein:N_O is distance of the stereo camera to nearest object, and F_O is distance of the stereo camera to farthest object, R is the first parallax dN_RWith the second parallax dF_RBetween ratio,

4th determination sub-module, for according to first distance, determining between the regarding of the left and right binocular stereo camera Away from;

5th determination sub-module, for according between the described first distance and the regarding of the left and right binocular stereo camera Away from determining the image cropping parameter of the left and right binocular stereo camera.

Further, the 4th determination sub-module can include:

Second determining unit, for by equation below determine the left and right binocular stereo camera regard interval S ep:

Wherein, Con is first distance, and W_R is the width of real screen in real scene, dN_RRegarded for described first Difference, N_O is distance of the stereo camera to nearest object, and θ is the angle of visual field of stereo camera;

Or

By equation below determine the left and right binocular stereo camera regard interval S ep:

Wherein, dF_RFor second parallax, F_O is distance of the stereo camera to farthest object;

Or

By equation below determine the left and right binocular stereo camera regard interval S ep:

Wherein, WfFor the width of stereo camera sensor, the focal length of lens of f stereo cameras;

Or

By equation below determine the left and right binocular stereo camera regard interval S ep:

Further, the 5th determination sub-module can include:

First acquisition unit, the width W for obtaining virtual screen in present filming scene by equation belowCon

Wherein, Con is first distance, and θ is the angle of visual field of stereo camera;

Or

The width W of virtual screen in present filming scene is obtained by equation belowCon

Wherein, WfFor the width of stereo camera sensor, the focal length of lens of f stereo cameras;

3rd determining unit, the image cropping parameter for determining the left and right binocular stereo camera by equation below Crop:

Wherein, Sep regards spacing for the left and right binocular stereo camera.

It is preferred that, the cutting module 605 can include:

First cuts submodule, for utilizing described image cutting parameter, and the high order end in left image horizontal direction is cut out X*Crop pixels are cut, so that the left image after being cut;

And

Second cuts submodule, for utilizing described image cutting parameter, and the low order end in right image horizontal direction is cut out X*Crop pixels are cut, so that the right image after being cut;

Wherein, X is the Horizontal number of pixels of the left images, and Crop is described image cutting parameter.

Further, the left images after the cutting processing of output are specifically used in movie theatre occasion, and the shadow Institute possesses two projection equipments in left and right, and left image is supplied to the left projection equipment of movie theatre, right image is supplied to the right side of movie theatre Projection equipment, so as to carry out showing stereoscopic shooting scene;

Or,

Left images after the cutting processing of output are specifically used in virtual implementing helmet, and described virtual existing The real helmet possesses left and right display screen, and left image is provided to the left display screen of virtual implementing helmet, right image is supplied to virtual existing The right display screen of the real helmet;

Or

Left images after the cutting processing of output are specifically used in augmented reality glasses, and described virtual existing Real glasses possess left and right and show eyeglass, and left image is provided to the left display eyeglass of augmented reality glasses, right image is supplied into increasing The right display eyeglass of strong Reality glasses.

The stereoradiographic unit of the embodiment of the present invention, is in equal proportions to set according to the parallax of real scene and photographed scene Being cut depending on spacing and to picture between stereo camera, stands utilizing the stereo-picture of obtained photographed scene to build During body photographed scene, photographed scene is mapped between the maximum protrusion distance in real scene and maximum recessed distances so that Photographed scene can be that projection occasion is preferably adapted to real scene, so as to reach preferable stereoeffect, improve The viewing experience of user, solving the film source of three-dimensional film in the prior art can not preferably be adapted to so that can not with projection occasion The problem of reaching preferably stereoeffect.

It should be noted that the stereoradiographic unit is the device corresponding with above-mentioned stereography method, wherein above-mentioned All implementations can also reach same technique effect suitable for the embodiment of the device in embodiment of the method.

The embodiment of the present invention also provides a kind of stereo equipment, and the stereo equipment can include foregoing any implementation Stereoradiographic unit described in example.

Fig. 6 is the structural representation of stereo equipment one embodiment of the present invention, it is possible to achieve real shown in Fig. 1 of the present invention Apply the flow of example.As shown in fig. 6, above-mentioned stereo equipment can include:Left and right binocular stereo camera (not shown), display Screen (not shown), housing 71, processor 72, memory 73, circuit board 74 and power circuit 75, wherein, left and right binocular solid is taken the photograph Camera, display screen interlocking are on housing 71;Circuit board 74 is placed in the interior volume that housing 71 is surrounded, processor 72 and memory 73 are arranged on circuit board 74;Power circuit 75, for being powered for each circuit or device of above-mentioned stereo equipment;Storage Device 73 is used to store executable program code;Processor 72 is transported by reading the executable program code stored in memory 73 Row program corresponding with executable program code, for performing the stereography method described in foregoing any embodiment, utilizes a left side Right binocular stereo camera gathers the left and right original image of present filming scene;According to the left and right original image, it is determined that described Under present filming scene stereo camera to nearest object distance and stereo camera to farthest object distance;According to true The ratio and photographed scene between the second parallax in scene under the first parallax and maximum recessed distances of the maximum protrusion under The 3rd parallax under neutral body video camera to the distance of nearest object and the 4th under stereo camera to the distance of farthest object Ratio between parallax is equal, so that according to the distance and the stereo camera of the stereo camera to nearest object to most The distance of far object, determine left and right binocular stereo camera regards spacing and image cropping parameter;It is vertical according to the left and right binocular Body video camera regards spacing, adjusts the distance between described left and right binocular stereo camera;Stood using the left and right binocular after adjustment The left images of present filming scene described in body camera acquisition, and described image cutting parameter is utilized, to the left images Carry out cutting processing;Export the left images after cutting processing;Left images after being handled according to cutting build the current bat The stereo-picture of scene is taken the photograph, so that stereo-picture is showed by the display screen.

