WO2022228119A1 - 图像采集方法、装置、电子设备及介质 - Google Patents

图像采集方法、装置、电子设备及介质 Download PDF

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Publication number
WO2022228119A1
WO2022228119A1 PCT/CN2022/086509 CN2022086509W WO2022228119A1 WO 2022228119 A1 WO2022228119 A1 WO 2022228119A1 CN 2022086509 W CN2022086509 W CN 2022086509W WO 2022228119 A1 WO2022228119 A1 WO 2022228119A1
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WIPO (PCT)
Prior art keywords
acquisition
angle
turntable
images
preset
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PCT/CN2022/086509
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English (en)
French (fr)
Inventor
杨民
Original Assignee
纵深视觉科技(南京)有限责任公司
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Priority to CN202280003451.3A priority Critical patent/CN115769592A/zh
Publication of WO2022228119A1 publication Critical patent/WO2022228119A1/zh

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    • 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
    • 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
    • H04N23/64—Computer-aided capture of images, e.g. transfer from script file into camera, check of taken image quality, advice or proposal for image composition or decision on when to take image

Definitions

  • the embodiments of the present application relate to the field of machine vision technologies, for example, to an image acquisition method, apparatus, electronic device, and medium.
  • Image acquisition is a means of obtaining real-time image information by using modern technology, and it occupies an important position in modern multimedia technology. It has a wide range of applications in daily life, biomedicine, aerospace and other fields.
  • Embodiments of the present application provide an image acquisition method, device, electronic device, and medium.
  • an embodiment of the present application provides an image acquisition method, wherein an object to be photographed is placed on a turntable, an image collector is located on one side of the turntable, and the image collector is used to image the object to be photographed on the turntable Collection, the method includes:
  • the preset acquisition angle and the preset number of images determine the acquisition angle difference used to acquire two adjacent images
  • the acquisition interval time of the image acquisition device and the target rotation speed of the turntable are determined, so that within the acquisition interval time, the angle rotated by the turntable at the target rotation speed and the acquisition angle difference consistent;
  • the turntable is controlled to rotate, and the image collector is controlled to continuously collect images of the object to be photographed according to the collection interval, so as to obtain collected images of the preset number of images.
  • an image acquisition device which includes:
  • the angle difference determination module is set to determine the difference of the collection angles used to collect the two adjacent images according to the preset collection angle and the preset number of images;
  • a determination module configured to determine the acquisition interval time of the image collector and the target rotation speed of the turntable according to the acquisition angle difference, so that within the acquisition interval time, the angle rotated by the turntable at the target rotation speed is the same as the acquisition interval time.
  • the angle difference is the same;
  • An image acquisition module configured to control the turntable to rotate based on the target rotational speed, and to control the image collector to continuously collect images of the object to be photographed according to the acquisition interval to obtain the preset image number of acquired images.
  • an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executed by the processor, and the processor executes the computer program to achieve the implementation of the present application
  • the image acquisition method described in the example The image acquisition method described in the example.
  • an embodiment of the present application provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the image according to the embodiment of the present application is implemented Collection method.
  • Embodiment 1 is a flowchart of an image acquisition method provided in Embodiment 1 of the present application.
  • FIG. 2 is a schematic diagram of a shooting system provided in Embodiment 1 of the present application.
  • FIG. 3 is a schematic diagram of a simulated human eye observing a rotating object provided in Embodiment 1 of the present application;
  • Embodiment 5 is a schematic diagram of multi-view image stitching provided in Embodiment 2 of the present application.
  • FIG. 6 is a schematic diagram of a multi-view image stitching effect provided by Embodiment 2 of the present application.
  • FIG. 7 is a schematic structural diagram of an image acquisition device provided in Embodiment 3 of the present application.
  • FIG. 8 is a schematic structural diagram of an electronic device according to Embodiment 4 of the present application.
  • FIG. 1 is a flowchart of an image acquisition method provided in Embodiment 1 of the present application. This embodiment may occur in a scene where the image of an object that a user wishes to present conforms to the imaging habits of personal eyes.
  • the acquisition device is executed, and the device can be implemented by software and/or hardware, and can be integrated into an electronic device, and the electronic device can be an intelligent device such as a computer and a tablet computer.
  • the image acquisition method includes:
  • S110 Determine, according to a preset collection angle and a preset number of images, a difference value of collection angles used to collect two adjacent images.
  • the preset acquisition angle refers to the angle at which the object to be photographed is photographed, and the preset acquisition angle can be set according to user requirements.
  • FIG. 2 is a schematic diagram of a photographing system.
  • the object to be photographed is placed on the turntable, and the image collector is located on one side of the turntable, and is used to collect images of the object to be photographed on the turntable.
  • the object to be photographed is placed on the turntable in the middle, and the turntable rotates at a certain speed.
  • the image collector is fixed at a certain distance from the object to be photographed, and uses the shutter to shoot the object to be photographed rotating on the turntable.
  • the interval time for the electronic device to control the image collector to trigger the shutter is the acquisition interval, which can be 1s , 2s or other time, which is not limited in this embodiment.
  • the preset acquisition angle may be 360 degrees, 270 degrees, etc., and the angle may be set according to the needs of the user. If the preset acquisition angle is set to 360 degrees, the turntable rotates once. During the rotation of the turntable, the image collector triggers the shutter at certain time intervals to shoot the rotating object to be photographed. This embodiment does not limit the positional relationship between the image collector, the turntable, and the electronic device.
  • the preset number of images refers to the actual number of collected images obtained after the rotation angle of the object to be photographed on the turntable reaches the preset collection angle.
  • the set preset acquisition angle is 360 degrees
  • the number of images captured by the image collector after the object to be photographed rotates once is the preset number of images.
  • the preset number of images may be determined according to the distance between the image collector and the object to be photographed, the interpupillary distance and the preset acquisition angle.
  • FIG. 3 is a schematic diagram of simulating human eyes to observe rotating objects.
  • the left eye or the right eye represents the image collector, the eye distance between the left eye and the right eye is d, and point B is the midpoint of the line connecting the left eye and the right eye.
  • Point A represents the object to be photographed, and the circle represents the turntable on which the object to be photographed is placed.
  • the distance between point A and the image collector is S.
  • the angle between the two connecting lines between the left eye and point A and the right eye and point A is the left and right eye parallax angle, and ⁇ represents half of the left and right eye parallax angle, which is called the half left and right eye parallax angle.
  • the half left and right eye parallax angle ⁇ is calculated, then the left and right eye parallax angle is 2 ⁇ .
  • the image collector presses the shutter once to obtain an image, and when the object to be photographed completes the rotation of the preset acquisition angle, the theoretical number of images can be obtained, and every two The angular difference between the captured images shot at adjacent shutter times is equal to the parallax angle of the left and right eyes.
  • the preset number of images may be determined based on the theoretical number of images, and the preset number of images may be greater than or equal to the theoretical number of images.
  • the acquisition angle difference is the actually set rotation angle of the object to be photographed between two consecutive pressing of the shutter by the image acquisition device. Since the preset number of images is greater than or equal to the theoretical number of images, that is, the preset number of images may be different from the theoretical number of images, it is necessary to calculate the acquisition angle difference according to the preset acquisition angle and the preset number of images.
