WO2019104650A1 - Capturing device and method for optimizing capturing position - Google Patents

Abstract

A capturing device and method for optimizing capturing position, wherein the method comprises: acquiring parameter information calibrated by the capturing device; controlling a camera (104) and/or a structure light source (102) to move by means of a sliding module, and the camera (104) acquiring image sets in a plurality of different positions which contain a series of images of a target object; a position sensor recording and storing a series of position coordinates between the camera (104) and structure light source (102) during the movement process of the camera (104) and/or the structure light source (102); and by means of a processor, acquiring from the image set a frame image that matches best with the image set, and determining the position coordinates between the camera (104) and structure light source (102) that correspond to the frame image that matches best with the image set to be the optimal capturing position. The described method may automatically find the optimal capturing position between the structure light source (102) and the camera (104) according to objects of different sizes and distances, thus improving the display quality of capturing images.

Description

Shooting device and method for searching for shooting position

[Technical Field]

The present invention relates to the field of vision technology, and in particular, to a camera device and a method for optimizing a shooting position.

 【Background technique】

Computer vision is divided into two types: active vision and passive vision. Among them, the method of actively editing the surface feature information of the object by using structured light is called active vision. Active vision can actively control the influence of ambient light on the target object, overcome the uncertainty factors in passive vision, and increase the accuracy of stereoscopic 3D reconstruction. Therefore, active vision has greater application value than passive vision. In an active vision system consisting of a structured light source and a camera, the specific location of the structured light source and camera has a significant impact on the quality of the image.

At present, in an imaging system composed of a structured light source and a camera, the structural light source and the camera are respectively fixed on the guide rail and cannot be freely moved, and the optimal shooting position of the structural light source and the camera cannot be automatically found according to objects of different sizes and distances. , which in turn affects the quality of the image.

 [Summary of the Invention]

The technical problem to be solved by the present invention is to provide a shooting device and a method for optimizing the shooting position, which can better avoid the occlusion and obtain an optimal shooting position according to the pre-acquisition of the image.

In order to solve the above technical problem, the first technical solution adopted by the present invention is to provide a photographing device, which comprises: a structural light source, a camera, a sliding module, a position sensor, a processor; the structural light source and the camera are respectively connected with the sliding module ;

The position sensor is specifically configured to record and store the position coordinates of the camera and the structural light source, and the camera is specifically configured to collect image collections including a series of images of the target object at a plurality of different locations;

The processor is specifically configured to obtain a frame image with the highest degree of matching with the image collection from the image collection, and determine the position coordinates of the camera and the structural light source corresponding to the frame image with the highest matching degree as the optimal shooting position.

In order to solve the above technical problem, the second technical solution adopted by the present invention is to provide a method for finding a shooting position, the method comprising:

Obtaining parameter information of the calibration of the camera;

Controlling the movement of the camera and/or the structured light source by the sliding module, the camera collects a collection of images containing a series of images of the target object at a plurality of different locations, the position sensor records and stores the camera and/or the structured light source during movement of the camera and the structured light source Series position coordinates;

The frame image with the highest matching degree with the image collection is obtained from the image collection by the processor, and the position coordinates of the camera corresponding to the frame image with the highest matching degree and the structural light source are determined as the optimal shooting position.

The beneficial effects of the present invention are: different from the prior art, the present invention controls the movement of the camera and/or the structural light source by the sliding module, and the camera collects a collection of images including a series of images of the target object at a plurality of different positions, the processor slave image The frame image with the highest matching degree with the image collection is obtained in the collection, and the position coordinates of the camera and the structural light source corresponding to the frame image with the highest matching degree are determined as the optimal shooting position. In this way, the occlusion can be better avoided, and the optimal shooting position of the structural light source and the camera can be automatically found according to objects of different sizes and distances, thereby improving the display quality of the captured image.

