CN108419069A - A kind of 3D light path acquisition systems based on digital camera equipment - Google Patents
A kind of 3D light path acquisition systems based on digital camera equipment Download PDFInfo
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Abstract
The 3D light path acquisition systems based on digital camera equipment that the invention discloses a kind of, including digital camera equipment, calibration fixed module, accurate synchronous control taking module, data extraction module, operational analysis module and data memory module, the quantity of the digital camera equipment is 2, and mutual position is fixed up after the completion of benchmark by digital camera equipment by calibrating fixed module；The digital camera equipment is electrically connected with accurate synchronous control taking module, data extraction module, data memory module, and data extraction module is electrically connected with operational analysis module.The present invention meets the most basic visual custom of human body, is low cost and high performance acquisition system.Present invention seek to address that low cost, the 3D light path data of high-performance acquisition field of view, the solution of high performance-price ratio are provided for acquisition, the storage of 3D light paths, and other applications based on 3D light path data provide solid foundation for the later stage.
Description
【Technical field】
It is especially a kind of based on digital camera equipment the present invention relates to the technical field of extraction and the storage of 3D light path data
The technical field of 3D light path acquisition systems.
【Background technology】
Visual field represents the maximum magnitude that camera is able to observe that.
Using the camera lens of optical instrument as vertex, two edges of the maximum magnitude of camera lens can be passed through with the image of measured target
The angle of composition, referred to as field angle.
The size of field angle determines the field range of optical instrument, and field angle is bigger, and the visual field is bigger, and optical power is just
It is smaller.Generally, target object, which is more than this angle, to be received in camera lens.
Light path (Light path), refers to the propagation path of light, light path there are invertibity, be exactly luminous energy with a paths from
A, which sets out, reaches a terminal B, then from this terminal B to inject identical direction retroeflection, then this light also surely can be with complete
Be all-trans to same path reach A points.
The definition of light field (light field), can trace back to the definition that faraday provides in 1846 earliest, refer to just light
Pass through the light quantity of each point in each direction.
Optical center (Optical center)：A particular point in lens, every light by the point, the direction of propagation is not
Become.
The camera lens of camera is one group of lens, when the light for being parallel to primary optical axis passes through lens, is converged on a bit, this
Point is called focus, and the distance of focus to lens centre (i.e. optical center) is known as focal length.
Focal length, also referred to as focal length are the metric forms of aggregation or the diverging of weighing light in optical system, refer to from lens centre
To the distance of the focus of light aggregation.Also it is in camera, from lens optical center to egative film, the imaging planes such as CCD or CMOS
Distance.
The fixed camera lens of focal length, i.e. tight shot；Focal length can adjust the camera lens of variation, be exactly zoom lens.Photosensitive member
Part is the core of digital camera and the technology of most critical.There are two types of the core image-forming blocks of digital camera：One is make extensively
CCD (Charged Couple) element；Another kind is CMOS (complementary metal oxide conductor) device.
CCD, full name in English：Charge-coupled Device, Chinese name：Charge coupled cell is properly termed as CCD
Imaging sensor.CCD is a kind of semiconductor devices, optical image can be converted into digital signal.The small light being implanted on CCD
Quick substance is referred to as pixel (Pixel).As soon as the pixel number for including on piece CCD is more, the screen resolution provided is also higher.
CCD to act like film the same, but it is that image pixel is converted into digital signal.
Complimentary Metal-Oxide semiconductor CMOS (Complementary Metal-Oxide Semiconductor) and
CCD is equally all the semiconductor that can record light variation in digital camera.CMOS is used primarily in camera and uses big ruler
On the Dan Fanji of very little sensor devices.Since cmos sensor is convenient for large-scale production, and speed is fast, cost is relatively low, is digital phase
The developing direction of machine Primary Component.Currently, under being continually striving to of the companies such as Canon, new cmos device continues to introduce new,
High dynamic range cmos device has occurred, and this technique eliminates to shutter, aperture, automatic growth control and Gamma correction
It needs, is allowed to approach the image quality of CCD.
Target surface is exactly the face that the photographic department of this photosensitive element is grouped as, and is under normal circumstances rectangle.
