CN111107338A - VR (virtual reality) equipment and disparity map acquisition method - Google Patents
VR (virtual reality) equipment and disparity map acquisition method Download PDFInfo
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- CN111107338A CN111107338A CN201910955282.3A CN201910955282A CN111107338A CN 111107338 A CN111107338 A CN 111107338A CN 201910955282 A CN201910955282 A CN 201910955282A CN 111107338 A CN111107338 A CN 111107338A
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- H04N13/20—Image signal generators
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Abstract
The invention relates to VR equipment and a method for acquiring a disparity map, and the VR equipment comprises an outer shell, a first optical lens, a second optical lens, a first camera, a second camera and a display device, wherein a groove is formed in one surface of the outer shell, the first optical lens and the second optical lens are oppositely arranged, the first optical lens is positioned on one side of the groove, the second optical lens is positioned on one side of the groove, the first camera is arranged on one side of the first optical lens, the second camera is arranged on one side of the second optical lens, the display device is positioned on one side, far away from the groove, of the outer shell, a plurality of infrared lamps are arranged in the display device, a first calibration plate is arranged on one side of the first camera, and a second calibration plate is arranged on one side of the second camera. According to the acquisition method of the parallax map, the calibration plates at different angles are shot by setting the two cameras, in addition, the overall brightness is enhanced through the infrared lamp, the accurate optical axis center point can be measured, and the VR equipment can obtain more accurate parameter data of the parallax map.
Description
Technical Field
The invention relates to a VR device and a method for acquiring a disparity map, in particular to a method for acquiring a disparity map for VR helmet equipment.
Background
The virtual reality technology, abbreviated as VR in English and also called smart technology, is a brand new technology developed in the 20 th century, and comprises a computer, electronic information and simulation technology, and the basic implementation mode is that the computer simulates a virtual environment so as to provide people with environmental immersion.
In the process of using VR equipment, in order to obtain a good visual effect, a camera calibration method is usually adopted to acquire depth information of an original image, but in the operation process, problems of inaccurate data acquisition and inaccurate optical axis center point often occur, so that parameter data measured by a camera is inaccurate.
Disclosure of Invention
In view of the above, it is necessary to provide a VR device and a method for acquiring a disparity map.
The utility model provides a VR equipment, includes shell body, first optical lens, second optical lens, first camera, second camera and display device, the shell body is the hexahedron structure, the shell body one side sets up the recess, first optical lens with second optical lens sets up relatively, first optical lens is located recess one side, second optical lens is located recess one side, first optical lens one side sets up first camera, second optical lens one side sets up the second camera, first camera with the second camera sets up relatively, display device is located the shell body is kept away from recess one side, set up a plurality of infrared lamps in the display device, first camera one side sets up first calibration plate, second camera one side sets up the second calibration plate.
Further, still include first lens and second lens, first lens with the second lens sets up relatively, first lens is located recess one side, the second lens is located recess one side.
Furthermore, the adjusting device comprises a first adjusting rod and a second adjusting rod, one end of the first adjusting rod is connected with the first camera, the second adjusting rod is connected with the second camera, a first groove and a second groove are formed in the lower portion of the outer shell, the lower end of the first adjusting rod is arranged in the first groove, and the lower end of the second adjusting rod is arranged in the second groove.
Furthermore, the adjusting device further comprises a first adjusting piece and a second adjusting piece, wherein the first adjusting piece comprises a first adjusting piece and a second adjusting piece, the first adjusting piece is located at the lower end of the first adjusting rod, and the second adjusting piece is located at the lower end of the second adjusting rod.
Furthermore, the number of the infrared lamps is 11, 4 the infrared lamps are arranged on the upper portion of the outer shell in parallel, 4 the infrared lamps are arranged on the lower portion of the outer shell in parallel, and 3 the infrared lamps are arranged in the middle of the outer shell in parallel.
