Digital image stereo shooting system with image space projection posture correction

Abstract

The application discloses a digital image stereo shooting system with image space projection posture correction, which is characterized in that two photographing cameras are installed side by side on a plane slide rail to shoot digital stereo images, the baseline length between the photographing cameras is not limited by the baseline length of 6.5-8 cm, and the baseline length between the two photographing cameras is adjusted when the focal length and the photographing distance are different. The two photographing cameras are installed in a pair of opposite phase angles θ posture. After the stereo images are synchronously shot, the image distortion and error correction calculation is performed due to the physical distortion and error caused by the camera manufacturing and installation, and the images are rearranged. After the corrected images are calculated by using the matching of a plurality of homonymic image points on the images, the image projection space posture correction parameters are calculated, the images are rearranged again, the synchronous shooting digital images are corrected to the correct posture images of the space projection when shooting, and the comfortable stereo images are observed by using the correct posture images of the space projection.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of digital image stereoscopic shooting display, in particular to the field of digital stereoscopic image movie shooting display, digital stereoscopic image video shooting display, digital stereoscopic image detection and exploration shooting display, fixed and mobile computer device digital stereoscopic image video shooting display, mobile communication device digital stereoscopic image video shooting display, digital stereoscopic image internet shooting display and digital stereoscopic image monitoring shooting display, and provides a digital image stereoscopic shooting system with image space projection posture correction. BACKGROUND

[0002] Since the invention of stereoscopic movies more than 100 years ago, stereoscopic movies have been shot and produced using analog technology. Up to now, there has been no new breakthrough in the theory and technical method of stereoscopic movie shooting and production system, and only the surface phenomenon of eliminating film stereoscopic images has been eliminated. Digital image photography equipment is used to shoot stereoscopic images, but the principle of digital image stereoscopic shooting equipment and the stereoscopic image production method are still similar to the film shooting stereoscopic image shooting and production technology in the analog era. The digital image stereoscopic shooting and production system equipment technology is lagging behind, and there is no update of the digital image stereoscopic shooting and production system equipment technology method, and the digital image stereoscopic video real-time monitoring and watching and real-time live broadcast on the internet have not been realized.

[0003] In order to avoid the problem of image projection distortion, which leads to the inability and discomfort to watch stereoscopic image video, the focal length of the camera lens is required to be strictly the same, the physical distortion of the lens is required to be the same, the center position of the installation position of the 2 camera sensors is required to be the same and cannot be rotated, the camera lens center light projection must be in the center of the camera sensor, and the posture of the 2 cameras is required to be strictly parallel to the installation. The precision manufacturing, installation and use and maintenance of the system equipment are very harsh, and the above harsh conditions are difficult to achieve.

[0004] In recent decades, with the development of computer technology, computer stereoscopic 3D modeling animation visual technology has been applied in stereoscopic video production. 3D has enriched the viewing of stereoscopic movies. However, direct digital image stereoscopic shooting of the current situation and action of environment, objects or human bodies, as well as post-processing technology method of digital image stereoscopic shooting, still stays in the stage of analog image stereoscopic video, without breaking through the original understanding of human visual perception of stereoscopic, without establishing a complete set of digital image stereoscopic shooting basic theory and computer processing method. A large amount of manual post-image correction and modification processing must be consumed for stereoscopic image shooting and post-processing production, digital image stereoscopic real-time video monitoring and internet video real-time live broadcast cannot be realized, the stereoscopic image depth visual effect is poor when the stereoscopic image is played and watched, the stereoscopic image is flat, and the stereoscopic image watching is not comfortable and dizzy. SUMMARY

[0005] The present application aims to provide a digital image stereo shooting system with image space projection posture correction, which solves the problems in the prior art.