Pixel is the photosensitive unit of minimum that photosensitive element corresponds to resolution ratio, common to be square.It can be understood as according to square
Formation shape arranged end, so as to form photosensitive target surface.Such as：Such as 5,000,000 pictures that the resolution ratio of certain camera is 2588*1940
Element, Pixel size 2.2um, then the target surface size of its sensor is 2588*2.2=5694um=5.694mm, and wide direction is
1940*2.2=4268um=4.268mm.
Object light member refers in imaging process, the area for the scenery that a pixel area can be shrouded by optical center backprojection
Domain, the scenery in the region injects to the light beam of picture pick-up device camera lens in shooting process, is projected onto on the pixel.
Current digital camera equipment, after completing to take pictures, main output is " digital photograph (image file) ", using number
Word mode completes the description to picture and storage.
In order to reproducing more true scene, understood current international light field shooting, Kinect technologies,
PrimeSense, Light Flight, Oculus VR etc. the relevant technologies, although finding that effect is fine, entire hardware is thrown
It is very big to enter very big, complexity height, operand, although providing very outstanding ability, for cost performance, fidelity, experience, deposits
In some shortcomings.
【Invention content】
The purpose of the present invention is exactly to solve the problems of the prior art, proposes a kind of 3D light paths based on digital camera equipment
Acquisition system meets the most basic visual custom of human body, is low cost and high performance acquisition system.Present invention seek to address that low
Cost, the 3D light path data of high-performance acquisition field of view provide the solution of high performance-price ratio for acquisition, the storage of 3D light paths, and
For the later stage, other applications based on 3D light path data provide solid foundation.
To achieve the above object, the present invention proposes a kind of 3D light path acquisition systems based on digital camera equipment, including
Digital camera equipment, calibration fixed module, accurate synchronous control taking module, data extraction module, operational analysis module sum number
According to memory module, the quantity of the digital camera equipment is 2, and digital camera equipment will be mutual by calibrating fixed module
It is fixed up after the completion of benchmark position；The digital camera equipment and accurate synchronous control taking module, data extraction module,
Data memory module is electrically connected, and data extraction module is electrically connected with operational analysis module.
Preferably, the calibration method of the calibration fixed module is：Pass through the laser being fixed on digital camera equipment
Calibrator carries out assisted calibration；The fixation of the laser calibrator will ensure that the laser that laser calibrator is launched, with number
The primary optical axis of picture pick-up device is parallel.
Preferably, the accurate synchronous control taking module by unified controller according to identical focusing parameter,
Unified shooting time sends out adjusting, shooting instruction to digital camera equipment；The controller is WIFI remote controller, control electricity
One kind in brain, mobile terminal；The focusing parameter includes focal length, image distance.
Preferably, the data extraction module is used to extract photosensitive element supplemental characteristic, the optical center of digital camera equipment
Spatial data, optical center relative distance data, the photosensitive element parameter include target surface size, pixel dimension.
Preferably, the operational analysis module is used for the imaging design according to 3D light paths, 3D imaging processes are carried out inverse
To operation, the data of 3D light paths are obtained.
Preferably, the data memory module is used to store photosensitive element supplemental characteristic, the optical center of digital camera equipment
Spatial data.
Beneficial effects of the present invention：The present invention meets the most basic visual custom of human body, is low cost and high performance acquisition
System.Present invention seek to address that low cost, the 3D light path data of high-performance acquisition field of view, provide for acquisition, the storage of 3D light paths
The solution of high performance-price ratio, and other applications based on 3D light path data provide solid foundation for the later stage.
The feature and advantage of the present invention will be described in detail by embodiment combination attached drawing.
