JP5147132B2 - Camera position calculation device - Google Patents

Description

  The present invention relates to an apparatus for calculating a position of a photographing camera that moves a photographing studio by a moving mechanism in order to photograph a subject image.

  2. Description of the Related Art Conventionally, there is known a technique for calculating a camera position of a photographing camera that moves a photographing studio by a moving mechanism in order to photograph a subject image. Among them, there is a technique for calculating the camera position of a photographing camera in order to synthesize a live-action image (subject image) and a CG image without a sense of incongruity. In the following, two conventional examples in which the camera origins of the CG video and the live video are accurately aligned in order to synthesize the live video and the CG video without a sense of incongruity will be described.

  First, as a first conventional example, the position of the photographing camera is positioned at the camera origin so that the photographing camera accurately grasps its own position. Thereafter, the photographing camera is moved through a moving mechanism such as a wheel, and photographing is performed at a certain point.

  At this time, if the photographing camera is moved by a wheel provided on the camera platform or moved by a photographing crane, an error in the photographing camera position, that is, the position of the photographing camera included in the CG image and the actual photographing camera. CG images and live-action images accumulate as the movement of the camera heads increases due to wheel head rotation and slipping in the steering direction, or physical distortion or wear of the wheels or the crane for shooting. In some cases, the composite video may become uncomfortable.

For this reason, every time a sense of incongruity occurs in the synthesized image of the CG image and the actual image, the camera is returned to the camera origin and recalibrated to obtain an accurate camera position.
For example, an arbitrary point measured in advance from a calibration origin for synthesizing a CG image and a real image at the stage of camera rehearsal before photographing is set as the camera origin serving as the reference position of the photographing camera. At that position, the camera is physically moved in two axial directions (X, Y) perpendicular to the plane movement direction of the camera platform, and the camera camera position is detected by a sensor installed on the camera platform through the camera camera. Match the camera origin of the video and live-action video accurately.

Next, as a second conventional example, in order to synthesize a CG image and a live-action image without a sense of incongruity, there is one in which a marker for which shape information has been acquired in advance is placed in the real space of the shooting studio (Patent Literature). 1). Then, a marker in the real space is photographed by the photographing camera, and shape information obtained through the photographing camera is acquired. Thereafter, the position of the photographing camera is calculated by determining the error of the camera position by comparing the marker shape information and the marker information obtained by photographing the marker from the photographed image.
JP-A-9-196267

  However, in the first conventional example described above, when the program continues to be shot, there are other shooting cameras, shooting equipment, shooting camera codes, etc. in the studio, so the shooting camera is set to the camera origin. It is difficult to shoot smoothly because other equipment interferes with the recalibration.

  In addition, even when the moving camera such as a wheel provided on the pan head is not used and the moving camera is moved using a shooting crane, the camera can be used with a microphone or other equipment provided in the space in the studio. It is practically difficult to move the photographic camera to the origin, resulting in inconvenience.

  In addition, placing the marker in the real space in the shooting studio as in the second conventional example causes the following problems.

  First of all, if a characteristic pattern is used as the marker detection pattern in order to improve the marker detection accuracy, the marker will not be displayed in the video, but the marker will not change with the shooting, so the synthesized video will appear unnatural. I can see it. Therefore, it is conceivable to use a marker with a natural pattern that does not cause a sense of incongruity in the synthesized video, but in this case, it becomes difficult to distinguish the marker from other parts in the synthesized video, and stable and accurate detection of the marker is possible. This makes it difficult to calculate the position of the photographing camera.

  The present invention has been made in view of the above-described problems, and does not return the shooting camera to the camera origin, and does not use a marker (object) whose shape has been determined. An object of the present invention is to provide a photographing camera position calculation device capable of correcting an error (displacement) of a camera position easily and reliably.

  According to a first aspect of the present invention, there is provided an apparatus for calculating a position of a photographing camera, wherein a photographing studio for photographing a subject image is moved by a moving mechanism, and each of the photographing cameras includes sensors for measuring a pan angle, a tilt angle, and a height position. The camera position calculation device includes a camera parameter input unit, a camera parameter storage unit, a camera parameter update unit, and a camera position information calculation unit.

  According to such a configuration, the position calculation device of the photographing camera receives the reference direction set in advance by the camera parameter input unit, and the reference direction of the photographing camera directed to the preset calibration origin of the shooting studio The pan angle and tilt angle with respect to, and the camera parameters indicating the height position indicating the camera height are input from the sensor. As a result, the position calculation device for the photographing camera does not need to set a reference necessary for position calculation as a marker in the video.

