CN109525830A - A kind of dimensional video collecting system - Google Patents
A kind of dimensional video collecting system Download PDFInfo
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Abstract
The invention discloses a kind of dimensional video collecting systems, including left and right view image sensor, and display window is controlled adjustable, acquire the left and right view image of scene；Controllable guide rail is connect with left and right view image sensor, controls moving horizontally for left and right view image sensor under the driving of mobile control command；Processing and controller, parameter, which determines, according to the display device most preferably melts as disparity range, it is calculated according to the left and right view image of acquisition after obtaining image parallactic figure, according to most preferably melting as disparity range and image parallactic figure judge whether to need to adjust left and right view image, when needing to adjust, parallax adjustment offset is calculated, and mobile control command is generated according to the parallax adjustment offset and is sent to controllable guide rail；When not needing adjustment, left and right view image is directly exported；Display device receives the left and right view image of processing and controller output and carries out stereoscopic display.System improving Stereoscopic Video Presentation effect.
Description
Technical field
The present invention relates to three-dimensional video-frequency technical fields, and in particular to a kind of dimensional video collecting system.
Background technique
Three-dimensional video-frequency is the important directions of Future Multimedia technology development, is nowadays also widely used in advertising sector, product
The fields such as displaying, film industry.Good Stereoscopic Video Presentation effect is always the urgent pursuit in the field.
Stereoscopic Video Presentation principle mainly leans on binocular parallax at present；Left side picture is input to left eye, the input of right eye picture
To right eye, three-dimensional sense is formed in brain by binocular parallax.Wherein naked eye 3D display principle is to adjust light propagation angle, makes a left side
Right image is projected respectively in the right and left eyes of people.Therefore for the display of three-dimensional video-frequency, viewing distance, stereoscopic display
Size, screen resolution, the factors such as Pixel Dimensions can all have an impact three-dimensional video-frequency display effect.
But it is not adapted to for display equipment in current stereoscopic video acquisition.Usually using naked eye selected by person
Size, resolution ratio, best influx visual angle of 3D display device etc. are all different, therefore same three-dimensional video-frequency is in different stereoscopic displays
On display effect it is usually inconsistent.Stereo display effect is preferable on partial display, and replaces different configuration of display
Afterwards, it is likely that the bad phenomenons such as ghost image dizziness occur.
Pass through to solve the mode that display adaptation issues are adjusted frequently with the later period that is, after the completion of stereoscopic video acquisition
The method of Stereo matching calculates the disparity range of video, and by the range and target stereoscopic display parameter comparison, then adjusts
Three-dimensional video-frequency parallax is to reach preferable stereo display effect.Obviously, the method for post-processing has the following deficiencies:
(1) visual parallax range obtains difficult, and usual video scene is changeful, if only analyzing a few frame images in video
Parallax, disparity range obtained is inaccurate.Even if single frames picture analysis parallax is directed to, by scene and the limit of algorithm
System is also possible to inaccuracy；
(2) common 3-dimensional video display device is varied, and the mode of post-processing is possible to occur adjusting anyway
Visual parallax, all occur with the unmatched problem of parameters of display, so that algorithm be caused to fail；
(3) even if there be no defect (1) and defect (2), the mode that post-processing adjusts parallax will cause video resolution
Loss.
Application publication number is that the application for a patent for invention of 102572486 A of CN discloses a kind of acquisition system of three-dimensional video-frequency,
It include: acquisition equipment, including multiple 2D cameras and multiple device for adjusting posture, the corresponding pose adjustment dress of each 2D camera
It sets, multiple 2D cameras are linearly arranged, and camera plane video image is used for；Microcontroller passes through the universal input of each 2D camera
Delivery outlet is connected with acquisition equipment, for sending pulse signal to multiple 2D cameras to control multiple 2D cameras with scheduled frame frequency
Sync pulse jamming plane video image；Acquisition server is connected, for obtaining with acquisition equipment by the data port of each 2D camera
The plane video image of multiple 2D camera shootings, and geometric calibration is carried out to multiple 2D cameras, and to the shooting of multiple 2D cameras
Plane video image carries out real-time geometric correction and stereo-picture synthesis；Stereoscopic display device is closed for receiving acquisition server
At stereo-picture and carry out stereoscopic display.The acquisition system carries out later period correction to acquisition image using acquisition server and stands
Volumetric video synthesis, the video of synthesis do not account for stereoscopic display device parameter, it is bad to still result in stereo display effect.
