KR20140105981A - Stereo camera rig control device and control method thereof - Google Patents

Abstract

The present invention relates to a stereoscopic camera rig control device and a control method thereof. The method for automatically controlling a stereoscopic camera rig that includes a pair of cameras disposed to be parallel with each other, motors respectively installed in the pair of cameras and enabling the cameras to perform a horizontal operation, a rotational operation, and a vertical operation, and a control box controlling operations of the motor comprises a subject distance calculating step of calculating a distance between a subject closest to the cameras and a subject farthest from the cameras by using pulses generated according to angles at which the pair of cameras rotate; an inter-axial distance calculating step of calculating a distance by which the motors are to move actually using the data obtained in the subject distance calculating step and controlling a gap between the pair of cameras; and a zero point control angle calculating step of calculating a control angle of a zero point as a convergence point where there is no disparity between two eyes by using the data obtained in the inter-axial distance calculating step and position data of the zero point designated by a user, wherein the control box controls operations of the motors by outputting predetermined pulses according to data obtained in the subject distance calculating step, the inter-axial distance calculating step, and the zero point control angle calculating step.

Description

TECHNICAL FIELD [0001] The present invention relates to a stereoscopic camera rig control device,

More particularly, the present invention relates to a stereoscopic camera-league control device and a control method thereof for tuning-coupling two cameras to secure a left-eye image and a right-eye image necessary for stereoscopic image production .

Generally, a stereoscopic image, a so-called 3D image, is realized by illuminating different images of two human eyes. To generate such a stereoscopic image, a left image for the left eye and a right image for the right eye are respectively photographed .

The stereoscopic camera used for producing the stereoscopic image is a camera capable of simultaneously acquiring a left eye image and a right eye image of a subject using two cameras. The stereoscopic camera generally includes a left eye camera for photographing a left eye image of a subject, A right eye camera for capturing a right eye image, and a left eye camera rig for receiving the left and right eye cameras.

The stereoscopic camera rig is an important structure for determining the quality of a stereoscopic image, and is largely divided into a horizontal system (parallel system) and an orthogonal system.

Horizontal stereoscopic camera rig is used for distance shooting and strong stereoscopic effect. It is easy to operate and fast setting time, but realizes 65mm which is known as mean distance between human eye and eye due to size of lens and size of camera body. It is very difficult to do. These horizontal rigs consist of a device for controlling the distance between axes and a main viewpoint on a solid frame, and a device for alignment. There is no exposure or color reduction, and it has the advantage of being similar to a general camera and a cheap price. However, the distance between the cameras is limited by the camera size and the lens aperture, It is difficult to shoot. Also, taking a subject away from the camera and photographing with a telephoto lens has a disadvantage that a cardboard effect occurs.

The orthogonal camera rig is for close range shooting and it takes a long time to use and operate it to express a smooth three-dimensional feeling. Such an orthogonal rig is divided into a camera arranged at an angle of 90 degrees at the top and bottom by installing a half mirror at a position located at a position of 45 degrees with the camera axis, so that the distance between the two cameras without being influenced by the size of the camera or the size of the lens To zero. The types of orthogonal rigs are top-down and bottom-up. They have the advantages of close-up photography and high stereoscopic quality according to the flexibility of the inter-axis distance and freedom of camera and lens selection. On the other hand, There is a disadvantage that a difference in color occurs.

Conventionally, stereoscopic images were shot using a manual stereoscopic camera rig. In this case, the stereoscopic images obtained by the distance between the cameras, that is, the distance between the axes, as well as the alignment and convergence of the two images are precisely controlled It is not easy to do and takes a long time. Therefore, it is difficult to expect a good quality of the completed stereoscopic images because the images taken using two cameras in a state that is not set correctly are required to be processed after complicated and long time processing.

Recently, a stereoscopic camera rig of an automatic system has been proposed instead of the manual system. However, only a simple function of mounting the motor on the two manually operated cameras and controlling only the movement and the stop of the motor using the remote control It is difficult to produce a stereoscopic image having the stability of the visual field as much as possible.

KR 10-2012-0039970 A KR 10-1165223 B1 KR 10-1162058 B1 KR 10-1181653 B1

SUMMARY OF THE INVENTION An object of the present invention is to solve the problems derived from the prior art, and an object of the present invention is to provide a stereoscopic image capturing apparatus and a stereoscopic image capturing method for acquiring a stereoscopic image, And a control method thereof.