  Further, the photographing camera position calculation device stores the camera parameters by the camera parameter storage means. Thereby, the position calculation device of the photographing camera can determine the camera update camera parameter with respect to the camera update camera parameter which is the camera parameter and the updated camera parameter.

  In addition, when the camera parameter update unit inputs the updated camera parameter to the input unit, the camera camera position calculation device stores the updated camera parameter as an updated camera parameter in the camera parameter storage unit. Let Thus, the position calculation device of the photographing camera does not need to return the photographing camera to the camera origin in order to obtain the original camera parameters again when calculating the position of the photographing camera. Even if the equipment and code are scattered, the position of the camera can be easily calculated.

  The photographing camera position calculating device calculates the initial camera position based on the camera parameters stored in the camera parameter storage means by the camera position information calculating means, and based on the updated camera parameters stored in the camera parameter storage means. The updated camera position is calculated. As a result, the position calculation device of the photographing camera can acquire the position of the photographing camera as a coordinate value, so that the position of the photographing camera can be passed to video data having a coordinate system. For example, the coordinate system of a CG image in CG composition The camera position at.

  According to a second aspect of the present invention, there is provided an apparatus for calculating a position of a photographing camera, wherein the photographing camera includes an inclination error detector that measures the inclination of the photographing camera with respect to the floor surface of the photographing studio as an inclination error value, The tilt error value is input from the tilt error detector, and the height position included in the input camera parameter is corrected by the tilt error value.

  According to such a configuration, since the position calculation device of the photographing camera corrects the height position included in the camera parameter with the inclination error value, for example, even when the photographing camera is tilted due to the unevenness of the floor surface of the photographing studio, this influence is exerted. Can be calculated with high accuracy.

  According to a third aspect of the present invention, there is provided a photographing camera position calculating apparatus, wherein the photographing camera includes a rotation error detector for measuring a rotation error value of the moving mechanism, and the camera parameter input means receives the rotation error value from the rotation error detector. And a pan angle included in the input camera parameter is corrected with a rotation error value.

  According to such a configuration, since the position calculation device of the shooting camera corrects the pan angle included in the camera parameter with the rotation error value, for example, a rotation error is generated in the moving mechanism due to unevenness of the floor surface of the shooting studio or slip of the wheel. Even if it occurs, it is possible to calculate an updated camera position with high accuracy while minimizing this influence.

  According to a fourth aspect of the present invention, in the photographing camera position calculating device, the moving mechanism of the photographing camera outputs the position of the photographing camera in the photographing studio as position information, and the camera position information calculating means calculates the updated camera position. Based on the position information of other shooting cameras other than the selected shooting camera, the position of the other shooting camera viewed from the shooting camera is calculated, and the shooting camera is calculated from the relationship between the tilt angle of the shooting camera and the updated camera position of the shooting camera. A configuration for calculating the position of the calibration origin seen, and calculating the position of the calibration origin seen from the other photography camera from the relationship between the position of the other photography camera and the position of the calibration origin seen from the photography camera, did.

  According to such a configuration, if the position calculation device of the photographing camera calculates the updated camera position of one photographing camera, even if the other photographing camera is in a position where the calibration origin cannot be photographed, the other photographing camera And the position of the calibration origin as viewed from another photographing camera can be calculated. The photographing camera position calculation device directs one photographing camera to the calibration origin in order to calculate the camera position and the calibration origin position even when a plurality of photographing cameras shoot a program. This eliminates the need to point all the shooting cameras to the calibration origin, and minimizes the number of times the shooting cameras are pointed to the calibration origin.

  According to a fifth aspect of the present invention, there is provided a photographing camera position calculation device comprising a planned photographing position input unit and a movement amount calculation unit.

  According to such a configuration, in the photographing camera position calculation device, the predetermined photographing scheduled position of the photographing camera is input by the photographing planned position input unit. As a result, since the position calculation device of the photographing camera can calculate the movement amount and direction of the photographing camera, the movement amount and direction from the current position to the destination can be calculated, and the photographing camera for moving the photographing camera Can be output.