 [Description of the Drawings]

1 is a schematic structural view of a first embodiment of a photographing apparatus provided by the present invention;

2 is a schematic structural view of a second embodiment of a photographing apparatus provided by the present invention;

3 is a schematic structural view of a third embodiment of a photographing apparatus provided by the present invention;

FIG. 4 is a schematic flow chart of an embodiment of a method for optimizing a shooting position according to the present invention.

【Detailed ways】

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

In order to automatically find the optimal shooting position of the structural light source and the camera according to different sizes and objects, the photographing device provided by the present invention comprises a structural light source, a camera, a sliding module, a position sensor and a processor; and the structured light source and the camera are respectively connected with the sliding module. .

Specifically, the sliding module includes a sliding electric control device and a guide rail, the position sensor is a position encoder, the sliding electric control device is used to control the movement of the camera and/or the structural light source on the guide rail, and the position encoder is used for recording and storing the camera and the structural light source. Position coordinates; the camera is used to collect a collection of images containing a series of images of the target object at a plurality of different locations, and the processor obtains a frame image containing the most object elements from the image collection, and the position of the camera and the structural light source corresponding to the image The coordinates are determined as the optimal shooting position.

In order to clearly explain the working process of the above-mentioned photographing device, please refer to FIG. 1 to FIG. 4.

Please refer to FIG. 1. FIG. 1 is a schematic structural diagram of a first embodiment of a photographing apparatus according to the present invention. As shown in FIG. 1, the photographing apparatus includes: a position encoder 101, a structure light source 102, a slide electric control device 103, and a camera 104. , rail 105, processor (not shown). The slide electronic control unit 103 and the guide rail 105 together constitute a slide module. The guide rail 105 is a linear guide rail, and the camera 104 is a binocular camera. The camera 104 may be a monocular camera or a multi-view camera in other embodiments, and is not limited thereto. The structured light source 102 and the camera 104 are respectively connected to the guide rail 105, the camera 104 is electrically connected to the slide electronic control device 103, the slide electronic control device 103 is used to control the movement of the camera 104 on the guide rail 105, and the position encoder 101 is used for recording and storing the camera 104. And the position coordinates of the structural light source 102, the camera 104 is configured to collect a collection of images including a series of images of the target object at a plurality of different locations, and the processor acquires a frame image including the content element of the target object from the image collection, the image is The position coordinates of the corresponding camera 104 and the structured light source 102 are determined as the optimal shooting position.

In a specific embodiment, in order to determine an optimal shooting position, the structural light source 102 and the camera 104 are respectively fixed at both ends of the guide rail 105, and the slide electric control device 103 is mounted on the camera 104, and is controlled by the slide electric control device 103. The camera 104 moves on the guide rail 105 in a direction toward the structural light source 102. During the entire movement, the position encoder 101 records and stores the position coordinates of the camera 104 and the structured light source 102, and the camera 104 collects the plurality of different positions. The target object is a collection of images of a series of images, and the processor selects a frame image containing the most content elements of the target object from the image collection, and determines the position coordinates of the camera 104 and the structural light source 102 corresponding to the image as the optimal shooting position. The specific moving manner of the structural light source 102 and the camera 104 is not limited during the entire moving process. For example, in other embodiments, the structured light source 102 and the camera 104 are first secured to the same end of the rail 105, and the camera 104 is controlled to move toward the other end of the rail 105 by the slide electronic control device 103.

The sliding electronic control unit 103 is only mounted on the camera 104. In other embodiments, the sliding electric control device can be mounted on the structural light source 102 and the camera 104, and the structural light source 102 and the sliding electronic control device are controlled. The camera 104 is simultaneously moved on the guide rail 105.

When the position coordinate of the target object in the world coordinate system changes, the optimal shooting position is reacquired by the photographing device or the camera 104 is automatically adjusted by the slide electric control device 103 according to the change of the position coordinate of the target object in the world coordinate system. The location on the 105.

