JP2003284096A - Stereoscopic photographing apparatus, finder, eyemark presenting member, and photographing method in stereoscopic photographing apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a stereoscopic photographing apparatus for facilitating stereoscopic photographing by presenting not only a stereoscopic visual field but also a processing region for performing stereoscopic matching to a photographer. <P>SOLUTION: The stereoscopic photographing apparatus is provided with a stereoscopic image pickup means for picking up an image of a photographic object from a plurality of viewpoints, a display means for displaying an output image picked up by the stereoscopic image pickup means on a display screen, and an eyemark displayed on the screen in order to show a closed region existing in the inside from the outer edge of the image displayed on the display screen by the display means. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stereo photographing apparatus, a viewfinder, a mark presenting member, and a photographing method of a stereo photographing apparatus which are applicable to a method and a three-dimensional information obtaining method for obtaining three-dimensional information from a stereo image. .

[0002]

2. Description of the Related Art Conventionally, stereo measurement has been known as a method of non-contactly acquiring three-dimensional information. The three-dimensional information acquisition method by this stereo measurement is to acquire images from different viewpoints and acquire three-dimensional information from the difference in the positional relationship between the viewpoints and the appearance of each image.

For example, as shown in FIG. 13, a plurality of images 2 from a plurality of (in this case, two) viewpoints are acquired, and one of the images is used as a reference image 3 (in this case, the left side in the drawing). Image of). Then, the reference image 3 of the point A on the photographing target 4
Based on the principle of triangulation from the viewpoint position and the line-of-sight direction, the distance from the position A1 on the coordinates of A to the position A2 on the coordinates of the other image 2 (hereinafter referred to as parallax) is calculated. calculate. Similarly, using the position B1 on the coordinates of the reference image 3 and the position B2 on the coordinates of the other image 2, the object to be photographed 4
The distance to the upper point B can be calculated. As described above, normally, when three-dimensional information is acquired from a stereo image, it is recognized by the corresponding point search which point on one image serving as a reference corresponds to another point.

A method for recognizing which point on the other image the point on the reference image corresponds to by such a corresponding point search has been conventionally known (for example,
See Patent Document 1).

Further, in order to take a stereo image from a plurality of viewpoints with a general camera, a stereo adapter in which an optical path is divided into two by a mirror is widely used in a normal image pickup system.

Further, there is a technique in which a stereo photographing visual field switching function is provided in the finder according to the mounting of such a sophleo adapter (for example, see Patent Document 2).

Further, in order to prevent an input error of three-dimensional information from occurring, a 3D image is displayed on the display unit for displaying the monitor of the image.
A technique of displaying an area where dimensional information can be obtained has also been proposed (for example, see Patent Document 3).

[0008]

[Patent Document 1] JP-A-6-215111

[0009]

[Patent Document 2] Japanese Patent Laid-Open No. 7-64216

[0010]

[Patent Document 3] Japanese Patent Laid-Open No. 2000-283739

[0011]

However, in the conventional method disclosed in Patent Document 1 as described above,
Since it is necessary to prepare a plurality of image pickup systems to perform the corresponding point search, there is a problem that it is not preferable from the viewpoint of cost and the possibility of a corresponding point search error due to individual differences of the image pickup systems. Such a problem can be solved by using the stereo adapter as described above.

However, this stereo adapter is originally
There is a problem in that it is difficult for the user to understand the relationship between the viewfinder field and the actual shooting range because an imaging system that is not premised on stereo shooting is used. Such a problem can be solved by adopting a technique in which a viewfinder switching function is provided in the viewfinder as described in Patent Document 2 above.

However, the conventional technique disclosed in the above-mentioned Patent Document 2 is premised on film photographing, and a computer is used for a digital image photographed by mounting a stereo adapter on a digital camera. No consideration is given to a shape recognition system using a digital camera that recognizes the shape of a subject by performing stereo matching.

Further, in the case of the prior art disclosed in the above-mentioned Patent Document 3, since there is one image pickup means, the display position of the area where the three-dimensional information can be obtained is substantially the center of the output screen displayed on the display section. Was located in. However, when shooting is performed by the stereo image pickup means, the mutual relationship between a plurality of viewpoints, that is, the area where stereo matching is performed and the area where three-dimensional information can be obtained change depending on the distances, convergence angles, and angles of view of different viewpoints. Therefore, an area suitable for capturing an object to be photographed is significantly different from that from a single viewpoint, and it is difficult for a photographer to recognize an appropriate area.

For example, as shown in FIGS. 14 (a) and 14 (b), when the angles of convergence are different, the viewpoints 5 on the left and right respectively.
Where the shooting target needs to be captured in the field of view from 1, 52 differs. That is, the overlapping area 33 (indicated by hatching in the figure), which is an imaging space capable of imaging from each of the multiple viewpoints 51 and 52, is an area where stereo matching is performed and three-dimensional information can be obtained. Since it varies depending on the angle of convergence, the display position of an area suitable for capturing an object to be photographed does not have to be set simply in the approximate center of the output screen.

Further, the area suitable for capturing the object to be photographed is influenced by the distance and the photographing angle of view from each viewpoint.

By the way, in many digital cameras in recent years, an electronic viewfinder is mounted on the rear surface of the camera, so that it is easy to confirm the stereo visual field.

However, in the shape recognition system using the digital camera as described above, the processing area in the case of performing the stereo matching using the computer is the shape of the stereo adapter attached to the digital camera, the lens distortion, and the calculation device. Due to the capability, the quality of the required three-dimensional information, and the like, the stereoscopic field of view displayed on the viewfinder does not always match.

Therefore, in the conventional shape recognition system using the digital camera as described above, there is a problem that it is difficult to photograph an object in a three-dimensional shape recognizable area.

Further, in the shape recognition system using the conventional digital camera as described above, when the inside of the stereo adapter attached to the digital camera is displayed in black, in a dark place or when shooting a dark subject, etc. However, there is a problem that it is difficult to confirm the stereo field of view by the electronic viewfinder.

For the above reason, in the shape recognition system using the conventional digital camera as described above, the image area actually used is limited to the inside of the stereo visual field.

Even in the case of a stereo image pickup system that does not use a stereo adapter, stereo matching is not performed for the entire screen being photographed.
The stereo field of view and the processing area for stereo matching do not match.

The present invention pays attention to such a point, and when a stereo image is picked up by the stereo image pick-up means,
For example, a portion with less distortion that can be used for stereo matching processing in the captured image (stereo matching area)
Is displayed on the screen of an electronic viewfinder or an external display built in the stereo image pickup means as a display means so that the operator can discriminate and put the shooting target in the processing area. By doing
By presenting not only a stereo field of view but also a processing area for performing stereo matching to a photographer, a stereo photographing apparatus, a viewfinder, a mark presenting member, and a photographing method of the stereo photographing apparatus, which can facilitate stereo photographing The purpose is to provide.

[Definition of Terms] In this specification, "stereo photography" means photography from a plurality of viewpoints.

Further, "stereo photography" in the present specification includes a case where an image of a plurality of viewpoints is obtained by using a single converter for a stereo converter, and a case where a plurality of photography devices are used.

The "image obtained by stereo photography" in this specification means an image from a plurality of viewpoints. In this case, not only a plurality of images from a plurality of photographing devices but also one in which images of a plurality of viewpoints are embedded are included.

Further, when the object to be photographed is imaged from a plurality of viewpoints, the imaging spaces in which the plurality of viewpoints can be imaged, that is, the image pickup angles of view, have overlapping regions. In this specification, this area is referred to as an “overlap area”.

The "calibration pattern" in this specification means an object whose shape and / or surface attribute is known. This calibration pattern is photographed, and it is used to calculate camera parameters such as lens distortion of the photographing system used for photographing from the degree of distortion of the calibration pattern on the photographed image. There are cases where a three-dimensional “calibration pattern” is used to align the conditions for calculating the camera parameters, a case where a plurality of two-dimensional “calibration patterns” are photographed, and the like in the present invention. It does not depend on the method.

[0029]

In order to achieve the above object, a stereoscopic image pickup device according to the present invention is a stereoscopic image pickup device for picking up an image of an image pickup target from a plurality of viewpoints, and the stereo image pickup device. Display means for displaying an output image captured by the image capturing means on a display screen;
A mark displayed on the display screen to indicate a closed region existing inside the outer edge of the image displayed on the display screen by the display means.

The stereo image pickup device according to a second aspect of the present invention is the stereo image pickup device according to the first aspect of the present invention, wherein the mark is a line segment or intersecting line segments or curves or intersecting curves or points. Alternatively, a closed curve is arranged to indicate at least the position of the corner of the closed region.

A stereo image pickup apparatus according to a third aspect of the present invention is the stereo image pickup apparatus according to the first aspect of the present invention, wherein the mark surrounds the outer edge of the closed region.

A stereo image pickup apparatus according to a fourth aspect of the present invention is the stereo image pickup apparatus according to the first aspect of the present invention, wherein the mark is electrically attached to the output image picked up by the stereo image pickup means. It is characterized by being superimposed on.

According to a fifth aspect of the present invention, there is provided a stereo image pickup device according to the first aspect, wherein the mark is fixed on the display means. To do.

A stereo image pickup apparatus according to a sixth aspect of the present invention is the stereo image pickup apparatus according to the first aspect of the present invention, wherein the closed region has distortion of the output image picked up by the stereo image pickup means. Is below a predetermined level.

According to a seventh aspect of the present invention, there is provided a stereo image pickup device, in which a stereo image pickup means for picking up an image of an object to be picked up from a plurality of viewpoints and an output image picked up by the stereo image pickup means are displayed on a display screen. The display means for displaying on the display screen, the calculating means for performing stereo matching processing on the first closed area in the output image displayed on the display screen by the display means, and the first closed area. The second closed area is included and is provided with a mark displayed on the display screen.

Further, the stereo image pickup device according to the invention described in claim 8 is the stereo image pickup device according to the invention described in claim 7, wherein the mark is a line segment or intersecting line segments or curves or intersecting curves or points. Alternatively, it is characterized in that at least a corner position of the second closed region is indicated by disposing a closed curve.

According to a ninth aspect of the present invention, there is provided a stereo image pickup device according to the seventh aspect, wherein the mark surrounds an outer edge of the second closed region. To do.

A stereo image pickup apparatus according to a tenth aspect of the present invention is the stereo image pickup apparatus according to the seventh aspect of the present invention, wherein the mark is electrically applied to the output image picked up by the stereo image pickup means. It is characterized by being superimposed on.

A stereo image pickup apparatus according to an eleventh aspect of the present invention is the stereo image pickup apparatus according to the seventh aspect of the present invention, wherein the mark is fixed on the display screen. To do.

A stereo image pickup apparatus according to a twelfth aspect of the present invention is the stereo image pickup apparatus according to the seventh aspect, wherein the second closed region is the output imaged by the stereo image pickup means. The image distortion is below a predetermined level.

According to a thirteenth aspect of the present invention, there is provided a stereo image pickup device according to the seventh aspect, wherein the second closed region is based on the characteristics of the stereo image pickup means. It is characterized in that the calculation means specifies.

