CN102903090B

CN102903090B - Panoramic stereo image synthetic method, device, system and browsing apparatus

Info

Publication number: CN102903090B
Application number: CN201210146552.4A
Authority: CN
Inventors: 李文松
Original assignee: 李文松
Current assignee: Hangzhou Xigu Video Technology Co., Ltd.
Priority date: 2012-01-20
Filing date: 2012-05-11
Publication date: 2015-11-25
Anticipated expiration: 2032-05-11
Also published as: CN102903090A

Abstract

The invention provides a kind of panoramic stereo image synthetic method, device, system and browsing apparatus, described method comprises: the multiple original images obtaining the first predetermined condition that imaging device gathers, described first predetermined condition is: described multiple original image is that area of visual field is adjacent successively, and adjacent two original images have the image in overlapped view region, the visual angle sum that described multiple original image is corresponding is more than or equal to 720 degree; Each original image is cut out out the first subimage and the second subimage, wherein, the second subimage of the original image that the first subimage of each original image is adjacent is complete overlapped view region; Each first subimage is carried out splicing and forms the first panoramic picture, and each second subimage is carried out splicing form the second panoramic picture, user, when watching described first panoramic picture and described second panoramic picture, can watch panorama and have relief image.

Description

Panoramic stereo image synthetic method, device, system and browsing apparatus

This application claims and submit on January 20th, 2012 right of priority that Patent Office of the People's Republic of China, application number are 201210019283.5, denomination of invention is the Chinese patent application of " image combining method, device and system " to, its full content combines in this application by reference.

Technical field

The present invention relates to technical field of image processing, relate to a kind of panoramic stereo image synthetic method, device, system and browsing apparatus in particular.

Background technology

Image is the figure or image that are produced by the actual picture of the imaging device such as camera, video camera seizure.

Along with people are more and more higher for the requirement of image, panoramic picture or stereo-picture are seen in usual hope, panoramic picture refers to that image can reach and meets normal effectively visual angle (the about horizontal 90-degree of eyes, vertical 70 degree) or comprise eyes remaining light visual angle (about level 180 degree, vertical 90 degree) more than, and even the image gone out captured by 360 degree of complete angulars field of view, stereo-picture refers to have the content that two pictures with alternate position spike represent the viewing of left and right eyes, utilizes right and left eyes parallax to allow observer produce image with depth preception effect.

Although such as, and along with the development of imaging device, have camera lens with great visual angle, wide-angle lens, fish eye lens etc. are used widely, and can realize the shooting at super large visual angle, still can not shoot panoramic picture, need to adopt the mode of Images uniting to be formed.

Inventor finds under study for action, and the image of different visual angles just splices by existing image combining method, forms the image of panorama.But not a kind of effective image composing technique, can form panorama and the image of solid, to meet the viewing demand of user in prior art.

Summary of the invention

In view of this, the invention provides a kind of panoramic stereo image synthetic method, device, system and browsing apparatus, cannot panorama be realized and the technical matters of the image of solid in order to solve prior art.

For achieving the above object, the invention provides following technical scheme:

An aspect of of the present present invention, provide a kind of panoramic stereo image synthetic method, described method comprises:

Obtain multiple original images of the first predetermined condition that imaging device gathers, described first predetermined condition is: described multiple original image is that area of visual field is adjacent successively, and adjacent two original images have the image in overlapped view region, each overlapped view region is overlap twice at least, and the visual angle sum that described multiple original image is corresponding is more than or equal to 720 degree;

According to default panorama visual angle and original image number, each original image is cut out out the first subimage and the second subimage, wherein, the second subimage of the original image that the first subimage of each original image is adjacent is complete overlapped view region;

Each first subimage is carried out splicing and forms the first panoramic picture, and each second subimage is carried out splicing form the second panoramic picture.

Another aspect of the present invention, provide a kind of panoramic stereo image synthetic method, described method comprises:

Obtain multiple original images of the second predetermined condition that imaging device gathers, described second predetermined condition comprises: described multiple original image is that area of visual field is adjacent successively, and adjacent original image has the image in overlapped view region, at least overlapping n time, each overlapped view region, the visual angle sum that described multiple original image is corresponding is more than or equal to 360 ° of * n, n=3,4,5

According to default panorama visual angle and original image number, each original image is cut out out n subimage: comprise the first subimage, the second subimage ... n-th subimage; Wherein, the m+1 subimage of the original image that the m subimage in each original image is adjacent is complete overlapped view region, m=1,2 ... n-1;

Each r subimage is carried out splicing respectively and forms r panoramic picture, r=1,2 ... n.

Another aspect of the present invention, provide a kind of panoramic stereo image synthesizer, described device comprises:

Acquisition module, for obtaining multiple original images of the first predetermined condition that imaging device gathers, described first predetermined condition is: described multiple original image is that area of visual field is adjacent successively, and adjacent two original images have the image in overlapped view region, each overlapped view region is overlap twice at least, and the visual angle sum that described multiple original image is corresponding is more than or equal to 720 degree;

Cut out module, the panorama visual angle of presetting for basis and original image number, each original image is cut out out the first subimage and the second subimage, wherein, the second subimage of the original image that the first subimage of each original image is adjacent is complete overlapped view region;

Synthesis module, forms the first panoramic picture for each first subimage is carried out splicing, and each second subimage is carried out splicing forms the second panoramic picture.

Acquisition module, for obtaining multiple original images of the second predetermined condition that imaging device gathers, described second predetermined condition comprises: described multiple original image is that area of visual field is adjacent successively, and adjacent original image has the image in overlapped view region, and each overlapped view region at least overlapping n time, the visual angle sum that described multiple original image is corresponding is more than or equal to 360 ° of * n, n=3,4,5

Cutting out module, for according to presetting panorama visual angle and original image number, each original image being cut out out n subimage by same direction: comprise the first subimage, the second subimage ... n-th subimage; Wherein, the m+1 subimage of the original image that the m subimage in each original image is adjacent is complete overlapped view region, m=1,2 ... n-1;

Synthesis module, forms r panoramic picture, r=1,2 for each r subimage is carried out splicing respectively ... n.

Another aspect of the present invention, provide a kind of panoramic stereo image synthesis system, described system comprises imaging device and image processor;

Described imaging device is for gathering original image;

Described image processor is for obtaining multiple original images of the first predetermined condition of described imaging device collection, described first predetermined condition is: described multiple original image is that area of visual field is adjacent successively, and adjacent two original images have the image in overlapped view region, each overlapped view region is overlap twice at least, and the visual angle sum that described multiple original image is corresponding is more than or equal to 720 degree; According to the panorama visual angle of presetting and original image number, each original image is cut out out the first subimage and the second subimage, wherein, the second subimage of the original image that the first subimage of each original image is adjacent is complete overlapped view region; Each first subimage is carried out splicing and forms the first panoramic picture, and each second subimage is carried out splicing form the second panoramic picture.

Another aspect of the present invention, provide a kind of panoramic stereo image synthesis system, described system comprises imaging device and image processor,

Described imaging device is for gathering original image;

Described image processor is for obtaining multiple original images of the second predetermined condition of described imaging device collection, described second predetermined condition comprises: described multiple original image is that area of visual field is adjacent successively, and adjacent original image has the image in overlapped view region, at least overlapping n time, each overlapped view region, the visual angle sum that described multiple original image is corresponding is more than or equal to 360 ° of * n, n=1,2,3 According to default panorama visual angle and original image number, each original image is cut out out n subimage by same direction: comprise the first subimage, the second subimage ... n-th subimage; Wherein, the m+1 subimage of the original image that the m subimage in each original image is adjacent is complete overlapped view region, m=1,2 ... n-1; Each r subimage is carried out respectively splicing and form r panoramic picture, r=1,2 ...

Another aspect of the present invention, provides a kind of panoramic stereo image browsing apparatus, comprising: interconnective first lens module and the second lens module;

Be arranged on described first lens module and described second lens module direction, and vertically the connecting line of described first lens module and described second lens module and position-adjustable every tabula rasa;

Be arranged on the processing module of described first lens module and described second lens module direction, described processing module comprises the display screen in the face of described first lens module and described second lens module, and described display screen comprises corresponding first viewing area of described first lens module and the second viewing area of described second lens module of correspondence; The described separatrix place being in described first viewing area and described second viewing area every tabula rasa can be made every tabula rasa described in adjusting;

Described processing module is for obtaining by the multiple original images by first predetermined condition, according to the panorama visual angle of presetting and original image number, each original image is cut out out the first subimage and the second subimage, the first panoramic picture formed by each first subimage splicing and the second panoramic picture formed by each second subimage splicing; And at described first viewing area described first panoramic picture of display with at described second panoramic picture of described second viewing area display;

Described first lens module is used for described first panoramic picture in the first display position imaging, described second lens module is used for by described second panoramic picture in the second display position imaging, and described first display position and described second display position are respectively user's eyes position;

Described processing module is also for when user's eyes are at described first display position and the second display position image browsing, detect the rotation direction of user's eyeball, according to described Rotation of eyeball direction corresponding mobile described first panoramic picture and described second panoramic picture respectively.

Known via above-mentioned technical scheme, compared with prior art, the invention provides a kind of panoramic stereo image synthetic method, device, system and browsing apparatus, first multiple original images of the first predetermined condition that imaging device gathers are obtained, then by described original image according to preset panorama visual angle and original image number, cut out out the first subimage and the second subimage, and the second subimage of the first subimage of each original image and an original image adjacent with this original image corresponding be completely overlapping area of visual field.Afterwards each first subimage is carried out splicing and form the first panoramic picture, and each second subimage is carried out splicing form the second panoramic picture.Described first panoramic picture and described second panoramic picture are two panoramic pictures that can make to produce parallax sensation, and therefore user is when watching described first panoramic picture and described second panoramic picture, can watch panorama and have relief image.

Accompanying drawing explanation

In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments of the invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to the accompanying drawing provided.

