JP2002352271A - Three-dimensional image acquisition device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a three-dimensional shape acquisition device capable of presenting a three-dimensional shape reconfigured image to an operator as an image viewed from various viewpoints and easily and efficiently performing judgment to see whether an acquired image is good or bad as the three- dimensional shape reconfigured image. SOLUTION: The three-dimensional shape acquisition device acquires three- dimensional shape information on an object of image pickup based on an image formed by picking up the object of image pickup from a plurality of viewpoints away from a prescribed distance and outputs a signal to display the three- dimensional shape of the object of image pickup to a display means. The device is characterized by being provided with a three-dimensional image operating means to specify a viewpoint position of the three-dimensional shape image to be displayed on the display means and a three-dimensional shape reconfiguring means to reconfigure the three-dimensional shape based on the picked up image, to simultaneously generate the signal to display the three-dimensional shape image formed by viewing the object of image pickup from a desired viewpoint and to output it to the display means according to specification by the three-dimensional image operating means.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a three-dimensional shape obtaining apparatus, and more particularly to a three-dimensional shape obtaining apparatus including an imaging device for measuring a three-dimensional object shape.

[0002]

2. Description of the Related Art For example, as disclosed in Japanese Patent Application Laid-Open No. H10-155110, in an imaging apparatus including a plurality of imaging systems, the reliability of a parallax image is determined by a module that extracts corresponding points using the parallax image. The decision is made.

Then, based on the result of the determination, the operator is instructed to retake the object to be imaged.

[0004]

By the way, in photographing using a film camera by a professional photographer, photographing using Polaroid (registered trademark) film is separately performed in order to determine whether or not photographing is performed correctly. Although an image checking operation may be performed, the image cannot be generally checked until a photograph after development is viewed.

On the other hand, in photographing with a digital camera, since a photographing device is equipped with a liquid crystal display, an image can be checked immediately after photographing or while photographing, so that the photographer can easily determine whether to take again. Has advantages.

From a similar viewpoint, in an apparatus for obtaining a three-dimensional image, an original image photographed by an image pickup apparatus is recorded in an image recording apparatus, and the recorded image is separately taken into a personal computer or the like, and the image is acquired. In most cases, three-dimensional image reconstruction based on the processing is performed, and the quality of photographing is determined based on the obtained three-dimensional image.

Therefore, if the photographing is not effective,
It is necessary to perform shooting again with the imaging device and follow the same three-dimensional image reconstruction process as described above.

For this reason, it has not been to provide a photographing environment in which photographing angles, lighting conditions, background conditions, and the like can be easily changed.

[0009] Summarizing the above points, in the prior art, it is determined whether or not to take a new image based on the reliability of the parallax in the parallax image extraction step in the process of processing the original image acquired by the imaging device having a plurality of imaging systems. Is determined, and the result is notified to the operator, but it is not intuitive unlike the case where the determination is made by directly looking at the image reconstructed into the three-dimensional shape.

[0010] In addition, 3 obtained by photographing from a certain viewpoint.
The three-dimensional shape reconstructed image is also used for the purpose of acquiring a three-dimensional image that surrounds the object from the entire circumference by being combined with a three-dimensional shape reconstructed image acquired by imaging from a plurality of viewpoints thereafter. In that case, great attention is paid to the quality of the imaging of the boundary portion of the acquired three-dimensional image from one viewpoint.

Therefore, it is not sufficient to judge the quality of the photographing of these boundary portions only from a fixed viewpoint, and it is necessary to rotate, move, reduce, or enlarge the obtained three-dimensional image and observe it from various viewpoints. A function that can be confirmed by the user is required.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and provides a three-dimensional shape reconstructed image based on an acquired image from various viewpoints simultaneously or immediately after photographing a photographed target object. It is an object of the present invention to provide a three-dimensional shape obtaining apparatus which can present the obtained image to an operator as a three-dimensional shape reconstructed image and easily and effectively determine whether the obtained image is good or bad.

