阅读说明：本技术 基于多相机同步拍摄的三维成像方法、装置及拍摄系统 (Three-dimensional imaging method and device based on multi-camera synchronous shooting and shooting system ) 是由 蔡博凡 蓝培钦 龚强 于 2020-12-09 设计创作，主要内容包括：本发明公开了一种基于多相机同步拍摄的三维成像方法、装置及拍摄系统,所述方法应用于控制盒,所述方法包括：在接收用户的拍摄指令时,从多个相机中查找第一相机；通过所述信号线缆将所述拍摄指令发送至所述第一相机,以使所述第一相机组开始拍摄并触发生成第一电平变化信号,将所述电平变化信号发送至串联连接的第二相机,供第二相机开始拍摄并触发生成第二电平变化信号,使多台相机同步触发拍摄；分别获取所述多台相机分别对拍摄的图像进行解析和计算后生成的轮廓图像,得到多张轮廓图像,将所述多张轮廓图像合成的三维图像。本发明通过控制多台相机同步拍摄,可以得到物体表面完整的轮廓图像,从而不会出现合成后图像错位的情况。(The invention discloses a three-dimensional imaging method, a three-dimensional imaging device and a three-dimensional imaging system based on multi-camera synchronous shooting, wherein the method is applied to a control box and comprises the following steps: when a shooting instruction of a user is received, searching a first camera from a plurality of cameras; sending the shooting instruction to the first camera through the signal cable so that the first camera group starts shooting and triggers to generate a first level change signal, and sending the level change signal to a second camera connected in series for the second camera to start shooting and trigger to generate a second level change signal, so that the multiple cameras synchronously trigger shooting; and respectively acquiring contour images generated by analyzing and calculating the shot images by the plurality of cameras to obtain a plurality of contour images, and synthesizing the plurality of contour images into a three-dimensional image. According to the invention, the multiple cameras are controlled to shoot synchronously, so that the complete contour image of the surface of the object can be obtained, and the situation of image dislocation after synthesis can not occur.)

1. A three-dimensional imaging method based on multi-camera synchronous shooting is characterized by being applied to a control box, wherein the control box is respectively connected with a plurality of cameras through signal cables, the cameras are sequentially connected in series, and the method comprises the following steps:

when a shooting instruction of a user is received, a first camera is searched from a plurality of cameras, the first camera is a camera which triggers shooting in a plurality of camera groups, and an input port of the first camera is connected with the control box through the signal cable;

sending the shooting instruction to the first camera through the signal cable so that the first camera group starts shooting and triggers to generate a first level change signal, and sending the level change signal to a second camera connected in series for the second camera to start shooting and trigger to generate a second level change signal, so that the multiple cameras synchronously trigger shooting;

and respectively acquiring contour images generated by analyzing and calculating the shot images by the plurality of cameras to obtain a plurality of contour images, and synthesizing the plurality of contour images into a three-dimensional image.

2. The multi-camera synchronous shooting-based three-dimensional imaging method according to claim 1, wherein each camera is provided with an LED projector;

before the step of sending the shooting instruction to the first camera through the signal cable, the method further includes:

responding to the shooting instruction to start the LED projector, and adjusting the LED projector to be in a continuous light mode so that the preset light source continuously provides illumination for the object;

and projecting the light source of the LED projector to the surface and the background of the object to be shot so as to enable the object to be shot to generate structured light.

3. The multi-camera synchronized photographing-based three-dimensional imaging method of claim 2, wherein the adjusting the LED projector to a continuous light mode comprises:

adjusting the current flicker frequency value of the LED projector to a preset flicker frequency value, wherein the preset flicker frequency value is the lowest flicker frequency value which can not be distinguished by human eyes;

and taking the current illumination mode of the LED projector as a continuous light mode.