[0006] The present application is realized by the following technical solutions:

[0007] The present application is realized by the following technical solutions:

[0008] The first digital area array camera and the second digital area array camera are installed on the same plane slide rail, the center line of the lens of the first digital area array camera and the second digital area array camera is taken as the distance baseline M, the first digital area array camera and the second digital area array camera are the same, and the first digital area array camera and the second digital area array camera are symmetrically arranged about the midpoint of the distance baseline M; when the first digital area array camera or the second digital area array camera changes the position of the midpoint, the other digital area array camera performs equal and opposite motion to change the length of the distance baseline M; when the opposite direction of the stereo shooting is fixed, the distance between the first digital area array camera and the second digital area array camera is set as a fixed length baseline M; the installation of the first digital area array camera and the second digital area array camera makes the main optical axes of the lenses intersect to form an internal intersection angle θ, and the overlap of the stereo images shot by the first digital area array camera and the second digital area array camera is within a pre-set threshold interval.

[0009] The digital photography images shot by the first digital area array camera and the second digital area array camera are transmitted to the computer, the digital photography images are shot at more than 2 frames per second, the computer converts the digital photography images shot by the first digital area array camera and the second digital area array camera into stereo digital images, converts the stereo digital images into the file format of the stereo image display, and transmits the converted stereo digital images to the stereo image display, and the stereo image display is used to display the stereo images according to the stereo digital images and the format thereof.

[0010] In a possible implementation, the plane slide rail is set as an electric slide rail or a manual slide rail.

[0011] In a possible implementation, the internal intersection angle θ is between [1°, 15°].

[0012] In a possible implementation, the threshold interval corresponding to the overlap of the shot images is [80%, 100%].

[0013] In a possible implementation, converting the digital photographic images taken by the first digital area array photographic camera and the second digital area array photographic camera into stereoscopic digital images comprises:

[0014] Correcting the internal parameters of the digital photographic images taken by the first digital area array photographic camera and the second digital area array photographic camera to obtain first corrected digital images and second corrected digital images;

[0015] Correcting the spatial projection position and posture of the first corrected digital images and the second corrected digital images to obtain first spatial projection posture corrected digital images and second spatial projection posture corrected digital images;

[0016] Converting the first spatial projection posture corrected digital images and the second spatial projection posture corrected digital images into stereoscopic digital images.

[0017] In a possible implementation, correcting the internal parameters of the digital photographic images taken by the first digital area array photographic camera and the second digital area array photographic camera to obtain first corrected digital images and second corrected digital images comprises:

[0018] Obtaining internal parameter correction values of the first digital area array photographic camera and the second digital area array photographic camera, and rearranging the digital photographic images taken by the first digital area array photographic camera and the second digital area array photographic camera according to the internal parameter correction values to obtain the first corrected digital images corresponding to the first digital area array photographic camera and the second corrected digital images corresponding to the second digital area array photographic camera.

[0019] In a possible implementation, obtaining internal parameter correction values of the first digital area array photographic camera and the second digital area array photographic camera, and rearranging the digital photographic images taken by the first digital area array photographic camera and the second digital area array photographic camera according to the internal parameter correction values comprises:

[0020] Taking a first calibration image of an internal parameter calibration board by the first digital area array photographic camera, the internal parameter calibration board corresponding to reference calibration point coordinates;

[0021] Determining a first calibration point in the first calibration image, and obtaining first calibration point coordinates corresponding to the first calibration point;

[0022] Obtaining first internal parameter correction values between the first calibration point coordinates and the reference calibration point coordinates;

[0023] Taking a second calibration image of the internal parameter calibration board by the second digital area array photographic camera;

[0024] Determining a second calibration point in the second calibration image, and obtaining second calibration point coordinates corresponding to the second calibration point;

[0025] Obtain the second intrinsic parameter correction value between the coordinates of the second calibration point and the coordinates of the reference calibration point;

[0026] Based on the first intrinsic parameter correction value and the second intrinsic parameter correction value, the digital images captured by the first digital area array camera and the second digital area array camera are rearranged to obtain the first corrected digital image corresponding to the first digital area array camera and the second corrected digital image corresponding to the second digital area array camera.