[0013]

According to the present invention, in order to solve the above-mentioned problems, it is necessary to (1) select three or more imaging targets based on images obtained by imaging the imaging targets from a plurality of viewpoints separated by a predetermined distance.
What is claimed is: 1. A three-dimensional shape acquiring apparatus for acquiring three-dimensional shape information and outputting a signal for displaying a three-dimensional shape image of the imaging target to a display means, the viewpoint of the three-dimensional shape image to be displayed on the display means. A three-dimensional image operating means for designating a position, and a three-dimensional shape reconstructing a three-dimensional shape based on the captured image, and viewing an imaging target from a desired viewpoint in accordance with the specification of the three-dimensional image operating means. A three-dimensional image reconstructing means for generating a signal for displaying an image and outputting the signal to the display means.

Further, according to the present invention, in order to solve the above-mentioned problems, (2) a three-dimensional image precision operating means for designating an image precision of the three-dimensional shape image displayed on the display means is further provided. A three-dimensional shape acquisition device according to (1) is provided.

According to the present invention, in order to solve the above-mentioned problems, the present invention further comprises (3) imaging means for acquiring the image of the imaging target, and operation input means for operating the imaging means. In addition, the three-dimensional shape acquiring device according to (1) is provided, wherein at least a part of the operation input unit also functions as the three-dimensional image operation unit or the three-dimensional image precision operation unit.

Further, according to the present invention, in order to solve the above-mentioned problems, (4) in the case of a moving image display which needs to repeatedly display different three-dimensional images at high speed, the amount of display information is reduced. The three-dimensional shape acquisition device according to (1) is provided.

According to the present invention, in order to solve the above-mentioned problems, (5) a second three-dimensional image for operating at least one of a viewpoint and an image accuracy of a three-dimensional image displayed on the display means. The three-dimensional shape acquiring apparatus according to (1), further including an interface to which image operation means can be connected.

[0018]

Embodiments of the present invention will be described below with reference to the drawings.

(First Embodiment) FIGS. 1 to 7 are views for explaining the configuration and operation of a first embodiment of a three-dimensional shape obtaining apparatus according to the present invention.

First, the first embodiment of the present invention is configured as follows.

FIG. 1 shows a rear view of an image pickup apparatus mainly composed of a digital camera for performing distance measurement in a stereo system using a stereo adapter 2.

This image pickup apparatus comprises a combination lens unit 3 of a camera body 1 and a stereo adapter 2 mounted thereon.

The camera body 1 includes a lens, a flash, a battery,
It is composed of various parts such as an electric circuit, but parts other than those necessary for the description are not shown or described.

Here, the digital camera is a camera capable of outputting an image as numerical data, and includes both a camera that mainly captures still images and a camera that mainly captures video images.

First, in photographing, a photographing mode is selected by using a main function switching dial 3 provided on the camera body 1.

The main function switching dial 3 is used mainly for turning on / off a main power supply, switching between a photographing mode and a reproducing mode, and the like.

FIG. 2 is a conceptual diagram of the stereo adapter 2 shown in FIG.

As shown in the conceptual diagram of FIG. 2, in the stereo adapter 2, the optical path is bisected by using a reflection optical system by mirrors 11, 11 ', 12, and 12'.

Therefore, the CCD mounted on the camera body 1
On the image 14, left and right images equivalent to observation images from two places separated by a certain base line length are formed through the lens system 13 in a form that is divided into two substantially at the center of the image.

As described above, stereo photography can be easily performed simply by attaching the stereo adapter 2 to an existing camera.

As for the image formed by the CCD 14, a moving image or a still image is selected and output by the original image selecting section 23 shown in FIG.

That is, the image formed by the CCD 14 is usually converted into a moving image 15 'based on a video signal by a thinning-out reading method of CCD pixels called a draft mode.
Is output as a moving image on a liquid crystal monitor 4 mounted on the rear surface of the camera body 1 through a desired liquid crystal monitor drive signal processing circuit (not shown).

