Adjustable tracking shooting equipment

Abstract

The invention relates to the technical field of animation production, and particularly discloses adjustable tracking shooting equipment, which is used for solving the problem of inconvenience in shooting and capturing in the prior art. Comprising a mounting ring seat fixedly arranged on the outer side of a stage, a walking arc frame is erected above the mounting ring seat, a walking notch is formed in the middle of the walking arc frame, and at least two shooting parts used for obtaining information of the front face and the back face of an actor are arranged in the walking notch in a matched mode. According to the invention, two oppositely-arranged camera groups need to be constructed in the prior art, the image information of the front and back surfaces of the actor can be synchronously acquired, the two camera groups can be synchronously adjusted during adjustment, the front and back camera groups are combined, the camera quality is greatly ensured, in addition, the image information of the top and feet of the actor can be acquired, and the image information of the top and feet of the actor can be acquired. The range of image acquisition is wider, and the limitation of adjustment in the prior art is eliminated.

Description

Technical Field

[0001] This invention relates to the field of animation production technology, and in particular to adjustable tracking shooting equipment. Background Technology

[0002] There are two types of 3D animation tracking and shooting equipment: optical motion capture and inertial motion capture. During inertial motion capture, the camera operator needs to use a data acquisition device to collect information about the actor wearing the device to assist in animation production. Existing tracking and shooting devices are inconvenient and uncomfortable when adjusting the left and right shooting angles, often relying on the arm to adjust and support the device, which easily leads to arm fatigue. While inertial motion capture requires the camera operator to focus on the data acquisition device screen to improve the effect, a patent with publication number CN117641128B discloses a tracking and shooting device and method for producing 3D animation. This device can be adjusted by turning to meet different shooting angles and uses a distance sensor to avoid collisions with the actor. However, the above tracking and shooting method is based on adjusting a fixed point, which requires the actor's face to be facing forward; otherwise, timely adjustments are impossible. For example, when an actor turns around, it is impossible to quickly capture their facial expressions.

[0003] Based on this, an adjustable tracking and shooting device is now provided, which can eliminate the drawbacks of existing devices. Summary of the Invention

[0004] The purpose of this invention is to provide an adjustable tracking and shooting device that solves the problem of inconvenient shooting and capturing in the prior art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: An adjustable tracking and shooting device includes a mounting ring fixedly installed on the outside of a stage, a walking arc frame mounted above the mounting ring frame, a walking slot in the middle of the walking arc frame, at least two shooting components for acquiring information about the front and back of the actors are fitted in the walking slot, a supplementary lighting component for auxiliary lighting is provided at the lower end of the walking arc frame, and the walking arc frame is connected to a rotation drive component for driving its rotation.

[0006] Based on the above technical solutions, the present invention also provides the following optional technical solutions: In one alternative embodiment: the shooting component includes two parallel walking brackets, which are fitted together between walking slots and connected by a crossbeam. Each walking bracket is equipped with a walking mechanism that drives it to move along a walking arc. A fixed sleeve is provided between the two walking brackets. The two sides of the fixed sleeve are rotatably connected to the walking brackets via auxiliary rotating shafts. A camera group is provided at the end of the fixed sleeve. One of the auxiliary rotating shafts is connected to an angle adjustment component for driving rotation. The fixed sleeve is also equipped with a distance adjustment structure for adjusting the distance between the camera group and the actor.

[0007] In one alternative embodiment: the traveling support includes an upper support and a lower support, each of which is provided with a pair of traveling wheels. The lower end of the upper support is provided with at least two guide rods, the lower ends of which are slidably connected to the sliding holes at the upper end of the lower support. The upper support and the lower support are connected by a tension spring.

[0008] In one alternative: the distance adjustment structure includes a sliding hole inside the fixed sleeve, a telescopic slide column is slidably disposed in the sliding hole, the end of the telescopic slide column is provided with a connection end for connecting to the camera group, the other end of the telescopic slide column is provided with a transmission screw hole, a screw is fitted in the transmission screw hole, the screw is connected to the output end of the first adjustment motor, the first adjustment motor is connected to the fixed sleeve through a motor frame, and a distance sensor is provided at the end of the telescopic slide column.

