JP3609669B2 - Image photographing device for 3D display device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention provides a data source necessary for a virtual reality (VR) device or the like that displays a predetermined object (object) in a three-dimensional (3D) manner on a display such as a computer.For 3D displayThe present invention relates to an image photographing apparatus.
[0002]
[Prior art and problems to be solved by the invention]
Currently, a virtual reality (VR) device that displays a predetermined object (object) in a three-dimensional (3D) manner on a display of a computer or the like is known, and is used for computer graphics, movie animation, and the like. However, in order to display the object in VR using the VR device, as shown in FIG. 15, the camera is panned and tilted around the object, and a plurality of objects can be viewed from various angles. It is necessary to obtain a large amount of image data.
[0003]
Further, this image data needs to be taken at a relatively accurate position, and a total of several hundreds of levels of image data is required. It is not easy to obtain image data for VR display, that is, a data source. Creating data for a device is very expensive. For this reason, there has been a demand for an image capturing apparatus for obtaining a data source for VR display more easily.
[0004]
[Means for Solving the Problems]
To solve the above problems, the present inventionFor 3D displayThe image photographing apparatus includes a horizontal turntable 1 on which an object to be photographed is placed, a table support portion 2 that pivotally supports the turntable 1 in a freely rotatable manner, a camera 3 that photographs the object, Point the camera 3 at the object on the turntable 1On the tip sideSupport arm 4 and camera 3So that the end of the side draws an arc trajectoryArm 4Rotate the base end side ofAn arm support 6 that pivotally supports the table support 2And an actuator 13 for turning the turntable 1 and a mechanism for moving the turntable 1 up and down so that the center line of the lens of the horizontal camera 3 coincides with the vertical center of the object.The arm 4 is swiveled to the arm support 6.LetCamera 3By turning the arm 4Move along the arc trajectory while capturing objects on the turntable 1An actuator 31 is provided, the pan movement angle of the camera 3 with respect to the object is made to coincide with the rotation angle of the turntable 1, and the tilt movement angle of the camera 3 with respect to the object is made to coincide with the rotation angle of the arm 4,The actuators 13 and 31 and the operation control of the camera 3 are controlled.Yes,A controller 9 for storing image data of an image taken by the camera 3 is provided in connection with the actuators 13 and 31 and the camera 3 side.Depending on the rotation angle of the turntable 1 and the arm 4 so that the camera 3 can capture image data for displaying virtual reality of the object or generating polygon data.Controls the operation of the actuators 13, 31, By camera 3A first feature is that an automatic photographing unit is provided for capturing an image of the object and automatically capturing image data.
[0005]
SecondlyThe controller 9 includes a background removal calculation means for generating image data of only the object based on the imaged data of the object and the background image data, and a display 53 capable of displaying the imaged image by the camera 3. The height adjustment of 1 is performed while displaying the image of the object, and after adjusting the position of the symmetrical object with respect to the camera 3 at the horizontal position and the camera 3 at the vertical position, the background image and the object are photographed. It is a configuration that performs image processing for background removal processingIt is characterized by that.
[0006]
Thirdly, the automatic photographing means outputs a drive instruction to the actuators 13 and 31 based on an instruction operation by the operator, and an automatic position setting means for setting and adjusting the position of the camera with respect to the object, and an automatic position setting means. Image capturing means for capturing and storing image data of the object from the camera 3 side at the set position is provided.
[0007]
Fourthly, the automatic position setting means calculates the driving conditions of the actuators 13 and 31 with respect to the turning angle from the setting of the turning angle of the camera arm 4 and the turntable 1 input by the operator, It is characterized in that it is provided with drive condition calculation means for outputting on the 31st side.
[0008]
Fifth, the image capturing means includes a photographing condition setting means capable of changing the photographing condition setting corresponding to the type of the camera 3.
[0009]
Sixth, the controller 9 causes the graphic user to display on the display 53 a graphical interface through which an operator inputs instructions to the controller 9 side.ZaiIt is characterized by having interface display means.
[0010]
Seventh, graphic userZaiThe interface display means has a plurality of graphic users according to conditions input by the operator.ZaiInterface can be displayed and each graphic userZaiIt is characterized in that it is possible to switch between display and non-display of 53 on the interface display.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
1 and 2 are a side view and a front view of an image photographing device for a virtual reality (VR) device which is a three-dimensional display device according to the present invention. The image photographing device is provided on a monitor (display) of the VR device and the like. The object (object) to be displayed is photographed from a plurality of locations by a digital camera, digital video, etc., and a plurality of image data necessary for displaying the object is automatically captured by the VR device, and a data source for the VR device is set. It is a device that can be easily obtained.
[0012]
The image photographing apparatus includes a turntable on which the object is placed, a table support unit 2 that supports the turntable 1, a camera that photographs the object 3, a camera arm 4 that supports the camera 3, and the camera arm 4 Arm support unit 6 supporting table 6, table support unit 2, base 7 for mounting arm support unit 6, drive device 8 for controlling the operation of turntable 1 and camera arm 4, controller 9 for controlling drive device 8, etc. It is composed of Note that the camera 3 in this embodiment is a so-called digital camera that stores captured video as digital data (image data).