  Further, the position calculation device of the photographing camera updates the movement amount and direction from the initial camera position to the planned shooting position vector with respect to the planned shooting position vector by the movement amount calculation means. Calculation is performed by adding the camera position vectors from the camera position to the initial camera position. Thereby, the position calculation device of the photographing camera can calculate an accurate movement amount and direction to the next scheduled photographing position.

  According to the first aspect of the present invention, it is not necessary to return the shooting camera to the camera origin to calculate the position. Therefore, during the shooting of the program in the shooting studio, the camera placed on the shooting floor is cleaned up. There is no need to return the camera to the camera origin, and the position of the camera can be easily calculated in accordance with the shooting situation. According to the first aspect of the present invention, since the calibration origin can be a tile joint on the photographing floor, it is not necessary to use a marker for a part of the subject photographed by the photographing camera. The position of the photographing camera can be calculated without giving a restriction.

According to the second aspect of the present invention, it is possible to calculate the updated camera position with high accuracy while minimizing the influence of the inclination of the photographing camera.
According to the third aspect of the present invention, it is possible to calculate the updated camera position with high accuracy while minimizing the influence of the rotation error of the moving mechanism.

  According to the invention described in claim 4, since the position of another photographing camera at a position where the calibration origin cannot be photographed can be calculated, other photographing can be easily performed in addition to the photographing camera. It is possible to calculate the position of the camera and the calibration origin as seen from another shooting camera. Furthermore, according to the invention described in claim 4, since the number of times the photographing camera is directed to the calibration origin can be minimized, the position of each photographing camera is maintained while maintaining the degree of freedom of the photographing shot of each photographing camera. Easy to calculate.

  According to the invention described in claim 5, the camera can be used even with a shooting camera that performs autonomous mobile shooting, and can be shot based on a shooting schedule position of a shooting camera input in advance, and there are a plurality of shooting schedule positions. Also, the camera position error can be corrected and the error will not accumulate.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Here, for example, the present invention is applied to a case where a subject is photographed by a photographing camera that is a robot camera in a studio to produce a CG composite image, and will be described as a position calculation device for a photographing camera in a CG composition system. . Needless to say, the camera position calculation apparatus according to the present invention can be used not as a CG synthesis system but as a single apparatus.

[Outline of CG synthesis system]
Hereinafter, the CG synthesis system Z according to the present invention will be described with reference to FIG. FIG. 1 is a diagram schematically showing a configuration of a CG synthesis system according to an embodiment of the present invention.

  As shown in FIG. 1, the CG composition system Z includes a photographing camera position calculation device 1, a control device E, a photographing camera device (shooting camera) C1, and a photographing camera monitor M, which are connected to each other via a line. CG synthesis is performed.

  The CG composition system Z photographs, for example, a performer R1 (for example, an announcer) standing in front of a blue screen SC capable of performing chroma key processing with the photographing camera device C1, and the screen SC portion included in the photographed video E2 A CG image E1 obtained by synthesizing a CG image (for example, a mountain landscape) is output.

  Shooting by the CG synthesis system Z is performed based on a planned shooting position previously input from the outside to the CG synthesis system Z, but if the photographic camera device C1 is moved by the CG synthesis system Z, the CG synthesis system Z There may be an error between the position of the photographing camera device C1 used in the above and the actual position of the photographing camera device C1. As a result, an image error (deviation) occurs in the synthesized video output to the photographic camera monitor M. Therefore, the CG synthesis system Z again acquires the accurate photographic camera position to eliminate the error. To control.

  The control device E receives a command from the outside and controls the photographing camera device C1 and the photographing camera monitor M. First, the control device E receives a command from the outside, controls the photographing camera device C1, and moves it to the initial camera position P0. Further, the control device E receives a command from the outside based on the synthesized video displayed on the photographing camera monitor M, and photographs the calibration origin G1 while directing the orientation of the photographing camera device C1 toward the calibration origin G1. At this time, the calibration origin G1 is manually adjusted so as to appear in the center of the camera lens.

  Further, when receiving a position calculation command from the outside, the control device E inputs the camera parameter at that time and the reference direction K directly opposite to the CG drawing axis to the position calculation device 1 of the photographing camera.