Fig. 1 is the process flow diagram of a kind of panoramic stereo image synthetic method of the present invention embodiment 1;

Fig. 2 is the process flow diagram of a kind of panoramic stereo image synthetic method of the present invention embodiment 2;

Fig. 3 is the process flow diagram of a kind of panoramic stereo image synthetic method of the present invention embodiment 3;

Fig. 4 be in the present invention original image cut out schematic diagram;

Fig. 5 is the schematic diagram of spliced first panoramic picture of the first subimage in the present invention;

Fig. 6 is the schematic diagram of spliced second panoramic picture of the second subimage in the present invention;

Fig. 7 is the process flow diagram of a kind of panoramic stereo image synthetic method of the present invention embodiment 4;

Fig. 8 is the structural representation of a kind of panoramic stereo image synthesizer of the present invention embodiment 1;

Fig. 9 is the structural representation of a kind of panoramic stereo image synthesizer of the present invention embodiment 2;

Figure 10 is the structural representation of a kind of panoramic stereo image synthesizer of the present invention embodiment 3;

Figure 11 is a kind of structural representation of reflector and imaging device in the present invention;

Figure 12 is the position view of reflector in the present invention;

Figure 13 is that the one of the present invention's four original images cuts out schematic diagram;

Figure 14 is that the another kind of the present invention's four original images cuts out schematic diagram;

Figure 15 is that the one of the present invention's three original images cuts out schematic diagram.

Figure 16 is the another kind of structural representation of reflector and imaging device in the present invention;

Figure 17 is the position view of imaging device in the present invention;

Figure 18 is a kind of structural representation of imaging device, reflective mirror and reflector in the present invention;

Figure 19 is the structural representation of reflective mirror in the present invention;

Figure 20 is the structural representation of a kind of panoramic stereo image browsing apparatus of the present invention embodiment.

Embodiment

Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.

The embodiment of the invention discloses a kind of panoramic stereo image synthetic method, device, system and browsing apparatus, first multiple original images of the first predetermined condition that imaging device gathers are obtained, then by described original image according to preset panorama visual angle and original image number, cut out out the first subimage and the second subimage, and the second subimage of the first subimage of an original image and the original image adjacent with this original image corresponding be completely overlapping area of visual field.Afterwards each first subimage is carried out splicing and form the first panoramic picture, and each second subimage is carried out splicing form the second panoramic picture.Described first panoramic picture and described second panoramic picture feel two panoramic pictures for making to produce parallax, and therefore user is when watching described first panoramic picture and described second panoramic picture, can watch panorama and have relief image.

See Fig. 1, show the process flow diagram of a kind of panoramic stereo image synthetic method of the present invention embodiment 1, described method can comprise:

Step 101: the multiple original images obtaining the first predetermined condition that imaging device gathers, described first predetermined condition is: described multiple original image is that area of visual field is adjacent successively, and adjacent original image has the image in overlapped view region, each overlapped view region is overlap twice at least, and the visual angle sum that multiple original image is corresponding is more than or equal to 720 degree.

The object of the present embodiment is the image in order to synthesize full-view stereo.

Wherein, panoramic picture refers to and exceeds the effective visual angle of people's emmetropia or comprise more than eyes remaining light visual angle, and even the image corresponding to complete vision scope of 360 degree.The image that imaging device gathers is obtained in the present embodiment, namely the visual angle that described original image is corresponding refers to the visual angle of imaging device, represent the absolute visual field scope that imaging device can be taken, that is, described original image is the image that imaging device gathers the scene within the scope of absolute visual field corresponding to its visual angle and obtains.

Described imaging device can refer to that camera, video camera etc. have the photographic equipment of pick-up lens, or also can be the camera that can gather image.When described imaging device gather for video image time, then need first to be carried out by video image frame separation, then using each two field picture as original image.

Multiple original image demand fulfillment first predetermined conditions obtained, that is: the area of visual field of multiple original image is adjacent successively, and adjacent two original images have overlapped view region, at least overlapping 2 times, each overlapped view region, the visual angle sum that multiple original image is corresponding is more than or equal to 720 degree.

Described area of visual field refers to the scene region that image is corresponding, i.e. scene region included by the shooting field range of imaging device.

It should be noted that, in the present embodiment, the visual angle that described original image is corresponding refers to the visual angle along a direction, the visual angle of such as horizontal direction or the visual angle etc. of vertical direction, and therefore described area of visual field also refers to horizontal field of view region or vertical visual field region.

Wherein, because the area of visual field that original image is corresponding is adjacent successively, and camera site corresponding to each original image is different, the picture material that therefore each area of visual field is corresponding with the equitant part of other area of visual field is the identical picture material that can produce parallax effect.

In order to better synthesis has relief panoramic picture, in described multiple original images, overlapped view region in each area of visual field at least needs overlapping twice, to ensure that the area of visual field that in panoramic picture, each angle is corresponding all has the area of visual field overlapped.

Such as get A, B, C, D tetra-original images, this area of visual field representated by four original images is adjacent successively, and adjacent two original images have overlapped view region, suppose by the order of this A, B, C, D, A adjacent successively, then A and B needs overlapped view region, B and C needs overlapped view region, and C and D needs overlapped view region, and D and A needs overlapped view region.Certainly when the visual angle that original image is corresponding is all very large, also can have overlapped view region between other original images, therefore each overlapped view region at least wants overlapping twice.Form stereo-picture to guarantee, the visual angle sum of described its correspondence of original image A, B, C, D needs to be more than or equal to 720 degree simultaneously, is also the following relational expression of demand fulfillment:

N*M≥720°，

Wherein, described N is original image number, and described M is the maximum shooting visual angle of imaging device, also the visual angle namely corresponding to each original image, if the visual angle that such as each original image is corresponding is 120 degree, then according to above formula, at least need collection six original images.

Wherein, in order to reduce operand, the visual angle that the original image obtained is corresponding should be larger visual angle as far as possible, therefore described imaging device can be specifically the imaging device adopting wide-angle lens or fish eye lens etc. to have super wide-angle lens, therefore the quantity of the original image of acquisition can be reduced, such as fish-eye shooting visual angle can reach 180 degree, synthesize the panoramic picture of 360 degree, at least gathers four original images.

The multiple original images obtaining imaging device collection can have various ways:

A kind of possible mode is: obtain multiple original images that an imaging device gathers in multiple different camera site.

In order to ensure that gathered multiple original images meet above-mentioned first predetermined condition, needing the maximum shooting visual angle according to this imaging device, determining to be captured in the original image absorbed at which camera site place.The original image number N gathered, the maximum shooting visual angle M of imaging device need meet following relational expression:

N*M≥720°。

The maximum shooting visual angle M of imaging device is also visual angle corresponding to original image, and described original image number N is also the number of the different camera site of imaging device.

In order to improve the imaging effect of the panoramic stereo image of synthesis, the shooting focus that different original image is corresponding need be positioned at circumferentially same, also namely imaging device need be positioned at circumferentially same in the shooting focus of different camera site, and the extension line of the shooting focus of imaging device on each camera site is through the center of circle of this circumference.

In addition, adjacent successively in order to ensure the area of visual field of different original image, need separated by a distance between different camera site, to ensure that the image of final synthesis can make human eye produce parallax effect.

Concrete, the diameter of described circumference needs to be greater than 0.Circle diameter can obtain according to two eyeball spacing.In order to strengthen the stereoscopic sensation of stereo-picture, two eyeball spacing need in 1/2 of described circle diameter to described circle diameter scope in, therefore known two eyeball spacing can obtain circle diameter.

Can certainly determine according to the different classes of of original image of shooting, when needs synthesis distant view image, the diameter of the circumference at the shooting focus place that original image is corresponding can be corresponding larger, when needs synthesis close shot image, the diameter of the circumference at the shooting focus place that original image is corresponding can be corresponding less, preferably, described circle diameter can be positioned at 5CM ~ 30CM scope.

It should be noted that, within the scope of certain error, the shooting focus that the original image gathered is corresponding can have certain deviation along radius of a circle direction.

Another kind of possible mode for: obtain the original image laying respectively at the multiple imaging devices on different camera site and gather.

Each imaging device gathers an original image, and in order to ensure that gathered multiple original images meet above-mentioned first predetermined condition, the original image number gathered, be also imaging device number N, the maximum shooting visual angle M of imaging device need meet following relational expression:

N*M≥720°。

Imaging device number has multiple, i.e. corresponding collection how many original images, needs separated by a distance between camera site during multiple imaging device shooting, to ensure that the final image gathered has collection position difference.

In order to improve the imaging effect of the panoramic stereo image of synthesis, the shooting focus be positioned on the multiple imaging devices on different camera site is positioned at circumferentially same, and the extension line of each shooting focus is through the center of circle of described circumference.

The different classes of of the original image that can certainly synthesize as required is determined, when needs synthesis distant view image, the diameter of the circumference at the shooting focus place that original image is corresponding can be corresponding larger, when needs synthesis close shot image, the diameter of the circumference at the shooting focus place that original image is corresponding can be corresponding less, preferably, described circle diameter can be positioned at 5CM ~ 30CM scope.

Another possible mode is: first, obtain an imaging device by multiple be positioned at described imaging device camera lens before the first initial pictures of gathering of reflector, described reflector is positioned at circumferentially same, and convex surface facing described imaging device camera lens place plane, for the light reflection of 360 degree is entered in imaging device camera lens;

Secondly, described first initial pictures is divided, determine the original image of the first predetermined condition of each reflector corresponding.

Concrete, reflector is arranged on circumferentially same, and imaging device camera lens is towards the center of circle of this circumference.By adjusting the focal length of imaging device and the camera lens parameter such as distance to this center of circle, can make camera lens can be complete and only photograph described reflector, making it possible to whole scenes that collection reflector reflects.The diameter of reflector place circumference needs to be greater than 0.This circle diameter can obtain according to two eyeball spacing.Two eyeball spacing need in 1/2 of described circle diameter to described circle diameter scope in, therefore known two eyeball spacing can obtain circle diameter.

Because the image gathered by each reflector is the scene corresponding to 360 degree of complete vision scopes.In order to ensure that the multiple original images marked off meet described first predetermined condition, the number R of described reflector need meet:

R*360≥720°。

Therefore the first initial pictures that acquisition imaging device is gathered by least two reflectors is needed.And then described first initial pictures is divided, distinguish the image corresponding to each reflector, the visual angle that the original image corresponding to each reflector is corresponding is 360 degree.Because reflector is positioned on diverse location, therefore can ensure that original image meets this predetermined condition.

