CN113163129B

CN113163129B - Shooting auxiliary equipment, image pair acquisition calibration method and electronic equipment

Info

Publication number: CN113163129B
Application number: CN202110321277.4A
Authority: CN
Inventors: 姜靖翔; 顾弘
Original assignee: Vivo Mobile Communication Co Ltd
Current assignee: Vivo Mobile Communication Co Ltd
Priority date: 2021-03-25
Filing date: 2021-03-25
Publication date: 2023-04-18
Anticipated expiration: 2041-03-25
Also published as: CN113163129A; WO2022199539A1

Abstract

The application discloses a shooting auxiliary device, a calibration method for image acquisition and an electronic device, and relates to the technical field of image acquisition. The shooting assistance apparatus includes: a drive assembly; the holder assembly is connected with the driving assembly; the first mounting part and the second mounting part are arranged on the holder component; when the driving assembly drives the holder assembly to move along the target direction, the holder assembly can drive the first mounting part and the second mounting part to move along the target direction; the first installation part is used for fixing the first image acquisition device, and the second installation part is used for fixing the second image acquisition device; and the alignment mechanism is connected with the second mounting part and is used for adjusting the specific position of the second mounting part so as to align the optical center of the second image acquisition device with the optical center of the first image acquisition device. The shooting auxiliary equipment can efficiently collect image pairs.

Description

Shooting auxiliary equipment, image pair acquisition calibration method and electronic equipment

Technical Field

The application belongs to the technical field of image acquisition, and particularly relates to a shooting auxiliary device, an image acquisition calibration method and an electronic device.

Background

With the continuous development of image acquisition and processing technologies, a technology of acquiring a real scene by using an image acquisition device and constructing a virtual scene according to the real scene by using a computer is widely applied.

In order to build a virtual scene, a corresponding virtual scene model needs to be built. In order to improve the accuracy of the virtual scene model, image pairs (also called image data pairs) in the real scene need to be acquired, so that the image pairs are used to train the virtual scene model. The image pair is typically acquired in the following manner: and adopting different image acquisition devices to successively aim at the same real scene and carry out image acquisition on the real scene at the same position so as to obtain an image pair corresponding to the real scene. In order to ensure the accuracy of the image pair, it is generally required to ensure that the optical centers of different image capturing devices are located at the same position during image capturing, so that the perspective relationship between the two devices is consistent.

One of the disadvantages in the related art is that it is difficult to ensure that the optical centers of different image capturing devices are located at the same position during the process of capturing the image pair, which results in less than ideal accuracy of the captured image pair.

Disclosure of Invention

The application aims to provide photographing auxiliary equipment, a calibration method for image pair acquisition and electronic equipment, and aims to solve the technical problem that the accuracy of an image pair acquired in the related technology is not ideal enough.

In order to solve the technical problem, the present application is implemented as follows:

in a first aspect, an embodiment of the present application provides a shooting assistance apparatus, including: a drive assembly; the holder assembly is connected with the driving assembly; the first mounting part and the second mounting part are arranged on the holder component; when the driving assembly drives the holder assembly to move along the target direction, the holder assembly can drive the first mounting part and the second mounting part to move along the target direction; the first installation part is used for fixing the first image acquisition device, and the second installation part is used for fixing the second image acquisition device; and the alignment mechanism is connected with the second mounting part and is used for adjusting the specific position of the second mounting part so as to align the optical center of the second image acquisition device with the optical center of the first image acquisition device.

In a second aspect, an embodiment of the present application provides a calibration method for image pair acquisition, which is applied to the shooting assistance device according to the first aspect of the present invention, and the method includes: acquiring a calibration image of a calibration object at a target position through a first image acquisition device, wherein the first image acquisition device is fixed on a first installation part on the shooting auxiliary equipment; the driving assembly on the shooting auxiliary equipment drives the holder assembly to move along the target direction and drives the first installation part and the second installation part to move along the target direction so as to move the second installation part to the target position; the specific position of the second installation part is adjusted through an alignment mechanism in the shooting auxiliary equipment, so that the image of the calibration object in the lens of the second image acquisition device is superposed with the calibration image; the second image acquisition device is fixed on the second mounting part.

In a third aspect, an embodiment of the present application provides an electronic device, where the electronic device includes a processor, a memory, and a program or an instruction stored on the memory and executable on the processor, and when the program or the instruction is executed by the processor, the steps of the calibration method for image pair acquisition according to the second aspect of the present application are implemented.

In a fourth aspect, the present application provides a readable storage medium, on which a program or instructions are stored, which when executed by a processor, implement the steps of the calibration method for image pair acquisition according to the second aspect of the present application.

The shooting auxiliary assembly that this application embodiment provided includes drive assembly, cloud platform subassembly, first installation department, second installation department and alignment mechanism. Because drive assembly and cloud platform subassembly interconnect, consequently drive assembly can drive cloud platform subassembly and remove to drive first installation department and the removal of second installation department that sets up on cloud platform subassembly from this. As such, in one aspect, the pan and tilt head assembly is capable of adjusting the relative position between the first and second mounting portions. On the other hand, the alignment mechanism is connected with the second installation part, and the relative position of the second installation part and the first installation part can be adjusted through the alignment mechanism, so that the alignment mechanism can finely adjust the image acquisition device again through the specific position of the second installation part after the second installation part is moved. Therefore, the shooting auxiliary equipment of the embodiment of the application can enable the image acquisition device to accurately acquire the image pair.

Further, the first mounting part and the second mounting part of the shooting auxiliary equipment can be used for mounting the first image acquisition device and the second image acquisition device respectively. Therefore, after the first image acquisition device finishes image acquisition, the holder assembly can move the first image acquisition device away from the image acquisition position and move the second image acquisition device to the image acquisition position. Therefore, the shooting auxiliary equipment provided by the embodiment of the application can improve the image acquisition efficiency of the first image acquisition device and the second image acquisition device, and can acquire image pairs quickly and efficiently.