4. The three-dimensional imaging method based on multi-camera synchronous shooting is characterized by further comprising a computing terminal, wherein the computing terminal is connected with the control box;

the computing terminal is used for receiving an operation instruction of a user, generating and sending a shooting instruction to the control box, and providing a power supply for the control box.

5. The utility model provides a three-dimensional image device based on synchronous shooting of polyphaser which characterized in that is applied to the control box, the control box passes through the signal cable respectively with many cameras interconnect, a plurality of cameras are series connection in proper order, the device includes:

the searching module is used for searching a first camera from the plurality of cameras when receiving a shooting instruction of a user, wherein the first camera is a camera which triggers shooting in a first camera group of the plurality of camera groups, and an input port of the first camera is connected with the control box through the signal cable;

the sending module is used for sending the shooting instruction to the first camera through the signal cable so as to enable the first camera group to start shooting and trigger to generate a first level change signal, and sending the level change signal to a second camera connected in series so as to enable the second camera to start shooting and trigger to generate a second level change signal and enable the multiple cameras to synchronously trigger shooting;

and the imaging module is used for respectively acquiring contour images generated by analyzing and calculating the shot images by the plurality of cameras to obtain a plurality of contour images and synthesizing the plurality of contour images into a three-dimensional image.

6. The multi-camera synchronous shooting-based three-dimensional imaging device according to claim 5, wherein each camera is provided with an LED projector;

the device further comprises:

the starting module is used for responding to the shooting instruction to start the LED projector and adjusting the LED projector to be in a continuous light mode so as to enable the preset light source to continuously provide illumination for the object;

and the projection module is used for projecting the light source of the LED projector to the surface and the background of the object to be shot so as to enable the object to be shot to generate structured light.

7. The multi-camera synchronous shooting-based three-dimensional imaging device according to claim 5, wherein the starting module is further configured to:

adjusting the current flicker frequency value of the LED projector to a preset flicker frequency value, wherein the preset flicker frequency value is the lowest flicker frequency value which can not be distinguished by human eyes;

and taking the current illumination mode of the LED projector as a continuous light mode.

8. A shooting system is characterized by comprising a computing terminal, a control box and a plurality of cameras;

the computing terminal is connected with the control box through a power supply lead, and the control box is respectively connected with the cameras through signal cables;

the cameras are provided with input ports and output ports, the output port of the first camera is connected with the input port of the second camera, the output port of the second camera is connected with the input port of the third camera, and the like, so that the cameras are sequentially connected in series.

9. An electronic device, comprising: memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor when executing the program implements the three-dimensional imaging method based on multi-camera simultaneous shooting according to any one of claims 1 to 4.

10. A computer-readable storage medium storing computer-executable instructions for causing a computer to perform the three-dimensional imaging method based on multi-camera simultaneous photographing according to any one of claims 1 to 4.

Technical Field

The invention relates to the technical field of imaging and image processing, in particular to a three-dimensional imaging method, a three-dimensional imaging device and a three-dimensional imaging system based on multi-camera synchronous shooting.

Background

With the further development of the three-dimensional scanning technology and the wide introduction thereof, the application of the three-dimensional scanning technology in multi-azimuth scanning of three-dimensional objects and then building three-dimensional digital models of the objects by using computers is becoming more and more common in real life. But its application is seen in the fields of industrial design, machine vision, geomorphology measurement, 3D printing, medical information, etc.

When a three-dimensional object surface contour image is shot, the angle factor is limited, one camera cannot completely cover the surface of the object, a plurality of cameras are required to be used for synchronous shooting at different angles, and then shooting results are synthesized to form a complete contour image.

If an object to be shot is in a motion state, shooting time of different cameras is sequential, but in the prior art, due to inconsistent shooting time, image dislocation occurs in a synthesized result, so that the shot image does not accord with the object, and the synthesized image is poor in effect.

Disclosure of Invention

The invention provides a three-dimensional imaging method, a three-dimensional imaging device and a three-dimensional imaging system based on multi-camera synchronous shooting, which can solve the technical problem that the difference between the shot image and the practice is far caused by different shooting time, so that the imaging effect is poor.