【Description of the drawings】
Fig. 1 is a kind of system structure definition graph of the 3D light path acquisition systems based on digital camera equipment of the present invention；
Fig. 2 is a kind of hardware knot of the calibration fixed module of 3D light path acquisition systems based on digital camera equipment of the present invention
Structure schematic diagram；
Fig. 3 is a kind of 3D light paths of the 3D light path acquisition systems based on digital camera equipment of the present invention on horizontal section
Imaging optical path schematic diagram；
Fig. 4 is a kind of 3D light paths of the 3D light path acquisition systems based on digital camera equipment of the present invention on plumb cut
Imaging optical path schematic diagram；
Fig. 5 be a kind of 3D light paths of the 3D light path acquisition systems based on digital camera equipment of the present invention in three dimensions
Imaging optical path schematic diagram；
Fig. 6 is a kind of 3D light path model schematics of the 3D light path acquisition systems based on digital camera equipment of the present invention；
Fig. 7 is a kind of 3D light path equivalence models signal of 3D light path acquisition systems based on digital camera equipment of the present invention
Figure；
Fig. 8 is that a kind of 3D light path equivalence models of the 3D light path acquisition systems based on digital camera equipment of the present invention are converted to
Object plane side light path schematic diagram.
【Specific implementation mode】
- Fig. 8 refering to fig. 1, the present invention, including digital camera equipment, calibration fixed module, accurate synchronous control shoot mould
The quantity of block, data extraction module, operational analysis module and data memory module, the digital camera equipment is 2, digital vedio recording
Mutual position is fixed up after the completion of benchmark by equipment by calibrating fixed module；The digital camera equipment and essence
Plesiochronous control taking module, data extraction module, data memory module are electrically connected, data extraction module and operational analysis
Module is electrically connected.
Specifically, the calibration method of the calibration fixed module is：Pass through the laser school being fixed on digital camera equipment
Quasi- device carries out assisted calibration；The fixation of the laser calibrator will ensure that the laser that laser calibrator is launched, be taken the photograph with number
As the primary optical axis of equipment is parallel.
Specifically, the accurate synchronous control taking module by unified controller according to identical focusing parameter, system
One shooting time sends out adjusting, shooting instruction to digital camera equipment；The controller be WIFI remote controller, control computer,
One kind in mobile terminal；The focusing parameter includes focal length, image distance.
Specifically, the data extraction module is used to extract the photosensitive element supplemental characteristic of digital camera equipment, optical center sky
Between coordinate data, optical center relative distance data, the photosensitive element parameter includes target surface size, pixel dimension.
Specifically, the operational analysis module is used for the imaging design according to 3D light paths, 3D imaging processes are carried out reverse
Operation obtains the data of 3D light paths.
Specifically, the data memory module is used to store the photosensitive element supplemental characteristic of digital camera equipment, optical center sky
Between coordinate data.
The course of work of the present invention：
A kind of 3D light paths acquisition system based on digital camera equipment of the present invention during the work time, is said in conjunction with attached drawing
It is bright.
Because can there are many digital camera equipments and the present invention to coordinate, including (do not support the camera shooting of real-time Data Transmission
Equipment, or by USB be connected to computer picture pick-up device and other be capable of providing effectively digital taking pictures for image data and set
It is standby), it is not the designing points of the present invention, so omitting.Because of many digital camera equipments, additionally it is possible to while acquiring audio number
According to, time data, GPS positioning data etc., this partial data nor the present invention designing points, so omitting.In the present invention,
Two digital camera devices should be used, and are preferred with model with producer, the basic parameter of such two cameras can
It is consistent.
The image-forming mechanism of digital camera equipment, global design are not the designing points of the present invention：As light path data, originally
Dimensional parameters, resolution parameter and the optical center of the photosensitive element of invention major concern camera are on photosensitive element corresponding flat
Subpoint whether be in photosensitive element central point；As light path data, present invention is primarily concerned with the image distances of camera when shooting
(the distance between optical center to photosensitive element)；As 3D light paths, present invention is primarily concerned with the position relationships between two cameras.
Fig. 2 is a kind of embodiment for calibrating fixed module.Because can match with the present invention there are many holder of two-shipper position
It closes, is not listed one by one.
Calibrating the main purpose of fixed module is：The position of two DVs is fixed, two number of units codes are kept
Relative position between video camera will not change；After two number of units code camera pedestals are located on 3D holders, the turntable of holder
Design, the design of camera fixing bolt, will ensure that the bottom surface keeping parallelism of two DVs；Two DVs, can lead to
Cross the rotation for corresponding to two turntables so that the primary optical axis keeping parallelism of two DVs, and two DVs
Primary optical axis is vertical with the holding of the circle center line connecting of two turntables；Upon completion of the calibration, the key light shaft position of two DVs has been
It finishes, will be locked by the bolt lock mode of 3D holders after the adjustment, it is ensured that in subsequent shooting process, two number of units codes
The position relationship of video camera will not deviate.
