IMAGING SYSTEM, 3D MODEL GENERATION SYSTEM, CONTROLLER, AND METHOD

An imaging system includes a plurality of imaging devices that include two or more imaging devices, and a controller that communicates with the plurality of imaging devices. Each of the plurality of imaging devices includes a reception unit and an imaging setting unit. Each of the two or more imaging devices includes a housing, a sensor, and a transmission unit. The imaging setting unit performs a setting regarding the imaging based on the common set value acquired by the reception unit. The sensor detects external brightness of the housing. The controller includes an acquisition unit, a setting unit, and an output unit. The acquisition unit acquires information regarding a detection result of the sensor. The setting unit determines a common set value to be applied to the plurality of imaging devices based on the information regarding the detection result acquired by the acquisition unit.

TECHNICAL FIELD

The present disclosure relates to generally an imaging system, a 3D model generation system, a controller, a method, and a program. More specifically, the present disclosure relates to an imaging system including a plurality of imaging devices and a controller, a 3D model generation system including the imaging system, a controller used in the imaging system, and a method and a program used in the controller.

BACKGROUND ART

A digital camera system (imaging system) described in PTL 1 includes a plurality of digital cameras (imaging devices) and an operation control device (controller). The operation control device groups the plurality of digital cameras into a plurality of groups, and simultaneously transmits a control command to each of the digital cameras belonging to an identical group. Each of the digital cameras belonging to the identical group executes a common operation corresponding to the control command

CITATION LIST

Patent Literature

SUMMARY OF THE INVENTION

In the digital camera system described in PTL 1, for example, a place where a part of the digital cameras is installed may be darker than a place where another digital camera is installed. In this case, there is a difference between brightness of an image generated by a part of the digital cameras and brightness of an image generated by the other digital camera. As described above, there may be a difference in properties of a plurality of images generated by a plurality of digital cameras due to an environment in which the plurality of digital cameras are installed, a difference in characteristics regarding imaging of the plurality of digital cameras, and the like.

An object of the present disclosure is to provide an imaging system, a 3D model generation system, a controller, and a program capable of setting properties of a plurality of images generated by a plurality of imaging devices close to each other.

An imaging system according to one aspect of the present disclosure includes a plurality of imaging devices including two or more imaging devices, and a controller. The controller communicates with the plurality of imaging devices. Each of the plurality of imaging devices includes a reception unit and an imaging setting unit. The reception unit acquires, from the controller, a common set value regarding imaging The imaging setting unit performs a setting regarding the imaging based on the common set value acquired by the reception unit. Each of the two or more imaging devices further includes a housing, a sensor, and a transmission unit. The sensor detects external brightness of the housing. The transmission unit outputs information regarding a detection result of the sensor to the controller. The controller includes an acquisition unit, a setting unit, and an output unit. The acquisition unit acquires the information regarding the detection result of the sensor of each of the two or more imaging devices. The setting unit determines the common set value to be applied to the plurality of imaging devices based on the information regarding the detection result acquired by the acquisition unit. The output unit outputs the common set value determined by the setting unit to the plurality of imaging devices.

An imaging system according to another aspect of the present disclosure includes a plurality of imaging devices including two or more imaging devices, and a controller. The controller communicates with the plurality of imaging devices. Each of the two or more imaging devices includes a housing, a sensor, and a transmission unit. The sensor detects external brightness of the housing. The transmission unit outputs information regarding a detection result of the sensor to the controller. The controller includes an acquisition unit and a brightness adjustment unit. The acquisition unit acquires the information regarding the detection result of the sensor of each of the two or more imaging devices. The brightness adjustment unit adjusts brightness of each of a plurality of illumination devices that illuminates a space captured by the plurality of imaging devices based on the information regarding the detection result acquired by the acquisition unit.

A 3D model generation system according to another aspect of the present disclosure includes the imaging system according to any one of the above aspects and a 3D generation unit. The 3D generation unit generates a 3D model of an imaging target of the plurality of imaging devices by using pieces of information on a plurality of images generated by the plurality of imaging devices of the imaging system.

A controller according to still another aspect of the present disclosure includes an acquisition unit, a setting unit, and an output unit. The acquisition unit acquires information regarding a detection result of a sensor that detects external brightness and the sensor is included in each of two or more imaging devices among the plurality of imaging devices. The setting unit determines a common set value regarding imaging to be applied to the plurality of imaging devices based on the information regarding the detection result acquired by the acquisition unit. The output unit outputs the common set value determined by the setting unit to the plurality of imaging devices.

A method according to still another aspect of the present disclosure includes acquisition processing, setting processing, and output processing. The acquisition processing is processing of acquiring information regarding a detection result of a sensor that detects external brightness and the sensor is included in each of two or more imaging devices among the plurality of imaging devices. The setting processing is processing of determining a common set value regarding imaging to be applied to the plurality of imaging devices based on the information regarding the detection result acquired in the acquisition processing. The output processing is processing of outputting the common set value determined in the setting processing to the plurality of imaging devices.

A program according to still another aspect of the present disclosure is a program causing one or more processors to execute the method according to the aspect described above.

The present disclosure has an advantage that properties of a plurality of images generated by a plurality of imaging devices can be set to be close to each other.

DESCRIPTION OF EMBODIMENT

First Exemplary Embodiment

Hereinafter, an imaging system, a 3D model generation system, a controller, and a program according to a first exemplary embodiment will be described with reference to the drawings. Incidentally, the following exemplary embodiment is merely one of various exemplary embodiments of the present disclosure. Provided that an object of the present disclosure can be achieved, the following exemplary embodiment can be modified in various ways in accordance with design and the like. In addition,FIG.3is a schematic diagram, and ratios in size and thickness of each component in the drawing is not necessarily reflected in an actual dimensional ratio.

As illustrated inFIGS.1and2, imaging system1of the present exemplary embodiment includes a plurality of imaging devices2and controller7. Controller7communicates with the plurality of imaging devices2. Each of the plurality of imaging devices2includes reception unit61and imaging setting unit45. Reception unit61acquires a set value regarding imaging from controller7Imaging setting unit45performs setting regarding imaging based on the set value acquired by reception unit61. Each of two or more imaging devices2(all of the plurality of imaging devices2in the present exemplary embodiment) among the plurality of imaging devices2further includes housing20(seeFIG.3), sensor3, and transmission unit62. Sensor3detects external brightness of housing20. Transmission unit62outputs information on a detection result of sensor3to controller7. Controller7includes acquisition unit81, setting unit71, and output unit82. Acquisition unit81acquires the information on the detection result of sensor3of each of the two or more imaging devices2. Setting unit71determines a common set value to be applied to the plurality of imaging devices2based on the information on the detection result acquired by acquisition unit81. Output unit82outputs the set value determined by setting unit71to the plurality of imaging devices2.

According to the present exemplary embodiment, since the common set value regarding imaging is applied to the plurality of imaging devices2, imaging conditions of the plurality of imaging devices2can be set to be close to each other. As a result, properties (for example, brightness) of a plurality of images generated by the plurality of imaging devices2can be set to be close to each other. That is, it is possible to relatively reduce differences between properties of images generated by some imaging devices2and properties of images generated by other imaging devices2.