Processor 72 to the specific implementation procedure and processor 72 of above-mentioned steps by run executable program code come The step of further performing, may refer to the description of embodiment illustrated in fig. 1 of the present invention, will not be repeated here.

The stereo equipment exists in a variety of forms, includes but is not limited to:

(1) mobile communication equipment:The characteristics of this kind equipment is that possess mobile communication function, and to provide speech, data Communicate as main target.This Terminal Type includes:Smart mobile phone (such as iPhone), multimedia handset, feature mobile phone, and it is low Hold mobile phone etc..

(2) super mobile personal computer equipment:This kind equipment belongs to the category of personal computer, there is calculating and processing work( Can, typically also possess mobile Internet access characteristic.This Terminal Type includes:PDA, MID and UMPC equipment etc., such as iPad.

(3) portable entertainment device:This kind equipment can show and play content of multimedia.The kind equipment includes:Audio, The provider (such as iPod) of application program, handheld device, e-book, and intelligent toy and portable car-mounted navigation are set It is standby.

(4) server:The equipment for providing the service of calculating, the composition of server is total including processor, hard disk, internal memory, system Line etc., server is similar with general computer architecture, but is due to need to provide highly reliable service, therefore in processing energy Require higher in terms of power, stability, reliability, security, scalability, manageability.

(5) other electronic equipments with data interaction function.

In the embodiment of the present invention, module can be realized with software, so as to by various types of computing devices.Citing comes Say, the executable code module of a mark can include the one or more physics or logical block of computer instruction, illustrate For, it can be built as object, process or function.Nevertheless, the executable code of institute's mark module is without physically It is located together, but can includes being stored in different instructions in different positions, is combined together when in these command logics When, its regulation purpose for constituting module and realizing the module.

In fact, executable code module can be the either many bar instructions of individual instructions, and it can even be distributed On multiple different code segments, it is distributed among distinct program, and is distributed across multiple memory devices.Similarly, grasp Making data can be identified in module, and can be realized according to any appropriate form and be organized in any appropriate class In the data structure of type.The peration data can be collected as individual data collection, or can be distributed on diverse location (being included in different storage device), and only can be present at least in part as electronic signal in system or network.

When module can be realized using software, it is contemplated that the level of existing hardware technique, it is possible to implemented in software Module, in the case where not considering cost, those skilled in the art can build corresponding hardware circuit realize correspondence Function, the hardware circuit includes conventional ultra-large integrated (VLSI) circuit or gate array and such as logic core The existing semiconductor of piece, transistor etc either other discrete elements.Module can also use programmable hardware device, such as Field programmable gate array, programmable logic array, programmable logic device etc. are realized.

In various embodiments of the present invention, it should be appreciated that the size of the sequence number of above-mentioned each process is not meant to that execution is suitable The priority of sequence, the execution sequence of each process should be determined with its function and internal logic, without the implementation of the reply embodiment of the present invention Process constitutes any limit.

Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications It should be regarded as protection scope of the present invention.

Claims (15)

