CN113034597A - Method for realizing automatic optimization of position parameters of stereo camera - Google Patents
Method for realizing automatic optimization of position parameters of stereo camera Download PDFInfo
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- CN113034597A CN113034597A CN202110347630.6A CN202110347630A CN113034597A CN 113034597 A CN113034597 A CN 113034597A CN 202110347630 A CN202110347630 A CN 202110347630A CN 113034597 A CN113034597 A CN 113034597A
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- 238000000034 method Methods 0.000 title claims abstract description 54
- 238000005457 optimization Methods 0.000 title claims abstract description 28
- 230000000007 visual effect Effects 0.000 claims abstract description 67
- 238000001514 detection method Methods 0.000 claims description 10
- 230000000694 effects Effects 0.000 abstract description 11
- 238000004519 manufacturing process Methods 0.000 abstract description 8
- 238000005516 engineering process Methods 0.000 description 4
- 210000004556 brain Anatomy 0.000 description 2
- 238000011010 flushing procedure Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000009877 rendering Methods 0.000 description 2
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- 206010052143 Ocular discomfort Diseases 0.000 description 1
- 208000003464 asthenopia Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 208000002173 dizziness Diseases 0.000 description 1
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- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
- G06T7/593—Depth or shape recovery from multiple images from stereo images
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- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
- G06T2207/10012—Stereo images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20228—Disparity calculation for image-based rendering
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Abstract
The invention discloses a method for realizing automatic optimization of position parameters of a stereo camera, which comprises the following steps: step 1, calculating coordinate values in a world coordinate system of a stereo camera; step 2, converting the coordinate value into a camera coordinate system; step 3, calculating a zero parallax plane and a visual comfort area; step 4, determining the position of the object model to be shot in a camera coordinate system, and obtaining the object model with the position exceeding a zero parallax plane and the object model closest to the zero parallax plane from the position; step 5, judging whether the object model is in the visual comfort area, and if so, performing step 7; if not, performing step 6; step 6, adjusting the position parameters of the stereo camera and returning to the step 3; and 7, finishing the setting. The method automatically optimizes the position parameters of the stereo camera in the stereo movie production by judging whether the object model is in the visual comfort zone, can meet the stereo effect required by most lenses in the stereo movie production, and has the advantages of good accuracy, low repair rate, high efficiency and low cost.
Description
Technical Field
The invention relates to the field of stereoscopic film production, in particular to a method for realizing automatic optimization of position parameters of a stereoscopic camera.
Background
The stereoscopic image technology actually utilizes two eyes to see the same object and the difference of different images in the brain, so that the audience can see the image to generate parallax on the horizontal plane of the screen, the stereoscopic impression is increased, and a more vivid visual effect is created. The specific principle of the stereoscopic image is as follows: the distance between two eyes of a person is about 5-6 cm, when the person looks at any object, the angles of the two eyes are not coincident, namely, two visual angles exist, and the slight visual angle difference is transmitted to the brain by the retina, so that the front and the back of the object can be distinguished, and strong stereoscopic impression is generated. This is the principle of polarization, and almost 3D imaging techniques have been developed up to now based on this principle.
Therefore, the correct setting of the stereo camera position parameters is crucial for the stereo movie effect. If the position parameters are incorrectly set, double images can be caused, the stereoscopic effect is poor, and visual fatigue and even dizziness feeling of audiences are easy to appear. Therefore, the setting and management of the position parameters of the stereo camera are the core technology of the stereo movie.
At present, the setting technology of the position parameters of the stereo camera is backward, most of the technologies stay at the stage of setting by artificial visual observation, and the problems of low accuracy, high repair rate, low efficiency and the like exist.
Disclosure of Invention
Based on the problems in the prior art, the invention aims to provide a method for realizing automatic optimization of position parameters of a stereo camera, which can solve the problems of low accuracy, high repair rate, low efficiency and the like of the traditional stereo camera position parameter setting which is mostly set by manual visual observation.
The purpose of the invention is realized by the following technical scheme:
the embodiment of the invention provides a method for realizing automatic optimization of position parameters of a stereo camera, which comprises the following steps:
step 1, calculating coordinate values of a stereo camera with a preset initial position in a world coordinate system of a three-dimensional space;
step 3, calculating a zero parallax plane of the stereo camera in a camera coordinate system, and determining a visual comfort zone of the stereo camera according to the zero parallax plane;
step 4, determining the position of an object model to be shot in the camera coordinate system, and obtaining the object model with the position exceeding the zero parallax plane and the object model closest to the zero parallax plane from the position;
step 6, returning to the step 3 for processing after adjusting the position parameters of the stereo camera;
and 7, finishing the setting, and taking the position parameters of the stereo camera corresponding to the current zero parallax plane and the visual comfort area as optimized position parameters.