An embodiment of the invention provides a three-dimensional imaging method based on multi-camera synchronous shooting, which is applied to a control box, wherein the control box is respectively connected with a plurality of cameras through signal cables, the cameras are sequentially connected in series, and the method comprises the following steps:

when a shooting instruction of a user is received, a first camera is searched from a plurality of cameras, the first camera is a camera which triggers shooting in a plurality of camera groups, and an input port of the first camera is connected with the control box through the signal cable;

sending the shooting instruction to the first camera through the signal cable so that the first camera group starts shooting and triggers to generate a first level change signal, and sending the level change signal to a second camera connected in series for the second camera to start shooting and trigger to generate a second level change signal, so that the multiple cameras synchronously trigger shooting;

and respectively acquiring contour images generated by analyzing and calculating the shot images by the plurality of cameras to obtain a plurality of contour images, and synthesizing the plurality of contour images into a three-dimensional image.

Furthermore, each camera is provided with an LED projector;

before the step of sending the shooting instruction to the first camera through the signal cable, the method further includes:

responding to the shooting instruction to start the LED projector, and adjusting the LED projector to be in a continuous light mode so that the preset light source continuously provides illumination for the object;

and projecting the light source of the LED projector to the surface and the background of the object to be shot so as to enable the object to be shot to generate structured light.

Further, said adjusting said LED projector to a continuous light pattern comprises:

adjusting the current flicker frequency value of the LED projector to a preset flicker frequency value, wherein the preset flicker frequency value is the lowest flicker frequency value which can not be distinguished by human eyes;

and taking the current illumination mode of the LED projector as a continuous light mode.

Further, the system also relates to a computing terminal, and the computing terminal is connected with the control box;

the computing terminal is used for receiving an operation instruction of a user, generating and sending a shooting instruction to the control box, and providing a power supply for the control box.

Correspondingly, an embodiment of the present invention further provides a three-dimensional imaging device based on multi-camera synchronous shooting, which is applied to a control box, wherein the control box is respectively connected with a plurality of cameras through signal cables, the plurality of cameras are sequentially connected in series, and the device includes:

the searching module is used for searching a first camera from the plurality of cameras when receiving a shooting instruction of a user, wherein the first camera is a camera which triggers shooting in a first camera group of the plurality of camera groups, and an input port of the first camera is connected with the control box through the signal cable;

the sending module is used for sending the shooting instruction to the first camera through the signal cable so as to enable the first camera group to start shooting and trigger to generate a first level change signal, and sending the level change signal to a second camera connected in series so as to enable the second camera to start shooting and trigger to generate a second level change signal and enable the multiple cameras to synchronously trigger shooting;

and the imaging module is used for respectively acquiring contour images generated by analyzing and calculating the shot images by the plurality of cameras to obtain a plurality of contour images and synthesizing the plurality of contour images into a three-dimensional image.

Furthermore, each camera is provided with an LED projector;

the device further comprises:

the starting module is used for responding to the shooting instruction to start the LED projector and adjusting the LED projector to be in a continuous light mode so as to enable the preset light source to continuously provide illumination for the object;

and the projection module is used for projecting the light source of the LED projector to the surface and the background of the object to be shot so as to enable the object to be shot to generate structured light.

Further, the opening module is further configured to:

adjusting the current flicker frequency value of the LED projector to a preset flicker frequency value, wherein the preset flicker frequency value is the lowest flicker frequency value which can not be distinguished by human eyes;

and taking the current illumination mode of the LED projector as a continuous light mode.

Correspondingly, the embodiment of the invention also provides a shooting system, which comprises a computing terminal, a control box and a plurality of cameras;

the computing terminal is connected with the control box through a power supply lead, and the control box is respectively connected with the cameras through signal cables;

the cameras are provided with input ports and output ports, the output port of the first camera is connected with the input port of the second camera, the output port of the second camera is connected with the input port of the third camera, and the like, so that the cameras are sequentially connected in series.