The operator checks and shows the angle of view, focus, brightness, etc., while viewing the observation image of the object 10 on the eyepiece viewfinder 5 provided on the camera body 1 or the liquid crystal monitor 4. The camera is adjusted using auto focus, zoom function, etc., and the shutter 6 provided on the upper surface of the camera body 1 is depressed.
A still image is captured by calling out all the pixels 4.

Some digital cameras do not have the draft mode. In such a case, the still image 15 is presented on the liquid crystal monitor 4.
The still image 15 is also displayed on the liquid crystal monitor 4 at the same time as or immediately after photographing through a desired signal processing circuit (not shown).

By using the stereo adapter 2, both the still image and the moving image are presented on the liquid crystal monitor 4 as left and right divided images.

At the same time, both the still image and the moving image are acquired by the image recording device 17 shown in FIG.
Is stored in the recording memory.

The recorded image can be called up on the liquid crystal monitor 4 in various forms by selecting the reproduction with the main function switching dial 8.

The still image 1 thus obtained
5 is input to the three-dimensional shape reconstruction unit 16 shown in FIG.
A desired stereo matching process is performed using camera calibration parameters required for separately acquired three-dimensional shape reconstruction, and a three-dimensional shape reconstruction image including three-dimensional distance map data and texture mapping image data is generated in advance. .

In general, since a large amount of processing time is required for the three-dimensional shape reconstruction, the texture mapping process can be turned off depending on the mode selection by the three-dimensional image precision operation unit 21 described later.

In this case, since the above-described image data for texture mapping is not generated in the three-dimensional shape reconstructing section 16, it is possible to present the three-dimensional shape reconstructed image output in a shorter time. Become.

Further, the processing capability of the three-dimensional shape reconstruction unit 16 may not include a texture mapping processing function.

In this case as well, the output from the three-dimensional shape reconstructing unit 16 is inferior in reality due to the gray shading indication, but is sufficient to confirm whether or not the three-dimensional shape measurement has been performed.

Hereinafter, the case where the texture mapping processing is performed will be described.

FIG. 3 is a block diagram showing the configuration of the three-dimensional reconstruction device according to the first embodiment of the present invention.

As shown in FIG. 3, the three-dimensional shape reconstructing unit 16 receives the observation position and posture of the three-dimensional reconstructed object image designated by the operator by the three-dimensional image operating unit 20 and issues a command. The coordinates of the rotation and movement of the three-dimensionally reconstructed object image are converted based on the values, and an image signal obtained by texture mapping the distance map data is output.

In this case, the position and orientation command values are
A maximum of six degrees of freedom in translation in the X-axis, Y-axis, and Z-axis directions and rotation around the X-axis, Y-axis, and Z-axis with respect to a predetermined rectangular coordinate system can be considered. The operable degree of freedom may be set to less than 6 due to restrictions on the manufacture of the 20.

FIG. 4 shows an example in which the above-mentioned operation functions are actually assigned to the existing switches and levers of the image pickup apparatus 1. In the reference coordinate system set for the presentation image, the zoom lever 7 moves the Z axis. In this example, rotation θx around the X axis is assigned to the up / down key function of the + character cursor key 9 for translation and menu selection, and rotation θy around the Y axis is assigned to the left / right key function.

Originally, different functions are assigned to these switches and levers. However, when a three-dimensional reconstructed object image is presented by mode selection, zoom operation and menu selection are performed at the same time. Since no operation is performed, the above-described function assignment can be performed.

When the user wants to exit the mode for presenting the three-dimensionally reconstructed object image, the user can press the menu selection key 22 provided on the camera body 1.

Thus, when returning to the normal photographing mode, the original functions of the zoom lever 7 and the + cursor key 9 are reassigned.

FIG. 4 is a diagram for explaining the operation of the three-dimensional reconstruction device according to the first embodiment of the present invention.

FIG. 4 is basically the same as FIG. 1, and the components with the same numbers are the same as those in FIG.

In FIG. 4, numbers that are unnecessary for the description of the switches and levers are omitted.

