JP2021034820A - Imaging apparatus for photogrammetry, display device, molding device, and molding material set - Google Patents

Abstract

To provide an imaging apparatus for a photogrammetry or the like, capable of achieving a reduction in photographing time while appropriately performing a continuous photographing.SOLUTION: An imaging apparatus 1 for a photogrammetry continuously photographing an object performing a continuous operation by synthesizing a plurality of imaging devices provided at a plurality of different view points. A plurality of imaging devices 10 includes: a plurality of imaging parts 21 for photographing the object; a plurality of storage parts 22 storing each image data obtained by photographing the object by the plurality of imaging parts 21 so as to be synchronized; and a plurality of signal output parts 23 outputting each completion signal for each image data when the storage of each image data in a previous operation of the object is completed to the plurality of storage parts 22, respectively. The plurality of imaging devices 10 performs photographing in a post operation of the object on the basis of a completion signal of the signal output part 23.SELECTED DRAWING: Figure 1

Description

The present invention relates to a photography device for photogrammetry, a display device, a modeling device, and a modeled object set.

Conventionally, a three-dimensional object restoration device that performs camera calibration and three-dimensional restoration of an object from two images obtained by taking a picture including a rigid body and a deformed body while moving two video cameras is known. (See, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2003-14432

By the way, as a method of generating a three-dimensional model of an object, in addition to Patent Document 1, a technique called photogrammetry, in which an object is photographed from a plurality of different viewpoints and a three-dimensional model of the object is generated from the photographed images. There is. In photogrammetry, a photography device for photogrammetry is used, which includes a plurality of cameras for photographing an object from a plurality of different viewpoints. Here, when the object is dynamic, it is necessary to synchronize a plurality of cameras to take pictures in order to generate a three-dimensional model of the object at an arbitrary time point. Further, in order to capture a dynamic time change of an object (that is, a series of movements of the object), it is necessary to synchronize a plurality of cameras to perform continuous shooting. Here, when a plurality of cameras are synchronized and continuously photographed, the captured images obtained by capturing the motion ahead of the object have different image data sizes, so that the images are ready to be photographed in the motion after the object. The time is different. Specifically, the image data of the captured image captured by the camera is stored in the storage unit, but the time until the storage of the image data in the storage unit is completed differs depending on the size of the image data. At this time, it was difficult to recognize that the memory was completed, so when multiple cameras are synchronized for continuous shooting, the image data with the largest amount of data in the shooting of the movement ahead of the object is assumed. It is conceivable to add a predetermined waiting time (margin) to the time until the storage of the image data is completed to perform shooting in the operation after the object. However, by adding a predetermined margin, the time interval between the shooting of the movement before the object and the shooting of the movement after the object becomes long. Therefore, when continuous shooting is performed a predetermined number of times, the shooting time becomes long. In other words, when continuous shooting is performed within a predetermined time, the number of shootings is reduced.

Therefore, an object of the present invention is to provide a synchronous continuous shooting method and a photogrammetry shooting device capable of shortening the shooting time while appropriately performing continuous shooting.

The photographing apparatus for photogrammetry of the present invention is a photographing apparatus for photogrammetry that continuously photographs an object performing a series of operations by synchronizing a plurality of imaging devices provided at a plurality of different viewpoints. The imaging device includes a plurality of imaging units for photographing the object, a plurality of primary storage units for storing each image data of the object synchronizedly photographed by the plurality of imaging units, and a plurality of primary storage units. The primary storage unit has a plurality of signal output units that output a completion signal for each of the image data when the storage of the image data in the previous operation of the object is completed. Based on the completion signal of the signal output unit, the image pickup apparatus of the above performs an image in a subsequent operation of the object.

According to this configuration, when the storage of each image data in the previous operation of the object is completed in the primary storage unit, the completion signal can be output from the signal output unit. Therefore, the completion signal can be used to recognize the completion of storage of the image data in the primary storage unit. As a result, by recognizing the completion signal, it is possible to take a picture of the movement after the object without adding a margin, so that the time between the shooting of the movement ahead of the object and the shooting of the movement after the object is taken. The interval can be shortened.