  • S120 Determine the acquisition interval time of the image collector and the target rotation speed of the turntable according to the acquisition angle difference, so that within the acquisition interval time, the angle rotated by the turntable at the target rotation speed is the same as the acquisition angle The difference is the same.
  • the collection interval time may be preset, and the target rotation speed of the turntable may be determined according to the collection angle difference and the collection interval time, so that within the collection interval time, the angle rotated by the turntable at the target rotation speed is the same as the collection angle.
  • the difference is the same.
  • the target rotational speed r of the turntable is calculated according to the collection angle difference ⁇ and the collection interval time T, so that the angle that the turntable rotates within the time T is ⁇ .
  • the target rotation speed can also be preset, and the collection interval time is determined according to the difference between the collection angles and the target rotation speed of the turntable, so that within the collection interval time, the angle rotated by the turntable at the target rotation speed is consistent with the collection angle difference.
  • the acquisition interval time T is calculated according to the acquisition angle difference ⁇ and the target rotational speed r of the turntable, so that the turntable rotates through the angle ⁇ within the time T.
  • the image collector is a device that uses modern technology to acquire image information.
  • the image collector can be a video camera, a camera, a scanner, and other devices with a photographing function, such as a mobile phone, a tablet A computer or the like, which is not limited in this embodiment.
  • the acquisition interval time of the image collector is the time interval for the image collector to acquire two adjacent images, and the acquisition interval time of the image collector should correspond to the difference value of the acquisition angle.
  • the difference in acquisition angle is ⁇
  • the time for the first image to be acquired is t
  • the time for the second image to be acquired is t+T
  • the time interval between two acquisitions is T
  • the rotation angle of the object to be photographed on the turntable in time is equal to the difference ⁇ of the acquisition angle.
  • the target rotational speed of the turntable is the number of revolutions per unit time.
  • the technician inputs the user's eye distance d and the distance S between the object to be photographed and the image collector into the electronic device, and calculates the half left and right eye parallax angle ⁇ ; and then inputs the set preset acquisition angle into the electronic device.
  • the electronic device calculates the difference ⁇ of the acquisition angle used to acquire the two adjacent images according to the preset acquisition angle and the half parallax angle ⁇ of the left and right eyes; and then inputs the acquisition interval T of the image acquisition device into the electronic device, and the electronic device The device calculates the target rotation speed of the turntable according to the acquisition interval time T and the acquisition angle difference ⁇ ; the electronic device controls the turntable to rotate at the target rotation speed according to the calculation result, and at the same time controls the image collector to collect the image of the object to be shot rotating on the rotary table, and finally Get the acquired images of the preset number of images.
  • the electronic device may be a device that calculates the target rotation speed of the turntable and controls the rotation of the turntable, such as a computer.
  • the difference value of the collection angle used to collect two adjacent images is determined according to the preset collection angle and the preset number of images; according to the difference value of the collection angle, the acquisition interval time, and the target rotational speed of the turntable; based on the target rotational speed, the turntable is controlled to rotate, and the image collector is controlled to continuously collect images of the object to be photographed according to the acquisition interval time,
  • the multi-angle shooting of the object to be photographed by one image collector is completed, the limitation of obtaining multi-angle images by using multiple image collectors in the related art is overcome, and the effect of a simple measurement method and low cost is achieved.
  • FIG. 4 is a flowchart of an image acquisition method in Embodiment 2 of the present application. This embodiment is optimized on the basis of the foregoing embodiment. For details not described in detail in this embodiment of the present application, please refer to the foregoing embodiment for details.
  • the method of this embodiment includes the following steps:
  • S210 Determine the left and right eye parallax angles according to the distance between the image collector and the object to be photographed and the interpupillary distance between the two eyes.
  • the half left and right eye parallax angles can be calculated by the following formula:
  • S220 Determine a preset number of images according to the ratio of the preset acquisition angle to the parallax angle of the left and right eyes.
  • N set the preset acquisition angle as 360° and the preset number of images as N, then N can be confirmed according to the following formula:
  • S230 Determine, according to the preset acquisition angle and the preset number of images, a difference value of acquisition angles for acquiring two adjacent images.
  • ⁇ can be calculated by the following formula:
  • ⁇ 2 ⁇ that is, the frequency of image acquisition by the image collector is higher, the overlapping parts of two adjacent acquired images are more, and the number of acquired images is more, which is more convenient for subsequent target image selection and stitching applications.
  • S240 Determine the acquisition interval time of the image collector and the target rotation speed of the turntable according to the difference value of the acquisition angle, so that within the acquisition interval time, the angle rotated by the turntable at the target rotation speed is the same as the acquisition angle The difference is the same.
  • the acquisition interval time may be preset, and the target rotation speed of the turntable may be determined according to the acquisition angle difference and the acquisition interval time, so that within the acquisition interval time, the angle at which the turntable rotates at the target rotation speed is the same as the rotation angle of the turntable.
  • the acquisition angle difference is the same.
  • the acquisition time required for the acquisition angle to reach the preset acquisition angle can be determined according to the following formula:
  • T′ is the collection time required for the collection angle to reach the preset collection angle
  • ⁇ ′ is the preset collection angle
  • ⁇ is the difference between the collection angles
  • T is the collection interval time.
  • T′′ the time required for the turntable to rotate once.
  • the target rotation speed of the turntable is determined according to the rotation time required for the turntable to rotate once.
  • the target rotation speed of the turntable is the number of turns that can be rotated in a unit time t.
  • r can be calculated according to the following formula:
  • the acquisition interval time may also be determined according to the acquisition angle difference and the target rotation speed of the turntable, so that within the acquisition interval time, the angle rotated by the turntable at the target rotation speed is consistent with the acquisition angle difference;
  • the acquisition angle difference and the target rotation speed of the turntable are known, first calculate the rotation time T′′ required for the turntable to rotate once, and T′′ can be calculated according to the following formula:
  • r is the target rotation speed of the turntable.
  • ⁇ ' is the preset collection angle
  • the acquisition interval time T of the image acquisition device is calculated, and T can be calculated according to the following formula:
  • ⁇ is the acquisition angle difference.
  • the preset viewpoint is a viewpoint for observing the object to be photographed from a certain angle and a certain distance, and the preset viewpoint may be set according to user requirements.
  • the viewing angle range is the spatial range that can be seen when looking at the object to be photographed from the preset viewpoint. Looking at the object to be photographed from a certain angle and different distances from the object, the viewing angle range is different.
  • the preset viewpoint is set to the true north direction 1 meter away from the item, and then the images within the range of the true north viewing angle are found in the captured images.
  • the acquisition angle difference between image A and acquired image B is equal to the parallax angle of the left and right eyes, then the acquired image A and the acquired image B are selected as the target image, and after splicing, the perspective image of the true north perspective is obtained.
  • the turntable rotates clockwise when viewed from a top view, the turntable rotates from right to left relative to the image collector, and the target image a is collected first, and then the target image b is collected, then the target image a is taken as the left image.
  • the target image b is used as the viewing image from the right eye perspective, that is, the target image a is placed on the left side of the target image b for splicing.
  • the turntable rotates counterclockwise when viewed from a top-down perspective, the turntable rotates from left to right relative to the image collector, and the target image a is collected first, and then the target image b is collected, then the target image a is used as the right eye perspective
  • the target image b is used as the viewing image from the left eye perspective, that is, the target image b is placed on the left side of the target image a for stitching.