Further, in this application embodiment, when drive assembly drive cloud platform subassembly moved along the target direction, the cloud platform subassembly drove first installation department and second installation department and moved along the target direction. In other words, the moving direction of the first mounting part and the second mounting part and the moving direction of the holder assembly can be kept consistent under the driving action of the driving assembly. Therefore, the driving assembly can conveniently drive the holder assembly, so that the holder assembly drives the first installation part and the second installation part to rapidly change the position, and the purpose of efficiently acquiring the image pair is further achieved.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic perspective view of a shooting assistance device provided in an embodiment of the present application;

fig. 2 is a schematic perspective view of a moving mechanism according to an embodiment of the present disclosure;

fig. 3 is a second schematic perspective view of a moving mechanism according to an embodiment of the present application;

FIG. 4 is a schematic perspective view of an alignment mechanism provided in an embodiment of the present application;

fig. 5 is a second schematic perspective view of an alignment mechanism according to an embodiment of the present application;

FIG. 6 is a flowchart illustrating steps of a method for calibrating an image acquisition provided by an embodiment of the present application;

FIG. 7 is a schematic diagram of a calibration object and a calibration board used in the calibration method for image acquisition according to the embodiment of the present application;

fig. 8 is a schematic composition diagram of an electronic device provided in an embodiment of the present application.

Reference numerals are as follows:

an electronic device: 10, a processor: 20, a memory: 30, calibration plate: 40, calibration object: 50, an image acquisition device: 100, a shooting assistance apparatus: 200, a moving mechanism: 300, a driving assembly: 310, a motor: 312, power take-off shaft: 314, coupling flange: 316, a pan-tilt assembly: 320, a lead screw: 322, the transmission part: 324, a connection platform: 326, mounting a nut: 327, guide shaft:328, connecting plate: 329, first mounting part: 330, height adjusting assembly: 332, a first clamp: 334, second mounting part: 340, a supporting mechanism: 350, a support plate: 352, support: 354, a distance measuring mechanism: 360, display screen: 362, alignment mechanism: 400, a first adjustment assembly: 410, a first slider: 412, a first knob: 414, second adjustment assembly: 420, second slider: 422, a second knob: 424, third adjustment assembly: 430, a first connector: 432, third knob: 434, a fourth adjustment assembly: 440, a fifth adjustment assembly: 450, a support mechanism: 500, the first image acquisition device: 800, the second image acquisition device: 900, first direction: x, a second direction: y, third direction: z, target direction: d, a first plane: p _A And a second plane: p _B 。

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The features of the terms first and second in the description and in the claims of the present application may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality" means two or more unless otherwise specified. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/", and generally means that the former and latter related objects are in an "or" relationship.

In the description of the present application, it is to be understood that the terms "vertical", "horizontal", "vertical", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present application.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

The following describes the auxiliary imaging device 200, the calibration method for image pair acquisition, and the electronic device 10 provided in the embodiment of the present application with reference to fig. 1 to 8.

With the rapid development of computer technology, virtual scene construction technology is widely applied in many fields such as animation production, game development and the like. In order to establish a virtual scene model with high reality degree and good visual experience, developers need to adopt a one-to-one image pair to train the virtual scene model.

Generally, the one-to-one image pair is obtained mainly in the following two ways: one is to acquire a one-to-one image pair by a degenerate generation method. The advantage of the degenerate generation method is that a large amount of training sets can be generated quickly, and the disadvantage is that it is difficult to simulate a real scene. Especially, the degradation in complex scenes (for example, the degradation of data under the screen) includes not only the blurring processing and the noise processing, but also the influence of the screen on the imaging of the camera needs to be considered. The way in which the degradation is generated is complicated. The other is to acquire a one-to-one image pair in a real scene. The acquisition of a one-to-one image pair in a real scene needs to be carried out at the same position in the same scene by adopting two different image acquisition devices, and the image acquisition is carried out successively. The image acquisition results obtained by two different image acquisition devices form a one-to-one image pair. The virtual scene model is trained by adopting the one-to-one image pair collected in the real scene, which is beneficial to improving the precision and visual effect of the virtual scene model. In particular, in application scenes in which Image quality enhancement needs to be performed, such as face enhancement, image Signal Processing (ISP), dim light brightening Processing, defogging Processing, and denoising Processing, a one-to-one Image pair has a particularly significant effect in training a virtual scene model. However, although the method of acquiring a one-to-one image pair in a real scene can solve the disadvantages of the degradation generation method, the one-to-one image pair in a real scene is difficult to acquire, and is time-consuming and labor-consuming. The reason for this is that: the optical centers of two or more image acquisition devices for acquiring one-to-one image are difficult to be aligned accurately, resulting in differences in perspective relation of the acquired images, and in order to correct the differences, time-consuming and labor-consuming post-processing of the image acquisition results is required.

In order to accurately and efficiently acquire a one-to-one image pair in a real scene, as shown in fig. 1 and 2, an embodiment of the present application provides a shooting assistance apparatus 200 for supporting an image acquisition device, where the shooting assistance apparatus 200 includes: the drive assembly 310, the pan and tilt head assembly 320 connected with the drive assembly 310, and the first installation part 330 and the second installation part 340 arranged on the pan and tilt head assembly 320. When the driving assembly 310 drives the holder assembly 320 to move along the target direction, the holder assembly 320 can drive the first mounting portion 330 and the second mounting portion 340 to move along the target direction. The first mounting portion 330 is used for fixing the first image capturing device 800, and the second mounting portion 340 is used for fixing the second image capturing device 900. The alignment mechanism 400 is connected to the second mounting part 340 for adjusting the specific position of the second mounting part 340 so that the optical center of the second image capturing device 900 is aligned with the optical center of the first image capturing device 800.

