CN207218846U - Circulating type mixes light field imaging device - Google Patents
Circulating type mixes light field imaging device Download PDFInfo
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- CN207218846U CN207218846U CN201720482301.1U CN201720482301U CN207218846U CN 207218846 U CN207218846 U CN 207218846U CN 201720482301 U CN201720482301 U CN 201720482301U CN 207218846 U CN207218846 U CN 207218846U
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Abstract
The utility model provides a kind of circulating type mixing light field imaging device, including turntable, also include light-field camera, traditional camera and controller, the light-field camera is arranged on the turntable, the traditional camera is arranged in the rotation, and the controller is connected with the light-field camera, the traditional camera and the turntable respectively.The utility model solves the deficiency of panoramic imaging apparatus, has the characteristics that high-resolution imaging, low distortion, visual angle continuously adjustabe, cost are cheap.
Description
Technical field
The application is related to image taking and process field, more particularly to a kind of circulating type mixing light field imaging device.
Background technology
Three-dimensional panorama imaging technique is the market focus newly broken out in recent years, especially in VR/AR, somatic sensation television game, social activity etc.
Field has great market prospects.At present, has there are some panoramic imaging apparatus in the market, as facebook produces
Surround360 is made up of 17 cameras, the disk surrounded including 14 wide-angle cameras, also has one flake in top
Camera and the camera of bottom 2, equipped with network software, highest can shoot 8K pixel videos；What Samsung produced
Project Beyond appear like a flying saucer.16 cameras are arranged on " flying saucer " surrounding in a ring, and each two is responsible for
Shooting in 45 degree of angular regions.Camera center is a powerful processor/memory array, and it can be handled from 16 simultaneously
The image information of camera, and they are spliced into real-time 360 degree of panoramic videos --- certainly, you can also press shutter,
Shoot photo.Above-mentioned panoramic imaging apparatus two is built into a set of spheroid camera array using more than ten of traditional camera and gathers 360 °
Panorama, but exist and demarcate the shortcomings of difficult between with high costs, synchronous difficulty height, camera.The KeyMission360 that Nikon produces
Centered on camera, about 360 ° of video capabilitys are shot from all angles simultaneously.Catch the user positive visual field, and their nothings
The scene that method is seen；Insta360Nano is straight panel moulding, is designed using front and rear twin-lens, every camera lens is all ultra-wide angle
210 °, 360 ° of X360 ° of picture/videos are shot by front and rear two ultra-wide angle fish eye lenses, then spliced in real time, 3K can be shot
The panoramic video of resolution ratio (3040X1520).Both the above camera combines 360 ° of scenes of collection back-to-back using twin-lens, still
The shortcomings of sample rate is low, and image deformation is serious be present.
Publication No. CN205453890U utility application discloses a kind of line and sweeps camera panoramic imaging device,
Including housing；Motor, in housing；One end has the support of fixed camera, and the other end has balance weight；Transmission
Axle, fixed by drive bearing and housing, the part between the family and balance weight of a shaft end and the rotation platform bathroom is fixed；Pass
Moving gear group, it is installed on housing and the motor shaft of transmission motor and the power transmission shaft；Central processing unit, it is installed on housing
It is interior, handle and rotated by the picture signal and control motor of camera output.The shortcomings that patent, is to sweep phase using line
Machine has to use external light source, can not be imaged, it is necessary to which extra supplement light source just can be to make under conditions of natural light
It is very restricted in.
Publication No. CN105959665A application for a patent for invention discloses a kind of panorama 3D for virtual reality device
Video generation method.This method includes：With wide angle camera array photographed scene video and by stitching algorithm generation panoramic video；
With the depth map and process stitching algorithm generation panorama depth map video of depth camera array photographed scene.By detecting people in real time
Head position, video of the image as left view point of relevant position is cut in panoramic video frame；According to the image of left view point
Virtual view synthetic technology extrapolation is based on corresponding depth map and generates right visual point image, and this two images is spliced into left and right 3D and regarded
Frequently, shown in virtual reality device.This method needs two groups of capture apparatus of wide angle camera array and depth camera array, in reality
The uniformity of equipment is difficult to ensure that during applying.The registration problem of panoramic video and panorama deep video can also limit final number
According to quality.