Further, in FIG. 4, hatching is applied to emphasize that the object is not a two-dimensional image but a three-dimensional reconstructed image.

The same method is used in the following explanatory diagrams.

Generally, confirmation of a three-dimensionally reconstructed object image mainly involves confirming a contour portion of the object or a portion shielded by an object existing on the front side.

The above-described operation function assignment provides the operator with the minimum degree of freedom necessary for such work, and furthermore, because existing switches and levers are used, the viewpoint of production cost is reduced. Is also advantageous.

Further, since no new operation key is introduced, the burden on the operator for learning the operation feeling can be reduced.

This assignment can be variously reassigned by menu operation, and the position of the rotation axis can be separately adjusted in the menu.

The three-dimensional reconstructed image can be recorded in the image recording device 17 shown in FIG.

In that case, it is possible to compress and record based on a desired image compression method.

Furthermore, the recorded three-dimensional image can be recalled and presented to the image presentation unit 19 shown in FIG. 3 as a three-dimensional shape reconstructed image.

The image presentation section 19 is basically the liquid crystal monitor 4, but may be an eyepiece type view finder or an external monitor (not shown).

The image presentation unit 19 may be of various types such as a CRT, a liquid crystal, and a device having a touch input function.

Next, the form of an output image in a series of operations for obtaining a three-dimensional reconstructed image will be described.

First, the image selection by the output image selection unit 18 is called by the menu selection key 22 and is performed by operating the menu on the liquid crystal monitor 4.

FIG. 5 is a diagram for explaining the operation of the three-dimensional reconstruction device according to the first embodiment of the present invention.

As shown in FIG. 5, a still image acquired image-
In the still three-dimensional shape reconstructed image presenting mode, no image is presented on the liquid crystal monitor 4 until the shutter 6 is pressed after the photographing angle is confirmed by the eyepiece type viewfinder 5, and the still acquired image is displayed after the shutter 6 is pressed. 15 is first presented on the liquid crystal monitor 4 as a still image.

Subsequently, the three-dimensional shape reconstructed image is presented on the liquid crystal monitor 4 triggered by the completion of the calculation in the three-dimensional shape reconstructing section 16.

In this case, only the three-dimensional shape reconstructed image is presented, and the still image 15 need not be displayed.

Here, since no moving image reproduction is involved, these modes are effective for a digital camera having no draft reproduction mode.

FIG. 6 is a diagram for explaining the operation of the three-dimensional reconstruction device according to the first embodiment of the present invention.

As shown in FIG. 6, in the moving image acquired image-still three-dimensional shape reconstructed image presentation mode, the moving image reproduced image 15 ′ acquired by using the stereo adapter in the draft reproduction mode is presented on the liquid crystal monitor 4. ing.

Therefore, although it is a left-right divided image, it is possible to confirm the photographing angle in real time as in a normal digital camera.

After the photographing angle is determined and the shutter 6 is pressed, first, a still image 15 is presented on the liquid crystal monitor 4.

After that, the completion of the three-dimensional shape reconstruction processing in the three-dimensional shape reconstruction unit 16 is used as a trigger to present a three-dimensional shape reconstruction image on the liquid crystal monitor 4.

As in the case of FIG. 5, when there is no need to present the still image 15, the still image 15 may be hidden.

FIG. 7 is a diagram for explaining the operation of the three-dimensional reconstruction device according to the first embodiment of the present invention.

As shown in FIG. 7, in the moving image three-dimensional shape reconstructed image-still three-dimensional shape reconstructed image presentation mode,
Even before the shutter 6 is pressed, the moving image acquisition image 1
A moving image three-dimensional shape reconstructed image reconstructed as a moving image by the three-dimensional image reconstructing unit 16 by inputting 5 ′ is presented on the liquid crystal monitor 4.

Therefore, at this stage, the three-dimensional shape reconstructed object image can be rotated and moved on the liquid crystal monitor 4, so that the quality of the three-dimensional shape reconstructed result can be determined almost in real time.

