CN107087150A - A kind of three-dimensional camera shooting method, system and device based on binocular solid and photometric stereo - Google Patents
A kind of three-dimensional camera shooting method, system and device based on binocular solid and photometric stereo Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/243—Image signal generators using stereoscopic image cameras using three or more 2D image sensors
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
- H04N13/106—Processing image signals
- H04N13/128—Adjusting depth or disparity
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/257—Colour aspects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/261—Image signal generators with monoscopic-to-stereoscopic image conversion
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/271—Image signal generators wherein the generated image signals comprise depth maps or disparity maps
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/296—Synchronisation thereof; Control thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N2013/0074—Stereoscopic image analysis
- H04N2013/0077—Colour aspects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N2013/0074—Stereoscopic image analysis
- H04N2013/0096—Synchronisation or controlling aspects
Abstract
The present invention relates to three-dimensional camera shooting field, propose a kind of three-dimensional camera shooting method based on binocular solid and photometric stereo, three-dimensional camera shooting system, and a kind of three-dimensional image pickup device based on binocular solid and photometric stereo, particularly such as mobile phone, flat board, wearable device mobile terminal.The present invention can obtain the first two dimensional image by the first image acquisition device, and the second two dimensional image is obtained by the second image acquisition device；The three-dimensional subgraph of luminosity comprising monochrome information is obtained by the 3rd image acquisition device；According to the binocular three-dimensional image of the first two dimensional image and the generation of the second two dimensional image comprising depth information and color information；According to the first two dimensional image and three-dimensional luminosity 3-D view of the subgraph generation comprising monochrome information and color information of luminosity；And can according to the actual requirements or environmental aspect, manual/auto selection exports 3-D view type, improves Consumer's Experience sense, can adapt to the complex environments such as low light environment and strong light environment.
Description
Technical field
The present invention relates to three-dimensional camera shooting field, especially a kind of three-dimensional camera shooting side based on binocular solid and photometric stereo
Method, a kind of three-dimensional camera shooting system based on binocular solid and photometric stereo, and it is a kind of based on binocular solid and photometric stereo
Three-dimensional image pickup device, particularly such as mobile phone, flat board, wearable device mobile terminal.
Background technology
As such as camera, mobile phone, tablet personal computer, notebook, wearable device etc. have the intelligent mobile of camera function whole
The popularization at end, the application based on intelligent mobile terminal is also more and more.But most of intelligent mobile end with camera function
End, can only shoot two dimensional image, without possessing the functions such as 3-D scanning, three-dimensional imaging, it is impossible to record target while taking pictures
The steric information of object, for it is more rich, interesting, easily apply.
To obtain 3-D effect, also it has been proposed that being handled using software engineering two dimensional image, with two dimensional image
Upper generation 3-D effect.But the 3-D effect that this processing method is obtained is not good.Also rely on the three-dimensional imaging skill of hardware device
Art, such as structured light technique, flight time TOF technology, binocular vision technology, photometric stereo vision technique, wherein, structure light skill
Art, the hardware cost height of TOF technologies, modular volume greatly, are not particularly suited for intelligent mobile terminal, and binocular vision technology is to environment
Requirement it is higher, particularly under dark environment, its imaging effect is not good.
Traditional photometric stereo vision technique is due to needing to gather same target respectively at multiple time points multiple or not
With light source irradiation under image, it is necessary to gather multiple image information to carry out three-dimensional reconstruction, and be difficult to moving target or
The target that surface is in flexible variety carries out three-dimensional reconstruction.
The content of the invention
The goal of the invention of the present invention is：For above-mentioned problem binocular solid and light are based on there is provided a kind of
Three-dimensional three-dimensional camera shooting method, a kind of three-dimensional camera shooting system based on binocular solid and photometric stereo, and one kind are spent based on double
Three-dimensional and photometric stereo the three-dimensional image pickup device of mesh, particularly such as mobile phone, flat board, wearable device mobile terminal.