Except the calibration method of above-mentioned calibration fixed module, calibration method can also be：By being taken the photograph to being basically perpendicular to number
It is calibrated as the shooting of the calibration image of equipment primary optical axis：When two digital camera equipments are the identical fixed-focus of focal length specification
When camera, focal length need not be adjusted；When the focal length of two digital camera equipments is adjustable, need by manually to calibration
Image is manually found a view, test strip is adjusted, it is ensured that the image that two digital camera equipments are shot respectively, the center of the image of acquisition
Position corresponds at a distance from two positions (intersection point of the primary optical axis of two digital camera equipments and calibration image) of calibration image, with
The distance between two centers of circle of 3D holders are equal.
Current many cameras support the isotypes such as WIFI controls, line traffic control, and in order to support synchronous control, there is setting for profession
Meter allows a remote controler to control several DVs, such as the Hero cameras of GoPro simultaneously, and a remote controler is completed
After initialization connection, shot while can controlling more than 50 cameras, thus the precisely controlling party of synchronous control taking module
The technology of formula can be realized.
Fig. 3 illustrates imaging optical path of the 3D light paths on horizontal section：
A) because of spatial relation, the field angle of two digital camera equipments is identical, but at the edge of visual field, can deposit
In segment boundary difference.Left side digital camera equipment can obtain object light member G01, G02, G03 until G10's by camera lens 110
Imaging；The right digital camera equipment can obtain imagings of object light member G04, G05, the G06 until G13 by camera lens 210；In order to
Convenient for distinguishing the difference of left and right digital camera equipment, the object plane of the object light member composition of corresponding imaging is staggered up and down, while in order to
Optics is correct, and optical path analysis is carried out using the lines that object plane 100,200 is overlapped as object light member center；
B) in order to make it easy to understand, current object plane 100,200 is all made of the example progress light perpendicular to primary optical axis 130,230
It analyzes on road；
C) according to image-forming principle, the intersection point 131 of primary optical axis 130 and object plane 100 is in the center of object plane 100 at this time,
Primary optical axis 130 and the intersection point 132 of image planes 120 are in the center of image planes 120；
D) according to image-forming principle, the intersection point 231 of primary optical axis 230 and object plane 200 is in the center of object plane 200 at this time,
Primary optical axis 230 and the intersection point 232 of image planes 220 are in the center of image planes 220；
E) optical center 111, the distance between 211 of two camera lenses 110,210 is j, and the office of optical center to object plane is object distance u, light
The distance of the heart to image planes (target surface) is image distance v.
Fig. 4 illustrates imaging optical path of the 3D light paths on plumb cut：
A) because of spatial relation, the vertical field of view angle of two digital camera equipments is identical, therefore, is taken the photograph with left side number
As carrying out optical path analysis for equipment；
B) in order to make it easy to understand, current object plane 100 carries out optical path analysis using the example perpendicular to primary optical axis 130；
C) according to image-forming principle, the focus 131 of primary optical axis 130 and object plane 100 is in the center of object plane 100 at this time,
Primary optical axis 130 and the intersection point 132 of image planes 120 are in the center of image planes 120；
D) office of optical center to object plane is object distance u, and the distance of optical center to image planes (target surface) is image distance v.