[0009] In one alternative: the telescopic sliding column is provided with a wide-angle arc plate at its end, and each end of the wide-angle arc plate is provided with an installation area to facilitate the installation of the camera assembly.

[0010] In one alternative embodiment: the angle adjusting component includes a worm gear disposed at the end of an auxiliary rotating shaft, a worm engaging on the outer side of the worm gear, one end of the worm being connected to the output end of a second adjusting motor, the second adjusting motor being fixedly connected to a mounting bracket on the outer side of the traveling bracket, and the other end of the worm being rotatably connected to the mounting bracket.

[0011] In one alternative: the walking mechanism includes two sets of walking wheels symmetrically arranged on both sides of the walking support. The upper and lower walking wheels respectively press against the upper and lower surfaces of the walking arc frame. Each walking wheel has an anti-slip layer on its outer side. The walking arc frame has anti-slip protrusions distributed on its outer side. A walking motor is fixed on the crossbeam. The output end of the walking motor is connected to the axle ends of the two walking wheels.

[0012] In one alternative embodiment: the rotary drive component includes a rotary gear ring rotatably mounted on a mounting ring seat, the upper end of the rotary gear ring having a connection area connected to the lower end of the traveling arc frame, the outer side of the rotary gear ring meshing with a drive gear, the drive gear being located at the output end of a drive motor, and the drive motor being fixedly connected to the outer side of the mounting ring seat.

[0013] In one alternative: the supplementary lighting component includes multiple supplementary lights arranged at equal intervals, with the multiple supplementary lights arranged in two rows and symmetrically positioned on both sides of the travel slot.

[0014] A shooting method for an adjustable tracking shooting device includes the following steps: Step 1: Camera Calibration The front-view and rear-view cameras were calibrated separately by capturing images of a pre-set checkerboard calibration board. The checkerboard grid was 20mm x 20mm, with at least 8 rows and 8 columns. The Zhang Zhengyou calibration method was used to determine the intrinsic and extrinsic parameter matrices for each camera. In the intrinsic parameter matrix, the camera's focal length error was controlled within ±0.1mm, principal point coordinate error within ±0.05mm, and distortion coefficient error within ±0.001mm. The extrinsic parameter matrix described the camera's position and attitude information in three-dimensional space, with position coordinate accuracy reaching ±1mm and attitude angle accuracy reaching ±0.1°.

[0015] Step 2: Coordinate Transformation Based on the calibrated intrinsic and extrinsic parameter matrices, the pixel coordinates in the frontal and rear-view images are transformed into a unified world coordinate system. The transformation process follows the principle of perspective projection, constructing and solving coordinate transformation equations that include the intrinsic and extrinsic parameter matrices, ensuring that the same object in both frontal and rear-view images has corresponding coordinate representations in the world coordinate system. The transformation accuracy of the image pixel coordinates reaches ±0.5 pixels.

[0016] Step 3: Feature Extraction and Matching Feature points and their descriptions are extracted from front-view and rear-view images using the SIFT (Scale Invariant Feature Transform) algorithm, with the number of extracted feature points being no less than 0.1% of the total number of pixels in the images. Then, the extracted feature points from the front and rear views are matched, and matching feature point pairs are determined by calculating the Euclidean distance between the feature descriptors. A matching threshold of 0.8 times the average feature point distance is set to ensure the accuracy and reliability of the matching.

[0017] Step 4: Image Transformation Determination The transformation matrix is ​​calculated based on the matched feature point pairs to transform the back view image to a view on the same plane or similar to the front view image. The transformation matrix is ​​calculated using the least squares method based on feature point matching relationships, and the iterative convergence accuracy of the least squares method is set to 1×10⁻⁶. -6 To accurately determine the image transformation relationship.