Present invention employs following multiple technologies scheme.
Scheme one, a kind of three-dimensional camera shooting method based on binocular solid and photometric stereo.
For a goal of the invention, the present invention proposes a kind of three-dimensional camera shooting side based on binocular solid and photometric stereo
Method, the three-dimensional camera shooting method is mainly included the following steps that：
First two dimensional image is obtained by the first image acquisition device, the second two dimensional image is obtained by the second image acquisition device；It is right
First two dimensional image and second two dimensional image carry out binocular solid matching, and generation includes depth information and color information
Binocular three-dimensional image；
The three-dimensional subgraph of luminosity comprising monochrome information is obtained by the 3rd image acquisition device；Obtained by the first image acquisition device
First two dimensional image, is carried out at color filling and texture mapping according to first two dimensional image and the three-dimensional subgraph of the luminosity
Reason, luminosity 3-D view of the generation comprising monochrome information and color information；
Under manual output control pattern or automatic output control pattern, the manual/auto output binocular three-dimensional image and institute
State one kind in luminosity 3-D view.
Further, under automatic output control pattern：Judge the luminosity 3-D view and the binocular three-dimensional image
Image quality；
If the image quality of the luminosity 3-D view is higher than the image quality of the binocular three-dimensional image, the luminosity is exported
3-D view；
If the image quality of the luminosity 3-D view is less than the image quality of the binocular three-dimensional image, the binocular is exported
3-D view.
Further, under automatic output control pattern：Gather environment illumination intensity；
If the environment illumination intensity is less than default intensity of illumination, it is determined as low light environment, exports the luminosity 3-D view；
If the environment illumination intensity is higher than default intensity of illumination, it is determined as strong light environment, exports the binocular three-dimensional image.
Further, the three-dimensional camera shooting method also includes 3-D view synthesis step：By the luminosity 3-D view and
The binocular three-dimensional image carries out synthesis processing, and generation includes the three-dimensional composite diagram of monochrome information, depth information and color information
Picture；
It is the manual/auto output binocular three-dimensional image, described under manual output control pattern or automatic output control pattern
One kind in luminosity 3-D view and the three-dimensional synthetic images.
Further, the three-D imaging method also includes Synchronization Control step：It is synchronous when receiving image acquisition commands
Described first image collector, the second image acquisition device and the 3rd image acquisition device is controlled to carry out IMAQ.
Scheme two, a kind of three-dimensional camera shooting system based on binocular solid and photometric stereo.
For another goal of the invention, the present invention proposes a kind of three-dimensional camera shooting system based on binocular solid and photometric stereo
System, the three-dimensional camera shooting system mainly includes：First image acquisition units, the second image acquisition units, the 3rd IMAQ list
Member, binocular vision processing unit, photometric stereo processing unit, color texture processing unit and output control unit.
Described first image collecting unit, for obtaining the first two dimensional image.
Second image acquisition units, for obtaining the second two dimensional image.
3rd image acquisition units, for obtaining multiple the 3rd two dimensional images gathered under different illumination conditions.
The binocular vision processing unit, for carrying out binocular to first two dimensional image and second two dimensional image
Stereo matching, binocular three-dimensional image of the generation comprising depth information and color information.
The photometric stereo processing unit, for carrying out photometric stereo matching, generation to multiple 3rd two dimensional images
The three-dimensional subgraph of luminosity comprising monochrome information.
The color texture processing unit, for being carried out according to first two dimensional image and the three-dimensional subgraph of the luminosity
Color is filled and texture mapping processing, luminosity 3-D view of the generation comprising monochrome information and color information.
The output control unit, it is manual/auto under manual output control pattern or automatic output control pattern
Export one kind in the binocular three-dimensional image and the luminosity 3-D view.
Further, three-dimensional camera shooting system of the present invention also includes：Image composing unit.