Referring to FIG. 2, FIG. 2 is a schematic structural diagram of a second embodiment of a photographing apparatus according to the present invention. As shown in FIG. 2, the photographing apparatus includes: a position encoder 201, a structural light source 202, and a first sliding electric control device 203. The camera 204, the second sliding electronic control unit 205, the guide rail 206, and a processor (not shown). The first sliding electronic control unit 203, the second sliding electronic control unit 205 and the guide rail 206 together constitute a sliding module. The guide rail 206 is a curved guide rail, and the camera 204 is a binocular camera. The camera 204 may be a monocular camera or a multi-view camera in other embodiments, which is not limited thereto. The structured light source 202 and the camera 204 are respectively connected to the guide rail 206, and the structural light source 202 and the camera 204 are electrically connected to the first sliding electronic control device 203 and the second sliding electronic control device 205, respectively, the first sliding electronic control device 203 and the second sliding electric device. The control device 205 controls the structural light source 202 and the camera 204 to move on the guide rail 206, the position encoder 201 is used to record and store the position coordinates of the camera 204 and the structural light source 202, and the camera 204 is configured to collect the target object at a plurality of different positions. The image collection of the series of images is obtained, and the processor acquires a frame image including the content element of the target object from the image collection, and determines the position coordinates of the camera 204 and the structural light source 202 corresponding to the image as the optimal shooting position.

In a specific embodiment, in order to determine the optimal shooting position, the structural light source 202 and the camera 204 are respectively fixed at the two ends of the guide rail 206, and then passed through the first sliding electronic control device 203 and the second sliding electronic control device 205 respectively. The control structure light source 202 and the camera 204 move toward the middle of the guide rail 206. During the entire movement, the position encoder 201 records and stores the position coordinates of the camera 204 and the structured light source 202, and the camera 204 collects the target at a plurality of different positions. The image collection of a series of images of the object, the processor selects a frame image containing the most content elements of the target object from the image collection, and determines the position coordinates of the camera 204 and the structural light source 202 corresponding to the image as the optimal shooting position. The specific moving manner of the structural light source 202 and the camera 204 is not limited during the entire moving process. For example, in other embodiments, the structural light source 202 and the camera 204 are first fixed at the middle of the guide rail 206, and then the structural light source 202 and the camera 204 are respectively controlled by the first sliding electronic control device 203 and the second sliding electronic control device 205. Moving to both ends of the guide rail 206; or firstly fixing the structural light source 202 and the camera 204 to one end of the guide rail 206, and then controlling the structural light source 202 and the camera 204 to move to the other end of the guide rail 206 by the slide electric control device.

The mounting of the sliding electrical control device on both the structured light source 202 and the camera 204 is a specific embodiment. In other embodiments, the sliding electrical control device can be mounted only on the structured light source 202 or the camera 204.

When the position coordinate of the target object in the world coordinate system changes, the optimal shooting position is reacquired by the photographing device or the first sliding electronic control device 203 and the second sliding are changed according to the change of the position coordinate of the target object in the world coordinate system. The electronic control unit 205 automatically adjusts the position of the structured light source 202 and camera 204 on the rail 206.

Referring to FIG. 3, FIG. 3 is a schematic structural diagram of a third embodiment of a camera device according to the present invention. As shown in FIG. 3, the camera device includes a position encoder 301, a structure light source 302, and a first slide electronic control device 303. The first camera 304, the first rail 305, the second slide electronic control unit 306, the second camera 307, the second rail 308, and a processor (not shown). The first sliding electronic control device 303, the first rail 305, the second sliding electronic control device 306 and the second rail 308 together constitute a sliding module. The first rail 305 and the second rail 308 are both linear guide rails, and the two rails form an angle. In other embodiments, the rails may also be curved rails. The two cameras are binocular cameras, and the two cameras may be monocular cameras or multi-view cameras in other embodiments, which are not limited. The structure light source 302 and the first camera 304 are respectively connected to the first rail 305, the second camera 307 is connected to the second rail 308, and the first slide electronic control device 303 and the second slide electronic control device 306 are respectively coupled to the first camera 304 and the The two cameras 307 are electrically connected, and the two sliding electronic control devices respectively control the movement of the two cameras on the first rail 305 and the second rail 308, and the position encoder 301 is used for recording and storing the position coordinates of the two cameras and the structural light source 302. The two cameras are used to collect a collection of images including a series of images of the target object at a plurality of different locations, and the processor obtains a frame image containing the most content elements of the target object from the image collection, and the camera and the structural light source corresponding to the image The position coordinates of 302 are determined as the optimal shooting position.