When the operator presses the shutter 6 after sufficiently confirming the result of the three-dimensional shape reconstruction, a still three-dimensional shape reconstruction image is obtained, and the image is presented on the liquid crystal monitor 4. You.

In the moving image three-dimensional shape reconstructed image-still three-dimensional shape reconstructed image presentation mode, ideally, a moving image three-dimensional shape reconstructed image with the highest accuracy is presented on the liquid crystal monitor 4. desirable.

However, when it is difficult to realize this due to the limitation of the arithmetic processing capability or the like, it is necessary to reduce the frame rate reproduced as a moving image, limit the number of polygons to be reconstructed in a three-dimensional shape, cancel the texture mapping, and the like. Alternatively, a thinning operation may be performed so as not to impair the quality judgment of the three-dimensional reconstructed image.

Even in such a case, if the still three-dimensional shape reconstructed image acquired after the shutter 6 is finally pressed has been subjected to the highest accuracy three-dimensional shape reconstructing processing, the image quality is determined at this stage. Can be performed, so that no problem occurs.

Further, during reproduction of the moving image three-dimensionally reconstructed image on the liquid crystal monitor 4, for example, the zoom lever 7 is actually used for zoom telephoto and wide operation.

Therefore, the movement of the three-dimensionally reconstructed image,
Rotation work cannot be performed as it is, but in this case, press the menu selection key 22 to enter the menu mode,
If the function is switched, it is possible to cancel the zoom operation and perform the operation of rotating and moving the three-dimensionally reconstructed image while confirming the fixed zoom state.

After stopping this operation, the zoom telephoto
If the user wants to change the wide-angle work, the user can press the menu selection key 22 to switch the function.

As described above, the symbols S and M shown in FIGS. 5 to 7 are not characters actually displayed on the liquid crystal monitor 4 but are described as explanations, where S is a still image and M is a moving image. Indicates that an image is being presented.

Further, the arrows with six degrees of freedom indicate that the quality of the three-dimensional reconstructed image can be determined by changing the position and orientation.

Further, it is shown that the mesh image of the left image in FIG. 7 may be presented with a limited image accuracy compared to the final output image on the right.

Various forms of image output from the three-dimensional shape reconstruction unit 16 specified by the three-dimensional image precision operation unit 20 are conceivable.

That is, wire frame, full rendering, texture mapping, non-texture mapping, etc. can be considered as the form of rendering.
Attributes of each form include the size of the triangular patch, the image resolution of the texture to be pasted, and the like.

The change of the image form by the three-dimensional image precision operation unit 21 also affects the amount of image processing in the three-dimensional shape reconstruction unit 16, and as a result, increases or decreases the drawing speed. The user can variously change these settings according to the photographing intention.

The three-dimensional shape reconstruction unit 16 executes, for example, a single instruction and a plurality of data simultaneous execution (S
A high-speed CPU equipped with an (IMD) type instruction is available, and a peripheral circuit may need to be mounted in a peripheral portion to convert an analog image signal into a digital image signal according to the form of an acquired image.

As a part of the configuration, for example, Open
An existing CPU for drawing a three-dimensional image developed specifically for a graphic library such as nGL or DirectX can be used mainly or in combination.

That is, the general-purpose description can be used for the drawing without the need for complicated processing such as double buffering of a video frame memory specialized for presenting a three-dimensional image, a geometry coordinate transformation matrix, a perspective transformation method, and texture mapping. Realization becomes possible.

Note that various modifications and changes can be made to the components of the first embodiment as described above.

In the following description, the components denoted by the same reference numerals are equivalent to those in the first embodiment.

(First Modification) FIG. 8 is a diagram showing a first modification of the first embodiment.

As shown in FIG. 8, in the first modification, the three-dimensional image operation unit 23 is provided separately from the camera body 1, and the three-dimensional image operation unit 23 is
4 and a + character cursor key 9 ′ having the same function as the + character cursor key 9 provided on the camera body 1, and are connected to the camera body 1 by wire.