Fig. 5 illustrates the imaging optical path of 3D light paths in three dimensions：
A) in order to reduce the complexity of index path, the resolution ratio (quantity, the distribution density of object light member) of object plane 100 is carried out
Simplification；
B) in order to reduce the complexity of index path, image planes 120, the distance between 220 are reduced to 0；
C) primary optical axis 130 is vertical with object plane 100, and intersection point is in the center of object plane 100；Primary optical axis 130 hangs down with image planes 120
Directly, intersection point is in the center of image planes 120；
D) vertical range of object plane 100 to optical center 111 is object distance u, and the vertical range of optical center 111 to image planes 120 is image distance
v；
E) 4 row, 3 row of image planes 120,4 row (row 0, row 1, row 2, row 3) 3 rows of the object light member of corresponding object plane 100；
F) width of image planes 120 is k1, and the height of image planes 120 is g1, and the resolution ratio of image planes 120 is 4*3 (4 row, 3 row)；
G) primary optical axis 230 is vertical with object plane 200, and intersection point is in the center of object plane 200；Primary optical axis 230 hangs down with image planes 220
Directly, intersection point is in the center of image planes 220；
H) vertical range of object plane 200 to optical center 211 is object distance u, and the vertical range of optical center 211 to image planes 220 is image distance
v；
I) 4 row, 3 row of image planes 220,4 row (row 2, row 3, row 4, row 5) 3 rows of the object light member of corresponding object plane 200；
J) width of image planes 220 is k2, and the height of image planes 220 is g2, and the resolution ratio of image planes 220 is 4*3 (4 row, 3 row)；
K) size of image planes 120,220 is identical, k1=k2, g1=g2.
L) row 0 of object plane, row 1 are only imaged in image planes 120；Row 4, the row 5 of object plane are only imaged in image planes 220；
M) object light is first { 0,2 } (row 0, row 2), is only imaged in image planes 120, images in pixel { 0, the 2 } (row of image planes 120
0, row 2).
N) object light is first { 5,0 } (row 5, row 0), is only imaged in image planes 220, images in pixel { 3, the 0 } (row of image planes 220
3, row 0).
O) object light is first { 2,2 } (row 2, row 2), while being imaged in two image planes 120,220；The object of corresponding left side video camera
It is the light path C10202 of terminal that the light path of surface side, which is with optical center 111, and it is the light path of starting point that the light path of image planes side, which is with optical center 111,
R10202；It is the light path C20002 of terminal, the light path of image planes side that the light path of the object plane side of corresponding the right video camera, which is with optical center 211,
For the light path R20002 with optical center 211 for starting point；
P) remaining object light member, the corresponding light path of pixel, and so on.
The data extraction module transmits digital camera equipment data to operational analysis module, and digital camera equipment quantity is
2, digital camera equipment includes left digital camera equipment, right digital camera equipment；The data that data extraction module is transmitted are：
The target surface size of left digital camera equipment is k1, g1, and the target surface resolution ratio of left digital camera equipment is columns Co1, line number Ro1,
The image distance of left digital camera equipment is v, and the target surface size of right digital camera equipment is k2, g2, the target surface of right digital camera equipment
Resolution ratio is columns Co2, line number Ro2, and the image distance of right digital camera equipment is v, the distance between optical center of digital camera equipment
For j；The step of model of the operational analysis module acquisition 3D light paths, (illustrates) in conjunction with Fig. 6：
A) image planes 120, be directly attached to Y-axis, Z axis positive area, the coordinate of the central point 132 of image planes 120 is { X：0,
Y：G1/2, Z：k1/2}；
B) image planes 220 equally depend on Z axis, and the positive area in Y-axis, the coordinate of the central point 232 of image planes 220
For { X:0, Y：G2/2, Z：k1/2+j}；
C) size of image planes 120, each pixel is：Width=k1/Co1, height=g1/Ro1；
D) size of image planes 220, each pixel is：Width=k2/Co2, height=g2/Ro2；
E) coordinate of optical center 111 is { X：V, Y：G1/2, Z：k1/2}；
F) coordinate of optical center 211 is { X：V, Y：G2/2, Z：k1/2+j}；
G) coordinate of each pixel can according to simply being mathematically obtained, such as image planes 120 pixel row CoM, it is capable
RoN } center coordinate be { X:0, Y:(Ro1-RoN-0.5) * pixels height, Z：(Co1-CoM-0.5) * pixels width }
It obtains；The coordinate at the center of the pixel of image planes 220, according to the algorithm of image planes 120, as long as Z can be obtained plus j；
H) because optical center, each pixel space coordinate it has been determined that from optical center to the starting point of the light path of each pixel,
The coordinate of terminal is all it has been determined that therefore, the data of light path all have.
The 3D light path models of the image planes side of Fig. 7, the 3D light path model equivalencies with the image planes side of Fig. 6, it is meant that be in space
In translation to the 3D light path models of Fig. 6, have no effect on the spatial correlation for the light path actually stated.
