WO2022199539A1 - 拍摄辅助设备、图像对采集的标定方法及电子设备 - Google Patents

拍摄辅助设备、图像对采集的标定方法及电子设备 Download PDF

Info

Publication number
WO2022199539A1
WO2022199539A1 PCT/CN2022/082074 CN2022082074W WO2022199539A1 WO 2022199539 A1 WO2022199539 A1 WO 2022199539A1 CN 2022082074 W CN2022082074 W CN 2022082074W WO 2022199539 A1 WO2022199539 A1 WO 2022199539A1
Authority
WO
WIPO (PCT)
Prior art keywords
image
mounting portion
assembly
pan
calibration
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2022/082074
Other languages
English (en)
French (fr)
Inventor
姜靖翔
顾弘
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Vivo Mobile Communication Co Ltd
Original Assignee
Vivo Mobile Communication Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Vivo Mobile Communication Co Ltd filed Critical Vivo Mobile Communication Co Ltd
Publication of WO2022199539A1 publication Critical patent/WO2022199539A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2021—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a horizontal axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2085—Undercarriages with or without wheels comprising means allowing sideward adjustment, i.e. left-right translation of the head relatively to the undercarriage
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects

Definitions

  • the application belongs to the technical field of image acquisition, and in particular relates to a shooting auxiliary device, a calibration method for image pair acquisition, and an electronic device.
  • a corresponding virtual scene model needs to be constructed.
  • image pairs also called image data pairs
  • the acquisition method of the image pair is usually as follows: using different image acquisition devices to successively target the same real scene, and perform image acquisition on the real scene at the same position, so as to obtain the image pair corresponding to the real scene.
  • image acquisition devices In order to ensure the accuracy of the image pair, it is usually necessary to ensure that during image acquisition, the optical centers of different image acquisition devices are located at the same position, so that the perspective relationship between the two is consistent.
  • the present application aims to provide a photographing auxiliary device, a calibration method for image pair acquisition, and an electronic device, so as to solve the technical problem that the accuracy of the acquired image pair in the related art is not ideal.
  • an embodiment of the present application provides a photographing auxiliary device, including: a drive assembly; a pan-tilt assembly connected to the drive assembly; and a first mounting portion and a second mounting portion disposed on the pan-tilt assembly; wherein, When the drive assembly drives the pan-tilt assembly to move in the target direction, the pan-tilt assembly can drive the first mounting part and the second mounting part to move along the target direction; the first mounting part is used for fixing the first image capturing device, and the second mounting part is used for for fixing the second image acquisition device; the alignment mechanism is connected with the second installation part and used to adjust the specific position of the second installation part, so that the optical center of the second image acquisition device and the optical center of the first image acquisition device are aligned .
  • an embodiment of the present application proposes a calibration method for image pair acquisition, which is applied to the photographing auxiliary device according to the first aspect of the present invention.
  • the first image acquisition device is fixed on the first installation part on the shooting auxiliary equipment;
  • the driving assembly on the shooting auxiliary equipment drives the pan-tilt assembly to move along the target direction, and drives the first installation part and the second installation part
  • the second installation part is moved along the target direction to move the second installation part to the target position; the specific position of the second installation part is adjusted by the aligning mechanism in the shooting auxiliary equipment, so that the image of the calibration object in the lens of the second image acquisition device and the calibration The images are overlapped; wherein, the second image acquisition device is fixed on the second installation part.
  • an embodiment of the present application proposes an electronic device.
  • the electronic device includes a processor, a memory, and a program or instruction stored in the memory and executable on the processor.
  • the program or instruction is executed by the processor, the The steps of the image pair acquisition calibration method of the second aspect of the application are applied.
  • an embodiment of the present application proposes a readable storage medium, on which a program or an instruction is stored, and when the program or instruction is executed by a processor, the calibration method for image pair acquisition according to the second aspect of the present application is implemented. step.
  • the photographing auxiliary device includes a drive assembly, a pan/tilt assembly, a first installation part, a second installation part, and an alignment mechanism. Since the drive assembly and the pan-tilt assembly are connected to each other, the drive assembly can drive the pan-tilt assembly to move, thereby driving the first mounting portion and the second mounting portion disposed on the pan-tilt assembly to move. In this way, on the one hand, the pan/tilt assembly can adjust the relative position between the first mounting portion and the second mounting portion.
  • the alignment mechanism since the alignment mechanism is connected to the second mounting portion, and the alignment mechanism can adjust the relative position of the second mounting portion and the first mounting portion, the alignment mechanism can adjust the relative position of the second mounting portion and the first mounting portion after the movement of the second mounting portion Second Mounting Portion
  • the specific position of the second mounting portion is fine-tuned for the image capturing device again. Therefore, the photographing auxiliary device of the embodiment of the present application can enable the image acquisition apparatus to acquire image pairs accurately.
  • first mounting portion and the second mounting portion of the photographing auxiliary device may be used for mounting the first image capturing device and the second image capturing device, respectively.
  • the pan-tilt assembly can move the first image capturing device away from the image capturing position and move the second image capturing device to the image capturing position. Therefore, the photographing auxiliary device provided by the embodiment of the present application can improve the image acquisition efficiency of the first image acquisition device and the second image acquisition device, and quickly and efficiently acquire image pairs.
  • the pan-tilt assembly drives the first mounting portion and the second mounting portion to move in the target direction.
  • the moving directions of the first mounting portion and the second mounting portion may be consistent with the moving direction of the pan/tilt assembly. Therefore, the driving component can conveniently drive the pan-tilt component, so that the pan-tilt component drives the first mounting portion and the second mounting portion to change the positions quickly, so as to further achieve the purpose of efficiently collecting image pairs.
  • FIG. 1 is a schematic diagram of a three-dimensional structure of a shooting auxiliary device provided by an embodiment of the present application
  • FIG. 2 is one of the three-dimensional schematic diagrams of the moving mechanism provided by the embodiment of the present application.
  • FIG. 3 is the second schematic diagram of the three-dimensional structure of the moving mechanism provided by the embodiment of the present application.
  • FIG 5 is the second schematic diagram of the three-dimensional structure of the alignment mechanism provided by the embodiment of the present application.
  • FIG. 6 is a flowchart of steps of a calibration method for image pair acquisition provided by an embodiment of the present application.
  • FIG. 7 is a schematic diagram of a calibration object and a calibration plate used in the calibration method for image pair acquisition provided by the embodiment of the present application;
  • FIG. 8 is a schematic diagram of the composition of an electronic device provided by an embodiment of the present application.
  • the terms “installed”, “connected” and “connected” should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication between two elements.
  • installed should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication between two elements.
  • the following describes the photographing auxiliary device 200 , the calibration method for image pair acquisition, and the electronic device 10 provided by the embodiments of the present application with reference to FIGS. 1 to 8 .
  • one is to obtain one-to-one image pairs by degenerate generation.
  • the advantage of the degenerate generation method is that it can quickly generate a large number of training sets, but its disadvantage is that it is difficult to simulate real scenes.
  • the degradation in complex scenes for example: data degradation under the screen
  • the other is to collect one-to-one image pairs in real scenes.
  • the acquisition of the one-to-one image pair in the real scene needs to use two different image acquisition devices at the same position in the same scene to perform image acquisition successively.
  • the image acquisition results obtained by two different image acquisition devices constitute a one-to-one image pair.
  • Using one-to-one image pairs collected in real scenes to train the virtual scene model helps to improve the accuracy and visual effect of the virtual scene model.
  • image quality enhancement such as face enhancement, image signal processing (ISP), dark light enhancement, dehazing, denoising, etc.
  • one-to-one image pairs are used during training. The effect is particularly significant when virtual scene models are used.
  • the method of collecting one-to-one image pairs in a real scene can solve the shortcomings of the degradation generation method, the acquisition of one-to-one image pairs in a real scene is difficult and time-consuming and labor-intensive.
  • an embodiment of the present application provides a photographing auxiliary device 200 for supporting an image acquisition device.
  • the photographing auxiliary device 200 includes : the drive assembly 310 , the pan/tilt unit 320 connected to the drive unit 310 , and the first mounting portion 330 and the second mounting portion 340 disposed on the pan/tilt unit 320 .
  • the driving assembly 310 drives the pan-tilt assembly 320 to move in the target direction
  • the pan-tilt assembly 320 can drive the first mounting portion 330 and the second mounting portion 340 to move in the target direction.
  • the first mounting portion 330 is used for fixing the first image capturing device 800
  • the second mounting portion 340 is used for fixing the second image capturing device 900
  • the alignment mechanism 400 is connected to the second installation part 340 and is used to adjust the specific position of the second installation part 340 so that the optical center of the second image capture device 900 and the optical center of the first image capture device 800 are aligned.
  • the number of image acquisition devices may be at least two, for example, the number of image acquisition devices in this embodiment of the present application may be two, which may be the first image acquisition device 800 and the second image acquisition device 800 respectively.
  • Image acquisition device 900 the first image capturing device 800 and the second image capturing device 900 may be the same type of image capturing device.
  • the first image capturing apparatus 800 and the second image capturing apparatus 900 may both be smart phones.
  • the first image capturing device 800 and the second image capturing device 900 may also be different types of image capturing devices.
  • the first image capture device 800 may be a single-lens reflex camera, and the second image capture device 900 may be a smartphone with a camera function; or, the first image capture device 800 may be a smartphone with a camera function, and the second image capture device 900 may be a digital camera.
  • the first image capture device 800 and the second image capture device 900 may also be two image capture devices with different performance parameters or function settings, for example: the first image capture device 800 and the second image capture device 900 are both single-lens reflex cameras, However, the two have different resolutions; or, both the first image capturing device 800 and the second image capturing device 900 have smart phones with a camera function, but their exposures are different.
  • the above-mentioned photographing auxiliary device 200 may be used to support and fix the acquisition by the first image device 800 and the second image acquisition device 900 .
  • the photographing auxiliary device 200 may include a moving mechanism 300 and an alignment mechanism 400 .
  • the moving mechanism 300 specifically includes a drive assembly 310 , a pan/tilt assembly 320 connected to the drive assembly 310 , and a first mounting portion 330 and a second mounting portion 340 disposed on the pan/tilt assembly 320 .
  • the moving mechanism 300 can control the first image capturing device 800 and the second image capturing device 900 to move, so as to remove the first image capturing device 800 from the image capturing position after the first image capturing device 800 completes image capturing, and move the second image capturing device 800 away from the image capturing position.
  • the image capture device 900 is moved to the image capture position.
  • the alignment mechanism 400 can adjust the relative positions of the second installation part 340 and the first installation part 330 after the second image capture device 900 is moved to the image capture position, so as to adjust the relative positions of the first image capture device 800 and the second image capture device 900 .
  • the relative positions are adjusted, so that the optical center position of the second image capture device 900 during image capture and the optical center position of the first image capture device 800 during image capture are aligned.
  • the alignment of the center positions when the first image acquisition device 800 and the second image acquisition device 900 perform image acquisition can be understood as: the position of the optical center of the first image acquisition device 800 and the second image acquisition device when the image acquisition is performed.
  • the positions of the optical centers of 900 coincide with each other during image acquisition. In other words, the transmission relationship of the real scene acquired by the first image acquisition device 800 during image acquisition is consistent with the transmission relationship of the real scene acquired by the second image acquisition device 900 during image acquisition.
  • the drive assembly 310 may specifically include a motor 312 and a power output shaft 314 connected to the motor 312 .
  • the power output shaft 314 and the pan-tilt assembly 320 can be directly connected, or indirectly connected through a connecting member such as the coupling flange 316 , so that the driving assembly 310 can drive the pan-tilt assembly 320 to move.
  • the motor 312 can be connected to related components such as a power supply, a controller and a driver. When the pan/tilt assembly 320 moves, the first installation part 330 and the second installation part 340 can move along with it.
  • the first installation part 330 may be used to install the first image capture device 800
  • the second installation part 340 may be used to install the second image capture device 900 .
  • the positions of the first image capturing device 800 mounted on the first mounting portion 330 and the second image capturing device 900 mounted on the second mounting portion 340 can be changed following the movement of the pan/tilt assembly 320 .