  In addition, when receiving a command from the outside, the control device E controls the photographing camera device C1 for photographing, and controls the photographing camera device C1 in accordance with the scheduled photographing position previously input to the control device E from the initial camera position P0. Move to one of the planned shooting positions. Then, the control device E controls the photographic camera device C1 at the destination of the photographic camera device C1 to shoot the performer R1 as the subject and the screen SC, and synthesizes the CG video E1 inputted in advance, It is displayed on the photographing camera monitor M. Thereafter, when an error (deviation) between the CG image E1 displayed on the photographing camera monitor M and the actual photographed image E2 has occurred, the control device E again issues a position calculation command for the photographing camera device C1 from the outside. And the camera parameters are input to the position calculation device 1 of the photographing camera. Details of the camera parameters will be described later.

  When the control device E receives the movement amount and the direction R up to the next scheduled shooting position P2, the control device E stores the movement amount and the direction R. When a movement command to the next scheduled shooting position P2 is given from the outside to the control device E, the control device E performs the next based on the stored movement amount and direction R, the next scheduled shooting position P2, and the updated camera position P1. The photographing camera device C1 is moved to the scheduled photographing position P2.

  The photographing camera monitor M displays a composite video of the CG video E1 and the live-action video E2. If an error occurs in the position of the photographic camera device C1 between the CG video E1 and the live-action video E2 that are input to the control device E in advance, a sense of incongruity occurs in the image.

  The photographing camera device C1 is a pan head in which a photographing camera for photographing a subject can freely move in a photographing studio by a moving mechanism (not shown), and the pan angle, tilt angle, and height position of the photographing camera can be freely controlled. Mounted on. In addition, the photographing camera device C1 measures the pan angle, the tilt angle, and the height position of the photographing camera by a sensor (not shown), and outputs it to the position calculation device 1 via the control device E. In addition, the photographing camera device C1 may output the position (coordinates) in the photographing studio detected by the moving mechanism as position information to the position calculating device 1 via the control device E.

  Further, the photographing camera device C1 may include a tilt error detector (not shown) that measures the tilt of the photographing camera device C1 with respect to the floor surface of the photographing studio as a tilt error value (angle information). Examples of the tilt error detector include a gyro sensor and other sensors. Then, the photographing camera device C1 outputs the tilt error value measured by the tilt error detector to the position calculation device 1 via the control device E.

  Further, the photographing camera device C1 may include a rotation error detector (not shown) that measures the rotation error value (angle information) of the moving mechanism. Examples of the rotation error detector include a gyro sensor and other sensors. The photographing camera device C1 outputs the rotation error value measured by the rotation error detector to the position calculation device 1 via the control device E.

  In addition, the photographing camera device C1 measures the pan angle, the tilt angle, and the height position at the initial camera position P0, and outputs them to the position calculation device 1 of the photographing camera via the control device E. Thereafter, the photographic camera device C1 measures the pan angle, the tilt angle, and the height position at the updated camera position P1, and outputs them to the position calculation device 1 of the photographic camera via the control device E. Furthermore, at the next scheduled shooting position P2, the shooting camera device C1 measures the pan angle, tilt angle, and height position, and outputs them to the position calculation device 1 of the shooting camera via the control mechanism E. The pan head constituting the photographing camera may be a photographing crane (not shown).

The reference direction K is input as angle information between the moving mechanism provided on the camera platform and the camera platform.
For example, the wheel is directed in the wheel traveling direction with respect to the front direction of the pan head, and the angle is obtained by a sensor provided on the wheel as the moving mechanism. As described above, the reference direction K is set as angle information with respect to the reference direction of the camera platform.

  The calibration origin G1 is preferably installed at any position in the shooting studio at a position that can be seen by any shooting camera.

[Configuration of shooting camera position calculation device]
Hereinafter, the configuration of the photographing camera position calculation device 1 of FIG. 1 will be described with reference to FIG. 2 (refer to FIG. 1 as appropriate). FIG. 2 is a block diagram showing the configuration of the position calculation device for the photographing camera in FIG.

  As shown in FIG. 2, the photographing camera position calculation device 1 includes a camera parameter input unit 10, an error information input unit 15, a camera parameter storage unit 20, a camera parameter update unit 30, and a camera position information calculation unit 40. And a planned shooting position input means 50 and a movement amount calculation means 60.

The camera parameter input unit 10 receives camera parameters and includes a camera parameter input unit 11 and a reference direction input unit 12.
The camera parameter input unit 11 receives the pan angle, tilt angle, and height position at the initial camera position P0 in FIG. 1 from the sensor. The reference direction K is input to the reference direction input unit 12. In FIG. 2, the pan angle at the initial camera position P0 is 0 degree, and the tilt angle is not 0 degree.