In a specific embodiment, in order to determine an optimal shooting position, the structural light source 302 and the first camera 304 are respectively fixed at both ends of the first rail 305, and the second camera 307 is fixed at one end of the second rail 308. The first camera 304 and the second camera 307 are respectively controlled to move toward the other end of the first rail 305 and the second rail 308 by the first sliding electronic control device 303 and the second sliding electronic control device 306, during the whole movement, The position encoder 301 records and stores the position coordinates of the two cameras and the structural light source 302. The two cameras collect image collections including a series of images of the target object at a plurality of different positions, and the processor selects the target from the image collection. The frame image having the largest object content element determines the position coordinates of the camera corresponding to the image and the structural light source 302 as the optimal shooting position. Wherein, the specific moving manner of the structural light source 302 and the two cameras is not limited during the entire moving process. For example, in other embodiments, the structural light source 302 and the first camera 304 are both fixed at the same end of the first rail 305, and the second camera 307 is fixed at one end of the second rail 308, and then passes through the first sliding electric The control device 303 and the second sliding electronic control device 306 respectively control the first camera 304 and the second camera 307 to move toward the other end of the first rail 305 and the second rail 308; or first fix the structural light source 302 and the first camera 304 At the middle of the first guide rail 305, and fixing the second camera 307 at one end of the second guide rail 308, the first camera 304 is controlled to move on the first guide rail 305 in a direction away from the structural light source 302 by the slide electric control device. And controlling the second camera 307 to move to the other end of the second rail 308.

Mounting the slide electronic control device on each of the two cameras is a specific embodiment. In other embodiments, the slide electronic control device can be mounted on both the structured light source 302 and the two cameras.

When the position coordinate of the target object in the world coordinate system changes, the optimal shooting position is reacquired by the photographing device or the camera is automatically adjusted on the guide rail by the sliding electric control device according to the change of the position coordinate of the target object in the world coordinate system. position.

It can be seen from the above that the present invention controls the movement of the camera and/or the structural light source by the sliding module, and the camera collects a collection of images including a series of images of the target object at a plurality of different positions, and the processor obtains the highest matching degree with the image collection from the image collection. The frame image determines the position coordinates of the camera and the structural light source corresponding to the frame image with the highest matching degree as the optimal shooting position. In this way, the occlusion can be better avoided, and the optimal shooting position of the structural light source and the camera can be automatically found according to objects of different sizes and distances, thereby improving the display quality of the captured image.

Please refer to FIG. 4. FIG. 4 is a schematic flowchart diagram of an embodiment of a method for optimizing a shooting position according to the present invention. Hereinafter, specific steps of the method will be described in detail.

S401: Acquire parameter information of the calibration of the photographing device.

In the process of acquiring the image information of the target object, in order to determine the relationship between the three-dimensional geometric position of a certain point on the surface of the target and its corresponding point in the image, a geometric model of the camera imaging must be established. These geometric model parameters are the parameters of the camera. The process of obtaining these parameters is called camera calibration. The camera in this embodiment is a monocular, binocular or multi-eye camera.

In a specific embodiment, the calibration of the camera includes calibration of internal parameters and external parameters, and internal parameter information such as principal point coordinates, focal length, radial distortion coefficient, and lateral distortion coefficient, and external parameter information such as a rotation matrix and a translation matrix are obtained by calibration. .

S402: controlling the movement of the camera and/or the structural light source by the sliding module, the camera collects a collection of images including a series of images of the target object at a plurality of different positions, and the position sensor records and stores the camera and the structural light source during the moving process. A series of position coordinates.