Summary of the invention
The object of the present invention is to provide a kind of dimensional video collecting system, the system comprehensively considered display device parameter and
The parallax of every frame image improves Stereoscopic Video Presentation effect, brings the optimal viewing effect of user.
For achieving the above object, the present invention the following technical schemes are provided:
A kind of dimensional video collecting system, comprising:
Left view imaging sensor, for acquiring the left view image of scene；Right view imaging sensor, for acquiring field
The right view image of scape；Left view imaging sensor and right view imaging sensor are characterized in that realize by control instruction
The certain area in photosensitive image planes is selected, the picture in output area；
Electric precise displacement platform is connect with left view imaging sensor and right view imaging sensor, in mobile control life
Moving horizontally for left view imaging sensor is controlled under the driving enabled；
Processing and controller, parameter determines that the best of display device melts as disparity range, according to acquisition according to the display device
Left view image and right view image calculate after obtaining image parallactic figure, most preferably melted according to determining as disparity range and image
Disparity map judges whether to need to adjust left and right view image, when needing to adjust, calculates parallax adjustment offset, and according to the view
Difference adjusts offset and generates mobile control command and be sent to electric precise displacement platform, left view imaging sensor and right view figure
As sensor；When not needing adjustment, left and right view image is directly exported；
Display device, for receiving the left and right view image of processing and controller output and carrying out stereoscopic display.
In the dimensional video collecting system, parameter determines that the best of display device melts as disparity range according to the display device,
And combine and the image parallactic figure obtained is calculated to left view image and right view image, parallactic shift meter is carried out to every frame image
Calculation and parallax adjustment, are guaranteed that the corresponding stereo display effect of every frame image is good, the display of entire three-dimensional video-frequency are promoted with this
Effect.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to do simply to introduce, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art, can be with root under the premise of not making the creative labor
Other accompanying drawings are obtained according to these attached drawings.
Fig. 1 is the structural schematic diagram of dimensional video collecting system.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention more comprehensible, with reference to the accompanying drawings and embodiments to this
Invention is described in further detail.It should be appreciated that the specific embodiments described herein are only used to explain the present invention,
And the scope of protection of the present invention is not limited.
In order to promote Stereoscopic Video Presentation effect, the present embodiment provides dimensional video collecting systems as shown in Figure 1, including
Left view imaging sensor 101, right view imaging sensor 102, controllable guide rail 103, processing and controller 104, display device
105。
Left view imaging sensor 101 and right view imaging sensor 102, be used to acquire scene left view image and
Right view image is fixed on the displacer of electric precise displacement platform, and displacer position can be realized by control instruction
Linear displacement.When left images sensor position, which adjusts step-length, is less than single pixel dimension, image parallactic can be realized pixel
The adjusting of rank.
Electric precise displacement platform 103, two displacer fix left view imaging sensor 101 and right view figure respectively
As sensor 102, left view imaging sensor 101 and right view imaging sensor are controlled under the driving of mobile control command
102 move horizontally.The minimum step size of selected electricity driving displacement platform sliding block is within 0.1 micron in the present embodiment, usually
Single pixel size in 1 microns, therefore the displacement accuracy meet demand of the present embodiment.