  • an image that conforms to the imaging habits of the user's eyes can be obtained according to the user's viewing angle difference.
  • the two captured images that exist in the multiple captured images corresponding to the viewing angle range of the preset viewpoint may be adjacent to each other or may be selected at intervals, and may be selected according to actual needs; but in order to reduce the number of captures, generally, two captured images The difference between the acquisition angles of the acquired images points to two adjacent images.
  • a set of target images is obtained from different preset viewpoints at a fixed distance. According to the target image obtained from each preset viewpoint, stitching is performed to obtain the viewpoint image corresponding to each viewpoint, and then a multi-view image is constructed according to the viewpoint image of each viewpoint.
  • FIG. 5 is a schematic diagram of multi-view image stitching.
  • Nine target images are obtained from nine preset viewpoints. Then the 9 images are reduced to 1/3 of the original size after horizontal and vertical processing, and finally spliced into a 9-grid picture.
  • the splicing effect is shown in Figure 6.
  • This Figure 6 can simulate a 9-view parallax relationship according to the rotation angle of the turntable.
  • the target images may also be arranged and output in frame order.
  • the distance between the image collector and the object to be photographed, and the interpupillary distance between the eyes are used to determine the parallax angle of the left and right eyes; according to the ratio of the preset acquisition angle to the parallax angle of the left and right eyes, the predetermined Set the number of images; according to the preset acquisition angle and the preset number of images, determine the acquisition angle difference used to acquire two adjacent images; determine the acquisition angle to reach the preset value according to the preset acquisition angle, the acquisition angle difference and the acquisition interval time The acquisition time required for the acquisition angle; according to the preset acquisition angle and the 360° angle, determine the rotation time required for the turntable to rotate one circle; determine the target rotation speed of the turntable according to the rotation time required for the turntable to rotate one circle; based on the target rotation speed , control the rotation of the turntable, and control the image collector to continuously collect images of the object to be photographed according to the collection interval time to obtain the collected images of the preset number of images; select any two images
  • the solution can present images conforming to the imaging habits of individual eyes according to the eye distance and viewing angle difference of different users, thereby achieving the effect of image presentation diversity.
  • FIG. 7 is a structural block diagram of an image acquisition apparatus provided in Embodiment 3 of the present application.
  • the apparatus can execute the image acquisition method provided by any embodiment of the present application, and has functional modules and beneficial effects corresponding to the execution method.
  • the apparatus may include:
  • the angle difference determination module 310 is configured to determine a collection angle difference used to collect two adjacent images according to a preset collection angle and a preset number of images;
  • the determining module 320 is configured to determine the acquisition interval time of the image collector and the target rotation speed of the turntable according to the difference value of the acquisition angle, so that within the acquisition interval time, the angle at which the turntable rotates at the target rotation speed is the same as that of the turntable.
  • the difference between the collection angles is the same;
  • the image acquisition module 330 is configured to control the turntable to rotate based on the target rotational speed, and control the image collector to continuously collect images of the object to be photographed according to the acquisition interval to obtain the preset The number of acquired images for the number of images.
  • the angle difference determination module 310 includes:
  • the unit for determining the number of preset images is configured to determine the number of preset images according to the distance between the image collector and the object to be photographed, the interpupillary distance and the preset acquisition angle.
  • the determining module 320 includes:
  • the first acquisition time determination unit is configured to determine the acquisition time required for the acquisition angle to reach the preset acquisition angle according to the acquisition angle difference and the acquisition interval time of the image acquisition device.
  • the first rotation time determination unit is set to determine the rotation time required for the turntable to rotate once according to the preset acquisition angle and the 360° angle.
  • the target rotation speed determination unit is set to determine the target rotation speed of the turntable according to the rotation time required for the turntable to make one revolution.
  • the determining module 320 includes:
  • the second rotation time determination unit is configured to determine the rotation time required for the turntable to rotate once according to the target rotational speed of the turntable.
  • the second acquisition time determination unit is configured to determine the acquisition time required for the rotation angle of the turntable to reach the preset acquisition angle according to the rotation time required for the turntable to rotate once.
  • the acquisition interval time determining unit is configured to determine the acquisition interval time of the image collector according to the acquisition time required for the acquisition angle of the turntable to reach the preset acquisition angle and the difference between the acquisition angles.
  • it also includes:
  • the unit for determining the number of preset images is set to determine the parallax angle of the left and right eyes according to the distance between the image collector and the object to be photographed, and the interpupillary distance between the two eyes; Determines the number of preset images.
  • it also includes:
  • the acquisition time determination unit is set to determine the acquisition time required for the acquisition angle to reach the preset acquisition angle according to the following formula:
  • T′ is the collection time required for the collection angle to reach the preset collection angle
  • ⁇ ′ is the preset collection angle
  • ⁇ is the difference between the collection angles
  • T is the collection interval time.
  • the apparatus further includes:
  • a target image selection module configured to select a target image from the collected images according to the difference of the collection angles and a preset viewpoint
  • the multi-view image building module is configured to build a multi-view image according to the target image.
  • the target image selection module is further configured to, in response to the difference between the collection angles of any two captured images existing in the plurality of captured images corresponding to the viewing angle range of the preset viewpoint satisfying the left and right eye parallax angles, The two acquired images are used as target images.
  • the above product can execute the method provided by the embodiments of the present application, and has functional modules and beneficial effects corresponding to the execution method.
  • FIG. 8 is a schematic structural diagram of an electronic device in Embodiment 4 of the present application.
  • Figure 8 shows a block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present application.
  • the electronic device 12 shown in FIG. 8 is only an example, and should not impose any limitations on the functions and scope of use of the embodiments of the present application.
  • the electronic device 12 takes the form of a general-purpose computing device.
  • Components of electronic device 12 may include, but are not limited to, one or more processors or processing units 16 , system memory (or memory) 28 , a bus 18 connecting various system components including system memory 28 and processing unit 16 .
  • Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of a variety of bus structures.
  • these architectures include, but are not limited to, Industry Standard Architecture (ISA, Industry Standard Architecture) bus, Micro Channel Architecture (MCA, Micro Channel Architecture) bus, enhanced ISA bus, Video Electronics Standards Association (VESA, Video Electronics Standards Association) local bus and Peripheral Component Interconnect (PCI, Peripheral Component Interconnect) bus.
  • ISA Industry Standard Architecture
  • MCA Micro Channel Architecture
  • VESA Video Electronics Standards Association
  • PCI Peripheral Component Interconnect
  • Electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by electronic device 12, including both volatile and non-volatile media, removable and non-removable media.
  • System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and/or cache memory 32 .
  • Electronic device 12 may further include other removable/non-removable, volatile/non-volatile computer system storage media.
  • storage system 34 may be used to read and write to non-removable, non-volatile magnetic media (not shown in FIG. 8, commonly referred to as a "hard disk drive").
  • a magnetic disk drive for reading and writing to removable non-volatile magnetic disks (eg "floppy disks") and removable non-volatile optical disks (eg CD-ROM (Compact Disc Read) may be provided -Only Memory), DVD-ROM (Digital Versatile Disc Read-Only Memory) or other optical media) CD-ROM drive for reading and writing.
  • each drive may be connected to bus 18 through one or more data media interfaces.