[0027] In one possible implementation, spatial projection position and attitude correction is performed on the first corrected digital image and the second corrected digital image, including:

[0028] Search for multiple image projection points with the same name on the first and second corrected digital images, and calculate the spatial projection rotation angle, translation and scaling correction values ​​of the first corrected digital image relative to the second corrected digital image during photography based on the matching calculation of multiple image projection points with the same name, so as to obtain the spatial projection position and attitude correction parameters.

[0029] Based on the spatial projection position and attitude correction parameters, the first corrected digital image is spatially projected and its attitude is corrected. The first corrected digital image is rearranged to obtain the first spatially projected attitude correct digital image, and the second corrected digital image is directly used as the second spatially projected attitude correct digital image.

[0030] Alternatively, based on the spatial projection position and attitude correction parameters, the first corrected digital image and the second corrected digital image are each corrected by half, and the first corrected digital image and the second corrected digital image are rearranged to obtain the first spatial projection attitude correct digital image and the second spatial projection attitude correct digital image.

[0031] In one possible implementation, the file format of the stereoscopic image display includes: a time-sequential stereoscopic image video display format, a left-right stereoscopic image video display format, a top-bottom stereoscopic image video display format, and a left-right red-blue complementary color stereoscopic image video display format.

[0032] In one possible implementation, stereoscopic image display is performed based on stereoscopic digital images and their formats, including: active time-sequential stereoscopic image display, polarized light stereoscopic image display, naked-eye stereoscopic image display, and red-blue complementary color display.

[0033] The beneficial effects of this invention are as follows:

[0034] (1) The phase angle installation of the two stereoscopic imaging cameras in this invention can lengthen the camera installation photography baseline M. The lengthened baseline is the visual baseline M′, M′=M+2(H·sinθ / 2), where H is the stereoscopic imaging shooting distance, which expands the stereoscopic image depth of field and avoids the stereoscopic image flattening phenomenon.

[0035] (2) The present invention adjusts the baseline length M and the phase angle θ according to the size and distance of the object being photographed, thereby achieving adjustable and controllable depth of field of stereoscopic images, maintaining an image overlap rate of 80-100%, obtaining a larger stereoscopic image field of view and stable stereoscopic image vision. This solves the long-standing problem that stereoscopic image shooting has strictly followed the visual baseline length of 6-8cm for the human eye, with the optical axes of the two stereoscopic camera lenses installed in parallel, resulting in an overlap rate of less than 65% for stereoscopic images, leading to a small stereoscopic image field of view and a flattened depth of field.

[0036] (3) This invention corrects the distortion caused by the different physical and mechanical errors of images taken by two cameras, normalizes the image parameters to be consistent, eliminates the non-linear distribution of non-eliminable vertical parallax of stereoscopic images, and improves the viewing comfort of stereoscopic images.

[0037] (4) In this invention, the two cameras are installed with an internal phase angle θ. The captured images are projected and deformed images. Correction parameters are obtained by matching corresponding points. The images are rearranged to restore the spatial position and posture images at the time of photography. The stereoscopic images are comfortable to watch and will not cause dizziness. Attached Figure Description

[0038] To more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort. In the drawings:

[0039] Figure 1 This invention provides a schematic diagram of the variable baseline of the intersecting angle of two digital area array cameras in a digital image stereo imaging system with image spatial projection attitude correction.

[0040] Figure 2 This is a schematic diagram of the fixed baseline for the internal phase angle provided by the present invention.

[0041] Figure 3 The image provided by this invention is a cross-angle photographic projection distortion image.

[0042] Figure 4 A schematic diagram illustrating the principle of constructing stereoscopic vision using phase angle photography projection provided by this invention.