Further, the stereo image pickup device according to the fourteenth aspect of the present invention is a stereo image pickup for picking up the image of the image pickup target from a plurality of viewpoints in order to perform stereo matching processing for obtaining three-dimensional information of the image pickup target. A stereo image pickup means for picking up the image of the photographing target, a display means for displaying the image picked up by the stereo image pickup means on a display screen as an output image, and a closed area in the output image. It is characterized by further comprising means for visibly presenting a mark indicating a closed area, which is an area on the inner side of the outer edge of the output image, on which stereo matching processing is performed, on the display screen.

The stereo image pickup apparatus according to the fifteenth aspect of the present invention is a stereoscopic image pickup apparatus which picks up the image of the image pickup target from a plurality of viewpoints in order to perform stereo matching processing for obtaining three-dimensional information of the image pickup target. A stereo image pickup means for picking up the image of the photographing target, a display means for displaying the image picked up by the stereo image pickup means on a display screen as an output image, and a closed area in the output image. And a means for visually showing on the display screen a mark indicating a closed area existing inside an area to be subjected to stereo matching processing existing inside the outer edge of the output image. .

According to a sixteenth aspect of the present invention, there is provided a stereo image pickup apparatus for performing stereo matching processing for obtaining three-dimensional information of an image pickup object, which is a stereoscopic image pickup method for picking up an image of the image pickup object from a plurality of viewpoints. A stereo image pickup means for picking up the image of the photographing target, a display means for displaying the image picked up by the stereo image pickup means on a display screen as an output image, and a closed area in the output image. It is characterized by further comprising means for visibly presenting, on the display screen, a mark indicating a closed region corresponding to a superposed region in which imaging spaces that can be imaged from each of the plurality of viewpoints overlap.

According to a seventeenth aspect of the present invention, there is provided a stereo image pickup apparatus for performing stereo matching processing for obtaining three-dimensional information of an object to be photographed, which is a stereo image pickup method for taking images of the object to be photographed from a plurality of viewpoints. A stereo image pickup means for picking up the image of the photographing target, a display means for displaying the image picked up by the stereo image pickup means on a display screen as an output image, and a closed area in the output image. And a means for visually showing on the display screen a mark indicating a closed region existing inside a region corresponding to the overlapping region where the imaging spaces capable of capturing images from each of the plurality of viewpoints overlap. Is characterized by.

A stereo image pickup device according to an eighteenth aspect of the present invention is the stereo image pickup device according to any one of the first, seventh, and fourteenth to seventeenth aspects, in which visible light is transmitted and a part thereof is transmitted. It is characterized in that the member presenting the mark or the member consisting of the mark is fixed on the display screen to display or present the mark.

According to a nineteenth aspect of the present invention, there is provided a stereo image pickup device according to any one of the first, seventh, and fourteenth to seventeenth aspects, in which the image displayed on the display screen is marked with the mark. It is characterized in that the mark is displayed or presented by electrically superposing.

The stereoscopic photographing device according to the invention of claim 20 is the same as the stereoscopic photographing device according to the invention of claim 19, further comprising input means for operating the stereoscopic photographing device. It is characterized in that it is possible to switch between displaying or presenting the mark and non-presenting or not presenting the mark based on the result set in (4).

Further, a stereoscopic photographing device according to the invention of claim 21 is characterized in that, in the stereoscopic photographing device according to the invention of claim 19, the mark blinks.

The finder according to the twenty-second aspect of the present invention is a finder of a stereoscopic photographic device equipped with a finder optical system for forming an optical path for guiding an image of an object to be photographed to an operator's eyes. In order to perform the stereo matching process for obtaining the image, when capturing the image of the imaging target from a plurality of viewpoints, a region that is a closed region in the image and that is present on the inner side of the outer edge of the image is subjected to the stereo matching process. It is characterized by further comprising means for presenting a mark indicating the closed region which is visible through the finder optical system.

The finder according to the twenty-third aspect of the present invention is a finder of a stereoscopic photographic device equipped with a finder optical system for forming an optical path for guiding an image of an object to be photographed to an operator's eyes. In order to perform the stereo matching process for obtaining the image, when capturing the image of the imaging target from a plurality of viewpoints, a region that is a closed region in the image and that is present on the inner side of the outer edge of the image is subjected to the stereo matching process. It is characterized in that it further comprises means for visually presenting a mark indicating a closed region existing on the inner side through the finder optical system.

Further, the mark presenting member according to the twenty-fourth aspect of the present invention, in order to perform the stereo matching process for obtaining the three-dimensional information of the object to be photographed, when photographing the image of the object to be photographed from a plurality of viewpoints, A member to be attached to a finder of an apparatus, which is characterized by being a member which transmits visible light and whose part is provided with a mark, or a member which comprises the mark.

Further, a stereoscopic photographing device photographing method according to a twenty-fifth aspect of the present invention is a stereoscopic photographing device photographing method for photographing images to be photographed from a plurality of viewpoints and displaying the photographed images on a display screen. In the above, a mark is displayed on the display screen in order to indicate a closed region existing inside the outer edge of the displayed image.

A stereo image pickup apparatus according to a twenty-sixth aspect of the present invention is the stereo image pickup apparatus according to the sixth or twelfth aspect of the present invention, wherein the distortion is an object whose shape and / or surface attribute is known. It is characterized in that it is obtained based on an image picked up by the stereo image pick-up means.

The stereo image pickup apparatus according to the twenty-seventh aspect of the present invention is a stereoscopic image pickup apparatus for picking up an image of the image pickup target from a plurality of viewpoints in order to perform stereo matching processing for obtaining three-dimensional information of the image pickup target. An apparatus, comprising: a stereo image capturing means for capturing an image of the object to be captured; and a display means for displaying the image captured by the stereo image capturing means on a display screen as an output image. It is characterized in that only the closed region, which is the region inside the outer edge of the output image and on which the stereo matching process is performed, is displayed by the display means.

The stereo image pickup apparatus according to the twenty-eighth aspect of the present invention is a stereoscopic image pickup apparatus for picking up an image of the image pickup target from a plurality of viewpoints in order to perform a stereo matching process for obtaining three-dimensional information of the image pickup target. An apparatus, comprising: a stereo image capturing means for capturing an image of the object to be captured; and a display means for displaying the image captured by the stereo image capturing means on a display screen as an output image. The display means displays only the closed region, which is inside the outer edge of the output image and on which the stereo matching process is performed.

According to the 29th aspect of the present invention, there is provided a stereo image pickup apparatus according to any one of the 1st, 14th, 17th, 27th and 28th aspects of the present invention, wherein the size of the closed region is Is determined based on the distance from the object to be captured to the stereo image capturing means.

According to a thirtieth aspect of the present invention, there is provided a stereo image pickup device according to the seventh aspect, wherein the size of the first closed region or the second closed region is the above. It is characterized in that it is determined based on the distance from the object to be photographed to the stereo image pickup means.

[0059]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

[First Embodiment] FIG. 1A is a diagram showing a configuration of a stereoscopic image pickup apparatus according to a first embodiment of the present invention, and also showing a state in which an image of a subject 4 is taken. .

That is, in the stereo image pickup apparatus according to the first embodiment of the present invention, the stereo adapter 9 is attached to the front surface of the stereo image pickup means for picking up images of the object 4 from a plurality of viewpoints. Digital camera 10
And a computing device 6 such as an external personal computer connected to the digital camera 10.

Here, in the digital camera 10 in which the stereo adapter 9 is mounted on the front surface as the stereo image pickup means, the output image picked up by the digital camera 10 is displayed as the display means. An electronic viewfinder 5 is provided on the back surface.

That is, the first embodiment is an example in which a stereo matching processing area frame 8 to be described later is displayed on the electronic viewfinder 5 of the digital camera 10 equipped with the stereo adapter 9.

2 (a) and 2 (b) are shown in FIG. 1 (a).
The digital camera 10 as a stereo image capturing means used in the stereo image capturing apparatus according to the first embodiment of the present invention configured as shown in FIG. 1 and the stereo adapter 9 mounted on the front surface of the digital camera 10. FIG. 3 is a plan view and a front view showing the configuration of FIG.

That is, the stereo adapter 9 mounted on the front surface of the digital camera 10 has a pair of first reflecting mirrors 18a and 18b and a pair of first reflecting mirrors 18a and 18b which are arranged to face each other with a predetermined inclination angle. 2 reflective mirrors 18
This allows the digital camera 10 to shoot the object 4 as images from two viewpoints via c and 18d.

FIG. 1B is a stereo image pickup means as shown in FIG. 1A which constitutes the stereo image pickup apparatus according to the first embodiment of the present invention. Digital camera 10 with
As a mark for presenting a closed region (hereinafter, referred to as a stereo matching processing region) 7 to which a stereo matching process is applied to the photographer when the photographing target 4 is photographed using the calculation device 6 as a calculation means, It is a figure which illustrates the stereo matching process area | region frame 8 which shows the closed area | region which exists inside the outer edge of the image displayed on the display screen of the electronic finder 5 as a display means.

That is, in the stereo image pickup apparatus according to the first embodiment of the present invention, the digital camera 10 having the stereo adapter 9 mounted on the front surface thereof as the stereo image pickup means and the calculation device 6 as the calculation means are provided. make use of,
When photographing the photographing target 4 as shown in FIG. 1A, when displaying the output image photographed by the digital camera 10 on the display screen of the electronic finder 5 as the display means in the digital camera 10. , Lens distortion and rectification, the ability of the computing device 6 itself as a computing means, etc.
Stereo matching processing area 7 as shown in FIG.
In order to present to the photographer, the stereo matching processing area frame 8 is displayed inside the portion where the significant image is displayed in a state of being electrically superimposed on the output image.

As a result, the user can operate the digital camera 1
No. 0, the stereo matching processing area frame displayed on the display screen of the electronic viewfinder 5 (second
The frame 4 surrounding the closed area of
Image of stereo matching processing area (first closed area)
It becomes easy to put in 7. Here, in the stereo matching processing area frame (frame surrounding the second closed area) 8, it is preferable that the distortion of the output image captured by the digital camera 10 as the stereo image capturing means is equal to or lower than a predetermined level. .

The first closed area is an area where stereo matching processing is actually performed, and the second closed area is set with a certain margin inside the first closed area. This is an area inside the first closed area. However, in the first embodiment, the outer edge of the first closed region and the frame surrounding the second closed region are made to coincide with each other.

The calculation device 6 as the calculation means is
Stereo matching processing is performed on the stereo matching processing area 7 as the first closed area in the output image displayed on the display screen of the electronic finder 5 as the display means.

The respective configurations of the first embodiment of the present invention can of course be modified and changed in various ways.

For example, the stereo matching processing area frame 8
Does not have to be a frame composed of straight lines as shown in FIG. 1B, but as shown in FIGS. 3A to 3C, a stereo matching processing area frame is shown by dotted lines, broken lines, etc. 8
May be presented.

That is, as shown in FIG. 3A, the stereo matching processing area frame 8 may be presented by a dotted line without completely enclosing the stereo matching processing area frame 8.

