Systems and methods for 2D image and spatial data capture for 3D stereo imaging

Abstract

Systems and methods for 2D image and spatial data capture for 3D stereo imaging are disclosed. The system utilizes a cinematography camera and at least one reference or “witness” camera spaced apart from the cinematography camera at a distance much greater that the interocular separation to capture 2D images over an overlapping volume associated with a scene having one or more objects. The captured image data is post-processed to create a depth map, and a point cloud is created form the depth map. The robustness of the depth map and the point cloud allows for dual virtual cameras to be placed substantially arbitrarily in the resulting virtual 3D space, which greatly simplifies the addition of computer-generated graphics, animation and other special effects in cinemagraphic post-processing.

What is claimed is: 
     
         1 . A method of forming rectified images of a scene, comprising:
 calibrating first and second cameras based on one or more camera parameters, wherein the first and second cameras each has an image sensor with pixels;   registering the first and second cameras relative to a reference coordinate system to sub-pixel resolution;   simultaneously capturing with the first and second cameras respective initial first and second images of the scene;   rectifying the initial first and second mages to sub-pixel-resolution to form rectified first and second images.   
     
     
         2 . The method of  claim 1 , wherein the one or more camera parameters include:
 lens distortion, image-sensor position, principal point and nodal point locations, and F-stop versus focal length variations.   
     
     
         3 . The method of  claim 1 , wherein registering the first and second cameras includes capturing with the first and second cameras test images of test objects. 
     
     
         4 . The method of  claim 1 , further including supporting the first and second cameras on a rail of an adjustable camera support device. 
     
     
         5 . The method of  claim 1 , wherein said calibrating includes:
 collecting calibration data for the first and second cameras to identify differences between the first and second cameras; and   applying the calibration data to the initial first and second mages to reduce or eliminate differences in the initial first and second images due to the differences between the first and second cameras.   
     
     
         6 . The method of  claim 1 , wherein the pixels of the first and second cameras have the same size. 
     
     
         7 . The method of  claim 1 , wherein registering the first and second cameras includes capturing an image of the first and second cameras with a registration camera. 
     
     
         8 . The method of  claim 1 , wherein the first and second cameras have respective first and second fields of view that are the same. 
     
     
         9 . A method of forming rectified images of a scene, comprising:
 a) establishing one or more camera parameters for a plurality of digital cameras each having pixels;   b) performing a calibration of each digital camera based on the one or more camera parameters to form calibration information;   c) registering the plurality of digital cameras relative to a reference coordinate system to sub-pixel resolution to form registration information;   d) simultaneously capturing with the plurality of digital cameras a plurality of images of the scene and providing the plurality of images to a computer;   e) using the computer, applying the calibration information and registration information to the plurality of images to form frames of corrected viewable image data for each of the plurality of digital cameras; and   f) rectifying the frames to sub-pixel-resolution to form a plurality of rectified images.   
     
     
         10 . The method of  claim 9 , wherein the one or more camera parameters include:
 lens distortion, image-sensor position, principal point and nodal point locations, and F-stop versus focal length variations.   
     
     
         11 . The method of  claim 9 , wherein each frame includes red-green-blue (R-G-B) color information. 
     
     
         12 . The method of  claim 9 , wherein registering the plurality of digital cameras includes capturing with the plurality of digital cameras test images of test objects. 
     
     
         13 . The method of  claim 9 , further including supporting the plurality of digital cameras on a single camera support device. 
     
     
         14 . The method of  claim 9 , wherein the single camera support device includes a rail. 
     
     
         15 . The method of  claim 9 , wherein the pixels in each of the digital cameras have the same size. 
     
     
         16 . The method of  claim 9 , wherein registering the plurality of digital cameras includes capturing an image of the plurality of digital cameras with a registration camera. 
     
     
         17 . The method of  claim 9 , wherein the digital cameras all have the same field of view. 
     
     
         18 . The method of  claim 9 , further comprising:
 stereo-matching two of the plurality of rectified 2D images to form sub-pixel-resolution, stereo-matched first and second 2D images.   
     
     
         19 . The method of  claim 9 , wherein the rectifying act of step f) includes performing photogrammetric triangulation. 
     
     
         20 . The method of  claim 9 , wherein the plurality of digital cameras includes a cinemagraphic digital camera and two witness digital cameras.