In order to ensure the quality of composograph, simultaneously in order to avoid the waste of resource, preferably, described reflector is three or four, thus can when carrying out image cutting-out process, the image of other the reflector captured by each reflector can be removed, ensure that the picture quality of image at specific direction of last synthesis, and also there is stereoscopic sensation at special angle.

Another possible mode for: obtain and be positioned at multiple original images of the first predetermined condition that the multiple imaging devices on different camera site gather respectively by a reflector.

Wherein, the shooting focus of described multiple imaging device is positioned at circumferentially same, and the camera lens of described multiple imaging device is towards same direction, and described reflector is positioned at above the center of circle of described circumference, and convex surface facing described imaging device camera lens place plane.

The diameter of this circumference needs to be greater than 0.This circle diameter can obtain according to two eyeball spacing.Two distance values need in 1/2 of described circle diameter to described circle diameter scope in, therefore known two spacing can obtain circle diameter.

The different classes of of the original image that can certainly synthesize as required is determined, when needs synthesis distant view image, the diameter of the circumference at the shooting focus place that original image is corresponding can be corresponding larger, when needs synthesis close shot image, the diameter of the circumference at the shooting focus place that original image is corresponding can be corresponding less.Preferably, described circle diameter can be positioned at 5CM ~ 30CM scope.

By being adjusted to picture device focus or the reflector parameter such as distance to this circumference center of circle, make each imaging device can be complete and only photograph this reflector.Thus making reflector the light reflection of 360 degree can be entered in different imaging device camera lens, the visual field that also namely the original image that gathers of each imaging device is corresponding is 360 degree

Therefore, in order to ensure that multiple original images that multiple imaging device gathers meet described first predetermined condition, the visual field sum corresponding according to multiple original image in described first predetermined condition is more than or equal to 720 degree, and known imaging device at least needs two.

Another possible mode is: obtain the multiple original images that meet predetermined condition of multiple imaging device by the multiple reflector collections before being positioned at imaging device camera lens.

Wherein imaging device is towards same direction, and reflector is convex surface facing imaging device camera lens place plane.

Another possible mode is: first, obtains the second initial pictures that an imaging device is gathered by the many groups reflective mirror before being positioned at imaging device camera lens and a reflector.

Wherein, described reflective mirror of often organizing comprises at least two reflective mirrors, and described reflector is positioned at described imaging device camera lens direction, and convex surface facing described imaging device camera lens; Described many group reflective mirrors are between described imaging device and described reflector; Described many group reflective mirrors arranged adjacent successively;

Described reflective mirror of often organizing enters described imaging device camera lens again for the light reflected by described reflector after multiple reflections.

Position between reflective mirror, reflector and imaging device is adjustable, and the angle often organized between each reflective mirror in reflective mirror is also adjustable.Reflector can reflect 360 degree of range of light, by the position of adjustment between reflective mirror, reflector and imaging device, and the angle between the reflective mirror often organizing in reflective mirror, angle wherein between the different each reflective mirror organizing reflective mirror is identical, each reflective mirror in the same size, can make often to organize reflective mirror can by all or part of light of reflector reflection again after multiple reflections, enter imaging device camera lens, often organize the light that reflects of reflective mirror and have overlapping light, the visual angle often organizing light that reflective mirror reflects corresponding is more than or equal to 180 degree.

Wherein, reflective mirror group number and often organize visual angle corresponding to the light that reflects of reflective mirror and meet: group number * visual angle >=180 °.

Therefore, adjacent successively owing to often organizing reflective mirror, be also adjacent successively through often organizing the area of visual field corresponding to light that reflective mirror reflects, and there is overlapping region, each overlapping region is at least overlapping twice, and the visual angle sum that different group reflective mirror institutes reflection ray is corresponding is more than or equal to 720 degree;

As a specific embodiment, described reflective mirror of often organizing comprises two reflective mirrors, by position and angular setting, often organizes reflective mirror and by the light of 360 of described mirror reflection degree scope again after two secondary reflections, can enter camera lens.In actual applications, preferably, four groups of reflective mirrors are comprised altogether.

Secondly, described second initial pictures is divided, determine the corresponding original image often organizing reflective mirror.

The second initial pictures captured by imaging device, needs to divide again, to determine, often organizes original image corresponding to the light that reflects of reflective mirror.

After dividing again according to the second initial pictures of the manner collection, the multiple original image marked off and first predetermined condition.

Step 102: according to the panorama visual angle of presetting and original image number, each original image is cut out out the first subimage and the second subimage, and the second subimage of original image that the first subimage of each original image is adjacent is complete overlapped view region.

Each original image all needs to cut out out the first subimage and the second subimage, and the visual angle that each the first subimage cut out out is corresponding can be identical, also can be different, and the visual angle that each the second subimage is corresponding can be identical, also can be different.And the first subimage in each original image can be identical with the visual angle corresponding to the second subimage, also can be different.But, the subimage demand fulfillment cut out out: the second corresponding completely overlapping region of subimage of the original image that the first subimage of each original image is adjacent, also the visual angle corresponding to the second subimage of an original image that namely the first subimage of each original image is adjacent needs identical, to ensure that the second subimage of the original image that the first subimage of this original image is adjacent is two images that can produce parallax sensation.

Namely the original image that described original image is adjacent refers to the image shot corresponding to the area of visual field adjacent with the area of visual field corresponding to it, wherein, original image may have two adjacent original images, cuts out operation and need ensure that the second subimage of the original image that the first subimage of each original image is adjacent is complete overlapped view region therefore.Because multiple original image area of visual field is adjacent successively, therefore making the second subimage of each original image be the first subimage of another original image be adjacent is complete overlapped view region.And in same original image, the first subimage and area of visual field corresponding to the second subimage are required to be continuous print.

Concrete, first, according to the number of described panorama visual angle and original image, calculate the first visual angle corresponding to the first subimage in each original image and the second visual angle corresponding to the second subimage.

In each original image, described first visual angle and the area of visual field corresponding to described second visual angle are continuous print area of visual field, and described first visual angle A and described second visual angle B need meet: A+B=Q*2/N, N are original image number, and Q is for presetting panorama visual angle.

Such as, when described panorama visual angle is 360 degree, suppose there are four original images meeting above-mentioned predetermined condition, then, in each original image, the first visual angle and the second visual angle sum are required to be 360*2/4=180 degree.

Secondly, according to described first visual angle and described second visual angle, determine each original image crop position, and cut out out described first subimage and described second subimage, wherein, the second subimage of original image that the first subimage of each original image is adjacent is the image in complete overlapped view region.

The shooting area of visual field that in other words the second subimage of an original image of being adjacent of the first subimage of each original image is corresponding is identical area of visual field, and just camera site is different.

Described crop position demand fulfillment, in the image of the both sides that described crop position divides, can determine image corresponding to the first visual angle or the second visual angle.

Preferably, because the image quality in the middle part of the camera lens of imaging device during collection image is best, therefore the centre position of each original image can be selected as crop position, then from the both sides of described crop position, determine the first subimage that the first visual angle is corresponding and the second subimage that the second visual angle is corresponding respectively.Also the first visual angle and the first subimage corresponding to the area of visual field representated by the second visual angle and the second subimage is namely determined respectively.

Step 103: each first subimage is carried out splicing and forms the first panoramic picture, and each second subimage is carried out splicing form the second panoramic picture.

After all cutting out out the first subimage and the second subimage for each original image, each the first subimage can be carried out splicing.First subimage contiguous concatenation of the original image that area of visual field is adjacent, visual angle corresponding to second subimage of the original image be adjacent due to the visual angle that the first subimage of each original image is corresponding is identical, the visual angle sum that first subimage of the original image that the visual angle that also namely the first subimage of each original image is corresponding is adjacent is corresponding equals Q*2/N, N is original image number, therefore, after multiple first subimage splicing, the first panoramic picture of corresponding described panorama angle can be formed.

In like manner, each second subimage is carried out splicing and can form the second panoramic picture.

Wherein, first subimage in complete overlapped view region is identical with the position in the second panoramic picture with the position of the second subimage respectively in the first panoramic picture, identical with the area of visual field of correspondence in the second panoramic picture same view angle to ensure the first panoramic picture synthesized.First panoramic picture and the second panoramic picture are identical picture material, and are equivalent to the image in the same field of view region gathered at diverse location respectively, have collection position difference.Therefore when the first panoramic picture and the second panoramic picture are exported in stereo-picture browser, user is when watching, make eyes of user, as left eye only sees a wherein panoramic picture, as the first panoramic picture, another eyes, as right eye only sees another panoramic picture, as the second panoramic picture, namely user's eyes can produce parallax, thus can see having relief panoramic stereo image.

Described splicing technology comprises the technology such as splicing, joint treatment, and it is same as the prior art, does not repeat them here.

The first described panoramic picture and the second panoramic picture be the image seen of commissarial right and left eyes respectively, second subimage of the original image be adjacent due to the first subimage of each original image is completely overlapping area of visual field, just collection position is different, also namely have collection position difference, the first panoramic picture therefore after splicing and the second panoramic picture are two images that can produce parallax.Therefore utilizing the parallax of right and left eyes, when watching spliced first panoramic picture and the second panoramic picture, people namely can be allowed to produce the stereoscopic panoramic image seen with depth preception effect.

In the present embodiment, by obtaining multiple original images of first predetermined condition, and carry out cutting out and splicing, form the first panoramic picture and the second panoramic picture, form the panoramic picture that two width can produce parallax effect, making user when watching image, can panorama be watched and there is relief image.

See Fig. 2, show the process flow diagram of a kind of panoramic stereo image synthetic method of the present invention embodiment 2, described method can comprise:

Step 201: the multiple video images obtaining multiple imaging device synchronous acquisition respectively.

Described imaging device can be specially video camera, described imaging device number, and be also video image number N, the maximum shooting visual angle M of imaging device need meet following relational expression: N*M >=720 degree.

Step 202: each video image is carried out frame separation, using synchronous in time in a different video image and two field picture of first predetermined condition as original image.

Because video image is formed by image one by one, therefore first described video image is carried out frame separation.And the video image obtained is the video image of the synchronous acquisition obtained, synchronously namely refer to time synchronized, also namely multiple imaging device carries out video capture at the same time.

