CN108900824A - Camera array and three-dimensional image acquisition method - Google Patents
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Abstract
The invention discloses a camera array and a method for acquiring a three-dimensional image. The camera array includes: at least one camera set and a plurality of optical conversion assemblies; the camera set comprises at least two cameras, the cameras and the optical conversion assemblies are arranged in a one-to-one correspondence mode, and the optical conversion assemblies are arranged on one sides, close to a target, of lenses corresponding to the cameras; in one shooting operation, one camera in the camera group serves as a main camera, the other cameras serve as auxiliary cameras, and according to the states of the optical conversion assemblies corresponding to at least two cameras in the camera group, at least one image obtained by shooting a target object by at least one auxiliary camera and an image obtained by shooting the target object by the main camera have corresponding geometric relations. The technical scheme provided by the embodiment of the invention achieves the beneficial effects of reducing the image data volume transmitted to the computer end by a single camera, reducing the power consumption and occupying the storage space.
Description
Technical field
The present embodiments relate to the acquisition sides of 3 dimension imaging technology more particularly to a kind of camera array and 3-D image
Method.
Background technique
With virtual reality, augmented reality and machine man-based development, camera array or more mesh cameras are applied more and more
In objective measurement.
When obtaining 3-D image in the prior art, the camera in camera array is not appointed after photographic subjects object obtains image
What compression by image transmitting to computer terminal, then computer terminal combines the image of all cameras shooting received to form mesh
Mark the 3-D image of object.Therefore, when camera array shoots high frame-rate video stream, huge data flow will be generated, it is empty to storage
Between, communication bandwidth and electrical source consumption all bring immense pressure.
Summary of the invention
The present invention provides the acquisition methods of a kind of camera array and 3-D image, is transmitted to calculating to reduce single camera
The image data amount of generator terminal reduces electrical source consumption and the occupancy to memory space.
In a first aspect, the embodiment of the invention provides a kind of camera array, the camera array includes：
At least one phase unit and multiple optical transition components；
Wherein, the phase unit includes at least two cameras, and the camera is set with optical transition component one-to-one correspondence
It sets, the optical transition component is set to the camera lens of the corresponding camera close to the side of object；
In shooting operation, a camera in the phase unit is as main phase machine, supplemented by remaining described camera
Camera is helped, according to the corresponding multiple optical transition component status of at least two cameras in the phase unit,
At least one described auxiliary camera shoots at least one image that the object obtains and the main phase machine shoots the target
Corresponding geometrical relationship is all had between the image that object obtains.
Second aspect, the embodiment of the invention also provides a kind of acquisition methods of 3-D image, using above-mentioned first aspect
The acquisition methods of the camera array, the 3-D image include：
Step 1 forms in the camera array first camera in computer terminal as follows and shoots the object
The first obtained image：
Any camera in the camera array is obtained as first camera；
According to default rule of classification, at least one auxiliary phase for belonging to the same phase unit with the first camera is obtained
Machine；
The corresponding multiple optical transition components of the first camera and at least one described auxiliary camera are adjusted
To first state；
The object is shot using the first camera and obtains the first image, each auxiliary camera is respectively adopted
It shoots the object and obtains at least one assistant images；
The image for extracting preset ratio in the first image and at least one described assistant images respectively, compresses and passes
Transport to the computer terminal；
The image data received is decompressed in the computer terminal, and forms described first according to described image data convert
Image；
Wherein, the first state is using the first camera as locating for the optical transition components multiple when main phase machine
State；
Step 2, according in step 1 formed the first image method, form the camera battle array in the computer terminal
The target object image of the camera shooting of other in column.
Step 3, the computer terminal are according to other described phases in the first image and the camera array of formation
The target object image of machine shooting obtains the 3-D image of the object.
Technical solution provided in an embodiment of the present invention, by setting and the one-to-one optical transition component of camera, so that
In a shooting operation, between the image of the auxiliary camera shooting in phase unit and the image of main phase machine shooting there is geometry to close
System, and then computer terminal can integrate the parts of images of main phase machine shooting and the parts of images of auxiliary camera shooting restores to be formed
The complete image of main phase machine shooting, so that single camera only needs to transmit its parts of images to computer terminal, to reach reduction
Single camera is transmitted to the image data amount of computer terminal, reduces the beneficial effect of electrical source consumption and the occupancy to memory space.