Described image synthesis unit, for the luminosity 3-D view and the binocular three-dimensional image to be carried out at synthesis
Reason, generation includes the three-dimensional synthetic images of monochrome information, depth information and color information；In addition, the output control unit is also
It is the manual/auto output binocular three-dimensional image, described under manual output control pattern or automatic output control pattern
One kind in luminosity 3-D view and the three-dimensional synthetic images.
Further, three-dimensional camera shooting system of the present invention also includes：Camera control unit and synchronous control unit.
The camera control unit, for sending image acquisition commands；
The synchronous control unit, for when receiving image acquisition commands, Synchronization Control described first image collector, second
Image acquisition device and the 3rd image acquisition device carry out IMAQ.
Scheme three, a kind of three-dimensional image pickup device based on binocular solid and photometric stereo.
For another goal of the invention, the present invention proposes a kind of three-dimensional camera shooting dress based on binocular solid and photometric stereo
Put, the three-dimensional image pickup device includes：
Processor；
Display, is connected with the processor；
First image acquisition device, is connected with the processor, for obtaining the first two dimensional image；
Second image acquisition device, is connected with the processor, for obtaining the second two dimensional image；
3rd image acquisition device, is connected with the processor, for obtain it is multiple gathered under different illumination conditions the three or two
Tie up image；
Memory, is connected with the processor, for storing computer program；
The memory and computer program are configured to using the processor so that the three-dimensional image pickup device is at least performed
The step of included in three-dimensional camera shooting method described in any embodiment of scheme one.
Further, three-dimensional image pickup device of the present invention also includes：Light intensity sensor, is connected with the processor, uses
In collection environment illumination intensity.
The memory and computer program are further configured to using the processor so that the three-dimensional image pickup device：
Under automatic output control pattern, if the environment illumination intensity is less than default intensity of illumination, it is determined as low light environment, exports institute
State luminosity 3-D view；If the environment illumination intensity is higher than default intensity of illumination, it is determined as strong light environment, exports described double
Mesh 3-D view or the three-dimensional synthetic images.
In summary, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：
1）The present invention can obtain the binocular three-dimensional image comprising depth information and color information based on Binocular Vision Principle, may be used also
The three-dimensional subgraph of luminosity comprising monochrome information is obtained based on photometric stereo visual theory, and utilizes one in binocular vision processing
The individual two dimensional image for including color information, obtains the luminosity 3-D view comprising monochrome information and color information, further according to reality
Demand or environmental aspect, manually or automatically select the output type of 3-D view, to improve the graphics that finally be presented to user
The quality of picture, can adapt to three-dimensional camera shooting under low light environment and strong light environment and operates.
2）The present invention can be switched between binocular three-dimensional processing and luminosity three-dimensional process；Binocular three-dimensional processing is especially fitted
For needing the application scenarios using depth information, and the 3-D scanning under high illumination environment and reconstruction；Luminosity three-dimensional process
It is particularly suitable for use in that the target of nonstatic target and surface flexible change is carried out 3-D scanning and rebuild, and under low-light (level) environment
3-D scanning and reconstruction.
3）The present invention can also be carried out binocular three-dimensional image and luminosity 3-D view at synthesis by image composing technique
Reason, obtains including the three-dimensional synthetic images of depth information, monochrome information and color information, both compensate in luminosity three-dimensional process,
There is no target object depth information, it is impossible to determine the defect of the scale factor of target object, compensate for again in binocular three-dimensional processing,
The defect of dynamic modeling can not be carried out to there is the target object of dynamic action well.
Brief description of the drawings
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein：
Fig. 1 is a kind of schematic flow sheet of three-dimensional camera shooting method in the present invention.
Fig. 2 is a kind of system schematic block diagram of three-dimensional camera shooting system in the present invention.
Fig. 3 is a kind of schematic block circuit diagram of three-dimensional image pickup device in the present invention.
Embodiment
All features disclosed in this specification, or disclosed all methods or during the step of, except mutually exclusive
Feature and/or step beyond, can combine in any way.