[0013]
First, the structure of the table support part 2 will be described in detail. The table support portion 2 includes a box-shaped main body case 11 fixed to the base 7 and a box-shaped sub case 12 supported on the upper surface 11a side of the main body case 11 so as to be slidable up and down. A stepping motor 13 is provided in the sub case 12, and the tip of the drive shaft 14 of the stepping motor 13 is protruded from the upper surface 12 a of the sub case 12, and the drive shaft 14 is substantially circular in plan view. A central portion of the turntable 1 is pivotally supported.
[0014]
At this time, the drive shaft 14 is provided substantially perpendicular to the horizontal plane, and the turntable 1 is supported substantially horizontally. As a result, the turntable 1 is turned horizontally by driving the stepping motor 13, and the object to be displayed in VR by the VR device is arranged on the turntable 1, thereby turning the object horizontally.
[0015]
On the other hand, in the main body case 11, a male threaded rod 16 is supported in the vertical direction so as to be rotatable substantially perpendicular to the horizontal plane, and a drive shaft 17 is orthogonal to the rod 16 in the vicinity of the rod 16. Thus, an AC motor 17 is provided. A pinion gear 18 is provided on the drive shaft 18 of the AC motor 17, and the pinion gear 18 is screwed with the rod 16. That is, by driving the AC motor 17, the rod 16 is driven to rotate.
[0016]
A nut 19 is screwed to the rod 16, and the above-described sub case 12 is integrally fixed to the upper surface side of the nut 19. The sub case 12 can be inserted at the tip end side of the rod 16 and can slide up and down along the rod 16. However, as shown in FIG. In the vicinity of 16, two struts 21 are projected downward in parallel to the rod 16, and the struts 21 are supported by the main body case 11 so as to be slidable up and down.
[0017]
By driving the AC motor 17 as described above, the nut 19 is moved up and down while being screwed to the rod 16, and the sub case 12 is moved up and down relative to the main body case 11 using the support column 21 as a guide. In other words, the turntable 1 is swung by the stepping motor 13 in the sub case 12 and moved up and down by the AC motor 17 in the main body case 11.
[0018]
Next, the structure of the arm support portion 6 will be described. The arm support 6 is disposed on the side of the main body case 11 (turntable 1), and has a vertical stay 26 fixed to the base 7 and a box-like shape provided at the upper end of the stay 26. The drive case 27 is comprised. At this time, the stay 26 is provided substantially perpendicular to the horizontal plane.
[0019]
In the drive box 27, a gear box 29 having an output shaft 28 projecting substantially perpendicular to the stay 26 (substantially parallel to the horizontal plane), and a stepping motor 31 for inputting drive force to the gear box 29, In other words, the output shaft 28 is driven to rotate by driving the stepping motor 31. At this time, the output shaft 28 protrudes from the drive box 27.
[0020]
The above-described camera arm 4 is attached to the tip of the output shaft 28. The camera arm 4 is provided with a vertical arm 4a that is substantially perpendicular to the output shaft, and a substantially vertical position with respect to the vertical arm 4a. The horizontal arm 4b is formed in a substantially L shape, and the base end side (the end side opposite to the horizontal arm 4b) of the vertical arm 4a is fixed to the output shaft 28. By driving the stepping motor 31, the camera arm 4 is swiveled vertically (turned in a propeller shape).
[0021]
At this time, the horizontal arm 4b is projected to the turntable 1 side, and the camera 3 is attached to the tip of the horizontal arm 4b with the lens facing the turntable 1. Therefore, when the stepping motor 31 is driven as described above, the camera 3 is rotated and moved along a trajectory (vertical turning surface) perpendicular to the horizontal turning surface of the turntable 1 (upper surface of the turntable 1).
[0022]
That is, by driving the stepping motor 31, the camera 3 is tilted with respect to the turntable 1 along an arc perpendicular to the turning surface of the turntable 1 around the axis of the output shaft 28. When an object is placed on the turntable 1, the camera 3 moves along the arc locus while capturing the object.
[0023]
In addition, by driving the stepping motor 13 of the table support portion 2, the turntable 1 can be horizontally swiveled around the axis of the drive shaft 14, but when this is considered with reference to the turntable 1, the camera 3 1 is panned around the axis of the drive shaft 14 with respect to 1 (refer to the prior art and FIG. 15 for pan and tilt).
[0024]
In other words, by placing a predetermined (VR display) object on the turntable 1 and driving both stepping motors 13 and 31, the camera 3 can be panned and tilted with respect to the object. You can take a picture of an object (capture image data). Moreover, the center of the tilt with respect to the object (turntable 1) can be set and adjusted by moving the turntable 1 up and down by the AC motor 17.
[0025]
In the following description, the vertical turning movement of the camera 3 by driving the stepping motor 31 is “tilting movement of the camera 3 with respect to the object or the turntable 1”, and the horizontal turning of the turntable 1 by driving the stepping motor 13 is “to the object”. In some cases, an expression centered on an object is used, such as “pan movement of the camera 3”, and vertical slide movement of the turntable 1 by the AC motor 17 such as “movement of the tilt center”.
[0026]
On the other hand, as shown in FIG. 4, the driving device 8 includes a driver 41 of the stepping motor 13, a driver 42 of the stepping motor 31, a control unit 43 of the drivers 41 and 42, a driver 44 of the AC motor 17, a power supply unit 46, and the like. The operation control of the stepping motors 13 and 31 is performed via the control unit 43, and the operation control of the AC motor 17 is performed by the switch 47 provided in the driver 44.