Further, a control unit to which the completion signal from each of the signal output units of the plurality of image pickup devices is input is further provided, and the control unit includes all the image pickup devices based on the input completion signal. When it is determined that the storage of the image data in the primary storage unit is completed, it is preferable to have a plurality of the imaging devices perform imaging in the operation after the object.

According to this configuration, the control unit determines that all the image data captured by the plurality of imaging devices has been stored in all of the plurality of primary storage units based on the completion signal, and after the object. Since it is possible to execute the shooting in the operation of the above, it is possible to execute the shooting in the later operation based on a simple judgment.

In addition, the image data that captures the previous movement of the object, which is stored in the primary storage unit of the imaging device, is transferred, and the image data that captures the series of movements of the object is stored. The signal output unit further includes a secondary storage unit for the purpose of transferring the image data stored in the storage unit to the secondary storage unit, and then the transferred image data is transferred from the primary storage unit. When erased, it is preferable to output the completion signal.

According to this configuration, the image data stored in the primary storage unit can be transferred to the secondary storage unit for each imaging, so that the storage capacity of the primary storage unit can be reduced and the primary storage unit can be reduced. It is possible to reduce the cost.

The display device of the present invention includes a display unit for displaying the image data stored in the secondary storage unit of the photography device for photogrammetry, and is three-dimensional from the plurality of the image data displayed on the display unit. The image data for modeling the modeled object can be selected.

According to this configuration, it is possible to select image data to be modeled as a three-dimensional model from image data obtained by continuously photographing an object that performs a series of operations.

The modeling apparatus of the present invention generates modeling data for modeling the three-dimensional model from the plurality of image data selected in the display device, and models the three-dimensional model based on the generated modeling data. To do.

According to this configuration, it is possible to model a three-dimensional model of an object that performs a series of operations.

In the modeled object set of the present invention, a plurality of the three-dimensional modeled objects showing the series of operations modeled by the modeling apparatus are arranged side by side.

According to this configuration, by arranging a plurality of three-dimensional objects showing a series of formed operations, it is possible to easily visually grasp the change in the operation of the object.

FIG. 1 is a schematic configuration diagram showing a control system of a photography apparatus for photogrammetry according to the present embodiment. FIG. 2 is an explanatory diagram showing a shooting operation by a plurality of shooting devices. FIG. 3 is an explanatory diagram relating to a photographing operation of the photographing apparatus for photogrammetry. FIG. 4 is a flowchart relating to a synchronous continuous photographing method of a photographing apparatus for photogrammetry. FIG. 5 is a diagram relating to a photography apparatus for photogrammetry and a three-dimensional modeling apparatus. FIG. 6 is a diagram relating to a modeled object set.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the drawings. The present invention is not limited to this embodiment. In addition, the components in the following embodiments include those that can be easily replaced by those skilled in the art, or those that are substantially the same. Further, the components described below can be appropriately combined, and when there are a plurality of embodiments, each embodiment can be combined.

[The present embodiment]
The photography apparatus 1 for photogrammetry according to the present embodiment is an apparatus for photographing an object from a plurality of different viewpoints, and in particular, is an apparatus for continuously photographing an object that changes with time. An object that changes with time is, for example, a pitcher that performs a baseball pitching operation, and is an object that performs a series of operations. The photographed image taken by the photography apparatus 1 for photogrammetry is used to generate a three-dimensional model of an object. The photography apparatus 1 for photogrammetry will be described with reference to FIG.

FIG. 1 is a schematic configuration diagram showing a control system of a photography apparatus for photogrammetry according to the present embodiment. The photogrammetry photographing device 1 includes a plurality of photographing devices (imaging devices) 10, a control device 11, and a display device 12. The photography device 1 for photogrammetry performs continuous shooting by taking a picture of an object performing a series of movements in the movement ahead of the object and taking a picture in the movement after the object. There is.