Optionally, in this embodiment of the present application, the number of the image capturing devices may be at least two, and for example, the number of the image capturing devices in this embodiment of the present application may be two, and the number of the image capturing devices may be the first image capturing device 800 and the second image capturing device 900 respectively. Wherein the first image capturing apparatus 800 and the second image capturing apparatus 900 may be the same type of image capturing apparatus. Such as: the first image capturing device 800 and the second image capturing device 900 may both be smart phones. The first image capturing device 800 and the second image capturing device 900 may also be different types of image capturing devices. Such as: the first image capturing device 800 may be a single lens reflex camera, and the second image capturing device 900 may be a smart phone having a camera function; alternatively, the first image capturing device 800 may be a smart phone having a camera function, and the second image capturing device 900 may be a digital camera. The first image capturing device 800 and the second image capturing device 900 may also be two image capturing devices with different performance parameters or function settings, such as: the first image acquisition device 800 and the second image acquisition device 900 are single lens reflex cameras, but the resolutions of the two are different; or, the first image capturing device 800 and the second image capturing device 900 are smartphones having a camera function, but the exposure levels of the two devices are different.

In this embodiment, the shooting assistance device 200 may be used to support and fix the first image device 800 and the second image capturing device 900. Among them, the photographing assistant device 200 may include a moving mechanism 300 and an alignment mechanism 400. The moving mechanism 300 specifically includes a driving assembly 310, a pan-tilt assembly 320 connected to the driving assembly 310, and a first mounting portion 330 and a second mounting portion 340 disposed on the pan-tilt assembly 320. The moving mechanism 300 can control the first image capturing device 800 and the second image capturing device 900 to move so as to move the first image capturing device 800 away from the image capturing position after the first image capturing device 800 completes image capturing, and move the second image capturing device 900 to the image capturing position. The alignment mechanism 400 can adjust the relative positions of the first image capturing device 800 and the second image capturing device 900 by adjusting the relative positions of the second mounting portion 340 and the first mounting portion 330 after the second image capturing device 900 moves to the image capturing position, so that the optical center position of the second image capturing device 900 during image capturing and the optical center position of the first image capturing device 800 during image capturing are aligned.

When the first image capturing device 800 and the second image capturing device 900 capture images, the alignment of the optical centers may be understood as follows: the position of the optical center of the first image capturing device 800 when capturing an image coincides with the position of the optical center of the second image capturing device 900 when capturing an image. In other words, the transmission relationship of the real scene acquired by the first image acquisition device 800 when acquiring the image is consistent with the transmission relationship of the real scene acquired by the second image acquisition device 900 when acquiring the image.

Alternatively, in the embodiment of the present application, as shown in fig. 2 and fig. 3, the driving assembly 310 may specifically include a motor 312, and a power output shaft 314 connected to the motor 312. The power output shaft 314 and the pan/tilt head assembly 320 may be directly connected or indirectly connected through a connecting member, such as a coupling flange 316, so that the driving assembly 310 can drive the pan/tilt head assembly 320 to move. The motor 312 may be connected to an external power source, a controller, and a driver. The first and second mounting

portions

330 and 340 may move with the pan and tilt head assembly 320 as it moves. The first mounting portion 330 may be used to mount the first image capturing device 800 and the second mounting portion 340 may be used to mount the second image capturing device 900. In this way, the positions of the first image capturing device 800 mounted on the first mounting portion 330 and the second image capturing device 900 mounted on the second mounting portion 340 can be changed along with the movement of the pan/tilt head assembly 320.

In the embodiment of the present application, the driving assembly 310 may control the pan/tilt head assembly 320 to move along the target direction D as shown in fig. 2 and 3. Wherein the target direction D may be a linear direction. As shown in fig. 2 and 3, in the case where the target direction D is a linear direction, the movement of the pan/tilt assembly 320 along the target direction D includes the forward movement of the pan/tilt assembly 320 along the target direction D, or the backward movement of the pan/tilt assembly 320 along the target direction D, or the reciprocating movement of the pan/tilt assembly 320 along the target direction D.

In the embodiment of the present application, when performing one-to-one image acquisition in a real scene, the first image acquisition device 800 mounted on the first mounting portion 330 may be first placed at an image acquisition position, so as to perform image acquisition by using the first image acquisition device 800. After the first image capturing device 800 completes the image capturing operation, the driving assembly 310 drives the pan/tilt head assembly 320 to move along the target direction D. The pan/tilt head assembly 320 drives the first installation part 330 and the second installation part 340 to move along the target direction D when moving along the target direction D. Thereby, the first mounting part 330 and the first image capture device 800 mounted on the first mounting part 330 are moved away from the image capture position, and the second mounting part 340 and the second image capture device 900 mounted on the second mounting part 340 are moved to the image capture position. Furthermore, the alignment mechanism 400 can adjust the relative positions of the second mount portion 340 and the first mount portion 330, so that the perspective relationship of the lens of the second image capturing device 900 is consistent with the perspective relationship of the lens of the first image capturing device 800 when capturing images. After the above alignment and preparation processes are completed, the second image capturing apparatus 900 may start an image capturing operation.

With the above embodiment, the moving mechanism 300 can move the first image capturing device 800 mounted on the first mounting portion 330 away from the image capturing position and move the second image capturing device 900 mounted on the second mounting portion 340 to the image capturing position after the first image capturing device 800 mounted on the first mounting portion 330 completes the image capturing operation. On this basis, in order to ensure the accuracy of the one-to-one image pair obtained in the real scene, in the embodiment of the present application, before the second image acquisition device 900 starts to acquire an image, the alignment mechanism 400 may first perform fine adjustment on the position of the second image acquisition device 900, so as to adjust the optical center of the second image acquisition device 900 to the position where the optical center of the first image acquisition device 800 is located when the first image acquisition device 800 performs image acquisition, so that the perspective relationship of the image acquired by the second image acquisition device 900 may be consistent with the perspective relationship of the image acquired by the first image acquisition device 800, and the accuracy of the one-to-one image pair of the image may be ensured.

