WO2022199542A1 - 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

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Publication number
WO2022199542A1
WO2022199542A1 PCT/CN2022/082077 CN2022082077W WO2022199542A1 WO 2022199542 A1 WO2022199542 A1 WO 2022199542A1 CN 2022082077 W CN2022082077 W CN 2022082077W WO 2022199542 A1 WO2022199542 A1 WO 2022199542A1
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WO
WIPO (PCT)
Prior art keywords
image
assembly
mounting portion
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/CN2022/082077
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English (en)
French (fr)
Inventor
姜靖翔
泮婕
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 WO2022199542A1 publication Critical patent/WO2022199542A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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 driving component drives the pan-tilt component to move, the pan-tilt component can drive the first mounting part and the second mounting part to move; the first mounting part is used for fixing the first image capturing device, and the second mounting part is used for fixing the second image capturing device The device; an alignment mechanism, connected with the second installation part, for adjusting the specific position of the second installation part, so as to align the optical center of the second image capture device with the optical center of the first image capture device.
  • 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, and drives the first installation part and the second installation part to move, to move the second installation part to the target position; adjust the specific position of the second installation part through the alignment mechanism in the shooting auxiliary equipment, so that the image of the calibration object in the lens of the second image acquisition device is coincident with the calibration image; wherein, the first Two image capturing devices are fixed on the second mounting 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 provided by the embodiment of the present application 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 moving mechanism can adjust the relative position between the first mounting portion and the second mounting portion. On the other hand, since the alignment mechanism is connected to the second mounting portion, and the alignment mechanism can adjust the specific position of the second mounting portion, the alignment mechanism can adjust the second mounting portion to the second mounting portion after the movement of the second mounting portion is completed. The relative position of the first mounting portion is adjusted to fine-tune the image capture device. Therefore, the photographing auxiliary device of the embodiment of the present application can enable the image acquisition device to acquire image pairs with high accuracy.
  • first installation part and the second installation part of the photographing auxiliary device may be used to install the first image capture device and the second image capture device in the image capture device, respectively.
  • the moving mechanism 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 image acquisition efficiency of the first image acquisition device and the second image acquisition device provided by the embodiments of the present application can be improved, and image pairs can be quickly and efficiently acquired.
  • FIG. 1 is one of the three-dimensional structural schematic diagrams of the photographing auxiliary equipment provided by the embodiment of the present application;
  • FIG. 2 is the second schematic diagram of the three-dimensional structure of the photographing auxiliary device provided by the embodiment of the present application;
  • FIG 3 is one of the three-dimensional schematic diagrams of the moving mechanism provided by the embodiment of the present application.
  • FIG. 5 is the third schematic diagram of the three-dimensional structure of the moving mechanism provided by the embodiment of the present application.
  • FIG. 6 is the fourth schematic diagram of the three-dimensional structure of the moving mechanism provided by the embodiment of the present application.
  • FIG. 9 is a schematic diagram of the cooperation relationship between the first support assembly and the second support assembly provided by the embodiment of the present application.
  • FIG. 10 is a schematic diagram of the cooperation relationship between the moving mechanism and the bracket mechanism provided by the embodiment of the present application.
  • FIG. 11 is a flowchart of steps of a calibration method for image pair acquisition provided by an embodiment of the present application.
  • FIG. 13 is a schematic diagram of a calibration plate and a calibration object used in the calibration method for image pair acquisition provided by the 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 13 .
  • 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.
  • ISP image signal processing
  • dark light enhancement e.g., dark light enhancement
  • dehazing e.g., 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 the real scene can solve the shortcomings of the degradation generation method, but the acquisition of one-to-one image pairs in the real scene is difficult and time-consuming and labor-intensive.
  • an embodiment of the present application provides a photographing auxiliary device 200 , including: a driving component 310 , a driving component connected to the driving component 310 .
  • the driving assembly 310 drives the pan/tilt assembly 320 to move
  • the pan/tilt assembly 320 can drive the first mounting portion 330 and the second mounting portion 340 to move.
  • 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 capturing apparatuses in this embodiment of the present application may be two, which are the first image capturing apparatus 800 and the second image capturing apparatus 900 respectively.
  • the first image capture device 800 and the second image capture device 900 may be two different types of image capture devices, for example, the first image capture device 800 may be a single-lens reflex camera, and the second image capture device 900 may be a camera with a camera function Alternatively, the first image capture device 800 may be a smart phone with a camera function, and the second image capture device 900 may be a digital camera.
  • 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 SLRs A camera, but the resolutions of the two are different; or, both the first image capture device 800 and the second image capture device 900 are smart phones with a camera function, but the exposures of the two are different.
  • the above-mentioned photographing auxiliary device 200 may be used to support and fix the image acquisition device.
  • 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 optical centers of the first image acquisition device 800 and the second image acquisition device 900 during 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 900 when the first image acquisition device 800 performs image acquisition.
  • the positions of the optical centers are coincident 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 be a motor, which has a power output shaft, and the power output shaft is directly or indirectly connected with the pan/tilt assembly 320, thereby enabling the drive assembly 310 to drive the pan/tilt assembly.
  • 320 sports.
  • 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 above-mentioned drive assembly 310 may control the pan/tilt assembly 320 to rotate, flip, move along a straight line or move along a curve.