Further, the display device further comprises an image processing module, wherein the image processing module is located inside the display device and electrically connected with the first camera, the image processing module is electrically connected with the second camera, the image processing module comprises a stereo calibration module, the stereo calibration module is electrically connected with the first camera, and the stereo calibration module is electrically connected with the second camera.
A method for acquiring a disparity map is based on VR equipment and comprises the following steps: s1: turning on the VR device, S2: turning on all infrared lamps, S3: starting the first camera and the second camera, S4: adjusting the angular ranges of the first and second cameras such that the first and second calibration plates are located at the center of the image displayed by the display device, S5: taking pictures of the first calibration plate at different angles by using the first camera, and simultaneously taking pictures of the second calibration plate at different angles by using the second camera, S6: acquiring distortion parameters and camera matrix data of the first camera and the second camera through the image processing module, and S7: the stereo calibration module acquires the motion information of the first camera and the second camera, so that a disparity map is obtained.
Further, the motion information includes rotation matrix information and translation matrix information.
According to the VR equipment and the method for acquiring the disparity map, the two cameras are set to shoot the calibration plates at different angles, the overall brightness is enhanced through the infrared lamp, the accurate optical axis center point can be measured, and the VR equipment can obtain more accurate disparity map parameter data.
Drawings
FIG. 1 is a partial schematic view one of a VR device of the present invention.
Fig. 2 is a partial schematic diagram of a VR device of the present invention.
Fig. 3 is a schematic diagram of a method for acquiring a disparity map according to the present invention.
The device comprises an outer shell 1, a first optical lens 2, a second optical lens 3, a first camera 4, a second camera 5, a display device 6, an infrared lamp 7, a first calibration plate 8, a second calibration plate 9, a first lens 10, a second lens 11, a first adjusting rod 12 and a first adjusting piece 13.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Fig. 1 and fig. 2 show a first embodiment of the present invention.
A VR device, the VR device shoots calibration plates with different angles through a left camera and a right camera to obtain an optical axis central point and image position data, and then obtains a parallax map, wherein the VR device comprises an outer shell 1, a hollow part is arranged inside the outer shell 1, the outer shell 1 is of a three-dimensional hexahedral structure and is of a substantially rectangular structure, one surface of the outer shell 1 is provided with a groove, a first optical lens 2 and a second optical lens 3 are arranged inside the outer shell 1, the first optical lens 2 and the second optical lens 3 are arranged oppositely, images in the VR device can be observed more visually by left eyes and right eyes of a user through arranging the first optical lens 2 and the second optical lens 3, a first camera 4 is arranged on one side of the first optical glasses, which is far away from the groove, a second camera 5 is arranged on one side of the second optical glasses, which is far away from the groove, the first camera 4 and the second camera 5 can record and shoot videos in the VR device, so that pictures observed by a user at different angles can be recorded, the first camera 4 and the second camera 5 are oppositely arranged and are respectively used for different visual imaging of left and right eyes, a display device 6 is arranged on one side, far away from the groove, of the outer shell 1, the display device 6 is used for displaying videos watched and used by the user and acquiring data shot in the first camera 4 and the second camera 5, a plurality of infrared lamps 7 are arranged in the display device 6, the infrared lamps 7 can enhance the brightness inside the groove of the VR device, the images of the first camera 4 and the second camera 5 can be conveniently taken, in addition, the flicker of the infrared lamps 7 can also start the positioning function, the acquisition of position information of the VR device is convenient, a first calibration plate 8 is arranged on one side, facing the display device 6, of the first camera 4, the second camera 5 is provided with a second calibration plate 9 towards one side of the display device 6, the first calibration plate 8 is the same as the second calibration plate 9 in structure, a plurality of reference circles are distributed on the plane of the first calibration plate 8 and the second calibration plate 9 at equal intervals, the first camera 4 and the second camera 5 can obtain more accurate coordinate system information of common characteristic points between video images observed by human eyes and the cameras through the plurality of reference circles, the method can also be suitable for parameter setting in VR equipment, the relative positions of the reference circles distributed at equal intervals are accurate, matching of video coordinate information is facilitated, calibration precision is higher, a parallax image is acquired more accurately, the cameras can better move outside the image of the display device 6, and acquisition of the imaging information by the first camera 4 and the second camera 5 is facilitated, and measuring and controlling the central point of the optical axis.