Specifically, since the first and second mounting

portions

330 and 340 are respectively disposed on the head assembly 320, when the driving assembly 310 controls the movement of the head assembly 320 in the target direction, both the first and second mounting

portions

330 and 340 can be moved in the target direction so that their respective positions are changed. In the above process, the difference between the size and the configuration of the first image capturing device 800 and the second image capturing device 900, the error in the structure and the stroke control thereof, the stability of the installation environment thereof, and the vibration generated during the operation thereof may cause the difference between the optical center position of the second image capturing device 900 after being moved to the image capturing position and the optical center position of the first image capturing device 800 at the image capturing position. In other words, after the first and second mounting

portions

330 and 340 are moved to the image capturing positions, the perspective relationship of the real scene captured by the second image capturing device 900 when moved to the image capturing positions may not be consistent with or deviate from the perspective relationship of the real scene captured by the first image capturing device 800 when moved to the image capturing positions. Therefore, in order to ensure the accuracy of the one-to-one image pair acquired in the real scene, the embodiment of the present application provides the alignment mechanism 400 in the shooting assistance apparatus 200. Since the alignment mechanism 400 is connected to the second mounting portion 340, the alignment mechanism 400 can control the second mounting portion 340 to move or rotate, and thereby adjust the relative position between the second mounting portion 340 and the first mounting portion 330, so as to ensure that the perspective relationship of the real scene acquired by the second image capturing device 900 after moving to the image capturing position is consistent with the perspective relationship of the real scene acquired by the first image capturing device 800 at the image capturing position.

In summary, in the embodiment of the present application, the positions of the first image capturing device 800 and the second image capturing device 900 can be switched or adjusted by the moving mechanism 300, and after the positions of the first image capturing device 800 and the second image capturing device 900 are switched or adjusted, the optical centers of the first image capturing device 800 and the second image capturing device 900 are kept consistent when capturing images by the alignment mechanism 400. Therefore, the shooting assistance device 200 according to the embodiment of the present application can obtain a one-to-one image pair with a high accuracy in a real scene, so as to ensure that the real degree and the visual experience of the virtual scene model are improved, and reduce the time cost and the labor cost for performing post-processing on the one-to-one image pair.

In addition, the moving mechanism 300 according to the embodiment of the present application can quickly and efficiently switch or adjust the positions of the first image capturing device 800 and the second image capturing device 900, can efficiently capture images of real scenes in a changing state, and is particularly suitable for application scenes in which the capturing objects are in a changing state, such as facial expression capturing, human motion capturing, and the like.

Finally, in the embodiment of the present application, the auxiliary photographing apparatus 200 drives the holder assembly 320 to move along the target direction D through the driving assembly 310, and the holder assembly 320 drives the first mounting portion 330 and the second mounting portion 340 to move along the target direction D when moving along the target direction D. Since the first and second mounting

portions

330 and 340 each perform a position change by moving in the target direction D, a vertical distance between the first mounting portion 330 and the photographic subject may be maintained constant during the position switching of the first mounting portion 330, and a vertical distance between the second mounting portion 340 and the photographic subject may be maintained constant during the position switching of the second mounting portion 340. Therefore, by driving the first and

second installation parts

330 and 340 to move along the target direction D, so as to implement the photographing auxiliary device 200 in which the positions of the first and second

image capturing devices

800 and 900 are changed, the position deviation of the first and second

image capturing devices

800 and 900 generated during the movement process can be effectively reduced, and the image capturing efficiency of the first and second

image capturing devices

800 and 900 is made higher.

Optionally, in this embodiment of the application, as shown in fig. 2 and 3, the pan/tilt head assembly 320 may include: a lead screw 322, a transmission 324, and a connection platform 326. The lead screw 322 is coupled to the drive assembly 310. The transmission member 324 is threadedly coupled to the lead screw 322. The connecting platform 326 is connected to the transmission member 324. The first and second mounting

portions

330 and 340 are disposed on the connection platform 326.

Specifically, the lead screw 322 is coupled to the power take-off shaft 314 of the drive assembly 310 via a coupling flange 316. The transmission member 324 may be a ball nut disposed through the screw 322. The first mounting portion 330 and the alignment mechanism 400 are disposed at opposite ends of the attachment platform 326, respectively. The second mounting portion 340 is disposed on the alignment mechanism 400.

The motor 312 of the driving assembly 310 drives the power output shaft 314 to rotate after being started, and the power output shaft 314 drives the lead screw 322 to rotate. Since the transmission member 324 is threadedly coupled to the lead screw 322, the lead screw 322 can rotate to push the transmission member 324 to move along the target direction D (i.e., the axial direction of the lead screw 322). Since the connecting platform 326 is connected to the transmission member 324, the connecting platform 326 can move along the target direction D along with the transmission member 324. Because the first mounting portion 330 and the second mounting portion 340 are disposed on the connecting platform 326, when the connecting platform 326 of the holder assembly 320 moves along the target direction D, the first mounting portion 330 and the second mounting portion 340 can be driven to move along the target direction D. In the above embodiment, the driving assembly 310 and the holder assembly 320 having the ball screw structure drive the first mounting portion 330 and the second mounting portion 340 to move along the target direction D, so as to switch the positions of the first mounting portion 330 and the second mounting portion 340 quickly and accurately.

Alternatively, in the present embodiment, as shown in fig. 2 and 3, the attachment platform 326 may be provided with one or more mounting nuts 327, and the mounting nuts 327 may couple one or more attachment plates 329 to the attachment platform 326. The first and second mounting

portions

330 and 340 may be provided on one or more of the connection plates 329.

Optionally, in this embodiment of the application, as shown in fig. 2 and fig. 3, the holder assembly 320 further includes: and a guide shaft 328. The guide shaft 328 is disposed alongside the lead screw 322 and slidably coupled to the coupling platform 326.