[0043] The attached diagram shows the markings and corresponding component names:

[0044] L - Left camera, R - Right camera, L′ - Left-shift camera, R′ - Right-shift camera, K - Fixed camera platform, K′ - Moving camera platform, M - Fixed baseline, M′ - Variable baseline, θ - Camera mounting angle. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0046] Example

[0047] This embodiment provides a digital stereoscopic imaging system with image spatial projection posture correction, including a first digital area array camera, a second digital area array camera, a computer, and a stereoscopic image display. Both the first and second digital area array cameras have built-in photographic data storage, wireless communication capabilities, and interfaces for data transmission and communication with the computer. This allows the system to read or directly transmit captured and stored image data to the computer for processing. The computer has data transmission and communication interfaces with the stereoscopic image display and with the Internet. The processed digital stereoscopic image data is transmitted to the stereoscopic image display for display and transmitted to the Internet or an Internet broadcasting platform. It is worth noting that the computer can be replaced with other data processing devices possessing data processing capabilities.

[0048] like Figure 1 as well as Figure 2As shown, the first and second digital area array cameras are mounted on the same planar slide rail, such as parallel side-by-side on the planar slide rail K or K'. The line connecting the center of the lenses of the first and second digital area array cameras serves as the distance baseline M. The first and second digital area array cameras are identical (i.e., the same model, the same sensor, the same lens focal length, and the same camera control system). The first and second digital area array cameras are symmetrically positioned about the midpoint of the distance baseline M. When the position of the first or second digital area array camera relative to the midpoint changes, the other digital area array camera performs an equal amount of reverse movement to change the length of the distance baseline M. When the opposing sides of the stereoscopic photography are relatively fixed, the distance between the first and second digital area array cameras is set to a fixed length baseline M. That is, when installed, the pitch angles of the first and second digital area array cameras are the same, and their inward intersection angles are also the same. It is worth noting that the selection of the first digital area array camera and the second digital area array camera should be the same.

[0049] In this embodiment, the first digital area array camera and the second digital area array camera have the same focal length. They can use fixed focal length lenses or synchronous zoom lenses. When the shooting distance H changes, the first digital area array camera and the second digital area array camera can be simultaneously manually focused or simultaneously intelligently motorized focused.

[0050] like Figure 1 as well as Figure 2 As shown, the installation of the first digital area array camera and the second digital area array camera causes the main optical axes of the lenses to intersect, forming an inward phase angle θ, and the overlap of the stereoscopic images captured by the first digital area array camera and the second digital area array camera is within a preset threshold range.

[0051] When installing the first and second digital area array cameras, if the two cameras (L and R) use different lens focal lengths and shooting distances, the distance baseline M' between the two cameras (L' and R') can be adjusted on the slide rail K'. See... Figure 1 As shown, or two digital area array cameras can be installed at a fixed baseline length M. Figure 2 As shown. Keep the installation height of the two digital cameras on the left and right sides basically the same, the front-to-back distance between the two cameras is basically the same, and there is basically no relative front-to-back tilt angle or rotation angle between the two cameras.

[0052] The digital images captured by the first and second digital array cameras are transmitted to the computer. The digital images are captured at more than 2 frames per second. The computer converts the digital images captured by the first and second digital array cameras into stereoscopic digital images, converts the stereoscopic digital images into the file format of a stereoscopic image display, and transmits the converted stereoscopic digital images to the stereoscopic image display. The stereoscopic image display is used to display stereoscopic images according to the stereoscopic digital images and their data format.

[0053] Two cameras simultaneously capture digital images with an image overlap of 80%–100%. The two cameras shoot at different frame rates (FPS) depending on the subject and speed of motion. The digital image data is transmitted to a computer system or directly stored in the cameras' built-in memory. The images captured by the two cameras are subject to projection distortion due to the intersecting angle between them, as well as lens and installation errors. These distortions and errors must be corrected and calculated. The correction and calculation process involves matching corresponding points in the images and rearranging the images to restore them to the correct pose when the stereoscopic images were captured by the two cameras.

[0054] In one possible implementation, the flat slide rail is configured as either an electric slide rail or a manual slide rail.

[0055] When the shooting distance or lens focal length changes, to ensure that the overlap of the stereoscopic images captured by the first and second digital area array cameras is within a preset threshold range, the in-phase intersection angle θ of the two digital area array cameras can be changed, or the length of the baseline M can be changed via a slider, thereby ensuring that the overlap of the captured stereoscopic images meets the set requirements. During adjustment, the first and second digital area array cameras can be moved relative to each other in both directions, using the initial distance from the midpoint of the baseline M as a base, with equal amounts of forward and reverse movement towards either side or the midpoint. After adjustment, manual focus or intelligent motorized focus can be used for focusing.