The VR equipment further comprises a first lens 10 and a second lens 11, the first lens 10 and the second lens 11 are the same in structure, the first lens 10 and the second lens 11 are located in a groove of the outer shell 1 and correspond to left and right eyes of a user, the user can observe internal imaging of the VR equipment conveniently through the first lens 10 and the second lens 11, and internal components of the outer shell 1 can be protected.
The VR equipment further comprises an adjusting device, the adjusting device specifically comprises a first adjusting rod 12 and a second adjusting rod, wherein the first adjusting rod 12 is connected with the first camera 4, the second adjusting rod is connected with the second camera 5, the adjusting rod drives the camera to move, the camera further drives the calibration plate to move, so that the calibration plate can be positioned in the image center of the display device 6, and the camera can conveniently acquire parameter data, specifically, the first adjusting rod 12 and the second adjusting rod have the same structure and are cylindrical structures, the upper end of the first adjusting rod 12 is connected with the first camera 4, the lower end of the first adjusting rod is close to the lower end of the outer shell 1, the upper end of the second adjusting rod is connected with the second camera 5, the lower end of the second adjusting rod is close to the lower end of the outer shell 1, the lower end of the outer shell 1 is provided with a first groove and a second groove, the first adjusting rod 12 is positioned in the first groove, the second adjusting rod is positioned in the second groove, the first adjusting lever 12 is movable in the first slot for the user to adjust the position of the first calibration plate 8, and the second adjusting lever is movable in the second slot for the user to adjust the position of the second calibration plate 9.
The adjusting device further comprises a first adjusting piece 13 and a second adjusting piece, the first adjusting piece 13 is the same as the second adjusting piece in structure, the first adjusting piece 13 can be of a circular structure or a cubic structure, the adjusting piece is arranged below the outer shell 1, a user can effectively adjust the position of the first camera 4 by adjusting the first adjusting piece 13 arranged outside the outer shell 1, the position of the second camera 5 can be effectively adjusted by adjusting the second adjusting piece arranged outside the outer shell 1, and therefore the VR equipment can adjust the angle range of the camera by adjusting the adjusting piece, the first calibration plate 8 and the second calibration plate 9 are located in the image center of the display device 6, accurate image data are obtained, and better, faster and more accurate image data collection is facilitated.
The number of the infrared lamps 7 provided in the display device 6 is 11, and specifically 4 infrared lamps are provided in parallel on the upper part of the display device 6 of the housing 1. There are 4 sets up in the lower part of 1 display device 6 of shell body side by side, 3 infrared lamps 7 set up side by side in the middle part of shell body 1 and be located between the infrared lamp 7 from top to bottom in addition, specific first camera 4 and second camera 5 are located between two liang of adjacent infrared lamps 7 of 3 infrared lamps 7 in middle part, can make the inside of shell body 1 possess better luminance through setting up 11 infrared lamps 7, and rely on 11 infrared lamps 7 can help first camera 4 and second camera 5 to fix a position better the image, improve the accuracy of the data parameter of the whole image that obtains the camera and shoot.
The VR equipment further comprises an image processing module, the image processing module is specifically arranged inside the display device 6 and is electrically connected with the first camera 4, the image processing module is electrically connected with the second camera 5, the image processing module can collect image information shot by the first camera 4 and the second camera 5, distortion parameter matrix information of an image shot by the cameras, internal parameter matrix information and external parameter matrix information when the cameras shoot, and a central point of an optical axis can be analyzed through the obtained image information, the image shot by the cameras can be helped to restore an object in a space through the information parameters, the image processing module further comprises a stereo calibration module, the stereo calibration module is electrically connected with the first camera 4, the stereo calibration module is electrically connected with the second camera 5, and a rotation matrix and a translation matrix of the first camera 4 and the second camera 5 are obtained through the calibration module, therefore, an accurate disparity map is obtained, and the problems that data acquisition is not accurate and the measured optical axis center point is not accurate enough are solved.