According to an embodiment of the present invention, the above object is achieved by a camera comprising: a pair of cameras arranged parallel to each other; A motor unit installed in each of the pair of cameras to electrically operate the movement of the camera; A control box electrically connected to the motor unit to control operation of the motor unit; And a terminal device for transmitting to the control box a program necessary for the control box to control the motor unit and creating or modifying the program according to a predetermined algorithm .

Preferably, the control box includes: a switching mode power supply for supplying a DC voltage to the control box; an input unit for facilitating operation of the control box and outputting a command signal by a user; A PLC (Programmable Logic Controller) for outputting a motor control signal after performing an arithmetic process according to a program configured in advance of a signal, and a motor driver for receiving a motor control signal input from the PLC and applying a pulse signal to the motor unit .

Preferably, the motor unit includes a left and right control motor for controlling the left and right operation of the camera, a rotation control motor for controlling the rotation operation of the camera, and a vertical control motor for controlling the vertical movement of the camera, And the motor drivers of the motor unit are individually connected to each other to apply an independent pulse signal.

According to another aspect of the present invention, there is provided a camera system including a pair of cameras disposed in parallel with each other, and a pair of cameras installed in the pair of cameras, respectively, A method of automatically controlling stereoscopic camera rigs comprising a plurality of motors and a control box for controlling operations of the motors, the method comprising the steps of: Calculating a distance between the closest object and the furthest object; An inter-vehicle distance calculating step of calculating a distance through which the motor actually moves using the data obtained in the object distance calculating step and controlling an interval between the pair of cameras; And calculating a control angle of a zero point, which is a convergence point having no parallax between two eyes, using the data obtained in the inter-axis distance calculation step and the position data of the zero point designated by the user to control the rotation angle of the pair of cameras Wherein the control box controls the operation of the motors by outputting a predetermined pulse according to the data obtained in the subject distance calculation step, the inter-axis distance calculation step and the zero point control angle calculation step Of the three-dimensional camera rig.

에 의해 계산되는 것을 특징으로 한다. (여기서, A는 좌안 카메라이고, B는 우안 카메라이고, C는 피사체이고, D는 카메라와 피사체와의 거리이고, x는 상기 A,B,C를 연결한 삼각망에서 A꼭지점의 내각이고, y는 상기 A,B,C를 연결한 삼각망에서 B꼭지점의 내각이고, z는 상기 A,B,C를 연결한 삼각망에서 C꼭지점의 내각이다.)Preferably, the step of calculating the subject distance comprises the steps of:

Is calculated by the following equation. (Where A is the left eye camera, B is the right eye camera, C is the subject, D is the distance between the camera and the subject, x is the interior angle of the A vertex in the triangle connecting the A, B, y is the interior angle of the B vertex in the triangulation network connecting A, B, and C, and z is the internal angle of the C vertex in the triangle connecting the A, B, and C.

Preferably, the inter-axis distance calculating step inputs the focal distance and the parallax of the camera, and measures a distance between the camera and the object and a distance between the camera and the distance between the pair of cameras.

Preferably, the near and far distances between the camera and the subject are measured by a triangulation method or a laser rangefinder sensor.

Preferably, the laser range finder sensor converts the time difference of the return of the laser beam projected onto the subject into distance, and transmits the distance to the control box.

에 의해 계산되는 것을 특징으로 한다. (여기서, I.D는 축간 거리이고, F는 카메라 렌즈의 초점거리이고, P는 두 영상 사이의 시차이고, L은 카메라와 가장 먼 피사체의 거리이고, N은 카메라와 가장 가까운 피사체의 거리이다.)Preferably, the inter-axis distance calculating step includes:

Is calculated by the following equation. (Where ID is the inter-axis distance, F is the focal length of the camera lens, P is the parallax between the two images, L is the distance between the camera and the furthest object, and N is the closest object to the camera).

에 의해 계산되는 것을 특징으로 한다. (여기서, X는 좌안 카메라와 우안 카메라 및 피사체를 연결하는 삼각점에서 상기 좌안 카메라의 꼭지점 내각이고, D는 사용자가 지정한 영점의 위치이고, I.D는 축간거리 계산단계에서 얻어진 데이터이고, Y는 영점 제어를 위한 제어각도이다.)Preferably, the step of calculating the zero point control angle includes the steps of:

Is calculated by the following equation. (Where X is the vertex angle of the left eye camera at the triangle connecting the left eye camera and the right eye camera and the subject, D is the position of the zero point designated by the user, ID is the data obtained at the inter- It is the control angle for.