After video image is carried out frame separation, using upper for the time in each a video image synchronous two field picture as described original image, the equal corresponding multiple original image of each frame that also namely the time is above synchronous.

Also a two field picture synchronous with this two field picture in time in the two field picture namely in a video image and other video images synchronous with it, as original image.

Step 203: according to the panorama visual angle of presetting and original image number, multiple original images corresponding for each frame are cut out out the first subimage and the second subimage respectively.

Wherein, the second subimage of an original image that the first subimage of each original image is adjacent is complete overlapped view region;

Step 204: each corresponding for each frame first subimage is carried out splicing and forms the first panoramic picture, and each corresponding for each frame second subimage is carried out splicing form the second panoramic picture.

Through step 204, the first panoramic picture and second panoramic picture of corresponding different frame can be formed.

Step 205: the first corresponding for each frame panoramic picture is carried out frame combination, forms the first full-view video image, and the second corresponding for each frame panoramic picture is carried out frame combination, form the second full-view video image.

Multiple original images corresponding to each frame for video image all perform the operation of step 203 ~ step 204, therefore several first panoramic picture of corresponding video frame image and the second panoramic picture can be obtained, then the first corresponding for each frame panoramic picture is carried out frame combination, namely the first full-view video image is defined, and the second corresponding for each frame panoramic picture is carried out frame combination, namely form the second full-view video image.

Finally, described first full-view video image and described second full-view video image are outputted to three-dimensional video-frequency reader, and namely user can be observed panorama and the video image of solid.

The practical application scene concrete below in conjunction with the present invention one introduces implementation of the present invention in detail, see Fig. 3, shows the process flow diagram of a kind of panoramic stereo image synthetic method of the present invention embodiment 3.

The present embodiment is to synthesize 360 degree of panoramic stereo images, the visual angle that the original image gathered is corresponding is more than or equal to 180 degree, therefore corresponding according to described multiple original image visual angle sum is more than or equal to 720 degree, therefore when the visual angle that original image is corresponding equals 180 degree, described original image at least will gather four, therefore the present embodiment is for four original images, and described four original images are that area of visual field is adjacent successively, and adjacent two original images have the image in overlapped view region, described method can comprise:

Step 301: obtain four original images that imaging device gathers.

In the present embodiment, if described four original images are expressed as A, B, C, D.

Concrete acquisition mode can have multiple, and a kind of possible mode is: obtain the image that an imaging device gathers respectively four different camera sites.The shooting focus of the described imaging device that four original images are corresponding is positioned at circumferentially same, and the extension line of each shooting focus is through the center of circle of described circumference.

Described four camera sites can be spacedly distributed circumferentially described, and circle diameter is greater than 0.Described imaging device can for having the fish-eye equipment at 180 degree of visual angles.

Another kind of possible mode for: obtain the original image that four imaging devices laying respectively at four different camera sites gather, the camera lens focus of described four imaging devices is positioned at circumferentially same, the extension line of each shooting focus is through the center of circle of described circumference, and in order to ensure the stereoeffect of final composograph, described four imaging devices are spacedly distributed circumferentially described.

Another possible mode for: obtain the first initial pictures that an imaging device is gathered by four reflectors before being arranged on its camera lens, then described first initial pictures is divided, determine the original image corresponding to each reflector, described reflector is positioned at circumferentially same, and convex surface facing described imaging device camera lens place plane.

Another possible mode for: obtain and be positioned at multiple original images of the first predetermined condition that four imaging devices on different camera site are gathered by a reflector, wherein, the shooting focus of described four imaging devices is positioned at circumferentially same, the camera lens of described four imaging devices is towards same direction, described reflector is positioned at above the center of circle of described circumference, and convex surface facing described four imaging device camera lens place planes.

Another may mode for: obtain the second initial pictures that an imaging device is gathered by 4 groups of reflective mirrors before being positioned at imaging device camera lens and a reflector.Described second initial pictures is divided, determines corresponding four original images often organizing reflective mirror respectively.Described four original images meet described first predetermined condition.

Wherein, described often group reflective mirror bag two reflective mirrors, described reflector is positioned at described imaging device camera lens direction; Described four groups of reflective mirrors are between described imaging device and described reflector; Described four groups of reflective mirrors arranged adjacent successively, often organizes reflective mirror and after multiple reflections, enters described imaging device camera lens again for the light reflected by described reflector.

Step 302: according to described panorama visual angle and original image number, determines the first visual angle that in each original image, the first subimage is corresponding and the second visual angle corresponding to the second subimage.

In the present embodiment, panorama visual angle is 360 degree, and original image has four, then the first visual angle and the second visual angle are all defined as 360/4=90 degree.

Step 303: select the centre position of each original image to be crop position, cut out out the first subimage and the second subimage in described crop position both sides respectively.

Step 304: each first subimage is carried out splicing and forms the first panoramic picture, and each second subimage is carried out splicing form the second panoramic picture.

Concrete, Fig. 4 is that the one of each original image in the present embodiment cuts out schematic diagram.In Fig. 4, a, b, c, d represent different imaging devices, and the camera lens focus of this imaging device is positioned at circumferentially same.A, b, c, d are spacedly distributed circumferentially, and the line of corresponding imaging device forms X-axis and Y-axis respectively.The original image shot is respectively A, B, C, D, respectively the visual angle of corresponding 180 degree.Be crop position by the centre position of each original image, the first subimage that image A cuts out is A1, the second subimage is A2; The first subimage that image B cuts out is B1, the second subimage is B2; The first subimage that image C cuts out is C1, the second subimage is C2; The first subimage that image A cuts out is D1, the second subimage is D2, and each first subimage and visual angle corresponding to the second subimage are 90 degree.

Fig. 5 is the first panoramic picture formed after the first subimage splicing of each original image.Fig. 6 is the second panoramic picture formed after the second subimage splicing of each original image.As can be seen from Fig. 5 and Fig. 6, first subimage with complete overlapped view region and the second subimage respectively in the first panoramic picture position identical with the position in the second panoramic picture, as image A1 and image B2 is arranged on same position, image B1 is arranged on identical position with image C2, image C1 is arranged on identical position with image D2, image D1 is arranged on identical position with image A2, the first panoramic picture and the second panoramic picture is made to have identical content, and the first panoramic picture and the second panoramic picture are equivalent to the image in the same field of view region gathered at diverse location respectively, and there is collection position difference.When the first panoramic picture and the second panoramic picture are exported in stereo-picture browser, user is when watching, when eyes of user only see a wherein panoramic picture, as the first panoramic picture, another eyes only see another panoramic picture, as the second panoramic picture, namely user's eyes can produce parallax, thus can see having relief panoramic stereo image.

In the present embodiment, the original image that four corresponding visual angles are greater than 180 degree, determine the crop position of each original image, cut out out the first subimage and the second subimage, and respectively each first subimage and each second subimage are carried out splicing, form the first panoramic picture and the second panoramic picture that two width have parallax effect, making people when watching image, can panorama be watched and there is relief image.

It should be noted that, be understandable that, the first panoramic picture after Fig. 4, Fig. 5 and original image illustrated in fig. 6 and process, the second panoramic picture are a kind of schematic diagram being convenient to understand, and are not the image that actual acquisition goes out.

See Fig. 7, show the process flow diagram of a kind of image combining method embodiment 4 of the present invention, described method can comprise:

Step 701: the multiple original images obtaining the second predetermined condition that imaging device gathers.

Wherein, described second predetermined condition comprises: described multiple original image is that area of visual field is adjacent successively, and adjacent original image has the image in overlapped view region, and each overlapped view region at least overlapping n time, the visual angle sum that described multiple original image is corresponding is more than or equal to 360 ° of * n, n=3,4,5 ...

In the present embodiment, the visual angle that described original image is corresponding refers to the visual angle along a direction, the visual angle of such as horizontal direction or the visual angle etc. of vertical direction, and therefore described area of visual field also refers to horizontal field of view region or vertical visual field region.

Adjacent original image has overlapped view region, and each overlapped view region at least superimposed n time, in n the original image that is area of visual field is adjacent successively, all there is identical area of visual field, at least superimposed n time, each overlapped view region of guarantee, n >=3, and be positive integer.Namely at least superimposed n time, each overlapping region, finally can synthesize n panoramic picture, and therefore the numerical value of described n is relevant with needing the number of the panoramic picture synthesized.

Wherein, suppose that original image number is N number of, the visual angle that each original image is corresponding, namely the maximum shooting visual angle of imaging device is M, then the visual angle sum demand fulfillment of N number of original image: N*M >=360 ° * n.

If therefore n is 3, the visual angle that each original image is corresponding is 180 °, then at least need 6 original images, i.e. N >=6.

Multiple original images of the second predetermined condition of described acquisition imaging acquisition can have several mode:

A kind of possibility mode be: obtain multiple original images that an imaging device gathers in multiple different camera sites, the original image number N of described collection, the maximum shooting visual angle M of imaging device, and the visual angle that also namely original image is corresponding need meet: N*M >=360 ° * n.

Wherein, in order to ensure the imaging effect synthesizing panoramic stereo image, imaging device is in the shooting focus of different shot location, also the shooting focus that namely different original image is corresponding need be positioned at circumferentially same, and the extension line of the shooting focus of imaging device on each camera site is through the center of circle of this circumference.

The diameter of described circumference needs to be greater than 0.Circle diameter can obtain according to two eyeball spacing.In order to strengthen the stereoscopic sensation of stereo-picture, two eyeball spacing need in 1/2 of described circle diameter to described circle diameter scope in, therefore known two eyeball spacing can obtain circle diameter.

Another kind of possibility mode be: obtain the original image that the multiple imaging devices laid respectively on different camera site gather.Original image number, be also the number N of imaging device, the visual angle that original image is corresponding, also namely the maximum shooting visual angle M of imaging device need meet: N*M >=360 ° * n.

The shooting focus of described multiple imaging device is positioned at circumferentially same, and the extension line of each shooting focus is through the center of circle of described circumference.

Another may mode be: first, obtain an imaging device by multiple be positioned at described imaging device camera lens before the first initial pictures of gathering of reflector.Described reflector is positioned at circumferentially same, and convex surface facing described imaging device camera lens place plane, for the light reflection of 360 degree is entered in imaging device camera lens,

Secondly, described first initial pictures is divided, determine the original image of the second predetermined condition of each reflector corresponding.