[0018] Step 5: Fusion: A weighted average fusion strategy is used to fuse the transformed rear-view image with the front-view image. The weights are assigned based on the quality of feature matching, with higher weights assigned to regions of higher feature matching quality. The weight values ​​range from 0.3 to 0.7. During the fusion process, the fused pixel value is calculated for each pixel in the image according to its weight, resulting in the fused image. The brightness error of the fused image is controlled within ±5%, and the color deviation is within ±0.01.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention addresses the existing need to construct two opposing sets of cameras, which can simultaneously acquire image information from the front and back of the actor. During adjustment, the two camera sets are adjusted simultaneously, so that the front and back cameras are combined, which greatly ensures the image quality. In addition, it can also acquire image information from the top and bottom of the actor, thus acquiring a wider range of images and eliminating the limitations of existing adjustment technologies.

[0020] 2. This invention, by constructing an arc-shaped frame at the performance location, allows for greater freedom in camera adjustment. In addition, the addition of a supplementary lighting structure greatly improves the quality of the video recording. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the present invention.

[0022] Figure 2 This is a schematic diagram of the lower structure of the present invention.

[0023] Figure 3 This is a schematic diagram of one side of the imaging component of the present invention.

[0024] Figure 4 This is a schematic diagram of the other side of the imaging component of the present invention.

[0025] Figure 5 This is a schematic diagram of the internal structure of the fixing sleeve of the present invention.

[0026] Figure 6 This is a schematic diagram of the wide-angle arc plate structure of the present invention.

[0027] Figure 7 This is a schematic diagram of the optimized structure of the walking support of the present invention.

[0028] Figure 8 This is a flowchart illustrating the fusion of the two sets of images in this invention.