According to the stereoscopic camera-league control apparatus and control method of the present invention as described above, it is possible to automatically control the inter-axis distance and the main viewpoint according to the photographing environment, thereby minimizing the error from the photographing step, And the productivity and productivity are improved by shortening the complexity and time in post-processing editing work.

1 is a schematic view for explaining a schematic configuration of a stereoscopic camera rig control apparatus according to an embodiment of the present invention,
2 is a schematic view for explaining a schematic configuration of a control box according to an embodiment of the present invention,
3A to 3D are schematic views for explaining a configuration button of an input unit according to an embodiment of the present invention,
4 is a conceptual diagram for explaining a step of calculating a subject distance in a method of controlling a stereoscopic camera rig according to an embodiment of the present invention,
5 is a conceptual diagram for explaining a zero point control angle calculation step in a method of controlling a stereoscopic camera rig according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Brief Description of Drawings FIG. 1 is a block diagram of a computer system according to an embodiment of the present invention; FIG. 2 is a block diagram of a computer system according to an embodiment of the present invention; FIG.

First, the configuration of a stereoscopic camera rig control device as a basis for explaining the stereoscopic camera rig control method of the present invention will be described.

As shown in FIG. 1, the stereoscopic camera rig according to an embodiment of the present invention includes a pair of cameras 220 and 240 arranged in parallel to each other, A control box 400 electrically connected to the motor unit to control the operation of the motor unit and a control box 400 for controlling a program necessary for controlling the motor unit, 400, and generates or modifies the program according to a predetermined algorithm.

2, the control box 400 includes a switching mode power supply (SMPS) 420 that supplies a DC voltage to the control box 400, and a controller 400 that controls the operation of the control box 400 And a PLC (Programmable Logic Controller) 440 for outputting a motor control signal after performing a calculation process according to a pre-configured program of the command signal inputted from the input unit 440, And a motor driver 480 that receives a motor control signal input from the PLC 460 and applies a pulse signal to the motor unit.

The input unit 440 is used as means for inputting various functions as shown in FIGS. 3A to 3D, and the functions of the illustrated buttons are as follows. In particular, since the input unit 440 may be formed in the form of a touch panel, the input unit 440 is represented as a touch panel 440 in FIGS. 1 and 2.

3A is an example of an initial screen of the input unit, and the functions of the illustrated buttons are as follows.

Manual: Button to enter the motor control screen of the stereoscopic camera league

I.O.D: Left and right movement of the left camera and right eye camera Button for entering the motorized control screen

Convergence: Rotation of the left and right eye camera Movement button to enter the motorized control screen

Alignment: button for entering the up / down movement control screen of the left camera and right eye camera

Automatic: Button to enter the auto control screen of stereoscopic camera league

Automatic Mode: button to enter the appropriate camera automatic control screen according to shooting environment

Display: Button to enter screen to monitor shooting information

Setting: Button to enter the screen to input camera information required for automatic control

Homing: Button for specifying the current camera position as origin (initial point)

Origin point designation: A button to return to the originally designated origin no matter where the camera is located

Error reset: button to reset when an error occurs in PLC program

FIG. 3B is an example of an input unit screen for electrically controlling the left and right gaps between the two cameras in stereoscopic imaging, and the functions of the illustrated buttons are as follows.

L 000mm: Displays the left-to-right distance from the origin of the left eye camera

Left camera +, -: Left camera left button

R 000mm: Displays the left and right movement distance from the origin of the right eye camera

Right camera +, -: Left eye movement button of right eye camera

Simultaneous control +, -: Button to move the left and right camera simultaneously

Speed conversion: Button to change speed during camera movement

Homing: A button that returns to the originally specified home position regardless of where the camera is located

Error reset: button to reset when an error occurs in PLC program

Convergence: Button for moving the camera to the motorized control screen

Alignment: Button for moving camera up / down movement control screen

Main: Button for moving to the initial screen

BACK: Button for moving to previous screen

3C is an example of an input unit screen for inputting camera information necessary for automatic control of the stereoscopic camera rig, and the functions of the illustrated buttons are as follows.

Focal Length: Focal length input screen button

Camera distance: A screen to enter the distance between two cameras in the home state set at the initial stage of the camera

Parallax: button to input stereoscopic value desired by the photographer

Near Object: Button to enter the closest object distance to the camera

Zero Point: Button to enter the desired point position of the photographer

Far Object: A button to enter the distance between the camera and the farthest subject

Display: Button for moving to monitoring screen

Automatic Mode: Button to go to automatic control screen

Main: Button for moving to the initial screen

FIG. 3D is an example of an input unit screen for automatically controlling the stereoscopic camera rig, and the functions of the illustrated buttons are as follows.