This specification（Including any accessory claim, summary）Disclosed in any feature, unless specifically stated otherwise,
Replaced by other equivalent or with similar purpose alternative features.I.e., unless specifically stated otherwise, each feature is a series of
An example in equivalent or similar characteristics.
As shown in figure 1, the present invention proposes a kind of three-dimensional camera shooting method based on binocular solid and photometric stereo, it can be based on
Unit, device proposed in scheme one or scheme three are to realize.
Embodiment 1.1, the three-dimensional camera shooting method is mainly included the following steps that：
First two dimensional image is obtained by the first image acquisition device, the second two dimensional image is obtained by the second image acquisition device；It is right
First two dimensional image and second two dimensional image carry out binocular solid matching, and generation includes depth information and color information
Binocular three-dimensional image；
The three-dimensional subgraph of luminosity comprising monochrome information is obtained by the 3rd image acquisition device；Obtained by the first image acquisition device
First two dimensional image, is carried out at color filling and texture mapping according to first two dimensional image and the three-dimensional subgraph of the luminosity
Reason, luminosity 3-D view of the generation comprising monochrome information and color information；
Under manual output control pattern or automatic output control pattern, the manual/auto output binocular three-dimensional image and institute
State one kind in luminosity 3-D view.
The present invention can complete binocular solid processing and photometric stereo processing simultaneously, then select defeated in the image output control stage
Go out binocular three-dimensional image or luminosity 3-D view；Output binocular three-dimensional image or luminosity 3-D view can also be first selected, so
Control corresponding image acquisition device to carry out IMAQ and follow-up three-dimensional reconstruction again afterwards, can so reduce workload of operation,
Reduce power consumption.
Embodiment 1.2, on the basis of embodiment 1.1, further, under automatic output control pattern：Judge described
The image quality of luminosity 3-D view and the binocular three-dimensional image.The image quality can judge making an uproar for 3-D view
Point, noise is more, and quality is poorer；The error for judging 3-D view is may also be, error is smaller, and quality is higher；It can also be a variety of
Combined factors evaluate the image quality of 3-D view.
If the image quality of the luminosity 3-D view is higher than the image quality of the binocular three-dimensional image, output is described
Luminosity 3-D view.
If the image quality of the luminosity 3-D view is less than the image quality of the binocular three-dimensional image, output is described
Binocular three-dimensional image.
Embodiment 1.3, on the basis of embodiment 1.1, further, under automatic output control pattern：Gather environment
Intensity of illumination.The present invention can gather environment illumination intensity by light intensity sensor, also can be upper by light intensity data interface
The environment illumination intensity data that machine is sent.
If the environment illumination intensity is less than default intensity of illumination, it is determined as low light environment, exports the luminosity three-dimensional
Image.
If the environment illumination intensity is higher than default intensity of illumination, it is determined as strong light environment, exports the binocular three-dimensional
Image.
Embodiment 1.4, on the basis of embodiment 1.1, further, and under manual output control pattern, user Ke Tong
Output control switch is crossed, according to the demand of oneself, output binocular three-dimensional image or luminosity 3-D view, the output control is manually selected
Switch processed can be physical switch or virtual switch.
Embodiment 1.5, on the basis of any one of embodiment 1.1 ~ 1.4, further, the three-dimensional camera shooting method is also wrapped
Include 3-D view synthesis step：The luminosity 3-D view and the binocular three-dimensional image are subjected to synthesis processing, generation is included
The three-dimensional synthetic images of monochrome information, depth information and color information.Both it compensate in luminosity three-dimensional process, without target object
Depth information, it is impossible to determine the defect of the scale factor of target object, compensate in binocular three-dimensional processing, it is impossible to right well again
The target object that there is dynamic action carries out the defect of dynamic modeling, is also applied for the three-dimensional camera shooting under high illumination environment, is lifted
Three-dimensional imaging quality.