1. a kind of stereography method, the stereography method is applied to stereo equipment, the stereo equipment bag Include left and right binocular stereo camera, it is characterised in that the stereography method includes:
The left and right original image of present filming scene is gathered using the left and right binocular stereo camera;
According to the left and right original image, determine stereo camera under the present filming scene to the distance of nearest object and vertical Distance of the body video camera to farthest object;
According to the ratio between the second parallax under the first parallax and maximum recessed distances of the maximum protrusion in real scene under Value and the 3rd parallax under photographed scene neutral body video camera to the distance of nearest object and stereo camera to farthest object The ratio between the 4th parallax under is equal, so that according to the distance of the stereo camera to nearest object and described vertical Body video camera is to the distance of farthest object, and determine left and right binocular stereo camera regards spacing and image cropping parameter;
Spacing is regarded according to the left and right binocular stereo camera, the distance between described left and right binocular stereo camera is adjusted;
The left images of the present filming scene are gathered using the left and right binocular stereo camera after adjustment, and utilize the figure As cutting parameter, cutting processing is carried out to the left images;
The left images after cutting processing are exported, the current shooting is built so as to the left images after being handled according to cutting The stereo-picture of scene,
Wherein, the second parallax under first parallax and maximum recessed distances according to maximum protrusion in real scene under Between ratio and photographed scene neutral body video camera to the distance of nearest object under the 3rd parallax and stereo camera to most The ratio between the 4th parallax under the distance of far object is equal, so that according to the distance of the stereo camera to nearest object With the distance of the stereo camera to farthest object, determine left and right binocular stereo camera regards spacing and image cropping parameter The step of include:
First parallax d of the maximum protrusion under in real scene is obtained by equation belowN_R
<mrow> <msub> <mi>d</mi> <mrow> <mi>N</mi> <mo>_</mo> <mi>R</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <mi>N</mi> <mo>_</mo> <mi>R</mi> <mo>*</mo> <mi>E</mi> <mo>_</mo> <mi>R</mi> </mrow> <mrow> <mi>Z</mi> <mo>_</mo> <mi>R</mi> <mo>-</mo> <mi>N</mi> <mo>_</mo> <mi>R</mi> </mrow> </mfrac> <mo>;</mo> </mrow>
Wherein, N_R is the maximum protrusion distance, and E_R is the spacing that regards in real scene, and Z_R arrives for eyes in real scene The distance of real screen;
The second parallax d in real scene under maximum recessed distances is obtained by equation belowF_R
<mrow> <msub> <mi>d</mi> <mrow> <mi>F</mi> <mo>_</mo> <mi>R</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <mi>F</mi> <mo>_</mo> <mi>R</mi> <mo>*</mo> <mi>E</mi> <mo>_</mo> <mi>R</mi> </mrow> <mrow> <mi>Z</mi> <mo>_</mo> <mi>R</mi> <mo>+</mo> <mi>F</mi> <mo>_</mo> <mi>R</mi> </mrow> </mfrac> <mo>;</mo> </mrow>
Wherein, F_R is the maximum recessed distances;
Ratio and photographed scene neutral body video camera between the first parallax according to real scene and second parallax The ratio between the 4th parallax under the 3rd parallax and stereo camera to the distance of farthest object under to the distance of nearest object The equal constructed following relational expression of value, determines stereo camera to parallax free plane first apart from Con:
<mrow> <mi>C</mi> <mi>o</mi> <mi>n</mi> <mo>=</mo> <mfrac> <mrow> <mi>R</mi> <mo>+</mo> <mn>1</mn> </mrow> <mrow> <mfrac> <mn>1</mn> <mrow> <mi>N</mi> <mo>_</mo> <mi>O</mi> </mrow> </mfrac> <mo>+</mo> <mfrac> <mi>R</mi> <mrow> <mi>F</mi> <mo>_</mo> <mi>O</mi> </mrow> </mfrac> </mrow> </mfrac> <mo>;</mo> </mrow>
Wherein:N_O is distance of the stereo camera to nearest object, and F_O is distance of the stereo camera to farthest object, and R is The first parallax dN_RWith the second parallax dF_RBetween ratio,According to first distance, it is determined that described Left and right binocular stereo camera regard spacing;
According to described first distance and the left and right binocular stereo camera regard spacing, determine that the left and right binocular solid is taken the photograph The image cropping parameter of camera.
2. stereography method according to claim 1, it is characterised in that described according to the left and right original image, really Stereo camera is to the distance and stereo camera of nearest object to the distance of farthest object under the fixed present filming scene Step includes:
Extract the characteristic point information of left and right original image described in two width;
According to the characteristic point information, the Feature Points Matching point set pair between left and right original image described in two width is determined;
Obtain the horizontal parallax between the match point set pair;
According to the horizontal parallax between the match point set pair, the depth of the object point corresponding to the match point set pair is obtained;
Distance and solid of the stereo camera to nearest object under the present filming scene are determined according to the depth of the object point Distance of the video camera to farthest object.
3. stereography method according to claim 2, it is characterised in that left and right original image described in the width of extraction two Characteristic point information the step of include:
The characteristic point information of left and right original image described in two width is extracted using Scale invariant features transform SIFT algorithms;
It is described according to the characteristic point information, determine the step of the Feature Points Matching point set pair between left and right original image described in two width Suddenly include:
Using Minimum Mean Square Error ZSSD algorithms, according to the characteristic point information, determine between left and right original image described in two width Feature Points Matching point set pair.
4. stereography method according to claim 1, it is characterised in that described according to first distance, determines institute State left and right binocular stereo camera depending on spacing the step of include:
By equation below determine the left and right binocular stereo camera regard interval S ep:
<mrow> <mi>S</mi> <mi>e</mi> <mi>p</mi> <mo>=</mo> <mfrac> <mrow> <mn>2</mn> <mo>*</mo> <mi>C</mi> <mi>o</mi> <mi>n</mi> <mo>*</mo> <mi>tan</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;theta;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mo>*</mo> <msub> <mi>d</mi> <mrow> <mi>N</mi> <mo>_</mo> <mi>R</mi> </mrow> </msub> <mo>*</mo> <mi>N</mi> <mo>_</mo> <mi>O</mi> </mrow> <mrow> <mi>W</mi> <mo>_</mo> <mi>R</mi> <mo>*</mo> <mrow> <mo>(</mo> <mi>C</mi> <mi>o</mi> <mi>n</mi> <mo>-</mo> <mi>N</mi> <mo>_</mo> <mi>O</mi> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>d</mi> <mrow> <mi>N</mi> <mo>_</mo> <mi>R</mi> </mrow> </msub> <mo>*</mo> <mi>N</mi> <mo>_</mo> <mi>O</mi> </mrow> </mfrac> <mo>;</mo> </mrow>
Wherein, Con is first distance, and W_R is the width of real screen in real scene, dN_RFor first parallax, N_ O is distance of the stereo camera to nearest object, and θ is the angle of visual field of stereo camera;
Or
By equation below determine the left and right binocular stereo camera regard interval S ep:
<mrow> <mi>S</mi> <mi>e</mi> <mi>p</mi> <mo>=</mo> <mfrac> <mrow> <mn>2</mn> <mo>*</mo> <mi>C</mi> <mi>o</mi> <mi>n</mi> <mo>*</mo> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;theta;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mo>*</mo> <msub> <mi>d</mi> <mrow> <mi>F</mi> <mo>_</mo> <mi>R</mi> </mrow> </msub> <mo>*</mo> <mi>F</mi> <mo>_</mo> <mi>O</mi> </mrow> <mrow> <mi>W</mi> <mo>_</mo> <mi>R</mi> <mo>*</mo> <mrow> <mo>(</mo> <mi>F</mi> <mo>_</mo> <mi>O</mi> <mo>-</mo> <mi>C</mi> <mi>o</mi> <mi>n</mi> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>d</mi> <mrow> <mi>F</mi> <mo>_</mo> <mi>R</mi> </mrow> </msub> <mo>*</mo> <mi>F</mi> <mo>_</mo> <mi>O</mi> </mrow> </mfrac> <mo>;</mo> </mrow>
Wherein, dF_RFor second parallax, F_O is distance of the stereo camera to farthest object;
Or
By equation below determine the left and right binocular stereo camera regard interval S ep:
<mrow> <mi>S</mi> <mi>e</mi> <mi>p</mi> <mo>=</mo> <mfrac> <mrow> <mo>(</mo> <mi>C</mi> <mi>o</mi> <mi>n</mi> <mo>*</mo> <msub> <mi>W</mi> <mi>f</mi> </msub> <mo>/</mo> <mi>f</mi> <mo>)</mo> <mo>*</mo> <msub> <mi>d</mi> <mrow> <mi>N</mi> <mo>_</mo> <mi>R</mi> </mrow> </msub> <mo>*</mo> <mi>N</mi> <mo>_</mo> <mi>O</mi> </mrow> <mrow> <mi>W</mi> <mo>_</mo> <mi>R</mi> <mo>*</mo> <mrow> <mo>(</mo> <mi>C</mi> <mi>o</mi> <mi>n</mi> <mo>-</mo> <mi>N</mi> <mo>_</mo> <mi>O</mi> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>d</mi> <mrow> <mi>N</mi> <mo>_</mo> <mi>R</mi> </mrow> </msub> <mo>*</mo> <mi>N</mi> <mo>_</mo> <mi>O</mi> </mrow> </mfrac> <mo>;</mo> </mrow>
Wherein, WfFor the width of stereo camera sensor, the focal length of lens of f stereo cameras;
Or
By equation below determine the left and right binocular stereo camera regard interval S ep:
<mrow> <mi>S</mi> <mi>e</mi> <mi>p</mi> <mo>=</mo> <mfrac> <mrow> <mo>(</mo> <mi>C</mi> <mi>o</mi> <mi>n</mi> <mo>*</mo> <msub> <mi>W</mi> <mi>f</mi> </msub> <mo>/</mo> <mi>f</mi> <mo>)</mo> <mo>*</mo> <msub> <mi>d</mi> <mrow> <mi>F</mi> <mo>_</mo> <mi>R</mi> </mrow> </msub> <mo>*</mo> <mi>F</mi> <mo>_</mo> <mi>O</mi> </mrow> <mrow> <mi>W</mi> <mo>_</mo> <mi>R</mi> <mo>*</mo> <mrow> <mo>(</mo> <mi>F</mi> <mo>_</mo> <mi>O</mi> <mo>-</mo> <mi>C</mi> <mi>o</mi> <mi>n</mi> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>d</mi> <mrow> <mi>F</mi> <mo>_</mo> <mi>R</mi> </mrow> </msub> <mo>*</mo> <mi>F</mi> <mo>_</mo> <mi>O</mi> </mrow> </mfrac> <mo>.</mo> </mrow>
5. stereography method according to claim 1, it is characterised in that described according to the described first distance and described Left and right binocular stereo camera regards spacing, wraps the step of the image cropping parameter for determining the left and right binocular stereo camera Include:
The width W of virtual screen in present filming scene is obtained by equation belowCon
<mrow> <msub> <mi>W</mi> <mrow> <mi>C</mi> <mi>o</mi> <mi>n</mi> </mrow> </msub> <mo>=</mo> <mn>2</mn> <mo>*</mo> <mi>C</mi> <mi>o</mi> <mi>n</mi> <mo>*</mo> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;theta;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mo>-</mo> <mi>S</mi> <mi>e</mi> <mi>p</mi> <mo>;</mo> </mrow>
Wherein, Con is first distance, and θ is the angle of visual field of stereo camera;
Or
The width W of virtual screen in present filming scene is obtained by equation belowCon
<mrow> <msub> <mi>W</mi> <mrow> <mi>C</mi> <mi>o</mi> <mi>n</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <mi>C</mi> <mi>o</mi> <mi>n</mi> <mo>*</mo> <msub> <mi>W</mi> <mi>f</mi> </msub> </mrow> <mi>f</mi> </mfrac> <mo>-</mo> <mi>S</mi> <mi>e</mi> <mi>p</mi> <mo>;</mo> </mrow>
Wherein, WfFor the width of stereo camera sensor, the focal length of lens of f stereo cameras;
The image cropping parameter Crop of the left and right binocular stereo camera is determined by equation below:
<mrow> <mi>C</mi> <mi>r</mi> <mi>o</mi> <mi>p</mi> <mo>=</mo> <mfrac> <mrow> <mi>S</mi> <mi>e</mi> <mi>p</mi> </mrow> <mrow> <msub> <mi>W</mi> <mrow> <mi>C</mi> <mi>o</mi> <mi>n</mi> </mrow> </msub> <mo>+</mo> <mi>S</mi> <mi>e</mi> <mi>p</mi> </mrow> </mfrac> <mo>;</mo> </mrow>
Wherein, Sep regards spacing for the left and right binocular stereo camera.
6. stereography method according to claim 1, it is characterised in that the utilization described image cutting parameter, right The left images include the step of cutting processing:
Using described image cutting parameter, the high order end in left image horizontal direction is cropped into X*Crop pixels, so as to obtain Left image after cutting;
And
Using described image cutting parameter, the low order end in right image horizontal direction is cropped into X*Crop pixels, so as to obtain Right image after cutting;
Wherein, X is the Horizontal number of pixels of the left images, and Crop is described image cutting parameter.
7. according to any described stereography methods of claim 1-6, it is characterised in that after the cutting processing of output Left images are specifically used in movie theatre occasion, and the movie theatre possesses two projection equipments in left and right, and left image is supplied into shadow The left projection equipment of institute, right image is supplied to the right projection equipment of movie theatre, so as to carry out showing stereoscopic shooting scene;