The content of the invention
In order to solve the above problems, the utility model proposes a kind of circulating type optical field imaging device, take revolving
Design, usage time exchange space for reconcile the contradiction of equipment complexity and image quality, compared to above-mentioned virtual reality data
Acquisition modes have relatively low cost and higher image quality, and the output of above-mentioned virtual reality data acquisition modes is panorama
Figure.
Concrete technical scheme of the present utility model is as follows：
The utility model proposes a kind of circulating type to mix light field imaging device, including turntable,
Also include light-field camera, traditional camera and controller；
The light-field camera is arranged on the turntable；
The traditional camera is arranged on the turntable；
The controller is connected with the light-field camera, the traditional camera and the turntable respectively.
Preferably, the turntable includes a plane and a tumbler.
In such scheme preferably, the tumbler drives the Plane Rotation.
In such scheme preferably, the tumbler is that motor, hand crank and other driving platforms rotate
At least one of device.
In such scheme preferably, the angle of the rotation is 360 ° of horizontal circle.
In such scheme preferably, by the rotary speed for adjusting plane described in the speed setting of the motor.
In such scheme preferably, the light-field camera and the traditional camera are fixed on the rotation with special angle
On turntable.
In such scheme preferably, the light-field camera and the traditional camera are in same level.
In such scheme preferably, the camera lens of the light-field camera and the traditional camera is outside.
In such scheme preferably, the light-field camera gathered data forms the image of multiple depth sections.
In such scheme preferably, the image that the light-field camera collects is low-resolution image.
In such scheme preferably, the image of the multiple depth section refers to the square first chance micro lens arrays
Multiple images of continuous visual angle change can be obtained, using square deep technical, the estimation of scene high accuracy depth can be obtained.
In such scheme preferably, the traditional camera gathers high-definition picture.
In such scheme preferably, the controller is used to control starting to rotate, stopping the rotation for the turntable
With adjustment at least one of rotating speed.
In such scheme preferably, the controller is additionally operable to while the turntable rotates, described in startup
Light-field camera and traditional camera are shot.
In such scheme preferably, the controller is additionally operable to while the turntable stops the rotation, and is stopped
The shooting of the light-field camera and traditional camera.
The utility model uses the depth capability of means combination light-field camera and the high-resolution of traditional camera of parameter calibration
Rate image, can obtain the scene 3-D view of high quality, and scene 3-D view has higher data for panorama sketch
Dimension and bigger information content, the higher free degree can be provided to subsequent applications.
Brief description of the drawings
Fig. 1 is the structure chart for the preferred embodiment that light field imaging device is mixed according to circulating type of the present utility model.
Fig. 2 is that one built according to the outer bat device of circulating type of the present utility model mixing light field imaging device is preferable to carry out
The schematic diagram of example.
Fig. 3 is that the collection for the embodiment illustrated in fig. 2 for mixing light field imaging device according to circulating type of the present utility model is illustrated
Figure.
Fig. 4 is that one built according to the interior bat device of circulating type of the present utility model mixing light field imaging device is preferable to carry out
The schematic diagram of example.
Fig. 5 is the imaging method stream for the preferred embodiment that light field imaging device is mixed according to circulating type of the present utility model
Cheng Tu.
Fig. 5 a are that the light field for the embodiment as shown in Figure 5 for mixing light field imaging device according to the circulating type of utility model is schemed in vain
As figure.
Fig. 5 b are that the lenticule for the embodiment as shown in Figure 5 for mixing light field imaging device according to the circulating type of utility model reflects
Penetrate graph of a relation.
Fig. 5 c are the light-field camera for the embodiment as shown in Figure 5 that light field imaging device is mixed according to the circulating type of utility model
Shoot scaling board figure.
Fig. 5 d are the traditional camera for the embodiment as shown in Figure 5 that light field imaging device is mixed according to the circulating type of utility model
Shoot scaling board figure.
Fig. 5 e are that the outer parameter for the embodiment as shown in Figure 5 for mixing light field imaging device according to the circulating type of utility model is sat
Sign is intended to.
Embodiment
Embodiment 1
As shown in Figure 1.Circulating type mixing light field imaging device has controller 100, light-field camera 110, turntable 120 and passed
System camera 130 forms.Light-field camera 110 and traditional camera 130 are placed in the both ends of turntable 120, in same level with
Fixed angle is installed.Slewing is installed in turntable 120, can be motor, hand crank or other can make rotation
The equipment that turntable rotates, can be with 360 ° of rotations.Controller 100 is used for startup and stopping, the light field phase for controlling turntable 120 to rotate
The shooting of machine 110 and traditional camera 130.