Accordingly, in the output control stage：Under manual output control pattern or automatic output control pattern, manually/from
One kind in the dynamic output binocular three-dimensional image, the luminosity 3-D view and the three-dimensional synthetic images.
Embodiment 1.6, on the basis of any one of embodiment 1.1 ~ 1.5, further, the three-D imaging method is also wrapped
Include Synchronization Control step：When receiving image acquisition commands, Synchronization Control described first image collector, the second image acquisition device
IMAQ is carried out with the 3rd image acquisition device.
Scheme two, a kind of three-dimensional camera shooting system based on binocular solid and photometric stereo.
As shown in Fig. 2 the present invention proposes a kind of three-dimensional camera shooting system based on binocular solid and photometric stereo, it can apply
Three-dimensional camera shooting method described in scheme one.
Embodiment 2.1, three-dimensional camera shooting system of the present invention mainly includes：First image acquisition units, the second image are adopted
Collect unit, the 3rd image acquisition units, binocular vision processing unit, photometric stereo processing unit, color texture processing unit and
Output control unit.The image input of the photometric stereo processing unit and the output end of image of the 3rd image acquisition device connect
Connect, its output end of image is connected with the first image input of color texture processing unit；The figure of described first image collector
As output end is defeated with the second image input of color texture processing unit and the first image of binocular vision processing unit respectively
Enter end connection；The output end of image of second image acquisition device connects with the second image input of binocular vision processing unit
Connect；First image input of the output control unit is connected with the output end of image of color texture processing unit, and it second
Image input is connected with the output end of image of binocular vision processing unit, and the first of its first output end of image and display unit
Image input is connected, for exporting binocular three-dimensional image or luminosity 3-D view to display unit.
Described first image collecting unit, for obtaining the first two dimensional image.
Second image acquisition units, for obtaining the second two dimensional image.
3rd image acquisition units, for obtaining multiple the 3rd two dimensional images gathered under different illumination conditions.
The binocular vision processing unit, for carrying out binocular to first two dimensional image and second two dimensional image
Stereo matching, binocular three-dimensional image of the generation comprising depth information and color information.
The photometric stereo processing unit, for carrying out photometric stereo matching, generation to multiple 3rd two dimensional images
The three-dimensional subgraph of luminosity comprising monochrome information.
The color texture processing unit, for being carried out according to first two dimensional image and the three-dimensional subgraph of the luminosity
Color is filled and texture mapping processing, luminosity 3-D view of the generation comprising monochrome information and color information.
The output control unit, it is manual/auto under manual output control pattern or automatic output control pattern
Export one kind in the binocular three-dimensional image and the luminosity 3-D view.
Embodiment 2.2, on the basis of embodiment 2.1, further, three-dimensional camera shooting system of the present invention also includes figure
As synthesis unit.Second output end of image of the output control unit and the first image input of image composing unit connect
Connect, for photometric output 3-D view to image composing unit, the second figure of its 3rd output end of image and image composing unit
As input connection, for exporting binocular three-dimensional image to image composing unit；The output end of image of described image synthesis unit
It is connected with the second image input of display unit, for exporting three-dimensional synthetic images to display unit
Described image synthesis unit, it is raw for the luminosity 3-D view and the binocular three-dimensional image to be carried out into synthesis processing
Into the three-dimensional synthetic images for including monochrome information, depth information and color information.
In addition, the output control unit is additionally operable under manual output control pattern or automatic output control pattern, hand
One kind in the binocular three-dimensional image, the luminosity 3-D view and the three-dimensional synthetic images move/is exported automatically.
Embodiment 2.3, on the basis of embodiment 2.1 or 2.2, further, three-dimensional camera shooting system of the present invention is also
Including camera control unit and synchronous control unit.
The camera control unit, for sending image acquisition commands；The input of its output end and synchronous control unit
Connection.The camera control unit can be physical button, or virtual key.