Processing and controller 104 and left view imaging sensor 101 and right view imaging sensor 102 communicate to connect, energy
The image that left view imaging sensor 101 and right view imaging sensor 102 acquire enough is received, and according to the left view figure of acquisition
Picture and right view image, which calculate, obtains image parallactic figure, and parameter determines that the best of display device melts as parallax model according to the display device
After enclosing, most preferably melted according to determining as disparity range and image parallactic figure judge whether to need to adjust left and right view image, when needing
When adjusting, parallax adjustment offset is calculated, and mobile control command is generated according to the parallax adjustment offset and is sent to essence
Cipher telegram moves displacement platform 103；When not needing adjustment, left and right view image is directly exported.
Specifically, parameter determines most preferably melting as disparity range includes: for display device according to the display device
Three-dimensional video-frequency horizontal parallax p meets the following conditions:
Wherein, η is human eye Snazzi degree standard value, is 2.907 × 10-4Rad, EeFor the eyes interpupillary distance of viewer, average value
For 6.5cm, D is the pupil diameter of viewer, and representative value 4mm, S are viewing distance, i.e. the distance of viewer to screen；
If Pixel Dimensions are Pw, according to p=Pw× Δ n, Δ n are pixel parallax Δ n, then formula (1) becomes:
Thus, most preferably melting as disparity range isI.e. as the positive and negative parallax value d of picturemIt is absolute
Value is no more thanWhen, three-dimensional video-frequency reaches optimal display result.
In the present embodiment, for the display equipment used for 3D display device, design parameter is 23.8 cun of 3840 × 2160 resolution ratio,
Display area size is 527.04 × 296.46 millimeters, and viewing distance is 1.0 meters, and the horizontal width of pixel is having a size of 1.3725
×10-4Rice, the picture disparity range of most preferably melting that this 3D display device can be calculated according to formula (2) is [- 34.42,34.42].
It is determining while most preferably melting as disparity range of the 3D display device, is calculating image parallactic figure, specifically, according to adopting
The left view image and right view image of collection calculate acquisition image parallactic figure
(a) after converting grayscale image for left view image and right view image, left and right view image is switched to full-scale
Left and right view image；
If the resolution ratio of the three-dimensional view of left and right half-breadth is 1920*1080, the resolution ratio of single viewpoint is 960*1080,
The size of i.e. left and right view image is 960*1080, when the zoom operations that left and right view image is carried out to 2 times in the horizontal direction,
It is 1920*1080 by the size scaling of left and right view image.
In order to reduce Stereo matching calculation amount, after obtaining full-scale left and right view image, to left and right view image
Carry out equal proportion scaling.For example, can be scaled it when being zoomed in and out to the left and right view image having a size of 1920*1080
960*540。
(b) in full-scale right view image IRIn with pixel IR(u, v) is center pixel, having a size of (2N+1) × (2N
+ 1) window in the horizontal direction, with full-scale left view image ILIn with pixel IL(u, v+d) be center pixel, having a size of
The window of (2N+1) × (2N+1) carries out Stereo matching calculating according to formula (3),
Wherein, SAD () is Stereo Matching Algorithm, and N indicates that natural number, i, j, d indicate mobile pixel distance, and d is by 1
To dispmaxChange, wherein dispmaxThe maximum magnitude namely maximum disparity number searched for when Stereo matching are indicated, in the present embodiment
Its value is IRWidth, when d value be d0When, parallax value obtains minimum, has at this time:
SAD(u,v,d0)=min SAD (u, v, d), d=1,2 ..., dispmax} (4)
The pixel level increment d of acquisition0For the horizontal pixel difference estimated value of pixel (u, v)；
(c) the horizontal pixel difference estimated value that all pixels point in right view image is calculated according to step (b), according to all pictures
The horizontal pixel difference estimated value of vegetarian refreshments constructs image disparity map, i.e., each pixel indicates that horizontal pixel difference is estimated in image parallactic figure
Evaluation is [l, r] according to the disparity range that image parallactic figure obtains scene, and wherein l is deep minimum in image, and r is image
The maximum value of middle depth.