Further, as shown in FIG. 3B, the stereo matching processing area frame 8 may be provided with a mark having a corner of the area indicated by two intersecting line segments. As a modification of this, as shown in FIGS. 4A and 4B, a closed curve such as a dot or a small circle may be arranged at the intersection position between the line segments. Of course, as shown in (c) to (e) of FIG. 4, the marks may be arranged at appropriate intervals in portions other than the corners of the stereo matching processing area frame 8. That is, any mark, such as a line segment, a crossing line segment, a curved line, an intersecting curve, a point, or a closed curve, may be used as long as it serves as a clue when photographing. In short, any mark that can be recognized by the user as the stereo matching processing area frame 8 may be used.

As shown in FIG. 3C, the stereo matching processing area frame 8 is presented by a black frame (however, it is shown by a hatched frame in the drawing) or the like. You can

Alternatively, instead of displaying the stereo matching processing area frame 8, the area other than the stereo matching processing area 7 may not be displayed, or the area may be designated by changing the color.

Further, the stereo matching processing area 7 may be determined from the various parameters of the stereo photographing apparatus by the calculation apparatus 6 as a calculation means at the time of photographing or by the photographer.

The stereo matching processing area frame 8
Need not be square as shown. For example, when the stereo matching processing area 7 is determined using lens distortion or the like as a threshold value, a semicircular frame (a hatched frame in the drawing) may be used as a black frame as shown in FIG.

The stereo matching processing area 7 may be determined at the time of photographing or before the photographing.

Further, although there are two viewpoints in the present embodiment, three or more viewpoints and output images may be used.

Also, the stereo field of view may be presented to the user at the same time as the stereo matching processing area frame 8.

Furthermore, the display means is not limited to the case of using the electronic viewfinder 5 built in the digital camera 10, but may be a system of using an external display.

Further, the display of the stereo matching processing area frame 8 may be blinked. If such a blinking display is performed, the stereo matching processing area frame 8 becomes conspicuous, so that the alignment becomes easier.

In this case, the presence / absence of this blinking display operation is determined by using, for example, an input device (not shown) of the digital camera 10 such as a menu button or an input device (not shown) of the computing device 6 such as a keyboard. Then, the user may select it.

Furthermore, the presence / absence of the display of the stereo matching processing area frame 8 may be selected by using this input device. Of course, a configuration in which the mounting state of the stereo adapter 9 on the digital camera 10 is detected and the display / non-display of the stereo matching processing area frame 8 is automatically switched according to the detection result can be considered.

[Second Embodiment] FIG. 6 is a perspective view showing the structure of a stereoscopic image pickup apparatus according to a second embodiment of the present invention.

That is, as shown in FIG. 6, in the stereo image pickup apparatus according to the second embodiment of the present invention, instead of using the above-mentioned stereo adapter as the stereo image image pickup means, a stereo image pickup consisting of two image pickup cameras is provided. System 1
It is composed of an external calculation device 6 as a calculation means connected to the stereo image pickup system 1 and an external display 5A as a display means connected to the calculation device 6 as the calculation means.

Then, in the stereo image pickup apparatus according to the second embodiment of the present invention, when the stereoscopic image pickup system 1 shoots the image pickup target 4, the display 5A as the display means
The output image captured by the stereo imaging system 1 is displayed. In this case, in the stereo image pickup apparatus according to the second embodiment of the present invention, the lens distortion or rectification of the stereo image pickup system 1 and the capability of the calculation device 6 itself as the calculation means are displayed on the display 5A as the display means. Closed area that is subjected to stereo matching processing determined by the following (hereinafter, stereo matching processing area)
In order to present 7 to the photographer, the stereo matching processing area frame 8 is displayed in a state of being electrically superimposed on the output image.

As a result, the user views the stereo matching processing area frame (frame surrounding the second closed area) 8 displayed on the display 5A as the display means, and sets the subject 4 as the stereo matching processing area. It becomes easy to put it in the (first closed region) 7.

Here, the stereo matching processing area frame (frame surrounding the second closed area) 8 is the stereo image pickup system 1 described above.
It is desirable that the distortion of the output image captured by is less than or equal to a predetermined level.

Then, the calculation device 6 as the calculation means is
Stereo matching processing is executed on the stereo matching processing area 7 as the first closed area in the output image displayed on the display screen of the display 5A as the display means.

Incidentally, each structure of the second embodiment of the present invention can naturally be modified and changed in various ways.

For example, the stereo matching processing area frame 8
Does not have to be a frame composed of straight lines, and is shown in FIG.
As shown in (c) to (c), the stereo matching processing area frame 8 may be presented by dotted lines, polygonal lines, etc. in the same manner as described above.

Instead of displaying the stereo matching processing area frame 8, the area other than the stereo matching processing area 7 may not be displayed, or the area may be designated by changing the color.

Further, the stereo matching processing area 7 is determined from various parameters by the calculation device 6 as calculation means.
May be decided at the time of photographing, or may be decided by the photographer.

Further, the stereo matching processing area frame 8
Need not be square as shown. For example, when the stereo matching processing area 7 is determined using the lens distortion of the stereo imaging system 1 as a threshold value,
It may be a semicircular frame (however, it is shown as a hatched frame in the drawing) of a black frame as shown in FIG.

The stereo matching processing area 7 may be determined at the time of photographing or before that.

The stereo image pickup system 1 may be composed of three or more cameras.

Further, the display 5 as a display device
A form in which a plurality of A are prepared and an image from each viewpoint is displayed on each display may be used.

Also, the stereo field of view may be presented to the user at the same time as the stereo matching processing area frame 8.

Further, the display of the stereo matching processing area frame 8 may be blinked. Further, in this case, the presence / absence of this blinking display operation may be made selectable by the user by using the input device of the computing device 6.

[Third Embodiment] The configuration of a stereoscopic image pickup apparatus according to the third embodiment is basically the same as that of the above-described first embodiment shown in FIG. This is the same as that of the stereo imaging apparatus configured as shown in FIG. 6 of the embodiment.

The stereo image pickup apparatus according to the third embodiment of the present invention is a stereoscopic image pickup apparatus which is used as a display means on the electronic finder 5 of the first embodiment or the display 5A of the second embodiment described above. In order to present the photographer with a closed area (hereinafter referred to as stereo matching processing area) 7 to which stereo matching processing is performed, which is determined in advance by the lens distortion and rectification of the apparatus, the capability of the calculation apparatus 6 itself as a calculation means, and the like In addition, the stereo matching processing area frame 8 is
Alternatively, instead of being displayed in a state of being electrically superimposed on the output image as in the second embodiment, it is directly printed in advance inside the image displayed on the electronic viewfinder 5 or the display 5A as the display means. It is an example.

That is, in the third embodiment, when the object 4 to be photographed is photographed by using the stereoscopic photographing device constructed as shown in FIG. On the electronic viewfinder 5 or display 5A,
An image of the stereo matching processing area 7 as shown in FIG. 1 (b) or FIG. 6 which is determined in advance by the lens distortion and the rectification of the stereoscopic imaging device, the capability of the calculation device 6 itself as the calculation means, and the like. Stereo matching processing area frame 8 for presenting to the person
However, they are fixed in advance by direct printing.

As a result, the user can set the stereo matching processing area frame (frame surrounding the second closed area) 8 fixed in advance by direct printing on the display screen of the electronic viewfinder 5 or the display 5A as the display means. By viewing, it becomes easy to put the image of the shooting target 4 in the stereo matching processing area (first closed area) 7.

Here, in the stereo matching processing area frame (frame surrounding the second closed area) 8, it is desirable that the distortion of the output image picked up by the stereo photographing device is below a predetermined level.

Then, the calculation device 6 as the calculation means is
The stereo matching process is executed on the stereo matching process region 7 as the first closed region in the output image displayed on the display screen of the electronic finder 5 as the display unit or the display 5A.

As described above, in the stereoscopic photographing apparatus according to the third embodiment of the present invention, on the display screen of the electronic finder 5 or the display 5A as the display means, the second closed area included in the first closed area is displayed. By displaying a frame (stereo matching processing region frame 8) fixed by direct printing on the display screen as a mark indicating the closed region, the frame 8 is displayed.
It makes it easy to capture the object 4 to be photographed and perform stereo matching processing.

Incidentally, each structure of the third embodiment of the present invention can naturally be modified and changed in various ways.

For example, the stereo matching processing area frame 8
Does not have to be a frame composed of straight lines, and is not limited to that shown in FIG.
(A), FIG. 3 (b), and FIG. 3 (c), the stereo matching processing area is indicated by a dotted line, a broken line, a black frame (however, it is shown by a hatched frame in the drawing), etc. The frame 8 may be directly printed and fixed to be presented.

Further, instead of printing the stereo matching processing area frame 8, the area other than the stereo matching processing area 7 may not be displayed, or the area may be designated by changing the color.

In addition, as the means for presenting the above-mentioned mark in a visible manner, there are the following means.

For example, the stereo matching processing area frame 8
Is not fixed to the electronic finder 5 as a display means or directly to the display 5A by printing, but a sticker as a stereo matching processing area frame display body on which the stereo matching processing area frame 8 is printed is placed on the electronic finder 5 as a displaying means. Alternatively, it may be fixed on the display 5A by pasting.

Further, a plate as a stereo matching processing area frame display body in which the portion of the stereo matching processing area 7 is made visible and the other portion is made invisible is provided on the electronic finder 5 or the display 5A as a display means.
It may be fixed on top.

Further, there is a method of presenting a mark by optical image superimposition in a photographing device having an optical finder in addition to or instead of the display means such as the electronic finder 5 or the display 5A.

An example of this optical image superposition is shown in FIG.
And (b) will be described.

FIG. 7A is a diagram showing the configuration in the case of a twin-lens type photographing apparatus. In this case, the outside light taken in from the diffusion plate 20 passes through the glass plate 27 which is a member similar to the stereo matching processing area frame 8 to generate a stereo matching processing area frame image, and this stereo matching processing area frame image is generated. The image from the objective lens 21 is superimposed by the half mirror 17 via the mirror 18 and the optical path adjusting lens 37. Then, the image enters the eye 19 of the user through the eyepiece lens 22.

Further, FIG. 7B is a diagram showing the configuration in the case of a single-lens reflex image pickup apparatus. In this case, the image from the objective lens 21 is reflected by the movable mirror 24 arranged in front of the image pickup device 25, passes through the glass plate 27, and the stereo matching processing area frame image is superimposed. Then, the image passes through the prism 23 and the eyepiece lens 22 and enters the eye 19 of the user.

In the case of such an optical image superimposition, for example, instead of taking in external light from the diffuser plate 20, the stereo matching processing area frame 8 is presented by a self-luminous method using an LED or the like as a light source, or the glass plate 27. Transmission type LC instead
You may use D etc. The stereo matching processing area frame image may be an image of a plurality of LEDs themselves.

The stereo matching processing area frame image is displayed / not displayed by turning on / off the LED or the transmissive LCD or by blocking the optical path leading the stereo matching processing area frame image to the photographer's eyes. It can be turned on or off.