Or,
Left images after the cutting processing of output are specifically used in virtual implementing helmet, and the virtual reality head Helmet possesses left and right display screen, and left image is provided to the left display screen of virtual implementing helmet, right image is supplied into virtual reality head The right display screen of helmet;
Or
Left images after the cutting processing of output are specifically used in augmented reality glasses, and augmented reality eye Mirror possesses left and right and shows eyeglass, and left image is provided to the left display eyeglass of augmented reality glasses, is supplied to enhancing existing right image The right display eyeglass of real glasses.
8. a kind of stereoradiographic unit, the stereoradiographic unit is applied to stereo equipment, the stereo equipment bag Include left and right binocular stereo camera, it is characterised in that the stereoradiographic unit includes:
Acquisition module, the left and right original image for gathering present filming scene using the left and right binocular stereo camera;
First determining module, for according to the left and right original image, determining that stereo camera is arrived under the present filming scene Distance of the distance and stereo camera of nearest object to farthest object;
Second determining module, for according under maximum the first parallax protruded under and maximum recessed distances in real scene Ratio between second parallax is taken the photograph with the 3rd parallax under the distance of photographed scene neutral body video camera to nearest object with solid The ratio between the 4th parallax under camera to the distance of farthest object is equal, so that according to the stereo camera to nearest thing The distance of body and the stereo camera are to the distance of farthest object, and determine left and right binocular stereo camera regards spacing and image Cutting parameter;
Adjusting module, for regarding spacing according to the left and right binocular stereo camera, adjusts the left and right binocular solid shooting The distance between machine;
The acquisition module, is additionally operable to gather a left side for the present filming scene using the left and right binocular stereo camera after adjustment Right image;
Module is cut, for utilizing described image cutting parameter, cutting processing is carried out to the left images;
Output module, for exporting the left images after cutting processing, so as to the left images structure after being handled according to cutting The stereo-picture of the present filming scene is built,
Wherein, second determining module includes:
3rd acquisition submodule, for obtaining first parallax d of the maximum protrusion under in real scene by equation belowN_R
<mrow> <msub> <mi>d</mi> <mrow> <mi>N</mi> <mo>_</mo> <mi>R</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <mi>N</mi> <mo>_</mo> <mi>R</mi> <mo>*</mo> <mi>E</mi> <mo>_</mo> <mi>R</mi> </mrow> <mrow> <mi>Z</mi> <mo>_</mo> <mi>R</mi> <mo>-</mo> <mi>N</mi> <mo>_</mo> <mi>R</mi> </mrow> </mfrac> <mo>;</mo> </mrow>
Wherein, N_R is the maximum protrusion distance, and E_R is the spacing that regards in real scene, and Z_R arrives for eyes in real scene The distance of real screen;
4th acquisition submodule, for obtaining the second parallax d in real scene under maximum recessed distances by equation belowF_R
<mrow> <msub> <mi>d</mi> <mrow> <mi>F</mi> <mo>_</mo> <mi>R</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <mi>F</mi> <mo>_</mo> <mi>R</mi> <mo>*</mo> <mi>E</mi> <mo>_</mo> <mi>R</mi> </mrow> <mrow> <mi>Z</mi> <mo>_</mo> <mi>R</mi> <mo>+</mo> <mi>F</mi> <mo>_</mo> <mi>R</mi> </mrow> </mfrac> <mo>;</mo> </mrow>
Wherein, F_R is the maximum recessed distances;
3rd determination sub-module, for the ratio between the first parallax according to real scene and second parallax and bat The 3rd parallax under scene neutral body video camera to the distance of nearest object and stereo camera are taken the photograph under the distance of farthest object The 4th parallax between the equal constructed following relational expression of ratio, determine stereo camera to parallax free plane first away from From Con:
<mrow> <mi>C</mi> <mi>o</mi> <mi>n</mi> <mo>=</mo> <mfrac> <mrow> <mi>R</mi> <mo>+</mo> <mn>1</mn> </mrow> <mrow> <mfrac> <mn>1</mn> <mrow> <mi>N</mi> <mo>_</mo> <mi>O</mi> </mrow> </mfrac> <mo>+</mo> <mfrac> <mi>R</mi> <mrow> <mi>F</mi> <mo>_</mo> <mi>O</mi> </mrow> </mfrac> </mrow> </mfrac> <mo>;</mo> </mrow>
Wherein:N_O is distance of the stereo camera to nearest object, and F_O is distance of the stereo camera to farthest object, and R is The first parallax dN_RWith the second parallax dF_RBetween ratio,
4th determination sub-module, for according to first distance, determine the left and right binocular stereo camera to regard spacing;
5th determination sub-module, for according to described first distance and the left and right binocular stereo camera regard spacing, really The image cropping parameter of the fixed left and right binocular stereo camera.
9. stereoradiographic unit according to claim 8, it is characterised in that first determining module includes:
Extracting sub-module, the characteristic point information for extracting left and right original image described in two width;
First determination sub-module, for according to the characteristic point information, determining the feature between left and right original image described in two width Point matching point set pair;
First acquisition submodule, for obtaining the horizontal parallax between the match point set pair;
Second acquisition submodule, for according to the horizontal parallax between the match point set pair, obtaining the match point set pair institute The depth of corresponding object point;
Second determination sub-module, for determining that stereo camera is to most under the present filming scene according to the depth of the object point Distance of the distance and stereo camera of nearly object to farthest object.
10. stereoradiographic unit according to claim 9, it is characterised in that the extracting sub-module includes:
Extraction unit, the characteristic point for extracting left and right original image described in two width using Scale invariant features transform SIFT algorithms Information;
First determination sub-module includes:
First determining unit, for using Minimum Mean Square Error ZSSD algorithms, according to the characteristic point information, is determined left described in two width Feature Points Matching point set pair between right original image.
11. stereoradiographic unit according to claim 8, it is characterised in that the 4th determination sub-module includes:
Second determining unit, for by equation below determine the left and right binocular stereo camera regard interval S ep:
<mrow> <mi>S</mi> <mi>e</mi> <mi>p</mi> <mo>=</mo> <mfrac> <mrow> <mn>2</mn> <mo>*</mo> <mi>C</mi> <mi>o</mi> <mi>n</mi> <mo>*</mo> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;theta;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mo>*</mo> <msub> <mi>d</mi> <mrow> <mi>N</mi> <mo>_</mo> <mi>R</mi> </mrow> </msub> <mo>*</mo> <mi>N</mi> <mo>_</mo> <mi>O</mi> </mrow> <mrow> <mi>W</mi> <mo>_</mo> <mi>R</mi> <mo>*</mo> <mrow> <mo>(</mo> <mi>C</mi> <mi>o</mi> <mi>n</mi> <mo>-</mo> <mi>N</mi> <mo>_</mo> <mi>O</mi> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>d</mi> <mrow> <mi>N</mi> <mo>_</mo> <mi>R</mi> </mrow> </msub> <mo>*</mo> <mi>N</mi> <mo>_</mo> <mi>O</mi> </mrow> </mfrac> <mo>;</mo> </mrow>
Wherein, Con is first distance, and W_R is the width of real screen in real scene, dN_RFor first parallax, N_ O is distance of the stereo camera to nearest object, and θ is the angle of visual field of stereo camera;
Or
By equation below determine the left and right binocular stereo camera regard interval S ep:
<mrow> <mi>S</mi> <mi>e</mi> <mi>p</mi> <mo>=</mo> <mfrac> <mrow> <mn>2</mn> <mo>*</mo> <mi>C</mi> <mi>o</mi> <mi>n</mi> <mo>*</mo> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;theta;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mo>*</mo> <msub> <mi>d</mi> <mrow> <mi>F</mi> <mo>_</mo> <mi>R</mi> </mrow> </msub> <mo>*</mo> <mi>F</mi> <mo>_</mo> <mi>O</mi> </mrow> <mrow> <mi>W</mi> <mo>_</mo> <mi>R</mi> <mo>*</mo> <mrow> <mo>(</mo> <mi>F</mi> <mo>_</mo> <mi>O</mi> <mo>-</mo> <mi>C</mi> <mi>o</mi> <mi>n</mi> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>d</mi> <mrow> <mi>F</mi> <mo>_</mo> <mi>R</mi> </mrow> </msub> <mo>*</mo> <mi>F</mi> <mo>_</mo> <mi>O</mi> </mrow> </mfrac> <mo>;</mo> </mrow>
Wherein, dF_RFor second parallax, F_O is distance of the stereo camera to farthest object;
Or
By equation below determine the left and right binocular stereo camera regard interval S ep:
<mrow> <mi>S</mi> <mi>e</mi> <mi>p</mi> <mo>=</mo> <mfrac> <mrow> <mo>(</mo> <mi>C</mi> <mi>o</mi> <mi>n</mi> <mo>*</mo> <msub> <mi>W</mi> <mi>f</mi> </msub> <mo>/</mo> <mi>f</mi> <mo>)</mo> <mo>*</mo> <msub> <mi>d</mi> <mrow> <mi>N</mi> <mo>_</mo> <mi>R</mi> </mrow> </msub> <mo>*</mo> <mi>N</mi> <mo>_</mo> <mi>O</mi> </mrow> <mrow> <mi>W</mi> <mo>_</mo> <mi>R</mi> <mo>*</mo> <mrow> <mo>(</mo> <mi>C</mi> <mi>o</mi> <mi>n</mi> <mo>-</mo> <mi>N</mi> <mo>_</mo> <mi>O</mi> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>d</mi> <mrow> <mi>N</mi> <mo>_</mo> <mi>R</mi> </mrow> </msub> <mo>*</mo> <mi>N</mi> <mo>_</mo> <mi>O</mi> </mrow> </mfrac> <mo>;</mo> </mrow>
Wherein, WfFor the width of stereo camera sensor, the focal length of lens of f stereo cameras;
Or
By equation below determine the left and right binocular stereo camera regard interval S ep:
<mrow> <mi>S</mi> <mi>e</mi> <mi>p</mi> <mo>=</mo> <mfrac> <mrow> <mo>(</mo> <mi>C</mi> <mi>o</mi> <mi>n</mi> <mo>*</mo> <msub> <mi>W</mi> <mi>f</mi> </msub> <mo>/</mo> <mi>f</mi> <mo>)</mo> <mo>*</mo> <msub> <mi>d</mi> <mrow> <mi>F</mi> <mo>_</mo> <mi>R</mi> </mrow> </msub> <mo>*</mo> <mi>F</mi> <mo>_</mo> <mi>O</mi> </mrow> <mrow> <mi>W</mi> <mo>_</mo> <mi>R</mi> <mo>*</mo> <mrow> <mo>(</mo> <mi>F</mi> <mo>_</mo> <mi>O</mi> <mo>-</mo> <mi>C</mi> <mi>o</mi> <mi>n</mi> <mo>)</mo> </mrow> <mo>+</mo> <msub> <mi>d</mi> <mrow> <mi>F</mi> <mo>_</mo> <mi>R</mi> </mrow> </msub> <mo>*</mo> <mi>F</mi> <mo>_</mo> <mi>O</mi> </mrow> </mfrac> <mo>.</mo> </mrow>
12. stereoradiographic unit according to claim 8, it is characterised in that the 5th determination sub-module includes:
First acquisition unit, the width W for obtaining virtual screen in present filming scene by equation belowCon
<mrow> <msub> <mi>W</mi> <mrow> <mi>C</mi> <mi>o</mi> <mi>n</mi> </mrow> </msub> <mo>=</mo> <mn>2</mn> <mo>*</mo> <mi>C</mi> <mi>o</mi> <mi>n</mi> <mo>*</mo> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mrow> <mo>(</mo> <mfrac> <mi>&amp;theta;</mi> <mn>2</mn> </mfrac> <mo>)</mo> </mrow> <mo>-</mo> <mi>S</mi> <mi>e</mi> <mi>p</mi> <mo>;</mo> </mrow>
Wherein, Con is first distance, and θ is the angle of visual field of stereo camera;
Or
The width W of virtual screen in present filming scene is obtained by equation belowCon
<mrow> <msub> <mi>W</mi> <mrow> <mi>C</mi> <mi>o</mi> <mi>n</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <mi>C</mi> <mi>o</mi> <mi>n</mi> <mo>*</mo> <msub> <mi>W</mi> <mi>f</mi> </msub> </mrow> <mi>f</mi> </mfrac> <mo>-</mo> <mi>S</mi> <mi>e</mi> <mi>p</mi> <mo>;</mo> </mrow>
Wherein, WfFor the width of stereo camera sensor, the focal length of lens of f stereo cameras;
3rd determining unit, the image cropping parameter for determining the left and right binocular stereo camera by equation below Crop:
<mrow> <mi>C</mi> <mi>r</mi> <mi>o</mi> <mi>p</mi> <mo>=</mo> <mfrac> <mrow> <mi>S</mi> <mi>e</mi> <mi>p</mi> </mrow> <mrow> <msub> <mi>W</mi> <mrow> <mi>C</mi> <mi>o</mi> <mi>n</mi> </mrow> </msub> <mo>+</mo> <mi>S</mi> <mi>e</mi> <mi>p</mi> </mrow> </mfrac> <mo>;</mo> </mrow>
Wherein, Sep regards spacing for the left and right binocular stereo camera.
13. stereoradiographic unit according to claim 8, it is characterised in that the cutting module includes:
First cuts submodule, and for utilizing described image cutting parameter, the high order end in left image horizontal direction is cropped X*Crop pixels, so that the left image after being cut;
And
Second cuts submodule, and for utilizing described image cutting parameter, the low order end in right image horizontal direction is cropped X*Crop pixels, so that the right image after being cut;
Wherein, X is the Horizontal number of pixels of the left images, and Crop is described image cutting parameter.
14. according to any described stereoradiographic units of claim 8-13, it is characterised in that after the cutting processing of output Left images be specifically used in movie theatre occasion, and the movie theatre possesses two projection equipments in left and right, and left image is supplied to The left projection equipment of movie theatre, right image is supplied to the right projection equipment of movie theatre, so as to carry out showing stereoscopic shooting scene;