Detailed description of the invention
In order to more clearly illustrate the technical scheme of the exemplary embodiment of the present invention, below to required in description embodiment
The attached drawing to be used does a simple introduction.Obviously, the attached drawing introduced is present invention a part of the embodiment to be described
Attached drawing, rather than whole attached drawings without creative efforts, may be used also for those of ordinary skill in the art
To obtain other attached drawings according to these attached drawings.
Schematic diagram when Fig. 1 is a kind of camera array photographic subjects object provided in an embodiment of the present invention；
Fig. 2 is a kind of flow diagram of the acquisition methods of 3-D image provided in an embodiment of the present invention；
Fig. 3 is to form the method flow schematic diagram of the first image in computer terminal；
Schematic diagram when Fig. 4 is another camera array photographic subjects object provided in an embodiment of the present invention；
Fig. 5 is the schematic diagram that a kind of parts of images provided in an embodiment of the present invention is extracted and compressed；
Fig. 6 is a kind of image restoring process schematic provided in an embodiment of the present invention；
Fig. 7 is a kind of overview flow chart for obtaining 3-D image provided in an embodiment of the present invention；
Fig. 8 is the overview flow chart that a kind of double camera provided in an embodiment of the present invention obtains 3-D image.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
In description, only some but not all contents related to the present invention are shown in the drawings.Exemplary reality is being discussed in greater detail
It should be mentioned that some exemplary embodiments are described as the processing or method described as flow chart before applying example.Although
Operations (or step) are described as the processing of sequence by flow chart, but many of these operations can be by concurrently, concurrently
Ground is implemented simultaneously.In addition, the sequence of operations can be rearranged.The processing when its operations are completed can be by
It terminates, it is also possible to have the additional step being not included in attached drawing.It is described processing can correspond to method, function, regulation,
Subroutine, subprogram etc..
Schematic diagram when Fig. 1 is a kind of camera array photographic subjects object provided in an embodiment of the present invention.As shown in Figure 1, phase
Machine array 10 includes at least one phase unit 100 and multiple optical transition components 200, wherein the phase unit 100 includes at least
Two cameras 110, the camera 110 are arranged in a one-to-one correspondence with the optical transition component 200, the optical transition component 200
The camera lens 111 of the corresponding camera 110 is set to close to the side of object 300.In shooting operation, the phase unit
A camera 110 in 100 is used as main phase machine, remaining camera 110 is auxiliary camera, according in the phase unit 100 at least
Corresponding multiple 200 status of optical transition component of two cameras 110, at least one described auxiliary camera photographic subjects
At least one image and the main phase machine 110 that object 300 obtains are shot to be all had pair between the image that the object 300 obtains
The geometrical relationship answered.
Illustratively, camera array 10 includes second camera 110/1, third camera 110/2, the first optical transition in Fig. 1
Component 200/1 and the second optical transition component 200/2, the first optical transition component 200/1 is corresponding with second camera 110/1 to be set
It sets, the second optical transition component 200/2 is correspondingly arranged with third camera 110/2, second camera 110/1 and third camera 200/2
Form phase unit 100.When first optical transition component 200/1 and the second optical transition component 200/2 are in state shown in Fig. 1,
Second camera 110/1 is main camera, and third camera 110/2 is auxiliary camera, according to the transmission path second camera of light
There is mirror between the image that the image and 110/2 photographic subjects object 300 of third camera that 110/1 photographic subjects object 300 obtains obtain
The symmetrical geometrical relationship in face.