According to the technical scheme provided by the invention, the method for realizing the automatic optimization of the position parameters of the stereo camera provided by the embodiment of the invention has the following beneficial effects:
and judging whether the object model is in a visual comfort area of the stereo camera or not in a three-dimensional space recognition mode, further obtaining an optimal zero parallax plane and an optimal visual comfort area relative to the position of the object model, and then taking the position parameters of the stereo camera corresponding to the optimal zero parallax plane and the optimal visual comfort area as the position parameters after automatic optimization. The method can meet the three-dimensional effect required by most lenses in the three-dimensional film production, is high in efficiency, good in accuracy, low in repair rate and cost, and well solves the problems that the existing three-dimensional camera position parameters are mostly set by adopting manual visual observation, the accuracy is low, the repair rate is high, and the time cost is high, so that the efficiency is low. On the basis of automatically optimizing the set position parameters of the stereo camera, the invention can conveniently carry out targeted adjustment, thereby obtaining special effects such as screen flushing or stronger stereo effect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a flowchart of a method for implementing automatic optimization of position parameters of a stereo camera according to an embodiment of the present invention;
fig. 2 is a flowchart for implementing automatic optimization of position parameters of a stereo camera according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the specific contents 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 embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention. Details which are not described in detail in the embodiments of the invention belong to the prior art which is known to the person skilled in the art.
Referring to fig. 1, an embodiment of the present invention provides a method for implementing automatic optimization of position parameters of a stereo camera, including:
step 1, calculating coordinate values of a stereo camera with a preset initial position in a world coordinate system of a three-dimensional space;
step 3, calculating a zero parallax plane of the stereo camera in a camera coordinate system, and determining a visual comfort zone of the stereo camera according to the zero parallax plane;
step 4, determining the position of an object model to be shot in the camera coordinate system, and obtaining the object model with the position exceeding the zero parallax plane and the object model closest to the zero parallax plane from the position;
step 6, returning to the step 3 for processing after adjusting the position parameters of the stereo camera;
and 7, finishing the setting, and taking the position parameters of the stereo camera corresponding to the current zero parallax plane and the visual comfort area as optimized position parameters.
In step 5 of the above method, in the visual comfort zone, the following means:
all object models are in a visual comfort zone of the stereo camera;
or, at least one object model which is not in the visual comfort zone and is closest to the zero parallax plane is in the limit adjustment zone of the visual comfort zone.
In the above method, not in the visual comfort zone means: there is at least one object model that is not within the visual comfort zone and an object model that is closest to the zero disparity surface is not within the limit adjustment region of the visual comfort zone.
In the above method, the limit adjustment region of the visual comfort zone is: and the object model is positioned at the outer end edge of the visual comfort area and can not be adjusted outwards any more.
In step 3 of the above method, determining a visual comfort zone of the stereo camera according to the zero parallax plane by the following method, including:
firstly, calculating the projection of a viewing cone and a zero parallax plane of a stereo camera in a camera coordinate system, and then calculating to obtain an intersecting plane of the viewing cone and the projection;
and taking the area which is positioned in the viewing cone of the stereo camera and is positioned in the preset distance of the intersecting plane as a visual comfort area.
In the above method, the visual comfort zone is a zone in which the distance from both sides of the zero parallax plane accounts for 15% to 30% of the average distance between the viewer and the screen.
In the above method, in step 4, determining the position of the object model to be photographed in the camera coordinate system by the following method includes:
determining a BBX value of the object model in a camera coordinate system, and determining the position of the corresponding object model in the camera coordinate system according to the BBX value;
or determining a detection point on an object model, and determining the position of the object model in a camera coordinate system according to the distance between the detection point and a zero parallax plane of the stereo camera;
or determining a detection line on the object model, and determining the position of the object model in the camera coordinate system through the distance between the detection line and the zero parallax plane of the stereo camera.
In step 1 of the method, the stereo camera with the preset initial position is: after the picture is composed according to the requirements of the storyboard, the object model to be shot can be completely collected into the position in the viewing cone of the stereo camera.
In the method, in the optimization setting process, the cycle from the step 3 to the step 6 can basically complete the automatic optimization of the position parameters of the stereo camera within 10 times (generally 3 times), and the efficiency is high.
It can be known that, in the above method, the position of the stereo camera can be adjusted in a stepping manner within the range of the allowable adjustment, which belongs to the existing adjustment manner and will not be described too much here.