Here, 3 for the + character cursor key 9 '
The assignment of the rotation function to the two-dimensional shape reconstructed image is, for example, equivalent to the assignment to the + character cursor key 9, and the operation of the joystick 24 in the up-down direction is the translational movement of the target object in the Z-axis direction, and the left and right of the joystick 24. Manipulating the direction assigns a translational movement in the X-axis direction.

In this case, naturally, the assignment of these operations can be freely modified in consideration of the operability.

However, the coordinate system used in this description is the same as that in FIG. 4 used in the description of the first embodiment.

The camera body 1 and the three-dimensional image operation unit 2
The connection with 3 may be wireless.

Further, it is possible to improve usability by devising such measures as mounting a switch having the same function as the menu selection key 22 and separately providing other keys.

Further, instead of using the custom made three-dimensional image operation unit 23, a general-purpose mouse for PC,
A mouse with a wheel may be used as a three-dimensional image operation unit.

In this case, if the camera body 1 has a general-purpose serial port such as a USB in advance, it is possible to connect the three-dimensional image operation unit to the camera body 1 using this port. Become.

Although the assignment of the operation functions is optional, it is preferable that the icons for the user interface are separately drawn on the liquid crystal monitor 4 to assign the operation functions.

If the liquid crystal panel has a touch operation function, it can be used.

In this case, similarly to the use of the general-purpose mouse,
An interface by drawing icons is effective.

(Second Modification) Next, a second modification of the first embodiment will be described with reference to FIGS.

The three-dimensional image reconstruction shown in the first embodiment is an example based on stereo distance measurement. However, this does not particularly define a method of three-dimensional shape reconstruction. A stereo distance photographing method using an image photographed from a different viewpoint by a single camera can be considered.

In FIG. 9, first, a still image is photographed at a viewpoint A, and then a still image is similarly acquired at a viewpoint B different from A.

In this description, a detailed discussion of the three-dimensional shape reconstruction algorithm will not be given. Camera position and orientation estimation at each viewpoint using the corresponding point search results,
Generally, triangulation is performed by accurately calculating the corresponding point using the estimated information by an iterative method, and finally a distance map is obtained.

Based on these processes, the liquid crystal monitor 4
As shown in FIG. 10, first, a still acquired image at the viewpoint A is presented, and then a still acquired image at the viewpoint B is presented. A reconstruction process is performed using a three-dimensional shape reconstruction algorithm based on a stereo image, and the completion is used as a trigger to present a three-dimensional shape reconstruction image to the liquid crystal monitor 4.

Further, the method of three-dimensional shape reconstruction includes a combination of stereo imaging performed by using a stereo adapter with the above-described one imaging system using a texture adapter and a plurality of imaging systems. Various methods such as a method of performing stereo shooting, a method of combining texture projection and pattern fringe projection in addition to the shooting of a plurality of imaging systems, and a laser slit scan method can be considered.

(Second Embodiment) Next, a second embodiment will be described with reference to FIGS.

The three-dimensional reconstruction device 25 according to the second embodiment shown in FIG. 11 is first connected to the camera body 1 using a signal input / output unit (not shown).

As a connection method, necessary image information and control signals are transmitted and received by using USB, IEEE 1394, video signal and serial communication signal connection, or the like.

Here, it suffices that the image and the control information can be transmitted and received as a result, and any method can be used.

A three-dimensional reconstruction unit 16 provided in a three-dimensional reconstruction unit 25 converts a three-dimensional image from a moving image acquisition image 15 ′ and a still acquisition image 15 obtained from the camera body 1 via the signal input / output unit. Generate a shape image.

This three-dimensional reconstruction method is the first method of the present invention.
This is the same as the method described in the embodiment.

The generated three-dimensional reconstructed image is
The image is presented to the image presenting unit 4 ′ provided in the three-dimensional reconstruction device 25.

Here, the method of moving and rotating the presented three-dimensional reconstructed image to confirm the image is the same as that described in the first embodiment of the present invention.