The rotating speed of turntable 120 is selected using controller 100, and demarcates the shooting of light-field camera 110 and traditional camera 130
Parameter.Controller 100 starts the slewing in turntable 120, and turntable 120 is begun spinning up, when turntable 120 reaches
When the rotary speed and stabilized speed of setting, light-field camera 110 and traditional camera 130 start to shoot photo.When photograph taking reaches
To after the quantity of setting, light-field camera 110 and traditional camera 130 stop shooting photo, and turntable 120 reduces speed now, Zhi Daoting
Spin-ended turn.
Controller 100 can be a control device, may also be desktop computer, portable computer and other can be with defeated
Go out the smart machine of control.Light-field camera 110 can be other any a light-field cameras for selling on the market either voluntarily
The light-field camera of composition is rented plus particular component using traditional camera, the plane of turntable 120 can be circular, square, triangle
The platform of shape, ellipse or polygon, the tumbler of turntable 120 can be motor, hand crank or other can
To drive the equipment that turntable 120 rotates, traditional camera 130 can with other any a film cameras sold on the market or
Person's digital camera.
Embodiment 2
As shown in Fig. 2 label 200 is traditional camera-Sony DSX T77, label 210 is Lytroillum light-field cameras,
Label 220 is circular platform, and label 230 is base, and label 240 is electric rotating machine power line.
Label 200 is traditional camera-Sony DSX T77 and label 210 is that Lytroillum light-field cameras are separately fixed at
Two edges of circular platform 220, the camera lens of two cameras both face towards outside, and the line of two cameras is passed through in platform 220
Heart point, two cameras are laid relative to central point, and two Angle between two cameras are 180 °.Being laid in base 230 can be with
The motor of 360 ° of rotations, band moving platform 220 are rotated.
Horizontal plane of two cameras along platform circle 220 is rotatable, synchronous acquisition during rotation, and collection field range is level
Around 360 °.Camera system inside and outside parameter is controllable.Label 200 is traditional camera-Sony DSX T77 and label 210 is
Lytroillum light-field cameras can obtain camera inside and outside parameter by being demarcated between camera, and the rotation stepping of turntable is controllable,
Therefore the mapping relations that can be established between shooting image and world coordinate system.Three-dimensional scenic depth can obtain in field depth.Light
Field camera micro lens arrays can obtain multiple images of continuous visual angle change, using light field depth acquiring technology, must can show up
Scape high accuracy depth is estimated.360 ° of undistorted splicings of panorama light field image.Utilize 360 ° of high-density samplings of light-field camera horizontal plane
Section, by relatively outer parameter, the relevance of light field data calculates and distortion correction, realizes 360 ° of light field image splicings.Imaging
HD image renders in the visual field.Pass through light-field camera image and traditional camera image co-registration, the resolution of single-view composograph
Rate is more than 5,000,000 pixels.Total focus in visual field.By light field refocusing and total focus technology, different depth in the visual field
Scene whole blur-free imaging.Small yardstick visual angle continuous variable.Visual angle change scope is 360 ° of horizontal plane, and visual angle change stepping is at 1 °
Within, ensure that the field of view of adjacent view is covered in more than 20%.
As shown in figure 3, light-field camera and traditional camera gather 360 ° of scenes respectively.At same visual angle, light-field camera collection
Data form the low-resolution image of multiple depth sections, and traditional camera collects a high-definition picture.Pass through light field figure
The processing such as the fusion of the high-definition picture of picture and traditional images, 360 ° of Panorama Mosaics, distortion correction, white balances, forms 3D
The total focus imaging of scene.
Label 200 be traditional camera-Sony DSX T77 can with other any a film cameras sold on the market or
Person's digital camera substitutes, Lytroillum light-field cameras 210 can with other any a light-field cameras sold on the market or
The light-field camera that person voluntarily rents composition using traditional camera plus particular component replaces, the shape of platform 220 can with it is square, three
Angular, oval or polygon platform replaces, and the equipment that driving platform 220 rotates can be motor, hand crank etc.
Rotatable equipment.
Embodiment 3
As shown in figure 4, label 300 is traditional camera Sony DSX T77, label 310 is unchangable traditions camera Sony DSX
T77 device, label 320 are Lytroillum light-field cameras, and the label of label 330 is fixed Lytroillum light-field cameras
Device, label 340 is platform for placing object, and label 350 is the device for fixed platform, and label 360 is rotation
Platform, label 370 are turntable base, and label 380 is dell desktop computers.