Install a sliding electronic control device on the camera and / or structure light source, control the camera through the sliding electronic control device and / Or the structural light source moves on the guide rail. During the whole movement, the camera collects a collection of images containing a series of images of the target object at a plurality of different positions, and the position encoder records and stores the camera and/or the structural light source moving on the guide rail. A series of position coordinates of the camera and the structured light source. Specifically, as shown in FIG. 1, the number of cameras and guide rails in FIG. 1 is one. A slide electronic control device 103 is mounted on the camera 104, and the structural light source 102 and the camera 104 are respectively fixed at both ends of the guide rail 105. The slide electronic control device 103 controls the camera 104 to move on the guide rail 105 in a direction toward the structural light source 102. During the entire movement, the camera 104 collects a collection of images containing a series of images of the target object, and the position encoder 101 records and stores. A series of positional coordinates of camera 104 and structured light source 102. The specific moving manner of the structural light source 102 and the camera 104 is not limited during the entire moving process. For example, in other embodiments, the structured light source 102 and the camera 104 are first secured to the same end of the rail 105, and the camera 104 is controlled to move toward the other end of the rail 105 by the slide electronic control device 103. The sliding electronic control unit 103 is only mounted on the camera 104. In other embodiments, the sliding electric control device can be mounted on the structural light source 102 and the camera 104, and the structural light source 102 and the sliding electronic control device are controlled. The camera 104 is simultaneously moved on the guide rail 105.

In other embodiments, the number of cameras and rails is two. Specifically, as shown in FIG. 3, the two guide rails in FIG. 3 are all linear guide rails, and both cameras are binocular cameras, and the two cameras may also be monocular or multi-head cameras, which are not limited. A sliding electric control device is mounted on both cameras. The structural light source 302 and the first camera 304 are respectively fixed at two ends of the first guide rail 305, and the second camera 307 is fixed at one end of the second guide rail 308, and then The first camera 304 and the second camera 307 are respectively controlled to move toward the other end of the first rail 305 and the second rail 308 by the first slide electronic control device 303 and the second slide electronic control device 306, during the entire movement, two The camera collects a collection of images containing a series of images of the target object at a plurality of different locations, and the position encoder 301 records and stores a series of position coordinates of the two cameras and the structured light source 302. Wherein, the specific moving manner of the structural light source 302 and the two cameras is not limited during the entire moving process. For example, in other embodiments, the structural light source 302 and the first camera 304 are both fixed at the same end of the first rail 305, and the second camera 307 is fixed at one end of the second rail 308, and then passes through the first sliding electric The control device 303 and the second sliding electronic control device 306 respectively control the first camera 304 and the second camera 307 to move toward the other end of the first rail 305 and the second rail 308; or first fix the structural light source 302 and the first camera 304 At the middle of the first guide rail 305, and fixing the second camera 307 at one end of the second guide rail 308, the first camera 304 is controlled to move on the first guide rail 305 in a direction away from the structural light source 302 by the slide electric control device. And controlling the second camera 307 to move to the other end of the second rail 308. Mounting the slide electronic control device on each of the two cameras is a specific embodiment. In other embodiments, the slide electronic control device can be mounted on both the structured light source 302 and the two cameras.

S403: The frame image with the highest matching degree with the image collection is obtained from the image collection by the processor, and the position coordinates of the camera corresponding to the frame image with the highest matching degree and the structural light source are determined as the optimal shooting position.

In S402, an image collection of a series of images of the camera acquisition target object and a series of position coordinates of the camera and the structural light source are obtained, and the processor obtains the frame with the highest matching degree of the image collection from the image collection. The image determines the position coordinates of the camera and the structural light source corresponding to the frame image with the highest matching degree as the optimal shooting position. The frame image having the highest matching degree with the image collection from the image collection is specifically obtained by acquiring the frame image including the target object content element from the image collection. Specifically, as shown in FIG. 1, when the camera 104 collects image collection of a series of images during the entire movement process at a plurality of different positions and the position encoder 101 acquires a series of position coordinates, the processor collects the collected images. A frame image including the most content elements of the target object is selected, and the position coordinates of the camera 104 and the structural light source 102 corresponding to the selected image are determined as the optimal shooting position.