It should be noted that each camera 110 in phase unit 100 can shoot a width target in a shooting operation
The image of object 300, for the image data amount for reducing transmission, the image data that main phase machine is transmitted to computer terminal is only that it takes
Parts of images, computer terminal can not be based only upon the parts of images restore main phase machine shooting complete image, therefore, by this time
The parts of images that auxiliary camera is shot in shooting operation is also transmitted to computer terminal, under the action of optical transition component 200
There is geometrical relationship between the image of auxiliary camera shooting and the image of main phase machine shooting, therefore be transmitted to the auxiliary of computer terminal
The parts of images of camera shooting can be used for secondary computer end and restore the complete image to form the shooting of main phase machine.It is understood that
It is, to enable computer terminal to obtain the complete image that all 110 photographic subjects objects 300 of camera obtain in camera array 10,
The shooting number of each camera 110 is equal with the quantity of camera 110 in its place phase unit 100 in camera array 10.
It should also be noted that, the state of optical transition component 200 can change the propagation path of light, therefore referring to Fig. 1
The geometric position that the image that corresponding camera 110 takes can be changed by adjusting the state of multiple optical transition components 200, from
And the image that auxiliary camera photographic subjects object 300 obtains in same phase unit 100 is obtained with main phase machine photographic subjects object 300
Image between have corresponding geometrical relationship.It is worth noting that, optical transition component 200 can be with independent role, it can also be with
With other 200 collective effects of optical transition component, the present embodiment is not specifically limited in this embodiment.
Technical solution provided in this embodiment is made by setting and the one-to-one optical transition component 200 of camera 110
It obtains in a shooting operation, has between the image of the auxiliary camera shooting in phase unit 10 and the image of main phase machine shooting several
What relationship, and then computer terminal can integrate the parts of images of main phase machine shooting and the parts of images reduction of auxiliary camera shooting
The complete image for forming the shooting of main phase machine, so that single camera 110 only needs to transmit its parts of images to computer terminal, to reach
The image data amount that single camera 110 is transmitted to computer terminal is reduced, reduces electrical source consumption and to the occupancy of memory space
Beneficial effect.
Illustratively, the geometrical relationship can be equilong transformation, similarity transformation, affine transformation or projective transformation.For example,
It can be the equilong transformations such as rotation and displacement, or the radiation transformation such as shearing.Geometrical relationship in the present embodiment is not limited to
Scheme described in above-mentioned example can also be other geometrical relationships, be not especially limited herein.
As described above, geometrical relationship is related to the state of optical transition component 200, therefore can be by selecting suitable optics
The type and status of transition components 200 obtain the geometrical relationship needed.
With continued reference to Fig. 1, the optical transition component 200 can be adjustable spectroscope.Spectroscopical light is adjusted to enter
It penetrates that face position is adjustable, and then can realize the change of optical path by the cooperation between multiple adjustable spectroscopes, so that
Auxiliary camera and main phase machine take the image with geometrical relationship in shooting operation.Illustratively, spectroscope is adjusted
It can be right angle prism.It should be noted that it is simple to be adjusted spectroscopical structure, it can be real by simple change in location
The change of existing optical path, is a kind of more preferred optical transition component 200.
Optionally, the camera array 10 can be distributed or centralized camera array 10.
It should be noted that the present embodiment only includes two cameras 110 and two optical transition components with camera array 10
It is illustrated for 200 and non-limiting, the positional relationship between camera 110 is also not necessarily limited to shown in Fig. 1 herein, according to camera 110
The difference of quantity can also be other positional relationships between camera 110.
Fig. 2 is a kind of flow diagram of the acquisition methods of 3-D image provided in an embodiment of the present invention.3-D image
Acquisition methods carry out the shooting of object using camera array described in any embodiment of that present invention.As shown in Fig. 2, 3-D image
Acquisition methods specifically include it is as follows：
Step 1 forms first camera in the camera array in computer terminal and shoots the first figure that the object obtains
Picture.
Specifically, Fig. 3 is to form the method flow schematic diagram of the first image in computer terminal.As shown in figure 3, in computer
End formed the first image that first camera photographic subjects object obtains in camera array can specifically include it is as follows：
Any camera in step 11, the acquisition camera array is as first camera.
Step 12, basis preset rule of classification, obtain and belong at least the one of the same phase unit with the first camera
A auxiliary camera.
It should be noted that default rule of classification is set by designer, it is related to camera array structure.