Demarcate that label 300 is traditional camera Sony DSX T77 and label 320 is Lytroillum light fields on computers
Object is placed on object platform by the systematic parameter (including quantity of taking pictures, photo opporunity, speed of taking pictures, time for exposure etc.) of camera
On 340, the motor in turntable base 370 is started working, and drives turntable 360 to start to rotate, label 300 is traditional camera rope
Buddhist nun DSX T77 and label 320 are that Lytroillum light-field cameras start as 360 rotations are jumped in rotation, while are taken pictures.Work as photograph
After the quantity of piece reaches requirement, label 300 is traditional camera Sony DSX T77 and label 320 is Lytroillum light-field cameras
Stopping is taken pictures, and the motor in turntable base 370 reduces speed now, and the velocity of rotation of turntable 360 is slack-off, until stopping.Use
It is Lytroillum light-field cameras that dell desktop computers 380, which connect traditional camera Sony DSX T77 and label 320, downloads and claps
The photograph taken the photograph, and photograph is entered with the software of band in the circulating type mixing light field imaging system in dell desktop computers 380
Row processing, generate the 3-D view for the article that is taken.
Embodiment 4
As shown in figure 5, performing step 400 carries out parameter calibration.Parameter calibration includes general camera parameter calibration, light field phase
Machine parameter calibration and camera relative to turntable demarcation.
1st, general camera parameter calibration
Simplify general camera using national forest park in Xiaokeng, parameter has a, u, v, k1, k2, represents camera focus (pixel respectively
Unit), camera optical axis coordinate in the picture and radial distortion parameter.Model is demarcated using Zhang Shi standardizations.Tool
Body four steps of process point, the first step shoot the scaling board image under different postures, and second step extracts the angle point of each scaling board image
Information, the 3rd step resolve model parameter initial value using angle point information, and the 4th step obtains Model Parameter Optimization by nonlinear optimization
Value.
2nd, light-field camera parameter calibration
Light-field camera is different from general camera from structure design, and this camera uses light-field camera as acquisition depth map
Instrument, therefore parameter calibration is carried out to light-field camera.
Light-field camera shoots white image calibration lenticule projection centre position
Microlens array in light-field camera carries out secondary imaging to main lens, and the areas imaging of each lenticule does not weigh mutually
Folded, imaging center is different.Need to calculate the areas imaging and imaging center of each lenticule.Detailed process is divided into three
Step：The first step shoots white background using light-field camera or texture-free background obtains the white image of light field as shown in Figure 5 a；Second step
The white image of binary conversion treatment light field, exposing pixels scope are lenticule valid pixel scope；3rd step is found out using template matches
Each projection centre and view field of the lenticule in sensor plane.According to testing result, effective lenticule sum is obtained
M, each lenticule projection centre coordinate (usj,vsj), j=1 ... M and as shown in Figure 5 b middle lenticule mapping relations figure
Light-field camera shooting gridiron pattern demarcation intrinsic parameter
1) intrinsic parameter explanation
Light-field camera idealized model is made up of main lens, microlens array, three parts of sensor.We use 7
Parameter parameterizes the model.A, D, f, cx, cy, k1, k2, wherein
Distance (/pixel, pixel unit) of a microlens arrays to sensor
Distance (/pixel, pixel unit) of the D main lens to microlens array
The coordinate (/pixel, pixel unit) of cx, cy systematic optical axis on a sensor
F main lens focal length (/mm, millimeter unit)
K1, k2 camera distortion coefficient (dimensionless)
In addition, also some parameters
P sensor Pixel Dimensions (pixel/mm, millimeter unit)
usj,vsjLenticule projection centre (/pixel, pixel unit)
2) shooting demarcation source data
Shooting demarcation picture is needed in internal reference calibration process.
We take gridiron pattern to do demarcation thing, there is K angle point on gridiron pattern, and distance is d millimeters between each angle point.
Scaling board is shot under different postures using light-field camera, obtains N light field demarcation source images.
N>3 and camera each posture it is not parallel mutually.
3) processing demarcation source data
Can all there are several picture points on each demarcation source images, we will extract these picture points.