Alternatively, the stereo matching processing area frame 8 may be drawn or printed on the front surface or the back surface of the finder so that the stereo matching processing area frame 8 can be visually recognized.

Further, as shown in FIG. 8A, the stereo matching processing area frame 8 is presented, and the mark presenting member 30 such as a film or a panel that transmits visible light and the stereo matching processing area frame 8 are visually recognized. It may be attached to the finder as much as possible. Alternatively, it may be provided in the form of a thin seal that transmits visible light and attached to the finder.

Alternatively, as shown in FIG. 8B, a perforated member 36 having a hole for transmitting visible light may be attached to the finder in a shape matching the shape of the stereo matching processing area frame 8. good. In this case, it suffices that the subject 4 is photographed so that the subject 4 fits within the hole corresponding to the stereo matching processing area frame 8. If at least the outer frame of the field of view is recognizable, the subject 4 will be perfectly focused. Positioning is possible even in a state where it does not match. Therefore, there is an advantage that the restriction of the mounting position is looser than that in the case of mounting the member in which the linear mark as shown in FIG. 4 is mounted.

A mark indicating the closed region may be presented to the optical finder by using the above-mentioned means.

When a transmissive LCD is used instead of a glass plate in the above optical image superposition, or when the electronic finder 5 or the display 5A is used as the display means as in the above-described embodiments, Depending on the wishes of the user, the display or non-display of the mark may be selected by using the input device of the photographing apparatus.

That is, as described above, the stereo matching processing area frame 8 is not always displayed by superimposing it, but the user desires, that is, at the time of photographing,
The user may be allowed to select the display / non-display of the stereo matching processing area frame 8 as the mark by using the input device for operation. in this way,
By making the display / non-display of the stereo matching processing area frame 8 selectable, for example, by selecting not to display the stereo matching processing area frame 8 at the time of photographing for which calibration is not intended, the stereo matching processing area frame 8 can be selected. You can prevent 8 from getting in the way.

Further, the display of the stereo matching processing area frame 8 may be blinked. Further, in this case, similarly to the presence / absence of the display of the stereo matching processing area frame 8, the presence / absence of the blinking display operation may be selected by the user using the input device.

Further, although there are two viewpoints in this embodiment, three or more viewpoints and output images may be used.

Further, the stereo matching processing area frame 8
At the same time, the stereo field of view may be presented to the user.

The stereo matching processing area frame 8
Does not have to be a quadrangle as shown in the figure, but may be a semicircular frame with a black frame (shown by a hatched frame in the figure) as shown in FIG. 5, for example.

[Fourth Embodiment] Next, the fourth embodiment of the present invention will be described.
An embodiment will be described.

In this embodiment, a predetermined calibration pattern is photographed to calculate the image distortion, the stereo matching processing area (first closed area) 7 is determined based on the image distortion, and the stereo matching processing area frame (first The frame 8 surrounding the closed area 2 is presented.

Here, the calibration pattern 11 may be three-dimensional as shown in FIG. 9 (a) or planar as shown in FIG. 9 (b). Any one or both of the attributes may be known, and information for calculating the image distortion may be obtained.

FIG. 10 is a diagram showing the configuration of a stereoscopic image pickup apparatus according to the fourth embodiment of the present invention, and also showing a state in which the image pickup target 4 is shot.

The configuration of the stereo image pickup apparatus according to the fourth embodiment is basically the same as that of the stereo image pickup apparatus configured as shown in FIG. 1A of the first embodiment described above. Similar to that.

In the stereo image pickup apparatus according to the fourth embodiment of the present invention, a corner cube whose shape and surface attributes are known by using the digital camera 10 equipped with the electronic viewfinder 5 and equipped with the stereo adapter 9. The mold calibration pattern 11 is photographed and a calibration pattern image 13 is acquired. The calculation device 6 recognizes the pattern (surface attribute) on the calibration pattern 11 shown on the calibration pattern image 13. Then, the calibration pattern 1 in which the recognized pattern, shape, and surface attribute are known.
How the calibration pattern image 13 is distorted is calculated from the degree of displacement of the pattern 1. Here, a closed region in which the shift is less than one pixel for each pixel of the calibration pattern image 13, that is, a stereo matching processing region (first closed region) 7 is stored in the storage device 26 in the calculation device 6.

Thus, when the object 4 is photographed using the digital camera 10, the calculation device 6 uses the storage device 26.
In order to present the stereo matching processing area 7 stored in (1) to the photographer, a stereo matching processing area frame (frame surrounding the second closed area) 8 is displayed on the electronic finder 5 as a display means.

By looking at the stereo matching processing area frame 8 displayed on the electronic finder 5, the user can easily put the subject 4 into the stereo matching processing area 7.

Naturally, various modifications and changes can be made to the respective configurations of the embodiment of the present invention.

For example, a frame showing a region where the normal distortion is below a predetermined level is as shown in FIG. 5, but it is transformed into a quadrangle as shown in FIG. 1B so that the user can easily recognize it. May be. Further, the stereo matching processing area frame 8 does not need to completely match the boundary line of the stereo matching processing area 7, and may be displayed by being approximated to a straight line or a curve that is easily recognized by the user. Furthermore, the stereo matching processing area frame 8 does not need to be a straight line, and (a) to (c) of FIG.
As shown by, the area may be designated by a dotted line, a broken line, or the like.

Further, instead of displaying the stereo matching processing area frame 8, the area other than the stereo matching processing area 7 may not be displayed, or the area may be designated by changing the color.

Further, the method of calculating the image distortion need not be the photographing of the corner cube type calibration pattern 11. For example, a plurality of plate-shaped calibration patterns 11 whose surface attributes are known as shown in FIG. 9B may be taken at different distances, and the image distortion may be calculated from the image information. Furthermore, calibration pattern 1
Even when an object whose shape and surface attributes are unknown is photographed without photographing 1, image distortion is calculated by searching which position on the image 2 each pixel corresponds to. It is also possible (self-calibration).

The displacement level boundary that determines the boundary of the stereo matching processing area 7 does not need to have a displacement amount of one pixel and can be set arbitrarily (the calculated displacement pixel number does not have to be an integer). . Further, the size may be changed in conjunction with the size of the search window for searching the corresponding points.

The location where the computer 6 and the storage device 26 are present may be inside the digital camera 10 instead of outside the digital camera 10. Further, the storage device 26
May exist outside the computing device 6 instead of inside.

The stereo matching processing area 7 may be the one previously stored in the storage device 26. In this case, the stereo matching processing area 7 calculated from the calibration pattern image 13 captured by another digital camera 10 having substantially the same image distortion may be stored.

Further, although there are two viewpoints in this embodiment, three or more viewpoints and output images may be used.

The stereo field of view may be presented to the user at the same time as the stereo matching processing area frame 8.

As the display means, an external display may be used instead of the electronic viewfinder 5 provided in the digital camera 10.

Further, the system need not be the one using the stereo adapter 9, and may be used in the stereo image measuring system using a plurality of image pickup systems as shown in FIG. 6 of the second embodiment.

After the stereo matching processing area frame 8 is determined as described above, the projection range of the light projecting device such as the strobe device or the light pattern projection apparatus is projected according to the determined stereo matching processing area frame 8. The adjustment may be performed by performing zooming or diaphragm of the optical device. In this case, since the light is not projected to the outside of the stereo matching processing area frame 8, it is possible to expect the downsizing of the light projecting device and the power saving.

When the digital camera 10 is equipped with AF, AE, etc. functions, the AF, AE, etc. are configured to operate based on the image in the stereo matching processing area frame 8 determined above. Is also good.

Further, the measurement range information defined by the stereo matching processing area frame 8 may be sent to the digital camera 10 as the image pickup means to be used for AF.

[Fifth Embodiment] Next, the fifth embodiment of the present invention will be described.
An embodiment will be described.

The configuration of the stereo image pickup apparatus according to the fifth embodiment is basically the same as that of the stereo image pickup apparatus constructed as shown in FIG. 1A of the first embodiment described above. Similar to that.

Then, in the fifth embodiment,
When photographing the photographing target 4 using the digital camera 10 equipped with the electronic viewfinder 5 and equipped with the stereo adapter 9, the calculation device 6 does not display a portion other than the stereo matching processing area 7 on the electronic viewfinder 5. The image is displayed.

By viewing the displayed image, the user can easily put the photographing target 4 in the stereo matching processing area 7.

Naturally, various modifications and changes can be made to each configuration of the embodiment of the present invention.

For example, not only the portion other than the stereo matching processing area 7 is not displayed, but the stereo matching processing area frame 8 indicating the boundary line may be displayed.
Further, the area may be designated by changing the color of the area other than the stereo matching processing area 7.

Further, the stereo matching processing area frame 8 does not have to be a quadrangle. For example, the shape shown in FIG. 5 may be used.

Further, although there are two viewpoints in this embodiment, three or more viewpoints and output images may be used.

Further, as the display means, an external display may be used instead of the electronic viewfinder 5 provided in the digital camera 10.

Further, the system does not have to use the stereo adapter 9, and may be used in a stereo image measuring system using a plurality of image pickup systems as shown in FIG. 6 of the second embodiment.

[Sixth Embodiment] Next, the sixth embodiment of the present invention will be described.
An embodiment will be described.

The configuration of the stereo image pickup device according to the sixth embodiment is basically the same as that of the stereo image pickup device constructed as shown in FIG. 1A of the first embodiment described above. Similar to that.

In this embodiment, when the object 4 is photographed by using the digital camera 10 equipped with the electronic viewfinder 5 and equipped with the stereo adapter 9, the photographer is equipped with the digital camera 10 or the computing device 6. Enter the measurement distance range using the input device. The value of the input measurement distance range is stored in the storage device 2 included in the calculation device 6.
6 is stored. The calculation device 6 determines the stereo matching processing area 7 based on the input and stored measurement distance range.
To decide.

Here, in the case of the present embodiment, of the left and right images divided by the stereo adapter 9 as shown in FIG. 11, the left image is the reference image 3 and the right image is the corresponding image 12.

The calculation device 6 searches for the corresponding point N in the corresponding image 12 corresponding to the search point M in order to calculate the distance to the search point M on the reference image 3.

At this time, as shown in FIG.
It is assumed that the shooting target 4 in the reference image 3 viewed from above is viewed from the right, and the shooting target 4 in the corresponding image 12 viewed from the right viewpoint 52 is viewed from the left.

In this case, the corresponding point search is performed on the corresponding image 12 on the coordinates on the left side of the abscissa of the search point M in the reference image 3.

At this time, when the measurement distance range is not set, all the left side of the abscissa of the search point M in the corresponding image 12, that is, the search range 40 when the measurement distance range is not set, is set. You will be searching.

Here, the principle of triangulation is that the difference in the abscissa between the search point M and the corresponding point N in the captured stereo image (hereinafter referred to as parallax) and various parameters (base line length, vergence angle, etc.). ), The distance between the object to be photographed 4 (the point corresponding to the search point M thereof) and the photographing apparatus can be calculated. When the parallax is small, the distance to the object to be photographed is long, and when the parallax is large, the distance is short. That is, there is a correspondence between the measurement (shooting) distance and the parallax. That is, when the measurement distance range is set, the value that the parallax can take is also limited, and as a result, the search range of the corresponding point N with respect to the search point M can be narrowed.