  • the power output shaft of the driving assembly 310 is directly connected with the pan/tilt unit 320 , and the driving unit 310 controls the pan/tilt unit 320 to perform rotational motion or flip motion.
  • the power output shaft of the drive assembly 310 is indirectly connected to the pan/tilt assembly 320 through components such as a crank slider, a rack and pinion or a ball screw, so that the drive assembly 310 rotates by itself to control the pan/tilt assembly 320 to move or move in a straight line. Move along the curve.
  • 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 pan/tilt assembly 320 drives the first mounting portion 330 and the first image capturing device 800 mounted on the first mounting portion 330 to leave the image capturing position under the control of the driving assembly 310 , and drive the second installation part 340 and the second image capture device 900 installed on the second installation part 340 to move to the image capture position, and adjust the relative position of the second installation part 340 and the first installation part 330 through the alignment mechanism 400 , so that the second image capturing device 900 can start the image capturing work after completing the alignment and preparation process.
  • the first mounting portion 330 and the second mounting portion 340 in the embodiment of the present application may be arranged at intervals along a linear direction on the pan/tilt assembly 320 .
  • the pan/tilt assembly 320 moves in a linear direction under the control of the driving assembly 310 .
  • the pan/tilt assembly 320 drives the first image capturing device 800 to leave the image capturing position, and drives the second image capturing device 900 to move to the image capturing position.
  • the first image acquisition device 800 installed on the first installation part 330 faces the image acquisition scene
  • the second image acquisition device 900 installed on the second installation part 340 faces away from the image
  • the scene is captured, and the two are respectively disposed at opposite ends of the pan/tilt assembly 320 .
  • the pan/tilt assembly 320 rotates 180° along the axis under the control of the driving assembly 310 .
  • the pan/tilt assembly 320 drives the first installation part 330 and the second installation part 340 to move, so that the positions of the first image capture device 800 and the second image capture device 900 are interchanged.
  • the first image capture device 800 moves to the position where the second image capture device 900 was originally placed, and the first image capture device 800 faces away from the image capture scene; the second image capture device 900 moves to the position where the first image was originally placed The image capture position of the capture device 800, and the second image capture device 900 faces the image capture scene.
  • the first mounting portion 330 and the second mounting portion 340 may also be arranged at the center of the pan/tilt assembly 320, and the lens of the first image acquisition device 800 faces the real scene, and the first mounting portion 330 faces the real scene. Second, the lens of the image acquisition device 900 faces away from the real scene. After the first image capture device 800 installed on the first installation part 330 completes the image capture work, the pan/tilt assembly 320 rotates 180° along the axis under the control of the drive assembly 310 .
  • the pan/tilt assembly 320 drives the second image capture device 900 installed on the second installation part 340 to turn over to the position where the first image capture device 800 was originally placed, and drives the first image capture device 900 installed on the first installation part 330 The image capturing device 800 is turned over to the position where the second image capturing device 900 was originally placed.
  • 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 to perform image acquisition on 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.
  • 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, the first mounting portion 330 and the second mounting portion 340 The respective positions have changed.
  • errors in the device's own structure and stroke control, the stability of the installation environment of the device, and the occurrence of Factors such as vibration and other factors may cause a difference between the optical center position of the second image capture device 900 after moving to the image capture position and the optical center position of the first image capture device 800 at the image capture 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 slightly deviated. 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 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 the improvement of the real degree and visual experience of the virtual scene model, and reduce the post-processing of the one-to-one image pair. time cost and labor cost.
  • the moving mechanism 300 can also switch or adjust the positions of the first image capturing device 800 and the second image capturing device 900 quickly and efficiently, which can efficiently capture images of real scenes in a changing state, and is especially suitable for Facial expression capture, human motion capture and other application scenarios where the collection objects are in a changing state.
  • the above-mentioned alignment mechanism 400 may include: a first adjustment assembly 410 and a second adjustment assembly 420 connected to the second installation part 340 . and the third adjustment assembly 430 .
  • the first adjusting component 410 is used to adjust the movement of the second mounting portion 340 along the first direction (referred to 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.
  • 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 above-mentioned alignment mechanism 400 may further include 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 in a clockwise direction or a counterclockwise direction.
  • the fourth adjustment assembly 440 can control the rotation of the second installation part 340, the fourth adjustment assembly 440 can change the relative position between the first installation part 330 and the second installation part 340 to further ensure the installation
  • the positions of the optical centers 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 during image capturing are consistent.
  • first adjustment assembly 410 can be adjusted and controlled manually by an operator, or can also be adjusted and controlled by a device such as a stepping motor. 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 416 on the pan/tilt assembly 320.
  • the first knob 414 penetrates through the first knob bracket 416 and is rotatable in the first knob bracket 416 .
  • the operator makes 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 position of the second mounting portion 340 is stably adjusted in one direction X, and the structure is simple, easy to operate and control.
  • the above-mentioned second adjustment component 420 may include: 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 428 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 426 is further provided on the first slider 412 in this embodiment of the present application.
  • the second knob 424 penetrates through the second knob bracket 426 and is rotatable in the second knob bracket 426 .
  • 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 adjustment component 430 may include: a first connector 432 and a third knob 434 .
  • the first connecting members 432 are 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 relative to the first connecting member 432 along the third direction Z.
  • the above-mentioned first connector 432 may specifically be a corner connector. That is to say, both ends of the first connecting member 432 are mutually bent along 90° to define a right-angle structure.