Picpointed coordinate is (xijk,yijk), k-th of X-comers of the coordinate representation are micro- at j-th in i-th of posture
It is (x, y) that point coordinates is imaged under lens.
4) establish equation calculating angle point and take the photograph projective transformation parameter
Each scaling board angle point will be imaged after several lenticules, and only after each lenticule into unique picture, therefore
Equation can be established for each angle point under each posture：
Solve the available coefficient with each corners Matching of the equation
5) equation solver parameter is established.
H is converted to the form more conducively calculated first, transfer equation is as follows：
We are using scaling board plane as world coordinate system, and all angle point Z coordinates are 0.The world coordinate system coordinate of angle point
It is as follows with projective transformation relation between h ' be present
Wherein X '=[X, Y, 1]T, s is any scale factor.Transformation matrix can be represented by equation below：
Pass through X′With h′G is solved, and establishes equation solution
Cx, cy, α can be calculated, then according to following equation, the outer parameter r under each posture can be calculated, t with
And β, γ：
r3=r1×r2
t3=S
Finally, actual parameter D, a, f can be resolved by following equation：
6) nonlinear optimization.
Establish energy function：
energy function:∑ijk||xijk-F(Xk,a,D,f,cx,cy,k1,k2,ri,ti)||
Energy function is minimized so as to intrinsic parameter after being optimized using LM.
As shown in Figure 5 c be light-field camera shooting scaling board figure, as fig 5d be traditional camera shooting scaling board
Figure, traditional camera be it is high-resolution, light-field camera is low resolution and multiple views.
3rd, camera relative to turntable demarcation
As depicted in fig. 5e, there are two class coordinate systems, the first kind is that turntable coordinate system x, y, z, the second class is camera coordinates system
xc,yc,zc, because the relative position of turntable and camera is fixed, therefore turntable coordinate system is relative to the conversion of camera coordinates system
Matrix is fixed., it is necessary to use the coordinate transform between general camera and light-field camera in the data processing and application of subsequent step
The conversion of camera coordinates system before and after relation and turntable rotation.
The anglec of rotation that turntable rotates is converted to the spin matrix of turntable
Turntable accordingly obtains new coordinate system x ', y ', z ', can derived from coordinate system x, y around central shaft anglec of rotation θ,
Z to new coordinate system x ', y ', z ' spin matrix (it is assumed that central shaft is y-axis) is：
Relative to the relation of turntable Conversion Matrix of Coordinate, turntable coordinate system and camera coordinates system turn camera coordinates system
Change matrix [Rc|Tc] do not rotate change, R with turntablecFor three-dimensional rotation matrix, TcFor D translation vector.
Before and after turntable rotation, the derivation of camera coordinates transformation matrix
New camera coordinates system coordinate is x ' after turntable rotationc,yc′,zc', transformation matrix before and after camera coordinates system rotation
For [R 'c|Tc'], [R ' can be derived by turntable spin matrix and turntable camera transition matrixc|Tc′]：
The demarcation mode of coordinate conversion relation
Turntable coordinate system needs to be calibrated to the transition matrix of camera coordinates system.Four steps of detailed process point：The first step makes
Scaling board is shot with the camera assembled, image A is gathered and extracts angle point；Second step controls turntable anglec of rotation θ and calculated
Spin matrix R；3rd step shoots scaling board again, gathers image B and extracts angle point；4th step calculates according to two groups of image angle points
[R′c|Tc'], go out [R further combined with R inversesc|Tc]。
Step 410 is performed, mixing light field imaging device by circulating type obtains image.
1st, given angle shooting is rotated, specified range can be shot
1) given angle can be specified freely
Sampling density is controllable.Photographed data amount size and imaging effect etc. can be balanced.
2) coverage can be specified freely
Sampling density is controllable.Photographed data amount size and imaging effect etc. can be balanced.
3) time for exposure can adjust according to light-metering dynamic
The inconsistent situation of brightness (such as meeting light and backlight) is will appear from panorama environment.Under different azimuth, camera
Time for exposure can do dynamic according to brightness histogram data and adjust.
2nd, the outer parameter calculation of picture group is shot
1) outer parameter declaration
As depicted in fig. 5e, there are two class coordinate systems, the first kind is that turntable coordinate system x, y, z, the second class is camera coordinates system
xc,yc,zc, because the relative position of turntable and camera is fixed, therefore turntable coordinate system is relative to the conversion of camera coordinates system
Matrix is fixed., it is necessary to use the coordinate transform between general camera and light-field camera in the data processing and application of subsequent step
The conversion of camera coordinates system before and after relation and turntable rotation.
