WO2022199542A1

WO2022199542A1 - Photography auxiliary device, calibration method for image pair acquisition, and electronic device

Info

Publication number: WO2022199542A1
Application number: PCT/CN2022/082077
Authority: WO
Inventors: 姜靖翔; 泮婕
Original assignee: 维沃移动通信有限公司
Priority date: 2021-03-25
Filing date: 2022-03-21
Publication date: 2022-09-29
Also published as: CN113163130A; CN113163130B

Abstract

Disclosed are a photography auxiliary device, a calibration method for image pair acquisition, and an electronic device, which relate to the technical field of image acquisition. The photography auxiliary device comprises: a driving assembly; a gimbal assembly connected to the driving assembly; a first mounting portion and a second mounting portion, which are arranged on the gimbal assembly, wherein the gimbal assembly can drive the first mounting portion and the second mounting portion to move when the driving assembly drives the gimbal assembly to move, the first mounting portion is used for fixing a first image acquisition apparatus, and the second mounting portion is used for fixing a second image acquisition apparatus; and an alignment mechanism, which is connected to the second mounting portion and used to adjust the specific position of the second mounting portion to enable the optical center of the second image acquisition apparatus to be aligned with the optical center of the first image acquisition apparatus.

Description

Shooting auxiliary equipment, calibration method for image pair acquisition, and electronic equipment

This application claims the priority of the Chinese patent application filed with the State Intellectual Property Office on March 25, 2021, the application number is 202110321301.4, and the application name is "Photography Auxiliary Equipment, Calibration Method for Image Pair Acquisition, and Electronic Equipment", the entire content of which is Incorporated herein by reference.

technical field

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.

Background technique

With the continuous development of image acquisition and processing technology, the technology of using image acquisition equipment to collect real scenes and using computers to build virtual scenes based on real scenes has been widely used.

In order to build a virtual scene, a corresponding virtual scene model needs to be constructed. In order to improve the accuracy of the virtual scene model, it is necessary to collect image pairs (also called image data pairs) in the real scene, so as to use these image pairs to train the virtual scene model. 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. 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.

One of the deficiencies in the related art is that in the process of acquiring image pairs, since it is difficult to ensure that the optical centers of different image capturing devices are located at the same position, the accuracy of the acquired image pairs is not ideal.

SUMMARY OF THE INVENTION

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.

In order to solve the above technical problems, this application is implemented as follows:

In a first aspect, 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.

In the second aspect, 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. For the calibration image of the object, 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.

In a third aspect, 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. When 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.

In the fourth aspect, 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.

Further, the 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. In this way, after the first image capturing device completes image capturing, 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.

Additional aspects and advantages of the present application will be set forth, in part, from the following description, and in part will become apparent from the following description, or may be learned by practice of the present application.

Description of drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily understood from the following description of embodiments in conjunction with the accompanying drawings, wherein:

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;

3 is one of the three-dimensional schematic diagrams of the moving mechanism provided by the embodiment of the present application;

4 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 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;

7 is one of the schematic diagrams of the arrangement positions of the first support assembly provided by the embodiment of the present application;

8 is the second schematic diagram of the setting position of the first support assembly provided by the embodiment of the present application;

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;

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;

11 is a flowchart of steps of a calibration method for image pair acquisition provided by an embodiment of the present application;

12 is a schematic block diagram of the composition of an electronic device 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.

Reference number:

Electronic equipment: 10, processor: 20, memory: 30, calibration board: 40, calibration object: 50, image acquisition equipment: 100, shooting auxiliary equipment: 200, moving mechanism: 300, drive assembly: 310, pan-tilt assembly: 320, Turntable: 322, Second Connector: 324, Flange: 326, Bearing: 328, Outer Ring: 3282, Inner Ring: 3284, Washer: 3286, First Mounting Part: 330, Mounting Slot: 332, Second Mounting part: 340, First support assembly: 350, First support foot: 352, First support plate: 354, Second support assembly: 360, Second support foot: 362, Second support plate: 364, Alignment mechanism: 400, the first adjustment assembly: 410, the first slider: 412, the first knob: 414, the first knob bracket: 416, the second adjustment assembly: 420, the second slider: 422, the second knob: 424, the first Second knob bracket: 426, second slide rail: 428, third adjustment assembly: 430, first connector: 432, third knob: 434, first connector installation position: 436, fourth adjustment assembly: 440, bracket Mechanism: 500, Guide Outrigger: 510, Telescopic Outrigger: 520, Tripod: 530, Adjustment Base: 540, Nut: 522, Limiter: 530, First Limiter: 532, Second Limiter: 534 , travel switch: 600, limiter: 700, first image capture device: 800, second image capture device: 900, first direction: X, second direction: Y, third direction: Z, guide direction: D .

Detailed ways

The following will describe in detail the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, but should not be construed as a limitation on the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

The features of the terms "first" and "second" in the description and claims of this application may expressly or implicitly include one or more of such features. In the description of this application, unless stated otherwise, "plurality" means two or more. In addition, "and/or" in the description and claims indicates at least one of the connected objects, and the character "/" generally indicates that the associated objects are in an "or" relationship.

In the description of this application, it should be understood that the orientation or positional relationship indicated by the terms "vertical", "horizontal", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the accompanying drawings, It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the referred device or element must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as a limitation of the present application.

In the description of this application, it should be noted that, unless otherwise expressly specified and limited, 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. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood in specific situations.

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 .

With the rapid development of computer technology, virtual scene construction technology has been widely used in animation production, game development and many other fields. In order to establish a virtual scene model with higher realism and better visual experience, designers and developers need to use one-to-one image pairs to train the virtual scene model.

Generally, there are mainly two ways to obtain one-to-one image pairs: 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. Especially the degradation in complex scenes (for example: data degradation under the screen), which not only includes blurring and noise processing, but also needs to consider the impact of the screen on the camera imaging. Therefore, the degradation generation method is more complicated. 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. Especially in application scenarios that require 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 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. The reason is that it is difficult to achieve precise alignment of the optical centers of the two image acquisition devices used to achieve one-to-one image pair acquisition, resulting in differences in the perspective relationship between the images collected by the two. In order to correct the above differences, it takes time. Effortlessly perform complex post-processing on the image acquisition results.

As shown in FIG. 1 and FIG. 2 , in order to accurately and efficiently collect one-to-one image pairs in a real scene, 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 pan-tilt assembly 320 , and the first mounting portion 330 and the second mounting portion 340 disposed on the pan-tilt assembly 320 . Wherein, when 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 , and 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. Optionally, 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. In addition, 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 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.

It should be noted that, in the embodiment of the present application, the above-mentioned photographing auxiliary device 200 may be used to support and fix the image acquisition device. Among them, 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.

Optionally, in the embodiment of the present application, 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. 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 , and the second installation part 340 may be used to install the second image capture device 900 . In this way, 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 .

Optionally, in this embodiment of the present application, 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. For example, 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. Another example: 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.

In this embodiment of the present application, when performing one-to-one image pair acquisition in a real scene, 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. After the first image capturing device 800 completes the image capturing work, 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.

In a possible implementation manner, 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 . After the first image capturing device 800 completes the image capturing work, the pan/tilt assembly 320 moves in a linear direction under the control of the driving assembly 310 . Thus, 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.

In another possible implementation manner, in the embodiment of the present application, the first image acquisition device 800 installed on the first installation part 330 faces the image acquisition scene, and 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 . After the first image capturing device 800 completes the image capturing work, the pan/tilt assembly 320 rotates 180° along the axis under the control of the driving assembly 310 . At this time, 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. Thus, 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.

In another possible implementation manner, in the embodiment of the present application, 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 . Thus, 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.

Through the above embodiments, 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. On this basis, in order to ensure the accuracy of the one-to-one image pair acquired in the real scene, in this embodiment of the present application, before the second image acquisition device 900 starts image acquisition, 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.