Wherein, the number R of reflector need meet: R*360 >=360 ° * n.Reflector is arranged on circumferentially same, and imaging device camera lens is towards the center of circle of this circumference.By adjusting the focal length of imaging device and the camera lens parameter such as distance to this center of circle, can make camera lens can be complete and only photograph described reflector, making it possible to whole scenes that collection reflector reflects.The diameter of reflector place circumference needs to be greater than 0.This circle diameter can obtain according to two eyeball spacing.Two eyeball spacing need in 1/2 of described circle diameter to described circle diameter scope in, therefore known two eyeball spacing can obtain circle diameter.

Another possible mode for: obtain and be positioned at the multiple original images meeting predetermined condition that the multiple imaging devices on different camera site gather respectively by a reflector.

The diameter of this circumference needs to be greater than 0.This circle diameter can obtain according to two eyeball spacing.Two eyeball distance values need in 1/2 of described circle diameter to described circle diameter scope in, therefore known two spacing can obtain circle diameter.

The visual field sum corresponding according to original image multiple in the second predetermined condition is more than or equal to 360 ° of * n, and due in that case, the visual angle that the original image that each imaging device gathers is corresponding is 360 degree, and known imaging device at least needs n.

Another possible mode is: obtain the second initial pictures that an imaging device is gathered by the many groups reflective mirror before being positioned at imaging device camera lens and a reflector.Described second initial pictures is divided, determines the corresponding multiple original images often organizing reflective mirror respectively.Described multiple original image meets described first predetermined condition.

Wherein, described reflective mirror of often organizing at least comprises two reflective mirrors, and described reflector is positioned at described imaging device camera lens direction; Described many group reflective mirrors are between described imaging device and described reflector; Described many groups group reflective mirror arranged adjacent successively, often organizes reflective mirror and after multiple reflections, enters described imaging device camera lens again for the light reflected by described reflector.

Step 702: according to default panorama visual angle and original image number, cuts out out n subimage: the first subimage, the second subimage by each original image ... n-th subimage; Wherein, the m+1 subimage of the original image that the m subimage in each original image is adjacent is complete overlapped view region, m=1,2 ... n-1.

Wherein, the mode of cutting out of each original image is consistent.The area of visual field that n subimage in each original image is corresponding is continuous print successively.

As n=3, also namely each original image cuts out out three subimages: the first subimage, the second subimage and the 3rd subimage.The area of visual field that first subimage, the second subimage and the 3rd subimage are corresponding is continuous successively.The corresponding identical area of visual field of second subimage of the original image that then the first subimage of each original image is adjacent with this original image, the second subimage of each original image and the corresponding identical area of visual field of the 3rd subimage of described adjacent original image.Because multiple original image area of visual field is adjacent successively, the corresponding identical area of visual field of the first subimage of another original image that therefore the 3rd subimage of each original image is adjacent with this original image.

As n=4, also namely each original image cuts out out four subimages: the first subimage, the second subimage, the 3rd subimage and the 4th subimage.The area of visual field that first subimage, the second subimage, the 3rd subimage and the 4th subimage are corresponding is continuous successively.The then corresponding identical area of visual field of the second subimage of the original image that is adjacent of the first subimage of each original image, the corresponding identical area of visual field of 3rd subimage of original image adjacent described in the second subimage of each original image, 3rd subimage of each original image and the corresponding identical area of visual field of the 4th subimage of described adjacent original image, because multiple original image area of visual field is adjacent successively, the corresponding identical area of visual field of first subimage of another original image that therefore the 4th subimage of each original image is adjacent with this original image.

The like, the relation of the subimage of multiple original image can see described above.

Wherein, suppose that original image number is N, presetting panorama visual angle is Q, then according to presetting panorama visual angle and original image number, each original image being cut out out n subimage and being specially:

First according to the number of described panorama visual angle and original image, the visual angle that subimage to be cut out in each original image is corresponding is calculated.

The visual angle sum that subimage to be cut out in each original image is corresponding needs to equal Q*n/N.

Secondly, according to determine the visual angle that subimage to be cut out is corresponding, each original image is cut out out n subimage.

When the multiple subimages cut out out in each original image corresponding visual angle sum be less than visual angle corresponding to original image time, the picture material of the center section of prioritizing selection original image is as the part needing to cut out.

Step 703: each r subimage is carried out splicing respectively and forms r panoramic picture, r=1,2 ... n, synthesizes n panoramic picture.

Namely this step refers to, each first subimage is carried out splicing and forms the first panoramic picture, each second subimage is carried out splicing and forms the second panoramic picture ... each n-th subimage is carried out splicing respectively and forms the n-th panoramic picture, therefore, n panoramic picture is finally synthesized.

The corresponding identical picture material of m+1 subimage of the original image that the m subimage due to each original image is adjacent with this original image, n panoramic picture of therefore final synthesis is identical picture material.And be equivalent to the image in the same field of view region gathered at diverse location respectively.Therefore user watches any two panoramic pictures and all can make human eye generation parallax, thus produces stereoscopic sensation.

N panoramic picture of final synthesis presents simultaneously, for user when watching, because every two panoramic pictures all can make human eye produce parallax, produces stereoscopic sensation.Therefore without the need to special stereo-picture browsing apparatus, namely user can see the image of full-view stereo, and also namely namely n panoramic picture form full view hologram picture, and user's direct viewing can be seen panorama and have relief image.

In the present embodiment, by obtaining multiple original images of second predetermined condition, and carry out cutting out and splicing, form the panoramic picture that n has same image content, because every two panoramic pictures are the panoramic picture that can produce parallax, user, when browsing described panoramic picture, can watch panorama and have relief image, therefore without the need to special stereo-picture browsing apparatus, user also can see having relief panoramic picture.

See Fig. 8, show the structural representation of a kind of panoramic stereo image synthesizer of the present invention embodiment 1, described device can comprise:

Acquisition module 801, for obtaining multiple original images of the first predetermined condition that imaging device gathers, described first predetermined condition is: described multiple original image is that area of visual field is adjacent successively, and adjacent two original images have the image in overlapped view region, the visual angle sum that described multiple original image is corresponding is more than or equal to 720 degree.

Wherein, as another embodiment, the multiple original images of first predetermined condition of described acquisition module 801 specifically for obtaining an imaging device and gathering in different camera site respectively, the shooting focus of the described imaging device that described different original image is corresponding is positioned at circumferentially same, and the extension line of each shooting focus is through the center of circle of described circumference.

Wherein, as another embodiment, described acquisition module is specifically for obtaining the original image being positioned at the first predetermined condition that the multiple imaging devices on different camera site gather respectively, the shooting focus of described multiple imaging device is positioned at circumferentially same, and the extension line of each shooting focus is through the center of circle of described circumference.

Wherein, as another embodiment, described acquisition module specifically for obtain an imaging device by multiple be positioned at described imaging device camera lens before the first initial pictures of gathering of reflector, described reflector is positioned at circumferentially same, and convex surface facing described imaging device camera lens place plane; Described first initial pictures is divided, determines the original image of the first predetermined condition of each reflector corresponding.

Wherein, as another embodiment, described acquisition module can specifically for obtaining the multiple original images being positioned at the first predetermined condition that the multiple imaging devices on different camera site are gathered by a reflector, wherein, the shooting focus of described multiple imaging device is positioned at circumferentially same, the camera lens of described multiple imaging device is towards same direction, and described reflector is positioned at above the center of circle of described circumference, and convex surface facing described imaging device camera lens place plane.

Cut out module 802, the panorama visual angle of presetting for basis and original image number, each original image is cut out out the first subimage and the second subimage, wherein, the second subimage of the original image that the first subimage of each original image is adjacent is complete overlapped view region.

Wherein, cut out module 802 described in specifically to comprise:

Computing module 8021, for according to described panorama visual angle and original image number, determines the first visual angle that in each original image, the first subimage is corresponding and the second visual angle corresponding to the second subimage.

Cut out submodule 8022, for according to described first visual angle and described second visual angle, determine the crop position of each original image, and cut out out described first subimage and described second subimage.

Synthesis module 803, forms the first panoramic picture for each first subimage is carried out splicing, and each second subimage is carried out splicing forms the second panoramic picture.

Device of the present invention can be integrated in image processor in actual applications, also can be connected with image processor as independent entity.

See Fig. 9, show the structural representation of a kind of panoramic stereo image synthesizer of the present invention embodiment 2, described device can comprise acquisition module 901, cut out module 902 and synthesis module 903, concrete functions of modules can see described in said apparatus embodiment 1, wherein, be, in the present embodiment with said apparatus embodiment 1 difference, described image is specially video image, and therefore described acquisition module 901 specifically comprises:

Obtain submodule 9011, for obtaining the video image of the multiple imaging device synchronous acquisitions be positioned on different camera site respectively, the shooting focus of described multiple imaging device is positioned at circumferentially same, and the extension line of each shooting focus is through the center of circle of described circumference.

In order to ensure multiple imaging device synchronous acquisition, can be controlled by synchro timer.

Frame separation module 9012: each video image is carried out frame separation, by synchronous in time in each video image, and a two field picture of first predetermined condition is as original image.

Trigger module 9013, for for multiple original images corresponding to each frame, cuts out module and starts described in triggering.

Described device also comprises frame composite module 904, for the first corresponding for each frame panoramic picture is carried out frame combination, forms the first full-view video image, and the second corresponding for each frame panoramic picture is carried out frame combination, forms the second full-view video image.

The present embodiment, can realize the process to video image, thus makes user at viewing video, can watch panoramic video, and can produce stereo perception.

See Figure 10, show the structural representation of a kind of panoramic stereo image synthesizer of the present invention embodiment 3, described device can comprise:

Acquisition module 1001, for obtaining multiple original images of the second predetermined condition that imaging device gathers, described second predetermined condition comprises: described multiple original image is that area of visual field is adjacent successively, and adjacent original image has the image in overlapped view region, at least overlapping n time, each overlapped view region, the visual angle sum that described multiple original image is corresponding is more than or equal to 360 ° of * n, n=3,4,5

Cutting out module 1002, for according to presetting panorama visual angle and original image number, each original image being cut out out n subimage by same direction: comprise the first subimage, the second subimage ... n-th subimage; Wherein, the m+1 subimage of the original image that the m subimage in each original image is adjacent is complete overlapped view region, m=1,2 ... n-1;

Synthesis module 1003, forms r panoramic picture, r=1,2 for each r subimage is carried out splicing respectively ... n.