Turntable accordingly obtains new coordinate system x ', y ', z ', can derived from coordinate system x, y around central shaft anglec of rotation θ,
Z to new coordinate system x ', y ', z ' spin matrix (it is assumed that central shaft is y-axis) is：
Turntable coordinate system and camera coordinates system transition matrix [Rc|Tc] do not rotate change, R with turntablecFor three-dimensional rotation
Matrix, TcFor D translation vector.
New camera coordinates system coordinate is x after turntable rotationc′,yc', zc', transformation matrix before and after camera coordinates system rotation
For [Rc′|Tc'], [R can be derived by turntable spin matrix and turntable camera transition matrixc′|Tc′]：
2) nominal data is obtained and calculated
Turntable coordinate system needs to be calibrated to the transition matrix of camera coordinates system.
Four steps of detailed process point：
The first step is gathered image A and is extracted angle point using the camera shooting scaling board assembled；
Second step controls turntable anglec of rotation θ and calculates spin matrix Rθ；
3rd step shoots scaling board again, gathers image B and extracts angle point；
4th step calculates [R | T] according to two groups of image angle points；
Based on the camera Intrinsic Matrix K obtained by camera calibration step and light-field camera internal reference matrix Q
Solve below equation
xa=KX, xb=K [R | T] X
xa=QX, xb=Q [R | T] X
The combination of 5th step [R | T] and RθCalculate [Rc|Tc]；
T=Tc-RTc
3rd, the processing of light field picture
1) light field decodes
Light field shoots original image and split by lenticule imaging region.It is partitioned into each lenticule image.
2) the light field time difference matches
Equivalent to micro-camera array inside light-field camera.Parallax, parallax and depth Billy between each lenticule be present
It is related.To any lenticule image, search for its adjacent lenticule image and establish matching relationship.With reference to lenticule center, meter
Calculate the parallax of all matching relationships.It can simplify search procedure (known technology using calibrating parameters result in the utility model
Needing to scan for whole lenticule image, the utility model only needs to scan for a line in lenticule image,
Efficiency uprises)
Light field depth resolves
(1) depth calculation explanation
Regard the principle of imaging more based on light-field camera microarray, corresponding depth map can be calculated by light field source images.If
Put meet national forest park in Xiaokeng and with the depth map of light-field camera calibrating parameters.The depth map is filled by calculating, and exports this
Image array.
(2) depth map parameter setting
By demarcation, light-field camera parameter is obtained：
a,D,cx,cy,f,p,k1,k2
Setting depth map size is consistent with light field source images, and corresponding aperture parameter model is：
Focal length f/p, optical axis center cx, cy, distortion parameter k1, k2
(3) parallax-depth map
Travel through each coordinate (x, y) on depth map D
Travel through depth value d, d ∈ [da,db]
The relevant lenticule sequence number of D (x, y) institutes is calculated, obtains lenticule sequence number set m
Set m is traveled through, calculates coordinate (x under the corresponding lenticule image of depth map coordinate (x, y)j,yj)：
Adaptation function R (x, y, d, m) is calculated, I (x, y) represents light field source images (x, y) place's brightness
The minimum depth value d of adaptation function is selected as (x, y) point depth
D=argminR (x, y, d, m)
D (x, y)=d
(4) global optimization
Algorithm is cut using figure to optimize the depth map D obtained by previous step.Specifically energy function form is：
energy function:ΣdataD+ΣsmoothD
Wherein, data item is R (x, y, d, m), smooth item ∑smoothD is：
4th, the relevance of light field data and general data
According to above step, we will obtain RGB image I, light field depth map D, and respective parameter (or equivalent ginseng
Number)
It is easy to calculate both mapping relations according to parameter.
Travel through RGB image I all pixels I (x, y)
Calculate (x, y) to light field depth map D on to polar curve l, it is known that in the case of two camera parameters calculate to polar curve
It is known technology.
Scanned on to polar curve l, obtain most matching the depth D (x ', y ') of parallax
5th, data tissue stores
After above-mentioned steps are handled, we will obtain pan-shot two dimensional image within the vision, depth map, and
Outer parameter.This kind of data group is woven to panorama source data by the utility model.One panorama source data packet contains general camera and light
The internal reference nominal data and n group source image datas of field camera, every group of source image data include the depth map Jing Guo alignment processing
And common figure and corresponding outer parameter.