  • One end of the first connecting member 432 is fixedly connected to the second sliding block 422 , and the other end is movably connected to the second mounting portion 340 .
  • the third knob 434 extends into the first connecting piece 432 and is fixedly connected with the second mounting portion 340 , and the third knob 434 is rotatably connected with the first connecting piece 432 .
  • 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. Since the first connecting member 432 is connected with the second sliding block 422, and the second sliding block 422 is connected with the first sliding block 412, 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 second slider 422 is provided with a plurality of first connector mounting positions 436 , and the first connector mounting positions 436 may specifically be screw holes.
  • the first connecting piece 432 can be detachably connected to any one or several first connecting piece mounting positions 436 through screws.
  • the first image capture device 800 installed on the first installation portion 330 when the first image capture device 800 installed on the first installation portion 330 performs image capture, its optical center is substantially parallel to the second direction Y, and its lens faces the image. Capture the scene.
  • the optical center of the second image capture device 900 mounted on the second mounting portion 340 is also substantially parallel to the second direction Y, and its lens faces away from the image capture 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 to move.
  • 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 first installation portion 330 may include: an installation groove 332 and a first clamping member (not shown in the figures).
  • the installation slot 332 is disposed on the pan/tilt assembly 320 .
  • the first clamping member is disposed through the installation groove 332 and is movable in the installation groove 332 .
  • the pan/tilt assembly 320 includes a turntable 322 and a second connecting member 324 disposed on the turntable 322 .
  • the second connecting member 324 has a plate-like structure, and the installation groove 332 is disposed through the second connecting member 324 .
  • the first clamping member may be a quick release plate, which extends into the installation groove 332 from bottom to top and is connected to the first image capture device 800 installed on the first installation portion 330 during installation and use.
  • the mutually matched installation groove 332 and the first clamping member can stably connect and fix the first image capturing device 800 .
  • the installation groove 332 and the first clamping member may be suitable for connection and fixation of a single-lens reflex camera with a large weight and a large volume.
  • the first clamping member is movable in the installation groove 332 , the first installation portion 330 including the installation groove 332 and the first clamping member can flexibly adjust the installation position of the first image capturing device 800 to an appropriate degree Adjust to ensure that the first image capture device 800 is arranged in the ideal image capture position.
  • the above-mentioned pan/tilt assembly 320 may include: a turntable 322 and a second connector 324 .
  • the turntable 322 is connected to the drive assembly 310 .
  • the second connecting member 324 may be disposed on the turntable 322
  • the first mounting portion 330 may be disposed on the second connecting member 324
  • the second mounting portion 340 may be connected with the second connecting member 324 through the alignment mechanism 400 .
  • the driving assembly 310 is used for driving the turntable 322 and the second connecting member 324 to rotate.
  • the turntable 322 is connected to the power output shaft of the drive assembly 310
  • the second connecting member 324 may be a bar-shaped connecting plate disposed on the turntable 322
  • the first mounting portion 330 and the alignment mechanism 400 are respectively disposed at opposite ends of the second connecting member 324
  • the second mounting portion 340 is disposed on the alignment mechanism 400 .
  • the driving assembly 310 drives the turntable 322 and the second connecting member 324 to rotate by 180 degrees
  • the positions of the first mounting portion 330 and the second mounting portion 340 that are disposed opposite to each other can be exchanged.
  • the turntable 322 and the second connecting member 324 are driven to rotate by the driving assembly 310 , so as to quickly switch the positions of the first mounting portion 330 and the second mounting portion 340 .
  • the above turntable 322 may include: a flange 326 and a bearing 328 .
  • the flange 326 is connected to the drive assembly 310 and the second connector 324 .
  • Bearings 328 are disposed around flange 326 and are located between drive assembly 310 and second connector 324 .
  • the flange 326 connects the driving assembly 310 and the second connecting member 324, so that the driving assembly 310 can drive the second connecting member 324 to rotate in a working state.
  • the bearing 328 is located between the drive assembly 310 and the second connecting member 324 for reducing friction loss when the second connecting member 324 rotates.
  • Bearing 328 includes an outer race 3282 and an inner race 3284 disposed within outer race 3282 .
  • a washer 3286 is also provided on the upper part of the inner ring 3284 .
  • the outer race 3282 of the bearing 328 is fixed to the first support assembly 350 , and the drive assembly 310 can control the inner race 3284 to rotate in the outer race 3282 .
  • the washer 3286 follows the rotation of the inner ring 3284.
  • the provision of the washer 3286 can avoid the direct contact between the second connecting member 324 and the bearing 328 , so as to further reduce the friction loss when the second connecting member 324 rotates.
  • the above-mentioned photographing auxiliary device 200 may further include: a first support assembly 350 .
  • the first support assembly 350 is connected to the pan-tilt assembly 320 and used to support the pan-tilt assembly 320 .
  • the first support assembly 350 may include a first support foot 352 and a first support plate 354 .
  • the first support plate 354 is a support plate with a flat plate-like structure.
  • the number of the first support feet 352 may be multiple and distributed on the first support plate 354 at intervals.
  • the first support leg 352 protrudes from the surface of the first support plate 354 and is connected to the pan/tilt assembly 320 .
  • the plurality of first support feet 352 are respectively connected with the outer ring 3282 of the bearing 328 of the pan/tilt assembly 320 .