In the case of the present embodiment, by setting the measurement distance range (in this case, the farthest distance value), the minimum possible parallax 42, that is, the farthest distance value in which the distance to the object 4 is limited. The parallax when there is determined.

As a result, when the measurement distance range is set, the search is performed from the point displaced from the abscissa of the search point M to the left by the minimum parallax 42 in the corresponding image 12 to the left. It would be good to go. That is, the minimum parallax 4 that can be obtained from the abscissa of the search point M in the corresponding image 12
All of the left side of the point shifted to the left by 2, that is, the range 41 in which the corresponding point N of the search point M is searched based on the measured distance range.
Will be searched.

Therefore, when the upper right point of the reference image 3 is measured, the area to be searched may be searched from the right position on the corresponding image 12 to the left by the minimum parallax 42 that can be taken from the right. It will be good. Therefore, as shown in FIG. 12A, the range from the rightmost to the minimum parallax 42 on the corresponding image 12 is not used for stereo matching. Further, with respect to the range displaced from the leftmost position on the reference image 3 to the right by the minimum parallax 42, the search on the corresponding image 12 cannot be performed (the search range is outside the left side of the corresponding image 12), and therefore Not used for stereo matching.

By setting the measurement distance in this way, a region not used for stereo matching, that is, a search unnecessary region is calculated.

The calculation device 6 sets the stereo matching processing area 7 in the form of excluding the search unnecessary area from the reference image 3 or the corresponding image 12, and presents the stereo matching processing area frame 8 to the photographer by the electronic finder 5.

Naturally, various modifications and changes can be made to the respective configurations of the embodiment of the present invention.

For example, the measurement distance range may be determined from the approximate distance obtained by using another sensor instead of being input by the input device.

The reference image does not have to be on the left.

Further, in the present embodiment, the left and right stereo systems are two, but the stereo matching process area 7 and the stereo matching process area frame 8 corresponding to the three or more stereo systems or the stereo systems arranged vertically are set. It is possible.

The system using the stereo adapter 9 does not have to be used, and the stereo image measuring system using a plurality of image pickup systems as shown in FIG. 6 of the second embodiment may be used.

Also, for example, the stereo matching processing is performed by excluding the search unnecessary area from a desired area determined by other means, such as an assumed maximum stereo matching processing area in the reference image 3 and the corresponding image 12. The area 7 and the stereo matching processing area frame 8 may be set.

Further, not only the farthest distance value but also the closest distance value or both of them may be set as the measurement distance range. When both the farthest distance value and the closest distance value are set, the maximum possible parallax 43 determined from the closest distance is used to set the stereo matching processing area 7 as shown in (b) of FIG. Alternatively, the stereo matching processing area frame 8 may be presented. in this case,
By using the stereo matching processing area frame 8 as a mark, the photographer can shoot an image suitable for stereo matching processing and three-dimensional reconstruction.

The determination of the stereo matching area based on the measurement distance range does not have to be performed at the time of inputting the measurement distance range, and a correspondence table between the measurement distance range and the stereo matching area may be stored in the storage device 26 in advance.

[Seventh Embodiment] Next, the seventh embodiment of the present invention will be described.
An embodiment will be described.

The structure of the stereo image pickup apparatus according to the seventh embodiment is basically the same as that of the stereo image pickup apparatus constructed as shown in FIG. 1A of the first embodiment. Although similar to that, in the present embodiment, the first reflecting mirrors 18a and 18b in the stereo adapter 9 are provided.
Is a movable mirror, and is adapted to change the convergence angle θ according to the input measurement distance range.

That is, in the present embodiment, the sixth
Similar to the embodiment described above, when the object 4 is photographed using the digital camera 10 equipped with the electronic viewfinder 5 and equipped with the stereo adapter 9, the photographer inputs the measurement distance range using the input device, The value is stored in the storage device 26. Then, the computing device 6 determines whether the first measuring device in the stereo adapter 9 corresponds to the input and stored measurement distance range.
The convergence angle θ of the reflection mirrors 18a and 18b is changed.
Further, in order to present the user with the range of the overlapping area 33 determined by the changed convergence angle θ and the zoom status of the digital camera 10, the electronic viewfinder 5 is caused to display the stereo matching processing area frame 8. This makes it easy for the user to recognize the stereo matching processing region 7 that changes according to the change in the convergence angle θ.

Naturally, various modifications and changes can be made to each configuration of the embodiment of the present invention.

For example, the measurement distance range may be determined from the approximate distance obtained by using another sensor instead of being input by using the input device.

As described above, the stereo matching processing area 7 is set by using one or more of the information regarding the photographing field angle and the convergence angle of the multiple viewpoints and the measurement distance range, and the stereo matching processing area frame 8 is presented. You can

Further, instead of using the stereo adapter 9, a plurality of cameras having different viewpoints as shown in FIG. 6 of the second embodiment may be used. However, in this case,
Further, it is necessary to provide a mechanism for automatically changing the orientations of the two cameras according to the input measurement distance range, or a means for visually or audibly indicating the orientations of the cameras to be manually changed. Become.

By the way, in each of the first to seventh embodiments, the outer edge of the stereo matching processing area 7 on which the stereo matching processing is performed and the stereo matching processing area frame 8 displayed by the user are made to coincide with each other. Was there.

However, in actual use, a margin is provided between the stereo matching processing area 7 and the stereo matching processing area frame 8 for displaying it in consideration of camera shake, user positioning error, and the like. It is desirable to have it.

That is, a certain amount of margin is provided inside the stereo matching processing area 7 (first closed area) in which the stereo matching processing is actually performed, and an area (second closed area) is set inside the margin. It is preferable to arrange the stereo matching processing area frame 8 to be displayed along the outer edge of the inner area (second closed area).

As a result, the user tries to shoot an image in which the object to be photographed is placed in the stereo matching processing area frame 8 to be displayed, so that even if there is some camera shake, the entire object to be photographed is stereo matched. It is less likely that the area will be projected out of the area 7, and stereoscopic photography of a desired object can be reliably performed.

In stereo photography, the area where three-dimensional information can be obtained is included in the overlapping area in which the imaging spaces that can be imaged from a plurality of viewpoints overlap. Therefore, through all the first to seventh embodiments described above, instead of the area for performing the stereo matching process, the area corresponding to the overlapping area in the output image may be presented to the photographer.

[Supplementary Note] Inventions having the following configurations can be extracted from the specific embodiments described above.

(1) Stereo image pickup means for picking up images to be picked up from a plurality of viewpoints, display means for displaying an output image picked up by the stereo image pickup means on a display screen, and the above-mentioned display means A stereoscopic image pickup apparatus comprising: a mark displayed on the display screen to indicate a closed region existing inside an outer edge of an image displayed on the display screen.

(Corresponding Embodiment) The first, second, third, fourth, sixth and seventh embodiments correspond to the embodiment relating to the stereo image pickup apparatus described in (1). To do. (Advantageous Effects) According to the stereo image pickup device described in (1), the image obtained by picking up the image pickup target 4 by the stereo image pickup means is displayed on the display screen of the electronic viewfinder 5 or the display 5A as the display means. At this time, in order to indicate a closed region existing inside the outer edge of the image displayed on the display screen of the electronic viewfinder 5 or the display 5A as the display means, a frame (stereo) displayed as a mark on the display screen is displayed. By displaying the matching processing area frame 8), it becomes easy to capture the photographing target 4 in the frame.

(2) The mark indicates at least the position of a corner of the closed region by arranging line segments, intersecting line segments or curves, intersecting curves, points, or closed curves. The stereoscopic imaging device according to (1).

(Corresponding Embodiment) The first, second, third, fourth, sixth and seventh embodiments correspond to the embodiment relating to the stereoscopic image pickup device described in (2). To do. (Advantageous effects) According to the stereo image capturing apparatus described in (2) above, in order to show the closed region existing inside the outer edge of the image displayed on the display screen of the electronic viewfinder 5 or the display 5A as the display means. By arranging line segments or intersecting line segments or curves or intersecting curves or points or closed curves as marks displayed on the display screen, at least a frame indicating the position of the corner of the closed region (stereo matching processing region By displaying the frame 8), it is easy to capture the photographing target 4 in the frame.

(3) The stereo image pickup device according to (1), wherein the mark surrounds the outer edge of the closed region.

(Corresponding Embodiment) The first, second, third, fourth, sixth and seventh embodiments correspond to the embodiment relating to the stereoscopic image pickup device described in (3). To do. (Advantageous Effects) According to the stereo image capturing apparatus described in (3) above, in order to show the closed region existing inside the outer edge of the image displayed on the display screen of the electronic viewfinder 5 or the display 5A as the display means. By displaying a frame (stereo matching processing region frame 8) surrounding the outer green of the closed region as a mark displayed on the display screen, it is possible to easily capture the photographing target 4 in the frame.

(4) The stereo image pickup apparatus according to (1), wherein the mark is electrically superimposed on the output image picked up by the stereo image pick-up means.

(Corresponding Embodiment) The embodiment relating to the stereo image pickup device described in (4) corresponds to the first, second, fourth, sixth and seventh embodiments. (Advantageous effects) According to the stereo image capturing apparatus described in (4) above, in order to show the closed area existing inside the outer edge of the image displayed on the display screen of the electronic viewfinder 5 or the display 5A as the display means. By displaying a frame (stereo matching processing area frame 8) electrically superimposed on the output image captured by the stereo image capturing means as a mark displayed on the display screen,
This makes it easy to capture the shooting target 4 in the frame.

(5) The stereo image pickup device according to (1), wherein the mark is fixed on the display means.

(Corresponding Embodiment) The third embodiment corresponds to the embodiment relating to the stereo image pickup apparatus described in (5). (Advantageous Effects) According to the stereo image capturing apparatus described in (5), in order to show the closed area existing inside the outer edge of the image displayed on the display screen of the electronic viewfinder 5 or the display 5A as the display means. By displaying a frame (stereo matching processing area frame 8) fixed on the display means as a mark displayed on the display screen, it becomes easy to capture the photographing target 4 in the frame.

(6) In the closed region, the distortion of the output image picked up by the stereo image pick-up means is equal to or lower than a predetermined level, and the stereo image pickup device described in (1).

(Corresponding Embodiment) The first, second, third, fourth, sixth and seventh embodiments correspond to the embodiment relating to the stereo image pickup device described in (6). To do. (Advantageous effects) According to the stereo image capturing apparatus described in (6), the stereo image as the closed area existing inside the outer edge of the image displayed on the display screen of the electronic viewfinder 5 or the display 5A as the display means. A frame (stereo matching processing region frame 8) is used as a mark displayed on the display screen to indicate a closed region in which the distortion of the output image captured by the image capturing unit is equal to or less than a predetermined level
By displaying, it becomes easy to capture the imaging target 4 in the frame.