The guide shaft 328 is arranged side by side with the lead screw 322, which means that the arrangement direction (i.e. axial direction) of the guide shaft 328 and the arrangement direction (i.e. axial direction) of the lead screw 322 are substantially parallel. It is understood that the substantial parallelism includes absolute parallelism in a strict sense, and also includes non-absolute parallelism within a reasonable error range in actual implementation. The guiding shaft 328 is slidably connected to the connecting platform 326, that is, the guiding shaft 328 is movably connected to the connecting platform 326, and the connecting platform 326 can slide along the guiding shaft 328. For example, the sliding connection between the guiding axle 328 and the connecting platform 326 can be achieved by providing a sliding groove on the guiding axle 328 and a sliding way on the connecting platform 326. For another example, the guide shaft 328 may be slidably coupled to the connecting platform 326 by providing a through hole in the connecting platform 326 and extending the guide shaft 328 through the through hole.

It is understood that there may be one or more guide shafts 328. In the case where the guide shafts 328 are plural, the guide shafts 328 may be disposed side by side and slidably coupled to the connection platform 326, respectively.

The guide shaft 328 serves to guide the sliding direction of the connection platform 326, so as to ensure that the connection platform 326 can move along the target direction D. For example, the axial direction of the guide shaft 328 may be substantially parallel to the target direction D, so that the connecting platform 326 can move along the target direction D under the action of the driving assembly 310. It is understood that the substantial parallelism includes absolute parallelism in a strict sense, and also includes non-absolute parallelism within a reasonable error range in actual implementation.

Optionally, in this embodiment, as shown in fig. 2 and fig. 3, the auxiliary shooting device 200 further includes: a support mechanism 350. The pan/tilt head assembly 320 is disposed on the supporting mechanism 350, and the driving assembly 310 is connected to the supporting mechanism 350.

Among other things, support mechanism 350 may include a support plate 352 and a pedestal 354. The support plate 352 is a support plate having a flat plate-like structure. The holder 354 is coupled to the supporting plate 352 and is disposed at a lateral position of the supporting plate 352. Support mechanism 350 may be used to support pan and tilt head assembly 320 to ensure that pan and tilt head assembly 320 is able to move smoothly. The driving assembly 310 is connected to the supporting mechanism 350, so that the supporting mechanism 350 can support and fix the driving assembly 310 to reduce the vibration of the driving assembly 310 in the operating state, thereby further ensuring the stable movement of the pan/tilt head assembly 320.

Optionally, in this embodiment of the application, as shown in fig. 2 and fig. 3, the shooting assistance apparatus 200 further includes: and the distance measuring mechanism 360, the distance measuring mechanism 360 is used for measuring the moving distance of the holder assembly 320 when the holder assembly 320 moves along the target direction D.

It is understood that, in the embodiment of the present application, the measuring of the distance moved by the pan/tilt head assembly 320 by the distance measuring mechanism 360 may include directly measuring the distance moved by the pan/tilt head assembly 320, and may also include indirectly measuring the distance moved by the pan/tilt head assembly 320 by measuring and converting or calculating the operating parameters of the driving assembly 310 or the relevant components in the pan/tilt head assembly 320.

Illustratively, since the distance that the motor 312 drives the connecting platform 326 to move by rotating one turn is fixed when the motor 312 of the driving assembly 310 rotates, the distance measuring mechanism 360 can measure the distance that the pan/tilt head assembly 320 moves by measuring or recording the number of turns of the motor 312.

Optionally, in this embodiment of the application, the distance measuring mechanism 360 may include a display screen 362, and the display screen 362 may display a measurement result of the distance measuring mechanism 360, so that an operator may read a moving distance of the pan/tilt head assembly 320 in time, and may adjust or control the position of the pan/tilt head assembly 320 in real time according to the moving distance of the pan/tilt head assembly 320.

Alternatively, in the embodiment of the present application, as shown in fig. 4 and 5, the first mounting portion 330 includes: a height adjustment assembly 332 and a first clamp 334. Height adjustment assembly 332 is disposed on pan/tilt head assembly 320. The first clamp 334 is connected to the height adjustment assembly 332.

Specifically, the height adjustment assembly 332 is disposed on the connection platform 326 of the pan and tilt assembly 320. The first clamp 334 is disposed on the height adjustment assembly 332. The height adjusting assembly 332 is configured to adjust the height of the first clamp 334, and the first clamp 334 is used for clamping the first image capturing device 800. The height adjusting assembly 332 and the first clamp 334 which are matched with each other not only can be used for stably connecting and fixing the first image acquisition device 800, but also can be used for conveniently adjusting the installation height of the first image acquisition device 800 so as to quickly adjust the image acquisition height of the first image acquisition device 800.

Alternatively, in the embodiment of the present application, as shown in fig. 4 and 5, the alignment mechanism 400 may include, connected to the second mounting portion 340: a first adjustment assembly 410, a second adjustment assembly 420, and a third adjustment assembly 430. The first adjustment assembly 410 is used for adjusting the second mounting portion 340 to move along a first direction (referred to as a first direction X). The second adjustment assembly 420 is used for adjusting the second mounting portion 340 to move along a second direction (referred to as a second direction Y). The third adjustment assembly 430 is used for adjusting the second mounting portion 340 to move along a third direction (referred to as a third direction Z).

Optionally, the first direction X, the second direction Y, and the third direction Z are perpendicular to each other, that is, the first direction X and the second direction Y are perpendicular to each other, and the third direction Z is perpendicular to the first direction X and the second direction Y, respectively. It is understood that the vertical includes absolute vertical in a strict sense, and also includes non-absolute vertical within a reasonable error range in actual implementation.

Optionally, in this embodiment of the application, the target direction D may be the same as the first direction X, and may also be the same as the second direction Y.

In the embodiment of the present application, the first adjusting assembly 410, the second adjusting assembly 420 and the third adjusting assembly 430 may be respectively used to adjust the position of the second mounting portion 340 in different directions. For example, the first direction X and the second direction Y are parallel to a horizontal plane and perpendicular to each other, and the third direction Z is perpendicular to the horizontal plane. Thus, the first, second, and

third adjustment assemblies

410, 420, and 430 can flexibly adjust the position of the second mounting part 340 in a three-dimensional planar orthogonal coordinate system to change the relative position between the first and second mounting

parts

330 and 340 in any direction.