  • the first support assembly 350 may be used to support the pan-tilt assembly 320 to ensure that the pan-tilt assembly 320 can move smoothly.
  • the above-mentioned drive assembly 310 may be specifically disposed at the lower portion of the first support assembly 350
  • the pan/tilt assembly 320 may be specifically disposed at the upper portion of the first support assembly 350 .
  • This arrangement can lower the center of gravity of the pan/tilt assembly 320, thereby further ensuring that the pan/tilt assembly 320 can move smoothly.
  • the above-mentioned photographing auxiliary device 200 may further include: a second support assembly 360 .
  • the second supporting assembly 360 is connected with the driving assembly 310 and is used for supporting the driving assembly 310 .
  • the second support assembly 360 may include a second support foot 362 and a second support plate 364 .
  • the second support plate 364 is a support plate with a flat plate-like structure.
  • the number of the second supporting feet 362 may be multiple and distributed on the second supporting plate 364 at intervals.
  • the second supporting feet 362 protrude from the surface of the second supporting plate 364 and are connected to the first supporting plate 354 .
  • the plurality of second supporting feet 362 are respectively connected to the edges of the first supporting plate 354 .
  • the second support assembly 360 may be used to support the drive assembly 310 to reduce vibration of the drive assembly 310 in a working state, thereby further ensuring smooth movement of the pan/tilt assembly 320 .
  • 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 530 and an adjustment base 540 .
  • the adjusting seat 540 is disposed under the pan/tilt assembly 320 and connected with the pan/tilt assembly 320 .
  • the tripod 530 is disposed under the adjusting base 540 and is rotatably connected with the adjusting base 540 through a member such as a rotating shaft.
  • the adjustment base 540 rotates relative to the tripod 530, the adjustment base 540 can drive the pan/tilt assembly 320 to rotate, so as to change the image capturing angle of the image capturing device.
  • the above-mentioned support mechanism 500 may include: at least two guide legs 510 and at least two telescopic legs 520 .
  • the at least two telescopic legs 520 are spaced apart from the at least two guide legs 510, and are driven by the telescopic drive pan-tilt assembly 320 to move along the guide direction of the at least two guide legs 510 (referred to as the guide direction D).
  • At least two guide legs 510 are arranged along one diagonal of the rectangle, and their length directions are respectively parallel to the vertical direction.
  • At least two telescopic legs 520 are arranged along the other diagonal of the rectangle, and the length directions of the two are also parallel to the vertical direction, respectively.
  • the at least two telescopic outriggers 520 can be respectively telescopic through telescopic screws, and are fixedly connected to the pan-tilt assembly 320 via nuts 522 .
  • At least two guide legs 510 and the pan/tilt assembly 320 can be movably connected.
  • the at least two telescopic legs 520 can drive the pan-tilt assembly 320 to move along the guiding direction D of the at least two guiding legs 510 through the telescopic drive, so as to control the position of the pan-tilt assembly 320 to change along the guiding direction D.
  • the guiding direction D of the guiding legs 510 may be a horizontal direction, a vertical direction perpendicular to the horizontal direction, or other directions inclined to the horizontal plane. Specifically, it can be determined according to actual use requirements, which is not limited in the embodiment of the present application.
  • the above-mentioned support mechanism 500 may further include: a limiting member 530 .
  • the limiting member 530 is fixedly connected with any two guiding legs 510 of the at least two guiding legs 510 , and is used for restricting the relative movement of any two guiding legs 510 .
  • the limiting member 530 may specifically include a first limiting member 532 and a second limiting member 534 . Both ends of the first limiting member 532 are fixedly connected to any two guiding legs 510 respectively.
  • the second limiting member 534 and the first limiting member 532 form a cross structure, and both ends thereof are also respectively connected to any two guiding legs. 510 fixed connection.
  • the limiting member 530 is connected with any two guiding legs 510 to avoid displacement of any two guiding legs 510 under the influence of vibration generated when the driving assembly 310 is working.
  • the above-mentioned photographing auxiliary device 200 may further include: a travel switch 600 and a limiter 700 .
  • the limiter 700 is disposed on the pan/tilt assembly 320 . Wherein, when the limiter 700 moves along with the pan/tilt assembly 320 to a position where the travel switch 600 is triggered, the travel switch 600 can be controlled to turn off the driving assembly 310 .
  • the limiter 700 may be a limit rod protruding from the pan/tilt assembly 320 .
  • the travel switch 600 may be specifically disposed on the first support plate 354 of the first support assembly 350 .
  • the driving assembly 310 controls the rotation of the pan-tilt assembly 320
  • the limiter 700 moves to the position where the travel switch 600 is triggered accordingly.
  • the travel switch 600 can turn off the driving assembly 310 due to being triggered by the limiter 700 .
  • the cooperating travel switch 600 and the limiter 700 can turn off the drive assembly 310 in time when the second image capturing device 900 moves to the image capturing position, so as to ensure the travel of the second image capturing device 900 to move. precision.
  • an embodiment of the present application further provides a method for calibrating image pair acquisition, and the method for calibrating image pair acquisition can be applied to the photographing auxiliary device described in any of the foregoing embodiments of the present application.
  • the method for calibrating the image pair acquisition 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 a calibration object and a calibration plate
  • the calibration image is an image of a specific position of the calibration object on the calibration plate in the lens of the first image acquisition device.