(7) Stereo image pickup means for picking up images to be picked up from a plurality of viewpoints, display means for displaying an output image picked up by the stereo image pickup means on a display screen, and the above-mentioned display means The calculation means performs stereo matching processing on the first closed region in the output image displayed on the display screen, and the second closed region included in the first closed region. And a mark displayed on the display screen.

(Corresponding Embodiment) The first, second, third, fourth, sixth and seventh embodiments correspond to the embodiment relating to the stereoscopic image pickup device described in (7). To do. (Effect) The stereo imager described in (7) is
An image obtained by capturing an image of the object 4 to be captured by the stereo image capturing means,
It is displayed on the display screen of the electronic finder 5 or the display 5A as a display means. The calculation device 6 as the calculation means, for the first closed area (stereo matching processing area 7) in the output image displayed on the display screen of the electronic finder 5 or the display 5A as the display means, Perform stereo matching processing. Then, according to the stereoscopic imaging device described in (7), the electronic finder 5 or the display 5 as a display unit.
By displaying a frame (stereo matching processing region frame 8) as a mark indicating the second region included in the first closed region on the display screen of A, the photographing target 4 is captured in the frame and the stereo image is captured. Facilitates the matching process.

(8) The mark indicates at least the position of the corner of the second closed region by arranging line segments or intersecting line segments or curves or intersecting curves or points or closed curves. (7) The stereo image pickup device described in (7).

(Corresponding Embodiment) The first, second, third, fourth, sixth, and seventh embodiments correspond to the embodiment relating to the stereo image pickup apparatus described in (8). To do. (Advantageous effects) According to the stereo image capturing apparatus described in (8), the mark indicating the second area included in the first closed area is displayed on the display screen of the electronic finder 5 or the display 5A as the display means. By displaying line segments or intersecting line segments or curves, intersecting curves, points, or closed curves, at least a frame (stereo matching processing region frame 8) indicating the position of the corner of the second closed region is displayed. This makes it easy to capture the shooting target 4 in the frame and perform stereo matching processing.

(9) The stereo image pickup device according to (7), characterized in that the mark surrounds the outer edge of the second closed region.

(Corresponding Embodiment) The first, second, third, fourth, sixth and seventh embodiments correspond to the embodiment relating to the stereo image pickup device described in (9). To do. (Advantageous effects) According to the stereo image capturing apparatus described in (9), a mark indicating the second area included in the first closed area is displayed on the display screen of the electronic finder 5 or the display 5A as the display means. By displaying a frame (stereo matching process region frame 8) surrounding the outer edge of the second closed region as described above, it is possible to capture the shooting target 4 in the frame and facilitate the stereo matching process.

(10) The stereo image pickup apparatus according to (7), wherein the mark is electrically superimposed on the output image picked up by the stereo image pick-up means.

(Corresponding Embodiment) The first, second, fourth, sixth, and seventh embodiments correspond to the embodiment relating to the stereo image pickup apparatus described in (10). (Advantageous effects) According to the stereo image capturing apparatus described in (10), the mark indicating the second area included in the first closed area is displayed on the display screen of the electronic finder 5 or the display 5A as the display means. By displaying a frame (stereo matching processing area frame 8) that is electrically superimposed on the output image captured by the stereo image capturing means as described above, the shooting target 4 is captured in the frame and stereo matching processing is performed. Make it easy.

(11) The stereo image pickup device according to (7), wherein the mark is fixed on the display screen.

(Corresponding Embodiment) The third embodiment corresponds to the embodiment relating to the stereo image pickup device described in (11). (Advantageous effects) According to the stereoscopic imaging device of (11), a mark indicating the second area included in the first closed area is displayed on the display screen of the electronic finder 5 or the display 5A as the display means. By displaying the fixed frame (stereo matching processing area frame 8) on the display screen as described above, the subject 4 can be captured in the frame and the stereo matching processing can be easily performed.

(12) In the second closed area, the distortion of the output image picked up by the stereo image pick-up means is equal to or lower than a predetermined level, and the stereo image pickup apparatus described in (7).

(Corresponding Embodiment) The first, second, third, fourth, sixth and seventh embodiments correspond to the embodiment relating to the stereo image pickup device described in (12). To do. (Advantageous effects) According to the stereo image capturing apparatus described in (12), the stereo image is displayed as the second area included in the first closed area on the display screen of the electronic viewfinder 5 or the display 5A as the display means. By displaying a frame (stereo matching processing region frame 8) as a mark indicating a region in which the distortion of the output image captured by the image capturing unit is equal to or lower than a predetermined level, the capturing target 4 is captured within the frame and the stereo image is captured. Facilitates the matching process.

(13) The stereo image pickup device according to (7), characterized in that the second closed region is specified by the calculation means based on the characteristic of the stereo image pickup means.

(Corresponding Embodiment) The first, second, third, fourth, sixth and seventh embodiments correspond to the embodiment relating to the stereoscopic image pickup device described in (13). To do. (Advantageous effects) According to the stereo image pickup apparatus described in (13), the stereoscopic image is displayed as the second area included in the first closed area on the display screen of the electronic viewfinder 5 or the display 5A as the display means. By displaying the area specified by the calculating means on the basis of the characteristics of the image capturing means, the photographing target 4 is captured in the frame (stereo matching processing area frame 8) and the stereo matching processing is facilitated. .

(14) A stereo photographing apparatus for picking up the image of the photographing target from a plurality of viewpoints in order to perform the stereo matching process for obtaining the three-dimensional information of the photographing target. Stereo image capturing means, display means for displaying the image captured by the stereo image capturing means on a display screen as an output image, and a closed region in the output image, which is inside the outer edge of the output image. Means for presenting a mark indicating a closed area, which is an area to be subjected to the stereo matching process, on the display screen in a visually recognizable manner.

(Corresponding Embodiment) The first, second, third, sixth, and seventh embodiments correspond to the embodiment relating to the stereo image pickup device described in (14). (Operation and Effect) According to the stereo image pickup device described in (14), the image obtained by picking up the image pickup target 4 by the stereo image pickup means is output as an output image on the display screen of the electronic viewfinder 5 or the display 5A as the display means. indicate.
At this time, in order to show a closed area (stereo matching processing area 7) which is a closed area in the output image and which is present inside the outer edge of the output image and which is subjected to stereo matching processing, By visually presenting a frame (stereo matching processing region frame 8) as a mark, the imaging target 4 is captured within the frame and the stereo matching process is facilitated.

(15) A stereo image pickup apparatus for picking up the image of the object to be photographed from a plurality of viewpoints in order to perform stereo matching processing for obtaining three-dimensional information of the object to be photographed. Stereo image capturing means, display means for displaying the image captured by the stereo image capturing means on a display screen as an output image, and a closed region in the output image, which is inside the outer edge of the output image. Means for presenting a mark indicating a closed area existing inside the area to be subjected to the stereo matching processing so as to be visible on the display screen.

(Corresponding Embodiment) The first, second, third, sixth, and seventh embodiments correspond to the embodiment relating to the stereo image pickup device described in (15). (Effect) According to the stereo image pickup device described in (15), the image obtained by picking up the image pickup target 4 by the stereo image pickup means is output as an output image on the display screen of the electronic viewfinder 5 or the display 5A as the display means. indicate.
At this time, in order to indicate a closed region in the output image, which is inside the outer edge of the output image, which is inside the outer edge of the output image to be subjected to the stereo matching process (stereo matching process region 7), By visually presenting a frame (stereo matching processing area frame 8) as a mark on the display screen, the imaging target 4 is captured within the frame and the stereo matching processing is facilitated.

(16) A stereo image pickup apparatus for picking up the image of the image pickup target from a plurality of viewpoints in order to perform the stereo matching processing for obtaining the three-dimensional information of the image pickup target, and picks up the image of the image pickup target. Stereo image capturing means, display means for displaying the image captured by the stereo image capturing means as an output image on a display screen, and a closed area in the output image, which can be captured from each of the plurality of viewpoints. A stereoscopic imaging apparatus comprising: a unit that visually presents a mark indicating a closed region corresponding to a superposed region where imaging spaces overlap, on the display screen.

(Corresponding Embodiment) The first, second, third, sixth, and seventh embodiments correspond to the embodiment relating to the stereo image pickup device described in (16). (Operation and Effect) According to the stereo image pickup apparatus described in (16), the image obtained by picking up the image pickup target 4 by the stereo image pickup means is output as an output image on the display screen of the electronic viewfinder 5 or the display 5A as the display means. indicate.
At this time, in order to show a closed area in the output image, which corresponds to a superposed area in which imaging spaces that can be imaged from each of the plurality of viewpoints overlap, a frame (stereo) as a mark is displayed on the display screen. By visually presenting the matching processing area frame 8), it is easy to capture the imaging target 4 in the frame.

(17) A stereo image pickup apparatus for picking up the image of the image pickup target from a plurality of viewpoints in order to perform stereo matching processing for obtaining the three-dimensional information of the image pickup target. Stereo image capturing means, display means for displaying the image captured by the stereo image capturing means as an output image on a display screen, and a closed area in the output image, which can be captured from each of the plurality of viewpoints. A mark indicating a closed region existing inside the region corresponding to the overlapping region where the imaging spaces overlap,
Means for visually presenting on the display screen.

(Corresponding Embodiment) The embodiment relating to the stereo image pickup device described in (17) corresponds to the first, second, third, sixth and seventh embodiments. (Operation and Effect) According to the stereo image pickup apparatus described in (17), the image obtained by picking up the image pickup target 4 by the stereo image pickup means is output as an output image on the display screen of the electronic viewfinder 5 or the display 5A as the display means. indicate.
At this time, the closed screen in the output image is displayed on the display screen in order to show the closed region inside the region corresponding to the overlapping region in which the imaging spaces that can be imaged from each of the plurality of viewpoints overlap. By visually presenting a frame (stereo matching processing region frame 8) as a mark,
This makes it easy to capture the shooting target 4 in the frame.

(18) The above-mentioned mark is displayed or presented by fixing a member which transmits visible light and whose part is provided with a mark or a member consisting of the mark on the display screen. (1), (7), and (14)
The stereoscopic imaging device according to any one of (17) to (17).

(Corresponding Embodiment) The third embodiment corresponds to the embodiment relating to the stereo image pickup device described in (18). (Advantageous Effects) According to the stereo image capturing apparatus described in (18), a member in which visible light is transmitted and a mark is presented on a part thereof is transmitted on the display screen of the electronic finder 5 or the display 5A as a display unit. By presenting the frame (stereo matching processing area frame 8) as the mark by fixing the member composed of the mark, it becomes easy to catch the photographing target 4 in the frame.

(19) The mark is displayed or presented by electrically superimposing the mark on the image displayed on the display screen (1), (7),
The stereo imager according to any one of (14) to (17).

(Corresponding Embodiment) The first, second, sixth, and seventh embodiments correspond to the embodiment relating to the stereo image pickup device described in (19). (Advantageous effects) According to the stereo image pickup device described in (19), the mark is formed by electrically superimposing the mark on the image displayed on the display screen of the electronic viewfinder 5 or the display 5A as the display unit. By presenting the frame (stereo matching processing area frame 8) as, the capturing target 4 can be easily captured in the frame.