Or,
Left images after the cutting processing of output are specifically used in virtual implementing helmet, and the virtual reality head Helmet possesses left and right display screen, and left image is provided to the left display screen of virtual implementing helmet, right image is supplied into virtual reality head The right display screen of helmet;
Or
Left images after the cutting processing of output are specifically used in augmented reality glasses, and virtual reality eye Mirror possesses left and right and shows eyeglass, and left image is provided to the left display eyeglass of augmented reality glasses, is supplied to enhancing existing right image The right display eyeglass of real glasses.
15. a kind of stereo equipment, it is characterised in that including:Left and right binocular stereo camera, display screen, housing, processing Device, memory, circuit board and power circuit, wherein:
The left and right binocular stereo camera, display screen interlocking are on the housing;
The circuit board is placed in the interior volume that the housing is surrounded, and the processor and the memory are arranged on the electricity On the plate of road;
The power circuit, for being powered for each circuit or device of above-mentioned stereo equipment;
The memory is used to store executable program code;
The executable program code that the processor is stored by reading in memory is corresponding with executable program code to run Program, perform:
The left and right original image of present filming scene is gathered using the left and right binocular stereo camera;
According to the left and right original image, determine stereo camera under the present filming scene to the distance of nearest object and vertical Distance of the body video camera to farthest object;
According to the ratio between the second parallax under the first parallax and maximum recessed distances of the maximum protrusion in real scene under Value and the 3rd parallax under photographed scene neutral body video camera to the distance of nearest object and stereo camera to farthest object The ratio between the 4th parallax under is equal, so that according to the distance of the stereo camera to nearest object and described vertical Body video camera is to the distance of farthest object, and determine left and right binocular stereo camera regards spacing and image cropping parameter;
Spacing is regarded according to the left and right binocular stereo camera, the distance between described left and right binocular stereo camera is adjusted;
The left images of the present filming scene are gathered using the left and right binocular stereo camera after adjustment, and utilize the figure As cutting parameter, cutting processing is carried out to the left images;
Export the left images after cutting processing;
Left images after being handled according to cutting build the stereo-picture of the present filming scene, so as to pass through the display screen Stereo-picture is showed,
Wherein, the second parallax under first parallax and maximum recessed distances according to maximum protrusion in real scene under Between ratio and photographed scene neutral body video camera to the distance of nearest object under the 3rd parallax and stereo camera to most The ratio between the 4th parallax under the distance of far object is equal, so that according to the distance of the stereo camera to nearest object With the distance of the stereo camera to farthest object, determine left and right binocular stereo camera regards spacing and image cropping parameter The step of include:
First parallax d of the maximum protrusion under in real scene is obtained by equation belowN_R
<mrow> <msub> <mi>d</mi> <mrow> <mi>N</mi> <mo>_</mo> <mi>R</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <mi>N</mi> <mo>_</mo> <mi>R</mi> <mo>*</mo> <mi>E</mi> <mo>_</mo> <mi>R</mi> </mrow> <mrow> <mi>Z</mi> <mo>_</mo> <mi>R</mi> <mo>-</mo> <mi>N</mi> <mo>_</mo> <mi>R</mi> </mrow> </mfrac> <mo>;</mo> </mrow>
Wherein, N_R is the maximum protrusion distance, and E_R is the spacing that regards in real scene, and Z_R arrives for eyes in real scene The distance of real screen;
The second parallax d in real scene under maximum recessed distances is obtained by equation belowF_R
<mrow> <msub> <mi>d</mi> <mrow> <mi>F</mi> <mo>_</mo> <mi>R</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <mi>F</mi> <mo>_</mo> <mi>R</mi> <mo>*</mo> <mi>E</mi> <mo>_</mo> <mi>R</mi> </mrow> <mrow> <mi>Z</mi> <mo>_</mo> <mi>R</mi> <mo>+</mo> <mi>F</mi> <mo>_</mo> <mi>R</mi> </mrow> </mfrac> <mo>;</mo> </mrow>
Wherein, F_R is the maximum recessed distances;
Ratio and photographed scene neutral body video camera between the first parallax according to real scene and second parallax The ratio between the 4th parallax under the 3rd parallax and stereo camera to the distance of farthest object under to the distance of nearest object The equal constructed following relational expression of value, determines stereo camera to parallax free plane first apart from Con:
<mrow> <mi>C</mi> <mi>o</mi> <mi>n</mi> <mo>=</mo> <mfrac> <mrow> <mi>R</mi> <mo>+</mo> <mn>1</mn> </mrow> <mrow> <mfrac> <mn>1</mn> <mrow> <mi>N</mi> <mo>_</mo> <mi>O</mi> </mrow> </mfrac> <mo>+</mo> <mfrac> <mi>R</mi> <mrow> <mi>F</mi> <mo>_</mo> <mi>O</mi> </mrow> </mfrac> </mrow> </mfrac> <mo>;</mo> </mrow>
Wherein:N_O is distance of the stereo camera to nearest object, and F_O is distance of the stereo camera to farthest object, and R is The first parallax dN_RWith the second parallax dF_RBetween ratio,
According to first distance, determine the left and right binocular stereo camera regards spacing;
According to described first distance and the left and right binocular stereo camera regard spacing, determine that the left and right binocular solid is taken the photograph The image cropping parameter of camera.
CN201610410762.8A 2016-06-12 2016-06-12 A kind of stereography method, device and stereo equipment CN106228530B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610410762.8A CN106228530B (en) 2016-06-12 2016-06-12 A kind of stereography method, device and stereo equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610410762.8A CN106228530B (en) 2016-06-12 2016-06-12 A kind of stereography method, device and stereo equipment