  • the driving assembly 310 may control the pan/tilt assembly 320 to move along the target direction D as shown in FIG. 2 and FIG. 3 .
  • the target direction D may be a straight line direction.
  • the movement of the pan/tilt assembly 320 in the target direction D includes moving the pan/tilt assembly 320 in the positive direction of the target direction D, or the pan/tilt assembly 320 moving in the target direction D moves in the opposite direction, or the pan/tilt assembly 320 reciprocates in the target direction D.
  • the first image acquisition device 800 installed on the first installation portion 330 may be placed at the image acquisition position first, so as to use the first image acquisition
  • the apparatus 800 performs image acquisition.
  • the driving component 310 drives the pan/tilt component 320 to move along the target direction D.
  • the pan/tilt assembly 320 moves along the target direction D, it drives the first mounting portion 330 and the second mounting portion 340 to move along the target direction D.
  • the alignment mechanism 400 can adjust the relative positions of the second mounting portion 340 and the first mounting portion 330 , so that when the second image capturing device 900 captures an image, the perspective relationship in the lens of the second image capturing device 900 is the same as that in the lens of the first image capturing device 800 .
  • the perspective relationship remains the same.
  • the moving mechanism 300 can move the first image capturing device 800 away from the image capturing position after the first image capturing device 800 installed on the first installation part 330 completes the image capturing work, and install the first image capturing device 800 on the second image capturing position.
  • the second image capturing device 900 of the mounting portion 340 moves to the image capturing position.
  • the alignment mechanism 400 may be used for the second image acquisition device.
  • the position of 900 is fine-tuned to adjust the optical center of the second image acquisition device 900 to the position where the optical center of the first image acquisition device 800 is during image acquisition, so that the image captured by the second image acquisition device 900 can be adjusted.
  • the perspective relationship of the images is consistent with the perspective relationship of the images acquired by the first image acquisition device 800 to ensure the accuracy of the one-to-one data pair of the images.
  • the first mounting portion 330 and the second mounting portion 340 are respectively disposed on the pan-tilt assembly 320 , when the driving assembly 310 controls the pan-tilt assembly 320 to move in the target direction, the first mounting portion 330 and the second mounting portion 340 Both the mounting parts 340 can be moved in the target direction so that their respective positions are changed.
  • the differences in size and structure of the first image capture device 800 and the second image capture device 900, their errors in their own structure and stroke control, the stability of their installation environment, and the Factors such as vibration may cause a difference between the optical center position of the second image capturing device 900 after moving to the image capturing position and the optical center position of the first image capturing device 800 when it is at the image capturing position.
  • the perspective relationship of the real scene captured by the second image capture device 900 when moving to the image capture position is the same as that of the first image capture device 800 at the image capture position.
  • the perspective relationship of the captured real scene may be inconsistent or biased. Therefore, in order to ensure the accuracy of the one-to-one image pair acquired in the real scene, an alignment mechanism 400 is provided in the photographing auxiliary device 200 in this embodiment of the present application.
  • the alignment mechanism 400 can control the movement or rotation of the second mounting portion 340, and thereby adjust the relative position of the second mounting portion 340 and the first mounting portion 330 to ensure the first
  • the perspective relationship of the real scene captured by the second image capturing device 900 after moving to the image capturing position is consistent with the perspective relationship of the real scene captured by the first image capturing device 800 at the image capturing position.
  • the positions of the first image capturing device 800 and the second image capturing device 900 can be switched or adjusted through the moving mechanism 300 , and the positions of the first image capturing device 800 and the second image capturing device 900 can be switched or adjusted.
  • the alignment mechanism 400 ensures that the positions of the optical centers of the first image capture device 800 and the second image capture device 900 are consistent during image capture. Therefore, the photographing auxiliary device 200 of the embodiment of the present application can obtain a one-to-one image pair with a high degree of accuracy in a real scene, so as to ensure that the real degree and visual experience of the virtual scene model are improved, and the pair of one-to-one images can be reduced. Time and labor costs for implementing post-processing.
  • the moving mechanism 300 of the embodiment of the present application can quickly and efficiently switch or adjust the positions of the first image acquisition device 800 and the second image acquisition device 900, and can efficiently perform image acquisition for a real scene in a changing state, It is especially suitable for application scenarios where the acquisition objects are in a state of change, such as facial expression capture and human motion capture.
  • the photographing auxiliary device 200 drives the pan-tilt assembly 320 to move along the target direction D through the drive assembly 310 , and the pan-tilt assembly 320 drives the first mounting part 330 and the second mounting part when moving in the target direction D 340 moves in the target direction D. Since both the first mounting portion 330 and the second mounting portion 340 achieve position change by moving in the target direction D, during the process of the position switching of the first mounting portion 330 , there is no space between the first mounting portion 330 and the photographed subject. The vertical distance of the second mounting portion 340 may remain unchanged, and the vertical distance between the second mounting portion 340 and the photographing target may also remain unchanged during the process of the position switching of the second mounting portion 340 .
  • the photographing auxiliary device 200 for realizing the position change of the first image capturing device 800 and the second image capturing device 900 can effectively reduce the The positional deviation generated during the movement of the first image capturing device 800 and the second image capturing device 900 makes the image capturing efficiency of the first image capturing device 800 and the second image capturing device 900 higher.
  • the above-mentioned pan/tilt assembly 320 may include: a lead screw 322 , a transmission member 324 and a connection platform 326 .
  • the lead screw 322 is connected to the drive assembly 310 .
  • the transmission member 324 is threadedly connected with the lead screw 322 .
  • the connection platform 326 is connected with the transmission member 324 .
  • the first mounting portion 330 and the second mounting portion 340 are disposed on the connection platform 326 .
  • the lead screw 322 is connected with the power output shaft 314 of the drive assembly 310 through the coupling flange 316 .
  • the transmission member 324 may be a ball nut disposed through the lead screw 322 .
  • the first mounting portion 330 and the alignment mechanism 400 are respectively disposed at opposite ends of the connection platform 326 .
  • the second mounting portion 340 is disposed on the alignment mechanism 400 .
  • the motor 312 of the driving assembly 310 drives the power output shaft 314 to rotate, and the power output shaft 314 drives the lead screw 322 to rotate. Since the transmission member 324 is threadedly connected with the lead screw 322 , the lead screw 322 can push the transmission member 324 to move in the target direction D (ie, the axial direction of the lead screw 322 ) by rotating. Since the connection platform 326 is connected with the transmission member 324 , the connection platform 326 can move along the target direction D following the transmission member 324 .
  • first mounting portion 330 and the second mounting portion 340 are disposed on the connecting platform 326, when the connecting platform 326 of the pan-tilt assembly 320 moves along the target direction D, the first mounting portion 330 and the second mounting portion 340 can be driven along the target Move in direction D.
  • the above embodiment drives the first mounting portion 330 and the second mounting portion 340 to move along the target direction D through the driving assembly 310 and the pan/tilt assembly 320 having a ball screw structure, so as to switch the first mounting portion 330 and the second mounting portion 330 and the second mounting portion 330 and the second mounting portion quickly and accurately.
  • Mounting part 340 position is disposed on the connecting platform 326, when the connecting platform 326 of the pan-tilt assembly 320 moves along the target direction D.
  • connection platform 326 may be provided with one or more mounting nuts 327 , and the mounting nuts 327 may connect one or more connection plates 329 to the connection platform. 326 connections.
  • the first mounting portion 330 and the second mounting portion 340 may be disposed on one or more connecting plates 329 .
  • the above-mentioned pan/tilt assembly 320 further includes: a guide shaft 328 .
  • the guide shaft 328 is arranged side by side with the lead screw 322 and is slidably connected with the connection platform 326 .
  • the arrangement of the guide shaft 328 and the lead screw 322 side by side means that the setting direction (ie, the axial direction) of the guide shaft 328 is substantially parallel to the setting direction (ie, the axial direction) of the lead screw 322 .
  • the above-mentioned basic parallelism includes absolute parallelism in a strict sense, and also includes non-absolute parallelism within a reasonable error range in actual implementation.
  • the sliding connection between the guide shaft 328 and the connection platform 326 means that the guide shaft 328 is movably connected with the connection platform 326 , and the connection platform 326 can slide along the guide shaft 328 .
  • the guide shaft 328 may be provided with a chute, and the connection platform 326 may be provided with a slideway, so as to realize the sliding connection between the guide shaft 328 and the connection platform 326 .
  • the connecting platform 326 may be provided with a through hole, and the guide shaft 328 may pass through the through hole, so as to realize the sliding connection between the guide shaft 328 and the connecting platform 326 .
  • each guide shaft 328 may be arranged side by side, and are respectively slidably connected with the connection platform 326 .
  • the function of the above-mentioned guide shaft 328 is to guide the sliding direction of the connecting platform 326 to ensure that the connecting platform 326 can move along the target direction D.
  • the axial direction of the guide shaft 328 may be substantially parallel to the target direction D, so that the connecting platform 326 can move along the target direction D under the action of the driving assembly 310 .
  • the above-mentioned basic parallelism includes absolute parallelism in a strict sense, and also includes non-absolute parallelism within a reasonable error range in actual implementation.
  • the photographing auxiliary device 200 further includes: a support mechanism 350 .
  • the pan/tilt assembly 320 is disposed on the support mechanism 350
  • the drive assembly 310 is connected to the support mechanism 350 .
  • the support mechanism 350 may include a support plate 352 and a support 354 .
  • the support plate 352 is a support plate with a flat plate-like structure.
  • the support 354 is connected to the support plate 352 and is disposed on the side of the support plate 352 .
  • the support mechanism 350 can be used to support the pan/tilt assembly 320 to ensure that the pan/tilt assembly 320 can move smoothly.
  • the drive assembly 310 is connected with the support mechanism 350 , so the support mechanism 350 can support and fix the drive assembly 310 to reduce vibration of the drive assembly 310 under working conditions, thereby further ensuring smooth movement of the pan/tilt assembly 320 .
  • the photographing auxiliary device 200 further includes: a ranging mechanism 360 , and the ranging mechanism 360 is configured to, when the pan/tilt assembly 320 moves along the target direction D, The distance traveled by the pan/tilt assembly 320 is measured.
  • the operating parameters are converted or calculated to indirectly measure the distance moved by the pan/tilt assembly 320 .
  • the distance measuring mechanism 360 can measure or record the number of rotations of the motor 312. , to measure the distance moved by the pan/tilt assembly 320 .
  • the distance measuring mechanism 360 may include a display screen 362, and the display screen 362 can display the measurement results of the distance measuring mechanism 360, so that the operator can read the distance moved by the pan-tilt assembly 320 in time, And it enables the operator to adjust or control the position of the pan-tilt assembly 320 in real time according to the moving distance of the pan-tilt assembly 320 .
  • the first installation part 330 includes: a height adjustment component 332 and a first clamp 334 .
  • the height adjustment assembly 332 is disposed on the pan/tilt assembly 320 .
  • the first clamp 334 is connected to the height adjustment assembly 332 .
  • the height adjustment assembly 332 is disposed on the connection platform 326 of the pan/tilt assembly 320 .
  • the first clamp 334 is disposed on the height adjustment assembly 332 .
  • the height adjustment assembly 332 is configured to adjust the height of the first clamp 334
  • the first clamp 334 is used to clamp the first image capture device 800 .
  • the cooperating height adjustment assembly 332 and the first clamp 334 can not only stably connect and fix the first image capture device 800, but also can conveniently adjust the installation height of the first image capture device 800 to quickly adjust the first image The image acquisition height of the acquisition device 800 .
  • the alignment mechanism 400 may include: a first adjustment assembly 410 , a second adjustment assembly 420 and a third adjustment assembly connected to the second installation portion 340 430.
  • the first adjusting assembly 410 is used to adjust the movement of the second mounting portion 340 along a first direction (denoted as the first direction X).
  • the second adjusting assembly 420 is used to adjust the movement of the second mounting portion 340 along the second direction (denoted as the second direction Y).
  • the third adjusting assembly 430 is used to adjust the movement of the second mounting portion 340 along a third direction (denoted as the third direction Z).
  • first direction X, the second direction Y and the third direction Z are perpendicular to each other, that is, the first direction X and the second direction Y are perpendicular to each other, and the third direction Z is perpendicular to the first direction X and the second direction respectively.
  • Y It can be understood that the above-mentioned vertical includes absolute vertical in a strict sense, and also includes non-absolute vertical within a reasonable error range in actual implementation.
  • the target direction D may be the same as the first direction X, and may also be the same as the second direction Y.