Specifically, since 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, the first mounting portion 330 and the second mounting portion 340 The respective positions have changed. In the above process, due to the differences in size and structure of the first image capturing device 800 and the second image capturing device 900, 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.

In other words, after the first installation part 330 and the second installation part 340 are moved, 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. Since the alignment mechanism 400 is connected with the second mounting portion 340, 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.

To sum up, in this embodiment of the present application, 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. After the positions are 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.

In addition, 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.

Optionally, as shown in FIGS. 3 and 4 , in some implementations of the embodiments of the present application, 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 . Wherein, 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).

Optionally, the 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.

In the embodiment of the present application, 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. For example, 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. Thus, 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 .

Optionally, as shown in FIG. 6 , in some implementations of the embodiments of the present application, 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.

In the embodiment of the present application, since 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.

It should be noted that the above-mentioned first adjustment assembly 410 , second adjustment assembly 420 , third adjustment assembly 430 and fourth adjustment assembly 440 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.

Optionally, as shown in FIG. 5 , in some implementations of the embodiments 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 .

Specifically, 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. In addition, in order to support the first knob 414, 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 . By turning the first knob 414, 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.

Optionally, as shown in FIGS. 5 and 6 , in some implementations of the embodiments of the present application, 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 .

Specifically, 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. In addition, in order to support the second knob 424 , 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.

Optionally, as shown in FIG. 3 and FIG. 4 , in some implementations of the embodiments of the present application, 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 . And 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.

Optionally, in the embodiment of the present application, 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 . 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. 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 .

Optionally, in some implementations of the embodiments of the present application, 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.

Optionally, in some implementations of the embodiments of the present application, 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. When the first image capture device 800 performs image capture, 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 . When the driving assembly 310 controls the pan/tilt assembly 320 to rotate, 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. After the first image capture device 800 completes image capture and the second image capture device 900 moves to the image capture position where the first image capture device 800 was originally placed, 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. It can be understood that 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.

Optionally, as shown in FIGS. 5 and 6 , in some implementations of the embodiments of the present application, 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 .

Specifically, 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 . Specifically, 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 .

It should be noted that, when performing one-to-one image pair acquisition in a real scene, it is usually necessary to use two image acquisition devices (such as a single-lens reflex camera and a smartphone with a camera function) with different image acquisition qualities to perform image acquisition. Wherein, 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. In addition, since 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.

Optionally, as shown in FIG. 5 , in some implementations of the embodiments of the present application, 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 , and 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.

Specifically, the turntable 322 is connected to the power output shaft of the drive assembly 310 , and 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 . When the drive assembly 310 drives the turntable 322 and the second connecting member 324 to rotate, the first mounting portion 330 on the second connecting member 324 and the second mounting portion 340 on the alignment mechanism 400 rotate along with the second connecting member 324 . Wherein, when 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. In the above-mentioned embodiment, 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 .

Optionally, as shown in FIGS. 7 and 8 , in some implementations of the embodiments of the present application, 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 .

Wherein, 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 . In addition, 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 . When the inner ring 3284 rotates, 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.

Optionally, as shown in FIGS. 6 and 9 , in some implementations of the embodiments of the present application, 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 . Specifically, 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.

Optionally, in the embodiment of the present application, the above-mentioned drive assembly 310 may be specifically disposed at the lower portion of the first support assembly 350 , and 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.

Optionally, as shown in FIG. 6 and FIG. 9 , in some implementations of the embodiments of the present application, 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 .

Wherein, 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 . Specifically, 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 .

Optionally, as shown in FIG. 10 , in some implementations of the embodiments of the present application, 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. When 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.

Optionally, as shown in FIGS. 1 and 2 , in some implementations of the embodiments of the present application, 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).

Specifically, 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. And 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.

Optionally, as shown in FIG. 2 , in some implementations of the embodiments 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.

In the embodiment of the present application, 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.

Optionally, as shown in FIG. 9 , in some implementations of the embodiments of the present application, 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 .