The synchronous control unit, for when receiving image acquisition commands, Synchronization Control described first image collector,
Second image acquisition device and the 3rd image acquisition device carry out IMAQ, its output end respectively with the first image acquisition device, second
The IMAQ control end connection of image acquisition device and the 3rd image acquisition device.
Scheme three, a kind of three-dimensional image pickup device based on binocular solid and photometric stereo.
As shown in Fig. 2 the present invention proposes a kind of three-dimensional image pickup device based on binocular solid and photometric stereo, it can apply
Three-dimensional camera shooting method described in scheme one, the three-dimensional image pickup device can be a kind of mobile terminal, such as mobile phone, flat board or can
Wearable device etc..
Embodiment 3.1, three-dimensional image pickup device of the present invention includes：
Processor；
Display, is connected with the processor；
First image acquisition device, is connected with the processor, for obtaining the first two dimensional image；
Second image acquisition device, is connected with the processor, for obtaining the second two dimensional image；
3rd image acquisition device, is connected with the processor, for obtain it is multiple gathered under different illumination conditions the three or two
Tie up image；
Memory, is connected with the processor, for storing computer program, it may also be used for the figure of storage image collector collection
Picture and the image of processor processing generation；
The memory and computer program are configured to using the processor so that three-dimensional image pickup device execution is following
Step：
First two dimensional image is obtained by the first image acquisition device, the second two dimensional image is obtained by the second image acquisition device；It is right
First two dimensional image and second two dimensional image carry out binocular solid matching, and generation includes depth information and color information
Binocular three-dimensional image；
The three-dimensional subgraph of luminosity comprising monochrome information is obtained by the 3rd image acquisition device；Obtained by the first image acquisition device
First two dimensional image, is carried out at color filling and texture mapping according to first two dimensional image and the three-dimensional subgraph of the luminosity
Reason, luminosity 3-D view of the generation comprising monochrome information and color information；
Under manual output control pattern or automatic output control pattern, the manual/auto output binocular three-dimensional image and institute
State one kind in luminosity 3-D view.
Embodiment 3.2, on the basis of embodiment 3.1, further, the memory and computer program are also configured
Cause the three-dimensional image pickup device under automatic output control pattern into using the processor：Judge the luminosity 3-D view
With the image quality of the binocular three-dimensional image；If the image quality of the luminosity 3-D view is higher than the binocular three-dimensional image
Image quality, then export the luminosity 3-D view；If the image quality of the luminosity 3-D view is less than the binocular three
The image quality of image is tieed up, then exports the binocular three-dimensional image.
Embodiment 3.3, on the basis of embodiment 3.1 or 3.2, further, the three-dimensional image pickup device also includes defeated
Go out controlling switch, be connected with the processor.The memory and computer program are further configured to make using the processor
The three-dimensional image pickup device is obtained under manual output control pattern：Collection user passes through output control switch according to the demand of oneself
The output control instruction sent, selection output binocular three-dimensional image or luminosity 3-D view.The output control switch can be thing
Reason switch or virtual switch, are such as presented touch switch on a display screen, speech controling switch, gesture identification switch.
Embodiment 3.4, on the basis of any one of embodiment 3.1 ~ 3.3, further, three-dimensional camera shooting dress of the present invention
Putting also includes light intensity sensor, is connected with the processor, for gathering environment illumination intensity.Memory and the computer journey
Sequence is further configured to using the processor so that the three-dimensional image pickup device is under automatic output control pattern：Passed by light intensity
Sensor gathers environment illumination intensity；If the environment illumination intensity is less than default intensity of illumination, it is determined as low light environment, exports
The luminosity 3-D view；If the environment illumination intensity is higher than default intensity of illumination, it is determined as strong light environment, output is described
Binocular three-dimensional image.
Embodiment 3.5, on the basis of any one of embodiment 3.1 ~ 3.4, further, memory and the computer journey
Sequence is further configured to using the processor so that the three-dimensional image pickup device performs 3-D view synthesis step：By the luminosity
3-D view and the binocular three-dimensional image carry out synthesis processing, and generation includes monochrome information, depth information and color information
Three-dimensional synthetic images.