  • the first adjustment assembly 410 , the second adjustment assembly 420 and the third adjustment assembly 430 may be respectively used to adjust the position of the second installation portion 340 in different directions.
  • the first direction X and the second direction Y are respectively parallel to the horizontal plane and perpendicular to each other, and the third direction Z is perpendicular to the horizontal plane.
  • the first adjustment assembly 410, the second adjustment assembly 420 and the third adjustment assembly 430 can flexibly adjust the position of the second installation part 340 in the three-dimensional plane rectangular coordinate system, so as to change the first installation part in any direction The relative position between 330 and the second mounting part 340 .
  • the alignment mechanism 400 further includes a fourth adjustment component 440 connected to the second installation portion 340 .
  • the fourth adjusting assembly 440 is used to adjust the rotation of the second mounting portion 340 along the first plane PA.
  • the first plane P A is parallel to both the first direction X and the second direction Y.
  • the fourth adjustment assembly 440 can adjust the rotation of the second installation part 340 in a clockwise direction or a counterclockwise direction along the first plane PA.
  • the fourth adjustment component 440 can control the second mounting portion 340 to rotate along the first plane PA, and the first plane PA is parallel to both the first direction X and the second direction Y
  • the fourth adjustment The assembly 440 can change the relative position between the first mounting portion 330 and the second mounting portion 340, especially the relative angle between the first mounting portion 330 and the second mounting portion 340 (for example, adjusting the direction of the second mounting portion 340 parallel to the rotation in the direction of the horizontal plane) to further ensure that the optical center positions of the first image capture device 800 mounted on the first mounting portion 330 and the second image capture device 900 mounted on the second mounting portion 340 are consistent during image capture.
  • the alignment mechanism 400 further includes a fifth adjustment component 450 connected to the second installation portion 340 .
  • the fifth adjusting assembly 450 is used to adjust the rotation of the second mounting portion 340 along the second plane PB .
  • the second plane PB is parallel to the third direction Z.
  • the fifth adjusting assembly 450 can adjust the rotation of the second mounting portion 340 in a clockwise direction or a counterclockwise direction along the second plane PB .
  • the fifth adjustment assembly 450 can control the second mounting portion 340 to rotate along the second plane PB , and the second plane PB is parallel to the third direction Z, the fifth adjustment assembly 450 can change the first The relative position between the mounting portion 330 and the second mounting portion 340, especially the relative angle between the first mounting portion 330 and the second mounting portion 340 (for example, adjusting the second mounting portion 340 to flip in a direction perpendicular to the horizontal plane), In order to further ensure that the optical center positions of the first image capture device 800 installed on the first installation part 330 and the second image capture device 900 installed in the second installation part 340 are consistent during image capture.
  • first adjustment assembly 410 can be adjusted and controlled manually by the operator respectively, or can be adjusted and controlled by, for example, Devices such as stepper motors are mechanically regulated and controlled. Specifically, it can be determined according to actual use requirements, which is not limited in the embodiment of the present application.
  • the first adjustment component 410 may include: a first slider 412 and a first knob 414 .
  • the first sliding block 412 is slidably connected with the pan/tilt assembly 320 and is connected with the second mounting portion 340 .
  • the first knob 414 is used to adjust the sliding of the first slider 412 along the first direction X relative to the pan/tilt assembly 320 .
  • the first sliding block 412 may be disposed on the pan-tilt assembly 320 and slidably connected to the pan-tilt assembly 320 through a first sliding rail (not shown in the figure) arranged along the first direction X.
  • the second mounting portion 340 is disposed on the first sliding block 412 .
  • the second mounting portion 340 may be directly connected with the first sliding block 412 or indirectly connected with the first sliding block 412 .
  • the first knob 414 is connected with the first slider 412 , and can adjust the first slider 412 to slide along the first direction X relative to the pan/tilt assembly 320 on the first slide rail.
  • the embodiment of the present application is further provided with a first knob bracket (not shown in the figure) on the pan/tilt assembly 320.
  • the first knob 414 penetrates through the first knob bracket and is rotatable in the first knob bracket.
  • the operator can make the first slider 412 move linearly along the first direction X under the action of the first knob 414, so that the first slider 412 and the first knob 414 that cooperate with each other can move along the first direction X.
  • the first direction X adjusts the position of the second mounting part 340 smoothly, and has a simple structure, easy operation and control.
  • the second adjustment component 420 includes: a second slider 422 and a second knob 424 .
  • the second sliding block 422 is slidably connected with the first sliding block 412 and is connected with the second mounting portion 340 .
  • the second knob 424 is used to adjust the second sliding block 422 to slide in the second direction Y relative to the first sliding block 412 .
  • the second sliding block 422 may be disposed on the first sliding block 412 and slidably connected to the first sliding block 412 through a second sliding rail (not shown in the figure) arranged along the second direction Y.
  • the second mounting portion 340 is directly connected with the second sliding block 422, and indirectly connected with the first sliding block 412 through the second sliding block 422.
  • the second knob 424 is connected with the second sliding block 422, and can adjust the second sliding block 422 to slide along the second direction Y relative to the first sliding block 412 on the second sliding rail.
  • a second knob bracket (not shown in the figure) is further provided on the first slider 412 in this embodiment of the present application.
  • the second knob 424 penetrates the second knob bracket and is rotatable in the second knob bracket.
  • the operator rotates the second knob 424 to make the second slider 422 move linearly along the second direction Y under the action of the second knob 424 .
  • the second sliding block 422 and the first sliding block 412 cooperate with each other and are slidably connected, and the first sliding block 412 can play a supporting and limiting role for the second sliding block 422 . Therefore, the second adjusting assembly 420 can smoothly adjust the position of the second mounting portion 340 along the second direction Y.
  • the third adjusting component 430 may include: a first connecting member 432 and a third knob 434 .
  • the first connecting member 432 is respectively connected with the second mounting portion 340 and the second sliding block 422 .
  • the third knob 434 is used to adjust the sliding of the second mounting portion 340 along the third direction Z relative to the first connecting member 432 .
  • the first connecting member 432 may be a fixed block.
  • the third knob 434 extends into the first connecting piece 432 and is rotatably connected with the first connecting piece 432 . Therefore, the third knob 434 can be rotated in the first connecting member 432 to drive the second mounting portion 340 to move along the third direction Z, so as to change the relationship between the first mounting portion 330 and the second mounting portion 340 along the third direction Z. relative position.
  • the first adjusting assembly 410 can support the second adjusting assembly 420 and the third adjusting assembly 430, In order to ensure that the alignment mechanism 400 smoothly controls the movement of the second mounting portion 340 and precisely adjusts the position of the second mounting portion 340 .
  • the first image acquisition device 800 installed on the first installation part 330 when the first image acquisition device 800 installed on the first installation part 330 performs image acquisition, its optical center is substantially parallel to the first direction X, And its lens faces the image capture scene.
  • the optical center of the second image capturing device 900 mounted on the second mounting portion 340 is also substantially parallel to the first direction X, and its lens faces the image capturing scene.
  • the first image capturing device 800 and the second image capturing device 900 are kept substantially parallel, and are respectively disposed at opposite ends of the pan/tilt assembly 320 .
  • the pan-tilt assembly 320 can drive the first image capturing device 800 mounted on the first mounting portion 330 and the second image capturing device 900 mounted on the second mounting portion 340 Move in the target direction.
  • the operator can manually or mechanically control the alignment mechanism 400 ,
  • the relative positions of the second mounting portion 340 and the first mounting portion 330 are adjusted so that the optical center of the second image capturing device 900 at the image capturing position is consistent with the optical center of the first image capturing device 800 at the image capturing position.
  • the above-mentioned basic parallelism includes absolute parallelism in a strict sense, and also includes non-absolute parallelism within a reasonable error range in actual implementation.
  • the above-mentioned photographing auxiliary device 200 may further include: a bracket mechanism 500 .
  • the bracket mechanism 500 is connected to the pan/tilt assembly 320 and is used to support the pan/tilt assembly 320 and the alignment mechanism 400 .
  • the support mechanism 500 may specifically include a tripod and an adjustment base (not shown in the figure).
  • the adjusting seat is arranged below the pan-tilt assembly 320 and is connected with the pan-tilt assembly 320 .
  • the tripod is arranged under the adjustment base and is rotatably connected to the adjustment base through a component such as a rotating shaft. When the adjusting seat rotates relative to the tripod, the adjusting seat can drive the moving mechanism to rotate, so as to change the image capturing angle of the image capturing device.
  • an embodiment of the present application further provides a method for calibrating image pair acquisition, and the positioning method can be applied to the photographing auxiliary device 200 described in any of the foregoing embodiments of the present application.
  • the positioning method may include the following S101 to S103:
  • S101 Collect a calibration image of a calibration object at a target position through a first image acquisition device.
  • the first image acquisition device is fixed to the first installation part on the photographing auxiliary equipment.
  • the second image acquisition device is fixed on the second installation part.
  • the calibration object is a laser beam
  • the calibration image is an image of the irradiation position of the laser beam in the lens of the first image acquisition device.
  • the calibration objects are the calibration object 50 and the calibration plate 40
  • the calibration image is an image of the calibration object 50 at a specific position on the calibration plate 40 in the lens of the first image acquisition device.
  • the method further includes: collecting a target image pair for the target object by using a shooting auxiliary device.
  • the target image pair includes a first image and a second image, the first image is an image of the target object collected by the first image acquisition device when the first installation part is at the target position, and the second image is when the second installation part is at the target position The image of the target object collected by the second image collection device.
  • the electronic device may first select a calibration image. Furthermore, the electronic device uses the perspective relationship to find the calibration image of the calibration object under the lens of the first image acquisition device. Then, the electronic device uses the driving assembly to drive the pan/tilt assembly to move in the target direction, so that the first image capturing device is displaced and the second image capturing device is moved to the image capturing position originally occupied by the first image capturing device.
  • the electronic device adjusts the optical center position of the second image capture device through the alignment mechanism in the photographing auxiliary device, thereby making the image of the calibration object in the lens of the second image capture device coincide with the calibration image.
  • the image acquisition device 100 can be controlled by components such as motors to achieve fast and fully automatic one-to-one acquisition of image pairs.
  • the embodiments of the present application may further use a scale-invariant feature transform (SIFT) algorithm to perform software processing on these one-to-one image pairs,
  • SIFT scale-invariant feature transform
  • the electronic device 10 may include a processor 20, a memory 30, and a program or instruction stored in the memory 30 and executed on the processor 20.
  • the steps of the calibration method for image pair acquisition described in any of the above embodiments of the present application can be implemented, and the same technical effect can be achieved. To avoid repetition, details are not repeated here.
  • the electronic devices in the embodiments of the present application may include mobile electronic devices and non-mobile electronic devices.
  • the mobile electronic device may be a mobile terminal device, such as a mobile phone, a tablet computer, a notebook computer, a palmtop computer, a vehicle-mounted electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook or a personal computer.
  • UMPC ultra-mobile personal computer
  • the non-mobile electronic device may be a non-mobile terminal device, such as a server, a network attached storage (network attached storage, NAS), a personal computer (personal computer, PC), etc., the embodiments of the present application There is no specific limitation.
  • the embodiment of the present application further provides a readable storage medium, where a program or an instruction is stored on the readable storage medium, and when the program or instruction is executed by a processor, the calibration of the image pair acquisition described in any of the foregoing embodiments of the present application can be realized steps of the method.
  • the processor described here may be the processor in the electronic device described in the foregoing embodiments.
  • the readable storage medium described herein may include a computer-readable storage medium, such as computer read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.
  • the embodiment of the present application further provides a chip, the chip may include a processor and a communication interface, the communication interface and the processor are coupled and connected, and the processor may be used to run a program or an instruction to realize the above-mentioned image pair acquisition calibration method embodiment.
  • the processor may be used to run a program or an instruction to realize the above-mentioned image pair acquisition calibration method embodiment.
  • the chips provided in the embodiments of the present application may also be referred to as system-on-chip, system-on-chip, system-on-chip, or system-on-chip, or the like. Specifically, it can be determined according to actual use requirements, which is not limited in the embodiment of the present application.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Studio Devices (AREA)