Optionally, in the embodiment of the present application, as shown in fig. 4 and 5, the alignment mechanism 400 further includes a fourth adjustment assembly 440 connected to the second mounting portion 340. The fourth adjustment assembly 440 is used to adjust the second mounting portion 340 along the first plane P _A And (4) rotating. Wherein the first plane P _A Parallel to both the first direction X and the second direction Y.

It will be appreciated that the fourth adjustment assembly 440 can adjust the second mounting portion 340 along the first plane P _A In a clockwise direction or in a counter-clockwise direction.

In the embodiment of the present application, the fourth adjustment assembly 440 can control the second mounting portion 340 along the first plane P _A Rotate and areAnd a first plane P _A Parallel to both the first direction X and the second direction Y, the fourth adjusting assembly 440 can change the relative position between the first mounting portion 330 and the second mounting portion 340, especially the relative angle between the first mounting portion 330 and the second mounting portion 340 (for example, adjust the second mounting portion 340 to rotate along the direction parallel to the horizontal plane), so as to further ensure that the optical center positions of the first image capturing device 800 mounted on the first mounting portion 330 and the second image capturing device 900 mounted on the second mounting portion 340 are consistent when capturing images.

Optionally, in the embodiment of the present application, as shown in fig. 4 and 5, the alignment mechanism 400 further includes a fifth adjustment assembly 450 connected to the second mounting portion 340. The fifth adjustment assembly 450 is used to adjust the second mounting portion 340 along the second plane P _B And (4) rotating. Wherein the second plane P _B Parallel to the third direction Z.

It will be appreciated that the fifth adjustment assembly 450 can adjust the second mounting portion 340 along the second plane P _B Either in a clockwise direction or in a counter-clockwise direction.

In the embodiment of the present application, the fifth adjusting assembly 450 can control the second mounting portion 340 along the second plane P _B Rotate and the second plane P _B Parallel to the third direction Z, the fifth adjusting assembly 450 can change the relative position between the first mounting portion 330 and the second mounting portion 340, especially the relative angle between the first mounting portion 330 and the second mounting portion 340 (for example, adjust the second mounting portion 340 to be turned in the direction perpendicular to the horizontal plane), so as to further ensure that the optical center positions of the first image capturing device 800 mounted on the first mounting portion 330 and the second image capturing device 900 mounted on the second mounting portion 340 are consistent when capturing images.

It should be noted that the first adjusting assembly 410, the second adjusting assembly 420, the third adjusting assembly 430, the fourth adjusting assembly 440 and the fifth adjusting assembly 450 may be adjusted and controlled manually by an operator, or may be adjusted and controlled mechanically by a device such as a stepping motor. The method can be determined according to actual use requirements, and the embodiment of the application is not limited.

Alternatively, in the embodiment of the present application, as shown in fig. 4 and 5, the first adjusting assembly 410 may include: a first slider 412 and a first knob 414. The first slider 412 is connected with the pan/tilt head assembly 320 in a sliding manner and is connected with the second mounting portion 340. The first knob 414 is used for adjusting the first slider 412 to slide along the first direction X relative to the pan and tilt head assembly 320.

Specifically, the first slider 412 may be disposed on the pan/tilt head assembly 320 and slidably connected to the pan/tilt head assembly 320 through a first slide rail (not shown) arranged along the first direction X. The second mounting portion 340 is provided on the first slider 412. The second mounting portion 340 may be directly connected to the first slider 412 or indirectly connected to the first slider 412. The first knob 414 is connected to the first sliding block 412, and can adjust the first sliding block 412 to slide along the first direction X on the first sliding rail relative to the pan/tilt head assembly 320. In addition, in order to support the first knob 414, the embodiment of the present application is further provided with a first knob bracket (not shown in the figure) on the pan/tilt head assembly 320. The first knob 414 extends through and is rotatable within the first knob bracket. An operator can make the first sliding block 412 move linearly along the first direction X under the action of the first knob 414 by rotating the first knob 414, so that the first sliding block 412 and the first knob 414 which are matched with each other can smoothly adjust the position of the second mounting part 340 along the first direction X, and the structure is simple and easy to operate and control.

Optionally, in the embodiment of the present application, as shown in fig. 4 and 5, the second adjusting assembly 420 includes: a second slider 422 and a second knob 424. The second slider 422 is slidably coupled to the first slider 412 and coupled to the second mounting portion 340. The second knob 424 is used for adjusting the second slider 422 to slide along the second direction Y relative to the first slider 412.

Specifically, the second slider 422 may be disposed on the first slider 412 and slidably connected to the first slider 412 by a second slide rail (not shown) arranged along the second direction Y. The second mounting portion 340 is directly connected to the second slider 422 and is indirectly connected to the first slider 412 through the second slider 422. The second knob 424 is connected to the second slider 422, and can adjust the second slider 422 to slide on the second slide rail along the second direction Y relative to the first slider 412. In addition, in order to support the second knob 424, the embodiment of the present application further provides a second knob bracket (not shown) on the first slider 412. The second knob 424 extends through and is rotatable within the second knob holder. The operator rotates the second knob 424 to make the second slider 422 move linearly along the second direction Y under the action of the second knob 424. Second slider 422 and first slider 412 mutually support and sliding connection, and first slider 412 can play the spacing effect of support to second slider 422. Accordingly, the second adjustment assembly 420 can smoothly adjust the position of the second mounting part 340 in the second direction Y.

Optionally, in the embodiment of the present application, as shown in fig. 4 and 5, the third adjusting assembly 430 may include: a first connector 432 and a third knob 434. The first connecting member 432 is connected to the second mounting portion 340 and the second slider 422, respectively. The third knob 434 is used for adjusting the sliding of the second mounting portion 340 relative to the first connecting member 432 along the third direction Z.