  • Memory 28 may include at least one program product having a set (eg, at least one) of program modules configured to perform the functions of various embodiments of the present application.
  • a program/utility 40 having a set (at least one) of program modules 42, which may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other programs Modules and program data, each or some combination of these examples may include an implementation of a network environment.
  • Program modules 42 generally perform the functions and/or methods of the embodiments described herein.
  • the electronic device 12 may also communicate with one or more external devices 14 (eg, a keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with the electronic device 12, and/or with Any device (eg, network card, modem, etc.) that enables the electronic device 12 to communicate with one or more other computing devices. Such communication may take place through input/output (I/O) interface 22 .
  • the display 24 does not exist as an independent entity, but is embedded in the mirror surface. When the display surface of the display 24 is not displayed, the display surface of the display 24 and the mirror surface are visually integrated.
  • the electronic device 12 may communicate with one or more networks (eg, a local area network (LAN, Local Area Network), a wide area network (WAN, Wide Area Network), and/or a public network, such as the Internet, through a network adapter 20. As shown in FIG. 8 , the network adapter 20 communicates with other modules of the electronic device 12 via the bus 18 . It should be understood that, although not shown, other hardware and/or software modules may be used in conjunction with the electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID (Redundant Arrays of Independent Disks, disk array) systems, tape drives, and data backup storage systems.
  • LAN local area network
  • WAN Wide Area Network
  • a public network such as the Internet
  • the network adapter 20 communicates with other modules of the electronic device 12 via the bus 18 .
  • other hardware and/or software modules may be used in conjunction with the electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive array
  • the processing unit 16 executes various functional applications and data processing by running the programs stored in the system memory 28, for example, to realize the image acquisition method provided by the embodiments of the present application:
  • the preset acquisition angle and the preset number of images determine the acquisition angle difference used to acquire two adjacent images
  • the acquisition interval time of the image acquisition device and the target rotation speed of the turntable are determined, so that within the acquisition interval time, the angle rotated by the turntable at the target rotation speed and the acquisition angle difference consistent;
  • the turntable is controlled to rotate, and the image collector is controlled to continuously collect images of the object to be photographed according to the collection interval, so as to obtain collected images of the preset number of images.
  • the fifth embodiment of the present application provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the image acquisition methods provided by all the application embodiments of the present application are implemented. :
  • the preset acquisition angle and the preset number of images determine the acquisition angle difference used to acquire two adjacent images
  • the acquisition interval time of the image acquisition device and the target rotation speed of the turntable are determined, so that within the acquisition interval time, the angle rotated by the turntable at the target rotation speed and the acquisition angle difference consistent;
  • the turntable is controlled to rotate, and the image collector is controlled to continuously collect images of the object to be photographed according to the collection interval, so as to obtain collected images of the preset number of images.