Abstract

本申请公开了一种拍摄辅助设备、图像对采集的标定方法及电子设备，涉及图像采集技术领域。拍摄辅助设备包括：驱动组件；与驱动组件连接的云台组件；以及设置于云台组件上的第一安装部和第二安装部；其中，在驱动组件驱动云台组件沿目标方向移动时，云台组件可带动第一安装部和第二安装部沿目标方向移动；第一安装部用于固定第一图像采集装置，第二安装部用于固定第二图像采集装置；对齐机构，与第二安装部连接，用于调节第二安装部的具体位置，以使得第二图像采集装置的光心和第一图像采集装置的光心对准。

Description

拍摄辅助设备、图像对采集的标定方法及电子设备
相关申请的交叉引用
本申请主张在2021年3月25日在中国提交的中国专利申请号202110321277.4的优先权，其全部内容通过引用包含于此。
技术领域
本申请属于图像采集技术领域，具体涉及一种拍摄辅助设备、图像对采集的标定方法及电子设备。
背景技术
随着图像采集和处理技术的不断发展，利用图像采集设备采集真实场景并利用计算机根据真实场景搭建虚拟场景的技术得到了广泛地应用。
为了搭建虚拟场景，需要构建相应的虚拟场景模型。而为了提高虚拟场景模型的精度，则需要采集真实场景下的图像对(又称图像数据对)，从而采用这些图像对训练虚拟场景模型。图像对的获取方式通常为：采用不同图像采集装置先后针对同一真实场景，在同一位置对该真实场景进行图像采集，从而获得该真实场景对应的图像对。为了保证图像对的精度，通常需要保证在图像采集时，不同图像采集装置的光心位于同一位置，以使得二者的透视关系一致。
相关技术中存在的其中一项不足是，在获取图像对的过程中，由于难以保证不同图像采集装置的光心位于同一位置，因此，导致获取的图像对的精度不够理想。
发明内容
本申请旨在提供一种摄辅助设备、图像对采集的标定方法及电子设备，以解决相关技术中获取的图像对的精度不够理想的技术问题。
为了解决上述技术问题，本申请是这样实现的：
第一方面，本申请实施例提出了一种拍摄辅助设备，包括：驱动组件；与驱动组件连 接的云台组件；以及设置于云台组件上的第一安装部和第二安装部；其中，在驱动组件驱动云台组件沿目标方向移动时，云台组件可带动第一安装部和第二安装部沿目标方向移动；第一安装部用于固定第一图像采集装置，第二安装部用于固定第二图像采集装置；对齐机构，与第二安装部连接，用于调节第二安装部的具体位置，以使得第二图像采集装置的光心和第一图像采集装置的光心对准。
第二方面，本申请实施例提出了一种图像对采集的标定方法，其应用于如本发明第一方面的拍摄辅助设备，该方法包括：通过第一图像采集装置，在目标位置处采集标定对象的标定图像，第一图像采集装置固定于拍摄辅助设备上的第一安装部；通过拍摄辅助设备上的驱动组件，驱动云台组件沿目标方向移动，并带动第一安装部和第二安装部沿目标方向移动，以将第二安装部移动至目标位置；通过拍摄辅助设备中的对齐机构调节第二安装部的具体位置，以使第二图像采集装置的镜头中标定对象的图像与标定图像重合；其中，第二图像采集装置固定于第二安装部。
第三方面，本申请实施例提出了一种电子设备，电子设备包括处理器，存储器及存储在存储器上并可在处理器上运行的程序或指令，程序或指令被处理器执行时实现如本申请第二方面的图像对采集的标定方法的步骤。
第四方面，本申请实施例提出了一种可读存储介质，可读存储介质上存储程序或指令，程序或指令被处理器执行时实现如本申请第二方面的图像对采集的标定方法的步骤。
本申请实施例提供的拍摄辅助设备包括驱动组件、云台组件、第一安装部、第二安装部和对齐机构。由于驱动组件与云台组件相互连接，因此驱动组件能够驱动云台组件移动，并由此带动设置于云台组件上的第一安装部和第二安装部移动。如此，一方面，云台组件能够调节第一安装部和第二安装部之间的相对位置。另一方面，由于对齐机构与第二安装部连接，并且对齐机构可以对第二安装部与第一安装部的相对位置进行调节，因此，对齐机构可以在第二安装部移动结束后，通过对第二安装部第二安装部的具体位置，再次对图像采集装置进行微调。因此，本申请实施例的拍摄辅助设备能够使得图像采集装置精确地获取图像对。
进一步的，拍摄辅助设备的第一安装部和第二安装部可分别用于安装第一图像采集装 置和第二图像采集装置。如此，当第一图像采集装置完成图像采集后，云台组件能够将第一图像采集装置由图像采集位置移开，并将第二图像采集装置移动至该图像采集位置。因此，本申请实施例提供的拍摄辅助设备能够提高第一图像采集装置和第二图像采集装置的图像采集效率，快速、高效地采集图像对。
进一步的，本申请实施例中，驱动组件驱动云台组件沿目标方向移动时，云台组件带动第一安装部和第二安装部沿目标方向移动。换言之，在驱动组件的驱动作用下，第一安装部和第二安装部的移动方向与云台组件的移动方向可以保持一致。因此，驱动组件能够便捷地驱动云台组件，使得云台组件带动第一安装部和第二安装部快速地发生位置变化，以进一步达到高效地采集图像对的目的。
本申请的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1是本申请实施例提供的拍摄辅助设备的立体结构示意图；
图2是本申请实施例提供的移动机构的立体结构示意图之一；
图3是本申请实施例提供的移动机构的立体结构示意图之二；
图4是本申请实施例提供的对齐机构的立体结构示意图之一；
图5是本申请实施例提供的对齐机构的立体结构示意图之二；
图6是本申请实施例提供的图像对采集的标定方法的步骤流程图；
图7是本申请实施例提供的图像对采集的标定方法采用的标定物和标定板的示意图；
图8是本申请实施例提供的电子设备的组成示意图。
附图标记：
电子设备：10，处理器：20，存储器：30，标定板：40，标定物：50，图像采集设备：100，拍摄辅助设备：200，移动机构：300，驱动组件：310，电机：312，动力输出轴：314，联轴法兰：316，云台组件：320，丝杠：322，传动件：324，连接平台：326，安装螺母：327，导向轴：328，连接板：329，第一安装部：330，高度调节组件：332，第一夹具：334，第二安装部：340，支撑机构：350，支撑板：352支座：354，测距机构：360，显示屏：362，对齐机构：400，第一调节组件：410，第一滑块：412，第一旋钮：414，第二调节组件：420，第二滑块：422，第二旋钮：424，第三调节组件：430，第一连接件：432，第三旋钮：434，第四调节组件：440，第五调节组件：450，支架机构：500，第一图像采集装置：800，第二图像采集装置：900，第一方向：X，第二方向：Y，第三方向：Z，目标方向：D，第一平面：P A，第二平面：P B。
具体实施方式
下面将详细描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请的说明书和权利要求书中的术语“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本申请的描述中，除非另有说明，“多个”的含义是两个或两个以上。此外，说明书以及权利要求中“和/或”表示所连接对象的至少其中之一，字符“/”，一般表示前后关联对象是一种“或”的关系。
在本申请的描述中，需要理解的是，术语“竖直”、“水平”、“水平”、“垂直”、“顺时针”、“逆时针”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相 连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
下面结合图1至图8描述本申请实施例提供的拍摄辅助设备200、图像对采集的标定方法，及电子设备10。
随着计算机科技的迅速发展，虚拟场景搭建技术在动画制作、游戏开发等诸多领域得到了广泛地应用。为了建立真实度较高、视觉体验较好的虚拟场景模型，开发人员需要采用一对一的图像对，对虚拟场景模型进行训练。
通常，一对一的图像对的获取方式主要有以下两种：一种是通过退化生成方式获取一对一的图像对。退化生成方式的优势在于，可以快速生成大量训练集，而其弊端在于难以模拟真实场景。尤其是复杂场景下的退化(例如：屏下数据退化)，其不仅包括加模糊处理、加噪声处理，还需要考虑屏幕对摄像头成像造成的影响。因此退化生成方式较为复杂。另一种是在真实场景下采集一对一的图像对。真实场景下一对一的图像对的采集需要在同一场景中的同一位置处，采用两个不同的图像采集装置，先后进行图像采集。两个不同的图像采集装置获得的图像采集结果构成一对一的图像对。采用在真实场景下采集的一对一的图像对训练虚拟场景模型，有助于提高虚拟场景模型的精度和视觉效果。尤其在例如人脸增强、图像信号处理(Image Signal Processing，ISP)、暗光提亮处理、去雾处理、去噪处理等需要实施图像质量增强的应用场景中，一对一的图像对在训练虚拟场景模型时的效果尤为显著。然而，真实场景下采集一对一的图像对的方式虽然能够解决退化生成方式存在的不足，但是真实场景下一对一的图像对的采集比较困难，且耗时耗力。其原因在于：用于实现一对一的图像对采集的两个或两个以上的图像采集装置的光心难以实现精准对齐，导致采集到的图像的透视关系存在差异，而为了修正上述差异，需要耗时耗力地对图像采集结果进行较为复杂地后期处理。
为了在真实场景下精准高效地采集一对一的图像对，如图1和图2所示，本申请实施例提供了一种拍摄辅助设备200，用于支撑图像采集装置，拍摄辅助设备200包括：驱动组件310、与驱动组件310连接的云台组件320，以及设置于云台组件320上的第一安装部330和第二安装部340。其中，在驱动组件310驱动云台组件320沿目标方向移动时，云台组件320可带动第一安装部330和第二安装部340沿目标方向移动。第一安装部330 用于固定第一图像采集装置800，第二安装部340用于固定第二图像采集装置900。对齐机构400与第二安装部340连接，用于调节第二安装部340的具体位置，以使得第二图像采集装置900的光心和第一图像采集装置800的光心对准。
可选的，本申请实施例中，图像采集装置的数量可以为至少两个，如本申请实施例中的图像采集装置的数量可以为两个，分别可以为第一图像采集装置800和第二图像采集装置900。其中，第一图像采集装置800和第二图像采集装置900可以是相同类型的图像采集装置。比如：第一图像采集装置800和第二图像采集装置900可以均为智能手机。第一图像采集装置800和第二图像采集装置900也可以是不同类型的图像采集装置。比如：第一图像采集装置800可以为单反相机，第二图像采集装置900可以为具有摄像功能的智能手机；或者，第一图像采集装置800可以为具有摄像功能的智能手机，第二图像采集装置900可以为数码相机。第一图像采集装置800和第二图像采集装置900还可以是两个具有不同性能参数或功能设置的图像采集装置，比如：第一图像采集装置800和第二图像采集装置900均为单反相机，但二者的分辨率不同；或者，第一图像采集装置800和第二图像采集装置900均具有摄像功能的智能手机，但二者的曝光度不同。
需要说明的是，本申请实施例中，上述拍摄辅助设备200可以用于对第一图像装置800和第二图像采集装置900采集进行支撑固定。其中，拍摄辅助设备200可以包括移动机构300和对齐机构400。移动机构300具体包括驱动组件310、与驱动组件310连接的云台组件320，以及设置于云台组件320上的第一安装部330和第二安装部340。移动机构300能够控制第一图像采集装置800和第二图像采集装置900移动，以便在第一图像采集装置800完成图像采集后将第一图像采集装置800由图像采集位置移走，并将第二图像采集装置900移动至图像采集位置。对齐机构400能够在第二图像采集装置900移动至图像采集位置后，通过调节第二安装部340与第一安装部330的相对位置，对第一图像采集装置800和第二图像采集装置900的相对位置进行调整，从而使得第二图像采集装置900在进行图像采集时的光心位置和第一图像采集装置800在进行图像采集时的光心位置是对齐的。
其中，第一图像采集装置800和第二图像采集装置900进行图像采集时光心位置对齐可以理解为：第一图像采集装置800在进行图像采集时其光心所处的位置与第二图像采集装置900在进行图像采集时其光心所处的位置重合。换言之，第一图像采集装置800在进 行图像采集时其采集到的真实场景的透射关系与第二图像采集装置900在进行图像采集时其采集到的真实场景的透射关系保持一致。