Accordingly, an embodiment of the present invention further provides an electronic device, including: memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor implements the three-dimensional imaging method based on multi-camera synchronous shooting as described above when executing the program.

Accordingly, an embodiment of the present invention also provides a computer-readable storage medium storing computer-executable instructions for causing a computer to execute the three-dimensional imaging method based on multi-camera synchronous shooting as described above.

Compared with the prior art, the method and the device provided by the embodiment of the invention have the beneficial effects that: the triggering levels of the cameras of the multiple camera groups can be set to be the same level, then the shooting system receives the instruction and controls the multiple camera groups to work, synchronous control is achieved, meanwhile, the multiple camera groups are connected through the signal cable, after one camera group is triggered, the triggered camera group can trigger the next camera group to work, due to the fact that delay of the signal cable can be ignored, the multiple camera groups can be synchronously triggered, synchronous triggering and synchronous accurate shooting of the multiple camera groups are achieved, the whole method does not need to be additionally provided with any device, and the method is simple and effective and greatly improves the three-dimensional imaging effect.

Drawings

Fig. 1 is a schematic flow chart of a three-dimensional imaging method based on multi-camera synchronous shooting according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a connection between a control box and a camera provided in an embodiment of the invention;

fig. 3 is a schematic structural diagram of a three-dimensional imaging device based on multi-camera synchronous shooting according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a photographing system according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

If an object to be shot is in a motion state, shooting time of different cameras is sequential, but in the prior art, due to inconsistent shooting time, image dislocation occurs in a synthesized result, so that the shot image does not accord with the object, and the synthesized image is poor in effect.

In order to solve the above problem, a three-dimensional imaging method based on multi-camera synchronous shooting provided by the embodiments of the present application will be described and explained in detail by the following specific embodiments.

Referring to fig. 1, a schematic flow chart of a three-dimensional imaging method based on multi-camera synchronous shooting according to an embodiment of the present invention is shown, in which the three-dimensional imaging method based on multi-camera synchronous shooting may be applied to a control box, the control box is respectively connected to a plurality of cameras through signal cables, and the plurality of cameras are sequentially connected in series.

Referring to fig. 2, a schematic connection diagram of a control box and a camera provided by an embodiment of the invention is shown. The control box is connected with the computing terminal through a power line, the control box is connected with the cameras through signal cables, and the cameras are connected in series through the signal cables. And meanwhile, the control box respectively supplies power to the plurality of cameras.

In this embodiment, the control box may also be connected to a computing terminal, which may be a computer, and the control box may be connected to the computing terminal through a power line. The computing terminal can provide power for the control box, and simultaneously the computing terminal can receive different operation instructions of a user, generates corresponding shooting instructions according to the different operation instructions of the user, and sends the shooting instructions to the control box, so that the control box controls the plurality of cameras to shoot.

In order to completely restore the contour images of the object under different angles, synchronous shooting is required to be carried out at different angles. Each group of camera sets can be arranged at the same or different angle difference, so that the surface contour images of the three-dimensional object in different states can be accurately captured.

For example, 10 cameras are provided, each of which may be arranged at an angular difference of 36 degrees in the same transverse plane, and for example, 3 cameras are provided, each of which is arranged at an angular difference of 120 degrees in the same transverse plane.

Specifically, the plurality of cameras are provided with an input port and an output port, and the plurality of cameras can be connected in series through the input port and the output port. For example, the input port of a first camera is connected to the output port of the control box, the output port of the first camera is connected to the input port of a second camera, the output port of the second camera is connected to the input port of a third camera, and so on.

By way of example, the three-dimensional imaging method based on multi-camera synchronous shooting may include:

and S11, when a shooting instruction of a user is received, searching a first camera from the plurality of cameras, wherein the first camera is the camera which triggers shooting in the plurality of camera groups, and the input port of the first camera is connected with the control box through the signal cable.