[0056] In one possible implementation, different camera lens focal lengths and shooting distances result in different intersecting phase angles θ, thus the intersecting phase angle θ lies between [1°, 15°].

[0057] In one possible implementation, the threshold range corresponding to the overlap of the stereoscopic images is [80%, 100%]. Two cameras shoot at different frame rates (fps) according to the requirements of different subjects and motion speeds. The digital image data captured by the two cameras is transmitted to a computer system or directly transferred to the memory of the two cameras.

[0058] It is worth noting that the threshold ranges for the inter-phase angle θ and the overlap of the captured images provided in this embodiment are merely preferred embodiments, and the threshold ranges for the inter-phase angle θ and the overlap of the captured images can be set to other values ​​according to actual needs.

[0059] The digital images captured by two cameras are distorted due to the inward phase angle θ between the two cameras. Furthermore, the distortion is caused by physical distortion errors of the camera lenses and manufacturing and installation errors. The above distortions and errors must be corrected and calculated. The correction and calculation process involves image matching and image rearrangement to restore the correct projection posture of the stereoscopic images captured by the two cameras.

[0060] Digital images captured by two cameras (left and right) have different intrinsic parameters. These parameters include variations in physical lens distortion, focal length (f), and the position of the light rays projected onto the sensor center from the lens's principal axis. Therefore, these parameters need to be calculated and corrected to a unified set. A dedicated image intrinsic parameter calibration board is used to capture digital images. The calibration board has coordinates for its calibration points. Computer image matching is used to calculate the coordinates of these calibration points. The difference between these coordinates and the coordinates obtained from the image matching calculation is compared to calculate the intrinsic parameter correction value. This correction value is then used to rearrange the images, eliminating image distortion caused by intrinsic parameter errors.

[0061] In one possible implementation, converting digital photographic images captured by the first digital area array camera and the second digital area array camera into stereoscopic digital images includes:

[0062] Intrinsic parameter correction is performed on the digital images captured by the first digital area array camera and the second digital area array camera to obtain the first corrected digital image and the second corrected digital image.

[0063] Spatial projection position and attitude correction are performed on the first and second corrected digital images to obtain the first and second spatially projected attitude correct digital images.

[0064] The first spatial projection correctly oriented digital image and the second spatial projection correctly oriented digital image are converted into a stereoscopic digital image.

[0065] like Figure 3 As shown, two cameras simultaneously capture a first digital image and a second digital image. Due to the intersecting angle θ between the cameras, intrinsic parameter errors, and camera manufacturing and installation errors, image projection distortion occurs. After the computer system reads the simultaneously captured first and second digital image data, it first performs intrinsic parameter correction calculations on the first and second digital images respectively to obtain the intrinsic parameter corrected first and second digital images.

[0066] In one possible implementation, intrinsic parameter correction is performed on digital images captured by a first digital area array camera and a second digital area array camera to obtain a first corrected digital image and a second corrected digital image, including:

[0067] Obtain the intrinsic parameter correction values ​​of the first digital area array camera and the second digital area array camera, and rearrange the digital images captured by the first digital area array camera and the second digital area array camera according to the intrinsic parameter correction values ​​to obtain the first corrected digital image corresponding to the first digital area array camera and the second corrected digital image corresponding to the second digital area array camera.

[0068] In one possible implementation, the intrinsic parameter correction values ​​of the first digital area array camera and the second digital area array camera are obtained, and the digital images captured by the first digital area array camera and the second digital area array camera are rearranged according to the intrinsic parameter correction values, including:

[0069] The first calibration image of the intrinsic parameter calibration board is captured by the first digital array camera. The intrinsic parameter calibration board has corresponding reference calibration point coordinates.