可选的，本申请实施例中，如图2和图3所示，驱动组件310具体可以包括电机312，以及与该电机312连接的动力输出轴314。该动力输出轴314与云台组件320可以直接连接，亦可以通过例如联轴法兰316的连接部件间接连接，由此使得驱动组件310能够带动云台组件320移动。电机312可以外接电源、控制器和驱动器等相关部件。云台组件320在移动时，第一安装部330和第二安装部340可以随之移动。第一安装部330可以用于安装第一图像采集装置800，第二安装部340可以用于安装第二图像采集装置900。如此，安装于第一安装部330上的第一图像采集装置800和安装于第二安装部340上的第二图像采集装置900的位置均能够跟随云台组件320的移动发生变化。
本申请实施例中，驱动组件310可以控制云台组件320沿如图2和图3所示的目标方向D移动。其中，目标方向D可以为直线方向。如图2和图3所示，在目标方向D为直线方向的情况下，云台组件320沿目标方向D移动包括云台组件320沿目标方向D正向移动，或云台组件320沿目标方向D反向移动，或云台组件320沿目标方向D往复移动。
本申请实施例中，在进行真实场景下的一对一的图像对采集时，首先可以将安装于第一安装部330的第一图像采集装置800放置于图像采集位置，以利用第一图像采集装置800进行图像采集。在第一图像采集装置800完成图像采集工作后，驱动组件310驱动云台组件320沿目标方向D移动。云台组件320在沿目标方向D移动时，带动第一安装部330和第二安装部340沿目标方向D移动。由此，第一安装部330和安装于第一安装部330上的第一图像采集装置800离开图像采集位置，并且第二安装部340和安装于第二安装部340上的第二图像采集装置900移动至图像采集位置。进而，对齐机构400可以调节第二安装部340与第一安装部330的相对位置，以便于第二图像采集装置900在采集图像时，其镜头中的透视关系与第一图像采集装置800镜头中的透视关系保持一致。在完成上述对齐和准备工序后，第二图像采集装置900可以开始图像采集工作。
通过上述实施方式，移动机构300能够在安装于第一安装部330的第一图像采集装置800完成图像采集工作后，将第一图像采集装置800由图像采集位置移开，并将安装于第二安装部340的第二图像采集装置900移动至该图像采集位置。在此基础上，为了保证真 实场景下获取的一对一的图像对的精准程度，本申请实施例可在第二图像采集装置900开始采集图像之前，先通过对齐机构400对第二图像采集装置900的位置进行微调，以将第二图像采集装置900的光心调整至第一图像采集装置800在进行图像采集时其光心所处的位置，从而可使得第二图像采集装置900采集到的图像的透视关系与第一图像采集装置800采集到的图像的透视关系保持一致，以确保图像一对一数据对的精确程度。
具体而言，由于第一安装部330和第二安装部340分别设置在云台组件320上，因此，当驱动组件310控制云台组件320沿目标方向移动时，第一安装部330和第二安装部340均可以沿目标方向移动，以使得二者的各自位置发生改变。在上述过程中，第一图像采集装置800和第二图像采集装置900的尺寸和构造差异、其在自身结构以及行程控制等方面的误差、其安装环境的稳定程度，以及其运行过程中产生的振动等因素均可能导致第二图像采集装置900在移动至图像采集位置后的光心位置与第一图像采集装置800在图像采集位置时的光心位置出现差异。换言之，在第一安装部330和第二安装部340移动位置后，第二图像采集装置900在移动至图像采集位置采集到的真实场景的透视关系，与第一图像采集装置800在图像采集位置采集到的真实场景的透视关系可能不一致或出现偏差。因此，为了保证真实场景下获取的一对一的图像对的精准程度，本申请实施例在拍摄辅助设备200中设置了对齐机构400。由于对齐机构400与第二安装部340连接，因此对齐机构400能够控制第二安装部340移动或旋转等，并由此调节第二安装部340与第一安装部330的相对位置，以保证第二图像采集装置900在移动至图像采集位置后采集到的真实场景的透视关系，与第一图像采集装置800在图像采集位置采集到的真实场景的透视关系一致。
综上，本申请实施例能够通过移动机构300对第一图像采集装置800和第二图像采集装置900的位置进行切换或调整，并能够在第一图像采集装置800和第二图像采集装置900的位置进行切换或调整后，通过对齐机构400保证第一图像采集装置800和第二图像采集装置900在进行图像采集时的光心位置保持一致。因此，本申请实施例的拍摄辅助设备200能够在真实场景下获得精准程度较高的一对一的图像对，以保证提高虚拟场景模型的真实程度和视觉体验，并减少对一对一的图像对实施后期处理的时间成本和人力成本。
此外，本申请实施例的移动机构300能够对第一图像采集装置800和第二图像采集装置900的位置进行快捷高效地切换或调整，其能够对处于变化状态的真实场景高效地进行 图像采集，并尤其适用于人脸表情捕捉、人体动作捕捉等这些采集对象处于变化状态的应用场景。
最后，本申请实施例中，拍摄辅助设备200通过驱动组件310驱动云台组件320沿目标方向D移动，而云台组件320在沿目标方向D移动时带动第一安装部330和第二安装部340沿目标方向D移动。由于第一安装部330和第二安装部340均通过沿目标方向D移动而实现位置改变，因此，在第一安装部330在发生位置切换的过程中，第一安装部330与拍摄对象之间的垂直距离可以保持不变，而第二安装部340在发生位置切换的过程中，第二安装部340与拍摄目标之间的垂直距离也可以保持不变。由此，通过驱动第一安装部330和第二安装部340沿目标方向D移动，以实现第一图像采集装置800和第二图像采集装置900的位置变化的拍摄辅助设备200，能够有效减小第一图像采集装置800和第二图像采集装置900在移动过程中产生的位置偏差，并且使得第一图像采集装置800和第二图像采集装置900的图像采集效率更高。
可选的，在本申请实施例中，如图2和图3所示，上述云台组件320可以包括：丝杠322、传动件324和连接平台326。丝杠322与驱动组件310连接。传动件324与丝杠322螺纹连接。连接平台326与传动件324连接。第一安装部330和第二安装部340设置于连接平台326上。
具体而言，丝杠322与驱动组件310的动力输出轴314通过联轴法兰316连接。传动件324可以为贯穿设置于丝杠322之上的滚珠螺母。第一安装部330和对齐机构400分别设置在连接平台326的相对两端。第二安装部340设置于对齐机构400上。
驱动组件310的电机312在启动后驱动动力输出轴314转动，动力输出轴314带动丝杠322转动。由于传动件324与丝杠322螺纹连接，因此丝杠322可以通过转动而推动传动件324沿目标方向D(即丝杠322的轴向)移动。由于连接平台326与传动件324连接，因此连接平台326可以跟随传动件324沿目标方向D移动。由于第一安装部330和第二安装部340设置于连接平台326上，因此云台组件320的连接平台326沿目标方向D移动时，可以带动第一安装部330和第二安装部340沿目标方向D移动。上述实施方式通过驱动组件310和具有滚珠丝杠结构的云台组件320带动第一安装部330和第二安装部340沿目标方向D移动，以快速而精准地切换第一安装部330和第二安装部340位置。
可选的，在本申请实施例中，如图2和图3所示，连接平台326可以设置有一个或多个安装螺母327，安装螺母327可将一块或多块的连接板329与连接平台326连接。第一安装部330和第二安装部340可以设置于一块或多块的连接板329上。
可选的，在本申请实施例中，如图2和图3所示，上述云台组件320还包括：导向轴328。导向轴328与丝杠322并排设置，并与连接平台326滑动连接。
其中，导向轴328与丝杠322并排设置是指导向轴328的设置方向(即轴向)与丝杠322的设置方向(即轴向)基本保持平行。可以理解，上述基本平行包括严格意义上的绝对平行，亦包括在实际实施中在合理误差范围内的非绝对平行。导向轴328与连接平台326滑动连接是指，导向轴328与连接平台326活动连接，并且连接平台326能够沿导向轴328滑动。比如，可以通过在导向轴328设置滑槽，并在连接平台326设置滑道，以实现导向轴328与连接平台326之间的滑动连接。再比如，可以通过在连接平台326上设置通孔，并使得导向轴328贯穿该通孔，以实现导向轴328与连接平台326之间的滑动连接。
可以理解，导向轴328可以为一个，亦可以为多个。在导向轴328为多个的情况下，各个导向轴328可以并排设置，并分别与连接平台326滑动连接。
上述导向轴328的作用在于对连接平台326的滑动方向进行导向，以保证连接平台326能够沿目标方向D移动。举例而言，上述导向轴328的轴向与目标方向D可以基本保持平行，以使得连接平台326能够在驱动组件310的作用下，沿目标方向D移动。可以理解，上述基本平行包括严格意义上的绝对平行，亦包括在实际实施中在合理误差范围内的非绝对平行。
可选的，在本申请实施例中，如图2和图3所示，拍摄辅助设备200还包括：支撑机构350。云台组件320设置于支撑机构350上，驱动组件310与支撑机构350连接。
其中，支撑机构350可以包括支撑板352和支座354。支撑板352为具有平板状结构的支撑板。支座354与支撑板352连接，并设置于支撑板352的侧部位置。支撑机构350可以用于支撑云台组件320，以保证云台组件320能够平稳运动。驱动组件310与支撑机构350连接，因此支撑机构350能够对驱动组件310进行支撑固定，以减小驱动组件310在工作状态下的振动，从而进一步保证云台组件320平稳运动。
可选的，在本申请实施例中，如图2和图3所示，拍摄辅助设备200还包括：测距机 构360，测距机构360用于在云台组件320沿目标方向D移动时，测量云台组件320移动的距离。
可以理解，在本申请实施例中，测距机构360测量云台组件320移动的距离可以包括直接测量云台组件320移动的距离，还可以包括通过测量驱动组件310或云台组件320中相关部件的运行参数，并对该运行参数进行换算或计算，间接测量云台组件320移动的距离。
示例性地，由于驱动组件310的电机312在转动时，电机312通过转动一圈而驱动连接平台326移动的距离是固定的，因此，测距机构360可以通过测量或记录电机312的转动圈数，测量云台组件320移动的距离。
可选的，在本申请实施例中，测距机构360可以包括显示屏362，显示屏362能够对测距机构360的测量结果进行显示，以便操作人员及时读取云台组件320移动的距离，并使得操作人员能够根据云台组件320移动的距离对云台组件320的位置进行实时调节或控制。
可选的，在本申请实施例中，如图4和图5所示，第一安装部330包括：高度调节组件332和第一夹具334。高度调节组件332设置于云台组件320上。第一夹具334与高度调节组件332连接。
具体而言，高度调节组件332设置于云台组件320的连接平台326上。第一夹具334设置于高度调节组件332上。高度调节组件332设用于调节第一夹具334的高度，第一夹具334用于夹持第一图像采集装置800。相互配合的高度调节组件332和第一夹具334不仅能够对第一图像采集装置800进行稳定地连接固定，还能够对第一图像采集装置800的安装高度进行便捷地调整，以快速调整第一图像采集装置800的图像采集高度。
可选的，在本申请实施例中，如图4和图5所示，对齐机构400可以包括与第二安装部340连接的：第一调节组件410、第二调节组件420和第三调节组件430。第一调节组件410用于调节第二安装部340沿第一方向(记为第一方向X)移动。第二调节组件420用于调节第二安装部340沿第二方向(记为第二方向Y)移动。第三调节组件430用于调节第二安装部340沿第三方向(记为第三方向Z)移动。
可选的，第一方向X、第二方向Y和第三方向Z相互垂直，也即第一方向X和第二 方向Y相互垂直，第三方向Z分别垂直于第一方向X和第二方向Y。可以理解，上述垂直包括严格意义上的绝对垂直，亦包括在实际实施中在合理误差范围内的非绝对垂直。
可选的，在本申请实施例中，目标方向D可以与第一方向X相同，还可以与第二方向Y相同。