The shooting instruction is an instruction generated by the computing terminal after the user performs a determination operation on the computing terminal. Since the plurality of cameras are connected in series with each other, the control box can search the camera connected to the output port of the control box as the first camera. Specifically, the first camera is a camera having an input port connected to an output port of the control box.

And S12, responding to the shooting instruction, starting the LED projector, and adjusting the LED projector to be in a continuous light mode so that the preset light source can continuously provide illumination for the object.

In this embodiment, each camera is provided with an LED projector, and the LED projector is used as a light source.

When shooting, the camera can complete shooting after waiting for the LED projector to irradiate and expose, the main part of the LED projector is an LED, and the waiting time of the camera can be shortened by setting a light source in advance, so that the shooting efficiency is improved.

However, in each shooting process, the camera needs to be triggered once, and then the LED projector is controlled to flash for exposure, so that one shooting can be completed. In this way, frequent light flicker is very uncomfortable for human eyes during continuous shooting, and the shooting efficiency is low, and in order to ensure that the camera can shoot, the light source can be adjusted to a continuous light mode, so that the light source can be kept not to flicker.

In order to solve the above problem, step S12 may include the following sub-steps, as an example:

and a substep S121, adjusting the current flicker frequency value of the LED projector to a preset flicker frequency value, wherein the preset flicker frequency value is the lowest flicker frequency value which can not be distinguished by human eyes.

Substep S122, taking the current lighting mode of the LED projector as a continuous light mode.

In the present embodiment, continuous light is a concept that the projector LED flashes in a high frequency manner. When the frequency of the flicker exceeds the range that can be resolved by the human eye, the LED can be considered as not flickering.

Through setting up continuous light, not only can reduce the injury that LED lamp scintillation brought the people's eye, also can let the camera shoot in succession to improve and shoot efficiency

And S13, projecting the light source of the LED projector to the surface and the background of the object to be shot so as to enable the object to be shot to generate structured light.

Since three-dimensional imaging can be realized only by projecting light, an LED projector is required to project a specific light source to the surface of an object and to the background, and then a camera or a camera is used to collect the light source, so that three-dimensional imaging can be performed according to the camera and the image collected by the camera.

And S14, sending the shooting instruction to the first camera through the signal cable so that the first camera group starts shooting and triggers generation of a first level change signal, sending the level change signal to a second camera connected in series so that the second camera starts shooting and triggers generation of a second level change signal, and enabling the multiple cameras to trigger shooting synchronously.

Since the output port of the control box is connected with the input port of the first camera through the signal cable, the control box can send a shooting instruction to the first camera through the signal cable, and after the first camera obtains the shooting instruction, the current level changes, for example, from low level to high level or from high level to low level, and then the shooting is started. And because the plurality of camera groups are also connected with each other by the signal cable, and the output port of the first camera is connected with the input port of the second camera, after the first camera receives the shooting instruction and generates the level change, the first camera can trigger to generate a first level change signal, for example, a rising edge signal changing from a low level to a high level, and send the first level change signal to the next camera through the signal cable, so that the next camera also changes from the low level to the high level and starts shooting, meanwhile, the next camera can also trigger to generate a second level change signal, for example, a rising edge signal, and send the rising edge signal to the next camera through the signal cable, and so on.

For example, the four cameras are A, B, C, D, respectively, and are connected A, B, C, D in series. The input port of the camera A is connected with the output port of the control box, when the control box receives a shooting instruction, the control box sends the shooting instruction to the camera A, the camera A changes from a low level to a high level after receiving the shooting instruction and starts shooting, meanwhile, the camera A triggers to generate a rising edge signal, the rising edge signal is sent to the camera B through a signal cable, the camera B changes from the low level to the high level and starts shooting, meanwhile, the camera B also triggers to generate the rising edge signal, the rising edge signal is sent to the camera C through the signal cable, and the like.