[0029] Reference numerals in the attached drawings: mounting ring seat 100, rotating gear ring 101, drive gear 103, drive motor 104; Walking slot 200, walking arc frame 201, supplementary light 202; Camera component 300; Fixed sleeve 301, motor frame 302, first adjusting motor 303, screw 304, mounting bracket 305, worm gear 306, worm wheel 307, second adjusting motor 308, telescopic slide column 309, camera group 310, walking wheel 311, walking motor 312, walking bracket 313, crossbeam 314, auxiliary rotating shaft 315, wide-angle arc plate 316; Lower bracket 317, upper bracket 318, tension spring 319, guide slide rod 320. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] like Figures 1-8 As shown, this embodiment of the invention provides an adjustable tracking and shooting device, including a mounting ring 100 fixedly installed on the outside of the stage. A walking arc frame 201 is mounted above the mounting ring 100. A walking slot 200 is opened in the middle of the walking arc frame 201. At least two shooting components 300 for acquiring information about the front and back of the actor are installed in the walking slot 200. A supplementary lighting component for auxiliary lighting is provided at the lower end of the walking arc frame 201. The walking arc frame 201 is connected to a rotation drive component for driving its rotation. The rotation drive component makes the two shooting components 300 face the front and back of the actor respectively, thereby realizing tracking and capture. The shooting component 300 includes two parallel walking supports 313, which are fitted together between the walking slots 200 and connected by a crossbeam 314. Each walking support 313 has a walking mechanism that drives it to move along the walking arc frame 201. This mechanism allows the camera position to move along the arc-shaped trajectory of the walking arc frame 201. A fixed sleeve 301 is provided between the two walking supports 313. The two sides of the fixed sleeve 301 are rotatably connected to the walking supports 313 via auxiliary rotating shafts 315. A camera assembly 310 is provided at one end of the fixed sleeve 301. One of the auxiliary rotating shafts 315 is connected to an angle adjustment component for rotating the camera. The angle adjustment component allows adjustment of the camera direction. The fixed sleeve 301 also has a distance adjustment structure for adjusting the distance between the camera assembly 310 and the actor. To optimize the design, the walking bracket 313 includes an upper bracket 318 and a lower bracket 317. Both the upper bracket 318 and the lower bracket 317 are equipped with a pair of walking wheels 311. The lower end of the upper bracket 318 is provided with at least two guide rods 320, the lower ends of which are slidably connected to sliding holes at the upper end of the lower bracket 317. The upper bracket 318 and the lower bracket 317 are connected by a tension spring 319. Under the action of the tension spring 319, the upper bracket 318 slides towards the lower bracket 317, thus clamping the walking wheels 311 into the walking groove 200. Later, the walking bracket 313 can be disassembled and reassembled simply by removing the tension spring 319. The tension spring 319 has hooks at both ends, and the upper bracket 318 and the lower bracket 317 have matching hanging holes. The adjustable distance structure includes a sliding hole inside the fixed sleeve 301. A telescopic slide column 309 is slidably disposed in the sliding hole. The end of the telescopic slide column 309 is provided with a connection end that connects to the camera group 310. The other end of the telescopic slide column 309 is provided with a transmission screw hole. A screw 304 is fitted in the transmission screw hole. The screw 304 is connected to the output end of the first adjustment motor 303. The first adjustment motor 303 is connected to the fixed sleeve 301 through a motor frame 302. The end of the telescopic slide column 309 is provided with a distance sensor. When the distance sensor detects that the actor is close to the camera group 310, the distance sensor will send a signal to the control end of the first adjustment motor 303. At this time, the first adjustment motor 303 drives the screw 304 and the telescopic slide column 309 to rotate clockwise, so that the telescopic slide column 309 retracts the camera group 310 to avoid collision. Conversely, the first adjustment motor 303 drives the screw 304 to rotate counterclockwise, thereby driving the telescopic slide column 309 to extend and slide, so that the camera group 310 is close to the actor, thereby ensuring the image quality. To optimize the solution, Figure 6 As shown, the telescopic sliding column 309 is provided with a wide-angle arc plate 316 at its end. The wide-angle arc plate 316 is provided with an installation area at both ends to facilitate the installation of the camera group 310. This allows for the acquisition of angular influence information from the front or back, making it easier to capture the actor's three-dimensional expression. The angle adjustment component includes a worm gear 307 disposed at the end of the auxiliary rotating shaft 315. A worm 306 is engaged on the outer side of the worm gear 307. One end of the worm 306 is connected to the output end of the second adjusting motor 308. The second adjusting motor 308 is fixedly connected to the mounting bracket 305 on the outer side of the traveling bracket 313. The other end of the worm 306 is rotatably connected to the mounting bracket 305. Under the drive of the second adjusting motor 308, the worm 306 and the worm gear 307 match to drive the auxiliary rotating shaft 315 to rotate. The auxiliary rotating shaft 315 drives the fixed sleeve 301 to rotate, thereby adjusting the direction of the fixed sleeve 301. The walking mechanism includes two sets of walking wheels 311 symmetrically arranged on both sides of the walking bracket 313. The upper and lower walking wheels 311 are respectively pressed against the upper and lower surfaces of the walking arc frame 201. Each walking wheel 311 has an anti-slip layer on its outer side. The walking arc frame 201 has anti-slip protrusions distributed on its outer side. A walking motor 312 is fixed on the crossbeam 314. The output end of the walking motor 312 is connected to the shaft end of the two walking wheels 311. In this way, the two walking wheels 311 can be driven to rotate by the walking motor 312, thereby driving the walking bracket 313 to move along the walking groove 200. The rotating drive component includes a rotating gear ring 101 rotatably mounted on the mounting ring seat 100. The upper end of the rotating gear ring 101 is provided with a connection area that connects to the lower end of the walking arc frame 201. The outer side of the rotating gear ring 101 meshes with a drive gear 103. The drive gear 103 is located at the output end of the drive motor 104. The drive motor 104 is fixedly connected to the outer side of the mounting ring seat 100. The drive motor 104 drives the drive gear 103 to rotate. The drive gear 103 and the rotating gear ring 101 match and drive the walking arc frame 201 to rotate, thereby driving the two shooting components 300 to turn so that the two shooting components 300 are always facing the front and back of the actor. The supplementary lighting component includes multiple supplementary lights 202 arranged at equal intervals. The multiple supplementary lights 202 are arranged in two rows and symmetrically on both sides of the walking slot 200, so that appropriate light can be provided to both the front and back of the actor to obtain better shooting quality.