In the present embodiment, by obtaining multiple original images of second predetermined condition, and carry out cutting out and splicing, form the panoramic picture that n has same image content, every two panoramic pictures are the panoramic picture with parallax, and user, when browsing described panoramic picture, can watch panorama and have relief image, and without the need to special stereo-picture browsing apparatus, namely user can see having relief panoramic picture.

Present invention also offers a kind of panoramic stereo image synthesis system embodiment 1, the image processor that described system comprises imaging device and is connected with imaging device.

Described imaging device is for gathering original image, and described system at least comprises an imaging device.

Described image processor is for obtaining multiple original images of the first predetermined condition of imaging device collection, described first predetermined condition is: described multiple original image is that area of visual field is adjacent successively, and adjacent two original images have the image in overlapped view region, at least overlapping 2 times, each overlapped view region, the visual angle sum that described multiple original image is corresponding is greater than or equal to 720 degree; According to the panorama visual angle of presetting and original image number, each original image is cut out out the first subimage and the second subimage, wherein, the second subimage of the original image that the first subimage of each original image is adjacent is complete overlapped view region; Each first subimage is carried out splicing and forms the first panoramic picture, and each second subimage is carried out splicing form the second panoramic picture.

Wherein, in order to the original image of first predetermined condition can be collected, as a specific embodiment of panoramic stereo image synthesis system, described system specifically comprises an imaging device, described multiple original image is specially that described imaging device gathers in different camera site, the shooting focus of the described imaging device that described different original image is corresponding is positioned at circumferentially same, the extension line of each shooting focus is through the center of circle of described circumference, and the maximum shooting visual angle M of the original image number N that gathers of imaging device and each imaging device need meet following relational expression:

N*M≥720°。

Wherein, in order to ensure the stereoscopic sensation of composograph, the diameter of described circumference needs to be greater than 0.This circle diameter is according to the parallax of two, and also namely two eyeball spacing calculate, and binocular parallax value need in 1/2 of described circle diameter to described circle diameter scope in, therefore known binocular parallax can obtain circle diameter.

As another embodiment of panoramic stereo image synthesis system, described system can comprise multiple imaging device, wherein, each imaging device gathers an original image, described multiple imaging device is positioned at different camera site, the shooting focus of described multiple imaging device is positioned at circumferentially same, and the maximum shooting visual angle M of the original image number N that gathers of imaging device and described imaging device need meet following relational expression:

N*M≥720°。

Imaging device number has multiple, i.e. corresponding collection how many original images.Namely the original image that the multiple imaging devices meeting described relational expression gather meets the first described predetermined condition.

The diameter of imaging device shooting focus place circumference needs to be greater than 0.This circle diameter calculates according to two eyeball spacing, and two eyeball spacing values need in 1/2 of described circle diameter to described circle diameter scope in, therefore known two eyeball spacing can obtain circle diameter.

As another embodiment of panoramic stereo image synthesis system of the present invention, described system also comprises reflector, before described reflector is arranged on the camera lens of described imaging device, and when making a video recording the camera lens place plane of the corresponding described imaging device of convex surface, for the light reflection of 360 degree of scopes being entered the camera lens of described imaging device; Multiple original images that then described image processor obtains the first predetermined condition of described imaging device collection specifically obtain multiple original images that described imaging device is gathered by described reflector.

In this embodiment, a kind of possibility situation be: described system comprises an imaging device, multiple reflector.Described reflector position is positioned at circumferentially same, and described imaging device camera lens is just to the center of circle of described circumference.Because the position of reflector is different, reflected scene is made to have alternate position spike.The number R of reflector need meet: R*360 >=720 °.

Then described image processor multiple original images specifically the first initial pictures of being gathered by described reflector of described imaging device of obtaining the first predetermined condition of described imaging device collection, and described first initial pictures is divided, determine the original image of the first predetermined condition of each reflector corresponding.The image reflected due to different reflector is 360 degree of panorama visual angles, and because reflector is for being positioned at diverse location, therefore can be met the original image of this first predetermined condition.

Preferably, in order to ensure the quality of the first initial pictures gathered, simultaneously in order to avoid the waste of resource, preferably, described reflector is three or four, thus when carrying out image cutting-out process, the image by other the reflector captured by each reflector can be removed, ensure that the picture quality of image at specific direction of last synthesis, and in the stereoscopic sensation that special angle has.

For four reflectors, specifically see Figure 11, show imaging device when gathering image, a kind of structural representation of reflector and imaging device.Before four reflectors 10 are positioned at imaging device 20 camera lens, convex surface is just to camera lens.

Figure 12 shows the position view of reflector.As shown in Figure 12, reflector 10 is positioned at same circumferentially diverse location, the corresponding center of circle A of camera lens of imaging device 20.

The diameter of this circumference needs to be greater than 0.This circle diameter calculates according to two eyeball spacing, and two eyeball spacing values need in 1/2 of described circle diameter to described circle diameter scope in, therefore known two eyeball spacing can obtain circle diameter.

In order to ensure each imaging device can complete and only gather this reflector reflection image, the r of reflector can be greater than this circle diameter R, concrete, and r span is R ~ 3R.

In this case, described imaging device and described reflector can be integral type structure, and imaging device can adjust to the distance of this reflector.Certain described imaging device and described reflector also can be independent structure.

First initial pictures of the imaging device collection obtained finally can mark off four original images of corresponding four reflectors respectively, be assumed to be A, B, C, D, because the position of four reflectors is different, the area of visual field therefore making to mark off four original images corresponding is adjacent successively.The visual angle that each original image is corresponding is 360 degree.Suppose that panorama visual angle is 360 degree, the visual angle of the first subimage that each original image is cut out and the second subimage is 90 degree.

The one that Figure 13 shows four original images cuts out schematic diagram, and four circles in figure represent four original images, and the bold portion of described circle represents the first subimage and the second subimage cut out out, and namely dotted portion represents remaining image section.Owing to adopting four reflectors, the image of other reflectors therefore absorbed by each reflector, can be got rid of when cutting out, and comprises the image of other reflectors absorbed by each reflector in the image of also i.e. dotted portion representative.

The another kind that Figure 14 shows four original images cuts out schematic diagram.Four circles represent four original images, and the bold portion of described circle represents the first subimage and the second subimage cut out out, and namely dotted portion represents remaining image section.

Because the circle diameter of reflector place circumference is different, therefore obtain the first initial pictures that Figure 14 and Figure 15 two kinds is different.In actual tailoring process, can cut out according to the position relationship of this each reflector and the proportionate relationship between circle diameter and reflector diameter.

For three reflectors, the first initial pictures of the imaging device collection that image processor obtains finally can mark off three original images A, B, C of corresponding three reflectors respectively.Same hypothesis panorama visual angle is 360 degree, then the visual angle of the first subimage of cutting out of each original image and the second subimage is 120 degree, and the one that Figure 15 shows for three original images cuts out schematic diagram.Three original images that three circular representatives mark off, the bold portion of described circle represents the first subimage and the second subimage cut out out, and namely dotted portion represents remaining image section.

In above-mentioned three kinds of modes, after cutting out, carry out the process of splicing, see described in above-described embodiment, can not repeat them here.

Wherein, described reflector can adopt 360 degree of parabolic reflective mirrors to realize.

In addition, the another kind of the present embodiment may situation be: described system specifically comprises a reflector, multiple imaging device, and described multiple imaging device is positioned at circumferentially same, and camera lens is towards same direction, and described reflector convex surface is just to the center of circle of described circumference.

Specifically show the another kind of structural representation of imaging device and reflector see Figure 16, Figure 17 is the position view of imaging device.Imaging device 20 is positioned at circumferentially same, reflector 10 convex surface facing imaging device camera lens place plane, reflector 10 is positioned at the top position in the described circumference center of circle.

In this case, be utilize the difference of imaging device camera site and the original image that adjacent imaging device is collected has alternate position spike, meet described first predetermined condition.

This circle diameter calculates according to two eyeball spacing, and two eyeball spacing values need in 1/2 of described circle diameter to described circle diameter scope in, therefore namely known two eyeball spacing can calculate circle diameter.

In order to ensure each imaging device can complete and only gather this reflector reflection image,

By adjusting the focal length of imaging device, and reflector is to the parameter such as distance in this center of circle, can make each imaging device can be complete and only collect the scene that this reflector reflects.

Wherein, the diameter r of described reflector can be greater than this circle diameter R, concrete, and r span is R ~ 3R, to ensure that light that reflector reflects can enter the camera lens of each imaging device.

In addition, another possibility situation of the present embodiment be: imaging device comprises multiple, and described system also comprises the multiple reflectors before being positioned at imaging device camera lens, and the camera lens of imaging device is towards same direction, and reflector convex surface is just to imaging device camera lens place plane.

Wherein, described image processor also can be integrated in described imaging device, or is connected with imaging device as independent entity.

As another embodiment of panoramic stereo image synthesis system, described system specifically comprises an imaging device, and described system also comprises a reflector and organizes reflective mirror more.

Described reflective mirror of often organizing enters described imaging device camera lens again for the light reflected by described reflector after multiple reflections.Position between reflective mirror, reflector and imaging device is adjustable, and the angle often organized between each reflective mirror in reflective mirror is also adjustable.The group number of reflective mirror and the visual angle often organizing light that reflective mirror reflects corresponding meet: group number * visual angle >=180 °.

Then described image processor specifically obtains the second initial pictures gathered by the many groups reflective mirror before being positioned at imaging device camera lens and a reflector, is divided by described second initial pictures, determines that correspondence often organizes reflective mirror original image respectively.

Four groups of reflective mirrors are comprised with described system, often group reflective mirror comprises two reflective mirrors is example, a kind of structural representation of imaging device in the present invention, reflective mirror and reflector is shown see Figure 18, described system comprises reflector 10, imaging device 20 and reflective mirror 30, not shown whole reflective mirror in Figure 18, for two groups of reflective mirrors, show light reflection circuit.Reflective mirror 31 and reflective mirror 32 are respectively two reflective mirrors often organized in reflective mirror.