Emergency stop: Button for emergency stop of moving camera

Left +: Button for moving clockwise while rotating the left camera

Left-: Button for moving counterclockwise while rotating the left camera

Right +: button for clockwise movement of the right eye camera during rotation

Right-: Button for moving counterclockwise while rotating the right eye camera

N Subject: A button for automatically calculating the distance between the camera and the nearest subject using the triangulation method

F Subject: A button for automatically calculating the distance between the camera and the farthest subject in a triangulation method

Standby: Flashes when distance calculation is completed.

Calculation: Flashes when the distance between the near subject and the distant subject is completed

I.O.D Control: Button to control the distance between camera automatically according to the shooting distance when button is flashing during calculation

0 point control: Operation when I.O.D control is completed Button to control rotation movement automatically according to the distance between cameras

I.O.D start: button for automatic control when inputting the distance between the cameras that the photographer wants, not triangulation method

0 point Start: Button for controlling the rotation of the camera desired by the photographer

Setting: Button to go to setting screen

Display: Button for moving to monitoring screen

Main: Button for moving to the initial screen

The PLC 460 is a high-autonomy control device that can replace a basic function of a sequence control function by adding a numerical operation function to replace a semiconductor device such as an LSI or a transistor that replaces functions such as relays, timers, and counters. The PLC 460 includes a CPU module 461, an input module 463, an output module 465, a communication module 467, and a positioning module 469 as shown in FIG.

The motor driver 480 is electrically connected to each of the motors installed in the camera to individually control the motors, and it is possible to perform microstep driving for low noise low vibration rotation. And a two-phase micro step driver that can freely use a step angle by using a switching signal.

The motor unit may be divided as shown in FIG. 1, and includes left and right control motors 226 and 242 for controlling the distance between the two cameras by controlling the left and right motion of the camera, Rotation control motors 224 and 244 for controlling the main view point by controlling the operation of the camera, and up and down control motors 222 and 246 for controlling the alignment of the two camera images by controlling the vertical movement of the camera. Each of the divided motors is independently controlled by applying the independent pulse signals to the motor drivers 480a to 480f. The motors 480a to 480f are controlled independently, and a pair Of the camera.

The left and right control motors 226 and 242 use two-phase step motors. In this embodiment, the maximum movement range of each axis is designed to be 100 mm, and movement of a distance of 20 mm per second is possible. It is driven by a ball screw system and has 20um accuracy, 2um (full step) and 1um (half step) resolution per pulse, and consists of one home sensor and two limit sensors .

The rotation control motors 224 and 244 are designed to have a size of Ø60 in consideration of the distance between the cameras and the load applied thereto. Like the left and right control motors, a two-phase step motor is applied, and it is controllable by 360 degrees and driven by a worm gear system. It has 0.05 ° accuracy, 0.004 ° (Full Step) per pulse, 0.002 ° (Half Step) resolution, 0.02 ° repeatability, 20 ° movement per second, and one home sensor for control. And two limit sensors (Limit Sensor).

The upper and lower control motors 222 and 246 are designed to have the same size of Ø60 for coupling with the rotation control motor. In addition, two axes can be adjusted with the ballscrew type. The adjustment range is ± 10 ° for both axes. In addition, a two-phase step motor is applied and consists of one home sensor and two limit sensors with 0.1 ° accuracy, 0.0045 ° (full step) resolution per pulse and 0.03 ° repeatability. do.

In the meantime, the above-described motor unit can be configured so that its operation in the camera rig according to the present invention can be any of manual, electric, and automatic modes. In the manual mode, the user moves the lever or the like by the mechanical interlocking rather than the electric device, thereby controlling the movement of the camera. The electric type and the automatic type are controlled by the control box 400 and the terminal device according to the present invention and will not be described here because they are described in detail here.

Communication between the terminal device, the PLC 460, and the input unit 440 may be performed through a USB cable, and communication between the PLC 460 and the input unit 440 may be performed through RS-232 communication. After the ladder diagram type PLC program and the input unit program created through the terminal device are downloaded to the respective devices, the input unit 440, which is the uppermost device, sends commands to the PLC 460. Upon receiving the command from the input unit, the PLC analyzes the operation process and the moving position and speed of the motor, and then sends a signal to the motor driver 480. Finally, the stereoscopic camera rig is finally controlled through the motor driver, . Also, shooting information (distance between axes, zero distance, parallax, distance between the camera and the subject) can be monitored in real time through the input unit.