After determining best melt as disparity range and image parallactic figure, in order to promote Stereoscopic Video Presentation effect, view is calculated
Difference adjusts offset, specifically, is most preferably melted according to determining as disparity range and image parallactic figure calculate parallax adjustment offset
Include:
Situation one: work as l, r≤0, and-dmWhen/2≤l≤0, parallax d at this timemIn most preferably melting in picture disparity range, still
Parallax value is negative value, and the observing effect of 3D display can show as whole display content and be on screen, more preferably to be shown
Effect determines moving distance are as follows:
t1=| l |/2- | l-r |/4 (5)
At this point, by the moving distance t to the right of left view imaging sensor 1011, right view imaging sensor 102 is to the left
Moving distance t1；
Situation two: work as l, r≤0, and l≤- dmIt is current to show that picture is not at best melt as determining within range when/2
Moving distance are as follows:
t2=| l |/2-dm/4 (6)
At this point, by the moving distance t to the right of left view imaging sensor 1012, right view imaging sensor 102 is to the left
Moving distance t2；
Situation three: work as l, r >=0, and 0≤r≤dmWhen/2, parallax dmMelt in picture disparity range in best, but shows picture
Face is in screen state, to reach optimal observing effect, moving distance at this time are as follows:
t3=| r |/2- | r-l |/4 (7)
At this point, by the moving distance t to the right of left view imaging sensor 1013, right view imaging sensor 102 is to the left
Moving distance t3；
Situation four: work as l, r >=0, and r >=dm/ 2, parallax dmMelt picture disparity range beyond best, at this time moving distance are as follows:
t4=r/2-dm/4 (8)
At this point, by the moving distance t to the right of left view imaging sensor 1014, right view imaging sensor 102 is to the left
Moving distance t4；
Situation five: as l >=-dm/ 2 and r≤dm/ 2, parallax d at this timemIt is left as in disparity range, being not necessarily to adjust positioned at most preferably melting
Right view image, directly output left and right view image；
Situation six: as l≤- dm/ 2 and r >=dm/ 2, horizontal parallax is excessive at this time normally to merge, and determine moving distance
Are as follows:
t5=r/2-dm/4 (9)
At this point, right view imaging sensor 102 is moved right distance t5, by left hand view imaging sensor 101 to moving to left
Dynamic distance t5；
Situation seven: as l <-dm/ 2 and r≤dm/ 2, horizontal parallax is excessive at this time, is not at and most preferably melts in picture disparity range,
Determine moving distance are as follows:
t6=| l |/2-dm/4 (10)
At this point, right view imaging sensor 102 is moved to the left distance t6, left hand view imaging sensor 101 is moved right
Dynamic distance t6。
It is adjusted for the ease of the imaging position to right view imaging sensor 102 and left hand view imaging sensor 101,
Integral multiple decomposition is carried out to moving distance using following formula, determines best adjusting step-length,
Subject to:
T=ms0+n·Pw
|n|≤5
Wherein, m, n are integer, s0It is walked for the adjusting of right view imaging sensor 102 and left hand view imaging sensor 101
It is long, PwFor minimum pixel size,
Optimal adjustment step-length m, n are obtained, left view imaging sensor and right view figure are adjusted according to optimal adjustment step-length m, n
As sensor, the inclined of the opposite n pixel of left and right view image sensor output area is realized by imaging sensor control instruction
The adjusting of shifting amount, while command displacement platform realizes the adjusting of m displacement step-length, to obtain optimal stereo display effect.
Specific optimal adjustment step-length m, n adjust left view imaging sensor and the output of right view imaging sensor photosensitive region
The offset of position realizes that the offset of opposite n pixel is adjusted, and a kind of more balanced adjusting method is that left and right view senses
The photosensitive region output position of device deviates n/2 round respectively.
Processing and controller 104 generate mobile control command according to the parallax adjustment offset of calculating and be sent to can conduct
Rail 103, controllable guide rail 103 control left hand view imaging sensor according to the parallax adjustment offset for including in mobile control command
101 and right view imaging sensor 102 moved accordingly so that obtain image parallactic figure meet above situation five, it is defeated
Left and right view image out.