By adjustment imaging device, position between reflector and reflective mirror, often organize the angle between two each and every one reflective mirrors in reflective mirror, can make often to organize all or part of light that reflector reflects by reflective mirror again after multiple reflections, enter imaging device camera lens.A concrete application is the whole light reflected by reflector, and the light namely within the scope of 360 degree all reflects in camera lens.Therefore the different area of visual field absorbed through often organizing reflective mirror are made all to have overlapping region.

Figure 19 is the structural representation of many group reflective mirrors.Reflective mirror 31 and reflective mirror 32 are respectively two reflective mirrors often organized in reflective mirror, and Figure 19 is specifically from the floor map that camera lens is looked convex surface facing direction.

In the embodiment of the present invention, described imaging device can adopt the wide-angle lens with super large visual angle, fish-eye camera, video camera.The camera of common lens, video camera can certainly be adopted.

In the embodiment of the present invention, described visual angle can comprise horizontal view angle, also vertical angle of view can be referred to, no matter be the original image which visual angle correspondence is taken, adopt the image combining method that the present invention program provides, can produce horizontal direction is panorama, or vertical direction is panorama and has relief image.Therefore the viewing demand of user is met.

Present invention also offers a kind of panoramic stereo image synthesis system embodiment 2, described system comprises imaging device and image processor.

Described imaging device is for gathering original image;

Described image processor is for obtaining multiple original images of the second predetermined condition of described imaging device collection, described second predetermined condition comprises: described multiple original image is that area of visual field is adjacent successively, and adjacent original image has the image in overlapped view region, at least overlapping n time, each overlapped view region, the visual angle sum that described multiple original image is corresponding is more than or equal to 360 ° of * n, n=1,2,3 According to default panorama visual angle and original image number, each original image is cut out out N number of subimage by same direction: comprise the first subimage, the second subimage ... n-th subimage; Wherein, the m+1 subimage of the original image that the m subimage in each original image is adjacent is complete overlapped view region, m=1,2 ... m-1; Each r subimage is carried out respectively splicing and form r panoramic picture, r=1,2 ...

Pass through the present embodiment, finally can form multiple panoramic stereo image, because every two panoramic pictures are the panoramic picture with parallax, user is when browsing described panoramic picture, without the need to special stereo-picture browsing apparatus, can panorama be watched and there is relief image.

Present invention also offers a kind of panoramic stereo image browsing apparatus, show the structural representation of an embodiment of described device see Figure 20, described device can comprise:

Interconnective first lens module 100 and the second lens module 200.

Be arranged on described first lens module 100 and described second lens module 200 direction and vertical described first lens module 100 and described second lens module 200 connecting line, and position-adjustable every tabula rasa 300.

Be arranged on the processing module 400 of described first lens module 100 and described second lens module 200 direction, described processing module 400 comprises the display screen in the face of described first lens module 100 and described second lens module 200, and described display screen comprises corresponding first viewing area 410 of described first lens module and the second viewing area 420 of corresponding second lens module.

Wherein, the described separatrix place being in described first viewing area 410 and described second viewing area 420 every tabula rasa 300 can be made every the position of tabula rasa 300 described in adjusting, namely human eye is when described display screen watched by scioptics, before supposing that left eye is positioned at the first lens module, before right eye is positioned at the second lens module, therefore left eye can be made can only to watch the first viewing area 410 of display screen every tabula rasa 300 described in, right eye can only watch the second viewing area 420.

Described processing module 400 is for obtaining by the multiple original images by first predetermined condition, according to the panorama visual angle of presetting and original image number, each original image is cut out out the first subimage and the second subimage, form the first panoramic picture by each first subimage splicing and form the second panoramic picture by each second subimage splicing; And show described first panoramic picture in described first viewing area 410 and show described second panoramic picture in described second viewing area 420.

Wherein, described first predetermined condition is: described multiple original image is that area of visual field is adjacent successively, and adjacent two original images have the image in overlapped view region, and the visual angle sum that described multiple original image is corresponding is greater than or equal to 720 degree.The second subimage of original image of being adjacent of the first subimage of each original image of cutting out out be complete overlapped view region.Therefore, final the first panoramic picture of being formed and described second panoramic picture are have camera site difference and the identical image of content.

Described first lens module 100 for by described first panoramic picture in the first display position (in figure a point) imaging, described second lens module is used for by described second panoramic picture in the second display position (in figure b point) imaging, and described first display position and described second display position are respectively user's eyes position;

Described processing module 400 is also for when user's eyes are at described first display position and described second display position image browsing, detect the rotation direction of user's eyeball, according to described Rotation of eyeball direction corresponding mobile described first panoramic picture and described second panoramic picture respectively.

Concrete, described processing module can also comprise sensing unit, for detecting the rotation of eyeball, and according to oculogyral direction, determine image moving direction, the first panoramic picture can be controlled and the second panoramic picture moves, make user can watch the image of panorama.

Because the first panoramic picture is identical with the second panoramic picture content, and be equivalent to gather in different camera site, therefore user's eyes lay respectively at the first display position a and the second display position b when watching the display screen of described processing module, due to every tabula rasa effect, make each eye of user can only see the panoramic picture of its correspondence, utilize right and left eyes to produce parallax, thus make user to produce stereoscopic sensation.

Wherein, described panoramic stereo image browsing apparatus can also comprise a bracing frame 500, described first lens module 100, described second lens module 200, be describedly arranged on support frame as described above 100 every tabula rasa 300 and described processing module 400, and meet above-mentioned position relationship, and described processing module 400 and support frame as described above 500 removably connect;

Described first lens module 100, described second lens module 200, described every tabula rasa 300 and described processing module 400 position-adjustable on support frame as described above 500.The described separatrix place being in described first viewing area and described second viewing area every tabula rasa 300 can be made by adjusting the described position every tabula rasa 300 and described processing module 400.

By adjusting described first lens module 100, described second lens module 200 and described processing module 400, by described first panoramic picture in the first display position imaging, by described second panoramic picture in the second display position imaging.Concrete, by adjusting the distance of described processing module to described first lens module and the second lens module, and adjust the position of described first lens module and the second lens module, can by the first panoramic picture in the first different display position imagings, and by the second panoramic picture in the second different display position imagings.Thus make user when reality uses browsing apparatus, can adjust according to personal considerations, to ensure that the first display position and the second display position can just in time for user's eyes positions.

Described first lens module and described second lens module are specially can the optics convex lens module of closely imaging.

Support frame as described above can also comprise mirror holder or bandage, by described mirror holder or bandage, described full-view stereo browsing apparatus directly can be worn on head by user, eyes position is lens imaging position, thus make user to watch panorama and there is relief image, and convenient viewing.

By the browsing apparatus of the present embodiment, can realize user and browse panoramic stereo image, described processing module is detachable, and it can refer to the image display with display screen, such as the equipment such as mobile phone, MP4.

Wherein, as another embodiment, the first panoramic picture that described processing module obtains and the second panoramic picture can be synthesize after carrying out cutting out splicing after processing module obtains multiple original images of the first predetermined condition of imaging device collection, the panorama visual angle that particularly basis is default and the number of described original image, each original image is cut out out the first subimage and the second subimage, each first subimage splicing is formed the first panoramic picture, each second subimage splicing is formed the second panoramic picture.

The process that described processing module process forms the first panoramic picture and the second panoramic picture specifically see described in above-mentioned panoramic stereo image synthetic method embodiment, can not repeat them here.

Image information such as viewing full-view stereo picture or video etc. can be realized by the panoramic stereo image browsing apparatus described in the embodiment of the present invention.

In this instructions, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.For device disclosed in embodiment, because it corresponds to the method disclosed in Example, so description is fairly simple, relevant part illustrates see method part.

To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.

Claims

1. a panoramic stereo image synthetic method, is characterized in that, comprising:

Each first subimage is carried out splicing and forms the first panoramic picture, and each second subimage is carried out splicing form the second panoramic picture;

Wherein, multiple original images of the first predetermined condition of described acquisition imaging device collection comprise:

Obtain the video image of the multiple imaging device synchronous acquisitions be positioned on different camera site respectively, the shooting focus of described multiple imaging device is positioned at circumferentially same, and the extension line of each shooting focus is through the center of circle of described circumference;

Each video image is carried out frame separation, and by synchronous in time in different video image, and a two field picture of first predetermined condition is as original image;

For multiple original images that each frame is corresponding, perform described according to described default panorama visual angle and original image number, each original image is cut out out the step of the first subimage and the second subimage;

Describedly each first subimage is carried out splicing form the first panoramic picture, and carried out by each second subimage after splicing forms the second panoramic picture, described method also comprises:

The first corresponding for each frame panoramic picture is carried out frame combination, forms the first full-view video image, and the second corresponding for each frame panoramic picture is carried out frame combination, form the second full-view video image.

2. method according to claim 1, is characterized in that, multiple original images of the first predetermined condition of described acquisition imaging device collection are specially:

Obtain an imaging device by multiple be positioned at described imaging device camera lens before the first initial pictures of gathering of reflector, described multiple be positioned at described imaging device camera lens before reflector be positioned at circumferentially same, and convex surface facing described imaging device camera lens place plane;

Described first initial pictures is divided, determines the original image of the first predetermined condition of each reflector corresponding.

3. method according to claim 1, is characterized in that, multiple original images of the first predetermined condition of described acquisition imaging device collection comprise:

Obtain the multiple original images being positioned at the first predetermined condition that the multiple imaging devices on different camera site gather respectively by a reflector, wherein, the shooting focus of described multiple imaging device is positioned at circumferentially same, the camera lens of described multiple imaging device is towards same direction, described reflector is positioned at above the center of circle of described circumference, and convex surface facing described multiple imaging device camera lens places plane.