[0070] Determine the first calibration point in the first calibration image and obtain the coordinates of the first calibration point corresponding to the first calibration point;

[0071] Obtain the first intrinsic parameter correction value between the coordinates of the first calibration point and the coordinates of the reference calibration point;

[0072] The second calibration image of the intrinsic parameter calibration board is captured by the second digital array camera.

[0073] Determine the second calibration point in the second calibration image and obtain the coordinates of the second calibration point;

[0074] Obtain the second intrinsic parameter correction value between the coordinates of the second calibration point and the coordinates of the reference calibration point;

[0075] Based on the first intrinsic parameter correction value and the second intrinsic parameter correction value, the digital images captured by the first digital area array camera and the second digital area array camera are rearranged to obtain the first corrected digital image corresponding to the first digital area array camera and the second corrected digital image corresponding to the second digital area array camera.

[0076] The rearranged images of the first digital array camera and the rearranged images of the second digital array camera have been normalized into a unified digital image with the same internal parameters of the left and right cameras, which is related to the calibration plate.

[0077] In one possible implementation, spatial projection position and attitude correction is performed on the first corrected digital image and the second corrected digital image, including:

[0078] Search for multiple image projection points with the same name on the first and second corrected digital images, and calculate the spatial projection rotation angle, translation and scaling correction values ​​of the first corrected digital image relative to the second corrected digital image during photography based on the matching calculation of multiple image projection points with the same name, so as to obtain the spatial projection position and attitude correction parameters.

[0079] Based on the spatial projection position and attitude correction parameters, the first corrected digital image is corrected for spatial projection position and attitude. The first corrected digital image is rearranged according to the correction parameters to obtain the first spatial projection attitude correct digital image. The second corrected digital image is then directly used as the second spatial projection attitude correct digital image.

[0080] Alternatively, based on the spatial projection position and attitude correction parameters, the first corrected digital image and the second corrected digital image are each corrected by half, and the first corrected digital image and the second corrected digital image are rearranged to obtain the first spatial projection attitude correct digital image and the second spatial projection attitude correct digital image.

[0081] The preceding digital images undergo spatial projection position and attitude correction calculations. Computer image matching is used to find corresponding image points in the first and second images. The projection spatial rotation angles ω, Ф, and κ of the second image relative to the left image, as well as the translation and scaling ratio correction parameter values, are calculated. Using the calculated image spatial attitude correction parameter values, the first corrected digital image is rearranged. Alternatively, the correction parameters of the first and second corrected digital images can each be changed by half. The first and second corrected digital images captured simultaneously are corrected and restored to the correct spatial projection attitude image during stereoscopic photography. This corrects and restores the distorted stereoscopic image to the correct stereoscopic visual projection image, allowing for a stable and comfortable viewing of the stereoscopic image.

[0082] like Figure 4 As shown, this is a schematic diagram of a digital image principle that rearranges spatial projection images to restore them to their correct spatial projection posture at the time of capture. Figure 4In the diagram, P1 represents the first camera image, P2 represents the second camera image, S1 represents the focus of the first camera, S2 represents the focus of the second camera, f1 represents the focal length of the first camera, f2 represents the focal length of the second camera, o1 represents the center point of the first camera image, o2 represents the center point of the second camera image, o1-xy represents the first image coordinate system, o2-xy represents the second image coordinate system, the O-XYZ coordinate system is a spatial projection correction coordinate system established with the focal length f1 of the first camera image and the camera image coordinate system o1-xy parallel, κ, ω, and Ф represent the spatial projection rotation angles of the second camera image in the O-XYZ coordinate system, X2, Y2, and Z2 represent the spatial translations of the second camera image in the O-XYZ coordinate system, A and B represent the spatial object points of the photograph, a1 and b1 represent the projection points of the spatial object points on image P1, a2 and b2 represent the projection points of the spatial object points on image P2, and M represents the stereoscopic photography baseline, which is the length distance between the focal points of the first camera lens and the focal points of the second camera lens.