<Correction of tilt error and rotation error>
The error information input means 15 receives at least one of a tilt error value and a rotation error value. Further, the error information input unit 15 outputs the input tilt error value and rotation error value to the camera parameter input unit 10. Hereinafter, correction of the tilt error value by the camera parameter input unit of FIG. 2 will be described with reference to FIG. 3 (refer to FIG. 2 as appropriate). FIG. 3 is a diagram for explaining the correction of the tilt error value by the camera parameter input means of FIG. In FIG. 3, the photographing camera device C1 in an inclined state is illustrated by a solid line, and the photographing camera device C1 in an untilted state is illustrated by a broken line.

As shown in FIG. 3, when the photographing camera device C1 is tilted, the height position H ′ included in the camera parameters is an error compared to the height position H when the photographing camera device C1 is not tilted. Will be included. Due to this error, the accuracy of the initial camera position and the updated camera position calculated by the position calculation device 1 of the photographing camera is lowered. Therefore, the photographing camera device C1 outputs a tilt error value measured by a tilt error detector (not shown) attached to the center of the J axis to the position calculation device 1 of the photographing camera. Then, the camera parameter input unit 11 calculates the height position H by correcting the height position H ′ with the input tilt error value using, for example, the following equation (1). In Equation (1), β is an inclination error value indicating the inclination of the photographing camera device C1 with respect to the floor surface (the photographing floor) of the photographing studio (the inclination of the U-perpendicular with respect to the J axis).
H = H ′ cos β Formula (1)

  Then, the camera parameter input unit 11 outputs the corrected height position H as a camera parameter to the camera parameter storage unit 20 and the camera parameter update unit 30. The photographing camera position calculation device 1 includes a height position H ′ when the photographing camera device C1 is located at the initial camera position and a height position H ′ when the photographing camera device C1 is located at the update camera position. Needless to say, both may be corrected.

  Hereinafter, the correction of the rotation error value by the camera parameter input unit of FIG. 2 will be described with reference to FIG. 4 (refer to FIG. 2 as appropriate). FIG. 4 is a diagram for explaining the correction of the rotation error value by the camera parameter input means of FIG. In FIG. 4, the photographing camera device C1 in a state where a rotation error has occurred in the moving mechanism C1a, such as when the moving mechanism C1a slips, is shown by a solid line, and the photographing camera in a state in which no rotation error has occurred in the moving mechanism C1a. Device C1 is shown in broken lines.

  As shown in FIG. 4, when a rotation error occurs in the movement mechanism C1a, the pan angle included in the camera parameter includes an error compared to a pan angle when no rotation error occurs in the movement mechanism C1a. become. Due to this error, the accuracy of the initial camera position and the updated camera position calculated by the position calculation device 1 of the photographing camera is lowered. Therefore, for example, the camera parameter input unit 11 corrects by subtracting the rotation error value (angle) γ from the pan angle included in the camera parameter, and calculates a pan angle without error.

  Then, the camera parameter input unit 11 outputs the corrected pan angle as a camera parameter to the camera parameter storage unit 20 and the camera parameter update unit 30. The photographing camera position calculation device 1 corrects both the pan angle when the photographing camera device C1 is located at the initial camera position and the pan angle when the photographing camera device C1 is located at the update camera position. Needless to say. As shown in FIGS. 3 and 4, by using the height position H without error and the pan angle without error, the position calculation device 1 of the photographing camera can calculate the initial camera position and the update camera position with high accuracy.

Hereinafter, returning to FIG. 2, the description will be continued. The camera parameter storage means 20 stores a camera parameter file 21 including camera parameters, an updated camera parameter file 22 including updated camera parameters, and a reference orientation file 23 including reference orientation information.
Here, the camera parameter storage means 20 stores the camera parameters input from the camera parameter input means 10 as they are.

  The camera parameter file 21 includes a pan angle, a tilt angle, and a height position as camera parameters. The updated camera parameter file 22 includes the updated pan angle, tilt angle, and height position as updated camera parameters. The reference orientation file 23 includes angle information of the camera wheel axis with respect to the pan head representing the reference orientation K as reference orientation information.

  The camera parameters may include other parameters as long as at least the pan angle, the tilt angle, and the height position are included, and the updated camera parameters include other parameters as long as the pan angle, the tilt angle, and the height position are included. It may contain parameters. It is also possible to change the configuration of other parameters between the camera parameter and the updated camera parameter. Note that the tilt angle is not 0 degree.