The plurality of photographing devices 10 are, for example, a plurality of cameras. The camera may be, for example, a camera having a connection terminal such as USB, and is not particularly limited. The photographing device 10 executes imaging by inputting an input trigger, and outputs an output trigger (completion signal) after the imaging is completed.

The photographing device 10 includes an imaging unit 21, a primary storage unit 22, and a signal output unit 23. The image pickup unit 21 is an image pickup element such as an image sensor, and generates image data related to a photographed image of the photographed object. The primary storage unit 22 is, for example, a semiconductor storage device such as a cache memory, and primarily stores the image data generated by the imaging unit 21. When the image data is transferred to the secondary storage unit 26, the primary storage unit 22 erases the stored image data. The signal output unit 23 determines whether or not the storage of the image data in the primary storage unit 22 is completed, and when the primary storage unit 22 determines that the image data is completed, the control device sets an output trigger that becomes a completion signal. Output toward 11.

When the input trigger is input, the photographing device 10 executes imaging by the imaging unit 21, and stores the image data of the captured image generated by the imaging unit 21 in the primary storage unit 22. Further, the photographing device 10 outputs the image data generated by the imaging unit 21 toward the secondary storage unit 26. When the output of the image data to the secondary storage unit 26 is completed, the photographing device 10 erases the image data stored in the primary storage unit 22 and directs the output trigger from the signal output unit 23 to the control device 11. Output and complete the shooting operation.

The control device 11 is electrically connected to the plurality of photographing devices 10. The control device 11 has a control unit 25 and a secondary storage unit 26.

The control unit 25 includes, for example, an integrated circuit such as a CPU (Central Processing Unit). The control unit 25 controls the photographing operation by the photographing apparatus 1 for photogrammetry. Specifically, the control unit 25 controls the shooting operation of the plurality of shooting devices 10 and controls the input / output triggers of the plurality of shooting devices 10.

The secondary storage unit 26 stores image data output from the photographing device 10. The secondary storage unit 26 is an arbitrary storage device such as a semiconductor storage device and a magnetic storage device. Further, the secondary storage unit 26 may include a plurality of types of storage devices. The secondary storage unit 26 is, for example, a non-volatile storage device, which may be a memory card such as a flash memory, or a storage medium such as an SSD or an HDD.

The display device 12 is electrically connected to the control device 11. The display device 12 has a display control unit 31 and a display unit 32.

The display control unit 31 includes, for example, an integrated circuit such as a CPU (Central Processing Unit). The display control unit 31 acquires image data from the secondary storage unit 26 of the control device 11 and causes the display unit 32 to display the acquired image data. The display unit 32 is, for example, a display device such as a liquid crystal display. The display unit 32 may be a display device such as a touch panel capable of performing input operations. The display unit 32 displays various images captured by the photographing device 10 under the display control of the display control unit 31.

FIG. 2 is an explanatory diagram showing a shooting operation by a plurality of shooting devices. When shooting is performed synchronously by the plurality of shooting devices 10, the control unit 25 inputs input triggers to the plurality of shooting devices 10 at the same shooting timing. When input triggers are input to the plurality of photographing devices 10, shooting is performed at a predetermined shooting time, and then image data is saved in the primary storage unit 22 at a predetermined storage time. Here, the predetermined shooting time is the time from executing the imaging by the imaging unit 21 to generating the image data of the captured image by the imaging unit 21. This shooting time is substantially the same time interval between the plurality of shooting devices 10. The predetermined storage time is the time until the generated image data is stored in the primary storage unit 22. This storage time is a different time interval between the plurality of photographing devices 10. This is because the processing related to storage differs depending on the photographing device 10. For example, the image data of the captured image captured by the photographing device 10 may differ between the photographing devices 10, and the larger the amount of image data data, the longer the storage time. Therefore, in the photographing device 10, the timing of the end of photographing is different among the plurality of photographing devices 10. In addition to the amount of image data, the storage time may differ depending on the data transfer speed and the like. In the present embodiment, the photography apparatus 1 for photogrammetry is shown in FIGS. 3 and 4 so that the plurality of photographing devices 10 can perform continuous shooting in synchronization even when the storage times are different. The shooting operation shown is being executed. That is, in the photography device 1 for photogrammetry, in the shooting in the movement ahead of the object, the plurality of shooting devices 10 take pictures in synchronization, and in the shooting in the movement after the object, the plurality of shooting devices 10 take pictures. The shooting operation is executed so that the shooting is performed in synchronization.