Next, the control method of the stereoscopic camera rig will be described based on the configuration of the above-described stereoscopic camera rig control device.

The control method of the stereoscopic camera rig according to the embodiment of the present invention calculates the distance between the object closest to the camera and the distant object using the pulse generated according to the angle of rotation of the pair of cameras 220 and 240 An inter-vehicle distance calculation step of calculating an actual distance by which the left and right control motors actually move using the data obtained in the subject distance calculation step to control an interval between the pair of cameras; Calculating a control angle of a zero point as a convergence point having no parallax between two eyes using the data obtained in the step and the position data of the zero point designated by the user to control the rotation angles of the pair of cameras do. Accordingly, the control box 400 controls the operation of the motors by outputting predetermined pulses in accordance with the data obtained in the calculation of the subject distance, the calculation of the distance between axes, and the calculation of the zero point control angle.

The control method of the stereoscopic camera rig will be described in more detail as follows.

First, in order to calculate the distance of the subject for automatic control, an initial setting operation is performed by inputting the focal distance, zero distance, and time difference information according to the user's environment through the input unit after designating the origin.

After the initial setting is completed, information about each axis is obtained through a dedicated command of the PLC 460 positioning module. The obtained information includes data such as an operation state, an error state, an operation completion, an emergency stop, a control axis, a current position, and a current speed, and various control of the stereoscopic camera rig is performed through the acquired data.

The distance between the camera and the object is calculated using the current position information. The distance between the camera and the object, which is essential data for calculating the distance between the axes, is calculated by using the position information of the rotation control motor shaft stored in the PLC 460, It is calculated by applying the survey method. In the present invention, the PLC 460 is controlled in a pulse unit, and in the case of the rotation control motors 224 and 244, a position of 0.01 degrees per pulse is moved. Using the input unit 440 at the positions of the left and right control motors 226 and 242 and the rotation control motors 224 and 244 set in the initial setting, when the focus of the subject to be calculated is calculated manually, And acquires pulse data up to the position where it is located. If the minus operation is performed at 90 degrees after converting the data to an angle, the angle of x and y can be known in FIG. 4. If the minus operation is performed at the x and y angles of 180 degrees, the angle of z can also be known . By applying the calculated angles to the following equation (1) and performing the calculation processing operation through the PLC, the desired distance, that is, the distance between the camera and the subject, can be obtained.

When the calculation of the distance between the closest object and the farthest subject is completed, calculation of the inter-axis distance, which is the distance to actually move the motor, is performed using the distance data.

The calculation of the inter-axis distance controls the distance between the pair of cameras. The focal length and the parallax of the camera are input, and the near and far distances between the camera and the subject are measured. , And the near and far distances between the camera and the subject are measured by a triangulation method or a laser rangefinder sensor. Here, the laser rangefinder sensor compensates for the error of the distance information measured by the triangulation method. When the laser beam emitted from the sensor arrives at the subject and then returns to the sensor, the measured distance is converted into RS232 It is used to control the camera by transmitting it to PLC of control box through communication. The parallax is input in order to calculate the inter-axis distance as much as the stereoscopic value desired by the user according to the photographing distance, like the focal distance.

The focal length and the parallax data of the camera in the formula are used as input data through the input unit 440 at the time of the calculation.

(Where I.D is the inter-axis distance, F is the focal length of the camera lens, P is the parallax between the two images, L is the distance between the camera and the furthest object, and N is the distance from the object closest to the camera).

Also, when the data value changes during shooting, the new inter-axis distance value is automatically calculated by applying to the equation (2). When the calculation of the inter-axis distance is completed, pulse data is output through the motor drivers 480c and 480d to drive the left and right control motors 242 and 244 of the stereoscopic camera league.

When the control of the inter-axis distance is completed, the angle for zero point control is calculated. FIG. 5 shows a method for processing the zero point control angle.

The inter-axis distance data calculated using the triangulation method and the position data of the zero point initially designated by the user are calculated by the following equation (3).

The control angle Y shown in FIG. 5 can be obtained through Equation (3). When the acquisition of the zero control angle is completed, the rotation control motors 224 and 244 are driven through the motor drivers 480b and 480e.