The three-dimensional reconstruction device 25 has an image presenting unit 4 'having the same functions as the functional units described in the first embodiment, and a zoom lever as the three-dimensional image presenting unit 20. 7 ', a + character cursor key 9 "as a three-dimensional image precision operation unit 21, a main function selection key 3', a menu selection key 22 ', a shutter 6' and the like are mounted.

The three-dimensional reconstruction device 25 realizes basic operation functions as a camera, such as zoom, focus lock, shutter, menu selection, and the like.
A three-dimensional image is reconstructed from an image acquired by the camera body 1, and various functions necessary for confirming the quality of the three-dimensional image by performing rotation and movement operations are realized.

The three-dimensional reconstruction device 25 is operated so that various functions of the camera body 1 can be operated remotely.
Has an operation interface almost equivalent to that of the camera body 1, but this modification does not prescribe this.
An interface for a three-dimensional image operation and a three-dimensional image precision operation can be arbitrarily set.

Also, the camera body 1 and the three-dimensional reconstruction device 2
Although the connection with 5 is made by wire, it may be wireless.

As described above, by externally providing the three-dimensional reconstruction device 25 that realizes most of the three-dimensional shape reconstruction function, the three-dimensional shape reconstruction can be performed without changing the basic functions of the camera body 1. It becomes feasible.

Therefore, it is possible to judge the quality of a three-dimensionally reconstructed image by using a conventional digital camera having no three-dimensionally reconstructed function.

As described above, according to the present invention, it is possible to directly observe a three-dimensional reconstructed image of an object to be photographed at the same time as or immediately after photographing, and to judge the quality of the object. It is easy to grasp the change of the shooting angle, the lighting condition, the background condition, etc.
It becomes easy to understand which condition should be changed to obtain the most appropriate three-dimensional image for the photographing intention.

As a result, the number of times of retaking an image is reduced, and the usability as a photographing device is dramatically improved.

Further, by confirming the acquired three-dimensional image from a different viewpoint from that at the time of photographing, it is easy to understand the quality of the boundary part of the acquired three-dimensional image.
If you ’re trying to get an image around the object,
It becomes easy to determine the photographing angle of the image to be continuously photographed.

The present specification shown in the above-described embodiments includes the inventions shown as the following supplementary notes 1 and 2 in addition to the claims 1 to 5 shown in the claims. Have been.

(Supplementary Note 1) A signal for acquiring three-dimensional shape information of the imaging target based on images obtained by capturing the imaging target from a plurality of viewpoints separated by a predetermined distance and displaying the three-dimensional shape image of the imaging target A three-dimensional shape obtaining method of outputting a three-dimensional shape to a display means, a three-dimensional image operation of designating a viewpoint position of the three-dimensional shape image to be displayed on the display means, and
Performing at least one of a three-dimensional image precision operation for designating an image precision of the three-dimensional shape image displayed on the display means; reconstructing a three-dimensional shape based on the captured image; According to the specification of the dimensional image operation,
Performing a three-dimensional image reconstruction for generating a signal for displaying a three-dimensional shape image in which the imaging target is viewed from a desired viewpoint and outputting the signal to a display means.

(Supplementary Note 2) The three-dimensional shape obtaining method according to Supplementary Note 1, wherein the amount of display information is reduced in the case of a moving image display that requires repeated display of different three-dimensional shape images at high speed.

[0137]

As described above, according to the present invention, a three-dimensional shape reconstructed image based on an acquired image can be obtained from various viewpoints simultaneously or immediately after photographing a photographed target object. It is presented to the operator as a viewed image, and the quality of the acquired image is easily determined as a three-dimensional shape reconstruction image,
It is possible to provide a three-dimensional shape acquisition device that can be effectively performed.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating a rear view of an imaging apparatus mainly including a digital camera that performs distance measurement in a stereo system using a stereo adapter 2 according to a first embodiment of the present invention. is there.