Step 13, by the first camera and the corresponding multiple optical transition groups of at least one described auxiliary camera
Part is adjusted to first state, wherein the first state is using the first camera as the light multiple when main shooting camera
Learn transition components status.
It should be noted that any camera can be by as main phase machine in same phase unit, and each camera is as main phase
Optics transition components status is different when machine.Illustratively, Fig. 4 is that another camera array provided in an embodiment of the present invention is clapped
Take the photograph schematic diagram when object.Fig. 4 is similar to structure shown in Fig. 1, unlike, the first optical transition component in Fig. 4 and the
Two optical transition components have carried out equidirectional flip horizontal both with respect to Fig. 1.In Fig. 1, second camera is main camera, is being schemed
In 4, third camera is main camera, and the first optical transition component and the second optical transition component status be not in Fig. 1 and Fig. 4
Together.
Step 14 shoots the object acquisition the first image using the first camera, is respectively adopted each described
Auxiliary camera shoots the object and obtains at least one assistant images.
It should be noted that each auxiliary camera, which carries out shooting to object, obtains an assistant images, and then obtain
At least one assistant images.
Step 15, the image for extracting preset ratio in the first image and at least one described assistant images respectively,
It compresses and is transmitted to the computer terminal.
Specifically, sequentially or simultaneously carrying out following steps：One, the image of preset ratio in the first image is extracted, compression is simultaneously
It is transmitted to computer terminal；Two, the image for extracting preset ratio in an assistant images, compresses and is transmitted to computer terminal；Three, according to
The method of step 2 handles remaining assistant images.
Optionally, the value range of the preset ratio can be for less than or equal to 5%.It should be noted that due to meter
Calculate the first image of image restoring that generator terminal is preset ratio in image and assistant images in conjunction with preset ratio in the first image
, therefore, to make the transmission of above-mentioned multiple images that can reach the effect of reduction image data transmission quantity compared with the existing technology
Fruit, the value range that preset ratio is preferably arranged in the present embodiment is less than or equal to 5%.
It should be noted that the image that complexity is higher, the image data that computer needs when restoring to form the image is got over
More, therefore, above-mentioned preset ratio is bigger, opposite, the above-mentioned preset ratio of the low image of complexity is smaller.It can be seen that above-mentioned default ratio
With image complexity corresponding variation need to occur for example, and therefore, according to the difference of image complexity, in the present embodiment, preset ratio is also
It can be other values, the present embodiment is not especially limited this.
Step 16 decompresses the image data received in the computer terminal, and is formed according to described image data convert
The first image.
It should be noted that image data includes pre- in the image of preset ratio and each assistant images in the first image
If the image of ratio.It should be noted that in the present embodiment, to reduce the data volume that camera is transmitted to computer terminal, extracting
The image of minor proportion is compressed and is transmitted in first image, computer terminal can not according in the first image received compared with
The image perfection of low ratio restores the first image, therefore is arranged and is shot image with the auxiliary camera of group with first camera
Parts of images also compresses and is transmitted to computer terminal, restores the first image for secondary computer end.
Step 2, according in step 1 formed the first image method, form the camera battle array in the computer terminal
The target object image of the camera shooting of other in column.
Step 3, the computer terminal are according to other described phases in the first image and the camera array of formation
The target object image of machine shooting obtains the 3-D image of the object.
Technical solution provided in this embodiment, by setting and the one-to-one optical transition component of camera, so that one
In secondary shooting operation, there is geometrical relationship between the image of the auxiliary camera shooting in phase unit and the image of main phase machine shooting,
And then computer terminal can integrate the parts of images of main phase machine shooting and the parts of images of auxiliary camera shooting restores to form master
The complete image of camera shooting, so that single camera only needs to transmit its parts of images to computer terminal, so that it is single to have reached reduction
A camera is transmitted to the image data amount of computer terminal, reduces the beneficial effect of electrical source consumption and the occupancy to memory space.
Optionally, the figure for extracting preset ratio in the first image and at least one described assistant images respectively
Picture, compresses and is transmitted to computer terminal and may include：Fourier transformation is carried out to the first image and obtains the first processing image,
Sparse sampling is carried out to the first processing image using the preset ratio, the data that compression sampling obtains simultaneously are transmitted to calculating
Generator terminal extracts the image of preset ratio at least one described assistant images in the manner described above, compresses and be transmitted to computer
End.