Example two
Referring to fig. 1, 2 and 3, a VR device, which obtains an optical axis center point and image position data by photographing calibration plates at different angles through a left camera and a right camera, and further obtains a disparity map, wherein the VR device comprises an outer shell 1, a hollow part is arranged inside the outer shell 1, the outer shell 1 is of a three-dimensional hexahedral structure and is of a substantially rectangular structure, one side of the outer shell 1 is provided with a groove, a first optical lens 2 and a second optical lens 3 are arranged inside the outer shell 1, the first optical lens 2 and the second optical lens 3 are arranged opposite to each other, images in the VR device can be observed more visually through the left eye and the right eye of a user by arranging the first optical lens 2 and the second optical lens 3, the first camera 4 is arranged on the side of the first optical glasses far from the groove, the second camera 5 is arranged on the side of the second optical glasses far from the groove, the first camera 4 and the second camera 5 can record and shoot videos in the VR device, so that pictures observed by a user at different angles can be recorded, the first camera 4 and the second camera 5 are oppositely arranged and are respectively used for different visual imaging of left and right eyes, a display device 6 is arranged on one side, far away from the groove, of the outer shell 1, the display device 6 is used for displaying videos watched and used by the user and acquiring data shot in the first camera 4 and the second camera 5, a plurality of infrared lamps 7 are arranged in the display device 6, the infrared lamps 7 can enhance the brightness inside the groove of the VR device, the images of the first camera 4 and the second camera 5 can be conveniently taken, in addition, the flicker of the infrared lamps 7 can also start the positioning function, the acquisition of position information of the VR device is convenient, a first calibration plate 8 is arranged on one side, facing the display device 6, of the first camera 4, the second camera 5 is provided with a second calibration plate 9 towards one side of the display device 6, the first calibration plate 8 is the same as the second calibration plate 9 in structure, a plurality of reference circles are distributed on the plane of the first calibration plate 8 and the second calibration plate 9 at equal intervals, the first camera 4 and the second camera 5 can obtain more accurate coordinate system information of common characteristic points between video images observed by human eyes and the cameras through the plurality of reference circles, the method can also be suitable for parameter setting in VR equipment, the relative positions of the reference circles distributed at equal intervals are accurate, matching of video coordinate information is facilitated, calibration precision is higher, a parallax image is acquired more accurately, the cameras can better move outside the image of the display device 6, and acquisition of the imaging information by the first camera 4 and the second camera 5 is facilitated, and measuring and controlling the central point of the optical axis.
The VR equipment further comprises a first lens 10 and a second lens 11, the first lens 10 and the second lens 11 are the same in structure, the first lens 10 and the second lens 11 are located in a groove of the outer shell 1 and correspond to left and right eyes of a user, the user can observe internal imaging of the VR equipment conveniently through the first lens 10 and the second lens 11, and internal components of the outer shell 1 can be protected.
The VR equipment further comprises an adjusting device, the adjusting device specifically comprises a first adjusting rod 12 and a second adjusting rod, wherein the first adjusting rod 12 is connected with the first camera 4, the second adjusting rod is connected with the second camera 5, the adjusting rod drives the camera to move, the camera further drives the calibration plate to move, so that the calibration plate can be positioned in the image center of the display device 6, and the camera can conveniently acquire parameter data, specifically, the first adjusting rod 12 and the second adjusting rod have the same structure and are cylindrical structures, the upper end of the first adjusting rod 12 is connected with the first camera 4, the lower end of the first adjusting rod is close to the lower end of the outer shell 1, the upper end of the second adjusting rod is connected with the second camera 5, the lower end of the second adjusting rod is close to the lower end of the outer shell 1, the lower end of the outer shell 1 is provided with a first groove and a second groove, the first adjusting rod 12 is positioned in the first groove, the second adjusting rod is positioned in the second groove, the first adjusting lever 12 is movable in the first slot for the user to adjust the position of the first calibration plate 8, and the second adjusting lever is movable in the second slot for the user to adjust the position of the second calibration plate 9.