Specifically, 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 . During the process that the driving assembly 310 controls the rotation of the pan-tilt assembly 320 , when the second image capturing device 900 mounted on the second mounting portion 340 moves to the image capturing position, the limiter 700 moves to the position where the travel switch 600 is triggered accordingly. . At this time, the travel switch 600 can turn off the driving assembly 310 due to being triggered by the limiter 700 .

In this embodiment of the present application, 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.

As shown in FIG. 11 , 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.

Wherein, the first image acquisition device is fixed to the first installation part on the photographing auxiliary equipment.

S102. Drive the pan/tilt assembly to move through the drive assembly on the photographing auxiliary device, and drive the first installation part and the second installation part to move, so as to move the second installation part to a target position.

S103 , adjusting the specific position of the second mounting portion through the alignment mechanism in the photographing auxiliary device, so that the image of the calibration object in the lens of the second image capturing device is coincident with the calibration image.

Wherein, the second image acquisition device is fixed on the second installation part.

Optionally, in the embodiment of the present application, the calibration object is a laser beam, and the calibration image is an image of the irradiation position of the laser beam in the lens of the first image acquisition device.

Optionally, in this embodiment of the present application, the calibration objects are a calibration object and a calibration plate, and 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.

Optionally, in the embodiment of the present application, after the image of the calibration object in the lens of the second image acquisition device is coincident with the calibration image, 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.

Specifically, in order to realize the alignment of the optical center of the second image acquisition device and the optical center of the first image acquisition device, the embodiment of the present application first selects the calibration plate 40 and the calibration object 50 as shown in FIG. 13 . Furthermore, in this embodiment of the present application, 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). Then, 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. When the pan/tilt assembly rotates 180°, 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.

Furthermore, after the driving assembly is shut down, 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. After the alignment mechanism is adjusted, 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. In addition, after obtaining these one-to-one 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, Thus, the accuracy of these one-to-one image pairs is further improved, so as to ensure that the image perspective relationships obtained by the first image acquisition device and the second image acquisition device in the one-to-one image pairs remain consistent.

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. When the program or instruction is executed by the processor 20, the program or instructions 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.

It should be noted that the electronic devices in the embodiments of the present application may include mobile electronic devices and non-mobile electronic devices. Exemplarily, 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. A digital assistant (Personal Digital Assistant, PDA), etc., 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.

Wherein, 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. Each process can achieve the same technical effect. In order to avoid repetition, it will not be repeated here.

It can be understood that 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.

In the description of this specification, reference to the terms "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples", etc., is meant to incorporate the embodiments A particular feature, structure, material, or characteristic described by an example or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although the embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the present application, The scope of the application is defined by the claims and their equivalents.

Claims

A shooting auxiliary device, comprising:

drive components;

a pan-tilt assembly connected with the drive assembly;

and a first mounting portion and a second mounting portion disposed on the pan/tilt assembly;

Wherein, when the driving assembly drives the pan/tilt assembly to move, the pan/tilt assembly can drive the first mounting portion and the second mounting portion to move; the first mounting portion is used for fixing the first image an acquisition device, wherein the second installation portion is used for fixing the second image acquisition device;

an alignment mechanism, connected with the second installation part, for adjusting the specific position of the second installation part, so that the optical center of the second image capture device is aligned with the optical center of the first image capture device .
The photographing aid of claim 1, wherein the alignment mechanism comprises: connected to the second mounting portion:

a first adjusting assembly for adjusting the movement of the second mounting portion along a first direction;

a second adjusting component, configured to adjust the movement of the second mounting portion along the second direction;

The third adjusting component is used for adjusting the movement of the second mounting portion along the third direction.
The photographing auxiliary device according to claim 2, wherein the alignment mechanism further comprises a fourth adjusting component connected with the second mounting part, for adjusting the second mounting part in a clockwise direction or a counterclockwise direction turn.
The photographing aid of claim 2, wherein the first adjustment assembly comprises:

a first sliding block, slidably connected with the pan/tilt assembly, and connected with the second mounting portion;

The first knob is used to adjust the sliding of the first slider relative to the pan/tilt assembly along the first direction.
The photographing aid of claim 4, wherein the second adjustment assembly comprises:

a second sliding block, slidably connected with the first sliding block, and connected with the second mounting portion;