Imaging system1is applied to, for example, 3D model generation system10(3D scanner). 3D model generation system10generates a three-dimensional (3D) model of imaging target T1(subject) (seeFIG.3) by using pieces of information on the plurality of images generated by the plurality of imaging devices2. Since the properties of the plurality of images generated by the plurality of imaging devices2become close to each other by using imaging system1of the present exemplary embodiment, a relatively high-quality 3D model can be generated.

Hereinafter, an example of an operation of capturing imaging target T1by imaging system1will be described with reference toFIG.4. The flowchart illustrated inFIG.4is merely an example of the operation of imaging system1, and an order of kinds of processing may be appropriately changed, or the processing may be appropriately added or omitted.

First, controller7waits for an input of an imaging start command (step ST1). The imaging start command is a command serving as a trigger causing the plurality of imaging devices2to perform imaging. The imaging start command is input to controller7in accordance with an operation of an operator, for example.

When the imaging start command is input to controller7(step ST1: Yes), controller7transmits a request signal to each of the plurality of imaging devices2(step ST2).

When the request signal is received, each of the plurality of imaging devices2outputs the information regarding the detection result of sensor3to controller7. More specifically, when each of the plurality of imaging devices2receives the request signal, first, sensor3detects the external brightness (illuminance) of housing20(step ST3). Subsequently, each of the plurality of imaging devices2determines a temporary set value of a shutter speed and a temporary set value of an F-number (aperture value) based on a detected value of the brightness detected by sensor3(step ST4). The temporary set value of the shutter speed is a set value of the shutter speed optimum for imaging device2in a case where the plurality of imaging devices independently perform imaging. The temporary set value of the F-number is a set value of the F-number optimum for imaging device2in a case where the plurality of imaging devices independently perform imaging. Each of the plurality of imaging devices2outputs, as the information regarding the detection result of sensor3, the temporary set value of the shutter speed and the temporary set value of the F-number to controller7(step ST5).

Controller7acquires the temporary set value of the shutter speed and the temporary set value of the F-number from each of the plurality of imaging devices2(acquisition processing). That is, controller7acquires temporary set values of a plurality of shutter speeds corresponding one-to-one to the plurality of imaging devices2and temporary set values of a plurality of F-numbers corresponding one-to-one to the plurality of imaging devices2. Controller7obtains a mode value of the temporary set values of the plurality of shutter speeds, and sets the obtained mode value as the set value of the shutter speed (step ST6: setting processing). In addition, controller7obtains a mode value of the temporary set values of the plurality of F-numbers, and sets the obtained mode value as the set value of the F-number (step ST6: setting processing). Controller7transmits a setting signal including information on the set value of the shutter speed and the set value of the F-number to each of the plurality of imaging devices2(step ST7: output processing). A plurality of setting signals transmitted to the plurality of imaging devices2are the same signal.

Each of the plurality of imaging devices2acquires the information on the set value of the shutter speed and the set value of the F-number included in the setting signal. Each of the plurality of imaging devices2adjusts the shutter speed and the F-number such that the shutter speed and the F-number of imaging device become the set values acquired from controller7(step ST8). As a result, the shutter speed is the same among the plurality of imaging devices2, and the F-number is the same among the plurality of imaging devices2.

Each of the plurality of imaging devices2captures imaging target T1after adjusting the shutter speed and the F-number (step ST9). Timings at which the plurality of imaging devices2capture imaging target T1are controlled by controller7. The timings at which the plurality of imaging devices2capture imaging target T1are, for example, the same.

As described above, each of the plurality of imaging devices2captures imaging target T1. In addition, although not illustrated in the flowchart ofFIG.4, each of the plurality of imaging devices2transmits information on an image (image signal) generated by capturing imaging target T1to controller7. Controller7can generate a 3D model of imaging target T1by using the pieces of information on the plurality of images acquired from the plurality of imaging devices2. Note that a function of generating the 3D model may be included in a device different from controller7.

Hereinafter, a configuration of imaging system1will be described in more detail.

(1) Imaging Device

As illustrated inFIG.2, each of the plurality of imaging devices2includes sensor3, processing circuit4, image pickup system5, and communicator6.

Sensor3is, for example, a two-dimensional image sensor such as a charge coupled device (CCD) image sensor or a complementary metal oxide semiconductor (CMOS) image sensor. Sensor3is a device for detecting the external brightness of housing20(seeFIG.3), and is also a device for capturing imaging target T1and generating an image.

Sensor3includes a plurality of pixels31. The plurality of pixels31are arranged in a two-dimensional array. Light may be incident on each of the plurality of pixels31only during an exposure period. Each of the plurality of pixels31includes a photoelectric conversion portion. The photoelectric conversion portion converts photons (incident light) into electric charges. The electric charges converted from the photons by the photoelectric conversion portion are output, as an output signal, to processing circuit4in the form of a voltage.

(1.2) Image Pickup System

Image pickup system5includes lens51, shutter52, aperture53, and light source54. Image pickup system5is mechanically controlled when imaging device2captures imaging target T1. Lens51directs light incident on sensor3from the outside of housing20(seeFIG.3). Shutter52is opened during the exposure period of sensor3to allow the light incident on sensor3to pass therethrough, and blocks the light incident on sensor3during other periods. Aperture53adjusts the amount of light incident on sensor3through shutter52. Light source54irradiates imaging target T1when flash photographing is performed by using imaging device2. In the present exemplary embodiment, light source54is not turned on, and flash photographing is performed by using a light source outside imaging device2.

(1.3) Processing Circuit

Processing circuit4includes reading unit41, exposure calculation unit42, temporary setting unit43, storage44, imaging setting unit45, and imaging control portion46. Note that reading unit41, exposure calculation unit42, temporary setting unit43, imaging setting unit45, and imaging control portion46merely indicate functions realized by processing circuit4, and do not necessarily indicate substantial configurations.

Processing circuit4includes a computer system having one or more processors and memories. A processor of the computer system executes a program recorded in the memory of the computer system, and thus, a function of at least a part (specifically, reading unit41, exposure calculation unit42, temporary setting unit43, imaging setting unit45, and imaging control portion46) of processing circuit4is realized. The program may be recorded in the memory, may be provided through a telecommunication line such as the Internet, or may be recorded in a non-transitory recording medium such as a memory card. In addition, storage44may also serve as the memory of processing circuit4.

Processing circuit4has a photometric mode and an imaging mode as operation modes. In the photometric mode, processing circuit4obtains the temporary set value of the shutter speed and the temporary set value of the F-number based on the output signal (detection result) of sensor3, and transmits the temporary set value of the shutter speed and the temporary set value of the F-number to controller7via communicator6. In the imaging mode, processing circuit4generates an image signal including information on an image in which imaging target T1appears based on the output signal of sensor3.

Reading unit41reads (acquires) output signals from the plurality of pixels31of sensor3. Reading unit41reads the output signals in a time-division manner for the plurality of pixels31. More specifically, reading unit41causes the plurality of pixels31arranged in the two-dimensional array to output the output signals at different timings for every row.

When the operation mode of processing circuit4is the imaging mode, reading unit41preferably reads the output signals from all pixels31among the plurality of pixels31of sensor3. In the imaging mode, the output signals read by reading unit41are output as image signals to controller7via communicator6.