The adjusting device further comprises a first adjusting piece 13 and a second adjusting piece, the first adjusting piece 13 is the same as the second adjusting piece in structure, the first adjusting piece 13 can be of a circular structure or a cubic structure, the adjusting piece is arranged below the outer shell 1, a user can effectively adjust the position of the first camera 4 by adjusting the first adjusting piece 13 arranged outside the outer shell 1, the position of the second camera 5 can be effectively adjusted by adjusting the second adjusting piece arranged outside the outer shell 1, and therefore the VR equipment can adjust the angle range of the camera by adjusting the adjusting piece, the first calibration plate 8 and the second calibration plate 9 are located in the image center of the display device 6, accurate image data are obtained, and better, faster and more accurate image data collection is facilitated.
The number of the infrared lamps 7 provided in the display device 6 is 11, and specifically 4 infrared lamps are provided in parallel on the upper part of the display device 6 of the housing 1. There are 4 sets up in the lower part of 1 display device 6 of shell body side by side, 3 infrared lamps 7 set up side by side in the middle part of shell body 1 and be located between the infrared lamp 7 from top to bottom in addition, specific first camera 4 and second camera 5 are located between two liang of adjacent infrared lamps 7 of 3 infrared lamps 7 in middle part, can make the inside of shell body 1 possess better luminance through setting up 11 infrared lamps 7, and rely on 11 infrared lamps 7 can help first camera 4 and second camera 5 to fix a position better the image, improve the accuracy of the data parameter of the whole image that obtains the camera and shoot.
The VR equipment further comprises an image processing module, the image processing module is specifically arranged inside the display device 6 and is electrically connected with the first camera 4, the image processing module is electrically connected with the second camera 5, the image processing module can collect image information shot by the first camera 4 and the second camera 5, distortion parameter matrix information of an image shot by the cameras, internal parameter matrix information and external parameter matrix information when the cameras shoot, and a central point of an optical axis can be analyzed through the obtained image information, the image shot by the cameras can be helped to restore an object in a space through the information parameters, the image processing module further comprises a stereo calibration module, the stereo calibration module is electrically connected with the first camera 4, the stereo calibration module is electrically connected with the second camera 5, and a rotation matrix and a translation matrix of the first camera 4 and the second camera 5 are obtained through the calibration module, therefore, an accurate disparity map is obtained, and the problems that data acquisition is not accurate and the measured optical axis center point is not accurate enough are solved.