According to the present invention described above, it is possible to automatically control the inter-axis distance and the main viewpoint according to the photographing environment, so that it is possible to acquire a stereoscopic image of excellent quality by minimizing the error from the photographing step, The productivity is improved.

The foregoing has outlined rather broadly the features and technical advantages of the present invention in order that the claims of the invention to be described below may be better understood. The embodiments described above are susceptible to various modifications and changes within the technical scope of the present invention by those skilled in the art. These various modifications and changes are also within the scope of the technical idea of the present invention and will be included in the claims of the present invention described below.

200: stereoscopic camera rig 220: left eye camera
240: right eye camera 222: upper and lower control motor
224: rotation control motor 226: left and right control motor
242: left / right control motor 244: rotation control motor
246: Up and down control motor 400: Control box
420: switching mode power supply 440: input (touch panel)
460: PLC 461: CPU module
463: input module 465: output module
467: Communication module 469: Positioning module
480: Motor driver

Claims (10)

A pair of cameras arranged parallel to each other;
A motor unit installed in each of the pair of cameras to electrically operate the movement of the camera;
A control box electrically connected to the motor unit to control operation of the motor unit; And
And a terminal device that transmits to the control box a program necessary for the control box to control the motor unit and creates or modifies the program according to a predetermined algorithm. The method according to claim 1,
The control box includes:
A switching mode power supply for supplying a DC voltage to the control box,
An input unit for facilitating operation of the control box and outputting a command signal by a user,
A PLC (Programmable Logic Controller) for performing a calculation process according to a pre-configured program of the command signal inputted from the input unit and sending out a motor control signal,
And a motor driver for receiving a motor control signal input from the PLC and applying a pulse signal to the motor unit. 3. The method of claim 2,
The motor unit includes:
Left and right control motors for controlling left and right motions of the camera,
A rotation control motor for controlling rotation of the camera;
And a vertical control motor for controlling vertical movement of the camera,
Wherein the motor driver is connected to each motor of the motor unit independently to apply an independent pulse signal. A pair of cameras arranged in parallel with each other, respective motors respectively installed in the pair of cameras for performing left-right motion, rotation motion and up-down motion of each camera, and a control box for controlling the operation of the motors A method for automatically controlling a stereoscopic camera rig including a configuration,
Calculating a distance between a subject closest to the camera and a furthest object using a pulse generated according to an angle at which the pair of cameras rotate;
An inter-vehicle distance calculating step of calculating a distance through which the motor actually moves using the data obtained in the object distance calculating step and controlling an interval between the pair of cameras; And
Calculating a control angle of a zero point, which is a convergence point having no parallax between two eyes, using the data obtained in the inter-axis distance calculation step and the position data of the zero point designated by the user, thereby controlling the rotation angle of the pair of cameras; Comprising:
Wherein the control box controls a motion of the motors by outputting a predetermined pulse according to data obtained in the calculation of the subject distance, the calculation of the distance between axes, and the calculation of the zero point control angle . 5. The method of claim 4,
Wherein the calculating the subject distance comprises:
The following equation

Of the three-dimensional camera rig.
(Where A is the left eye camera, B is the right eye camera, C is the subject, D is the distance between the camera and the subject, x is the interior angle of the A vertex in the triangle connecting the A, B, y is the interior angle of the B vertex in the triangulation network connecting A, B, and C, and z is the internal angle of the C vertex in the triangle connecting the A, B, and C. 5. The method of claim 4,
The inter-axis distance calculating step includes:
Wherein the distance between the pair of cameras is controlled by inputting a focal length and a parallax of the camera, and measuring a short distance and a long distance between the camera and the subject. The method according to claim 6,
Wherein the near and far distances between the camera and the subject are measured by a triangulation method or a laser rangefinder sensor. 8. The method of claim 7,
Wherein the laser range finder sensor converts the return time difference of the laser beam projected onto the subject into a distance and transmits the distance to the control box. 5. The method of claim 4,
The inter-axis distance calculating step includes:
The following equation

Of the three-dimensional camera rig.
(Where ID is the inter-axis distance, F is the focal length of the camera lens, P is the parallax between the two images, L is the distance between the camera and the furthest object, and N is the closest object to the camera). 5. The method of claim 4,
Wherein the zero point control angle calculation step comprises:
The following equation

Of the three-dimensional camera rig.
(Where X is the vertex angle of the left eye camera at the triangle connecting the left eye camera and the right eye camera and the subject, D is the position of the zero point designated by the user, ID is the data obtained at the inter- It is the control angle for.

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