[0032] Working principle: In use, the mounting ring 100 is fixedly set around the actor's stage. Then, the actor wears the inertial motion capture equipment and the positioning markers are attached to their body. First, the walking mechanism drives the camera group 310 to move along the walking arc frame 201 to match the actor's height. Then, the angle adjustment component is activated. Driven by the second adjustment motor 308, the worm gear 306 and worm wheel 307 match and drive the auxiliary rotating shaft 315 to rotate. The auxiliary rotating shaft 315 drives the fixed sleeve 301 to rotate, thereby adjusting the direction of the fixed sleeve 301 so that the camera group 310 faces the actor. The two rear camera groups 310 will adjust synchronously to simultaneously acquire information about the actor's front and back. When the distance sensor detects that the actor is close to the camera group 310, the distance sensor will send a signal to the control terminal of the first adjustment motor 303. At this time, the first adjustment motor 303 drives the screw 304 and the telescopic slide column 309 to rotate forward, so that the telescopic slide column 309 retracts the camera group 310 to avoid collision. Conversely, the first adjustment motor 303 drives the screw 304 to rotate in reverse, so that the telescopic slide column 309 extends and slides, so that the camera group 310 is close to the actor, thereby ensuring the image quality.

[0033] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An adjustable tracking shooting device, comprising a mounting ring seat (100) fixedly arranged outside a stage, characterized in that: A walking arc frame (201) is mounted above the mounting ring seat (100), a walking slot (200) is provided in the middle of the walking arc frame (201), at least two shooting components (300) for obtaining front and back information of an actor are provided in the walking slot (200), a fill light component for auxiliary lighting is provided at the lower end of the walking arc frame (201), and the walking arc frame (201) is connected to a rotation driving component for driving the walking arc frame (201) to rotate.

2. The adjustable tracking shooting device according to claim 1, characterized in that: The shooting component (300) comprises two parallel walking brackets (313), the two walking brackets (313) are arranged between the walking slots (200), the two walking brackets (313) are connected by a crossbeam (314), the walking brackets (313) are provided with a walking mechanism for driving the walking brackets (313) to walk along the walking arc frame (201), a fixing sleeve (301) is provided between the two walking brackets (313), both sides of the fixing sleeve (301) are rotatably connected to the walking brackets (313) by auxiliary rotating shafts (315), a camera group (310) is provided at the end of the fixing sleeve (301), one of the auxiliary rotating shafts (315) is connected to an angle adjusting member for driving the rotation, and the fixing sleeve (301) is also provided with a distance adjustment structure for adjusting the distance between the camera group (310) and the actor.

3. The adjustable tracking shooting device according to claim 2, characterized in that: The walking bracket (313) comprises an upper bracket (318) and a lower bracket (317), and a pair of walking wheels (311) are provided on the upper bracket (318) and the lower bracket (317). At least two guide slide bars (320) are provided at the lower end of the upper bracket (318), and the lower ends of the guide slide bars (320) are slidably arranged in slide holes at the upper end of the lower bracket (317). The upper bracket (318) and the lower bracket (317) are connected via a tension spring (319).

4. The adjustable tracking shooting device according to claim 2, characterized in that: The distance adjustment structure comprises a sliding hole opened inside the fixing sleeve (301), a telescopic sliding column (309) is slidably arranged in the sliding hole, a connecting end connected to the camera group (310) is arranged at the end of the telescopic sliding column (309), a transmission screw hole is arranged at the other end of the telescopic sliding column (309), a screw rod (304) is matched in the transmission screw hole, the screw rod (304) is connected to the output end of the first adjustment motor (303), the first adjustment motor (303) is connected to the fixing sleeve (301) via a motor frame (302), and a distance sensor is arranged at the end of the telescopic sliding column (309).