The memory and computer program are further configured to using the processor so that the three-dimensional image pickup device is held
Row 3-D view synthesis step：Under manual output control pattern or automatic output control pattern, manual/auto output is described double
One kind in mesh 3-D view, the luminosity 3-D view and the three-dimensional synthetic images.
Embodiment 3.6, on the basis of any one of embodiment 3.1 ~ 3.5, further, the three-dimensional image forming apparatus is also wrapped
Shooting controlling switch is included, is connected with the processor, for producing image acquisition commands, to control the first to the 3rd IMAQ
Device carries out IMAQ.The memory and computer program are further configured to using the processor so that the three-dimensional camera shooting
Device performs Synchronization Control step：When receiving image acquisition commands, Synchronization Control described first image collector, the second image
Collector and the 3rd image acquisition device carry out IMAQ.The shooting controlling switch can be physical button or virtual
Button.
In addition, heretofore described first image acquisition device and the second image acquisition device can be visible images sensing
Device.3rd imaging sensor can be made up of visible light image sensor and visible point of light light source, also can be by infrared light image
Sensor and infrared light spot light source composition.
3rd image acquisition device is used to obtain multiple the 3rd two dimensional images gathered under different illumination conditions, described
Illumination condition is light-intensity conditions, wavelength condition and/or angle conditions.Such as by the visible point of light light at control diverse location
Source/infrared light spot light source irradiates target object from different perspectives, to gather the three-dimensional subgraph of luminosity；Also can be by controlling different positions
Visible point of light light source/infrared light spot the light source for putting place irradiates target object with different intensities of illumination from different perspectives, to gather
Luminosity three-dimensional subgraph；Can also be by controlling the light at different wavelengths from different perspectives of the infrared light spot light source at diverse location
Target object is irradiated, to gather the three-dimensional subgraph of luminosity.
The invention is not limited in foregoing embodiment.The present invention, which is expanded to, any in this manual to be disclosed
New feature or any new combination, and disclose any new method or process the step of or any new combination.
Claims (10)
1. a kind of three-dimensional camera shooting method based on binocular solid and photometric stereo, it is characterised in that comprise the following steps：
First two dimensional image is obtained by the first image acquisition device, the second two dimensional image is obtained by the second image acquisition device；It is right
First two dimensional image and second two dimensional image carry out binocular solid matching, and generation includes depth information and color information
Binocular three-dimensional image；
The three-dimensional subgraph of luminosity comprising monochrome information is obtained by the 3rd image acquisition device；Obtained by the first image acquisition device
First two dimensional image, is carried out at color filling and texture mapping according to first two dimensional image and the three-dimensional subgraph of the luminosity
Reason, luminosity 3-D view of the generation comprising monochrome information and color information；
Under manual output control pattern or automatic output control pattern, the manual/auto output binocular three-dimensional image and institute
State one kind in luminosity 3-D view.
2. a kind of three-dimensional camera shooting method based on binocular solid and photometric stereo according to claim 1, it is characterised in that
Under automatic output control pattern：Judge the image quality of the luminosity 3-D view and the binocular three-dimensional image；
If the image quality of the luminosity 3-D view is higher than the image quality of the binocular three-dimensional image, the luminosity is exported
3-D view；
If the image quality of the luminosity 3-D view is less than the image quality of the binocular three-dimensional image, the binocular is exported
3-D view.
3. a kind of three-dimensional camera shooting method based on binocular solid and photometric stereo according to claim 1, it is characterised in that
Under automatic output control pattern：Gather environment illumination intensity；
If the environment illumination intensity is less than default intensity of illumination, it is determined as low light environment, exports the luminosity 3-D view；
If the environment illumination intensity is higher than default intensity of illumination, it is determined as strong light environment, exports the binocular three-dimensional image.