The method judges whether an object model in a camera coordinate system is in a visual comfort area of a stereo camera through three-dimensional space identification, further obtains an optimal zero parallax plane and an optimal visual comfort area relative to a plurality of object models, takes parameters of the stereo camera corresponding to the optimal zero parallax plane and the optimal visual comfort area as parameters for automatic optimization, and the parameters can meet the stereo effect required by most lenses in stereo movie projects. The method of the invention not only improves the efficiency and the accuracy of the optimized setting of the position parameters of the stereo camera in the whole stereo film production, but also can realize the reasonable stereo effect, and most of the lenses are in the visual comfort area, thereby avoiding the dazzling and other visual discomfort of the audience, and further highlighting the visual impact feeling of the screen-flushing lenses and providing better viewing experience for the audience.
The embodiments of the present invention are described in further detail below.
The method for realizing the automatic optimization of the position parameters of the stereo camera in the embodiment of the invention specifically comprises the following steps: setting an initial position of a stereo camera according to a composition required by a storyboard, calculating a world coordinate position of the stereo camera in a three-dimensional space, and converting the world coordinate into a camera coordinate (a center camera of the stereo camera is set to be (0,0, 0));
calculating a zero parallax plane of the stereo camera, and calculating a visual comfort area of the stereo camera according to the zero parallax plane;
scanning and calculating the position of a stored object model (stored in a file form) in a camera coordinate system (the position can be determined by at least one of a BBX value, the distance between a detection point of the object model and a zero parallax plane, or the distance between a detection line of the object model and the zero parallax plane), determining all object models behind the zero parallax plane and object models in front of and behind the zero parallax plane and closest to the zero parallax plane, judging whether the position parameter setting of the stereo camera is reasonable or not according to the object models, specifically judging whether the object model is in a visual comfort area of the stereo camera or not, if the object model is in the visual comfort area, not processing, and ending the optimization setting; and if the object model is not in the visual comfort zone, automatically optimizing and setting the position parameters of the stereo camera until the object model is in the optimal position relative to the visual comfort zone of the stereo camera, and finishing the setting.
Examples
Referring to fig. 1, the present embodiment provides a method for implementing automatic optimization of position parameters of a stereo camera, including the following steps:
step 1, calculating coordinate values of a three-dimensional camera with a preset initial position in a world coordinate system in a three-dimensional space;
step 3, calculating a zero parallax plane of the stereo camera, and determining a visual comfort area of the stereo camera according to the zero parallax plane;
step 4, scanning and calculating a BBX value of an object model which is required to be shot and stored in a file form in a camera coordinate system, and further determining the position of the object model in the camera coordinate system;
step 6, calculating and judging whether all the object models determined in the step 5 are in a visual comfort area of the stereo camera, and if so, performing the step 7; if not, performing step 6;
step 6, adjusting the position of the stereo camera, and returning to the step 3 for processing;
and 7, finishing the setting, and taking the position parameters corresponding to the current zero parallax plane and the visual comfort area as the position parameters of the automatically optimized stereo camera.
In the above method, the maximum cycle number of the cyclic processing of steps 3 to 6 is 10 times, and usually does not exceed 3 times, so that the automatic optimization setting of the position parameters of the stereo camera can be completed.
In the above method, determining that all object models are determined in the visual comfort zone means:
all object models are in the visual comfort zone;
or, at least one object model which is not in the visual comfort zone and is closest to the zero parallax plane is in the limit adjustment zone of the visual comfort zone.
In the above method, not in the visual comfort zone means: there is at least one object model that is not within the visual comfort zone and an object model that is closest to the zero disparity surface is not within the limit adjustment region of the visual comfort zone.
In the above method, the limit adjustment region of the visual comfort zone is: and the object model is positioned at the outer end edge of the visual comfort area and can not be adjusted outwards any more.
In step 6 of the method, each time the position of the stereo camera is adjusted, it is required to ensure that all object models to be photographed are located in the view cone of the stereo camera, that is, it is required to ensure that the object models to be photographed are located in the visible range.
By the method, a producer of the stereoscopic movie can adjust the initial position of the stereoscopic camera according to the requirement, and after the composition required by the storyboard is reached, the optimal setting of the position parameters of the stereoscopic camera can be automatically carried out by the method, so that the stereoscopic camera is arranged in the visual comfort area, and then the position parameters of the stereoscopic camera can be adjusted in a fine or special effect mode according to the required stereoscopic effect (see fig. 2).