When the position coordinate of the target object in the world coordinate system changes, the optimal shooting position is reacquired by the photographing device or the camera 104 is automatically adjusted by the slide electric control device 103 according to the change of the position coordinate of the target object in the world coordinate system. The location on the 105.

In other embodiments, the number of cameras and rails is two. Specifically, as shown in FIG. 3, the two guide rails in FIG. 3 are all linear guide rails, and both cameras are binocular cameras, and the two cameras may also be monocular or multi-head cameras, which are not limited. When the two cameras collect image collections containing a series of images of the target object at a plurality of different locations and the position encoder 301 records and stores a series of position coordinates of the two cameras and the structural light source 302, the processor collects the collected images from the image. A frame image including the content element of the target object is selected, and the position coordinates of the camera corresponding to the selected image and the structural light source 302 are determined as the optimal shooting position.

When the position coordinate of the target object in the world coordinate system changes, the optimal shooting position is reacquired by the photographing device or the camera is automatically adjusted on the guide rail by the sliding electric control device according to the change of the position coordinate of the target object in the world coordinate system. position.

Different from the prior art, the present invention controls the movement of the camera and/or the structural light source through the sliding module, and the camera collects a collection of images including a series of images of the target object at a plurality of different locations, and the processor acquires the image collection from the image collection. The frame image with the highest matching degree determines the position coordinates of the camera and the structural light source corresponding to the frame image with the highest matching degree as the optimal shooting position. In this way, the occlusion can be better avoided, and the optimal shooting position of the structural light source and the camera can be automatically found according to objects of different sizes and distances, thereby improving the display quality of the captured image.

The above description is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformation using the specification and the drawings of the present invention may be directly or indirectly applied to other related The technical field is equally included in the scope of patent protection of the present invention.

Claims (16)