FIG. 3 is an explanatory diagram relating to a photographing operation of the photographing apparatus for photogrammetry. FIG. 4 is a flowchart relating to a synchronous continuous photographing method of a photographing apparatus for photogrammetry. The synchronous continuous shooting method of FIGS. 3 and 4 is a method of continuously shooting an object by synchronizing a plurality of shooting devices 10 provided at a plurality of different viewpoints.

In the photogrammetry photographing device 1, first, steps S1, S2, and S3 (photographing steps) of photographing an object by a plurality of photographing devices 10 based on an input trigger are executed. After that, in the photogrammetry photographing device 1, after the object is photographed by the plurality of photographing devices 10, it is determined in step S4 (determination) whether or not the plurality of primary storage units 22 are in a state where the image data can be stored. Step). Then, in the photogrammetry photographing device 1, when it is determined that the plurality of primary storage units 22 are in a state where the image data can be stored, step S1 (output step) of outputting an input trigger to the plurality of photographing devices 10. ) Is being executed. Hereinafter, the photographing operation of the photography apparatus 1 for photogrammetry will be specifically described.

In the photogrammetry photographing device 1, first, the control unit 12 synchronizes and outputs an input trigger toward a plurality of photographing devices 10 (step S1). When an input trigger is input, each of the plurality of photographing devices 10 executes shooting at a predetermined shooting time to generate image data, and at the same time, stores the image data generated at a predetermined storage time in the primary storage unit 22. Saving is executed and the shooting operation is terminated (step S2).

Each of the plurality of photographing devices 10 outputs an output trigger toward the control unit 12 after photographing the object (step S3). Specifically, in step S3, after photographing the object, the signal output unit 23 determines whether or not the storage in the image data is completed in the primary storage unit 22. In step S3, after the signal output unit 23 determines that the image data has been completed in the primary storage unit 22, the image data is transferred from the primary storage unit 22 to the secondary storage unit 26. Then, in step S3, when the transfer of the image data to the secondary storage unit 26 is completed, the image data stored in the primary storage unit 22 is erased. In step S3, when the image data stored in the primary storage unit 22 is erased, the signal output unit 23 outputs an output trigger as a completion signal to the control device 11. At this time, since the storage time in step S2 is different for each of the plurality of photographing devices 10, the timing of the end of photographing is different as shown in FIG. Therefore, in step S3, the timing of the output trigger output from the photographing device 10 to the control unit 12 is different.

The control unit 25 of the control device 11 determines whether or not there is an output trigger input output from all the photographing devices 10 (step S4). In step S4, the control unit 25 makes a determination using, for example, an AND function, and determines whether or not all the output triggers output from the photographing device 10 have been input. Then, the control unit 25 determines whether or not the plurality of primary storage units 22 are in a photographable state in which the image data can be stored, by the determination based on step S4. That is, since the output of the output trigger is performed after the image data is transferred from the primary storage unit 22 to the secondary storage unit 26, the image data is sent to the primary storage unit 22 when the output trigger is input to the control unit 25. It is in a memorable state.

In step S4, the control unit 25 determines that the output triggers are input from all the photographing devices 10 (step S4: Yes), and determines whether or not the photographing is completed (step S5). On the other hand, when the control unit 25 determines in step S4 that the output triggers have not been input from all the photographing devices 10 (step S4: No), until the output triggers are input from all the photographing devices 10. Step S4 is repeatedly executed.