(20) It further comprises an input means for operating the stereo image pickup apparatus, and based on the result set by the input means, the display or the presentation of the mark and the non-display or non-present can be switched. The stereo imager according to (19), which is possible.

(Corresponding Embodiment) The embodiment relating to the stereo image pickup device described in (20) corresponds to the first, second, sixth and seventh embodiments. (Operation and Effect) According to the stereo image pickup apparatus described in (20), the display or the presentation and the non-display or the non-presentation of the mark can be performed by the user's request, for example, a digital camera that constitutes a stereo image pickup means. It can be set by operating the menu button of or the input means such as the keyboard of the calculation device as the calculation means.

(21) The stereo image pickup device as described in (19), characterized in that the mark flashes.

(Corresponding Embodiment) The first, second, sixth, and seventh embodiments correspond to the embodiment relating to the stereo image pickup device described in (21). (Operation and Effect) According to the stereo image capturing apparatus described in (21), the visibility can be increased by blinking the mark.

(22) In a viewfinder of a stereoscopic image pickup apparatus equipped with a viewfinder optical system that forms an optical path for guiding an image of an object to be photographed to the operator's eyes, in order to perform stereo matching processing for obtaining three-dimensional information of the object to be photographed, When capturing the image of the imaging target from a plurality of viewpoints, a mark indicating a closed region that is a closed region in the image and is a region that is inside the outer edge of the image and on which stereo matching processing is performed, A finder characterized by comprising means for visually presenting through a viewfinder optical system.

(Corresponding Embodiment) The embodiment relating to the finder described in (22) corresponds to the third embodiment. (Function and Effect) According to the viewfinder described in (22), the stereo matching process is performed in the optical path of the viewfinder optical system, which is a closed region in the image of the object to be photographed and is located inside the outer edge of the image. Presenting the frame (stereo matching process region 7) by providing means for presenting the frame (stereo matching process region frame 8) as a mark indicating the closed region, which is the region (stereo matching process region 7), through the viewfinder optical system. This makes it easy to capture the shooting target 4 in the frame and perform stereo matching processing.

(23) In a viewfinder of a stereoscopic image pickup apparatus equipped with a viewfinder optical system that forms an optical path for guiding an image of an object to be photographed to an operator's eyes, in order to perform stereo matching processing for obtaining three-dimensional information of the object to be photographed, A mark indicating a closed region in the image when capturing the image of the imaging target from a plurality of viewpoints, the closed region being inside the outer edge of the image to be subjected to stereo matching processing. Is provided through the finder optical system so as to be visible.

(Corresponding Embodiment) The third embodiment corresponds to the embodiment related to the finder described in (23). (Advantageous effects) According to the viewfinder of (23), in the optical path of the viewfinder optical system, it is a closed region in the image of the photographing target, a closed region in the image, and an outer edge of the image. A frame (stereo matching process area frame 8) as a mark indicating a closed area existing inside the stereo matching processing area (stereo matching processing area 7) present inside is presented visually through the finder optical system. By presenting the above-mentioned frame by providing a means for doing so, while capturing the photographing target 4 in the frame,
It facilitates the stereo matching process.

(24) A member to be attached to the finder of the photographing device when the images of the photographing target are picked up from a plurality of viewpoints in order to perform the stereo matching process for obtaining the three-dimensional information of the photographing target, A mark presenting member, which is a member which transmits visible light and whose part is provided with a mark, or a member which comprises the above mark.

(Corresponding Embodiment) The third embodiment corresponds to the embodiment of the mark presenting member described in (24). (Operation and Effect) According to the mark presenting member described in (24), the member is a member that transmits visible light and has a mark (stereo matching processing area frame 8) on a part thereof, or a member including the mark. By attaching the mark presenting member 30 to the viewfinder of the image taking apparatus,
Make it easy to catch.

(25) In a photographing method of a stereo photographing apparatus for photographing an image of an object to be photographed from a plurality of viewpoints and displaying the picked-up images on a display screen, a closed image existing inside an outer edge of the displayed image. A photographing method of a stereo photographing device, characterized by displaying a mark on the display screen to indicate a region.

(Corresponding Embodiment) The embodiment concerning the photographing method of the stereo photographing apparatus described in (25) is the same as that of the first, second, third, fourth, sixth and seventh embodiments. The form corresponds. (Advantageous effects) According to the photographing method of the stereo photographing device described in (25), when the image of the photographing target 4 is picked up from a plurality of viewpoints, it is displayed on the display screen for displaying the picked-up images. By displaying a frame (stereo matching processing region frame 8) as a mark for indicating a closed region existing inside the outer edge of the displayed image, it is easy to capture the photographing target 4 in the frame. .

(26) The distortion is obtained on the basis of an image obtained by picking up an object of which shape and / or surface attribute is known by the stereo image pick-up means (6) or (12). ) The stereo image capturing device described in.

(Corresponding Embodiment) The fourth embodiment corresponds to the embodiment relating to the stereo image pickup device described in (26). (Advantageous Effects) According to the stereo image capturing apparatus described in (26), the calibration pattern 11 that is an object whose shape and / or surface attribute is known is based on the image captured by the stereo image capturing means. Then, by obtaining the distortion of the output image captured by the stereo image capturing means, it is possible to calibrate the individual variation of the stereo image capturing means and display the frame (stereo matching processing region frame 8) as a correct mark.

(27) A stereo photographing apparatus for photographing the image of the photographing target from a plurality of viewpoints in order to perform the stereo matching processing for obtaining the three-dimensional information of the photographing target, and photographing the image of the photographing target. Stereo image capturing means and display means for displaying the image captured by the stereo image capturing means on a display screen as an output image, which is a closed region in the output image and is an outer edge of the output image. A stereo photographing apparatus characterized in that only the closed area, which is an area inside which is subjected to stereo matching processing, is displayed by the display means.

(Corresponding Embodiment) The fifth to seventh embodiments correspond to the embodiment relating to the stereo image pickup device described in (27). (Operation and Effect) According to the stereo image pickup device described in (27), the image obtained by picking up the image pickup object 4 by the stereo image pickup means is output as an output image on the display screen of the electronic viewfinder 5 or the display 5A as the display means. indicate.
At this time, only the closed area (stereo matching processing area 7), which is the closed area in the output image and which is present inside the outer edge of the output image and which is subjected to the stereo matching processing, is displayed by the display means. Due to
This makes it easy to capture the shooting target 4 in the stereo matching processing area 7 and perform the stereo matching processing.

(28) A stereo image pickup apparatus for picking up the image of the image pickup target from a plurality of viewpoints in order to perform stereo matching processing for obtaining the three-dimensional information of the image pickup target. Stereo image capturing means and display means for displaying the image captured by the stereo image capturing means on a display screen as an output image, which is a closed region in the output image and is an outer edge of the output image. A stereo image pickup apparatus, wherein only the closed region existing inside the region to be subjected to the stereo matching process existing inside is displayed by the display means.

(Corresponding Embodiment) The fifth to seventh embodiments correspond to the embodiment relating to the stereo image pickup device described in (28). (Effect) According to the stereo image pickup device described in (28), the image obtained by picking up the image pickup target 4 by the stereo image pickup means is output as an output image on the display screen of the electronic viewfinder 5 or the display 5A as the display means. indicate.
At this time, only the closed area in the output image, which is inside the closed area (stereo matching processing area 7) which is the area to be subjected to the stereo matching processing inside the outer edge of the output image, is selected. Displaying by the display means makes it possible to surely capture the photographing target 4 in the stereo matching processing area 7 and facilitate the stereo matching processing.

(29) The size of the closed region is determined based on the distance from the object to be photographed to the stereo image pickup means (1), (14) to (17), ( 27) and the stereo imager according to any one of (28).

(Corresponding Embodiment) The first to seventh embodiments correspond to the embodiment relating to the stereo image pickup device described in (29). (Advantageous effects) According to the stereo image pickup device described in (29), the size of the closed region is changed based on the change in the image pickup distance from the image pickup target 4 to the stereo image pickup means. Even if there is a change in the shooting distance, it becomes easy to catch the shooting target 4 in an appropriate area.

(30) The size of the first closed region or the second closed region is determined based on the distance from the object to be photographed to the stereo image pickup means (7). The stereo imager described in.

(Corresponding Embodiment) The first, second, third, fourth, sixth and seventh embodiments correspond to the embodiment relating to the stereo image pickup device described in (30). To do. (Advantageous Effects) According to the stereo image pickup device described in (30), the first closed region or the second closed region is changed based on the change in the shooting distance from the shooting target 4 to the stereo image pickup means. By changing the size of the area, it becomes easy to catch the shooting target 4 in an appropriate area even if the shooting distance changes.

[0258]

As described above, according to the present invention, when a stereo image is picked up by the stereo image pick-up means, for example, distortion that can be used for stereo matching processing in the picked-up image is obtained. An operator can distinguish a small portion (stereo matching area), and an electronic finder or an external device built in the stereo image capturing means using area marks such as a frame as display means so that the subject to be photographed can be put in the processing area. By displaying on the screen of the display, not only the stereo field of view, but also by presenting the processing area for stereo matching to the photographer,
It is possible to provide a stereo photographing device, a viewfinder, a mark presenting member, and a photographing method of the stereo photographing device which can facilitate stereo photographing.

[Brief description of drawings]

FIG. 1A is a diagram showing a configuration of a stereo image capturing apparatus according to a first embodiment of the present invention and a state in which an object to be imaged is captured, and FIG. It is a figure which illustrates the stereo matching processing area frame electronically displayed on an electronic viewfinder in order to show a stereo matching processing area to a photographer, when photographing a to-be-photographed object using a digital camera and a calculating device.

2A and 2B are a plan view and a front view showing a configuration of a digital camera as a stereo image capturing unit used in the stereo image capturing apparatus according to the first embodiment and a configuration of a stereo adapter attached to a front portion of the digital camera. .

FIGS. 3A to 3C are dotted lines, polygonal lines, black frames (indicated by hatched frames in the drawing) and the like as stereo matching processing area frames in the stereo imaging apparatus according to the first embodiment. It is a figure which shows the modification made to show.

FIG. 4 is a diagram showing a modified example of a stereo matching processing area frame presented in the stereo image capturing apparatus according to the first embodiment.

FIG. 5 is a semi-circular frame formed of a black frame as a stereo matching processing area frame (however, when a stereo matching processing area is determined with a lens distortion or the like as a threshold in the stereo image capturing apparatus according to the first embodiment;
It is a figure which shows the modification which is shown with the frame of hatching in the figure).

FIG. 6 is a perspective view showing a configuration of a stereo image pickup device according to a second embodiment of the present invention.

[Fig. 7] Fig. 7 is a diagram showing a structural example of a viewfinder of a stereoscopic imaging apparatus according to a third embodiment of the present invention in the case of a twin-lens type and a single-lens reflex type.