  • the storage medium may be a non-transitory storage medium.
  • the computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium.
  • the computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples (a non-exhaustive list) of computer readable storage media include: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), Erasable Programmable Read-Only Memory (EPROM), flash memory, optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above .
  • a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
  • a computer-readable signal medium may include a propagated data signal in baseband or as part of a carrier wave, with computer-readable program code embodied thereon. Such propagated data signals may take a variety of forms including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • a computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device .
  • the program code contained on the computer-readable medium can be transmitted by any suitable medium, including - but not limited to - wireless, wire, optical fiber cable, RF (Radio Frequency, radio frequency), etc., or any suitable combination of the above.
  • Computer program code for performing the operations of the present application may be written in one or more programming languages, including object-oriented programming languages—such as Java, Smalltalk, C++, but also conventional Procedural programming language - such as the "C" language or similar programming language.
  • the program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server.
  • the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (eg, using an Internet service provider through Internet connection).
  • LAN local area network
  • WAN wide area network
  • the embodiments of the present application provide an image acquisition method, device, electronic device and medium, which can use the image acquisition device to complete the acquisition of multi-view images of objects, thereby providing 3D (3-dimensional, three-dimensional) content production at a lower cost. image material.

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Abstract

提供了一种图像采集方法、装置、电子设备及介质。其中，方法包括：根据预设采集角度以及预设图像数量，确定用于采集相邻两幅图像的采集角度差值；根据采集角度差值，确定图像采集器的采集间隔时间，以及转台的目标转速，以使在采集间隔时间内，转台以目标转速转过的角度与采集角度差值一致；基于所述目标转速，控制转台进行转动，并控制图像采集器根据采集间隔时间，连续对所述待拍摄物体进行图像采集，得到所述预设图像数量的采集图像。

Description

图像采集方法、装置、电子设备及介质
本申请要求在2021年04月30日提交中国专利局、申请号为202110482214.7的中国专利申请的优先权，以上申请的全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及机器视觉技术领域，例如涉及一种图像采集方法、装置、电子设备及介质。
背景技术
图像采集是利用现代化技术进行实时图像信息获取的手段，在现代多媒体技术中占有重要的地位。在日常生活中、生物医学领域、航空航天等领域都有着广泛的应用。
在图像采集的应用中，往往需要采集物体的多视角图像，以获取物体多方位的信息。但是拍摄多视图一般需要多台立体相机同步拍摄，相机架设复杂，并需要精确校正，不仅拍摄设备复杂，成本高，而且每次拍摄时多台相机需要仔细校正，操作繁琐。
发明内容
本申请实施例提供一种图像采集方法、装置、电子设备及介质。
第一方面，本申请实施例提供了一种图像采集方法，其中，待拍摄物体放置于转台上，图像采集器位于所述转台的一侧，图像采集器用于对转台上的待拍摄物体进行图像采集，该方法包括：
根据预设采集角度以及预设图像数量，确定用于采集相邻两幅图像的采集角度差值；
根据所述采集角度差值，确定图像采集器的采集间隔时间，以及所述转台的目标转速，以使在采集间隔时间内，所述转台以目标转速转过的角度与所述采集角度差值一致；
基于所述目标转速，控制所述转台进行转动，并控制所述图像采集器根据所述采集间隔时间，连续对所述待拍摄物体进行图像采集，得到所述预设图像数量的采集图像。
第二方面，本申请实施例提供了一种图像采集装置，其中包括：
角度差值确定模块，设置为根据预设采集角度以及预设图像数量，确定用 于采集相邻两幅图像的采集角度差值；
确定模块，设置为根据所述采集角度差值，确定图像采集器的采集间隔时间，以及转台的目标转速，以使在采集间隔时间内，所述转台以目标转速转过的角度与所述采集角度差值一致；
图像获得模块，设置为基于所述目标转速，控制所述转台进行转动，并控制所述图像采集器根据所述采集间隔时间，连续对所述待拍摄物体进行图像采集，得到所述预设图像数量的采集图像。
第三方面，本申请实施例提供了一种电子设备，包括存储器，处理器及存储在存储器上并可在处理器运行的计算机程序，所述处理器执行所述计算机程序时实现如本申请实施例所述的图像采集方法。
第四方面，本申请实施例提供了一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现如本申请实施例所述的图像采集方法。
附图说明
图1是本申请实施例一提供的图像采集方法流程图；
图2是本申请实施例一提供的拍摄系统示意图；
图3是本申请实施例一提供的模拟人眼观察旋转物体示意图；
图4是本申请实施例二提供的图像采集方法流程图；
图5是本申请实施例二提供的多视角图像拼接示意图；
图6是本申请实施例二提供的多视角图像拼接效果示意图；
图7是本申请实施例三提供的图像采集装置的结构示意图；
图8是本申请实施例四提供的一种电子设备的结构示意图。
具体实施方式
下面结合附图和实施例对本申请作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本申请，而非对本申请的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本申请相关的部分而非全部结构。
在讨论示例性实施例之前应当提到的是，一些示例性实施例被描述成作为流程图描绘的处理或方法。虽然流程图将各步骤描述成顺序的处理，但是其中的许多步骤可以被并行地、并发地或者同时实施。此外，各步骤的顺序可以被 重新安排。当其操作完成时所述处理可以被终止，但是还可以具有未包括在附图中的附加步骤。所述处理可以对应于方法、函数、规程、子例程、子程序等等。
实施例一