[0027]
The control unit 43 is connected to the controller 9 described above, that is, the driving of the stepping motors 13 and 31 (the pan and tilt movement control of the camera 3) is operated according to an instruction from the controller 9, This is done via the drivers 41 and 42. Further, the driving of the AC motor 17, that is, the movement of the tilt center is performed independently of the stepping motors 13 and 31 by the driver 44. As a result, as described later, the movement of the tilt center, which is one of the initial settings, is separated from the tilt and pan movement of the camera 3, and the handling of the motor drive is simplified.
[0028]
On the other hand, the switch 47 of the driver 44 is composed of up / down switches 47a and 47b that rotate the AC motor 17 forward or backward. The manual operation of the switch 47a or 47b causes the AC motor 17 to rotate forward or backward to move the turntable 1 up and down. The structure can be adjusted. The up / down switches 47a and 47b are provided outside the main body case 11 (not shown), and are configured so that an operator (user) can easily turn them on and off. Further, the switch 47a or 47b may be configured to be operated from the controller 9 side.
[0029]
Next, the operation of the controller 9 will be described. The controller 9 automatically turns the turntable 1 and the camera arm 4 in accordance with instructions (conditions) from the user, and automatically operates the shutter of the camera 3 for VR devices (VR display) related to objects on the turntable 1. Automatic image capturing means for automatically capturing the image data (data source).
[0030]
That is, the automatic photographing means accepts an input instruction from an operator (user) side, and automatically drives both stepping motors 13 and 31 via the control unit 43 based on the instruction, and performs camera operation on the object. 3 is moved to a plurality of positions, the shutter of the camera 3 is operated at each position, image data from the plurality of cameras 3 is captured (read), and the image data is stored.
[0031]
At this time, as shown in FIG. 5, the controller 9 is provided with a keyboard 51 and a mouse 52 as input devices, and an input (instruction) to the controller 9 by the user is performed via the keyboard 51 and the mouse 52. It is configured. A display 53 is also connected to the controller 9, and the controller 9 is configured to display and provide a graphical interface (graphic user interface) for the user to give instructions to the controller 9. Yes. That is, the controller 9 is provided with graphic user interface (GUI) display means for displaying the graphic user interface (GUI) as described above on the display.
[0032]
At this time, the GUI display means is set so that a plurality of GUIs can be displayed according to the conditions input by the user, and a GUI for setting display and non-display of each GUI is also set. That is, as will be described later by the function of the GUI display means, the user displays the desired GUI on the display 53 via the input device, and easily inputs the data into the displayed GUI by the input device to the controller 9 side. An instruction can be given to control the operation of the stepping motors 13 and 31, the camera 3, and the like.
[0033]
That is, the controller 9 includes an arithmetic processing unit 56 that allows information from the input device side to be input via the input interface unit 54, a storage unit 57 connected to the arithmetic processing unit 56, an output interface unit 58, and the like. The graphic data for the GUI is stored in the storage unit 57, and the display 53 is connected to the output interface unit 58.
[0034]
Then, in response to an instruction from the keyboard 51 or the mouse 52, the arithmetic processing unit 56 calls predetermined graphic data (of the GUI instructed to be displayed by the user) from the storage unit 57 to display the GUI instructed by the user on the display 53. It is a possible structure. In addition, when the controller 9 is operated according to the default setting of the controller 9, the display 53 is set to display the above-described GUI (selection form) for selecting the GUI, and the initial screen is simply configured. Each GUI is set so that it can be easily called.
[0035]
The output terminal for outputting the image data of the camera 3 is connected to the arithmetic processing unit 56 via the input interface 54, and the operation terminal for operating the shutter is connected to the output interface 58, and the control unit of the driving device 8 described above. 43 is also connected to the output interface 58, whereby the camera 3 and both stepping motors 13 and 31 are controlled by the controller 9.
[0036]
Next, the configuration of each GUI will be described. In the present embodiment, as the GUI, in addition to the selection form described above, setting of driving conditions for panning and tilting movement of the camera 3 when the automatic photographing means is driven, setting of photographing conditions for the camera 3, and capturing by the camera 3 (photographing) A shooting condition setting form for setting image data storage conditions, an instruction for starting trimming processing of the shot image, a shooting form for instructing the start of operation of the automatic shooting means, and an editing condition for the shot image data And an edit form to set up.
[0037]
The controller 9 is provided with manual operation means for rotating the camera arm 4 and the stepping motors 13 and 31 of the turntable 1 in an angle and a rotation direction designated by the user and stopping the manual operation means. And a manual setting form for setting conditions for driving the motors 13 and 31 by the operating means.
[0038]
As shown in FIG. 6, the selection form 61 has a structure in which a plurality of radio button-like click boxes that are turned ON / OFF by clicking with the mouse 52 are displayed. Shooting click box 66 for switching the presence / absence of display), editing click box 67 for switching the calling of the edit form, manual setting click box 62 for switching the calling of the manual setting form, shooting condition click box 63 for switching the calling of the shooting condition setting form, camera The monitor click box 64 for switching presence / absence of the monitor on the display 53 of the image sent from 3 and the end click box 68 for instructing the end of the system are set.