  The camera parameter update unit 30 updates the camera parameter to the updated camera parameter, and includes a camera parameter update unit 31. Further, when the updated camera parameter is input to the camera parameter input unit 10, the camera parameter update unit 30 stores the updated camera parameter in the camera parameter storage unit 20 as an updated camera parameter.

  That is, the camera parameter update unit 30 performs overwriting change every time the updated camera parameter is updated. It should be noted that all the updated camera parameters may be saved every time they are updated by using means for knowing the latest update information without being overwritten. In this case, as a means for grasping the latest update information, there is a method of setting an update flag.

  The camera position information calculation means 40 calculates an initial camera position P0 based on the camera parameters stored in the camera parameter storage means 20, and further updates the camera position P1 based on the updated camera parameters stored in the camera parameter storage means 20. Is calculated. Here, the camera position information calculation means 40 includes a camera position information calculation unit 41 that calculates the initial camera position P0 and the updated camera position P1. The calculation of the initial camera position P0 and the updated camera position P1 by the camera position information calculation unit 40 will be described later.

  The scheduled shooting position input means 50 includes a scheduled shooting position input unit 51 for inputting a preset shooting planned position of the shooting camera device C1. For example, it is conceivable to shoot at a plurality of positions in shooting, and a plurality of scheduled shooting positions may be input.

  The movement amount calculation means 60 includes a movement amount calculation unit 61 that calculates a movement amount and a direction R to the next scheduled shooting position P2 of the photographing camera device C1. The calculation of the movement amount and the direction R by the movement amount calculation means 60 will be described later.

<Calculation of initial camera position P0 and updated camera position P1>
Hereinafter, the calculation of the initial camera position P0 and the updated camera position P1 will be described with reference to FIGS. 5, 6, and 7 (refer to FIG. 2 as appropriate). FIG. 5 is a side view of the state in which the photographing camera device C1 is directed to the calibration origin G1 at the initial camera position P0 in FIG. Photographing camera apparatus C1 is in the tilt angle alpha ₀ the elevation angle of the optical axis T of the photographing floor F and shoot camera device C1. The intersection of the optical axis T of the photographing camera device C1 and the perpendicular U passing through the initial camera position P0 on the photographing floor F is defined as the J axis of the photographing camera. Further, the distance to the J axis height H ₀ from the photographing floor F.

Since the tilt angle α ₀ and the height position H ₀ are measured by a sensor provided on the J-axis, the camera position information calculation unit 40 determines the distance x ₀ from the calibration origin G 1 to the initial camera position P ₀ as H Calculated as ₀ / tan α ₀ .

  FIG. 6 is a perspective view showing a state in which the photographing camera device C1 is directed to the calibration origin G1 at the updated camera position P1 in FIG. The photographing camera device C1 exists on the pan head, and the tilt angle α is the elevation angle between the photographing floor F and the optical axis T of the photographing camera device C1. The intersection of the optical axis T of the photographing camera device C1 and the perpendicular line U passing through the updated camera position P1 on the photographing floor F is defined as the J axis. The J-axis exists on the optical axis of the photographing camera device C1. A distance from the imaging floor F to the J axis is a height position H.

  Since the tilt angle α and the height position H are measured by a sensor provided on the J-axis, the camera position information calculation unit 40 sets the distance x from the calibration origin G1 to the updated camera position P1 as H / tan α. calculate.

  FIG. 7 is a view showing a state in which the photographing floor F is looked down on the photographing floor F in the present invention. As shown in FIG. 7, when the calibration origin G1 is the origin of coordinates, the coordinates of the updated camera position P1 are represented as (xsin θ, −x cos θ). Here, from FIG. 6, since x = H / tan α, the coordinates of the updated camera position P1 are (H sin θ / tan α, −H cos θ / tan α).

On the other hand, from FIG. 6, the coordinates of the initial camera position P0 are represented as (0, −H ₀ / tan α ₀ ). Therefore, when the initial camera position P0 is the origin (0, 0), the updated camera position P1 is represented as (Hsin θ / tan α, H ₀ / tan α ₀ -H cos θ / tan α). As described above, the camera position information calculating unit 40 calculates the initial camera position P0 and the updated camera position P1 from the camera parameters and the updated camera parameters.