The method for acquiring the parallax map by the VR device comprises the following steps of S1, firstly turning on the VR device, then S2, turning on all infrared lamps 7 in the VR device, so as to conveniently acquire position information in the VR device, S3, starting a first camera 4 and a second camera 5, so that the first camera 4 and the second camera 5 can acquire image pictures inside the VR device, S4, adjusting the angle range of the first camera 4 and the second camera 5, so that the first calibration plate 8 and the second calibration plate 9 are positioned at the center of a display image of a display device 6, so that the adjustment can measure the center point of an optical axis of the VR device, S5, using the first camera 4 to shoot pictures of the first calibration plate 8 at a plurality of different angles, simultaneously using the second camera 5 to shoot pictures of the second calibration plate 9 at a plurality of different angles, and transmitting the shot pictures to an image processing module of the display device 6, in order to analyze the taken picture data. Step S6 is that the image processing module analyzes the enough number of pictures shot, specifically, the first camera 4 shoots 5 pictures per second, the second camera 5 shoots 5 pictures per second, and the distortion parameters and the camera matrix data of the first camera 4 and the second camera 5 are obtained by analyzing the reference circle on the calibration plate and the infrared lamp 7 in the VR device. Step S7 is to obtain the motion information of the angle change from the first camera 4 and the second camera 5 for the stereo calibration module in the image processing module, and obtain the disparity map after comparing the information, where the motion information of the first camera 4 and the second camera 5 includes the rotation matrix information and the translation matrix information, and obtain the parameters of the whole first camera 4 and the whole second camera 5 through these data information, so as to obtain the final disparity map.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. A VR device comprises an outer shell, a first optical lens, a second optical lens, a first camera, a second camera and a display device, the outer shell is of a hexahedral structure, one surface of the outer shell is provided with a groove, the first optical lens and the second optical lens are oppositely arranged, the first optical lens is positioned at one side of the groove, the second optical lens is positioned at one side of the groove, a first camera is arranged on one side of the first optical lens, a second camera is arranged on one side of the second optical lens, the first camera and the second camera are oppositely arranged, the display device is positioned on one side of the outer shell body far away from the groove, the infrared lamp display device is characterized in that a plurality of infrared lamps are arranged in the display device, a first calibration plate is arranged on one side of the first camera, and a second calibration plate is arranged on one side of the second camera.
2. The VR device of claim 1, further comprising a first lens and a second lens, the first lens disposed opposite the second lens, the first lens located on a side of the recess, the second lens located on a side of the recess.
3. The VR device of claim 2, further comprising an adjustment mechanism, the adjustment mechanism including a first adjustment lever and a second adjustment lever, the first adjustment lever being coupled to the first camera at one end, the second adjustment lever being coupled to the second camera, the outer housing having a first slot and a second slot formed in a lower portion thereof, the first adjustment lever being disposed within the first slot at a lower end thereof, and the second adjustment lever being disposed within the second slot at a lower end thereof.
4. The VR device of claim 3, wherein the adjustment mechanism further comprises a first adjustment member comprising a first adjustment member and a second adjustment member, the first adjustment member being located at a lower end of the first adjustment lever, and the second adjustment member being located at a lower end of the second adjustment lever.
5. The VR device of claim 4, wherein there are 11 infrared lamps, 4 infrared lamps side-by-side in an upper portion of the outer housing, 4 infrared lamps side-by-side in a lower portion of the outer housing, and 3 infrared lamps side-by-side in a middle portion of the outer housing.
6. The VR device of claim 5, further comprising an image processing module located within the display device, the image processing module electrically connected to the first camera, the image processing module electrically connected to the second camera, the image processing module including a stereo calibration module, the stereo calibration module electrically connected to the first camera, the stereo calibration module electrically connected to the second camera.
7. A disparity map acquisition method is based on VR equipment and is characterized by comprising the following steps:
s1: the VR device is turned on and the power supply is turned on,
s2: all of the infrared lamps are turned on and,
s3: activating the first camera and the second camera,
s4: adjusting the angular ranges of the first camera and the second camera so that the first calibration plate and the second calibration plate are positioned at the center of the image displayed by the display device,
s5: using the first camera to shoot pictures of the first calibration plate at different angles, simultaneously using the second camera to shoot pictures of the second calibration plate at different angles,
s6: acquiring distortion parameters and camera matrix data of the first camera and the second camera through the image processing module,
s7: the stereo calibration module acquires the motion information of the first camera and the second camera, so that a disparity map is obtained.
8. A method as claimed in claim 7, wherein the method further comprises: the motion information includes rotation matrix information and translation matrix information.
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| CN112326202A (en) * | 2020-10-23 | 2021-02-05 | 歌尔光学科技有限公司 | Binocular parallax test method, device and tooling for virtual reality equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112326202A (en) * | 2020-10-23 | 2021-02-05 | 歌尔光学科技有限公司 | Binocular parallax test method, device and tooling for virtual reality equipment |
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