[0039]
That is, by clicking each click box 62, 63, 64, 66, 67 with the mouse, an instruction is sent to the arithmetic processing unit 56 to call the GUI data set in each click box from the storage unit 57. The arithmetic processing unit 56 is configured to call the data from the storage unit 57 and display a GUI on the display by the called data. At this time, a plurality of GUIs can be displayed on one display, and a plurality of settings can be easily performed on one display 53 using the mouse 52 or the like.
[0040]
Since the image data output from the camera 3 is input to the controller 9 side in real time via the input interface, the photographed image can be easily displayed on the display 53, and the user can monitor the image. However, the default setting of the controller 9 is such that the image is not monitored when the controller 9 is started up, and the monitor on the display 53 is set according to an instruction from the user to the monitor click box 64. ing.
[0041]
Next, the configuration of the shooting condition setting form will be described. As shown in FIG. 7, the shooting condition setting form 71 includes a movement setting unit 72 that sets pan and tilt movement conditions of the camera 3 when the automatic shooting means is operated, a format setting unit 73 that sets the format of image data to be stored, A capture size setting unit 74 for setting an image capture range to be photographed, a storage destination in the storage unit 57 for image data to be stored, an image file setting unit 76 for setting a file name of the image data, and trimming of the stored image The trimming setting unit 77 and the like for setting the start of are provided.
[0042]
At this time, the movement setting unit 72 sets the tilt movement to the rotation (turning) start angle of the camera 3 (camera arm) based on the pan movement conditions of the camera 3 based on the rotation (turning) start angle, rotation end angle, and step angle of the turntable 1. , The rotation end angle, and the step angle are set. That is, data is input numerically from the keyboard 51 or the mouse 53 to the input box 72a for each angle.
[0043]
The automatic photographing of the object by the automatic photographing means includes automatic position setting means for moving the camera 3 by a predetermined angle from a predetermined start position by panning and tilting, and temporarily stopping the camera 3 at each movement point (coordinate position). The image capturing unit captures an image at each pause position (releases the shutter), etc., and automatically moves the camera 3 by the automatic position setting unit and captures the image by the image capturing unit to a predetermined end position. A plurality of image data for the object is obtained repeatedly. That is, the rotation start angle is the start position of the pan or tilt movement, the rotation end angle is the end position of the pan or tilt movement, and the step angle is the movement amount (movement angle) at one movement of the pan or tilt movement.
[0044]
For this reason, it is necessary to set the step angle so that {movement angle (end angle−start angle) / step angle} is a positive integer, and the arithmetic processing unit 56 calculates the “movement angle / step angle”. If the solution is not a positive integer, step angle checking means for warning (displaying) an error on the display 53 is provided.
[0045]
As a result, the automatic position setting means is prevented from malfunctioning due to erroneous data, and the number of pulses necessary for the arithmetic processing unit 56 to move the stepping motors 13 and 31 from the respective set angles to the start position. By calculating the number of pulses required to rotate the step angle and the number of steps required to reach the end angle (movement angle / step angle) and outputting them to the control unit 43 side, both stepping motors 13 and 31 are output. It becomes possible to drive appropriately.
[0046]
That is, the automatic photographing means calculates the driving conditions of the actuators 13 and 31 with respect to the angles based on the setting of the angles of the camera arm 4 and the turntable 1 input by the user, and outputs the calculated data to the actuators 13 and 31 side. A driving condition calculation means is provided. The drive condition calculation means is also configured to automatically calculate the number of shots from each input angle (the number of steps of pan movement × the number of steps of tilt movement) and display it in the shooting condition form 71 in real time.
[0047]
On the other hand, the format setting unit 73 sets the format of the image data to be stored as described above. In the case of the present embodiment, the format setting unit 73 is configured to store either Bitmap or JPEG. By clicking one of the selection buttons with the mouse, the storage format is alternatively set, and this data is sent to the arithmetic processing unit 56.
[0048]
As a result, the arithmetic processing unit 56 converts the image captured by the camera 3 into one of the above formats, and saves it in the storage unit 57 according to the setting by the image file setting unit in an appropriate image data format according to the data amount or the like. Let me. When JPEG is selected, the compression rate can be set by inputting a number from the keyboard 51 or the mouse 52 to the compression rate setting unit 78, and the arithmetic processing unit 56 compresses the data at the set compression rate. The balance between data reproducibility and data volume can be set appropriately.
[0049]
On the other hand, the capture size setting unit 74 sets the size of an image to be captured by the number of dots (pixels) in the XY direction, and in this embodiment, captures and saves all areas (for example, 640 × 480 dots) that can be captured by the camera 3. Or a ¼ area (for example, 320 × 240 dots) is selectively instructed by clicking with the mouse, and the arithmetic processing unit 56 is input from the camera 3 based on this data. It is set to capture only a predetermined part of the image to be captured.
[0050]
As a result, it is possible to capture data corresponding to a portion (photographed portion) to be displayed in three dimensions. For example, when displaying a relatively large object as a whole, the size is set to 320 × 240 dots, and when displaying details in detail, the size is set to 640 × 480 dots, thereby preventing image data from becoming larger than necessary. The
[0051]
Also, as shown in FIGS. 8 and 9, in addition to the size of the image to be captured, a camera condition setting form 70 that is a GUI for setting shooting conditions in more detail in accordance with the type of camera that can be attached is set as a shooting condition setting form. It may be possible to display the call from 71 or the like.