5. The adjustable tracking shooting device according to claim 4, characterized in that: A wide-angle arc plate (316) is provided at the end of the telescopic sliding column (309), and an installation area for facilitating the installation of the camera group (310) is provided at each end of the wide-angle arc plate (316).

6. The adjustable tracking shooting device according to claim 2, characterized in that: The angle adjustment member comprises a worm wheel (307) arranged at the end of the auxiliary rotating shaft (315); a worm (306) is meshed on the outer side of the worm wheel (307); one end of the worm (306) is connected to the output end of the second adjustment motor (308); the second adjustment motor (308) is fixedly connected to the mounting frame (305) on the outer side of the walking bracket (313); and the other end of the worm (306) is rotatably connected to the mounting frame (305).

7. The adjustable tracking shooting device according to claim 2, characterized in that: The walking mechanism comprises two groups of walking wheels (311) symmetrically arranged on both sides of a walking bracket (313), the upper and lower walking wheels (311) respectively press-fit against the upper and lower surfaces of the walking arc frame (201), the outer side of each walking wheel (311) is provided with an anti-skid layer, the outer side of the walking arc frame (201) is provided with anti-skid protrusions, a walking motor (312) is fixedly provided on the crossbeam (314), and the output end of the walking motor (312) is connected to the shaft ends of the two walking wheels (311).

8. The adjustable tracking shooting device according to claim 1, characterized in that: The rotary drive component comprises a rotary gear ring (101) rotatably arranged on a mounting ring seat (100); a connection area connected to a lower end of a traveling arc frame (201) is provided at an upper end of the rotary gear ring (101); an outer side of the rotary gear ring (101) is meshed with a driving gear (103); the driving gear (103) is arranged at an output end of a driving motor (104); and the driving motor (104) is connected and fixed to the outer side of the mounting ring seat (100).

9. The adjustable tracking shooting device according to claim 1, characterized in that: The fill light component comprises a plurality of fill light lamps (202) arranged at equal intervals, and the plurality of fill light lamps (202) are arranged in two rows and symmetrically arranged on both sides of the running slot (200).

10. A shooting method of the adjustable tracking shooting device according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: Camera calibration: Calibrate the front view camera and the rear view camera respectively. By shooting the preset calibration plate image, the calibration algorithm is used to determine the intrinsic parameter matrix and extrinsic parameter matrix of each camera. The calibration algorithm adopts Zhang Zhengyou calibration method or equivalent high-precision calibration method. The intrinsic parameter matrix includes the focal length and principal point coordinate parameters of the camera, and the extrinsic parameter matrix describes the position and posture information of the camera in three-dimensional space. Step 2: Coordinate transformation: Based on the calibrated intrinsic matrix and extrinsic matrix, the pixel coordinates in the front view camera image and the pixel coordinates in the rear view camera image are transformed into a unified world coordinate system. The transformation process is based on the perspective projection principle. By constructing and solving the coordinate transformation equation containing the intrinsic matrix and the extrinsic matrix, the same object in the front view and rear view images has corresponding coordinate representation in the world coordinate system. Step 3: Feature extraction and matching: extract feature points and feature descriptions from the front view camera image and the rear view camera image using a feature extraction algorithm, wherein the feature extraction algorithm includes but is not limited to a scale-invariant feature transformation algorithm or an accelerated robust feature algorithm, and then match the extracted feature points of the front view and the rear view, and determine the matching feature point pairs by calculating the distance metric between the feature descriptors, wherein the distance metric uses the Euclidean distance or a distance calculation method with a similar effect; Step 4: Determine the image transformation: Calculate the transformation matrix that transforms the back view image to the same plane or similar view as the front view image based on the matched feature point pairs. The transformation matrix is ​​calculated using the least square method based on the feature point matching relationship or other mathematical methods that can accurately determine the image transformation relationship. Step 5: Fusion: A weighted average fusion strategy is used to fuse the transformed back view image with the front view image, where the weights are allocated based on the quality of feature matching. Regions with high feature matching quality correspond to higher weights. During the fusion process, the fused pixel value is calculated for each pixel in the image according to the weight to obtain a fused image.

Images