Fig. 5 is the schematic diagram that a kind of parts of images provided in an embodiment of the present invention is extracted and compressed.As shown in figure 5, camera
Shoot three-dimensional object 300, form image 601 far from the side of object 300 in camera lens 111, to the data of image 601 into
Image 602 after being handled after row Fourier transformation, image 602 is sensed through grab sample mask plate 603 and camera after processing
Compressing image data 605 is generated after device 604.
Illustratively, for camera array as shown in Figure 1, second camera 110/1 is main camera, third camera 110/2
For auxiliary camera, if second camera 110/1 is imaged as I1, third camera 110/2 is imaged as f21(I1), wherein function f table
Show the geometrical relationship for the image that the image that third camera 110/2 is shot is shot relative to second camera 110/1.Using aforesaid way
There are following relationships when extracting and compressing the first image and assistant images：Y=Ax, ym×1For compressed image data, Am×n
To compress calculation matrix, xn×1For raw image data, wherein n>>m.Then in a shooting operation, the picture number extracting and compress
According to
It should be noted that in the other embodiments of the present embodiment the first figure can also be extracted using other modes
The image of preset ratio, the present embodiment are not especially limited this in picture and at least one assistant images.
Optionally, in the present embodiment, described that the image data received is decompressed in computer terminal, and according to described image
Data convert forms the first image：The image data received is decompressed in the computer terminal, and uses base
Match tracing or L1 norm optimization technology form the first image according to described image data convert.
It should be noted that base match tracing or L1 norm optimization technology are more common image restoring technologies, therefore,
The present embodiment realizes that the reduction of the first image increases the compatibility with the prior art using the technology, and technical difficulty reduces.
Illustratively, for camera array as shown in Figure 1, second camera 110/1 is main camera, third camera 110/2
For auxiliary camera, if second camera 110/1 is imaged as I1, third camera 110/2 is imaged as f21 (I1), wherein function f table
Show the geometrical relationship for the image that the image that third camera 110/2 is shot is shot relative to second camera 110/1.It can be by above-mentioned
Formula From Y1=[y11 y12]TMiddle reduction is formed
First image I1。
Further, when with third camera 110/2 for main camera, when second camera 110/1 is auxiliary camera, i.e., such as Fig. 4
Shown structure, reduction forms the process of the image of the shooting of third camera 110/2 and above-mentioned reduction forms the shooting of second camera 110/1
The process of image is identical, specifically as follows using formula：
Illustratively, Fig. 6 is a kind of image restoring process schematic provided in an embodiment of the present invention.It should be noted that
Original image 40 in Fig. 6 is the image that second camera 110/1 is shot 10 structure of camera array shown in Fig. 1 is shot next time in,
Second camera in homogeneous shooting operation under boss's image 31 and auxiliary subgraph 41 respectively 10 structure of camera array shown in Fig. 1
110/1 and third camera 110/2 shoot and be transmitted to the image section of computer terminal in image, 3-D image 50 is in conjunction with chief subgraph
As 31 and the original image of the auxiliary reduction formation of subgraph 41.
It should also be noted that, can also realize first using other technologies in the other embodiments of the present embodiment
The reduction of image, the present embodiment are not specifically limited in this embodiment.
Optionally, in the present embodiment, the computer terminal is according in the first image and camera array of formation
The target object image of other cameras shooting obtains the 3-D image of the object and may include：The computer terminal uses binocular
Stereo Vision is calculated according to the target object image that other cameras in the first image and camera array of formation are shot
Obtain the 3-D image of the object.
It should be noted that technique of binocular stereoscopic vision is the formation technology of more common 3-D image, therefore, this reality
It applies example and realizes that the formation of object 3-D image increases the compatibility with the prior art using the technology, and technical difficulty drops
It is low.
It should also be noted that, in the other embodiments of the present embodiment three-dimensional can also be formed using other technologies
Image, the present embodiment are not specifically limited in this embodiment.