[0052]
At this time, the camera condition setting form 70 includes a switching unit 75 that switches the type of camera assumed in advance, and a setting unit 85 that can set different setting conditions for each camera by clicking the switching unit 75 with the mouse 52. By inputting conditions to the setting unit 85 using an input device or the like, the operation system other than the shutter of the camera 3 can be remotely operated to obtain data in accordance with user-specified conditions.
[0053]
That is, in this case, the image capturing means needs to include a photographing condition setting means for connecting a cable or the like for controlling the camera 3 to the controller 9 side and controlling the driving of each adjustment portion by the controller 9 side. The shooting conditions can be changed in accordance with the type of the camera, and more appropriate image data can be obtained under conditions that are closer to the optimum for each camera (by making the performance of the camera better).
[0054]
As described above, the trimming setting unit 77 can set whether or not to start trimming of the stored image data. However, in the present embodiment, the trimming is not set by default. When the trimming check box 77a is clicked with the mouse, a monitor screen 80 for trimming is displayed on the display 54 as shown in FIG. 10, and the trimming is enabled. The trimming size is configured such that when the predetermined range (trimming range) of the image displayed on the display is designated by the mouse, the arithmetic processing unit 56 performs data processing and extracts the trimming range 80a.
[0055]
Further, the image file setting unit 76 can set the storage destination and file name of the image data to be stored as described above. This is because when the automatic photographing means is started, the arithmetic processing unit 56 captures a plurality of image data in order and saves them in the storage unit 57, so it is necessary to automatically assign file names to the image files in the order of capture. .
[0056]
In the present embodiment, the file name is set to “numerical serial number.extension” in the order of capture, and the arithmetic processing unit 56 is set to send the file name to the storage unit 57. The image data is saved in one block. The configuration is such that confusion with other data does not occur.
[0057]
On the other hand, the image file setting unit 76 can set whether or not the beginning of the file name starts from 0 by clicking the check box 76a with the mouse 52, and the keyboard 51 or the initial value box 76b. By inputting a number with the mouse 52, it is configured to be able to set the first number of the serial number of the file name, and it is possible to make the file name easier for the user to understand as desired by the user.
[0058]
The storage unit 57 has a conventionally known hierarchical directory structure (as used in computer DOS and UNIX), and a directory name is input to the directory designation box 76c by the keyboard 51 or the mouse 52. As a result, the arithmetic processing unit 56 is set to store and use the captured image data in the designated directory.
[0059]
That is, it is configured so that the user can set a directory for storing image data, and the storage management of data can be easily performed by directory management.
[0060]
Next, the configuration of the photographing form will be described. As shown in FIG. 11, the photographing form 81 is a form that is called to give an instruction for starting automatic photographing to the arithmetic processing unit 56 as described above, and instruction data for starting and stopping automatic photographing by the automatic photographing means. Are click boxes 83 and 84 for sending to the processing unit 56 side.
[0061]
When the start click box 83 is clicked with the mouse 52, an instruction to start automatic shooting is sent to the arithmetic processing unit 56, and the arithmetic processing unit 56 sets the turntable 1 and the camera arm 4 according to the conditions specified in the condition setting form. A drive instruction is sent to the control unit 43 side, the camera 3 is panned and tilted, the shutter of the camera 3 is operated at each stop position to capture an image, and each image data is stored in the storage unit 57 for the VR device. Is configured to get a data source.
[0062]
That is, the automatic position setting means is operated according to the conditions set by the movement setting unit 72 to control the pan and tilt movement of the camera 3, and the capture size setting unit 74, format setting unit 73, image file setting unit 76, or In accordance with the conditions input from the camera condition setting form 70, the image capturing means captures the image data and stores it in the storage unit 57.
[0063]
Note that the origin of the stepping motor 31 that rotates the camera arm 4 is set as will be described later, and the above-described start angle and end angle are also set based on this origin. For this reason, it is necessary to return the origin of the stepping motor 31 (camera arm 4) when the system is started. For this reason, the automatic photographing means is configured to display an error when the origin return is not performed even when the start click box 83 is clicked, and the user can easily recognize that the origin return operation has not been performed. Can do.
[0064]
On the other hand, the automatic photographing means is also configured to stop photographing by sending an instruction to stop photographing to the arithmetic processing unit 56 by clicking the interruption click box 84 with the mouse 52 during automatic photographing. The photographing form 81 is configured such that the rotation conditions of the stepping motors 13 and 31 input in the photographing condition form 71 are displayed again on the movement setting unit 82 and can be changed if necessary.
[0065]
That is, after inputting the conditions to the shooting condition form 71, the shooting form 81 is called and the automatic shooting is started as described above. The pan and tilt movement of the camera 3 is performed immediately before the automatic shooting start operation (clicking on the start click box 83). It is also possible to change the conditions. When data is input to the movement setting unit 82 after the shooting form 81 is called, the driving conditions of the motors 13 and 31 input to the arithmetic processing unit 56 are rewritten to this data. The camera 3 is moved pan and tilt according to this condition.