  • the method further includes: collecting a target image pair for the target object through 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 embodiment of the present application first selects the calibration plate 40 and the calibration object 50 as shown in FIG. 13 .
  • the electronic device includes a processor and a memory, and the memory stores programs or instructions that can be executed on the processor. When the programs or instructions are executed by the processor, the electronic device performs the following operations. The electronic device uses the perspective relationship to find the position of the calibration object 50 on the calibration plate 40 under the lens of the first image acquisition device (ie, the above-mentioned calibration position).
  • the electronic device uses the drive assembly to drive the pan/tilt assembly to rotate, for example, the pan/tilt assembly rotates 180°, so that the first image capture device is displaced, and the second image capture device rotates to the image originally occupied by the first image capture device Collection location.
  • the limiter in the photographing auxiliary device can trigger the travel switch in the photographing auxiliary device, so that the drive assembly in the moving mechanism of the photographing auxiliary device is turned off.
  • the embodiment of the present application adjusts the positions of the front, rear, up, down, left, right, etc. of the optical center of the second image capture device through the alignment mechanism in the photographing auxiliary device, thereby making the Under the lens of the second image acquisition device, the position of the calibration object on the calibration plate coincides with the above-mentioned calibration position.
  • the image acquisition device 100 can be controlled by components such as motors to achieve fast, 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 embodiment of the present application further provides an electronic device, as shown in FIG. 12 , which is a schematic structural diagram of the electronic device 10 provided by the embodiment of the present application.
  • 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 program or instruction can be implemented as described in any of the above-mentioned embodiments of the present application.
  • the steps of the above-mentioned calibration method for image pair acquisition can achieve the same technical effect. In order to avoid repetition, they will not be 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 electronic device, a wearable device, an Ultra-mobile Personal Computer (UMPC), a netbook, or a personal computer.
  • UMPC Ultra-mobile Personal Computer
  • a digital assistant Personal Digital Assistant, PDA
  • 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 a computer read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, and the like.
  • 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.

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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运动时，云台组件可带动第一安装部和第二安装部移动；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
本申请要求于2021年03月25日提交国家知识产权局、申请号为202110321301.4、申请名称为“拍摄辅助设备、图像对采集的标定方法及电子设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
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拍摄辅助设备、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运动时，云台组件可带动第一安装部和第二安装部移动；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，驱动云台组件运动，并带动第一安装部和第二安装部移动，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，移动机构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的具体位置进行调节，因此，对齐机构可以在第二安装部移动结束后，通过对第二安装部与第一安装部的相对位置进行调节，以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度较高的获取的图像对。
进一步地，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图像采集装置中的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，移动机构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。
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之一；