A photographing device, comprising: a structured light source, a camera, a sliding module, a position sensor, and a processor; wherein the structural light source and the camera are respectively connected to the sliding module; The position sensor is specifically configured to record and store position coordinates of the camera and the structural light source, and the camera is specifically configured to collect image collections including a series of images of the target object at a plurality of different locations; The processor is specifically configured to acquire, from the image collection, a frame image with the highest degree of matching with the image collection, and determine a position coordinate of the camera corresponding to the frame image with the highest matching degree and the structure light source. For the best shooting position. A photographing apparatus according to claim 1, wherein said sliding module comprises a guide rail and a slide electric control device, and said structural light source and said camera are respectively connected to said guide rail, said structural light source and/or The camera is electrically coupled to the sliding electronic control device, and the sliding electronic control device is specifically configured to control movement of the camera and/or the structural light source on the guide rail. A photographing apparatus according to claim 2, wherein said position sensor is a position encoder, said position encoder is mounted on said rail, said position encoder is specifically for recording and storing said The position coordinates of the camera and the structured light source. The photographing apparatus according to claim 1, wherein the camera is specifically configured to collect image collections comprising a series of images of target objects at a plurality of different locations, the processor being specifically configured to collect from the images. And obtaining a frame image including the content element of the target object, and determining a position coordinate of the camera corresponding to the image and the structural light source as an optimal shooting position. The photographing device according to claim 2, wherein the guide rail is a curved guide rail or a linear guide rail, and the slide electric control device is specifically configured to control the camera and/or the structural light source in the Move on a curved or linear guide. A photographing apparatus according to claim 2, wherein the number of the camera and the guide rail is one, and the slide electric control device is specifically configured to control the camera and/or the structural light source. Moving on the rail. A photographing apparatus according to claim 2, wherein the number of the camera and the guide rail are two, the two guide rails form an angle, and the slide electric control device is for controlling the A camera and/or the structured light source are respectively moved over the two rails. The photographing apparatus according to claim 1, wherein the camera is a monocular camera, a binocular camera or a multi-eye camera, and the camera is specifically configured to collect a series of images including a target object at a plurality of different positions. Image collection, the processor is configured to acquire, from the image collection, a frame image with the highest degree of matching with the image collection. A method for shooting location optimization, characterized in that the method comprises: Obtaining parameter information of the calibration of the camera; Controlling movement of the camera and/or structural light source by a sliding module that captures a collection of images comprising a series of images of the target object at a plurality of different locations, the position sensor recording and storing the camera and/or the structured light source during movement a series of position coordinates of the camera and the structured light source; Obtaining, by the processor, the frame image with the highest degree of matching with the image collection from the image collection, determining the position coordinates of the camera corresponding to the frame image with the highest matching degree and the structure light source as the optimal shooting position. The method for optimizing the location of the camera according to claim 9, wherein the step of controlling the movement of the camera and/or the structure light source by the sliding module comprises: The camera and/or the structural light source are controlled to move on the rail by a sliding electronic control unit. A method for optimizing a photographing position according to claim 10, wherein said position sensor is a position encoder, said position encoder recording and storing said camera and/or said structural light source in said A series of positional coordinates of the camera and the structured light source during movement on the rail. The method for locating a location of a frame according to claim 9, wherein the step of acquiring, by the processor, the frame image having the highest degree of matching with the image collection by the image collection comprises: A frame image containing the most content elements of the target object is acquired from the image collection by the processor. A method for optimizing a photographing position according to claim 10, wherein the number of the camera and the guide rail is one, and the slide electric control device controls the camera and/or the structural light source. Moving on the guide rail, the step of the camera collecting the image collection including the series of images of the target object at a plurality of different positions comprises: The sliding electronic control device controls the camera and/or the structural light source to move on the one of the guide rails, and the one camera collects a collection of images including a series of images of the target object at a plurality of different locations; Obtaining, by the processor, the frame image with the highest degree of matching with the image collection from the image collection, determining the position coordinates of the camera corresponding to the frame image with the highest matching degree and the structure light source as the optimal shooting The steps of the location specifically include: Obtaining, by the processor, the frame image with the highest degree of matching with the image collection from the image collection captured by the one camera, and positioning the camera and the structure light source corresponding to the frame image with the highest matching degree The coordinates are determined as the optimal shooting position. A method for optimizing a photographing position according to claim 10, wherein the number of the camera and the guide rail are two, and the two guide rails form an angle, and the sliding electric control device controls The step of the camera and/or the structural light source moving on the guide rail, the camera collecting an image collection including a series of images of the target object specifically includes: The sliding electronic control device controls the camera and/or the structural light source to move on the two guide rails respectively, and the two cameras respectively collect image collections including a series of images of the target object at a plurality of different positions; Obtaining, by the processor, the frame image with the highest degree of matching with the image collection from the image collection, determining the position coordinates of the camera corresponding to the frame image with the highest matching degree and the structure light source as the optimal shooting The steps of the location specifically include: Obtaining, by the processor, the frame images with the highest degree of matching with the image collection from the image collection captured by the two cameras, and the camera corresponding to the frame image with the highest matching degree and the structure light source The position coordinates are determined as the optimal shooting position.  The method for optimizing a shooting position according to claim 10, further comprising: When the position coordinate of the target object changes in the world coordinate system, repeating the above steps to re-acquire the optimal shooting position or automatically change according to the position coordinate of the target object in the world coordinate system by the sliding electronic control device Adjusting the position of the camera and/or the structural light source on the rail. The method for obtaining a positional optimization according to claim 9, wherein the specific steps of obtaining parameter information of the camera calibration include: Obtaining internal parameters and external parameter information of the camera calibration; The external parameter includes a rotation matrix and a translation matrix; The internal parameters include principal point coordinates, focal length, radial distortion coefficient, and lateral distortion coefficient.