[0083] Depend on Figure 4 As shown in the schematic diagram, multiple objects A, B, ..., N are projected onto the image as corresponding image points a, b, ..., n. The projection points a1 on image P1, centered S1 with the first camera lens, and a2 on image P2, centered S2 with the second camera lens, must be coplanar, meaning the vector of the baseline M must be... The vector from the projection center S to the image projection point a Coplanar, the vector expression is:

[0084]

[0085] Calculate the orientation and coordinates of the corresponding objects in the spatial coordinate system XYZ when the first and second cameras take pictures. Obtain the calculation results of the spatial projection position and attitude parameters by matching the same image points. The rotation angles κ, Ф, ω of the P2 image in the spatial coordinate system O-XYZ and the translations Z2, Y2, Z2 of the P2 image in the spatial coordinate system are calculated.

[0086] The relative spatial projection position and attitude parameters of images P1 and P2 are calculated. The images are then rearranged using the spatial projection position and attitude parameter data.

[0087] The digital image stereo imaging system with image spatial projection posture correction provided by this invention does not require high technical requirements for manufacturing and installation. The spatial position and posture of the stereo image projection are calculated by matching multiple image corresponding points. The images are rearranged using the rotation angles ω, Ф, κ and translation scaling ratio of the spatial projection posture. This eliminates manufacturing and installation errors of the system equipment, reduces the technical requirements for system equipment manufacturing and installation, reduces the size and weight of the system equipment, and simplifies the use and maintenance of the system equipment.

[0088] In one possible implementation, the file format of the stereoscopic image display includes: a time-sequential stereoscopic image video display format, a left-right stereoscopic image video display format, a top-bottom stereoscopic image video display format, and a left-right red-blue complementary color stereoscopic image video display format.

[0089] In one possible implementation, stereoscopic image display is performed based on stereoscopic digital images and their formats, including: active time-sequential stereoscopic image display, polarized light stereoscopic image display, naked-eye stereoscopic image display, and red-blue complementary color stereoscopic image display.

[0090] Those skilled in the art will understand that embodiments of this application can be provided as methods, hardware devices, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the computational methods in the embodiments of this application can be implemented using computational programs in various computer languages.

[0091] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0092] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A digital image stereoscopic shooting system with image spatial projection posture correction, characterized in that, Includes a first digital array camera, a second digital array camera, a computer, and a stereoscopic image display; The first and second digital area array cameras are mounted on the same planar slide rail. The line connecting the center of the lenses of the first and second digital area array cameras serves as the distance baseline M. The first and second digital area array cameras are identical and symmetrically positioned about the midpoint of the distance baseline M. When the position of the first or second digital area array camera relative to the midpoint changes, the other digital area array camera performs an equal amount of reverse movement to change the length of the distance baseline M. When the opposing sides of the stereoscopic imaging are relatively fixed, the distance between the first and second digital area array cameras is set to a fixed length baseline M. The mounting of the first and second digital area array cameras causes the principal optical axes of their lenses to intersect, forming an inward phase angle θ. The overlap of the stereoscopic images captured by the first and second digital area array cameras is within a pre-set threshold range. The digital images captured by the first digital area array camera and the second digital area array camera are transmitted to the computer. The digital images are captured at more than 2 frames per second. The computer converts the digital images captured by the first digital area array camera and the second digital area array camera into stereoscopic digital images, converts the stereoscopic digital images into the file format of a stereoscopic image display, and transmits the converted stereoscopic digital images to the stereoscopic image display. The stereoscopic image display is used to display stereoscopic images according to the stereoscopic digital images and their format. The computer converts digital photographic images captured by the first digital area array camera and the second digital area array camera into stereoscopic digital images, including: Intrinsic parameter correction is performed on the digital images captured by the first digital area array camera and the second digital area array camera to obtain the first corrected digital image and the second corrected digital image. Spatial projection position and attitude correction are performed on the first and second corrected digital images to obtain the first and second spatially projected attitude correct digital images. The first spatial projection correctly oriented digital image and the second spatial projection correctly oriented digital image are converted into a stereoscopic digital image.