Illustratively, Fig. 7 is a kind of overview flow chart for obtaining 3-D image provided in an embodiment of the present invention.Further
, Fig. 8 is the overview flow chart that a kind of double camera provided in an embodiment of the present invention obtains 3-D image.Specifically, Fig. 8 is using such as
Fig. 1 and camera array shown in Fig. 4 carry out second under structure shown in first time shooting and Fig. 4 under structure shown in Fig. 1
Secondary shooting.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (9)
1. a kind of camera array, which is characterized in that including：
At least one phase unit and multiple optical transition components；
Wherein, the phase unit includes at least two cameras, and the camera is arranged in a one-to-one correspondence with the optical transition component, institute
It states optical transition component and is set to the camera lens of the corresponding camera close to the side of object；
In shooting operation, for a camera in the phase unit as main phase machine, remaining described camera is auxiliary phase
Machine, according to the corresponding multiple optical transition component status of at least two cameras in the phase unit, at least
One auxiliary camera shoots at least one image that the object obtains and obtains with the main phase machine shooting object
Corresponding geometrical relationship is all had between the image obtained.
2. camera array according to claim 1, which is characterized in that the geometrical relationship be equilong transformation, similarity transformation,
Affine transformation or projective transformation.
3. camera array according to claim 1, which is characterized in that the optical transition component is adjustable spectroscope.
4. camera array according to claim 1, which is characterized in that the camera array is distributed or centralized camera
Array.
5. a kind of acquisition methods of 3-D image, using the described in any item camera arrays of claim 1-4, which is characterized in that
Including：
Step 1 forms in the camera array first camera and shoots the object and obtains in computer terminal as follows
The first image：
Any camera in the camera array is obtained as first camera；
According to default rule of classification, at least one auxiliary camera for belonging to the same phase unit with the first camera is obtained；
The first camera and the corresponding multiple optical transition components of at least one described auxiliary camera are adjusted to
One state；
The object is shot using the first camera and obtains the first image, each auxiliary camera shooting is respectively adopted
The object obtains at least one assistant images；
The image for extracting preset ratio in the first image and at least one described assistant images respectively, compresses and is transmitted to
The computer terminal；
The image data received is decompressed in the computer terminal, and first figure is formed according to described image data convert
Picture；
Wherein, the first state is using the first camera as shape locating for the optical transition components multiple when main phase machine
State；
Step 2, according in step 1 formed the first image method, formed in the camera array in the computer terminal
The target object image of other camera shootings；
Step 3, the computer terminal are clapped according to the camera of other in the first image and the camera array of formation
The target object image taken the photograph obtains the 3-D image of the object.
6. the acquisition methods of 3-D image according to claim 5, which is characterized in that the value range of the preset ratio
For less than or equal to 5%.
7. the acquisition methods of 3-D image according to claim 5, which is characterized in that described to extract first figure respectively
The image of preset ratio, compresses and is transmitted to computer terminal in picture and at least one described assistant images, including：
Fourier transformation is carried out to the first image and obtains the first processing image；
Sparse sampling is carried out to the first processing image using the preset ratio；
The data of compression sampling acquisition are simultaneously transmitted to the computer terminal；
The image for extracting preset ratio at least one described assistant images in the manner described above compresses and is transmitted to the calculating
Generator terminal.
8. the acquisition methods of 3-D image according to claim 5, which is characterized in that described decompress in computer terminal receives
The image data arrived, and the first image is formed according to described image data convert, including：
The image data received is decompressed in the computer terminal, and uses base match tracing or L1 norm optimization technology, according to
Described image data convert forms the first image.
9. the acquisition methods of 3-D image according to claim 5, which is characterized in that the computer terminal is according to formation
The target object image of the camera shooting of other in the first image and the camera array obtains the three of the object
Image is tieed up, including：
The computer terminal uses binocular stereo vision method, according in the first image of formation and the camera array
The target object image of other camera shootings calculates the 3-D image for obtaining the object.
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| CN110392193A (en) * | 2019-06-14 | 2019-10-29 | 浙江大学 | A kind of mask plate of mask plate camera |
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