图2是本申请实施例提供的拍摄辅助设备的立体结构示意图之二；
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一；
图4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5是本申请实施例提供的移动机构的立体结构示意图之三；
图6是本申请实施例提供的移动机构的立体结构示意图之四；
图7是本申请实施例提供的第一支撑组件的设置位置示意图之一；
图8是本申请实施例提供的第一支撑组件的设置位置示意图之二；
图9是本申请实施例提供的第一支撑组件和第二支撑组件的配合关系示意图；
图10是本申请实施例提供的移动机构和支架机构的配合关系示意图；
图11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12是本申请实施例提供的电子设备的组成示意框图；
图13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板和标定物的示意图。
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，云台组件：320，转台：322，第二连接件：324，法兰：326，轴承：328，外圈：3282，内圈：3284，垫圈：3286，第一安装部：330，安装槽：332，第二安装部：340，第一支撑组件：350，第一支撑脚：352，第一支撑板：354，第二支撑组件：360，第二支撑脚：362，第二支撑板：364，对齐机构：400，第一调节组件：410，第一滑块：412，第一旋钮：414，第一旋钮支架：416，第二调节组件：420，第二滑块：422，第二旋钮：424，第二旋钮支架：426，第二滑轨：428，第三调节组件：430，第一连接件：432，第三旋钮：434，第一连接件安装位：436，第四调节组件：440，支架机构：500，导向支腿：510，伸缩支腿：520，三脚架：530，调节座：540，螺母：522，限位件：530，第一限位件：532，第二限位件：534，行程开关：600，限位器：700，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，导向方向：D。
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”、“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13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，设计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。真实场景下采集一对一的图像对的方式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图像采集装置的光心难以实现精准对齐，导致二者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。
如图1和图2所示，为了在真实场景下精准高效地采集一对一的图像对，本申请实施例提供了一种拍摄辅助设备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运动时，云台组件320可带动第一安装部330和第二安装部340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。可选地，本申请实施例中的图像采集装置的数量可以为两个，分别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可以是两种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。此外，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可以用于对图像采集装置进行支撑固定。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。
可选地，本申请实施例中，驱动组件310具体可以为电机，其具有动力输出轴，该动力输出轴与云台组件320直接连接或间接连接，由此使得驱动组件310能够带动云台组件320运动。云台组件320在运动时，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的运动发生变化。
可选地，本申请实施例中，上述驱动组件310可以控制云台组件320进行旋转、翻转、沿直线移动或沿曲线移动。比如：驱动组件310的动力输出轴与云台组件320直接连接，驱动组件310由此控制云台组件320进行旋转运动或翻转运动。再比如：驱动组件310的动力输出轴与云台组件320通过曲柄滑块、齿轮齿条或滚珠丝杠等部件间接连接，驱动组件310由此通过自身旋转，控制云台组件320沿直线移动或沿曲线移动。
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，云台组件320在驱动组件310的控制下带动第一安装部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，并带动第二安装部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，并通过对齐机构400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在完成对齐和准备工序后开始图像采集工作。
一种可能的实现方式中，本申请实施例的第一安装部330和第二安装部340可在云台组件320上沿直线方向间隔布置。在第一图像采集装置800完成图像采集工作后，云台组件320在驱动组件310的控制下沿直线方向移动。由此，云台组件320带动第一图像采集装置800离开图像采集位置，并带动第二图像采集装置900移动至图像采集位置。
另一种可能的实现方式中，本申请实施例中安装于第一安装部330的第一图像采集装置800面向图像采集场景，安装于第二安装部340的第二图像采集装置900背向图像采集场景，并且二者分别设置在云台组件320的相对两端。在第一图像采集装置800完成图像采集工作后，云台组件320在驱动组件310的控制下沿轴线旋转180°。此时，云台组件320通过带动第一安装部330和第二安装部340移动，以使第一图像采集装置800和第二图像采集装置900的位置互换。由此，第一图像采集装置800移动至原本放置有第二图像采集装置900的位置，并且第一图像采集装置800背向图像采集场景；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，并且第二图像采集装置900面向图像采集场景。
再一种可能的实现方式中，本申请实施例中第一安装部330和第二安装部340还 可设置于云台组件320的中心位置，第一图像采集装置800的镜头面向真实场景，第二图像采集装置900的镜头背向真实场景。在安装于第一安装部330上的第一图像采集装置800完成图像采集工作后，云台组件320在驱动组件310的控制下沿轴线旋转180°。由此，云台组件320带动安装于第二安装部340上的第二图像采集装置900翻转至原本放置有第一图像采集装置800的位置，并带动安装于第一安装部330上的第一图像采集装置800翻转至原本放置有第二图像采集装置900的位置。
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开始图像采集之前，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移动时，第一安装部330和第二安装部340各自的位置发生改变。在上述过程中，由于第一图像采集装置800和第二图像采集装置900的尺寸和构造差异、装置在自身结构以及行程控制等方面的误差、装置安装环境的稳定程度，以及装置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少许偏差。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，移动机构300还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。
可选地，如图3和图4所示，在本申请实施例的部分实施方式中，上述对齐机构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。其中，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。
可选地，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。
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。
可选地，如图6所示，在本申请实施例的部分实施方式中，上述对齐机构400还可以包括与第二安装部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沿顺时针方向或逆时针方向转动。