When the operation mode of processing circuit4is the photometric mode, reading unit41may read the output signals from some pixels31of the plurality of pixels31of sensor3. For example, in the photometric mode, reading unit41may read the output signals from two or more pixels31positioned within a predetermined range including a center among the plurality of pixels31. In the photometric mode, the output signals read by reading unit41are output to exposure calculation unit42.

Alternatively, when the operation mode of processing circuit4is the photometric mode, reading unit41may read the output signals from all pixels31among the plurality of pixels31of sensor3.

In the photometric mode, the output signal of each of the plurality of pixels31read by reading unit41is input to exposure calculation unit42. That is, in the photometric mode, the plurality of output signals are input to exposure calculation unit42. Exposure calculation unit42performs predetermined processing on the plurality of output signals. A value (hereinafter, referred to as a “brightness value”) obtained by predetermined processing by exposure calculation unit42is a value corresponding to the external brightness of housing20detected by sensor3. The predetermined processing is, for example, processing of obtaining an average value of the plurality of output signals. Note that the predetermined processing may be, for example, processing of weighting each of the plurality of output signals and obtaining an average value of products of the output signals and the corresponding weights.

In the photometric mode, temporary setting unit43determines a temporary set value regarding imaging based on the detection result of sensor3. The temporary set value corresponds to the information on the detection result of sensor3. More specifically, temporary setting unit43determines the temporary set value based on the brightness value obtained by exposure calculation unit42. For example, storage44of processing circuit4stores a table indicating a correspondence between the brightness value and the temporary set value, and temporary setting unit43determines the temporary set value by referring to the table. Note that temporary setting unit43is not limited to determining the temporary set value by referring to the table. For example, temporary setting unit43may obtain the temporary set value from the brightness value by using a predetermined arithmetic expression.

The temporary set values include the temporary set value of the shutter speed and the temporary set value of the F-number. The temporary set value of the shutter speed is a value that defines the shutter speed of imaging device2. The temporary set value of the F-number is a value that defines the F-number of imaging device2.

As described above, the temporary set value of the shutter speed is the set value of the shutter speed optimal for imaging device2in a case where the plurality of imaging devices2independently perform imaging, and the temporary set value of the F-number is the set value of the F-number optimal for the imaging device in a case where the plurality of imaging devices independently perform imaging. A relationship between the brightness value and each temporary set value depends on, for example, a length of the exposure period, sensitivity of each of the plurality of pixels31, sizes of the plurality of pixels31, characteristics of lens51, and the like. Temporary setting unit43can obtain the temporary set value from the brightness value by appropriately referring to these pieces of information.

Temporary setting unit43outputs, as the information on the detection result of sensor3, the temporary set value to controller7via communicator6. When the temporary set value is output from each of the plurality of imaging devices2to controller7, controller7determines the set value regarding imaging and outputs the set value to the plurality of imaging devices2.

Imaging setting unit45performs the setting regarding imaging based on the set value acquired from controller7. The set value includes a brightness set value regarding brightness of an image generated by capturing in each of the plurality of imaging devices2. Thus, the setting regarding imaging includes a setting that affects brightness of an image generated by capturing.

More specifically, the set value includes a shutter speed set value that defines the shutter speed of imaging device2and an F-number set value that defines the F-number. The setting regarding imaging executed by imaging setting unit45includes a setting regarding the shutter speed of imaging device2and a setting regarding the F-number. That is, imaging setting unit45instructs imaging control portion46to set the shutter speed of imaging device2to be equal to the shutter speed set value and set the F-number of imaging device2to be equal to the F-number set value. Imaging control portion46controls image pickup system5such that the shutter speed and the F-number designated by imaging setting unit45are realized.

Communicator6includes a communication interface for communicating with controller7. Communicator6can communicate with controller7via a communication interface. The case where “communicator can communicate with controller” in the present disclosure means that information can be exchanged directly or indirectly via a network, a repeater, or the like by an appropriate communication method of wired communication or wireless communication. In the present exemplary embodiment, communicator6exchanges signals with controller7via wireless communication network NT1(seeFIG.1).

Communicator6includes reception unit61and transmission unit62. Reception unit61receives a signal from controller7. Transmission unit62transmits a signal to controller7. Note that reception unit61and transmission unit62merely indicate functions realized by communicator6, and do not necessarily indicate substantial configurations. Thus, a communication interface that functions as reception unit61may also serve as transmission unit62, or may be provided separately from a communication interface that functions as transmission unit62.

As illustrated inFIG.1, controller7includes setting unit71, storage72, 3D generation unit73, and communicator8. Note that setting unit71and 3D generation unit73merely indicate functions realized by controller7, and do not necessarily indicate substantial configurations.

Controller7includes a computer system having one or more processors and memories. A processor of the computer system executes a program recorded in the memory of the computer system, and thus, a function of at least a part (specifically, setting unit71and 3D generation unit73) of controller7is realized. The program may be recorded in the memory, may be provided through a telecommunication line such as the Internet, or may be recorded in a non-transitory recording medium such as a memory card. In addition, storage72may also serve as a memory of controller7. At least a part of the functions of controller7may be realized by a server.

(2.1) Setting Unit

Setting unit71acquires the information regarding the detection result of sensor3of each imaging device2from the plurality of imaging devices2via communicator8. More specifically, setting unit71acquires the temporary set values (the temporary set value of the shutter speed and the temporary set value of the F-number) as the information regarding the detection result of sensor3. Since the temporary set value is output from each of the plurality of imaging devices2, setting unit71acquires a plurality of temporary set values of the shutter speed and acquires a plurality of temporary set values of the F-number. Setting unit71determines set values regarding imaging of the plurality of imaging devices2based on the plurality of temporary set values.

Setting unit71sets the mode value of the plurality of temporary set values as the set value. Hereinafter, an example of processing in which setting unit71determines the set value will be described with reference toFIGS.5and6.

A horizontal axis inFIG.5represents the temporary set value of the shutter speed. Each of ranges r1 to r6 is a range of the temporary set value of the shutter speed. A vertical axis inFIG.5represents a frequency of each of ranges r1 to r6. When ranges r1 to r3 are exemplified, range r1 is a range in which the temporary set value (of the shutter speed) is more than or equal to 0.2 [ms] and less than 0.3 [ms], range r2 is a range in which the temporary set value is more than or equal to 0.3 [ms] and less than 0.4 [ms], and range r3 is a range in which the temporary set value is more than or equal to 0.4 [ms] and less than 0.5 [ms]. InFIG.5, since the number of imaging devices2whose temporary set values are values within range r1 is one, the frequency of range r1 is one. The frequencies of ranges r2, r3, r4, r5, and r6 are 3, 6, 4, 2, and 1 in order.

The mode value is a value having a largest frequency. Setting unit71sets the mode value of the plurality of temporary set values as the set value. InFIG.5, since the frequency of range r3 is the largest, setting unit71sets the set value of the shutter speed to a value corresponding to range r3. For example, setting unit71sets an intermediate value (0.45 [ms]) between an upper limit value and a lower limit value of range r3 as the set value of the shutter speed.