<Calculation of travel and direction>
Hereinafter, the calculation of the movement amount and the direction R will be described with reference to FIG. FIG. 8 is a diagram for explaining the movement amount calculation means of FIG.

  As shown in FIG. 8, the movement amount calculation means 60 uses the movement amount and direction R from the initial camera position P0 to the next scheduled shooting position P2 as the movement amount and direction R from the shooting camera device C1 to the next scheduled shooting position P2. The camera position vector from the updated camera position P1 to the initial camera position P0 is added to the vector.

  In this way, by calculating a vector from the initial camera position P0, the updated camera position P1, and the next scheduled shooting position P2, and adding them, an accurate next movement position can be calculated. Note that the movement amount calculation means 60 may perform subtraction with the vector direction reversed.

<Calculation of updated camera position of other shooting camera device>
Hereinafter, with reference to FIG. 9, the calculation of the updated camera position of another photographing camera apparatus will be described (refer to FIG. 2 as appropriate). FIG. 9 is a diagram for explaining the calculation of the updated camera position of another photographing camera apparatus by the camera position information calculating unit of FIG.

  As shown in FIG. 9, since the photographing camera device C1 is at a position where the calibration origin G1 can be photographed, the updated camera position can be calculated as described above. On the other hand, in the photographing camera device C2, for example, since the performer R1 is located before the calibration origin G1, the calibration origin G1 cannot be photographed, and the position of the photographing camera device C2 and the photographing camera device C2 are viewed. In some cases, the calibration origin G1 cannot be calculated.

  In this case, the camera position information calculation means 40 can calculate the position of the calibration origin G1 viewed from the photographing camera device C1 from the relationship between the tilt angle of the photographing camera device C1 and the updated camera position of the photographing camera device C1 (FIG. 6). reference). Further, the camera position information calculation means 40 can calculate the position of another shooting camera device C2 viewed from the shooting camera device C1 based on the position information of the shooting camera device C2. Then, the camera position information calculation means 40 determines the position of the calibration origin G1 viewed from the other imaging camera apparatus C2 from the relationship between the position of the imaging camera apparatus C2 and the position of the calibration origin G1 viewed from the imaging camera apparatus C1. It can be calculated. As a result, the position calculation device 1 of the photographic camera not only calculates the position of the photographic camera device C1 at which the calibration origin G1 can be photographed easily but also at a position where the calibration origin G1 cannot be photographed. The position of a certain photographing camera device C2 and the position of the calibration origin G1 viewed from the photographing camera device C2 can be calculated.

  The method described above is not limited to the case where the photographing camera device C2 is in a position where the calibration origin G1 cannot be photographed. For example, even when both of the photographing camera devices C1 and C2 are at a position where the calibration origin G1 can be photographed, the camera position information calculating unit 40 directs the photographing camera device C1 toward the calibration origin G1 and the photographing camera device C1. If the updated camera position is calculated, the position of the photographing camera apparatus C2 and the position of the calibration origin G1 viewed from the photographing camera apparatus C2 can be calculated without directing the photographing camera apparatus C2 to the calibration origin G1. As a result, the position calculation device 1 of the photographing camera can minimize the number of times the photographing camera devices C1 and C2 are directed to the calibration origin G1, and can easily calculate the position of the camera even during a broadcast program.

[Operation of the camera position calculation device]
Hereinafter, the operation of the position calculation device 1 of the photographing camera will be described with reference to FIG. 10 (refer to FIG. 2 as appropriate). FIG. 10 is a flowchart showing the operation of the position calculation device 1 for the photographing camera shown in FIG.

  The camera camera position calculation device 1 receives the camera parameters at the initial camera position P0 by the camera parameter input means 10 (step S10). Further, the camera camera position calculation device 1 receives the updated camera parameter (updated camera parameter) at the updated camera position P1 by the camera parameter input unit 10 (step S11).

  Subsequent to the processing in step S11, the camera position calculation device 1 stores the camera parameters in the camera parameter storage unit 20 by the camera parameter input unit 10, and stores the updated camera parameters in the camera parameter storage unit 20 by the camera parameter update unit 30. The information is stored in the means 20 (step S12).

  Following the processing of step S12, the camera position calculation device 1 calculates the initial camera position P0 based on the camera parameters stored in the camera parameter storage unit 20 by the camera position information calculation unit 40, and stores the camera parameter. An updated camera position P1 is further calculated based on the updated camera parameters stored in the means 20 (step S13). As described above, the position calculation device 1 of the photographing camera calculates the initial camera position P0 and the updated camera position P1.