2. The digital image stereoscopic shooting system with image spatial projection posture correction according to claim 1, characterized in that, The planar slide rail can be configured as an electric slide rail or a manual slide rail.

3. The digital image stereoscopic shooting system with image spatial projection posture correction according to claim 1, characterized in that, The interphase angle θ is located between [1°, 15°].

4. The digital image stereoscopic shooting system with image spatial projection posture correction according to claim 1, characterized in that, The threshold range corresponding to the overlap of the captured stereoscopic image is [80%, 100%].

5. The digital image stereoscopic shooting system with image spatial projection posture correction according to claim 1, characterized in that, Intrinsic parameter correction is performed on the digital images captured by the first digital area array camera and the second digital area array camera to obtain a first corrected digital image and a second corrected digital image, including: Obtain the intrinsic parameter correction values ​​of the first digital area array camera and the second digital area array camera, and rearrange the digital images captured by the first digital area array camera and the second digital area array camera according to the intrinsic parameter correction values ​​to obtain the first corrected digital image corresponding to the first digital area array camera and the second corrected digital image corresponding to the second digital area array camera.

6. The digital image stereoscopic shooting system with image spatial projection posture correction according to claim 5, characterized in that, Obtain the intrinsic parameter correction values ​​of the first and second digital area array cameras, and rearrange the digital images captured by the first and second digital area array cameras according to the intrinsic parameter correction values, including: The first calibration image of the intrinsic parameter calibration plate is captured by the first digital array camera, and the intrinsic parameter calibration plate has reference calibration point coordinates. Determine the first calibration point in the first calibration image and obtain the coordinates of the first calibration point corresponding to the first calibration point; Obtain the first intrinsic parameter correction value between the coordinates of the first calibration point and the coordinates of the reference calibration point; The second calibration image of the intrinsic parameter calibration board is captured by the second digital array camera. Determine the second calibration point in the second calibration image and obtain the coordinates of the second calibration point; Obtain the second intrinsic parameter correction value between the coordinates of the second calibration point and the coordinates of the reference calibration point; Based on the first intrinsic parameter correction value and the second intrinsic parameter correction value, the digital images captured by the first digital area array camera and the second digital area array camera are rearranged to obtain the first corrected digital image corresponding to the first digital area array camera and the second corrected digital image corresponding to the second digital area array camera.

7. The digital image stereoscopic shooting system with image spatial projection posture correction according to claim 1, characterized in that, Spatial projection position and attitude correction is performed on the first and second corrected digital images, including: Search for multiple image projection points with the same name on the first and second corrected digital images, and calculate the spatial projection rotation angle, translation and scaling correction values ​​of the first corrected digital image relative to the second corrected digital image during photography based on the matching calculation of multiple image projection points with the same name, so as to obtain the spatial projection position and attitude correction parameters. Based on the spatial projection position and attitude correction parameters, the first corrected digital image is spatially projected and its attitude is corrected. The first corrected digital image is rearranged to obtain the first spatially projected attitude correct digital image, and the second corrected digital image is directly used as the second spatially projected attitude correct digital image. Alternatively, based on the spatial projection position and attitude correction parameters, the first corrected digital image and the second corrected digital image are each corrected by half, and the first corrected digital image and the second corrected digital image are rearranged to obtain the first spatial projection attitude correct digital image and the second spatial projection attitude correct digital image.

8. The digital image stereoscopic shooting system with image spatial projection posture correction according to claim 1, characterized in that, The file formats for stereoscopic display screens include: time-sequential stereoscopic video display format, left-right stereoscopic video display format, top-bottom stereoscopic video display format, and left-right red-blue complementary color stereoscopic video display format.

9. The digital image stereoscopic shooting system with image spatial projection posture correction according to claim 8, characterized in that, Based on stereoscopic digital images and their formats, stereoscopic image display is performed, including: active time-sequential alternating stereoscopic image display, polarized light stereoscopic image display, naked-eye stereoscopic image display, and red-blue complementary color display.

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