[0066]
Therefore, when changing the shooting condition after inputting the condition to the shooting condition form 71, it is not necessary to input the shooting condition form 71 again, and the condition setting can be performed more widely.
[0067]
Next, the edit form will be described. As shown in FIG. 12, the edit form 86 is called when the captured image is displayed on the display 53, and information on the image to be confirmed (the number of the image, etc.) is displayed on the position information display unit 87. This data is sent to the arithmetic processing unit 56 by inputting with the keyboard 51, mouse 52, etc., and the arithmetic processing unit 56 takes out the image data instructed from the received data from the storage unit 57 and displays it in the edit form 86. The unit 89 is configured to be displayed.
[0068]
At this time, in the position information display section 87, the designated image capturing conditions are displayed as pan and tilt positions of the camera 3 in the table and camera information boxes 87a and 87b as turning angles of the turntable 1 and the camera (camera arm). . Conversely, when the above-described image shooting conditions are input to the camera information boxes 87a and 87b, these conditions are sent to the arithmetic processing unit 56, and the arithmetic processing unit 56 takes out the image data matching the conditions from the storage unit 57 and edits the editing form 86. The image is displayed on the display unit 89, and is displayed in the number-of-photographs information box 87c.
[0069]
Note that the arithmetic processing unit 56 is also provided with 3D display means, and the captured object can be displayed in 3D (VR) by sequentially displaying the captured images. That is, a conventionally known calculation algorithm (VR function) for displaying VR from each image data is stored in the storage unit 57, and the calculation processing unit 56 can easily check the display of the object by calling this VR function. Is possible.
[0070]
At this time, as the reproduction speed (interval) of each image is shortened, smoother display can be performed as in the case of animation. Therefore, the playback speed setting unit 88 is displayed in the display form 86, and the processing calculation unit 56 obtains this data by inputting the speed to the playback speed setting unit 88, and performs 3D display of the object according to the data. It is configured.
[0071]
Next, the configuration of the above-described manual setting form will be described. The manual setting form is a form for calling the turntable 1 and the camera 3 (camera arm 4) to operate the manual driving means. As shown in FIG. , A turntable setting unit 92 for setting the rotation direction, and a camera setting unit 93 for setting the turning angle, turning direction, movement to the origin, and movement to the horizontal position of the camera arm 4.
[0072]
That is, a turning angle is input to the turning angle setting box 92a or 93a of the table setting unit 92 or the camera setting unit 93 by using the keyboard 51 or the mouse 52 or the like, and the radio box 92b or 92c or 93b or 93c in any turning direction is moved with the mouse. When clicked, the calculation processing unit 56 calculates the number of pulses for turning the angle specified by the drive condition calculation means described above, and sends the data on the number of pulses and the data indicating the rotation direction to the control unit 43 side. As a result, the turntable 1 and the camera arm 4 are turned. Thereby, each initial setting and mechanical maintenance can be easily performed.
[0073]
In the case of this embodiment, the table setting unit 92 is also provided with radio boxes 92d and 92e for operating the above-described AC motor 17 to control the operation of the above-described AC motor 17, and the above-described AC motor 17 is remotely connected. When operating, the AC motor 17 can be driven easily by clicking the radio box 92d or 92e with the mouse 52, and the height of the turntable 1 can be set.
[0074]
As described above, the camera 3 needs to have the vertical position of the camera arm 4 (vertical arm 4a) as the origin, and let the system (arithmetic processing unit 56) recognize the origin as a reference point for automatic driving. For this reason, when the origin radio box 94 of the camera setting unit 93 is clicked with the mouse 51, the origin return instruction data is sent to the arithmetic processing unit 56, and the arithmetic processing unit 56 instructs the control unit 43 side to drive the stepping motor 31. Then, the camera 3 is returned to the origin.
[0075]
At this time, the origin position of the camera 3 is set by a sensor (not shown), and when the sensor senses the vertical arm 4a at the vertical position of the vertical arm 4a, motor stop data is sent from the arithmetic processing unit 56 to the control unit 43 side. It is configured to stop the stepping motor 31 and return the camera 3 to the origin. As a result, the center line of the lens of the camera 3 is in the vertical direction above the turntable 1.
[0076]
The camera setting unit 93 is also provided with a horizontal radio box 96 for positioning (moving) the camera arm 4 (vertical arm 4a) to a horizontal position. By clicking the horizontal radio box 94 with the mouse 51, an arithmetic processing unit is provided. The horizontal movement instruction data is sent to 56, and the arithmetic processing unit 56 instructs the control unit 43 to drive the stepping motor 31 to drive the stepping motor 31 so that the vertical arm 4a is horizontal.
[0077]
At this time, upon receiving horizontal movement instruction data by clicking on the horizontal radio box 94, the arithmetic processing unit 56 calculates the angle at which the vertical arm 4a is currently positioned from the origin position of the camera 3 from the number of pulses applied to the stepping motor 31. At the same time, the number of pulses required up to the horizontal position is calculated, the number of pulses is output to the control unit side, the stepping motor 31 is driven, and the vertical arm 4a is positioned at the horizontal position. As a result, the center line of the lens of the camera 3 is horizontal on the side of the turntable 1.