A horizontal axis inFIG.6represents the temporary set value of the F-number. Each of ranges r21 to r28 is a range of the temporary set value of the F-number. A vertical axis inFIG.6represents a frequency of each of ranges r21 to r28. InFIG.6, since the frequency of range r25 is the largest, setting unit71sets the set value of the F-number to a value corresponding to range r25. For example, setting unit71sets an intermediate value between an upper limit value and a lower limit value of range r25 as the set value of the F-number.

Referring back toFIG.1, a configuration of controller7will be continuously described.

Storage72stores various kinds of information. Storage72stores, for example, information on an image included in the image signal generated by each imaging device2and transmitted to controller7.

Storage72stores identification information on each imaging device2and positional information of each imaging device2in association with each other. Each of the plurality of imaging devices2transmits the information on the image to controller7together with the identification information of the imaging device. Storage72stores the information on the image acquired from each imaging device2in association with the positional information of imaging device2that has generated the information on the image.

Note that the pieces of positional information of the plurality of imaging devices2may be stored in advance in storage72or may be acquired from the plurality of imaging devices2.

3D generation unit73generates 3D models of imaging targets T1of the plurality of imaging devices2by using the pieces of information on the plurality of images generated by the plurality of imaging devices2.

3D model generation system10includes at least imaging system1and 3D generation unit73. In the present exemplary embodiment, controller7of imaging system1includes 3D generation unit73, but a device outside imaging system1may include 3D generation unit73.

3D model generation system10of the present exemplary embodiment can generate a 3D model of a person as imaging target T1(seeFIG.3) and can generate an avatar based on the generated 3D model. The “avatar” in the present disclosure is a character displayed in a virtual space as a virtual self of imaging target T1(person) in a real space. 3D model generation system10generates an avatar that simulates imaging target T1. The avatar is displayed in the virtual space.

The plurality of imaging devices2are installed at different positions to surround imaging target T1, and capture imaging target T1from different angles. As a result, 3D generation unit73acquires the pieces of information on the plurality of images (still images) obtained by capturing imaging target T1from various angles.

3D generation unit73generates the 3D model of imaging target T1based on the pieces of information on the plurality of images acquired from the plurality of imaging devices2. Specifically, 3D generation unit73calculates coordinates of a target point in a basic space that is a three-dimensional virtual space for each of all target points of all the images. Here, 3D generation unit73acquires a distance from imaging device2to the target point in the case of being projected onto the basic space by acquiring an imaging result in each imaging device2. In addition, 3D generation unit73acquires a distance between adjacent imaging devices2in the case of being projected onto the basic space by acquiring positional information of each imaging device2in the real space. 3D generation unit73calculates the coordinates of the target point in the basic space based on the distance by a principle of triangulation. 3D generation unit73generates the 3D model of imaging target T1based on the coordinates of all the target points in the basic space.

Subsequently, 3D generation unit73generates a texture to be affixed to the 3D model based on the pieces of information on the plurality of images acquired from the plurality of imaging devices2. Here, the texture includes a texture corresponding to clothes worn by imaging target T1in addition to a texture corresponding to the skin of imaging target T1. 3D generation unit73affixes the generated texture on the 3D model.

Subsequently, 3D generation unit73executes rigging on the 3D model. In the rigging, 3D generation unit73executes skinning or the like including setting of a skeleton, setting of inverse kinematics (IK) and/or forward kinematics (FK), and adjustment of a weight on the 3D model. As a result, the avatar of imaging target T1capable of performing various motions is generated.

As described above, in the present exemplary embodiment, 3D model generation system10can automatically generate the avatar of imaging target T1based on the pieces of information of the plurality of images generated by capturing the entire body of imaging target T1by the plurality of imaging devices2.

In addition, 3D model generation system10may acquire motion data unique to each imaging target T1by performing motion capture on imaging target T1. In a case where motion data is applied to the avatar, it is possible to cause the avatar to perform a motion corresponding to motion data in the virtual space.

Communicator8includes a communication interface for communicating with the plurality of imaging devices2(communicator6: seeFIG.1). Communicator8can communicate with the plurality of imaging devices2via a communication interface. In the present exemplary embodiment, communicator8exchanges signals with the plurality of imaging devices2via wireless communication network NT1.

Communicator8includes acquisition unit81and output unit82. Acquisition unit81receives signals from the plurality of imaging devices2. Output unit82transmits signals to the plurality of imaging devices2. Note that acquisition unit81and output unit82merely indicate functions realized by communicator8, and do not necessarily indicate substantial configurations. Thus, a communication interface that functions as acquisition unit81may also serve as acquisition unit81, or may be provided separately from a communication interface that functions as output unit82.

(3) Installation Example of Plurality of Imaging Devices

Imaging system1includes, for example, several tens to several hundreds of imaging devices2. As illustrated inFIG.3, for example, the plurality of imaging devices2are embedded in wall W1having a cylindrical shape to capture imaging target T1in a space surrounded by wall W1. Door D1through which a person as imaging target T1enters and exits is provided in wall W1.

A predetermined number (six inFIG.3) of imaging devices2are arranged in a row in a vertical direction. InFIG.3, a plurality of rows including a predetermined number of imaging devices2are arranged to surround imaging target T1. As viewed from above, the plurality of rows are annularly arranged.

Enclosure91indicating a guide of the position of imaging target T1and arrow92indicating a guide of an orientation of imaging target T1are displayed on floor90.

Wall W1is independent of ceiling93. That is, a wall supporting ceiling93is present separately from wall W1. Of course, wall W1may support ceiling93.

A plurality of (four inFIG.3) illumination devices94are arranged on ceiling93. The plurality of illumination devices94illuminate space SP1captured by the plurality of imaging devices2. That is, the plurality of illumination devices94illuminate imaging target T1and a space around imaging target T1. The plurality of illumination devices94illuminates space SP1to suppress unevenness in brightness of a surface of imaging target T1to be less than or equal to a predetermined value.

Note that an aspect of the present exemplary embodiment is not limited to the aspect in which space SP1is illuminated from above by the plurality of illumination devices94, and for example, illumination devices may also be installed on floor90and wall W1. In addition, wall W1may have translucency, and space SP1may be illuminated by a plurality of illumination devices arranged outside wall W1.

(4) Imaging Method

When a person who is imaging target T1is captured by the plurality of imaging devices2, imaging target T1stands inside enclosure91in an orientation in which an orientation indicated by arrow92is the front. In order to capture the entire body of imaging target T1, imaging target T1stands still with an arm separated from a body.

In this state, the operator inputs the imaging start command to controller7(step ST1inFIG.4: Yes). By doing this, controller7starts a countdown until the start of imaging. For example, controller7notifies the remaining number of seconds until the start of imaging by voice.

When the imaging start command is input to controller7, as described above, signals are exchanged between controller7and the plurality of imaging devices2, and thus, settings regarding imaging of the plurality of imaging devices2are performed. Thereafter, when the countdown becomes zero, the plurality of imaging devices2capture imaging target T1. As a result, an image is generated in each of the plurality of imaging devices2, and 3D generation unit73of controller7generates the 3D model of imaging target T1by using the pieces of information on the plurality of images acquired from the plurality of imaging devices2.

Note that, as a method of inputting the imaging start command to controller7by the operator, in a case where controller7has a configuration in which an operation of an operator of as a computer or a smartphone is received, controller7may be operated to input the imaging start command In addition, in a case where controller7is realized by a server, a terminal including a software application for inputting the imaging start command to controller7may be separately provided, and the operator may operate the terminal to input the imaging start command from the terminal.