The left and right view image that processing and controller 104 export is to display device 105, and display device 105 is based on the received
Left and right view image carries out stereoscopic display.
During Stereoscopic Video Presentation, above-mentioned dimensional video collecting system in real time adopt according to the display device by parameter correction
The left and right view image of collection, it is ensured that most preferably viewing parallax, so that it is guaranteed that displayed image reaches optimal viewing effect.
Technical solution of the present invention and beneficial effect is described in detail in above-described specific embodiment, Ying Li
Solution is not intended to restrict the invention the foregoing is merely presently most preferred embodiment of the invention, all in principle model of the invention
Interior done any modification, supplementary, and equivalent replacement etc. are enclosed, should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of dimensional video collecting system characterized by comprising
Left view imaging sensor, for acquiring the left view image of scene；Right view imaging sensor, for acquiring scene
Right view image；Left view imaging sensor and right view imaging sensor are characterized in that realize by control instruction and select
Certain area in photosensitive image planes, the picture in output area；
Electric precise displacement platform is connect with left view imaging sensor and right view imaging sensor, in mobile control command
Lower control left view imaging sensor and right view imaging sensor is driven to move horizontally；
Processing and controller, parameter determines that the best of display device melts as disparity range, according to a left side for acquisition according to the display device
After view image and right view image calculate acquisition image parallactic figure, most preferably melted according to determining as disparity range and image parallactic
Figure judges whether to need to adjust left and right view image, when needing to adjust, calculates parallax adjustment offset, and according to the parallax tune
Section offset generates mobile control command and is sent to electric precise displacement platform, left view imaging sensor and right view image and passes
Sensor；When not needing adjustment, left and right view image is directly exported；
Display device, for receiving the left and right view image of processing and controller output and carrying out stereoscopic display.
2. dimensional video collecting system as described in claim 1, which is characterized in that parameter determines display dress according to the display device
That sets most preferably melts as disparity range includes:
Three-dimensional video-frequency horizontal parallax p meets the following conditions:
Wherein, η is human eye Snazzi degree standard value, is 2.907 × 10-4Rad, EeFor the eyes interpupillary distance of viewer, average value is
6.5cm, D are the pupil diameter of viewer, and S is viewing distance, i.e. the distance of viewer to screen；
If Pixel Dimensions are Pw, according to p=Pw× Δ n, Δ n are pixel parallax Δ n, then formula (1) becomes:
Thus, most preferably melting as disparity range isI.e. as the positive and negative parallax value d of picturemAbsolute value not
It is more thanWhen, three-dimensional video-frequency reaches optimal display result.
3. dimensional video collecting system as described in claim 1, which is characterized in that according to the left view image of acquisition and right view
Figure image calculates acquisition image parallactic figure
(a) after converting grayscale image for left view image and right view image, by left and right view image switch to a full-scale left side,
Right view image；
(b) in full-scale right view image IRIn with pixel IR(u, v) is center pixel, having a size of (2N+1) × (2N+1)
Window in the horizontal direction, with full-scale left view image ILIn with pixel IL(u, v+d) is center pixel, having a size of (2N
+ 1) × (2N+1) window carries out Stereo matching calculating according to formula (3),
Wherein, SAD () is Stereo Matching Algorithm, and N indicates natural number, and i, j, d indicate mobile pixel distance, d by 1 to
dispmaxVariation, when d value is d0When, parallax value obtains minimum, has at this time:
SAD (u, v, d0)=min { SAD (u, v, d), d=1,2 ..., dispmax} (4)
The pixel level increment d of acquisition0For the horizontal pixel difference estimated value of pixel (u, v)；
(c) the horizontal pixel difference estimated value that all pixels point in right view image is calculated according to step (b), according to all pixels point
Horizontal pixel difference estimated value construct image disparity map, according to image parallactic figure obtain scene disparity range be [l, r], wherein
L is deep minimum in image, and r is the maximum value of depth in image.