The first connecting member 432 may be a fixing block. The third knob 434 extends into the first link 432 and is rotatably coupled to the first link 432. Therefore, the third knob 434 can rotate in the first connecting member 432 to drive the second mounting portion 340 to move along the third direction Z, so as to change the relative positions of the first mounting portion 330 and the second mounting portion 340 along the third direction Z. Since the first connecting member 432 is connected to the second sliding block 422 and the second sliding block 422 is connected to the first sliding block 412, the first adjusting assembly 410 can support the second adjusting assembly 420 and the third adjusting assembly 430 to ensure that the alignment mechanism 400 smoothly controls the movement of the second mounting part 340 and accurately adjusts the position of the second mounting part 340.

Alternatively, in the embodiment of the present application, as shown in fig. 4 and 5, when the first image capturing device 800 mounted on the first mounting portion 330 captures an image, the optical center thereof is substantially parallel to the first direction X, and the lens thereof faces the image capturing scene. When the first image capturing device 800 captures an image, the optical center of the second image capturing device 900 mounted on the second mounting portion 340 is also substantially parallel to the first direction X, and the lens thereof faces the image capturing scene. The first image capturing device 800 and the second image capturing device 900 are substantially parallel and are disposed at opposite ends of the pan/tilt head assembly 320, respectively. When the driving assembly 310 controls the pan/tilt head assembly 320 to move along the target direction, the pan/tilt head assembly 320 can drive the first image capturing device 800 mounted on the first mounting portion 330 and the second image capturing device 900 mounted on the second mounting portion 340 to move along the target direction. When the first image capturing device 800 finishes capturing an image and the second image capturing device 900 moves to the image capturing position where the first image capturing device 800 is originally placed, an operator can manually or mechanically control the alignment mechanism 400 to adjust the relative positions of the second mounting portion 340 and the first mounting portion 330, so that the optical center of the second image capturing device 900 at the image capturing position is consistent with the optical center of the first image capturing device 800 at the image capturing position. It is understood that the substantial parallelism includes absolute parallelism in a strict sense, and also includes non-absolute parallelism within a reasonable error range in actual implementation.

Optionally, in this embodiment of the application, as shown in fig. 1, the shooting assistance device 200 may further include: a bracket mechanism 500. The support mechanism 500 is coupled to the pan and tilt assembly 320 and is configured to support the pan and tilt assembly 320 and the alignment mechanism 400.

The support mechanism 500 may specifically include a tripod and an adjusting base (not shown). The adjustment seat is disposed below the pan/tilt assembly 320 and is connected to the pan/tilt assembly 320. The tripod is arranged below the adjusting seat and is rotatably connected with the adjusting seat through a component such as a rotating shaft. When the adjusting seat rotates relative to the tripod, the adjusting seat can drive the moving mechanism to rotate so as to change the image acquisition angle of the image acquisition device.

As shown in fig. 6, an embodiment of the present application further provides a calibration method for image acquisition, and the positioning method may be applied to the shooting assistance device 200 according to any of the embodiments described above in the present application. The positioning method may include the following S101 to S103:

s101, a calibration image of a calibration object is collected at a target position through a first image collecting device.

Wherein, first image acquisition device is fixed in the first installation department on the shooting auxiliary assembly.

S102, driving the holder assembly to move along the target direction through a driving assembly on the shooting auxiliary device, and driving the first installation portion and the second installation portion to move along the target direction so as to move the second installation portion to the target position.

And S103, adjusting the specific position of the second installation part through an alignment mechanism in the shooting auxiliary equipment so as to enable the image of the calibration object in the lens of the second image acquisition device to be superposed with the calibration image.

Wherein, the second image acquisition device is fixed in the second installation department.

Optionally, in this embodiment of the application, the calibration object is a laser beam, and the calibration image is an image of an irradiation position of the laser beam in a lens of the first image acquisition device.

Optionally, in this embodiment of the application, as shown in fig. 7, the calibration objects are the calibration object 50 and the calibration plate 40, and the calibration image is an image of a specific position of the calibration object 50 on the calibration plate 40 in the lens of the first image capturing device.

Optionally, in this embodiment of the application, after the image of the calibration object in the lens of the second image capturing device is overlapped with the calibration image, the method further includes: by means of the shooting assistance device, a target image pair is acquired for the target object. The target image pair comprises a first image and a second image, the first image is an image of a target object acquired by the first image acquisition device when the first installation part is at the target position, and the second image is an image of the target object acquired by the second image acquisition device when the second installation part is at the target position.

In this embodiment, in order to align the optical center of the second image capturing device and the optical center of the first image capturing device, the electronic device may first select a calibration image. And then, the electronic equipment finds the calibration image of the calibration object under the lens of the first image acquisition device by utilizing the perspective relation. Then, the electronic device drives the holder assembly to move in the target direction by using the driving assembly, so that the first image acquisition device is displaced, and the second image acquisition device is moved to the image acquisition position originally occupied by the first image acquisition device. Furthermore, after the driving assembly is shut down, the electronic device adjusts the optical center position of the second image capturing device through the alignment mechanism in the shooting auxiliary device, so that the image of the calibration object in the lens of the second image capturing device coincides with the calibration image. After the alignment mechanism is adjusted, the image capturing apparatus 100 may be controlled by a component such as a motor to achieve fast and fully automatic one-to-one image pair acquisition. In addition, after the one-to-one image pairs are obtained, the one-to-one image pairs may be further processed in software by using a Scale-invariant feature transform (SIFT) algorithm, so as to further improve the accuracy of the one-to-one image pairs, so as to ensure that perspective relations of the images obtained by the first image acquisition device and the second image acquisition device in the one-to-one image pairs are consistent.

As shown in fig. 8, the electronic device 10 may include a processor 20, a memory 30, and a program or an instruction stored in the memory 30 and executable on the processor 20, where when the program or the instruction is executed by the processor 20, the steps of the calibration method for image acquisition according to any one of the embodiments of the present application may be implemented, and the same technical effects may be achieved, and are not described herein again to avoid repetition.