The method of the invention has at least the following advantages:
(1) the method can automatically optimize and adjust the position parameters of the stereo camera, and can be applied to most stereo movie projects.
(2) And the method adopts bottom layer graphic imaging and three-dimensional space algorithm, and has reliable effect and stronger universality.
(3) The method can greatly reduce the repeated production of the back links caused by the position parameter setting of the stereo camera, particularly the rendering cost caused by repeated rendering, reduce the production cost of the stereo film and improve the production efficiency.
Those of ordinary skill in the art will understand that: all or part of the processes of the methods for implementing the embodiments may be implemented by a program, which may be stored in a computer-readable storage medium, and when executed, may include the processes of the embodiments of the methods as described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A method for realizing automatic optimization of position parameters of a stereo camera is characterized by comprising the following steps:
step 1, calculating coordinate values of a stereo camera with a preset initial position in a world coordinate system of a three-dimensional space;
step 2, converting coordinate values of the stereo camera in a world coordinate system into a camera coordinate system;
step 3, calculating a zero parallax plane of the stereo camera in a camera coordinate system, and determining a visual comfort zone of the stereo camera according to the zero parallax plane;
step 4, determining the position of an object model to be shot in the camera coordinate system, and obtaining the object model with the position exceeding the zero parallax plane and the object model closest to the zero parallax plane from the position;
step 5, judging whether all the object models obtained in the step 4 are in a visual comfort area of the stereo camera, and if so, performing a step 7; if not, proceeding to step 6;
step 6, returning to the step 3 for processing after adjusting the position parameters of the stereo camera;
and 7, finishing the setting, and taking the position parameters of the stereo camera corresponding to the current zero parallax plane and the visual comfort area as optimized position parameters.
2. The method for realizing automatic optimization of position parameters of a stereo camera according to claim 1, wherein in the step 5, in the visual comfort zone, the following are defined:
all object models are in a visual comfort zone of the stereo camera;
or, at least one object model which is not in the visual comfort zone and is closest to the zero parallax plane is in the limit adjustment zone of the visual comfort zone.
3. The method for realizing automatic optimization of position parameters of a stereo camera according to claim 1, wherein the non-in-visual comfort zone means: there is at least one object model that is not within the visual comfort zone and an object model that is closest to the zero disparity surface is not within the limit adjustment region of the visual comfort zone.
4. The method for realizing automatic optimization of position parameters of a stereo camera according to claim 2 or 3, wherein the limit adjustment area of the visual comfort zone is: and the object model is positioned at the outer end edge of the visual comfort area and can not be adjusted outwards any more.
5. The method for realizing automatic optimization of position parameters of a stereo camera according to any one of claims 1 to 3, wherein in the step 3, the visual comfort zone of the stereo camera is determined according to the zero-parallax plane by:
firstly, calculating the projection of a viewing cone and a zero parallax plane of a stereo camera in a camera coordinate system, and then calculating to obtain an intersecting plane of the viewing cone and the projection;
and taking the area which is positioned in the viewing cone of the stereo camera and is positioned in the preset distance of the intersecting plane as a visual comfort area.
6. The method for realizing automatic optimization of the position parameters of the stereo camera according to claim 5, wherein the visual comfort zone is a zone with the distance from two sides of the zero parallax plane accounting for 15% to 30% of the average distance between the viewer and the screen.
7. The method for realizing automatic optimization of position parameters of a stereo camera according to any one of claims 1 to 3, wherein the step 5 further comprises: and after the preset cycle number is reached and the vision comfort area is not in the vision comfort area, the step 7 is carried out.
8. The method for realizing automatic optimization of the position parameters of the stereo camera according to claim 7, wherein the preset number of cycles is 10 or less.
9. The method for realizing automatic optimization of position parameters of a stereo camera according to any one of claims 1 to 3, wherein in the step 4, the position of the object model to be photographed in the camera coordinate system is determined by the following method, comprising:
determining a BBX value of the object model in a camera coordinate system, and determining the position of the corresponding object model in the camera coordinate system according to the BBX value;
or determining a detection point on an object model, and determining the position of the object model in a camera coordinate system according to the distance between the detection point and a zero parallax plane of the stereo camera;
or determining a detection line on the object model, and determining the position of the object model in the camera coordinate system through the distance between the detection line and the zero parallax plane of the stereo camera.
10. The method for realizing automatic optimization of position parameters of a stereo camera according to any one of claims 1 to 3, wherein in the step 1, the stereo camera with the preset initial position is: after the picture is composed according to the requirements of the storyboard, the object model to be shot can be completely collected into the position in the viewing cone of the stereo camera.
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