FIG. 2 is a diagram showing a conceptual diagram of the stereo adapter 2 of FIG. 1;

FIG. 3 is a block diagram showing a configuration of a three-dimensional reconstruction device according to the first embodiment of the present invention.

FIG. 4 is a diagram for explaining an operation of the three-dimensional reconstruction device according to the first embodiment of the present invention.

FIG. 5 is a diagram illustrating an operation of the three-dimensional reconstruction device according to the first embodiment of the present invention.

FIG. 6 is a diagram illustrating an operation of the three-dimensional reconstruction device according to the first embodiment of the present invention.

FIG. 7 is a diagram for explaining an operation of the three-dimensional reconstruction device according to the first embodiment of the present invention.

FIG. 8 is a diagram illustrating a configuration of a first modification of the first embodiment;

FIG. 9 is a diagram illustrating a configuration of a second modification of the first embodiment.

FIG. 10 is a diagram shown to explain an operation of a second modification of the first embodiment;

FIG. 11 is a diagram illustrating a connection state between a three-dimensional reconstruction device and a camera body according to a second embodiment of the present invention as viewed from the back of the imaging device.

[Explanation of symbols]

2 ... Stereo adapter, 1 ... Camera body, 3 ... Combination lens unit, 6 ... Shutter, 8 ... Main function switching dial, 11, 11 ', 12, 12' ... Mirror, 14 ... CCD, 13 ... Lens system, 23 ... Original image selection unit, 15 ': moving image acquisition image, 4: liquid crystal monitor, 5: viewfinder, 10: target object, 6: shutter, 15: still image acquisition, 17: image recording device, 20: three-dimensional image operation unit 16 16-dimensional shape reconstructing unit 21 21-dimensional image precision operating unit 7 Zoom lever 9 + cursor cursor key for menu selection 22 Menu selection key 19 Image presenting unit 18 Output Image selection unit, 23 ... 3D image operation unit, 24 ... joystick, 9 '... + cursor key, 25 ... 3D reconstruction device, 4' ... image presentation unit, 7 '... tertiary Zoom lever 7 as the image presenting unit 20 ', 9 "... three-dimensional image precision operation unit 21 as the + character cursor keys, 3' ... primary function selection key 22 '... menu selection key, 6' ... shutter.

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) H04N 5/225 H04N 5/225 Z 5C061 13/02 13/02 // H04N 101: 00 101: 00 F term (Ref.)

Claims (5)

[Claims] 1. A three-dimensional shape information of an imaging target is acquired based on images obtained by imaging the imaging target from a plurality of viewpoints separated by a predetermined distance, and a signal for displaying the three-dimensional shape image of the imaging target is displayed. A three-dimensional shape acquiring device for outputting to the means, a three-dimensional image operating means for designating a viewpoint position of the three-dimensional shape image to be displayed on the display means, and a three-dimensional shape based on the captured image. Three-dimensional image reconstructing means for reconstructing and generating a signal for displaying a three-dimensional shape image in which the imaging target is viewed from a desired viewpoint in accordance with the designation of the three-dimensional image operating means and outputting the signal to the display means; A three-dimensional shape acquisition device, comprising: 2. The three-dimensional shape obtaining apparatus according to claim 1, further comprising a three-dimensional image precision operation means for specifying an image precision of the three-dimensional image displayed on the display means. 3. An image capturing device for acquiring the image of the image capturing target; and an operation input device for operating the image capturing device, wherein at least a part of the operation input device includes the three-dimensional image. The three-dimensional shape acquisition device according to claim 1, wherein the three-dimensional shape acquisition device is also used as an operation unit or a three-dimensional image accuracy operation unit. 4. The three-dimensional shape acquiring apparatus according to claim 1, wherein the amount of display information is reduced in the case of a moving image display in which different three-dimensional shape images need to be repeatedly displayed at a high speed. 5. An interface which can be connected to a second three-dimensional image operation means for operating at least one of a viewpoint and an image precision of a three-dimensional image displayed on the display means. The three-dimensional shape acquisition device according to claim 1.