Since properties (for example, brightness) of the plurality of images generated by the plurality of imaging devices2become close to each other by using imaging system1(3D model generation system10) of the present exemplary embodiment, a relatively high-quality 3D model can be generated.

Hereinafter, modifications of the first exemplary embodiment will be described. The same reference marks are given to the same components as the components of the first exemplary embodiment, and the description thereof will be omitted. In addition, the following modifications may be applied in appropriate combination.

In the first exemplary embodiment, imaging setting unit45of each of the plurality of imaging devices2performs the setting regarding imaging based on the set value acquired by reception unit61. Here, the set value may include a color set value regarding a color of the image generated by imaging in each of the plurality of imaging devices2. Specifically, the color set value may include a set value of white balance.

For example, temporary setting unit43of each of the plurality of imaging devices2determines a temporary set value of the white balance based on the detection result of sensor3. The temporary set value of the white balance is a set value of the white balance optimum for imaging device2in a case where the plurality of imaging devices independently perform imaging Setting unit71of controller7acquires a plurality of (white balance) temporary set values from the plurality of imaging devices2, sets a mode value of the plurality of temporary set values as the set value of the white balance, and transmits the set value of the white balance to the plurality of imaging devices2. Imaging setting unit45of each of the plurality of imaging devices2instructs imaging control portion46to set the white balance of imaging device2to be equal to the set value of the white balance. Imaging control portion46performs image processing on the image signal read by reading unit41such that the white balance designated by imaging setting unit45is realized. As a result, color tones of the plurality of images generated by the plurality of imaging devices2can be set to be close to each other.

In addition, the set value may include an exposure set value that defines an exposure of imaging device2. The exposure is defined as a product of the shutter speed and the F-number. Imaging setting unit45of imaging device2may determine the shutter speed and the F-number such that the exposure of imaging device2is equal to the exposure set value Imaging control portion46may control image pickup system5such that the shutter speed and the F-number determined by imaging setting unit45are realized.

In addition, the set value may include a gain set value that defines a gain of imaging device2. Imaging setting unit45of imaging device2instructs imaging control portion46to set the gain of imaging device2to be equal to the gain set value. Imaging control portion46adjusts a gain to amplify the image signal read by reading unit41with a gain designated by imaging setting unit45. In a broad sense, although the adjustment of the white balance also corresponds to the adjustment of the gain, the adjustment of the gain here refers to amplifying the image signal while a ratio of RGB is kept constant.

In the first exemplary embodiment, setting unit71of controller7sets the mode value of the plurality of temporary set values as the set value. By contrast, setting unit71may use an average value of the plurality of temporary set values as the set value.

Alternatively, setting unit71may set a median value of the plurality of temporary set values as the set value.

Alternatively, setting unit71may divide the plurality of temporary set values into a plurality of ranges, and may set a median value of the plurality of ranges as the set value. For example, inFIG.6, the plurality of temporary set values (of the shutter speed) are divided into ranges r1 to r6. since ranges r3 and r4 are positioned between range r1 and range r6, ranges r3 and r4 correspond to median values of ranges r1 to r6. Therefore, setting unit71may set an upper limit value of range r3 (that is, a lower limit value of range r4) as the set value.

In the first exemplary embodiment, each of the plurality of imaging devices2determines the temporary set value, and controller7acquires the temporary set value from each of the plurality of imaging devices2. By contrast, controller7may determine the temporary set value.

For example, each of the plurality of imaging devices2transmits, as the information regarding the detection result of sensor3, the output signal (brightness value) of sensor3read by reading unit41to controller7. Furthermore, each of the plurality of imaging devices2transmits the identification information of imaging device and information (first information) necessary for determining the temporary set value to controller7. In addition, storage72of controller7stores other information (second information) necessary for determining the temporary set value in association with each of the plurality of imaging devices2. Controller7can determine the temporary set value corresponding to each of the plurality of imaging devices2by referring to the output signal of sensor3, the identification information of imaging device2, the first information, and the second information.

The information necessary for determining the temporary set value includes, for example, a table indicating the correspondence between the output signal (brightness value) of sensor3and the temporary set value.

It is not essential that all imaging devices2among the plurality of imaging devices2transmit the information regarding the detection result of sensor3to controller7. That is, two or more imaging devices2among the plurality of (all) imaging devices2may transmit the information regarding the detection result of each sensor3to controller7. Controller7may determine the set value based on the information regarding the detection result of the sensor3acquired from the two or more imaging devices2, and may transmit the set value to all imaging devices2. Even in this case, since the set values of all imaging devices2are common, the properties of the plurality of images generated by all imaging devices2can be set to be close to each other.

In addition, temporary setting units43of the two or more imaging devices2may determine the temporary set value and may output the temporary set value to controller7as information regarding the detection result of sensor3.

Controller7may group the plurality of imaging devices2into a plurality of groups. Furthermore, setting unit71may determine a set value to be applied to one group including a first number of imaging devices2based on the information regarding the detection result of the sensor3of a second number of imaging devices2belonging to the one group. Here, the second number is more than or equal to 2 and less than or equal to the first number. In the fifth modification, the second number is equal to the first number. When the second number is smaller than the first number, the content of the processing of determining the set value for each group is similar to the content in the fourth modification.

It is preferable that some or all of the plurality of groups do not overlap. That is, at least one any imaging device2belonging to one any group preferably belongs to only the one group among the plurality of groups.

For example, controller7preferably groups the plurality of imaging devices2into the plurality of groups based on the information regarding the detection result of sensor3.

A specific example of grouping will be described with reference toFIG.7. Controller7acquires the plurality of temporary set values (of the shutter speed) from the plurality of imaging devices2as the information regarding the detection result of sensor3. When the plurality of temporary set values are represented in a frequency distribution diagram, a plurality of (two) peaks may appear with respect to the frequency as illustrated inFIG.7. InFIG.7, peaks appear in range r3 and range r9.

Hereinafter, imaging device2that has output the temporary set value belonging to range rM (M=1, 2, 3, . . . , and 11) is referred to as “imaging device2belonging to range rM”.

Controller7sets imaging devices2belonging to range r3 and a range near range r3 as imaging devices2belonging to a first group. In addition, controller7sets imaging devices2belonging to range r9 and a range near range r9 as imaging devices2belonging to a second group. For example, controller7groups the plurality of imaging devices2into the first group and the second group such that range r6 where the frequency is minimum is a boundary between the first group and the second group. That is, controller7sets imaging devices2belonging to ranges r1 to r5 as the first group, and sets imaging devices2belonging to ranges r6 to r11 as the second group. Note that imaging device2belonging to range r6 may belong to the first group.

Although the specific example of grouping has been described above, controller7may group the plurality of imaging devices2into three or more groups. In addition, depending on the information on the detection result of sensor3, controller7may omit the processing of grouping. For example, in a case where only one frequency peak appears, controller7may omit the processing of grouping.