本申请实施例中，第一调节组件410、第二调节组件420和第三调节组件430分别可以用于沿不同的方向对第二安装部340的位置进行调节。举例而言，第一方向X和第二方向Y分别平行于水平面并相互垂直，第三方向Z垂直于水平面。由此，第一调节组件410、第二调节组件420和第三调节组件430能够在三维平面直角坐标系中对第二安装部340的位置进行灵活地调节，以沿任意方向改变第一安装部330和第二安装部340之间的相对位置。
可选的，在本申请实施例中，如图4和图5所示，对齐机构400还包括与第二安装部340连接的第四调节组件440。第四调节组件440用于调节第二安装部340沿第一平面P A转动。其中，第一平面P A与第一方向X和第二方向Y均平行。
可以理解，第四调节组件440可以调节第二安装部340沿第一平面P A沿顺时针方向转动或沿逆时针方向转动。
本申请实施例中，由于第四调节组件440可以控制第二安装部340沿第一平面P A转动，并且第一平面P A与第一方向X和第二方向Y均平行，因此第四调节组件440能够改变第一安装部330和第二安装部340之间的相对位置，尤其是第一安装部330和第二安装部340之间的相对角度(比如调节第二安装部340沿平行于水平面的方向旋转)，以进一步保证安装于第一安装部330的第一图像采集装置800和安装于第二安装部340的第二图像采集装置900在进行图像采集时的光心位置保持一致。
可选的，在本申请实施例中，如图4和图5所示，对齐机构400还包括与第二安装部340连接的第五调节组件450。第五调节组件450用于调节第二安装部340沿第二平面P B转动。其中，第二平面P B与第三方向Z平行。
可以理解，第五调节组件450可以调节第二安装部340沿第二平面P B沿顺时针方向转动或沿逆时针方向转动。
本申请实施例中，由于第五调节组件450可以控制第二安装部340沿第二平面P B转动， 并且第二平面P B与第三方向Z平行，因此第五调节组件450能够改变第一安装部330和第二安装部340之间的相对位置，尤其是第一安装部330和第二安装部340之间的相对角度(比如调节第二安装部340沿垂直于水平面的方向翻转)，以进一步保证安装于第一安装部330的第一图像采集装置800和安装于第二安装部340的第二图像采集装置900在进行图像采集时的光心位置保持一致。
需要说明的是，上述第一调节组件410、第二调节组件420、第三调节组件430、第四调节组件440和第五调节组件450可分别由作业人员进行手动地调节和控制，亦可由例如步进电机之类的装置进行机械化地调节和控制。具体可以根据实际使用需求确定，本申请实施例不作限定。
可选的，在本申请实施例中，如图4和图5所示，第一调节组件410可以包括：第一滑块412和第一旋钮414。第一滑块412与云台组件320滑动连接，并与第二安装部340连接。第一旋钮414用于调节第一滑块412相对于云台组件320沿第一方向X滑动。
具体而言，第一滑块412可以设置于云台组件320上，并通过沿第一方向X布置的第一滑轨(图中未示出)与云台组件320滑动连接。第二安装部340设于第一滑块412上。其中，第二安装部340可与第一滑块412直接连接，亦可与第一滑块412间接连接。第一旋钮414与第一滑块412连接，并可以调节第一滑块412在第一滑轨上相对于云台组件320沿第一方向X滑动。此外，为了对第一旋钮414进行支撑，本申请实施例还在云台组件320上设置有第一旋钮支架(图中未示出)。第一旋钮414贯穿第一旋钮支架，并在第一旋钮支架中可转动。操作人员通过转动第一旋钮414，可以使第一滑块412在第一旋钮414的作用下沿第一方向X做直线运动，从而使得相互配合的第一滑块412和第一旋钮414能够沿第一方向X平稳地对第二安装部340的位置进行调节，并且其结构简单、易于操作和控制。
可选的，在本申请实施例中，如图4和图5所示，第二调节组件420包括：第二滑块422和第二旋钮424。第二滑块422与第一滑块412滑动连接，并与第二安装部340连接。第二旋钮424用于调节第二滑块422相对于第一滑块412沿第二方向Y滑动。
具体而言，第二滑块422可以设置于第一滑块412上，并通过沿第二方向Y布置的第二滑轨(图中未示出)与第一滑块412滑动连接。第二安装部340与第二滑块422直接连 接，并通过第二滑块422与第一滑块412间接连接。第二旋钮424与第二滑块422连接，并可以调节第二滑块422在第二滑轨上相对于第一滑块412沿第二方向Y滑动。此外，为了对第二旋钮424进行支撑，本申请实施例在第一滑块412上还设置有第二旋钮支架(图中未示出)。第二旋钮424贯穿第二旋钮支架，并在第二旋钮支架中可转动。操作人员通过转动第二旋钮424，使第二滑块422在第二旋钮424的作用下沿第二方向Y做直线运动。第二滑块422与第一滑块412相互配合并滑动连接，第一滑块412能够对第二滑块422起到支撑限位的作用。因此，第二调节组件420能够沿第二方向Y平稳地对第二安装部340的位置进行调节。
可选的，在本申请实施例中，如图4和图5所示，第三调节组件430可以包括：第一连接件432和第三旋钮434。第一连接件432与第二安装部340和第二滑块422分别连接。第三旋钮434用于调节第二安装部340相对于第一连接件432沿第三方向Z滑动。
上述第一连接件432具体可为固定块。第三旋钮434伸入第一连接件432并与第一连接件432旋转连接。由此，第三旋钮434可通过在第一连接件432中旋转，带动第二安装部340沿第三方向Z移动，以沿第三方向Z改变第一安装部330和第二安装部340的相对位置。由于第一连接件432与第二滑块422连接，且第二滑块422与第一滑块412连接，因此第一调节组件410能够对第二调节组件420和第三调节组件430进行支撑，以保证对齐机构400平稳地控制第二安装部340移动，并精准地调节第二安装部340的位置。
可选的，在本申请实施例中，如图4和图5所示，安装于第一安装部330的第一图像采集装置800进行图像采集时，其光心基本平行于第一方向X，并且其镜头面向图像采集场景。第一图像采集装置800进行图像采集时，安装于第二安装部340的第二图像采集装置900的光心也基本平行于第一方向X，并且其镜头面向图像采集场景。第一图像采集装置800和第二图像采集装置900基本保持平行，并分别设置在云台组件320的相对两端。当驱动组件310控制云台组件320沿目标方向移动时，云台组件320可以带动安装于第一安装部330的第一图像采集装置800和安装于第二安装部340的第二图像采集装置900沿目标方向移动。当第一图像采集装置800完成图像采集，且第二图像采集装置900移动至原本放置有第一图像采集装置800的图像采集位置之后，操作人员可以通过对对齐机构400进行手动控制或机械控制，以调节第二安装部340和第一安装部330的相对位置，从而使 得第二图像采集装置900在图像采集位置的光心与第一图像采集装置800在图像采集位置的光心一致。可以理解，上述基本平行包括严格意义上的绝对平行，亦包括在实际实施中在合理误差范围内的非绝对平行。
可选的，在本申请实施例中，如图1所示，上述拍摄辅助设备200还可以包括：支架机构500。支架机构500与云台组件320连接，并用于支撑云台组件320和对齐机构400。
其中，支架机构500具体可包括三脚架和调节座(图中未示出)。调节座设置在云台组件320下方，并与云台组件320连接。三脚架设置在调节座下方，并与调节座通过例如转轴的部件转动连接。当调节座相对于三脚架转动时，调节座可以带动移动机构转动，以改变图像采集装置的图像采集角度。
如图6所示，本申请实施例还提供了一种图像对采集的标定方法，该定位方法可以应用于如本申请上述任一实施例所述的拍摄辅助设备200。该定位方法可以包括下述的S101至S103：
S101、通过第一图像采集装置，在目标位置处采集标定对象的标定图像。
其中，第一图像采集装置固定于拍摄辅助设备上的第一安装部。
S102、通过拍摄辅助设备上的驱动组件，驱动云台组件沿目标方向移动，并带动第一安装部和第二安装部沿目标方向移动，以将第二安装部移动至目标位置。
S103、通过拍摄辅助设备中的对齐机构调节第二安装部的具体位置，以使第二图像采集装置的镜头中标定对象的图像与标定图像重合。
其中，第二图像采集装置固定于第二安装部。
可选的，本申请实施例中，标定对象为激光光束，标定图像为第一图像采集装置的镜头中激光光束照射位置的图像。
可选的，本申请实施例中，如图7所示，标定对象为标定物50和标定板40，标定图像为第一图像采集装置的镜头中标定物50在标定板40上特定位置的图像。
可选的，本申请实施例中，在第二图像采集装置的镜头中标定对象的图像与标定图像重合后，方法还包括：通过拍摄辅助设备，针对目标对象，采集目标图像对。其中，目标图像对包括第一图像和第二图像，第一图像为第一安装部在目标位置时第一图像采集装置采集的目标对象的图像，第二图像为第二安装部在目标位置时第二图像采集装置采集的目 标对象的图像。
本申请实施例中，为了实现第二图像采集装置光心和第一图像采集装置光心的对齐，电子设备首先可以选定标定图像。进而，电子设备利用透视关系找到第一图像采集装置的镜头下标定对象的标定图像。然后，电子设备利用驱动组件，驱动云台组件沿目标方向移动，使得第一图像采集装置移位，并且第二图像采集装置移动到原本由第一图像采集装置占据的图像采集位置。进而，在驱动组件关停之后，电子设备通过拍摄辅助设备中的对齐机构调节第二图像采集装置的光心位置，由此使得第二图像采集装置的镜头中标定对象的图像与标定图像重合。在对齐机构完成调节后，可通过例如电机之类的部件控制图像采集设备100实现快速、全自动地一对一的图像对的获取。此外，在获得这些一对一的图像对后，本申请实施例还可进一步利用尺度不变特征变换(Scale-invariant feature transform，SIFT)算法对这些一对一的图像对进行软件上的处理，从而进一步提高这些一对一的图像对的精确程度，以保证一对一的图像对中通过第一图像采集装置和第二图像采集装置获得的图像透视关系保持一致。
本申请实施例还提供了一种电子设备，如图8所示，电子设备10可以包括处理器20，存储器30及存储在存储器30上并可在处理器20上运行的程序或指令，程序或指令被处理器20执行时可以实现如本申请上述任一实施例所述的图像对采集的标定方法的步骤，且能达到相同的技术效果，为避免重复，这里不再赘述。
需要注意的是，本申请实施例中的电子设备可以包括移动电子设备和非移动电子设备。示例性的，移动电子设备可以为移动终端设备，例如手机、平板电脑、笔记本电脑、掌上电脑、车载电子设备、可穿戴设备、超级移动个人计算机(ultra-mobile personal computer，UMPC)、上网本或者个人数字助理(personal digital assistant，PDA)等，非移动电子设备可以为非移动终端设备，例如服务器、网络附属存储器(network attached storage，NAS)、个人计算机(personal computer，PC)等，本申请实施例不作具体限定。
本申请实施例还提供了一种可读存储介质，可读存储介质上存储程序或指令，程序或指令被处理器执行时可以实现如本申请上述任一实施例所述的图像对采集的标定方法的步骤。
其中，此处所述的处理器可以为上述实施例中所述的电子设备中的处理器。此处所述 的可读存储介质，可以包括计算机可读存储介质，如计算机只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等。
本申请实施例还提供了一种芯片，芯片可以包括处理器和通信接口，通信接口和处理器耦合连接，处理器可以用于运行程序或指令，以实现上述图像对采集的标定方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
可以理解，本申请实施例提供的芯片还可以称为系统级芯片、系统芯片、芯片系统或片上系统芯片等。具体可以根据实际使用需求确定，本申请实施例不作限定。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
尽管已经示出和描述了本申请的实施例，本领域的普通技术人员可以理解：在不脱离本申请的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本申请的范围由权利要求及其等同物限定。