图1是本申请实施例一提供的图像采集方法流程图，本实施例可发生于当用户希望呈现出的物体的图像符合个人眼睛成像习惯的场景，该方法可以由本申请实施例所提供的图像采集装置执行，该装置可以由软件和/或硬件的方式来实现，并可集成于电子设备中，电子设备可以为计算机、平板电脑等智能化设备。
如图1所示，所述图像采集方法包括：
S110，根据预设采集角度以及预设图像数量，确定用于采集相邻两幅图像的采集角度差值。
其中，预设采集角度是指待拍摄的物体被拍摄的角度，预设采集角度可以根据用户的需求来设定。
示例性的，如图2所示，图2是拍摄系统示意图。待拍摄物体放置于转台上，图像采集器位于所述转台的一侧，用于对转台上的待拍摄物体进行图像采集。待拍摄物体放到中间的转台上，转台以一定转速旋转。图像采集器固定在距离待拍摄物体一定距离的位置，并使用快门对转台上旋转的待拍摄物体进行拍摄，其中，电子设备控制图像采集器触发快门的间隔时间即为采集间隔时间，可以是1s，2s或是其他时间，本实施例对此不进行限制。电子设备用来控制图像采集器的拍摄和转台的转速。例如，预设采集角度可以为360度、270度等，该角度可根据用户的需求来设定。若设定的预设采集角度为360度，则旋转台旋转一周，在旋转台旋转一周的过程中，图像采集器以一定时间间隔触发快门对正在旋转的待拍摄物体进行拍摄。本实施例对于图像采集器、转台和电子设备的位置关系不进行限制。
其中，预设图像数量是指转台上的待拍摄物体旋转的角度达到预设采集角度后得到的采集图像的实际数量。
示例性的，若设定的预设采集角度为360度，则待拍摄物体旋转一周后图像采集器拍摄的图像数量为预设图像数量。
在本实施例中，例如，预设图像数量可根据图像采集器与待拍摄物体之间的距离、双眼瞳距以及预设采集角度确定。
示例性的，如图3所示，图3是模拟人眼观察旋转物体示意图。其中左眼或右眼代表图像采集器，左眼与右眼的眼距为d，B点是左眼与右眼之间连线的中点。A点代表待拍摄物体，圆圈代表放置待拍摄物体的转台。点A与图像采集器的距离为S。左眼与点A、右眼与点A的两条连接线之间的夹角为左右眼视差角，θ表示左右眼视差角的一半，称为半左右眼视差角。首先根据眼距以及点A与图像采集器的距离S计算得到半左右眼视差角θ，则左右眼视差角为2θ。当待拍摄物体旋转的角度等于左右眼视差角时，图像采集器就按下一次快门得到一张图像，当待拍摄物体完成旋转预设采集角度时就可得到理论上的图像数量，并且每两张相邻快门时间拍摄的采集图像之间的角度差等于左右眼视差角。预设图像数量可以基于理论上的图像数量确定，预设图像数量可以大于或等于理论上的图像数量。
其中，采集角度差值为实际设定的图像采集器相邻两次按下快门之间待拍摄物体旋转的角度。由于预设图像数量大于或等于理论上的图像数量，即预设图像数量可能不同于理论上的图像数量，所以需要再根据预设采集角度和预设图像数量计算得到采集角度差值。
S120，根据所述采集角度差值，确定图像采集器的采集间隔时间，以及所述转台的目标转速，以使在采集间隔时间内，所述转台以目标转速转过的角度与所述采集角度差值一致。
示例性的，可以预先设定采集间隔时间，根据采集角度差值和采集间隔时间确定转台的目标转速，以使在采集间隔时间内，所述转台以目标转速转过的角度与所述采集角度差值一致。示例性的，根据采集角度差值α和采集间隔时间T计算转台的目标转速r，以使转台在时间T内转过的角度为α。
也可以是预先设定目标转速，根据采集角度差值和转台的目标转速确定采集间隔时间，以使在采集间隔时间内，所述转台以目标转速转过的角度与所述采集角度差值一致；示例性的，根据采集角度差值α和转台的目标转速r计算采集间隔时间T，以使转台在时间T内转过角度α。
其中，图像采集器是一种利用现代化技术获取图像信息的设备，在本实施例中，例如，图像采集器可以为摄像机，相机，扫描仪，以及其他带有拍照功能的设备，例如手机、平板电脑等，本实施例对此不进行限制。
其中，图像采集器的采集间隔时间为图像采集器采集相邻两张图像的时间间隔，图像采集器的采集间隔时间应与采集角度差值对应。
示例性的，若采集角度差值为α，图像采集的第一张图像的时间为t，采集 的第二张图像的时间为t+T，则两次采集的时间间隔为T，那么在T时间内旋转台上的待拍摄物体旋转的角度等于采集角度差值α。
其中，转台的目标转速为在单位时间内转的圈数。
S130，基于所述目标转速，控制所述转台进行转动，并控制所述图像采集器根据所述采集间隔时间，连续对所述待拍摄物体进行图像采集，得到所述预设图像数量的采集图像。
示例性的，技术人员将用户的眼距d以及待拍摄物体与图像采集器之间的距离S输入电子设备中，计算出半左右眼视差角θ；再将设定的预设采集角度输入电子设备中，电子设备根据预设采集角度与半左右眼视差角θ计算出用于采集相邻两幅图像的采集角度差值α；再将图像采集器的采集间隔时间T输入电子设备中，电子设备根据采集间隔时间T和采集角度差值α计算出转台的目标转速；电子设备根据计算结果控制转台以目标转速转动，同时控制图像采集器采集在旋转台上旋转的待拍摄物体的图像，最终得到预设图像数量的采集图像。在本实施例中，例如，电子设备可以是计算转台目标转速并控制转台旋转的设备，例如计算机。
本申请实施例所提供的技术方案，通过根据预设采集角度以及预设图像数量，确定用于采集相邻两幅图像的采集角度差值；根据所述采集角度差值，确定图像采集器的采集间隔时间，以及所述转台的目标转速；基于所述目标转速，控制所述转台进行转动，并控制所述图像采集器根据所述采集间隔时间，连续对所述待拍摄物体进行图像采集，完成了通过一台图像采集器对待拍摄物体多个角度的拍摄，克服了相关技术中通过使用多台图像采集器获取多角度图像的局限性，达到了测量方法简便，成本低的效果。
实施例二
图4为本申请实施例二中的图像采集方法流程图，本实施例以上述实施例为基础进行优化，未在本申请实施例中详细描述的细节，详见上述实施例。
如图4所示，本实施例的方法包括如下步骤：
S210，根据图像采集器与待拍摄物体之间的距离，以及双眼瞳距，确定左右眼视差角。
示例性的，双眼瞳距为d，待拍摄物体到图像采集器之间的距离为S，则半左右眼视差角可通过如下公式计算得到：
Figure PCTCN2022086509-appb-000001
则左右眼视差角为2θ。
S220，根据所述预设采集角度，与左右眼视差角的比值，确定预设图像数量。
示例性的，设预设采集角度为360°，预设的图像数量为N，则N可根据如下公式确认：
Figure PCTCN2022086509-appb-000002
其中，
Figure PCTCN2022086509-appb-000003
即为理论的图像数量。
S230，根据预设采集角度以及预设图像数量，确定用于采集相邻两幅图像的采集角度差值。
示例性的，设相邻两幅图像的采集角度差值为α，则α可通过如下公式计算得到：
Figure PCTCN2022086509-appb-000004
此时α≤2θ，即图像采集器采集图像的频率更高，相邻两幅采集图像的重叠部分更多，得到的采集图像的数量更多，更便于后续目标图像的选取和拼接应用。
S240，根据所述采集角度差值，确定图像采集器的采集间隔时间，以及所述转台的目标转速，以使在采集间隔时间内，所述转台以目标转速转过的角度与所述采集角度差值一致。
在一实施例中，可以预先设定采集间隔时间，根据采集角度差值和采集间隔时间确定转台的目标转速，以使在采集间隔时间内，所述转台以目标转速转过的角度与所述采集角度差值一致。可根据如下公式确定采集角度达到预设采集角度所需的采集时间：
Figure PCTCN2022086509-appb-000005
其中，T′为采集角度达到预设采集角度所需的采集时间，θ′为预设采集角度，α为采集角度差值，T为采集间隔时间。
再根据预设采集角度，以及360°角度，确定转台旋转一圈所需的旋转时间。设旋转台旋转一圈需要的时间为T″，则T″可根据如下公式计算得到：
Figure PCTCN2022086509-appb-000006
最后根据转台旋转一圈所需的旋转时间，确定转台的目标转速。
其中，转台的目标转速为一个单位时间t内能转的圈数。
设转台的目标转速为r，则r可根据如下公式计算得到：
Figure PCTCN2022086509-appb-000007
在一实施例中，也可以是根据采集角度差值和转台目标转速确定采集间隔时间，以使在采集间隔时间内，所述转台以目标转速转过的角度与所述采集角度差值一致；示例性的，若采集角度差值和转台的目标转速已知，则先计算转台旋转一圈所需的旋转时间T″，T″可以根据如下公式计算得到：
Figure PCTCN2022086509-appb-000008
其中，r为转台目标转速。
再根据转台旋转一圈所需的旋转时间计算转台的旋转角度达到预设采集角度所需的采集时间T′，T′可以根据如下公式计算得到：
Figure PCTCN2022086509-appb-000009
其中，θ′为预设采集角度。
最后根据所述转台的采集角度达到预设采集角度所需的采集时间，以及所述采集角度差值，计算图像采集器的采集间隔时间T，T可以根据如下公式计算得到：
Figure PCTCN2022086509-appb-000010
其中，α为采集角度差值。
S250，基于所述目标转速，控制所述转台进行转动，并控制所述图像采集器根据所述采集间隔时间，连续对所述待拍摄物体进行图像采集，得到预设图像数量的采集图像。
S260，响应于在预设视点的视角范围对应的多个采集图像中存在的任意两幅采集图像的采集角度的差值满足左右眼视差角，将所述两幅采集图像作为目标图像。