Step 420 is performed, the image got is merged.
1st, the selection of split-join model
Selection object module is column model, and model uses polar coordinate representation.
2nd, source data (image, depth map) maps
1) calculating of source data (image, depth map) mapping relations
According to the inside and outside parameter of every group of image of source data, the mapping matrix that the plane of delineation is mapped to column perspective plane is calculated.
2) source data (image, depth map) mapping process
According to mapping matrix, mapping range of the every group of source images on object module is calculated.Travel through target mapping range meter
Source images coordinate (generally this coordinate is not integer, i.e., can not be corresponded with source image pixels) is calculated, according to sampling
Rate requires that extraction source image coordinate area pixel value assigns object module pixel.
3) object model data is handled
Splicing seams are adjacent to carry out Gauss desalt processing.
Multiple source images overlappings, depth unanimously use average value, and depth is inconsistent to use depth as shallow pixel.With Poisson
Integration technology handles the inconsistent situation of illumination.
Step 430 is performed, the image got is rendered.
1st, target new viewpoint model is given
Selection object module is pin-point model (meeting human eye perspective), and (focal length, image are big for the intrinsic parameter of given new viewpoint
It is small), outer parameter (rotation translation matrix).
2nd, the calculating of related set of source data
1) calculating of source data mapping relations
According to the inside and outside parameter of every group of image of source data, the mapping matrix of new viewpoint is mapped to.Additionally since new viewpoint
Limited view, in order to reduce amount of calculation, exclude source images of the mapping range not in new viewpoint
2) source data mapping process
3) object model data is handled
Step 440 is performed, generates image.
In order to more fully understand the utility model, it is described in detail above in association with specific embodiment of the utility model,
But it is not to limitation of the present utility model.Every foundation the technical essence of the utility model is to made for any of the above embodiments any
Simple modification, still fall within the scope of technical solutions of the utility model.What each embodiment stressed in this specification is
With the difference of other embodiments, same or analogous part cross-reference between each embodiment.It is real for system
For applying example, because it is substantially corresponding with embodiment of the method, so description is fairly simple, related part is referring to embodiment of the method
Part explanation.
Method and system of the present utility model may be achieved in many ways.For example, software, hardware, firmware can be passed through
Or any combinations of software, hardware, firmware realize method and system of the present utility model.The step of for methods described
Said sequence is not limited to order described in detail above merely to illustrate, the step of method of the present utility model, unless
Otherwise illustrate.In addition, in certain embodiments, the utility model can be also embodied as to record in the recording medium
Program, these programs include being used to realize according to the machine readable instructions of method of the present utility model.Thus, the utility model
Also covering storage is used for the recording medium for performing the program according to method of the present utility model.
Description of the present utility model provides for the sake of example and description, and is not exhaustively or by originally
Utility model is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.
Selection and description embodiment are to more preferably illustrate principle and practical application of the present utility model, and make the common skill of this area
Art personnel it will be appreciated that the utility model so as to designing the various embodiments with various modifications suitable for special-purpose.
Claims (16)
1. a kind of circulating type mixes light field imaging device, including turntable, it is characterised in that：
Also include light-field camera, traditional camera and controller；
The light-field camera is arranged on the turntable；
The traditional camera is arranged in the rotation；
The controller is connected with the light-field camera, the traditional camera and the turntable respectively.
2. circulating type as claimed in claim 1 mixes light field imaging device, it is characterised in that：The turntable, which includes one, puts down
Face and a tumbler.
3. circulating type as claimed in claim 2 mixes light field imaging device, it is characterised in that：Described in the tumbler drives
Plane Rotation.
4. circulating type as claimed in claim 3 mixes light field imaging device, it is characterised in that：The tumbler is electronic
At least one of device that machine, hand crank and other driving platforms rotate.
5. circulating type as claimed in claim 4 mixes light field imaging device, it is characterised in that：The angle of the rotation is level
Around 360 °.
6. circulating type as claimed in claim 5 mixes light field imaging device, it is characterised in that：By adjusting the motor
The rotary speed of plane described in speed setting.
7. circulating type as claimed in claim 1 mixes light field imaging device, it is characterised in that：The light-field camera and the biography
System camera is fixed on the turntable with special angle.