The second knob is used to adjust the sliding of the second slider relative to the first slider along the second direction.
The photographing aid of claim 5, wherein the third adjustment assembly comprises:

a first connecting piece, connected to the second mounting part and the second sliding block respectively;

A third knob is used to adjust the sliding movement of the second mounting portion in the third direction relative to the first connecting member.
The photographing auxiliary device according to any one of claims 1 to 6, wherein the first mounting portion comprises:

an installation slot, arranged on the pan-tilt assembly;

The first clamping piece is disposed through the installation groove and is movable in the installation groove.
The photographing auxiliary device according to any one of claims 1 to 6, wherein the pan/tilt assembly comprises:

a turntable, connected with the drive assembly;

A second connecting piece is disposed on the turntable, the first mounting portion is disposed on the second connecting piece, and the second mounting portion is connected with the second connecting piece through the alignment mechanism;

Wherein, the driving assembly is used to drive the turntable and the second connecting member to rotate.
The photographing auxiliary device according to any one of claims 1 to 6, further comprising:

a first support assembly, connected to the pan-tilt assembly and used for supporting the pan-tilt assembly; and/or,

The second support assembly is connected with the drive assembly and used for supporting the drive assembly.
The photographing auxiliary device according to any one of claims 1 to 6, further comprising:

A bracket mechanism is connected with the pan/tilt assembly and used to support the pan/tilt assembly and the alignment mechanism.
The photographing aid of claim 10, wherein the stand mechanism comprises:

at least two guide legs;

At least two telescopic legs are spaced apart from the at least two guide legs, and can be extended and retracted to drive the pan/tilt assembly to move along the guiding directions of the at least two guide legs.
The photographing auxiliary device according to any one of claims 1 to 6, further comprising:

Limit switch;

a limiter, arranged on the pan-tilt assembly;

Wherein, when the limiter moves with the pan/tilt assembly to a position where the travel switch is triggered, the travel switch can be controlled to turn off the drive assembly.
A method for calibrating image pair acquisition, the method being applied to the photographing auxiliary device according to any one of claims 1 to 12, the method comprising:

A calibration image of the calibration object is collected at a target position by a first image capture device, the first image capture device being fixed on the first installation part on the shooting auxiliary device;

Drive the pan/tilt assembly to move through the drive assembly on the photographing auxiliary device, and drive the first installation part and the second installation part to move, so as to move the second installation part to the target position;

The specific position of the second mounting portion is adjusted by the alignment mechanism in the photographing auxiliary device, so that the image of the calibration object in the lens of the second image capture device is coincident with the calibration image; wherein, the The second image capturing device is fixed to the second mounting portion.
The method for calibrating image pair acquisition according to claim 13, wherein,

The calibration object is a laser beam, and the calibration image is an image of the irradiation position of the laser beam in the lens of the first image acquisition device; or,

The calibration objects are a calibration object and a calibration plate, and 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 for calibrating image pair acquisition according to claim 13, wherein after the image of the calibration object in the lens of the second image acquisition device is coincident with the calibration image, the method further comprises:

Through the shooting auxiliary device, for the target object, a target image pair is collected;

Wherein, the target image pair includes a first image and a second image, and 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, The second image is an image of the target object captured by the second image capturing device when the second installation portion is at the target position.
An electronic device comprising a processor, a memory, and a program or instruction stored on the memory and executable on the processor, the program or instruction being executed by the processor to achieve the right The steps of the method for calibrating an image pair acquisition as described in any one of 13 to 15 are required.
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 of the image pair acquisition according to any one of claims 13 to 15 is implemented. step.
A chip, the chip comprising a processor and a communication interface, the communication interface is coupled to the processor, the processor is used for running a program or an instruction to realize the image according to any one of claims 13 to 15 Steps in the calibration method for the acquisition.
An electronic device configured to perform the steps of the method for calibrating an image pair acquisition as claimed in any one of claims 13 to 15.