其中，预设视点为从某个角度某个距离观察待拍摄物体的视角点，预设视点可以根据用户需求来设定。视角范围是从预设视点看向待拍摄物体时所能看到的空间范围。从某个角度距离物品不同的距离看向待拍摄物体，视角范围是不同的。
示例性的，在获得预设图像数量的采集图像之后，将预设视点设定为距离物品1米远的正北方向，则在采集图像中找出正北方向视角范围内的图像，若采集图像A与采集图像B之间的采集角度差值等于左右眼视差角，则将采集图像A与采集图像B挑选出来作为目标图像，并经过拼接后得到正北方向视角的视角图像。在对目标图像进行拼接得到视角图像时，需要注意目标图像的拼接顺序，以满足人眼的视觉效果。例如，如果转台在俯视角度下看到的为顺时针转动，转台相对于图像采集器从右向左转动，先采集到目标图像a，后采集到目标图像b，则将目标图像a作为左眼视角下的观看图像，将目标图像b作为右眼视角下的观看图像，即将目标图像a放置于目标图像b左侧进行拼接。如果转台在俯视角度下看到的为逆时针转动，转台相对于图像采集器从左向右转动，先采集到目标图像a，后采集到目标图像b，则将目标图像a作为右眼视角下的观看图像，将目标图像b作为左眼视角下的观看图像，即将目标图像b放置于目标图像a左侧进行拼接。
本实施例可以根据用户的视角差获得符合用户眼睛成像习惯的图像。
在一实施例中，在预设视点的视角范围对应的多个采集图像中存在的两幅采集图像，可以相邻也可以间隔选取，可根据实际需要；但为了减少采集数量，一般地，两幅采集图像的采集角度的差值指向的是相邻的两幅图像。
S270，根据所述目标图像，构建多视角图像。
其中，获得预设图像数量的采集图像之后，以固定的距离从不同的预设视点获得目标图像的集合。根据每个预设视点得到的目标图像，进行拼接得到各视点对应的视角图像，进而根据各视点的视角图像，构建多视角图像。
示例性的，如图5所示，图5是多视角图像拼接示意图。从9个预设视点得到9张目标图像。然后对该9张图像经水平和垂直处理均缩小成原来的1/3，最终拼接成9宫格图片，拼接效果图如图6所示。该图6可以根据转台旋转角度模拟9视图视差关系。在本申请实施例中，也可以将目标图像按照帧顺序排列输出。
本申请实施例所提供的技术方案，通过图像采集器与待拍摄物体之间的距离，以及双眼瞳距，确定左右眼视差角；根据预设采集角度，与左右眼视差角 的比值，确定预设图像数量；根据预设采集角度以及预设图像数量，确定用于采集相邻两幅图像的采集角度差值；根据预设采集角度、采集角度差值和采集间隔时间确定采集角度达到预设采集角度所需的采集时间；根据预设采集角度，以及360°角度，确定转台旋转一圈所需的旋转时间；根据转台旋转一圈所需的旋转时间，确定转台的目标转速；基于目标转速，控制转台转动，并控制图像采集器根据采集间隔时间连续对待拍摄物体进行图像采集，得到预设图像数量的采集图像；在预设视点的视角范围对应的多个采集图像中选取任意两幅采集角度的差值满足左右眼视差角的图像作为目标图像；根据目标图像，得到多视角图像。该方案通过以上手段可以实现根据不同用户的眼距和视角差呈现出符合个人眼睛成像习惯的图像，达到了图像呈现多样性的效果。
实施例三
图7为本申请实施例三提供的一种图像采集装置的结构框图，该装置可执行本申请任意实施例所提供的图像采集方法，具备执行方法相应的功能模块和有益效果。如图7所示，该装置可以包括：
角度差值确定模块310，设置为根据预设采集角度以及预设图像数量，确定用于采集相邻两幅图像的采集角度差值；
确定模块320，设置为根据所述采集角度差值，确定图像采集器的采集间隔时间，以及转台的目标转速，以使在采集间隔时间内，所述转台以目标转速转过的角度与所述采集角度差值一致；
图像获得模块330，设置为基于所述目标转速，控制所述转台进行转动，并控制所述图像采集器根据所述采集间隔时间，连续对所述待拍摄物体进行图像采集，得到所述预设图像数量的采集图像。
在一实施例中，角度差值确定模块310包括：
预设图像数量确定单元，设置为根据图像采集器与待拍摄物体之间的距离、双眼瞳距以及预设采集角度，确定预设图像数量。
在一实施例中，确定模块320包括：
第一采集时间确定单元，设置为根据采集角度差值，以及图像采集器的采集间隔时间，确定采集角度达到预设采集角度所需的采集时间。
第一旋转时间确定单元，设置为根据预设采集角度，以及360°角度，确定转台旋转一圈所需的旋转时间。
目标转速确定单元，设置为根据转台旋转一圈所需的旋转时间，确定转台 的目标转速。
或者，确定模块320包括：
第二旋转时间确定单元，设置为根据所述转台的目标转速，确定所述转台旋转一圈所需的旋转时间。
第二采集时间确定单元，设置为根据所述转台旋转一圈所需的旋转时间，确定所述转台的旋转角度达到预设采集角度所需的采集时间。
采集间隔时间确定单元，设置为根据所述转台的采集角度达到预设采集角度所需的采集时间，以及所述采集角度差值，确定图像采集器的采集间隔时间。
在一实施例中，还包括：
预设图像数量确定单元，设置为，根据图像采集器与待拍摄物体之间的距离，以及双眼瞳距，确定左右眼视差角；根据所述预设采集角度，与左右眼视差角的比值，确定预设图像数量。
在一实施例中，还包括：
采集时间确定单元，设置为，根据如下公式确定采集角度达到预设采集角度所需的采集时间：
Figure PCTCN2022086509-appb-000011
其中，T′为采集角度达到预设采集角度所需的采集时间，θ′为预设采集角度，α为采集角度差值，T为采集间隔时间。
在一实施例中，该装置还包括：
目标图像选取模块，设置为根据采集角度的差值，以及预设视点，从所述采集图像中选取目标图像；
多视角图像构建模块，设置为根据所述目标图像，构建多视角图像。
在一实施例中，目标图像选取模块，还设置为，响应于在预设视点的视角范围对应的多个采集图像中存在的任意两幅采集图像的采集角度的差值满足左右眼视差角，将所述两幅采集图像作为目标图像。
上述产品可执行本申请实施例所提供的方法，具备执行方法相应的功能模块和有益效果。
实施例四
图8为本申请实施例四中的一种电子设备的结构示意图。图8示出了适于用来实现本申请实施方式的示例性计算机设备12的框图。图8显示的电子设备 12仅仅是一个示例，不应对本申请实施例的功能和使用范围带来任何限制。
如图8所示，电子设备12以通用计算设备的形式表现。电子设备12的组件可以包括但不限于：一个或者多个处理器或者处理单元16，系统存储器(或内存)28，连接不同系统组件(包括系统存储器28和处理单元16)的总线18。
总线18表示几类总线结构中的一种或多种，包括存储器总线或者存储器控制器，外围总线，图形加速端口，处理器或者使用多种总线结构中的任意总线结构的局域总线。举例来说，这些体系结构包括但不限于工业标准体系结构(ISA，Industry Standard Architecture)总线，微通道体系结构(MCA，Micro Channel Architecture)总线，增强型ISA总线、视频电子标准协会(VESA，Video Electronics Standards Association)局域总线以及外围组件互连(PCI，Peripheral Component Interconnect)总线。
电子设备12典型地包括多种计算机系统可读介质。这些介质可以是任何能够被电子设备12访问的可用介质，包括易失性和非易失性介质，可移动的和不可移动的介质。
系统存储器28可以包括易失性存储器形式的计算机系统可读介质，例如随机存取存储器(RAM，Random Access Memory)30和/或高速缓存存储器32。电子设备12可以进一步包括其它可移动/不可移动的、易失性/非易失性计算机系统存储介质。仅作为举例，存储系统34可以用于读写不可移动的、非易失性磁介质(图8未显示，通常称为“硬盘驱动器”)。尽管图8中未示出，可以提供用于对可移动非易失性磁盘(例如“软盘”)读写的磁盘驱动器，以及对可移动非易失性光盘(例如CD-ROM(Compact Disc Read-Only Memory),DVD-ROM(Digital Versatile Disc Read-Only Memory)或者其它光介质)读写的光盘驱动器。在这些情况下，每个驱动器可以通过一个或者多个数据介质接口与总线18相连。存储器28可以包括至少一个程序产品，该程序产品具有一组(例如至少一个)程序模块，这些程序模块被配置以执行本申请各实施例的功能。
具有一组(至少一个)程序模块42的程序/实用工具40，可以存储在例如存储器28中，这样的程序模块42包括——但不限于——操作系统、一个或者多个应用程序、其它程序模块以及程序数据，这些示例中的每一个或某种组合中可能包括网络环境的实现。程序模块42通常执行本申请所描述的实施例中的功能和/或方法。
电子设备12也可以与一个或多个外部设备14(例如键盘、指向设备、显示器24等)通信，还可与一个或者多个使得用户能与该电子设备12交互的设备 通信，和/或与使得该电子设备12能与一个或多个其它计算设备进行通信的任何设备(例如网卡，调制解调器等等)通信。这种通信可以通过输入/输出(I/O)接口22进行。另外，本实施例中的电子设备12，显示器24不是作为独立个体存在，而是嵌入镜面中，在显示器24的显示面不予显示时，显示器24的显示面与镜面从视觉上融为一体。并且，电子设备12还可以通过网络适配器20与一个或者多个网络(例如局域网(LAN，Local Area Network)，广域网(WAN，Wide Area Network)和/或公共网络，例如因特网)通信。如图8所示，网络适配器20通过总线18与电子设备12的其它模块通信。应当明白，尽管图中未示出，可以结合电子设备12使用其它硬件和/或软件模块，包括但不限于：微代码、设备驱动器、冗余处理单元、外部磁盘驱动阵列、RAID(Redundant Arrays of Independent Disks，磁盘阵列)系统、磁带驱动器以及数据备份存储系统等。