Claims (17)

  1. 一种拍摄辅助设备，包括：
    驱动组件；
    与所述驱动组件连接的云台组件；
    以及设置于所述云台组件上的第一安装部和第二安装部；
    其中，在所述驱动组件驱动所述云台组件沿目标方向移动时，所述云台组件可带动所述第一安装部和所述第二安装部沿所述目标方向移动；所述第一安装部用于固定第一图像采集装置，所述第二安装部用于固定第二图像采集装置；
    对齐机构，与所述第二安装部连接，用于调节所述第二安装部的具体位置，以使得所述第二图像采集装置的光心和所述第一图像采集装置的光心对准。
  2. 根据权利要求1所述的拍摄辅助设备，其中，所述云台组件包括：
    丝杠，与所述驱动组件连接；
    传动件，与所述丝杠螺纹连接；
    连接平台，与所述传动件连接，所述第一安装部和所述第二安装部设置于所述连接平台上。
  3. 根据权利要求2所述的拍摄辅助设备，其中，所述云台组件还包括：
    导向轴，与所述丝杠并排设置，并与所述连接平台滑动连接。
  4. 根据权利要求1所述的拍摄辅助设备，其中，还包括：
    测距机构，用于在所述云台组件沿所述目标方向移动时，测量所述云台组件移动的距离。
  5. 根据权利要求1所述的拍摄辅助设备，其中，所述第一安装部包括：
    高度调节组件，设置于所述云台组件上；
    第一夹具，与所述高度调节组件连接。
  6. 根据权利要求1至5中任一项所述的拍摄辅助设备，其中，所述对齐机构包括与所述第二安装部连接的：
    第一调节组件，用于调节所述第二安装部沿第一方向移动；
    第二调节组件，用于调节所述第二安装部沿第二方向移动；
    第三调节组件，用于调节所述第二安装部沿第三方向移动。
  7. 根据权利要求6所述的拍摄辅助设备，其中，所述对齐机构还包括与所述第二安装部连接的：
    第四调节组件，用于调节所述第二安装部沿第一平面转动；和/或
    第五调节组件，用于调节所述第二安装部沿第二平面转动。
  8. 根据权利要求6所述的拍摄辅助设备，其中，所述第一调节组件包括：
    第一滑块，与所述云台组件滑动连接，并与所述第二安装部连接；
    第一旋钮，用于调节所述第一滑块相对于所述云台组件沿所述第一方向滑动。
  9. 根据权利要求8所述的拍摄辅助设备，其中，所述第二调节组件包括：
    第二滑块，与所述第一滑块滑动连接，并与所述第二安装部连接；
    第二旋钮，用于调节所述第二滑块相对于所述第一滑块沿所述第二方向滑动。
  10. 根据权利要求9所述的拍摄辅助设备，其中，所述第三调节组件包括：
    第一连接件，与所述第二安装部和所述第二滑块分别连接；
    第三旋钮，用于调节所述第二安装部相对于所述第一连接件沿所述第三方向滑动。
  11. 一种图像对采集的标定方法，所述方法应用于如权利要求1至10中任一项所述的拍摄辅助设备，所述方法包括：
    通过第一图像采集装置，在目标位置处采集标定对象的标定图像，所述第一图像采集装置固定于所述拍摄辅助设备上的第一安装部；
    通过所述拍摄辅助设备上的驱动组件，驱动云台组件沿目标方向移动，并带动所述第一安装部和第二安装部沿所述目标方向移动，以将所述第二安装部移动至所述目标位置；
    通过所述拍摄辅助设备中的对齐机构调节所述第二安装部的具体位置，以使所述第二图像采集装置的镜头中所述标定对象的图像与所述标定图像重合；其中，所述第二图像采集装置固定于所述第二安装部。
  12. 根据权利要求11所述的方法，其中，
    所述标定对象为激光光束，所述标定图像为所述第一图像采集装置的镜头中所述激光光束照射位置的图像；或，
    所述标定对象为标定物和标定板，所述标定图像为所述第一图像采集装置的镜头中所述标定物在所述标定板上特定位置的图像。
  13. 根据权利要求11所述的图像对采集的标定方法，其中，在所述第二图像采集装置的镜头中所述标定对象的图像与所述标定图像重合后，所述方法还包括：
    通过所述拍摄辅助设备，针对目标对象，采集目标图像对；
    其中，所述目标图像对包括第一图像和第二图像，所述第一图像为所述第一安装部在所述目标位置时所述第一图像采集装置采集的所述目标对象的图像，所述第二图像为所述第二安装部在所述目标位置时所述第二图像采集装置采集的所述目标对象的图像。
  14. 一种电子设备，所述电子设备包括处理器，存储器及存储在所述存储器上并可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如权利要求11至13中任一项所述的图像对采集的标定方法的步骤。
  15. 一种可读存储介质，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如权利要求11至13中任一项所述的图像对采集的标定方法的步骤。
  16. 一种计算机程序产品，所述程序产品被至少一个处理器执行以实现如权利要求11至13中任一项所述的消息处理方法。
  17. 一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现如权利要求11至13中任一项所述的消息处理方法。
PCT/CN2022/082074 2021-03-25 2022-03-21 拍摄辅助设备、图像对采集的标定方法及电子设备 Ceased WO2022199539A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110321277.4 2021-03-25
CN202110321277.4A CN113163129B (zh) 2021-03-25 2021-03-25 拍摄辅助设备、图像对采集的标定方法及电子设备