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转动，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，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和第四调节组件440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。
可选地，如图5所示，在本申请实施例的部分实施方式中，上述第一调节组件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416。第一旋钮414贯穿第一旋钮支架416，并在第一旋钮支架416中可转动。操作人员通过转动第一旋钮414，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。
可选地，如图5和图6所示，在本申请实施例的部分实施方式中，上述第二调节组件420可以包括：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428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426。第二旋钮424贯穿第二旋钮支架426，并在第二旋钮支架426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。
可选地，如图3和图4所示，在本申请实施例的部分实施方式中，上述第三调节组件430可以包括：第一连接件432和第三旋钮434。第一连接件432分别与第二安装部340和第二滑块422连接。并且第三旋钮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。
可选地，本申请实施例中，上述第一连接件432具体可为角连接件。也就是说，第一连接件432的两端沿90°相互弯折，限定出直角结构。第一连接件432的一端与第二滑块422固定连接，另一端与第二安装部340活动连接。第三旋钮434伸入第一连接件432并与第二安装部340固定连接，第三旋钮434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。
可选地，在本申请实施例的部分实施方式中，上述第二滑块422设置有多个第一连接件安装位436，第一连接件安装位436具体可以为螺钉孔。第一连接件432可通过螺钉，与任意一个或几个第一连接件安装位436以可拆卸的方式连接。
可选地，在本申请实施例的部分实施方式中，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二方向Y，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的光心同样基本平行于第二方向Y，并且其镜头背向图像采集场景。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旋转时，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，作业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因误差范围内的非绝对平行。
可选地，如图5和图6所示，在本申请实施例的部分实施方式中，上述第一安装部330可以包括：安装槽332和第一夹持件(图中未示出)。安装槽332设置于云台组件320上。第一夹持件贯穿安装槽332设置，并在安装槽332中可移动。
具体而言，云台组件320包括转台322和设置在转台322上的第二连接件324。第二连接件324具有板状结构，安装槽332贯穿第二连接件324设置。第一夹持件具体可以为快装板，其在安装使用时由下至上地伸入安装槽332并与安装于第一安装部330的第一图像采集装置800连接。相互配合的安装槽332和第一夹持件能够对第一图像采集装置800进行稳定地连接和固定。
需要说明的是，在进行真实场景下的一对一的图像对采集时，通常需要采用图像采集质量不同的两个图像采集装置(比如单反相机和带有摄像功能的智能手机)进行图像采集。其中，安装槽332和第一夹持件可以适用于对重量较大、体积也较大的单反相机的连接固定。此外，由于第一夹持件在安装槽332中可移动，因此，包括安装槽332和第一夹持件的第一安装部330能够对第一图像采集装置800的安装位置进行适当程度地灵活调整，以保证第一图像采集装置800被布置在理想的图像采集位置。
可选地，如图5所示，在本申请实施例的部分实施方式中，上述云台组件320可以包括：转台322和第二连接件324。转台322与驱动组件310连接。第二连接件324可以设置于转台322上，第一安装部330可以设置于第二连接件324上，第二安装部340可以通过对齐机构400与第二连接件324连接。其中，驱动组件310用于驱动转台322和第二连接件324旋转。
具体而言，转台322与驱动组件310的动力输出轴连接，第二连接件324可以为设置于转台322上的条形连接板。第一安装部330和对齐机构400分别设置在第二连接件324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驱动转台322和第二连接件324旋转时，第二连接件324上的第一安装部330以及对齐机构400上的第二安装部340跟随第二连接件324转动。其中，当驱动组件310驱动转台322和第二连接件324旋转180度时，相对设置的第一安装部330和第二安装部340可以发生位置互换。上述实施方式通过驱动组件310驱动转台322和第二连接件324旋转，以快速地切换第一安装部330和第二安装部340位置。
可选地，如图7和图8所示，在本申请实施例的部分实施方式中，上述转台322可以包括：法兰326和轴承328。法兰326与驱动组件310和第二连接件324连接。轴承328环绕法兰326设置，并位于驱动组件310和第二连接件324之间。
其中，法兰326连接驱动组件310和第二连接件324，以使得驱动组件310在工作状态下可以驱动第二连接件324旋转。轴承328位于驱动组件310和第二连接件324 之间，用于减少第二连接件324转动时的摩擦损耗。轴承328包括外圈3282和设置于外圈3282中的内圈3284。此外，内圈3284上部还设置有垫圈3286。轴承328的外圈3282固定于第一支撑组件350，驱动组件310可以控制内圈3284在外圈3282中转动。当内圈3284转动时，垫圈3286跟随内圈3284转动。设置垫圈3286可避免第二连接件324与轴承328直接接触，以进一步减少第二连接件324转动时的摩擦损耗。
可选地，如图6和图9所示，在本申请实施例的部分实施方式中，上述拍摄辅助设备200还可以包括：第一支撑组件350。第一支撑组件350与云台组件320连接，并用于支撑云台组件320。
其中，第一支撑组件350可以包括第一支撑脚352和第一支撑板354。第一支撑板354为具有平板状结构的支撑板。第一支撑脚352的数量可以为多个，并间隔分布在第一支撑板354上。第一支撑脚352相对于第一支撑板354的表面凸伸，并与云台组件320连接。具体而言，多个第一支撑脚352分别与云台组件320的轴承328的外圈3282连接。第一支撑组件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。
可选地，本申请实施例中，上述驱动组件310具体可以设置于第一支撑组件350的下部，云台组件320具体可以设置于第一支撑组件350的上部。这种设置方式能够降低云台组件320的重心，从而进一步保证云台组件320能够平稳运动。
可选地，如图6和图9所示，在本申请实施例的部分实施方式中，上述拍摄辅助设备200还可以包括：第二支撑组件360。第二支撑组件360与驱动组件310连接，并用于支撑驱动组件310。
其中，第二支撑组件360可以包括第二支撑脚362和第二支撑板364。第二支撑板364为具有平板状结构的支撑板。第二支撑脚362的数量可以为多个，并间隔分布在第二支撑板364上。第二支撑脚362相对于第二支撑板364的表面凸伸，并与第一支撑板354连接。具体而言，多个第二支撑脚362分别与第一支撑板354的边缘连接。第二支撑组件360可以用于支撑驱动组件310，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。
可选地，如图10所示，在本申请实施例的部分实施方式中，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530和调节座540。调节座540设置在云台组件320下方，并与云台组件320连接。三脚架530设置在调节座540下方，并与调节座540通过例如转轴的部件转动连接。当调节座540相对于三脚架530转动时，调节座540可以带动云台组件320转动，以改变图像采集装置的图像采集角度。
可选地，如图1和图2所示，在本申请实施例的部分实施方式中，上述支架机构500可以包括：至少两个导向支腿510和至少两个伸缩支腿520。至少两个伸缩支腿520与至少两个导向支腿510间隔设置，并通过伸缩驱动云台组件320沿至少两个导向支腿510的导向方向(记为导向方向D)移动。