Any group among the plurality of groups is referred to as an Nth group (N is a natural number). Each of two or more imaging devices2belonging to the Nth group outputs information on the temporary set value. Hereinafter, these pieces of information are referred to as “two or more temporary set values of the Nth group”. Setting unit71of controller7determines a set value corresponding to the Nth group based on two or more temporary set values of the Nth group. For example, setting unit71sets the mode value of two or more temporary set values of the Nth group as the set value corresponding to the Nth group.

The set value corresponding to the Nth group is transmitted to two or more imaging devices2belonging to the Nth group. Two or more imaging devices2belonging to the Nth group set the settings regarding imaging based on the set value corresponding to the Nth group.

A sixth modification is a further modification of the fifth modification. In the sixth modification, controller7groups the plurality of imaging devices2into a plurality of groups based on a position of each of the plurality of imaging devices2. That is, controller7sets two or more imaging devices2gathered in a specific region as one group.

A specific example of grouping will be described with reference toFIG.3. InFIG.3, a predetermined number (six inFIG.3) of imaging devices2are arranged in a row in a vertical direction. InFIG.3, a plurality of rows including a predetermined number of imaging devices2are arranged to surround imaging target T1. Controller7sets a predetermined number of imaging devices2arranged in a row as one group.

An example of the processing after the grouping is similar to the processing of the fifth modification.

Note that controller7may group the plurality of imaging devices2into a plurality of groups based on both the position of each of the plurality of imaging devices2and information regarding the detection result of sensor3.

In addition, controller7may group the plurality of imaging devices2into a plurality of groups in accordance with an operation of an operator. For example, the operator may set two or more imaging devices2arranged in the shadow as a first group and may set remaining imaging devices2as a second group.

One imaging device2(hereinafter, referred to as a “master”) among the plurality of imaging devices2may have a function as controller7. The master may acquire the information regarding the detection result of sensor3from remaining imaging devices2(hereinafter, referred to as “slaves”), may determine a set value based on the information, and may transmit the set value to the slaves.

Alternatively, two or more imaging devices2among the plurality of imaging devices2may have a function as controller7. Any one of two or more imaging devices2selected by a user may enable the function as controller7, and remaining imaging devices2may disable the function as controller7.

Functions similar to the functions of imaging system1, 3D model generation system10, and controller7may be embodied by an imaging method, a (computer) program, a non-transitory recording medium recording the program, or the like.

A program according to one aspect is a program causing one or more processors (of controller7) to execute acquisition processing, setting processing, and output processing. The acquisition processing is processing of acquiring the information regarding the detection result of sensor3that detects external brightness included in each of two or more imaging devices2among the plurality of imaging devices2. The setting processing is processing of determining the common set value regarding imaging to be applied to the plurality of imaging devices2based on the information regarding the detection result acquired in the acquisition processing. The output processing is processing of outputting the set value determined in the setting processing to the plurality of imaging devices2.

Each of imaging system1and 3D model generation system10according to the present disclosure includes a computer system. The computer system mainly includes a processor and a memory as hardware. At least some of the functions as imaging system1and 3D model generation system10according to the present disclosure are realized by the processor executing the program recorded in the memory of the computer system. The program may be recorded in advance in the memory of the computer system, may be provided through a telecommunication line, or may be provided by being recorded in a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive readable by the computer system. The processor of the computer system includes one or a plurality of electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integration (LSI). The integrated circuit such as the IC or the LSI in this disclosure is called differently depending on a degree of integration, and includes an integrated circuit called a system LSI, a very large scale integration (VLSI), or an ultra large scale integration (ULSI). Furthermore, a field-programmable gate array (FPGA) programmed after manufacture of LSI, and a logical device capable of reconfiguring a joint relationship in LSI or reconfiguring circuit partitions in LSI can also be used as processors. The plurality of electronic circuits may be aggregated in one chip or may be provided in a distributed manner on a plurality of chips. The plurality of chips may be aggregated in one device or may be provided in a distributed manner in a plurality of devices. The computer system in this disclosure includes a microcontroller having at least one processor and at least one memory. Therefore, the microcontroller also includes one or a plurality of electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

In addition, the fact that the plurality of functions in imaging system1and 3D model generation system10are aggregated in one device is not an essential configuration for imaging system1and 3D model generation system10. The components of imaging system1and 3D model generation system10may be dispersedly provided in a plurality of devices. Furthermore, at least a part of the functions of imaging system1and 3D model generation system10, for example, at least a part of the function of 3D generation unit73may be realized by a cloud (cloud computing) or the like.

Other modifications of the first exemplary embodiment will be described below. The following modifications may be realized by being combined as appropriate. In addition, the following modifications may be realized by being combined with the modifications described above as appropriate.

It is not essential that the plurality of imaging devices2are arranged to surround imaging target T1. For example, the plurality of imaging devices2may be arranged in a row in a horizontal direction or a vertical direction, or the plurality of imaging devices2may be arranged without a law.

In imaging system1, it is not essential to generate the 3D model by using the pieces of information on the images generated by the plurality of imaging devices2. The pieces of information on the images generated by the plurality of imaging devices2may not be particularly processed. Alternatively, a panoramic photo may be generated by using the pieces of information on the images generated by the plurality of imaging devices2. That is, imaging system1may be a system that captures an identical subject from different angles by using the plurality of imaging devices2and stitches the same subject into one image.

It is not essential that the plurality of imaging devices2capture identical imaging target T1, and the plurality of imaging devices2may capture different imaging targets.

It is not essential that sensor3for detecting the external brightness of housing20also serves as a device (imaging element) for capturing imaging target T1to generate an image, and the sensor may be provided separately from the imaging element.

Imaging setting unit45of the first exemplary embodiment uses the set value acquired from controller7as it is for the setting regarding imaging. By contrast, imaging setting unit45may correct the set value acquired from controller7based on the temporary set value, and may use the corrected set value for the setting regarding imaging.

In the first exemplary embodiment, when the imaging start command is input to controller7, setting unit71determines the set value regarding imaging only once. By contrast, setting unit71may periodically determine the set value.

Imaging device2may have, as operation modes, an independent mode in which the setting regarding imaging is performed independently of controller7and imaging target T1is captured, and a cooperative mode in which the setting regarding imaging is performed based on the set value acquired from controller7and imaging target T1is captured. The operation of imaging device2described in the first exemplary embodiment corresponds to an operation in the cooperative mode.

Controller7may be provided separately from the plurality of imaging devices2.

Setting unit71of controller7may further determine the set value based on additional information in addition to the information regarding the detection result of sensor3of each of at least some imaging devices2among the plurality of imaging devices2. For example, an additional imaging device of which the setting of imaging is not performed by setting unit71may be installed, and setting unit71may determine the set value further based on information regarding a detection result (detection result of brightness) of a sensor of the additional imaging device.

Second Exemplary Embodiment

Hereinafter, imaging system1A (3D model generation system10A) according to a second exemplary embodiment will be described with reference toFIG.8. The same reference marks are given to the same components as the components of the first exemplary embodiment, and the description thereof will be omitted. In addition, the configuration of the first exemplary embodiment (including the modifications) may be appropriately applied to the second exemplary embodiment.