Publications (1)

Publication Number Publication Date
WO2022199539A1 true WO2022199539A1 (zh) 2022-09-29

Family

ID=76884759

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/082074 Ceased WO2022199539A1 (zh) 2021-03-25 2022-03-21 拍摄辅助设备、图像对采集的标定方法及电子设备

Country Status (2)

Country Link
CN (1) CN113163129B (zh)
WO (1) WO2022199539A1 (zh)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116255533A (zh) * 2023-03-13 2023-06-13 中国科学院理化技术研究所 一种距离调节器和调节方法
CN117154595A (zh) * 2023-10-31 2023-12-01 国网浙江省电力有限公司杭州供电公司 一种带电作业装置及目标导线识别定位方法
CN119676410A (zh) * 2024-12-13 2025-03-21 天翼电信终端有限公司 云台监控装置

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113163129B (zh) * 2021-03-25 2023-04-18 维沃移动通信有限公司 拍摄辅助设备、图像对采集的标定方法及电子设备
CN113163130B (zh) * 2021-03-25 2023-04-07 维沃移动通信有限公司 拍摄辅助设备、图像对采集的标定方法及电子设备

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103528514A (zh) * 2013-10-12 2014-01-22 南京理工大学 机器视觉多视场协同机构及装有该机构的测量与检测装置
CN103792667A (zh) * 2012-10-30 2014-05-14 财团法人工业技术研究院 立体摄像装置、自动校正装置与校正方法
CN209044687U (zh) * 2018-12-25 2019-06-28 凌云光技术集团有限责任公司 一种共轴双相机图像关联标定装置
CN111627073A (zh) * 2020-04-30 2020-09-04 贝壳技术有限公司 一种基于人机交互的标定方法、标定装置和存储介质
CN111953882A (zh) * 2020-09-11 2020-11-17 上海瞳观智能科技有限公司 基于半透镜的光轴对齐装置
CN212628101U (zh) * 2020-08-26 2021-02-26 北京百度网讯科技有限公司 图像信息采集装置和多人体测温系统
CN112419420A (zh) * 2020-09-17 2021-02-26 腾讯科技（深圳）有限公司 一种相机标定方法、装置、电子设备及存储介质
US20210082149A1 (en) * 2020-11-24 2021-03-18 Intel Corporation Real-time calibration of wide-baseline outside-in multi-camera systems
CN113163129A (zh) * 2021-03-25 2021-07-23 维沃移动通信有限公司 拍摄辅助设备、图像对采集的标定方法及电子设备
CN113163131A (zh) * 2021-03-25 2021-07-23 维沃移动通信有限公司 拍摄辅助设备、图像对采集的标定方法及电子设备
CN113163130A (zh) * 2021-03-25 2021-07-23 维沃移动通信有限公司 拍摄辅助设备、图像对采集的标定方法及电子设备

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11213157A (ja) * 1998-01-29 1999-08-06 Minolta Co Ltd カメラ搭載移動体
JP2004236156A (ja) * 2003-01-31 2004-08-19 Sharp Corp 立体画像撮影補助装置および立体画像撮影方法
CN205428203U (zh) * 2015-12-14 2016-08-03 交通运输部公路科学研究所 一种多自由度路况观测装置
CN211878399U (zh) * 2020-05-09 2020-11-06 上海庞勃特科技有限公司 一种可调角度双目相机结构

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103792667A (zh) * 2012-10-30 2014-05-14 财团法人工业技术研究院 立体摄像装置、自动校正装置与校正方法
CN103528514A (zh) * 2013-10-12 2014-01-22 南京理工大学 机器视觉多视场协同机构及装有该机构的测量与检测装置
CN209044687U (zh) * 2018-12-25 2019-06-28 凌云光技术集团有限责任公司 一种共轴双相机图像关联标定装置
CN111627073A (zh) * 2020-04-30 2020-09-04 贝壳技术有限公司 一种基于人机交互的标定方法、标定装置和存储介质
CN212628101U (zh) * 2020-08-26 2021-02-26 北京百度网讯科技有限公司 图像信息采集装置和多人体测温系统
CN111953882A (zh) * 2020-09-11 2020-11-17 上海瞳观智能科技有限公司 基于半透镜的光轴对齐装置
CN112419420A (zh) * 2020-09-17 2021-02-26 腾讯科技（深圳）有限公司 一种相机标定方法、装置、电子设备及存储介质
US20210082149A1 (en) * 2020-11-24 2021-03-18 Intel Corporation Real-time calibration of wide-baseline outside-in multi-camera systems
CN113163129A (zh) * 2021-03-25 2021-07-23 维沃移动通信有限公司 拍摄辅助设备、图像对采集的标定方法及电子设备
CN113163131A (zh) * 2021-03-25 2021-07-23 维沃移动通信有限公司 拍摄辅助设备、图像对采集的标定方法及电子设备
CN113163130A (zh) * 2021-03-25 2021-07-23 维沃移动通信有限公司 拍摄辅助设备、图像对采集的标定方法及电子设备

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
DU BO, SHI ZHI-BIN; LEI HAI-WEI; YANG QIU-XIANG: "Improvement of image rectification method for parallel camera arrangement", COMPUTER ENGINEERING AND DESIGN, vol. 38, no. 3, 1 March 2017 (2017-03-01), pages 709 - 713, XP055969278, ISSN: 1000-7024, DOI: 10.16208/j.issn1000-7024.2017.03.028 *
FASOGBON PETER; AKSU EMRE: "Calibration of Fisheye Camera Using Entrance Pupil", 2019 IEEE INTERNATIONAL CONFERENCE ON IMAGE PROCESSING (ICIP), IEEE, 22 September 2019 (2019-09-22), pages 469 - 473, XP033642251, DOI: 10.1109/ICIP.2019.8803832 *

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116255533A (zh) * 2023-03-13 2023-06-13 中国科学院理化技术研究所 一种距离调节器和调节方法
CN117154595A (zh) * 2023-10-31 2023-12-01 国网浙江省电力有限公司杭州供电公司 一种带电作业装置及目标导线识别定位方法
CN117154595B (zh) * 2023-10-31 2024-01-30 国网浙江省电力有限公司杭州供电公司 一种带电作业装置及目标导线识别定位方法
CN119676410A (zh) * 2024-12-13 2025-03-21 天翼电信终端有限公司 云台监控装置

Also Published As

Publication number Publication date
CN113163129B (zh) 2023-04-18
CN113163129A (zh) 2021-07-23

Similar Documents

Publication Publication Date Title
CN113163129B (zh) 拍摄辅助设备、图像对采集的标定方法及电子设备
CN113163130B (zh) 拍摄辅助设备、图像对采集的标定方法及电子设备
CN110009686B (zh) 相机标定方法、装置、平台和应用于标定平台的相机标定方法
CN112311965B (zh) 虚拟拍摄方法、装置、系统及存储介质
CN109405737B (zh) 面向大尺寸测量的相机系统及测量方法
CN108574825B (zh) 一种云台摄像机的调整方法和装置
CN102929084B (zh) 投影机转动投影和自动调试图像成像系统及其成像方法
CN109360243B (zh) 一种多自由度可动视觉系统的标定方法
CN212163541U (zh) 一种拍摄距离可调的立体拍照装置
JP7342238B2 (ja) 撮影機器及び方法、並びに調整要素
CN112911109B (zh) 电子设备及拍摄方法
CN110300258A (zh) 一种正视和侧视自动对焦系统
CN113163131B (zh) 拍摄辅助设备、图像对采集的标定方法及电子设备
CN102752484A (zh) 一种快速非全局一致图像抖动模糊去除算法及其系统
CN108955642B (zh) 一种大幅面等效中心投影影像无缝拼接方法
CN103676455B (zh) 光学防震相机模组的自动调试方法及系统
JP2015532446A5 (zh)
WO2022267219A1 (zh) 一种自动对焦方法、装置及存储介质
CN113487677A (zh) 一种基于任意分布式配置的多ptz相机的室外中远距场景标定方法
CN209524260U (zh) 一种环形旋转立体拍照装置
CN206413091U (zh) 一种全景摄像机数据采集和标定装置
CN212435806U (zh) 基于半透镜的光轴对齐装置
CN105472251B (zh) 线扫相机全景成像装置
CN105611131B (zh) 线阵相机全景成像的方法
CN206741556U (zh) 一种基于动态物体的三维建模数据采集系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22774198

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 22774198

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 22774198

Country of ref document: EP

Kind code of ref document: A1

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 28-02-2024)

122 Ep: pct application non-entry in european phase

Ref document number: 22774198

Country of ref document: EP

Kind code of ref document: A1