Because of the invertibity of light, simultaneously as will not change by the direction of the light of optical center, therefore, figure can be passed through
6, the light path of the image planes side of Fig. 7 obtains the optical path information of object plane side, referring to Fig. 8 by the reverse extending in solid geometry.
Data memory module, will with photosensitive element supplemental characteristic, optical center space coordinate, optical center relative distance etc. data,
It is stored：
A) assume two digital camera equipments optical design all designed for standard, primary optical axis perpendicular to image planes and with picture
The focus in face is in the center of image planes；
B) because of the parameter of two digital camera equipments, according to the design of accurate synchronous control taking module, in photosensitive member
Part size, pixel quantity (resolution ratio), image distance are all identical, because, new defined variable width k (k=k1=k2), height g (g=
G1=g2), it is wide to pixel quantity Co (Co=Co1=Co2), it is high to pixel amount R o (Ro=Ro1=Ro2)；
C) the distance between two parallel primary optical axis are j, and the distance between two optical centers is also j；
D) distance of the optical center of two digital camera equipments to image planes is all v；
E) unit of agreement k, g, j, v is length unit, uses mm (millimeter) for standard unit, length unit marks simultaneously
Into storage data；
F) unit of Co, Ro are a, and value is positive integer；
G) single summary file, multiple separate files, Database field mode etc. a variety of shapes may be used in storage format
Formula is preserved.
The present invention meets the most basic visual custom of human body, is low cost and high performance acquisition system.The present invention is directed to
Low cost, the 3D light path data of high-performance acquisition field of view are solved, the solution party of high performance-price ratio is provided for acquisition, the storage of 3D light paths
Case, and other applications based on 3D light path data provide solid foundation for the later stage.
Above-described embodiment is the description of the invention, is not limitation of the invention, it is any to simple transformation of the present invention after
Scheme all belong to the scope of protection of the present invention.
Claims (6)
1. a kind of 3D light path acquisition systems based on digital camera equipment, it is characterised in that：It is solid including digital camera equipment, calibration
Cover half block, accurate synchronous control taking module, data extraction module, operational analysis module and data memory module, the number
The quantity of picture pick-up device is 2, and digital camera equipment is solid after the completion of benchmark by mutual position by calibrating fixed module
It decides；The digital camera equipment and accurate synchronous control taking module, data extraction module, data memory module are electrical
Connection, data extraction module are electrically connected with operational analysis module.
2. a kind of 3D light path acquisition systems based on digital camera equipment as described in claim 1, it is characterised in that：The school
The calibration method of quasi- fixed module is：Assisted calibration is carried out by the laser calibrator being fixed on digital camera equipment；It is described
The fixation of laser calibrator will ensure that the laser that laser calibrator is launched, parallel with the primary optical axis of digital camera equipment.
3. a kind of 3D light path acquisition systems based on digital camera equipment as described in claim 1, it is characterised in that：The essence
Plesiochronous control taking module by unified controller according to identical focusing parameter, unified shooting time, send out adjusting,
Shooting instruction is to digital camera equipment；The controller is one kind in WIFI remote controller, control computer, mobile terminal；The tune
Burnt parameter includes focal length, image distance.
4. a kind of 3D light path acquisition systems based on digital camera equipment as described in claim 1, it is characterised in that：The number
According to extraction module be used to extract the photosensitive element supplemental characteristic of digital camera equipment, optical center spatial data, optical center it is opposite away from
From data, the photosensitive element parameter includes target surface size, pixel dimension.
5. a kind of 3D light path acquisition systems based on digital camera equipment as described in claim 1, it is characterised in that：The fortune
It calculates the imaging design that analysis module is used for according to 3D light paths and the data of 3D light paths is obtained to 3D imaging processes progress reverse operation.
6. a kind of 3D light path acquisition systems based on digital camera equipment as described in claim 1, it is characterised in that：The number
It is used to store photosensitive element supplemental characteristic, the optical center spatial data of digital camera equipment according to memory module.
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| CN101520591A (en) * | 2008-06-14 | 2009-09-02 | 杭州立体世界摄影器材有限责任公司 | Stereo camera shooting tripod head and stereo camera formed by the stereo camera shooting tripod head |
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Application publication date: 20180817 |