As illustrated inFIG.8, controller7A of imaging system1A includes brightness adjustment unit74instead of setting unit71(seeFIG.1). In addition, controller7A includes second communicator75in addition to communicator8(referred to as “first communicator8” in the present exemplary embodiment). Configurations of (first) communicator8, storage72, and 3D generation unit73, and configurations of imaging devices2are the same as the configurations of the first exemplary embodiment. Note that brightness adjustment unit74merely indicates a function realized by controller7A, and does not necessarily indicate a substantial configuration.

Second communicator75includes a communication interface for communicating with the plurality of illumination devices94. Second communicator75can communicate with the plurality of illumination devices94via the communication interface. In the present exemplary embodiment, second communicator75exchanges signals with the plurality of illumination devices94via wireless communication network NT2. Note that first communicator8may also serve as second communicator75. In addition, wireless communication network NT1may also serve as wireless communication network NT2.

Controller7A of the present exemplary embodiment does not execute processing of determining set values regarding imaging of the plurality of imaging devices2. For example, the operator may input a set value appropriately determined by the operator to controller7A, and controller7A may transmit the input set value to the plurality of imaging devices2.

Instead of determining the set value, controller7A adjusts the brightness of each of the plurality of illumination devices94that illuminate a space captured by the plurality of imaging devices2. More specifically, acquisition unit81acquires, as the information regarding the detection result of sensor3, an output signal of sensor3(a signal regarding external brightness of housing20) read by reading unit41from each of the plurality of imaging devices2. Brightness adjustment unit74adjusts the brightness of each of the plurality of illumination devices94based on the information regarding the detection result of sensor3acquired by acquisition unit81. Brightness adjustment unit74adjusts the brightness of each of the plurality of illumination devices94by transmitting a control signal to the plurality of illumination devices94via second communicator75.

As an example, a target (brightness value) detected by sensor3is illuminance, and a target to be adjusted by brightness adjustment unit74is the brightness of each of the plurality of illumination devices94.

Brightness adjustment unit74adjusts at least one of overall brightness of the plurality of illumination devices94and a brightness ratio. First, a case where brightness adjustment unit74adjusts the overall brightness of the plurality of illumination devices94will be described. In this case, brightness adjustment unit74adjusts the brightness of the plurality of illumination devices94such that the brightness ratio of the plurality of illumination devices94is kept constant or the amount of change in brightness is the same among the plurality of illumination devices94.

Brightness adjustment unit74acquires the output signal (brightness value) of sensor3of each of the plurality of imaging devices2via acquisition unit81. That is, brightness adjustment unit74acquires a plurality of brightness values corresponding one-to-one to the plurality of imaging devices2. For example, brightness adjustment unit74obtains an average value of the plurality of brightness values, and compares an average value with a first threshold and a second threshold. The second threshold is larger than the first threshold. When the average value is less than the first threshold, brightness adjustment unit74increases the brightness of each of the plurality of illumination devices94. On the other hand, when the average value is larger than the second threshold, brightness adjustment unit74decreases the brightness of each of the plurality of illumination devices94. As a result, the brightness of the images generated by the plurality of imaging devices2can be adjusted to a predetermined range.

Next, a case where brightness adjustment unit74adjusts the brightness ratio of the plurality of illumination devices94will be described.

Brightness adjustment unit74acquires a brightness value and identification information of imaging device2from each of the plurality of imaging devices2. That is, brightness adjustment unit74acquires a plurality of brightness values and a plurality of pieces of identification information corresponding one-to-one thereto. In addition, brightness adjustment unit74acquires pieces of positional information of the plurality of imaging devices2and pieces of positional information of the plurality of illumination devices94from storage72.

Note that the pieces of positional information of the plurality of imaging devices2may be stored in advance in storage72or may be acquired from the plurality of imaging devices2. The pieces of positional information of the plurality of illumination devices94may be stored in advance in storage72or may be acquired from the plurality of illumination devices94.

In addition, storage72includes association information for associating the plurality of imaging devices2and the plurality of illumination devices94. Each imaging device2is associated with illumination device94positioned near imaging device2. The association information may be generated by controller7A based on the pieces of positional information of the plurality of imaging devices2and the pieces of positional information of the plurality of illumination devices94, or may be stored in advance in storage72.

Brightness adjustment unit74adjusts the brightness of the plurality of illumination devices94based on a ratio between the plurality of brightness values. For example, in a case where a brightness value acquired from a certain imaging device2is larger than an average value of a plurality of brightness values by a predetermined value or more, brightness adjustment unit74darkens the brightness of illumination device94associated with imaging device2(that is, positioned near imaging device2). In addition, in a case where the brightness value acquired from a certain imaging device2is smaller than the average value of the plurality of brightness values by the predetermined value or more, brightness adjustment unit74increases the brightness of illumination device94associated with imaging device2. In order to generate the 3D model of imaging target T1, it is more preferable as variations in the plurality of brightness values acquired from the plurality of imaging devices2decreases.

According to imaging system1A of the present exemplary embodiment, brightness adjustment unit74adjusts the brightness of the plurality of illumination devices94. Thus, the quality (brightness) of the plurality of images generated by the plurality of imaging devices2can be improved, and the properties of the plurality of images generated by the plurality of imaging devices2can be set to be close to each other.

Note that brightness adjustment unit74may adjust the brightness of each of the plurality of illumination devices94based on the temporary set value determined by each of the plurality of imaging devices2.

Note that, in the present exemplary embodiment, controller7A may include setting unit71(seeFIG.1). That is, in addition to the processing of adjusting the brightness of each of the plurality of illumination devices94, controller7A may also perform processing of determining set values regarding imaging of the plurality of imaging devices2.

CONCLUSION

The following aspects are disclosed from the above-described exemplary embodiments and the like.

Imaging system (1or1A) according to a first aspect includes a plurality of imaging devices (2) and controller (7or7A). Controller (7or7A) communicates with the plurality of imaging devices (2). Each of the plurality of imaging devices (2) includes reception unit (61) and imaging setting unit (45). Reception unit (61) acquires a set value regarding imaging from controller (7or7A). Imaging setting unit (45) performs a setting regarding imaging based on the set value acquired by reception unit (61). Each of two or more imaging devices (2) among the plurality of imaging devices (2) further includes housing (20), sensor (3), and transmission unit (62). Sensor (3) detects external brightness of housing (20). Transmission unit (62) outputs information on a detection result of sensor (3) to controller (7or7A). Controller (7or7A) includes acquisition unit (81), setting unit (71), and output unit (82). Acquisition unit (81) acquires the information regarding the detection result of sensor (3) of each of two or more imaging devices (2). Setting unit (71) determines a common set value to be applied to the plurality of imaging devices (2) based on the information regarding the detection result acquired by acquisition unit (81). Output unit (82) outputs the set value determined by setting unit (71) to the plurality of imaging devices (2).

According to the above configuration, since the common set value regarding imaging is applied to the plurality of imaging devices (2), the imaging conditions of the plurality of imaging devices (2) can be set to be close to each other. As a result, it is possible to set properties (brightness, color tone, and the like) of a plurality of images generated by the plurality of imaging devices (2) to be close to each other. That is, a difference between the properties of the images generated by some imaging devices (2) and the properties of the images generated by other imaging devices (2) can be set to be relatively small.

In addition, in the imaging system (1or1A) according to a second aspect, in the first aspect, the set value includes a brightness set value regarding brightness of an image generated by imaging in each of the plurality of imaging devices (2).