具体而言，至少两个导向支腿510沿矩形的一条对角线设置，并且二者的长度方向分别平行于竖直方向。至少两个伸缩支腿520沿矩形的另一条对角线设置，并且二 者的长度方向同样分别平行于竖直方向。至少两个伸缩支腿520分别可以通过伸缩丝杠实现伸缩，并通过螺母522与云台组件320固定连接。至少两个导向支腿510与云台组件320可以活动连接。且至少两个伸缩支腿520可以通过伸缩驱动云台组件320沿至少两个导向支腿510的导向方向D移动，以控制云台组件320的位置沿导向方向D发生变化。其中，导向支腿510的导向方向D可为水平方向，亦可为垂直于水平方向的竖直方向，还可为倾斜于水平面的其他方向。具体可以根据实际使用需求确定，本申请实施例不作限定。
可选地，如图2所示，在本申请实施例的部分实施方式中，上述支架机构500还可以包括：限位件530。限位件530与至少两个导向支腿510中的任意两个导向支腿510固定连接，并用于限制任意两个导向支腿510相对移动。
其中，限位件530具体可包括第一限位件532和第二限位件534。第一限位件532的两端分别与任意两个导向支腿510固定连接，第二限位件534与第一限位件532形成交叉结构，其两端也分别与任意两个导向支腿510固定连接。
本申请实施例中，限位件530与任意两个导向支腿510相互连接，可以避免任意两个导向支腿510在受到驱动组件310工作时产生的振动的影响而产生移位。
可选地，如图9所示，在本申请实施例的部分实施方式中，上述拍摄辅助设备200还可以包括：行程开关600和限位器700。限位器700设置于云台组件320上。其中，在限位器700跟随云台组件320运动至触发行程开关600的位置时，可以控制行程开关600关断驱动组件310。
其中，限位器700具体可以为由云台组件320之上伸出的限位杆。行程开关600具体可以设置于第一支撑组件350的第一支撑板354上。在驱动组件310控制云台组件320转动的过程中，当安装于第二安装部340的第二图像采集装置900移动至图像采集位置时，限位器700相应地运动至触发行程开关600的位置。此时，行程开关600由于被限位器700触发而可以关断驱动组件310。
本申请实施例中，相互配合的行程开关600和限位器700能够在第二图像采集装置900移动至图像采集位置时及时关断驱动组件310，从而以确保第二图像采集装置900移动的行程精度。
如图11所示，本申请实施例还提供了一种图像对采集的标定方法，该图像对采集的标定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。该图像对采集的标定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，驱动云台组件运动，并带动第一安装部和第二安装部移动，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。
可选地，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。
可选地，本申请实施例中，标定对象为标定物和标定板，标定图像为第一图像采集装置的镜头中标定物在标定板上特定位置的图像。
可选地，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。
具体而言，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，本申请实施例首先选定如图13所示的标定板40和标定物50。进而，本申请实施例中，电子设备包括处理器和存储器，存储器存储有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，电子设备执行以下操作。电子设备利用透视关系找到第一图像采集装置的镜头下，标定物50在标定板40上的位置(即：上述的标定位置)。然后，电子设备利用驱动组件，驱动云台组件转动，例如云台组件通过转动180°，使得第一图像采集装置移位，并且第二图像采集装置转动到原本由第一图像采集装置占据的图像采集位置。当云台组件转动180°后，拍摄辅助设备中的限位器可以触发拍摄辅助设备中的行程开关，以使得拍摄辅助设备的移动机构中的驱动组件关停。
进而，在驱动组件关停之后，本申请实施例通过拍摄辅助设备中的对齐机构调节第二图像采集装置光心的前、后、上、下、左、右等的位置，由此使得在第二图像采集装置的镜头下，标定物在标定板上的位置与上述的标定位置重合。在对齐机构完成调节后，可通过例如电机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12所示，为本申请实施例提供的电子设备10的结构示意图。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。示例性地，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 (19)

  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运动时，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。
  3. 根据权利要求2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顺时针方向或逆时针方向转动。
  4. 根据权利要求2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。
  5. 根据权利要求4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。
  6. 根据权利要求5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。
  7. 根据权利要求1至6中任一项所述的拍摄辅助设备，其中，所述第一安装部包括：
    安装槽，设置于所述云台组件上；
    第一夹持件，贯穿所述安装槽设置，并在所述安装槽中可移动。
  8. 根据权利要求1至6中任一项所述的拍摄辅助设备，其中，所述云台组件包括：
    转台，与所述驱动组件连接；
    第二连接件，设置于所述转台上，所述第一安装部设置于所述第二连接件上，所述第二安装部通过所述对齐机构与所述第二连接件连接；
    其中，所述驱动组件用于驱动所述转台和所述第二连接件旋转。
  9. 根据权利要求1至6中任一项所述的拍摄辅助设备，其中，还包括：
    第一支撑组件，与所述云台组件连接，并用于支撑所述云台组件；和/或，
    第二支撑组件，与所述驱动组件连接，并用于支撑所述驱动组件。
  10. 根据权利要求1至6中任一项所述的拍摄辅助设备，其中，还包括：
    支架机构，与所述云台组件连接，并用于支撑所述云台组件和所述对齐机构。
  11. 根据权利要求10所述的拍摄辅助设备，其中，所述支架机构包括：
    至少两个导向支腿；
    至少两个伸缩支腿，与所述至少两个导向支腿间隔设置，并可通过伸缩以驱动所述云台组件沿所述至少两个导向支腿的导向方向移动。
  12. 根据权利要求1至6中任一项所述的拍摄辅助设备，其中，还包括：
    行程开关；
    限位器，设置于所述云台组件上；
    其中，在所述限位器跟随所述云台组件运动至触发所述行程开关的位置时，可控制所述行程开关关断所述驱动组件。
  13. 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12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，驱动云台组件运动，并带动所述第一安装部和第二安装部移动，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。
  14. 根据权利要求13所述的图像对采集的标定方法，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。
  15. 根据权利要求13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。
  16. 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13至15中任一项所述的图像对采集的标定方法的步骤。
  17. 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13至15中任一项所述的图像对采集的标定方法的步骤。
  18. 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13至15中任一项所述的图像对采集的标定方法的步骤。
  19. 一种电子设备，所述电子设备被配置成用于执行如权利要求13至15中任一项所述的图像对采集的标定方法的步骤。
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