When the control unit 12 determines in step S5 that the shooting is finished (step S5: Yes), the control unit 12 ends the shooting operation by the photogrammetry shooting device 1. On the other hand, when the control unit 12 determines in step S5 that the shooting is not completed (step S5: No), the control unit 12 proceeds to step S1 again and outputs an input trigger to the plurality of shooting devices 10. As a result, in the photography device 1 for photogrammetry, it is possible to take pictures in synchronization with a plurality of shooting devices 10 in the shooting in the movement ahead of the object, and in the shooting in the movement after the object, a plurality of shots are taken. It is possible to shoot in synchronization with the shooting device 10 of the above. The end of shooting in step S5 is, for example, whether the number of times of continuous shooting has reached a predetermined number of times set in advance, or whether the number of times of shooting related to continuous shooting has reached a predetermined time set in advance. Judgment is made based on the above.

Next, with reference to FIGS. 5 and 6, the three-dimensional modeling apparatus 50 and the modeled object set 51 in which the image data photographed by the photographing apparatus 1 for photogrammetry are used will be described. FIG. 5 is a diagram relating to a photography apparatus for photogrammetry and a three-dimensional modeling apparatus. FIG. 6 is a diagram relating to a modeled object set. Here, the image data D photographed by the photogrammetry photographing apparatus 1 is acquired by continuously photographing an object performing a series of operations by a plurality of photographing devices 10 in synchronization with each other. When modeling a three-dimensional model of an object, it is necessary to generate modeling data for modeling the three-dimensional model. For example, in the case of modeling a three-dimensional model of an object that performs a series of motions, modeling data is generated based on a plurality of image data D captured in the motion of the object. To do. Further, when modeling a three-dimensional modeled object of an object to be subjected to a later operation, modeling data is generated based on a plurality of image data D captured in the subsequent operation of the object. At this time, the image data D used is arbitrary image data D selected from a plurality of image data D displayed on the display unit 32 of the display device 12.

As shown in FIG. 5, when the three-dimensional modeling apparatus 50 acquires the image data D from the photography apparatus 1 for photogrammetry, the three-dimensional modeling apparatus 50 generates modeling data for modeling the three-dimensional object from the acquired image data D. Specifically, when the three-dimensional modeling apparatus 50 generates modeling data of an object that performs the previous operation, the three-dimensional modeling device 50 uses a plurality of image data D captured in the previous operation of the object. Further, when the three-dimensional modeling apparatus 50 generates modeling data of an object to be operated later, the three-dimensional modeling apparatus 50 uses a plurality of image data D captured in the operation after the object. Then, the three-dimensional modeling device 50 models the three-dimensional modeled object based on the generated modeling data. The three-dimensional modeling device 50 may be any three-dimensional modeling device. For example, a unit layer is formed by ejecting modeling ink by an inkjet method, and a three-dimensional model is formed by laminating the unit layers. It may be a device for

As shown in FIG. 6, a plurality of three-dimensional objects showing a series of operations formed by the three-dimensional modeling apparatus 50 can be provided as a model set 51 by arranging them side by side. The model set 51 shown in FIG. 6 applies a pitcher that performs a baseball pitching operation as an object that performs a series of operations. The modeled object set 51 is assumed to have changed in chronological order by including the three-dimensional modeled object of the object that performs the earlier operation and the three-dimensional modeled object of the object that performs the later operation. Can be done. In FIG. 6, the modeled object set 51 is a modeled object of a baseball pitching form, but may be, for example, a modeled object of a golf swing form, and is not particularly limited.

As described above, according to the present embodiment, when the storage of the respective image data D in the previous operation of the object is completed in the primary storage unit 22, the signal output unit 23 can output the output trigger. Therefore, the control device 11 can recognize the completion of storage of the image data D in the primary storage unit 22 by the output trigger. As a result, by recognizing the output trigger, the control device 11 can take a picture of the movement after the object without adding a margin. Therefore, the control device 11 can take a picture of the movement ahead of the object and the movement after the object. It is possible to shorten the time interval (shooting interval) with the shooting of.

Further, according to the present embodiment, the control unit 25 determines that all the image data captured by the plurality of photographing devices 10 has been stored in all of the plurality of primary storage units 22 based on the output trigger. Therefore, since it is possible to perform shooting in the subsequent movement of the object, it is possible to perform shooting in the later movement based on a simple judgment.