According to the above configuration, the brightnesses of the plurality of images generated by the plurality of imaging devices (2) can be set to be close to each other.

In addition, in imaging system (1or1A) according to a third aspect, in the first or second aspect, the set value includes a color set value regrading a color of an image generated by imaging in each of the plurality of imaging devices (2).

According to the above configuration, the colors of the plurality of images generated by the plurality of imaging devices (2) can be set to be close to each other.

In addition, in imaging system (1or1A) according to a fourth aspect, in any one of the first to third aspects, each of two or more imaging devices (2) further includes temporary setting unit (43). Temporary setting unit (43) determines a temporary set value regarding imaging as the information regarding the detection result of sensor (3) based on the detection result of sensor (3). Setting unit (71) of controller (7or7A) determines the set value based on the temporary set value determined by temporary setting unit (43) of each of two or more imaging devices (2).

According to the above configuration, the amount of communication between the plurality of imaging devices (2) and controller (7or7A) can be reduced as compared with the case where controller (7or7A) determines the temporary set value or the corresponding amount.

In addition, in imaging system (1or1A) according to a fifth aspect, in the fourth aspect, setting unit (71) of controller (7or7A) sets, as the set value, a mode value of the temporary set value determined by temporary setting unit (43) of each of two or more imaging devices (2).

According to the above configuration, the set value suitable for imaging in the plurality of imaging devices (2) can be determined.

In addition, in imaging system (1or1A) according to a sixth aspect, in the fourth aspect, setting unit (71) of controller (7or7A) sets, as the set value, an average value of temporary set values determined by temporary setting units (43) of two or more imaging devices (2).

According to the above configuration, the set value suitable for imaging in the plurality of imaging devices (2) can be determined.

In addition, in imaging system (1or1A) according to a seventh aspect, in any one of the first to sixth aspects, controller (7or7A) groups the plurality of imaging devices (2) into a plurality of groups. Setting unit (71) determines a set value to be applied to one group including a first number of imaging devices (2) based on the information regarding the detection results of sensors (3) of a second number of imaging devices (2) belonging to the one group. The second number is more than or equal to 2 and less than or equal to the first number.

According to the above configuration, an appropriate set value can be determined for each group.

In addition, in imaging system (1or1A) according to an eighth aspect, in the seventh aspect, each of the plurality of imaging devices (2) includes sensor (3) and transmission unit (62). Controller (7or7A) groups the plurality of imaging devices (2) into a plurality of groups based on the information regarding the detection result of sensor (3).

According to the above configuration, the plurality of imaging devices (2) are grouped while referring to the detection results of sensors (3) of the plurality of imaging devices (2), and thus, an appropriate set value can be determined for each imaging device (2).

In addition, in imaging system (1or1A) according to a ninth aspect, in the seventh aspect, controller (7or7A) groups the plurality of imaging devices (2) into a plurality of groups based on a position of each of the plurality of imaging devices (2).

According to the above configuration, the plurality of imaging devices (2) are grouped while referring to the positions of the plurality of imaging devices (2), and thus, an appropriate set value can be determined for each imaging device (2).

In addition, in imaging system (1or1A) according to a tenth aspect, in any one of the first to ninth aspects, controller (7or7A) further includes brightness adjustment unit (74). Brightness adjustment unit (74) adjusts brightness of each of a plurality of illumination devices (94) that illuminates a space (SP1) captured by a plurality of imaging devices (2) based on the information regarding the detection result acquired by acquisition unit (81).

According to the above configuration, the brightnesses of the plurality of illumination devices (94) are adjusted, and space (SP1) captured by the plurality of imaging devices (2) can be set to have appropriate brightness. As a result, the properties of the plurality of images generated by the plurality of imaging devices (2) can be set to be close to each other.

In addition, imaging system (1or1A) according to an eleventh aspect includes a plurality of imaging devices (2) and controller (7or7A). Controller (7or7A) communicates with the plurality of imaging devices (2). Each of two or more imaging devices (2) among the plurality of imaging devices (2) includes housing (20), sensor (3), and transmission unit (62). Sensor (3) detects external brightness of housing (20). Transmission unit (62) outputs information on a detection result of sensor (3) to controller (7or7A). Controller (7or7A) includes acquisition unit (81) and brightness adjustment unit (74). Acquisition unit (81) acquires the information regarding the detection result of sensor (3) of each of two or more imaging devices (2). Brightness adjustment unit (74) adjusts brightness of each of a plurality of illumination devices (94) that illuminates a space (SP1) captured by a plurality of imaging devices (2) based on the information regarding the detection result acquired by acquisition unit (81).

According to the above configuration, the brightnesses of the plurality of illumination devices (94) are adjusted, and space (SP1) captured by the plurality of imaging devices (2) can be set to have appropriate brightness. As a result, the properties of the plurality of images generated by the plurality of imaging devices (2) can be set to be close to each other.

The configurations according to the first or eleventh aspect are not essential configurations for imaging system (1or1A), and can be omitted as appropriate.

In addition, 3D model generation system (10or10A) according to a twelfth aspect includes imaging system (1or1A) according to any one of the first to eleventh aspects and 3D generation unit (73). 3D generation unit (73) generates a 3D model of an imaging target (T1) of a plurality of imaging devices (2) by using information of a plurality of images generated by the plurality of imaging devices (2) of imaging system (1or1A).

According to the above configuration, the quality of the 3D model can be improved.

In addition, controller (7or7A) according to a thirteenth aspect includes acquisition unit (81), setting unit (71), and output unit (82). Acquisition unit (81) acquires information regarding a detection result of sensor (3) that detects external brightness included in each of two or more imaging devices (2) among a plurality of imaging devices (2). Setting unit (71) determines a common set value regarding imaging to be applied to a plurality of imaging devices (2) based on the information regarding the detection result acquired by acquisition unit (81). Output unit (82) outputs the set value determined by setting unit (71) to the plurality of imaging devices (2).

According to the above configuration, it is possible to set properties (brightness, color tone, and the like) of a plurality of images generated by a plurality of imaging devices (2) to be close to each other.

In addition, a program according to a fourteenth aspect is a program causing one or more processors to execute acquisition processing, setting processing, and output processing. The acquisition processing is processing of acquiring information regarding a detection result of sensor (3) that detects external brightness included in each of two or more imaging devices (2) among the plurality of imaging devices (2). The setting processing is processing of determining a common set value regarding imaging to be applied to the plurality of imaging devices (2) based on the information regarding the detection result acquired in the acquisition process. The output processing is processing of outputting the set value determined in the setting processing to the plurality of imaging devices (2).

According to the above configuration, it is possible to set properties (brightness, color tone, and the like) of a plurality of images generated by a plurality of imaging devices (2) to be close to each other.

Various configurations (including modifications) of imaging system (1or1A) and 3D model generation system (10or10A) according to the exemplary embodiments are not limited to the above aspects, and can be embodied by a method and a program.

REFERENCE MARKS IN THE DRAWINGS

1,1A: imaging system

2: imaging device

10,10A: 3D model generation system

43: temporary setting unit

45: imaging setting unit

61: reception unit

62: transmission unit

71: setting unit

74: brightness adjustment unit

81: acquisition unit

82: output unit

T1: imaging target