Publications (2)

Publication Number Publication Date
CN106228530A CN106228530A (en) 2016-12-14
CN106228530B true CN106228530B (en) 2017-10-10

Family

ID=57520315

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610410762.8A CN106228530B (en) 2016-06-12 2016-06-12 A kind of stereography method, device and stereo equipment

Country Status (1)

Country Link
CN (1) CN106228530B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107168008A (en) * 2017-06-27 2017-09-15 银河威尔科技(北京)有限公司 A kind of bearing calibration of 3Dvr video cameras for eliminating dizzy sense and device
CN107277485B (en) * 2017-07-18 2019-06-18 歌尔科技有限公司 Image display method and device based on virtual reality

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014501086A (en) * 2010-11-23 2014-01-16 深▲セン▼超多▲維▼光▲電▼子有限公司 Stereo image acquisition system and method
TWI566576B (en) * 2014-06-03 2017-01-11 宏碁股份有限公司 Stereoscopic view synthesis method and apparatus using the same
CN104023221B (en) * 2014-06-23 2016-04-13 深圳超多维光电子有限公司 Stereo image parallax control method and device
CN104765156B (en) * 2015-04-22 2017-11-21 京东方科技集团股份有限公司 A kind of three-dimensional display apparatus and 3 D displaying method
CN105072433B (en) * 2015-08-21 2017-03-22 山东师范大学 Depth perception mapping method applied to head track virtual reality system
CN105611271A (en) * 2015-12-18 2016-05-25 华中科技大学 Real-time stereo image generating system

Also Published As

Publication number Publication date
CN106228530A (en) 2016-12-14

Similar Documents

Publication Publication Date Title
EP2357841B1 (en) Method and apparatus for processing three-dimensional images
RU2388172C2 (en) Formation of three-dimensional image using proximity effect
EP2549762B1 (en) Stereovision-image position matching apparatus, stereovision-image position matching method, and program therefor
CN106797460B (en) The reconstruction of 3 D video
US6747610B1 (en) Stereoscopic image display apparatus capable of selectively displaying desired stereoscopic image
US20160309137A1 (en) Methods, systems, and computer-readable storage media for generating three-dimensional (3d) images of a scene
JP5014979B2 (en) 3D information acquisition and display system for personal electronic devices
JP2004040445A (en) Portable equipment having 3d display function and 3d transformation program
CA2806520C (en) Methods, systems, devices and associated processing logic for generating stereoscopic images and video
Anderson et al. Jump: virtual reality video
US20080199070A1 (en) Three-dimensional image display apparatus and method for enhancing stereoscopic effect of image
US20070247522A1 (en) Method and Apparatus for Generating a Stereoscopic Image
US9898856B2 (en) Systems and methods for depth-assisted perspective distortion correction
KR101313740B1 (en) OSMU( One Source Multi Use)-type Stereoscopic Camera and Method of Making Stereoscopic Video Content thereof
US20110158509A1 (en) Image stitching method and apparatus
US8436893B2 (en) Methods, systems, and computer-readable storage media for selecting image capture positions to generate three-dimensional (3D) images
US9049428B2 (en) Image generation system, image generation method, and information storage medium
US9595127B2 (en) Three-dimensional collaboration
EP2323416A2 (en) Stereoscopic editing for video production, post-production and display adaptation
KR102013978B1 (en) Method and apparatus for fusion of images
US20060092272A1 (en) Method for producing stereoscopic images from monoscopic images
US20120162384A1 (en) Three-Dimensional Collaboration
US9344701B2 (en) Methods, systems, and computer-readable storage media for identifying a rough depth map in a scene and for determining a stereo-base distance for three-dimensional (3D) content creation
CN101610421B (en) Video communication method, apparatus and system for
US8711209B2 (en) Method and system for automatic 3-D image creation

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20180725

Address after: 518054 Room 201, building A, 1 front Bay Road, Shenzhen Qianhai cooperation zone, Shenzhen, Guangdong

Patentee after: Shenzhen super Technology Co., Ltd.

Address before: 518053 H-1 Tung 101, overseas Chinese town, Nanshan District, Shenzhen, Guangdong.

Patentee before: Shenzhen SuperD Photoelectronic Co., Ltd.