Further, according to the present embodiment, the image data D stored in the primary storage unit 22 can be transferred to the secondary storage unit 26 for each imaging, so that the storage capacity of the primary storage unit 22 is reduced. This makes it possible to reduce the cost of the primary storage unit 22.

Further, according to the present embodiment, since the image data of the object for modeling the three-dimensional object can be selected on the display device 12, the image data D in which the object for performing a series of operations is continuously photographed can be selected. The image data D to be modeled as a three-dimensional model can be arbitrarily selected.

Further, according to the present embodiment, the three-dimensional modeling device 50 can model a three-dimensional model of an object that performs a series of operations.

Further, according to the present embodiment, since it is possible to provide a modeling set 51 in which a plurality of three-dimensional objects showing a series of shaped operations are arranged, it is possible to easily visually grasp the change in the operation of the object. it can.

In the present embodiment, in step S4, when the output triggers are not input from all the photographing devices 10, the control unit 12 executes step S4 until the output triggers are input from all the photographing devices 10. It is not limited to this configuration. In step S4, the control unit 12 determines whether or not the preset count time has been exceeded when no output trigger is input from all the photographing devices 10, and outputs an error when it is determined that the count time has been exceeded. May be good.

Further, in the present embodiment, the secondary storage unit 26 is provided in the control device 11, but it may be provided in each of the plurality of imaging devices 10. Since the photographing device 10 has the secondary storage unit 26, the transfer speed of the image data D from the primary storage unit 22 to the secondary storage unit 26 can be increased, so that the output trigger can be quickly triggered from the signal output unit 23. It can be output and the shooting interval can be shortened. At this time, the primary storage unit 22 and the secondary storage unit 26 may be configured to be integrated.

1 Photographing device for photogrammetry 10 Photographing device 11 Control device 12 Display device 21 Imaging unit 22 Primary storage unit 23 Signal output unit 25 Control unit 26 Secondary storage unit 31 Display control unit 32 Display unit 50 Three-dimensional modeling device 51 Modeling set

Claims (6)

It is a photography device for photogrammetry that continuously shoots an object performing a series of operations by synchronizing a plurality of image pickup devices provided at a plurality of different viewpoints.
The plurality of the imaging devices
A plurality of imaging units for photographing the object, and
A plurality of primary storage units for storing each image data of the object synchronizedly photographed by the plurality of image pickup units, and a plurality of primary storage units.
Each of the plurality of primary storage units has a plurality of signal output units that output a completion signal for each of the image data when the storage of the image data in the previous operation of the object is completed. ,
The plurality of imaging devices for photography are characterized in that they perform imaging in a subsequent operation of the object based on the completion signal of the signal output unit. A control unit for inputting the completion signal from each of the signal output units of the plurality of image pickup devices is further provided.
When the control unit determines that the storage of the image data in the primary storage unit in all the image pickup devices is completed based on the input completion signal, the control unit determines that the storage of the image data in the primary storage unit is completed, and the plurality of the image pickup devices have the object. The photographing apparatus for photogrammetry according to claim 1, wherein the photographing in a later operation is executed. The image data that captures the previous movement of the object, which is stored in the primary storage unit of the imaging device, is transferred, and the image data that captures the series of movements of the object is stored. Further equipped with the next storage
The signal output unit outputs the completion signal when the transferred image data is erased from the primary storage unit after the image data stored in the storage unit is transferred to the secondary storage unit. The photographing apparatus for photogrammetry according to claim 1 or 2. A display unit for displaying the image data stored in the secondary storage unit of the photography apparatus for photogrammetry according to claim 3 is provided.
A display device capable of selecting the image data for modeling a three-dimensional object from a plurality of the image data displayed on the display unit. A modeling device that generates modeling data for modeling the three-dimensional model from the plurality of image data selected in the display device according to claim 4, and models the three-dimensional model based on the generated modeling data. .. A model set in which a plurality of the three-dimensional objects showing the series of operations modeled by the modeling apparatus according to claim 5 are arranged side by side.

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