4. dimensional video collecting system as claimed in claim 3, which is characterized in that most preferably melted according to determining as disparity range
Calculating parallax adjustment offset with image parallactic figure includes:
Work as l, r≤0, and-dmWhen/2≤l≤0, parallax d at this timemMelt in picture disparity range in best, but parallax value is generally
Negative value, the observing effect of 3D display can show as whole display content and be on screen, to obtain more preferably display effect, determine
Moving distance are as follows:
t1=| l |/2- | l-r |/4 (5)
At this point, by left view imaging sensor moving distance t to the right1, right view imaging sensor moving distance t to the left1；
Work as l, r≤0, and l≤- dmIt is current to show that picture is not at best melt as determining moving distance within range when/2 are as follows:
t2=| l |/2-dm/4 (6)
At this point, by left view imaging sensor moving distance t to the right2, right view imaging sensor moving distance t to the left2。
5. dimensional video collecting system as claimed in claim 3, which is characterized in that most preferably melted according to determining as disparity range
Calculating parallax adjustment offset with image parallactic figure includes:
Work as l, r >=0, and 0≤r≤dmWhen/2, parallax dmMelt in picture disparity range in best, but shows that picture is in screen
State, to reach optimal observing effect, moving distance at this time are as follows:
t3=| r |/2- | r-l |/4 (7)
At this point, by left view imaging sensor moving distance t to the right3, right view imaging sensor moving distance t to the left3；
Work as l, r >=0, and r >=dm/ 2, parallax dmMelt picture disparity range beyond best, at this time moving distance are as follows:
t4=r/2-dm/4 (8)
At this point, by left view imaging sensor moving distance t to the right4, right view imaging sensor moving distance t to the left4。
6. dimensional video collecting system as claimed in claim 3, which is characterized in that
As l >=-dm/ 2 and r≤dm/ 2, parallax d at this timemPositioned at most preferably melting in picture disparity range, without adjusting left and right view image,
Directly export left and right view image.
7. dimensional video collecting system as claimed in claim 3, which is characterized in that most preferably melted according to determining as disparity range
Calculating parallax adjustment offset with image parallactic figure includes:
As l≤- dm/ 2 and r >=dm/ 2, horizontal parallax is excessive at this time normally to merge, and determine moving distance are as follows:
t5=r/2-dm/4 (9)
At this point, right view imaging sensor is moved right distance t5, left hand view imaging sensor is moved to the left distance t5；
As l <-dm/ 2 and r≤dm/ 2, horizontal parallax is excessive at this time, is not at and most preferably melts as determining moving distance in disparity range
Are as follows:
t6=| l |/2-dm/4 (10)
At this point, right view imaging sensor is moved to the left distance t6, left hand view imaging sensor is moved right distance t6。
8. such as claim 4,5 or 7 described in any item dimensional video collecting systems, which is characterized in that use following formula pair
Moving distance carries out integral multiple decomposition, determines best adjusting step-length,
Subject to:
T=ms0+n·Pw
n≤5
Wherein, m, n are integer, s0For the adjusting step-length of right view imaging sensor 102 and left hand view imaging sensor 101, PwFor
Minimum pixel size,
Optimal adjustment step-length m, n are obtained, left view imaging sensor is adjusted according to optimal adjustment step-length m, n and right view image passes
Sensor realizes offset of the left and right view image sensor output area with respect to n pixel by imaging sensor control instruction
Adjusting, while command displacement platform realize m be displaced step-length adjusting, to obtain optimal stereo display effect.
9. dimensional video collecting system as claimed in claim 3, which is characterized in that obtaining full-scale left and right view figure
As after, equal proportion scaling is carried out to left and right view image.
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| CN111474699A (en) * | 2020-04-09 | 2020-07-31 | 浙江未来技术研究院(嘉兴) | Operation microscope with programmable aperture |
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| CN112995638A (en) * | 2020-12-31 | 2021-06-18 | 上海易维视科技有限公司 | Naked eye 3D acquisition and display system and method capable of automatically adjusting parallax |
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