[0078]
Next, automatic photographing of objects provided in the controller 9 will be described. The data source for the VR device for a predetermined object is such that when the camera 3 is in the horizontal position, the center line of the lens passes through the center in the vertical direction of the object, and when the camera 3 is in the vertical position, the center line of the lens is A position passing through the center in the left-right direction of the object is created as a reference position of the camera (object).
[0079]
That is, the data source for the VR device can be obtained by capturing the image of the object at a plurality of points by panning and tilting the camera 3 from the state where the positional relationship between the camera and the object is set as described above.
[0080]
For this reason, in the photographing apparatus of the present invention, first, an image photographed by the camera 3 is displayed on the display 53, and the camera 4 is moved in the horizontal direction by the above-described manual driving means (function), as shown in FIG. Further, the height of the turntable 1 is set so that the center line of the lens passes through the center of the object O in the vertical direction by sliding the turntable 1 in the vertical direction by the switch operation of the driver 47 described above. The above adjustment can be easily performed by using the camera 3 capable of displaying the center point of the lens.
[0081]
Then, the camera 3 is moved to the vertical position by the above-described manual driving means, and the object O is moved so that the center line of the lens passes the center in the left-right direction of the object as shown in FIG. Perform initial settings.
[0082]
Then, the object is once removed, a background image for performing image processing without background is taken, and stored as image data of the background image on the storage unit side. This is because the background is also captured at the same time that the object is shot, so the background image is saved in advance and the difference between the object shooting data and the background image data is taken to obtain the background data from the object image data shot. Is used as data only for objects.
[0083]
That is, the controller 9 side is provided with a background removal calculation means for performing image processing without the background, and the calculation processing unit 56 calls the background removal calculation means and applies the acquired data to perform the calculation. Is possible. The photographing condition setting form 71 includes a mask setting unit 101 that can input setting conditions for the background removal calculation means. The above-described background-free image processing calculation means is well known in the art and will not be described in detail. However, since the background-side calculation means is provided on the system side, the background-free image processing can be performed on other workstations. There is no need to do so.
[0084]
Then, as described above, by setting the conditions for automatic shooting and starting the automatic shooting means, the turntable 1 and the camera arm are set by the automatic position setting means in accordance with the conditions input from the shooting condition setting form as described above. 4 is swung to a predetermined position within a turning range in which 4 is set, and the object is photographed by the camera 3 according to the conditions inputted from the photographing condition setting form and the camera condition setting form 70 at each stop position. And a plurality of pieces of image data are stored in the storage unit 57.
[0085]
At this time, a shooting (input of image data) point (stop position of the camera 3) is a position where the image data necessary for creating VR data, which is generally known, can be obtained in the movement setting unit. It is calculated from the input data by the arithmetic processing unit 56, and the turn pattern of the turntable 1 and the camera arm 4 is calculated and set so as to move efficiently to each point in the turn range. Note that the shooting point setting is a shooting position necessary to obtain a necessary image for a data source for a VR device that is conventionally known, and a detailed description is omitted. It is sent to the setting means side, and the automatic position setting means sets the stop position.
[0086]
The data source obtained as described above is subjected to conventionally known predetermined image processing so that VR data can be easily obtained, and this data source is provided to a conventionally known VR device (software). Thus, VR display of a predetermined object can be easily performed.
[0087]
As described above, the image data required by the 3D display device for a predetermined object can be automatically captured, and the data source for the 3D display device can be captured more easily. Compared to shooting, the time required for capturing image data is reduced, and more accurate image data can be obtained, and the reproducibility by the three-dimensional display device is improved. Further, the stop position of the camera 3 with respect to the object can be positioned relatively accurately, and therefore, even when a relatively high resolution camera that causes blurring or the like is used, image data can be stably obtained. More accurate data can be obtained.
[0088]
In particular, since the condition for the controller 9 can be set by the GUI displayed on the display 53 by the GUI display means, the condition setting is easy and the image photographing apparatus of the present invention can be operated easily. A plurality of GUIs can be switched or displayed on the display at the same time according to the conditions input at this time, thereby further facilitating the input of setting conditions.
[0089]
In addition, since the automatic position setting means includes the drive condition calculation means, the operator (user) sets the turning angle of the turntable 1 and the camera arm 4 without having any special knowledge about driving the motor. Driving conditions can be set, and the conditions can be set more intuitively.
[0090]
Further, manual operation of the stepping motors 13 and 31 can be performed easily by manual operation means, so that the initial setting of the photographing apparatus can be easily performed. In particular, not only the stepping motor but also the AC motor 17 is manually driven by the controller 9 side. The above-described initial setting and the like can be performed more easily by adopting the configuration described above.
[0091]
Note that the controller 9 in this embodiment is provided with polygon data generation processing means for generating polygon data from each image data that has been automatically photographed, whereby polygon data of a predetermined format is generated only by the photographing apparatus of the present invention, It can be used as three-dimensional CAD data.
[0092]
【The invention's effect】
According to the structure of the present invention configured as described above, image data required by the 3D display device for a predetermined object can be automatically captured, and a data source for the 3D display device can be captured more easily. Compared to the conventional manual image capturing of an object, the time required for capturing image data is reduced, and more accurate image data can be obtained, resulting in higher reproducibility by a 3D display device. There is an effect.In addition, since the controller includes background removal calculation means, it is not necessary to perform background removal image processing at another workstation or the like, and image data for which background removal has been completed can be easily obtained only by the present image capturing apparatus.