The time delay of signal transmission by using a signal cable is almost in a microsecond unit and can be completely ignored, so that when a first camera starts shooting, a plurality of cameras start shooting, the delay time of shooting among all camera units can be reduced, and the shooting efficiency is improved.

And S15, respectively acquiring contour images generated by analyzing and calculating the shot images by the plurality of cameras to obtain a plurality of contour images, and synthesizing the plurality of contour images into a three-dimensional image.

Because three-dimensional imaging needs to synchronously shoot images at different angles for imaging reduction, images shot by each camera set in the same time node can be obtained, then a plurality of images of the same time node are subjected to three-dimensional analysis and calculation, and finally, the images are combined to obtain a three-dimensional image.

In this embodiment, an embodiment of the present invention provides a three-dimensional imaging method based on multi-camera synchronous shooting, which has the following beneficial effects: the invention can control a plurality of camera sets to work after receiving a shooting instruction, realizes synchronous control, simultaneously connects the plurality of camera sets through signal cables, and triggers one camera set, then the triggered camera set can trigger the next camera set to work.

The embodiment of the invention also provides a three-dimensional imaging device based on multi-camera synchronous shooting, and referring to fig. 3, a schematic structural diagram of the three-dimensional imaging device based on multi-camera synchronous shooting provided by the embodiment of the invention is shown.

The three-dimensional imaging device based on multi-camera synchronous shooting is applied to a control box, the control box is connected with a plurality of cameras through signal cables, and the cameras are sequentially connected in series.

As an example, the three-dimensional imaging apparatus based on multi-camera synchronous shooting may include:

the searching module 301 is configured to search a first camera from a plurality of cameras when receiving a shooting instruction of a user, where the first camera is a camera that triggers shooting in a plurality of camera groups, and an input port of the first camera is connected to the control box through the signal cable;

a sending module 302, configured to send the shooting instruction to the first camera through the signal cable, so that the first camera group starts shooting and triggers generation of a first level change signal, and send the level change signal to a second camera connected in series, so that the second camera starts shooting and triggers generation of a second level change signal, so that multiple cameras trigger shooting synchronously;

the imaging module 303 is configured to obtain profile images generated by analyzing and calculating the captured images by the multiple cameras, respectively, to obtain multiple profile images, and synthesize a three-dimensional image with the multiple profile images.

Furthermore, each camera is provided with an LED projector;

the device further comprises:

the starting module is used for responding to the shooting instruction to start the LED projector and adjusting the LED projector to be in a continuous light mode so as to enable the preset light source to continuously provide illumination for the object;

and the projection module is used for projecting the light source of the LED projector to the surface and the background of the object to be shot so as to enable the object to be shot to generate structured light.

Further, the opening module is further configured to:

adjusting the current flicker frequency value of the LED projector to a preset flicker frequency value, wherein the preset flicker frequency value is the lowest flicker frequency value which can not be distinguished by human eyes;

and taking the current illumination mode of the LED projector as a continuous light mode.

Further, an embodiment of the present invention further provides a shooting system, and referring to fig. 4, a schematic structural diagram of the shooting system provided in the embodiment of the present invention is shown.

Including, by way of example, a computing terminal, a control box, and a plurality of cameras;

the computing terminal is connected with the control box through a power supply lead, and the control box is respectively connected with the cameras through signal cables;

the cameras are provided with input ports and output ports, the output port of the first camera is connected with the input port of the second camera, the output port of the second camera is connected with the input port of the third camera, and the like, so that the cameras are sequentially connected in series.

Further, an embodiment of the present application further provides an electronic device, including: the system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the three-dimensional imaging method based on multi-camera synchronous shooting according to the embodiment.

Further, the present application also provides a computer-readable storage medium storing computer-executable instructions for causing a computer to execute the three-dimensional imaging method based on multi-camera synchronous shooting as described in the above embodiment.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.