8. circulating type as claimed in claim 7 mixes light field imaging device, it is characterised in that：The light-field camera and the biography
Camera unite in same level.
9. circulating type as claimed in claim 7 mixes light field imaging device, it is characterised in that：The light-field camera and the biography
The camera lens of system camera is outside.
10. circulating type as claimed in claim 1 mixes light field imaging device, it is characterised in that：The light-field camera gathers number
According to the image for forming multiple depth sections.
11. circulating type as claimed in claim 10 mixes light field imaging device, it is characterised in that：The light-field camera collects
Image be low-resolution image.
12. circulating type as claimed in claim 10 mixes light field imaging device, it is characterised in that：The multiple depth section
Image refers to that the micro lens arrays of the light-field camera can obtain multiple images of continuous visual angle change, utilizes light field depth skill
Art, the estimation of scene high accuracy depth can be obtained.
13. circulating type as claimed in claim 1 mixes light field imaging device, it is characterised in that：The traditional camera collection is high
Image in different resolution.
14. circulating type as claimed in claim 1 mixes light field imaging device, it is characterised in that：The controller is used to control
The turntable starts to rotate, stops the rotation and adjust at least one of rotating speed.
15. circulating type as claimed in claim 14 mixes light field imaging device, it is characterised in that：The controller is additionally operable to
While the turntable rotation, start the light-field camera and traditional camera is shot.
16. circulating type as claimed in claim 15 mixes light field imaging device, it is characterised in that：The controller is additionally operable to
While the turntable stops the rotation, stop the shooting of the light-field camera and traditional camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720482301.1U CN207218846U (en) | 2017-05-03 | 2017-05-03 | Circulating type mixes light field imaging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720482301.1U CN207218846U (en) | 2017-05-03 | 2017-05-03 | Circulating type mixes light field imaging device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207218846U true CN207218846U (en) | 2018-04-10 |
Family
ID=61809676
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720482301.1U Expired - Fee Related CN207218846U (en) | 2017-05-03 | 2017-05-03 | Circulating type mixes light field imaging device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207218846U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109379579A (en) * | 2018-11-20 | 2019-02-22 | 四川长虹电器股份有限公司 | A kind of processing method of the real-time acquisition true three-dimensional data of light field |
| CN110209001A (en) * | 2019-06-04 | 2019-09-06 | 上海亦我信息技术有限公司 | A kind of three-legged support and camera shooting gesture recognition method for 3D modeling |
| CN113645462A (en) * | 2021-08-06 | 2021-11-12 | 深圳臻像科技有限公司 | Conversion method and device of 3D light field |
| FR3130060A1 (en) * | 2021-12-07 | 2023-06-09 | Safran | method and device for characterizing distortions in a plenoptic camera |
| US12124153B2 (en) | 2019-06-04 | 2024-10-22 | Shanghai Yiwo Information Technology Co., Ltd. | Tripod for 3D modeling and method for determining camera capture parameters |
-
2017
- 2017-05-03 CN CN201720482301.1U patent/CN207218846U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109379579A (en) * | 2018-11-20 | 2019-02-22 | 四川长虹电器股份有限公司 | A kind of processing method of the real-time acquisition true three-dimensional data of light field |
| CN110209001A (en) * | 2019-06-04 | 2019-09-06 | 上海亦我信息技术有限公司 | A kind of three-legged support and camera shooting gesture recognition method for 3D modeling |
| WO2020244464A1 (en) * | 2019-06-04 | 2020-12-10 | 上海亦我信息技术有限公司 | Tripod stand used for 3d modeling and camera image capture posture recognition method |
| US12124153B2 (en) | 2019-06-04 | 2024-10-22 | Shanghai Yiwo Information Technology Co., Ltd. | Tripod for 3D modeling and method for determining camera capture parameters |
| CN113645462A (en) * | 2021-08-06 | 2021-11-12 | 深圳臻像科技有限公司 | Conversion method and device of 3D light field |
| CN113645462B (en) * | 2021-08-06 | 2024-01-16 | 深圳臻像科技有限公司 | Conversion method and device for 3D light field |
| FR3130060A1 (en) * | 2021-12-07 | 2023-06-09 | Safran | method and device for characterizing distortions in a plenoptic camera |
| WO2023105164A1 (en) * | 2021-12-07 | 2023-06-15 | Safran | Method and device for characterising distortions in a plenoptic camera |
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Granted publication date: 20180410 |