4. method according to claim 1, is characterized in that, multiple original images of the first predetermined condition of described acquisition imaging device collection comprise:

Obtain the second initial pictures that an imaging device is gathered by the many groups reflective mirror before being positioned at imaging device camera lens and a reflector, wherein, often organize reflective mirror and comprise at least two reflective mirrors; Described reflector is positioned at described imaging device camera lens direction; Described many group reflective mirrors are between described imaging device and described reflector; Described many group reflective mirrors arranged adjacent successively, often organizes reflective mirror and after multiple reflections, enters described imaging device camera lens again for the light reflected by described reflector;

Described second initial pictures is divided, determines the corresponding original image often organizing reflective mirror.

5. the method according to any one of Claims 1 to 4, is characterized in that, described according to described default panorama visual angle and original image number, each original image is cut out out the first subimage and the second subimage comprises:

According to described default panorama visual angle and original image number, determine the first visual angle that in each original image, the first subimage is corresponding and the second visual angle corresponding to the second subimage;

According to described first visual angle and described second visual angle, determine the crop position of each original image, and cut out out described first subimage and described second subimage.

6. a panoramic stereo image synthetic method, is characterized in that, comprising:

Each r subimage is carried out splicing respectively and forms r panoramic picture, r=1,2 ... n;

Wherein, multiple original images of the second predetermined condition of described acquisition imaging device collection comprise:

Each video image is carried out frame separation, and by synchronous in time in different video image, and a two field picture of second predetermined condition is as original image;

For multiple original images that each frame is corresponding, perform and describedly each original image is cut out out n subimage according to described default panorama visual angle and original image number, comprise the first subimage, the second subimage ... the step of the n-th subimage;

Describedly carried out by each r subimage after splicing forms r panoramic picture respectively, described method also comprises:

The first corresponding for each frame panoramic picture is carried out frame combination, form the first full-view video image, the second corresponding for each frame panoramic picture is carried out frame combination, forms the second full-view video image ... the n-th corresponding for each frame panoramic picture is carried out frame combination, forms the n-th full-view video image.

7. a panoramic stereo image synthesizer, is characterized in that, comprising:

Synthesis module, forms the first panoramic picture for each first subimage is carried out splicing, and each second subimage is carried out splicing forms the second panoramic picture;

Described acquisition module comprises:

Obtain submodule, for obtaining the video image of the multiple imaging device synchronous acquisitions be positioned on different camera site respectively, the shooting focus of described multiple imaging device is positioned at circumferentially same, and the extension line of each shooting focus is through the center of circle of described circumference;

Frame separation module: each video image is carried out frame separation, by synchronous in time in different video image, and a two field picture of first predetermined condition is as original image;

Trigger module, for for multiple original images corresponding to each frame, cuts out module and starts described in triggering;

Described device also comprises:

Frame composite module, for the first corresponding for each frame panoramic picture is carried out frame combination, forms the first full-view video image, and the second corresponding for each frame panoramic picture is carried out frame combination, forms the second full-view video image.

8. device according to claim 7, is characterized in that, described in cut out module and comprise:

Computing module, for according to described panorama visual angle and original image number, determines the first visual angle that in each original image, the first subimage is corresponding and the second visual angle corresponding to the second subimage;

Cut out submodule, for according to described first visual angle and described second visual angle, determine the crop position of each original image, and cut out out described first subimage and described second subimage.

9. a panoramic stereo image synthesizer, is characterized in that, comprising:

Synthesis module, forms r panoramic picture, r=1,2 for each r subimage is carried out splicing respectively ... n;

Acquisition module also comprises:

Obtain submodule, for obtaining the original image being positioned at the second predetermined condition that the multiple imaging devices on different camera site gather respectively, the shooting focus of described multiple imaging device is positioned at circumferentially same, and the extension line of each shooting focus is through the center of circle of described circumference;

Frame separation module: each video image is carried out frame separation, by synchronous in time in different video image, and a two field picture of second predetermined condition is as original image;

Described device also comprises:

Frame composite module, for the first corresponding for each frame panoramic picture is carried out frame combination, form the first full-view video image, the second corresponding for each frame panoramic picture is carried out frame combination, form the second full-view video image ... the n-th corresponding for each frame panoramic picture is carried out frame combination, forms the n-th full-view video image.

10. a panoramic stereo image synthesis system, is characterized in that, described system comprises imaging device and image processor;

Described imaging device is for gathering original image;

Described image processor is for obtaining multiple original images of the first predetermined condition of described imaging device collection, described first predetermined condition is: described multiple original image is that area of visual field is adjacent successively, and adjacent two original images have the image in overlapped view region, each overlapped view region is overlap twice at least, and the visual angle sum that described multiple original image is corresponding is more than or equal to 720 degree; According to the panorama visual angle of presetting and original image number, each original image is cut out out the first subimage and the second subimage, wherein, the second subimage of the original image that the first subimage of each original image is adjacent is complete overlapped view region; Each first subimage is carried out splicing and forms the first panoramic picture, and each second subimage is carried out splicing form the second panoramic picture;

Described system specifically comprises multiple imaging device, described multiple original image is specially that described imaging device gathers in different camera site, the shooting focus of the described imaging device that described multiple original image is corresponding is positioned at circumferentially same, the extension line of each shooting focus is through the center of circle of described circumference, and the maximum shooting visual angle M of the original image number N that gathers of imaging device and each imaging device meets following relational expression:

N*M≥720°；

Wherein, described image processor is for obtaining the video image of the multiple imaging device synchronous acquisitions be positioned on different camera site respectively; Each video image is carried out frame separation, and by synchronous in time in different video image, and a two field picture of first predetermined condition is as original image; For multiple original images that each frame is corresponding, according to described default panorama visual angle and original image number, each original image is cut out out the first subimage and the second subimage; Each first subimage is carried out splicing and forms the first panoramic picture, each second subimage is carried out after splicing forms the second panoramic picture, described image processor is also for carrying out frame combination by the first corresponding for each frame panoramic picture, form the first full-view video image, the second corresponding for each frame panoramic picture is carried out frame combination, forms the second full-view video image.

11. systems according to claim 10, it is characterized in that, described system also comprises reflector, before described reflector is arranged on the camera lens of described imaging device, and make a video recording time convex surface just to the camera lens place plane of described imaging device, for the light reflection of 360 degree of scopes being entered the camera lens of described imaging device;

Multiple original images that described image processor obtains the first predetermined condition of described imaging device collection specifically obtain multiple original images that described imaging device is gathered by described reflector.

12. systems according to claim 10, it is characterized in that, described system specifically comprises a reflector and multiple imaging device, and described multiple imaging device is positioned at circumferentially same, and camera lens is towards same direction, described reflector convex surface is just to the center of circle of described circumference.

13. 1 kinds of panoramic stereo image synthesis systems, is characterized in that, comprise imaging device and image processor,

Described imaging device is for gathering original image;

Described image processor is for obtaining multiple original images of the second predetermined condition of described imaging device collection, described second predetermined condition comprises: described multiple original image is that area of visual field is adjacent successively, and adjacent original image has the image in overlapped view region, at least overlapping n time, each overlapped view region, the visual angle sum that described multiple original image is corresponding is more than or equal to 360 ° of * n, n=1,2,3 According to default panorama visual angle and original image number, each original image is cut out out n subimage by same direction: comprise the first subimage, the second subimage ... n-th subimage; Wherein, the m+1 subimage of the original image that the m subimage in each original image is adjacent is complete overlapped view region, m=1,2 ... n-1; Each r subimage is carried out respectively splicing and form r panoramic picture, r=1,2

Wherein, described image processor is for obtaining the video image of the multiple imaging device synchronous acquisitions be positioned on different camera site respectively, the shooting focus of described multiple imaging device is positioned at circumferentially same, and the extension line of each shooting focus is through the center of circle of described circumference; Each video image is carried out frame separation, and by synchronous in time in different video image, and a two field picture of second predetermined condition is as original image; For multiple original images that each frame is corresponding, according to described default panorama visual angle and original image number, each original image is cut out out n subimage, comprise the first subimage, the second subimage ... n-th subimage; Just each r subimage carries out splicing respectively and forms r panoramic picture;

Described image processor also for: the first corresponding for each frame panoramic picture is carried out frame combination, form the first full-view video image, the second corresponding for each frame panoramic picture is carried out frame combination, form the second full-view video image ... the n-th corresponding for each frame panoramic picture is carried out frame combination, forms the n-th full-view video image.

14. 1 kinds of panoramic stereo image browsing apparatus, is characterized in that, comprising: interconnective first lens module and the second lens module;

Described processing module is for obtaining multiple original images of first predetermined condition, according to the panorama visual angle of presetting and original image number, each original image is cut out out the first subimage and the second subimage, the first panoramic picture formed by each first subimage splicing and the second panoramic picture formed by each second subimage splicing; And at described first viewing area described first panoramic picture of display with at described second panoramic picture of described second viewing area display;

Described processing module is also for when user's eyes are at described first display position and the second display position image browsing, detect the rotation direction of user's eyeball, according to described Rotation of eyeball direction corresponding mobile described first panoramic picture and described second panoramic picture respectively;

Wherein, described processing module is for obtaining the video image of the multiple imaging device synchronous acquisitions be positioned on different camera site respectively, the shooting focus of described multiple imaging device is positioned at circumferentially same, and the extension line of each shooting focus is through the center of circle of described circumference; Each video image is carried out frame separation, and by synchronous in time in different video image, and a two field picture of first predetermined condition is as original image; For multiple original images that each frame is corresponding, according to described default panorama visual angle and original image number, each original image is cut out out the first subimage and the second subimage; Each first subimage is carried out splicing and forms the first panoramic picture, each second subimage is carried out after splicing forms the second panoramic picture, described processing module is also for carrying out frame combination by the first corresponding for each frame panoramic picture, form the first full-view video image, the second corresponding for each frame panoramic picture is carried out frame combination, forms the second full-view video image.

15. devices according to claim 14, is characterized in that, described device also comprises bracing frame, described first lens module, described second lens module, are describedly arranged on support frame as described above every tabula rasa and described processing module;

Described processing module and support frame as described above removably connect;

Described first lens module, described second lens module, described every tabula rasa and the described processing module position-adjustable at support frame as described above; The described separatrix place being in described first viewing area and described second viewing area every tabula rasa can be made every tabula rasa and described processing module described in adjusting; By adjusting described first lens module, described second lens module and described processing module, by described first panoramic picture in the first display position imaging, by described second panoramic picture in the second display position imaging.