It should be noted that the electronic devices in the embodiments of the present application may include mobile electronic devices and non-mobile electronic devices. By way of example, the mobile electronic device may be a mobile terminal device, such as a mobile phone, a tablet computer, a notebook computer, a palmtop computer, a vehicle-mounted electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, a Personal Digital Assistant (PDA), or the like, and the non-mobile electronic device may be a non-mobile terminal device, such as a server, a Network Attached Storage (NAS), a Personal Computer (PC), or the like, and the embodiments of the present application are not limited in particular.

The embodiments of the present application further provide a readable storage medium, on which a program or an instruction is stored, and when the program or the instruction is executed by a processor, the steps of the calibration method for image pair acquisition according to any of the above embodiments of the present application may be implemented.

The processor described herein may be a processor in the electronic device described in the above embodiments. The readable storage medium described herein may include a computer-readable storage medium, such as a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and so on.

The embodiment of the present application further provides a chip, where the chip may include a processor and a communication interface, the communication interface is coupled to the processor, and the processor may be configured to run a program or an instruction to implement each process of the above image acquisition calibration method embodiment, and the same technical effect may be achieved, and is not described here again to avoid repetition.

It is to be understood that the chips provided in the embodiments of the present application may also be referred to as a system-on-chip, or a system-on-chip. The method can be determined according to actual use requirements, and the embodiment of the application is not limited.

In the description of the present specification, reference to the description of "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims

1. A shooting assistance apparatus characterized by comprising:

a drive assembly;

the holder assembly is connected with the driving assembly;

the first mounting part and the second mounting part are arranged on the holder assembly;

when the driving assembly drives the holder assembly to move along a target direction, the holder assembly can drive the first mounting part and the second mounting part to move along the target direction; the first installation part is used for fixing a first image acquisition device, and the second installation part is used for fixing a second image acquisition device;

and the alignment mechanism is connected with the second installation part and used for adjusting the specific position of the second installation part so as to align the optical center of the second image acquisition device when image acquisition is carried out with the optical center of the first image acquisition device when image acquisition is carried out.

2. The shooting assistance apparatus according to claim 1, wherein the pan-tilt assembly includes:

the lead screw is connected with the driving component;

the transmission part is in threaded connection with the lead screw;

the connection platform, with the driving medium is connected, first installation department with the second installation department set up in on the connection platform.

3. The shooting assistance apparatus according to claim 2, wherein the pan-tilt assembly further comprises:

and the guide shaft is arranged side by side with the lead screw and is in sliding connection with the connecting platform.

4. The shooting assistance apparatus according to claim 1, characterized by further comprising:

and the distance measuring mechanism is used for measuring the moving distance of the holder component when the holder component moves along the target direction.

5. The shooting assistance apparatus according to claim 1, wherein the first mounting portion includes:

the height adjusting assembly is arranged on the holder assembly;

a first clamp connected with the height adjustment assembly.

6. The shooting assistance apparatus according to any one of claims 1 to 5, wherein the alignment mechanism includes, connected to the second mounting portion:

the first adjusting component is used for adjusting the second mounting part to move along a first direction;

the second adjusting component is used for adjusting the second mounting part to move along a second direction;

and the third adjusting component is used for adjusting the second mounting part to move along a third direction.

7. The shooting assistance apparatus according to claim 6, wherein the alignment mechanism further comprises, connected to the second mounting portion:

the fourth adjusting component is used for adjusting the second mounting part to rotate along the first plane; and/or

And the fifth adjusting component is used for adjusting the second mounting part to rotate along a second plane.

8. The shooting assistance apparatus according to claim 6, wherein the first adjustment assembly includes:

the first sliding block is connected with the holder assembly in a sliding manner and is connected with the second installation part;

and the first knob is used for adjusting the first sliding block to slide along the first direction relative to the holder assembly.

9. The photographic auxiliary device of claim 8, wherein the second adjustment assembly comprises:

the second sliding block is connected with the first sliding block in a sliding mode and is connected with the second installation part;

and the second knob is used for adjusting the second sliding block to slide along the second direction relative to the first sliding block.

10. The shooting assistance apparatus according to claim 9, wherein the third adjustment assembly includes:

the first connecting piece is connected with the second mounting part and the second sliding block respectively;

and the third knob is used for adjusting the second mounting part to slide along the third direction relative to the first connecting piece.

11. A calibration method for image acquisition, the method being applied to the auxiliary shooting device as claimed in any one of claims 1 to 10, the method comprising:

acquiring a calibration image of a calibration object at a target position through a first image acquisition device, wherein the first image acquisition device is fixed on a first installation part on the shooting auxiliary equipment;

the driving assembly on the shooting auxiliary equipment drives the holder assembly to move along a target direction and drives the first installation part and the second installation part to move along the target direction so as to move the second installation part to the target position;

the specific position of the second installation part is adjusted through an alignment mechanism in the shooting auxiliary equipment, so that the image of the calibration object in the lens of the second image acquisition device is superposed with the calibration image; the second image acquisition device is fixed on the second installation part.

12. The method of claim 11,

the calibration object is a laser beam, and the calibration image is an image of the laser beam irradiation position in the lens of the first image acquisition device; or the like, or, alternatively,

the calibration object comprises a calibration object and a calibration plate, and the calibration image is an image of the calibration object at a specific position on the calibration plate in the lens of the first image acquisition device.

13. A method for calibrating image acquisition according to claim 11, wherein after the image of the calibration object is overlapped with the calibration image in the lens of the second image acquisition device, the method further comprises:

acquiring a target image pair for a target object through the shooting auxiliary equipment;

the target image pair comprises a first image and a second image, the first image is the image of the target object acquired by the first image acquisition device when the first installation part is at the target position, and the second image is the image of the target object acquired by the second image acquisition device when the second installation part is at the target position.

14. An electronic device, comprising a processor, a memory and a program stored on the memory and executable on the processor, the program, when executed by the processor, implementing the steps of the method of calibration of image pair acquisition as claimed in any one of claims 11 to 13.

15. A readable storage medium, characterized in that it stores thereon a program which, when being executed by a processor, carries out the steps of the method of calibration of an image pair acquisition according to any one of claims 11 to 13.