FIG. 8A is a diagram showing a marker presenting member such as a film or a panel that transmits visible light presented in a stereo matching processing area frame as a modified example of the third embodiment, and FIG. It is a figure which similarly shows the perforated member with which the hole which permeate | transmits visible light was formed according to the shape of the stereo matching process area frame.

FIG. 9 is a diagram showing an example of a calibration pattern used in a stereo imaging device according to a fourth embodiment of the present invention.

FIG. 10 is a diagram showing a configuration of a stereoscopic imaging device according to a fourth embodiment and also showing an imaging situation of a calibration pattern.

FIG. 11 is a diagram illustrating a search for a corresponding point N of a search point M based on the search range, the minimum parallax, and the measurement distance range when the measurement distance range is not set in the stereo imaging apparatus according to the sixth embodiment of the present invention. It is a figure which shows the reference | standard image and corresponding image for demonstrating the relationship of the range to perform.

FIG. 12A is a diagram showing a reference image and a corresponding image for explaining a search-unnecessary region that is not used for stereo matching, and FIG. 12B is a measurement distance range including both the farthest distance value and the closest distance value. FIG. 6 is a diagram showing a reference image and a corresponding image for explaining a stereo matching processing area and a stereo matching processing area frame in the case where is set.

FIG. 13 is a diagram showing an example in which a plurality of images 2 from a plurality of viewpoints are acquired and one of the images is used as a reference image in a three-dimensional information acquisition method by stereo measurement according to the related art.

[Fig. 14] Fig. 14 is a diagram for describing a superimposition region that is an imaging space that can be imaged from each of a plurality of viewpoints when convergence angles are different.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Stereo imaging system (stereo image imaging means), 3 ... Reference image, 4 ... Shooting object, 5 ... Electronic viewfinder (display means), 5A ... Display (display means), 6 ... Calculation device (calculation means), 7 ... Stereo matching processing area, 8 ...
Stereo matching processing area frame, 9 ... Stereo adapter (stereo image capturing means), 10 ... Digital camera (stereo image capturing means), 11 ... Calibration pattern (object with known shape and / or surface attribute), 12 ... Corresponding images, 13 ... Calibration pattern images (images of objects whose shape and / or surface attributes are known), 17 ... Half mirrors, 18 ...
Mirror, 19 ... User's eye, 20 ... Diffusion plate, 22 ... Eyepiece, 23 ... Prism, 24 ... Movable mirror, 25 ... Image sensor, 26 ... Storage device, 27 ... Glass plate, 30 ... Mark presenting member, 33 ... Superposition area, 36 ... Perforated member, 40 ...
Search range when the measurement distance range is not set, 41
... A range in which the corresponding point N of the search point M is searched based on the measurement distance range, 42 ... Minimum parallax, 43 ... Maximum parallax, 51 ... Left viewpoint, 52 ... Right viewpoint.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) H04N 5/225 G01B 11/24 N // H04N 101: 00 K F term (reference) 2F065 AA04 AA53 BB05 BB27 EE00 FF05 FF61 JJ03 JJ26 LL17 LL46 QQ03 QQ36 QQ38 SS02 SS13 5C022 AA13 AC02 AC13 AC51 5C061 AB06 AB14

Claims (30)

[Claims] 1. A stereo image pickup means for picking up an image of a subject to be shot from a plurality of viewpoints, a display means for displaying an output image picked up by the stereo image pickup means on a display screen, and a display for the display means. A stereoscopic image pickup apparatus comprising: a mark displayed on the display screen to indicate a closed region existing inside an outer edge of an image displayed on the screen. 2. The mark indicates at least the position of a corner of the closed region by arranging line segments or intersecting line segments or curves or intersecting curves or points or closed curves. The stereo imager according to claim 1. 3. The stereo imager according to claim 1, wherein the mark surrounds an outer edge of the closed region. 4. The stereo image pickup apparatus according to claim 1, wherein the mark is electrically superimposed on the output image picked up by the stereo image pick-up means. 5. The stereo imager according to claim 1, wherein the mark is fixed on the display means. 6. The stereo image pickup apparatus according to claim 1, wherein distortion of the output image picked up by the stereo image pick-up means is below a predetermined level in the closed region. 7. A stereo image pickup means for picking up an image of a subject to be shot from a plurality of viewpoints, a display means for displaying an output image picked up by the stereo image pickup means on a display screen, and the display by the display means. Computation means for performing stereo matching processing on the first closed region in the output image displayed on the screen, and second closed regions included in the first closed region. A stereoscopic image pickup apparatus comprising: a mark displayed on the display screen; 8. The mark indicates at least the position of a corner of the second closed region by arranging line segments or intersecting line segments or curves or intersecting curves or points or closed curves. The stereo imager according to claim 7, which is characterized in that. 9. The stereo imager according to claim 7, wherein the mark surrounds an outer edge of the second closed region. 10. The stereo image capturing apparatus according to claim 7, wherein the mark is electrically superimposed on the output image captured by the stereo image capturing unit. 11. The stereo imager according to claim 7, wherein the mark is fixed on the display screen. 12. The stereo image capturing apparatus according to claim 7, wherein the distortion of the output image captured by the stereo image capturing unit is equal to or lower than a predetermined level in the second closed region. 13. The stereo image capturing apparatus according to claim 7, wherein the second closed region is specified by the calculating unit based on a characteristic of the stereo image capturing unit. 14. A stereo image capturing apparatus that captures images of the image capturing target from a plurality of viewpoints in order to perform stereo matching processing for obtaining three-dimensional information of the image capturing target, and captures the image of the image capturing target. Stereo image capturing means, display means for displaying the image captured by the stereo image capturing means as an output image on a display screen, and a closed area in the output image, which is inside the outer edge of the output image. A stereo image pickup apparatus comprising: a unit that visually presents a mark indicating a closed region, which is a region to which stereo matching processing is applied, on the display screen. 15. A stereo image pickup apparatus for picking up an image of the image pickup target from a plurality of viewpoints for performing stereo matching processing for obtaining three-dimensional information of the image pickup target, wherein the image of the image pickup target is picked up. Stereo image capturing means, display means for displaying the image captured by the stereo image capturing means as an output image on a display screen, and a closed area in the output image, which is inside the outer edge of the output image. A stereo image capturing apparatus, comprising: a unit that visually presents a mark indicating a closed region existing inside a region on which stereo matching processing is performed on the display screen. 16. A stereo image capturing apparatus for capturing images of the image capturing target from a plurality of viewpoints in order to perform a stereo matching process for obtaining three-dimensional information of the image capturing target, wherein the image of the image capturing target is captured. Stereo image capturing means, display means for displaying the image captured by the stereo image capturing means on a display screen as an output image, and an image capturing which is a closed region in the output image and which can be captured from each of the plurality of viewpoints. A stereoscopic imaging apparatus comprising: a unit that visually presents a mark indicating a closed region corresponding to a superposed region in which spaces overlap, on the display screen. 17. A stereo image capturing apparatus for capturing the image of the image capturing target from a plurality of viewpoints in order to perform a stereo matching process for obtaining three-dimensional information of the image capturing target, wherein the image of the image capturing target is captured. Stereo image capturing means, display means for displaying the image captured by the stereo image capturing means on a display screen as an output image, and an image capturing which is a closed region in the output image and which can be captured from each of the plurality of viewpoints. A stereoscopic imaging apparatus comprising: a unit that visually presents, on the display screen, a mark indicating a closed region that exists inside a region corresponding to a superposed region in which spaces overlap. 18. The mark is displayed or presented by fixing a member which transmits visible light and a mark is presented on a part of the visible light or a member made of the mark on the display screen. Item 18. The stereo imager according to any one of Items 1, 7 and 14 to 17. 19. The mark is displayed or presented by electrically superimposing the mark on an image displayed on the display screen, according to any one of claims 1, 7, and 14 to 17. The stereo imager described in. 20. An input unit for operating the stereoscopic imaging apparatus is further provided, and it is possible to switch between displaying or presenting and not displaying or not presenting the mark based on a result set by the input unit. 20. The stereo imager according to claim 19, wherein 21. The stereo imager according to claim 19, wherein the mark blinks. 22. In a viewfinder of a stereoscopic image pickup apparatus equipped with a viewfinder optical system that forms an optical path for guiding an image of an object to be photographed to an operator's eyes, a plurality of stereoscopic images are obtained in order to perform stereo matching processing for obtaining three-dimensional information of the object to be photographed. When capturing the image of the object to be captured from the viewpoint, a mark indicating a closed area, which is a closed area in the image, which is an area inside the outer edge of the image to which stereo matching processing is performed, A finder comprising means for visually presenting through an optical system. 23. In a viewfinder of a stereoscopic image pickup apparatus equipped with a viewfinder optical system for forming an optical path for guiding an image of an object to be photographed to an operator's eyes, a plurality of plural objects are provided for performing stereo matching processing for obtaining three-dimensional information of the object to be photographed. When capturing the image of the image capturing target from the viewpoint of, a mark indicating a closed region in the image, which is inside the outer edge of the image and on which the stereo matching process is performed, is located inside the outer edge of the image. A finder characterized by comprising means for visually presenting through the finder optical system. 24. A member for attaching to a viewfinder of a photographing device when taking images of the photographing target from a plurality of viewpoints for performing stereo matching processing for obtaining three-dimensional information of the photographing target, A mark presenting member, which is a member which transmits light and whose part is provided with a mark or which is a member including the mark. 25. A photographing method of a stereo photographing apparatus for photographing an image of a photographing target from a plurality of viewpoints and displaying the photographed images on a display screen, wherein a closed region existing inside an outer edge of the displayed image. In order to indicate, a mark is displayed on the display screen, and the photographing method of the stereo photographing device is characterized. 26. The distortion according to claim 6 or 12, wherein the distortion is obtained based on an image obtained by capturing an image of an object whose shape and / or surface attribute are known by the stereo image capturing means. Stereo photography device. 27. A stereo image capturing apparatus for capturing images of the image capturing target from a plurality of viewpoints in order to perform stereo matching processing for obtaining three-dimensional information of the image capturing target, and capturing the image of the image capturing target. A stereo image capturing means; and a display means for displaying the image captured by the stereo image capturing means on a display screen as an output image, which is a closed region in the output image, and is closer to the outer edge of the output image. A stereo image capturing apparatus, wherein only the closed region, which is a region to be subjected to stereo matching processing existing inside, is displayed by the display means. 28. A stereo image pickup apparatus for picking up an image of the image pickup target from a plurality of viewpoints in order to perform a stereo matching process for obtaining three-dimensional information of the image pickup target, wherein the image of the image pickup target is picked up. A stereo image capturing means; and a display means for displaying the image captured by the stereo image capturing means on a display screen as an output image, which is a closed region in the output image and which is closer to the outer edge of the output image. A stereo image capturing apparatus, wherein only the closed region existing inside the region to be subjected to the stereo matching process existing inside is displayed by the display means. 29. The size of the closed area is determined based on a distance from the object to be captured to the stereo image capturing means.
29. The stereo imager according to any one of 7 and 28. 30. The size of the first closed region or the second closed region is determined based on the distance from the object to be captured to the stereo image capturing means. The stereo imager described.