[0093]
In particular, by setting conditions on the controller side using a graphic user interface displayed on the display by the graphic user interface display means, it is possible to more easily set the conditions, and to easily operate the image photographing apparatus of the present invention. Can do. There is also an advantage that the setting input of the conditions can be further facilitated by switching a plurality of graphic user interfaces or displaying them simultaneously on the display according to the input conditions.
[0094]
In addition, since the automatic position setting means includes the driving condition calculation means, the operator (user) sets the turning angle of the turntable and the arm, so that the driving condition of the actuator can be obtained without special knowledge about the driving of the actuator. This makes it possible to set conditions more intuitively. Furthermore, by performing manual operation of the actuator using manual operation means, it is possible to easily perform initial setting of the photographing apparatus.
[Brief description of the drawings]
FIG. 1 is a side view of an image photographing apparatus.
FIG. 2 is a front view of the image capturing apparatus.
FIG. 3 is a side view of a main part of a sub case portion.
FIG. 4 is a principal block diagram of a driving device.
FIG. 5 is a principal block diagram of a controller.
FIG. 6 is a selection form displayed on the display.
FIG. 7 is a shooting condition setting form displayed on a display.
FIG. 8 is a camera condition setting form displayed on a display.
FIG. 9 is another camera condition setting form displayed on the display.
FIG. 10 is a monitor screen for performing trimming displayed on a display;
FIG. 11 is a photographing form displayed on a display.
FIG. 12 shows an edit form displayed on the display.
FIG. 13 is a manual setting form displayed on the display.
FIG. 14 is a main part front view showing a positional relationship between an object and a camera.
FIG. 15 is a perspective view showing tilt and pan movement of the camera.
[Explanation of symbols]
1 Turntable
2 Table support part
3 Camera
4 Camera arm (arm)
6 Arm support
9 Controller
13 Stepping motor (actuator)
31 Stepping motor (actuator)
53 display

Claims (7)

A horizontal turntable (1) for placing an object to be imaged, a table support (2) for pivotally supporting the turntable (1) so as to be horizontally rotatable, and a camera (3) for photographing the object The arm (4) that supports the camera (3) toward the object on the turntable (1) on the tip side, and the arm (4) so that the end on the camera (3) side draws an arc locus. ) , And an arm support section (6) that pivotally supports the base end side of the object, and an actuator (13) for driving the turntable (1) to turn on the table support section (2) ; A mechanism for raising and lowering the turntable (1) is provided so that the center line of the lens of the horizontal camera (3) is aligned with the vertical center, and the arm (4) is pivotally driven on the arm support (6). is, and the camera (3) the arm (4) An actuator (31) provided for moving along the circular path while capturing an object on the turntable (1) by the rotation, the rotation angle of the camera (3) panning angle turntable (1) with respect to the object to, respectively to match the tilt movement angle of the camera (3) to the rotational angle of the arm (4) with respect to the object, the actuator (13), have rows actuation control (31) and the camera (3), the camera controller for storing image data of captured images by (3) (9) each actuator (13), (31) and provided in connection to the camera (3) side, the controller (9) is, subject In order to allow the camera (3) to take image data for displaying virtual reality of objects or generating polygon data, Actuator (13) by the rotation angle of over arm (4), to control the operation of (31), having an automatic photographing means for automatically capturing image data caused to capture an image of the object by the camera (3) An image photographing device for a three-dimensional display device. A controller (9) that generates background image data only for the object based on the object image data and background image data, and a display (53) that can display the image captured by the camera (3). And adjusting the height of the turntable (1) while displaying the image of the object. The tertiary according to claim 1, wherein after the position of the symmetrical object with respect to the camera (3) and the vertical camera (3) is adjusted, the background image and the object are imaged to perform background image processing. Image photographing device for original display device. An automatic photographing unit outputs a driving instruction to the actuators (13) and (31) based on an instruction operation by an operator, and an automatic position setting unit that sets and adjusts the position of the camera with respect to the object. The image capturing device for a three-dimensional display device according to claim 1 or 2, further comprising image capturing means for capturing and storing image data of an object from the camera (3) side at a position set by the above. The automatic position setting means calculates the driving condition of each actuator (13), (31) with respect to the turning angle from the setting of the turning angle of the camera arm (4) and the turntable (1) input by the operator, The image photographing device for a three-dimensional display device according to claim 3, further comprising driving condition calculation means for outputting data to the actuators (13), (31) side. The image photographing device for a three-dimensional display device according to claim 3 or 4, wherein the image capturing means comprises photographing condition setting means capable of changing the photographing condition setting corresponding to the type of the camera (3). Controller (9), the operator controller (9) a graphical interface for inputting instructions to the side display (53) according to claim 1 comprising a graphic user Zai centers face display means allowed to appear or 2 or 3 or 4 or 5. An image photographing device for a three-dimensional display device. Graphic user Zai centers face the display unit, as well as a possible indication of a plurality of graphic user Zai centers face corresponding to the condition for the operator to input, display and non-display of each graphic user Zai centers face to the display (53) The image photographing device for a three-dimensional display device according to claim 6, wherein the image photographing device can be switched.

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