处理单元16通过运行存储在系统存储器28中的程序，从而执行各种功能应用以及数据处理，例如实现本申请实施例所提供的图像采集方法：
根据预设采集角度以及预设图像数量，确定用于采集相邻两幅图像的采集角度差值；
根据所述采集角度差值，确定图像采集器的采集间隔时间，以及所述转台的目标转速，以使在采集间隔时间内，所述转台以目标转速转过的角度与所述采集角度差值一致；
基于所述目标转速，控制所述转台进行转动，并控制所述图像采集器根据所述采集间隔时间，连续对所述待拍摄物体进行图像采集，得到所述预设图像数量的采集图像。
实施例五
本申请实施例五提供了一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现如本申请所有申请实施例提供的图像采集方法：
根据预设采集角度以及预设图像数量，确定用于采集相邻两幅图像的采集角度差值；
根据所述采集角度差值，确定图像采集器的采集间隔时间，以及所述转台的目标转速，以使在采集间隔时间内，所述转台以目标转速转过的角度与所述采集角度差值一致；
基于所述目标转速，控制所述转台进行转动，并控制所述图像采集器根据 所述采集间隔时间，连续对所述待拍摄物体进行图像采集，得到所述预设图像数量的采集图像。
存储介质可以是非暂态(non-transitory)存储介质。
可以采用一个或多个计算机可读的介质的任意组合。计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM，Erasable Programmable Read-Only Memory)、闪存、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本文件中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。
计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括——但不限于——电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。
计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括——但不限于——无线、电线、光缆、RF(Radio Frequency，射频)等等，或者上述的任意合适的组合。
可以以一种或多种程序设计语言或其组合来编写用于执行本申请操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。
本申请实施例提供一种图像采集方法、装置、电子设备及介质，可以利用 图像采集装置完成对物体多视角图像的采集，从而以较低成本为3D(3-dimensional，三维)内容的制作提供图像素材。
上述仅为本申请的一些实施例及所运用技术原理。本领域技术人员会理解，不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本申请的保护范围。因此，虽然通过以上实施例对本申请进行了较为详细的说明，但是本申请不仅仅限于以上实施例，在不脱离本申请构思的情况下，还可以包括更多其他等效实施例，而本申请的范围由所附的权利要求范围决定。

Claims (12)

  1. 一种图像采集方法，待拍摄物体放置于转台上，图像采集器位于所述转台的一侧，所述图像采集器用于对转台上的待拍摄物体进行图像采集，所述方法包括：
    根据预设采集角度以及预设图像数量，确定用于采集相邻两幅图像的采集角度差值；
    根据所述采集角度差值，确定图像采集器的采集间隔时间，以及所述转台的目标转速，以使在采集间隔时间内，所述转台以目标转速转过的角度与所述采集角度差值一致；
    基于所述目标转速，控制所述转台进行转动，并控制所述图像采集器根据所述采集间隔时间，连续对所述待拍摄物体进行图像采集，得到所述预设图像数量的采集图像。
  2. 根据权利要求1所述的方法，还包括：预设图像数量的确定过程；
    其中，所述预设图像数量的确定过程包括：
    根据图像采集器与待拍摄物体之间的距离、双眼瞳距以及预设采集角度，确定预设图像数量。
  3. 根据权利要求2所述的方法，其中，根据图像采集器与待拍摄物体之间的距离、双眼瞳距以及预设采集角度，确定预设图像数量，包括：
    根据图像采集器与待拍摄物体之间的距离，以及双眼瞳距，确定左右眼视差角；
    根据所述预设采集角度，与左右眼视差角的比值，确定预设图像数量。
  4. 根据权利要求1所述的方法，其中，确定图像采集器的采集间隔时间，以及所述转台的目标转速，包括：
    根据采集角度差值，以及图像采集器的采集间隔时间，确定采集角度达到预设采集角度所需的采集时间；根据所述预设采集角度，以及360°角度，确定所述转台旋转一圈所需的旋转时间；根据所述转台旋转一圈所需的旋转时间，确定所述转台的目标转速；或者，
    根据所述转台的目标转速，确定所述转台旋转一圈所需的旋转时间；根据所述转台旋转一圈所需的旋转时间，确定所述转台的旋转角度达到预设采集角度所需的采集时间；根据所述转台的采集角度达到预设采集角度所需的采集时间，以及所述采集角度差值，确定图像采集器的采集间隔时间。
  5. 根据权利要求4所述的方法，其中，根据采集角度差值，以及图像采集器的采集间隔时间，确定采集角度达到预设采集角度所需的采集时间，包括：
    根据如下公式确定采集角度达到预设采集角度所需的采集时间：
    Figure PCTCN2022086509-appb-100001
    其中，T′为采集角度达到预设采集角度所需的采集时间，θ′为预设采集角度，α为采集角度差值，T为采集间隔时间。
  6. 根据权利要求1所述的方法，得到所述预设图像数量的采集图像之后，所述方法还包括：
    根据采集角度的差值，以及预设视点，从所述采集图像中选取目标图像；
    根据所述目标图像，构建多视角图像。
  7. 根据权利要求6所述的方法，其中，根据采集角度的差值，以及预设视点，从所述采集图像中选取目标图像，包括：
    响应于在预设视点的视角范围对应的多个采集图像中存在的两幅采集图像的采集角度的差值满足左右眼视差角，将所述两幅采集图像作为目标图像。
  8. 一种图像采集装置，包括：
    角度差值确定模块，设置为根据预设采集角度以及预设图像数量，确定用于采集相邻两幅图像的采集角度差值；
    确定模块，设置为根据所述采集角度差值，确定图像采集器的采集间隔时间，以及转台的目标转速，以使在采集间隔时间内，所述转台以目标转速转过的角度与所述采集角度差值一致；
    图像获得模块，设置为基于所述目标转速，控制所述转台进行转动，并控制所述图像采集器根据所述采集间隔时间，连续对所述待拍摄物体进行图像采集，得到所述预设图像数量的采集图像。
  9. 一种图像采集方法，待拍摄物体放置于转台上，图像采集器位于所述转台的一侧，所述图像采集器用于对转台上的待拍摄物体进行图像采集，所述方法包括：
    根据预设采集角度以及预设图像数量，确定用于采集相邻两幅图像的采集角度差值；
    根据采集角度差值，以及图像采集器的采集间隔时间，确定采集角度达到预设采集角度所需的采集时间；
    根据所述预设采集角度，以及360°角度，确定所述转台旋转一圈所需的旋转时间；
    根据所述转台旋转一圈所需的旋转时间，确定所述转台的目标转速；
    基于所述目标转速，控制所述转台进行转动，并控制所述图像采集器根据所述采集间隔时间，连续对所述待拍摄物体进行图像采集，得到所述预设图像数量的采集图像。
  10. 一种图像采集方法，待拍摄物体放置于转台上，图像采集器位于所述转台的一侧，所述图像采集器用于对转台上的待拍摄物体进行图像采集，所述方法包括：
    根据预设采集角度以及预设图像数量，确定用于采集相邻两幅图像的采集角度差值；
    根据所述转台的目标转速，确定所述转台旋转一圈所需的旋转时间；
    根据所述转台旋转一圈所需的旋转时间，确定所述转台的旋转角度达到预设采集角度所需的采集时间；
    根据所述转台的采集角度达到预设采集角度所需的采集时间，以及所述采集角度差值，确定图像采集器的采集间隔时间；
    基于所述目标转速，控制所述转台进行转动，并控制所述图像采集器根据所述采集间隔时间，连续对所述待拍摄物体进行图像采集，得到所述预设图像数量的采集图像。
  11. 一种电子设备，包括存储器，处理器及存储在存储器上并可在处理器运行的计算机程序，所述处理器执行所述计算机程序时实现如权利要求1-7或9-10中任一项所述的图像采集方法。
  12. 一种计算机可读存储介质，所述计算机可读存储介质上存储有计算机程序，所述计算机程序被处理器执行时实现如权利要求1-7或9-10中任一项所述的图像采集方法。
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