4. a kind of three-dimensional camera shooting method based on binocular solid and photometric stereo according to any one of claim 1, it is special
Levy and be, in addition to 3-D view synthesis step：The luminosity 3-D view and the binocular three-dimensional image are carried out at synthesis
Reason, generation includes the three-dimensional synthetic images of monochrome information, depth information and color information；
It is the manual/auto output binocular three-dimensional image, described under manual output control pattern or automatic output control pattern
One kind in luminosity 3-D view and the three-dimensional synthetic images.
5. a kind of three-dimensional camera shooting method based on binocular solid and photometric stereo according to claim 1, it is characterised in that
Also include Synchronization Control step：When receiving image acquisition commands, Synchronization Control described first image collector, the second image are adopted
Storage and the 3rd image acquisition device carry out IMAQ.
6. a kind of three-dimensional camera shooting system based on binocular solid and photometric stereo, it is characterised in that including：
First image acquisition units, for obtaining the first two dimensional image；
Second image acquisition units, for obtaining the second two dimensional image；
3rd image acquisition units, for obtaining multiple the 3rd two dimensional images gathered under different illumination conditions；
Binocular vision processing unit, for carrying out binocular solid to first two dimensional image and second two dimensional image
Match somebody with somebody, binocular three-dimensional image of the generation comprising depth information and color information；
Photometric stereo processing unit, for carrying out photometric stereo matching to multiple 3rd two dimensional images, generation includes brightness
The three-dimensional subgraph of the luminosity of information；
Color texture processing unit, for carrying out color filling according to first two dimensional image and the three-dimensional subgraph of the luminosity
With texture mapping processing, luminosity 3-D view of the generation comprising monochrome information and color information；
Output control unit, under manual output control pattern or automatic output control pattern, described in manual/auto output
One kind in binocular three-dimensional image and the luminosity 3-D view.
7. a kind of three-dimensional camera shooting system based on binocular solid and photometric stereo according to claim 6, it is characterised in that
Also include：
Image composing unit, for the luminosity 3-D view and the binocular three-dimensional image to be carried out into synthesis processing, generation bag
Three-dimensional synthetic images containing monochrome information, depth information and color information；
Output control unit, under manual output control pattern or automatic output control pattern, described in manual/auto output
One kind in binocular three-dimensional image, the luminosity 3-D view and the three-dimensional synthetic images.
8. a kind of three-dimensional camera shooting system based on binocular solid and photometric stereo according to claim 6 or 7, its feature exists
In also including：
Camera control unit, for sending image acquisition commands；
Synchronous control unit, for when receiving image acquisition commands, Synchronization Control described first image collector, the second image
Collector and the 3rd image acquisition device carry out IMAQ.
9. a kind of three-dimensional image pickup device based on binocular solid and photometric stereo, it is characterised in that including：
Processor；
Display, is connected with the processor；
First image acquisition device, is connected with the processor, for obtaining the first two dimensional image；
Second image acquisition device, is connected with the processor, for obtaining the second two dimensional image；
3rd image acquisition device, is connected with the processor, for obtain it is multiple gathered under different illumination conditions the three or two
Tie up image；
Memory, is connected with the processor, for storing computer program；
The memory and computer program are configured to using the processor so that the three-dimensional image pickup device is at least performed
The step of as described in claim 1,2,4 or 5 included in three-dimensional camera shooting method.
10. a kind of three-dimensional image pickup device based on binocular solid and photometric stereo according to claim 9, it is characterised in that
Also include：
Light intensity sensor, is connected with the processor, for gathering environment illumination intensity；
The memory and computer program are further configured to using the processor so that the three-dimensional image pickup device：Automatic
Under output control pattern, if the environment illumination intensity is less than default intensity of illumination, it is determined as low light environment, exports the light
Spend 3-D view；If the environment illumination intensity is higher than default intensity of illumination, it is determined as strong light environment, exports the binocular three
Tie up image or the three-dimensional synthetic images.
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