  Since the position calculation device of the photographing camera according to the present invention calculates the updated camera position of the photographing camera device, for example, calibration of the photographing camera can be easily performed by using the updated camera position. In addition, if the position calculation device of the photographing camera can calculate the position of one updated camera among the plurality of photographing camera devices, the position of the other photographing camera device and the position of the calibration origin viewed from the other photographing camera device And can be calculated. By using the position of the other photographic camera device and the position of the calibration origin viewed from the other photographic camera device, the position calculation device of the photographic camera can, for example, capture other photographic images at positions where the calibration origin cannot be photographed. The camera device can also be easily calibrated.

It is a figure which shows typically the structure of the CG synthetic | combination system which concerns on embodiment of this invention. It is a block diagram which shows the structure of the position calculation apparatus of the imaging camera of FIG. It is a figure explaining correction | amendment of the inclination error value by the camera parameter input means of FIG. It is a figure explaining correction | amendment of the rotation error value by the camera parameter input means of FIG. FIG. 2 is a side view of a state in which a photographing camera device C1 is directed to a calibration origin G1 at an initial camera position P0 in FIG. FIG. 2 is a perspective view of a state in which an imaging camera device C1 is directed to a calibration origin G1 at an updated camera position P1 in FIG. In this invention, it is the figure which showed the state which looked down at the photography floor F from the photography floor F. FIG. It is a figure explaining the movement amount calculation means of FIG. It is a figure explaining calculation of the update camera position of the other imaging camera apparatus by the camera position information calculation means of FIG. It is a flowchart which shows operation | movement of the position calculation apparatus of the imaging camera of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Shooting camera position calculation apparatus 10 Camera parameter input means 20 Camera parameter storage means 30 Camera parameter update means 40 Camera position information calculation means 50 Shooting planned position input means 60 Movement amount calculation means

Claims (5)

A position calculation device for a shooting camera that moves a shooting studio for shooting an image of a subject by a moving mechanism and includes sensors that measure a pan angle, a tilt angle, and a height position, respectively.
The preset reference direction is input, and the pan angle and the tilt angle with respect to the reference direction of the photographing camera directed to a preset calibration origin of the photographing studio, and the camera height are indicated. Camera parameter input means for inputting a camera parameter indicating a height position from the sensor;
Camera parameter storage means for storing the camera parameters;
When the updated camera parameters are input to the camera parameter input means, camera parameter update means for storing the updated camera parameters in the camera parameter storage means as updated camera parameters;
Camera position information calculating means for calculating an initial camera position based on the camera parameters stored in the camera parameter storage means and calculating an updated camera position based on the updated camera parameters stored in the camera parameter storage means; A position calculation device for a photographing camera. The photographing camera includes a tilt error detector that measures the tilt of the photographing camera with respect to the floor surface of the photographing studio as a tilt error value.
The camera parameter input means receives the tilt error value from the tilt error detector and corrects the height position included in the input camera parameter with the tilt error value. Item 2. The camera camera position calculation device according to Item 1. The photographing camera includes a rotation error detector that measures a rotation error value of the moving mechanism,
The camera parameter input means receives the rotation error value from the rotation error detector and corrects the pan angle included in the input camera parameter with the rotation error value. The position calculation apparatus of the imaging camera according to claim 1 or 2. The moving mechanism of the shooting camera outputs the position of the shooting camera in the shooting studio as position information,
The camera position information calculating means calculates the position of the other shooting camera viewed from the shooting camera based on the position information of the shooting camera other than the shooting camera that calculated the updated camera position, and the shooting The position of the calibration origin seen from the camera is calculated from the relationship between the tilt angle of the camera and the updated camera position of the camera, and the position of the other camera and the calibration origin seen from the camera 4. The position calculation device for a photographing camera according to claim 1, wherein the position of the calibration origin viewed from the other photographing camera is calculated from a relationship with the position of the photographing camera. 5. A scheduled shooting position input means for inputting a preset shooting position of the shooting camera;
An initial camera position from the updated camera position to the initial camera position with respect to a planned shooting position vector from the initial camera position to the planned shooting position with respect to the movement amount and direction of the shooting camera to the next scheduled shooting position. The position calculation device for a photographing camera according to any one of claims 1 to 4, further comprising movement amount calculation means for calculating by adding vectors.

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