CN105430263A - Long-exposure panoramic image photographing device and method - Google Patents

Long-exposure panoramic image photographing device and method Download PDF

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Publication number
CN105430263A
CN105430263A CN201510827869.8A CN201510827869A CN105430263A CN 105430263 A CN105430263 A CN 105430263A CN 201510827869 A CN201510827869 A CN 201510827869A CN 105430263 A CN105430263 A CN 105430263A
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China
Prior art keywords
image
projected image
follow
projection
mobile terminal
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CN201510827869.8A
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Chinese (zh)
Inventor
李嵩
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Nubia Technology Co Ltd
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Nubia Technology Co Ltd
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Application filed by Nubia Technology Co Ltd filed Critical Nubia Technology Co Ltd
Priority to CN201510827869.8A priority Critical patent/CN105430263A/en
Publication of CN105430263A publication Critical patent/CN105430263A/en
Priority to PCT/CN2016/105705 priority patent/WO2017088678A1/en
Pending legal-status Critical Current

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/80—Camera processing pipelines; Components thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time

Abstract

The invention discloses a long-exposure panoramic image photographing device. The device comprises: an image acquisition module used for acquiring images collected by a mobile terminal viewfinder in a timing way when receiving a long-exposure photographing instruction; an image projection module used for projecting the acquired images to a preset projection space to form corresponding projection images; a registration and fusion module used for carrying out position registration and pixel fusion on subsequent projection images having a plurality of visual angles and meeting preset projection conditions with a reference projection image one by one to form new reference projection images, until all of the acquired subsequent projection images are traversed; and a reverse projection module used for reversely projecting the output projection images to a coordinate space for the mobile terminal viewfinder to collect the images to generate a long-exposure panoramic image. The invention further discloses a long-exposure panoramic image photographing method. By adopting the long-exposure panoramic image photographing device and method disclosed by the invention, the adaptability of a mobile terminal to jitter in a long-exposure photographing mode is reinforced, and the long-exposure photographing function of the mobile terminal is used more conveniently.

Description

Long exposure panorama image shooting apparatus and method
Technical field
The present invention relates to technical field of image processing, particularly relate to a kind of long exposure panorama image shooting apparatus and method.
Background technology
Along with the development of electronic technology, the mobile terminals such as smart mobile phone on the market, digital camera generally all have long exposure shoot function, so-called long exposure shoot function, it is exactly open mobile terminal shutter, utilize long exposure technique, allow the long-time environment of cameras capture, usually for take flowing water, nebula star rail, night road ray trajectory etc., mirable time-space image can be shot.
Existing long exposure image pickup method uses the fixtures such as tripod to be kept maintaining static by the mobile terminal with camera, then carry out exposure shooting.Because this image pickup method requires that photographer carries with fixture, long-time fixed cellular terminal can not be shaken, but, when mobile phone users is taken out of doors, carry volume fixture that is comparatively large, heavier-weight and become very inconvenient, cause mobile terminal long exposure shoot function to use inconvenient.
Summary of the invention
Main purpose of the present invention is to provide a kind of long exposure panorama image shooting apparatus and method, is intended to solve mobile terminal long exposure shoot function and uses inconvenient technical problem.
For achieving the above object, the invention provides a kind of long exposure panorama image shooting apparatus, described long exposure panorama image shooting apparatus comprises:
Image collection module, for when receiving long exposure shooting instruction, obtains the image of mobile terminal view finder timing acquiring;
Image projection module, for the image projection of acquisition is formed corresponding projected image to presetting projector space, wherein using the corresponding projected image of the first two field picture that obtains as with reference to projected image, using the corresponding projected image of successive image that obtains as follow-up projected image;
Registration Fusion Module, described follow-up projected image for the multiple visual angles by satisfied default projection condition carries out position registration with described reference projection images one by one and pixel fusion forms new reference projection images, until traveled through the follow-up projected image of acquisition, to obtain output projected image;
Back projection module, for gathering the coordinate space of image to generate long exposure panoramic picture to mobile terminal view finder by described output projected image back projection.
Alternatively, described image projection module comprises:
Parameter acquiring unit, for obtaining the kinematic parameter of mobile terminal, this kinematic parameter comprises the direction of motion and angle of inclination;
Space determining unit, for determining the projector space of image projection according to the kinematic parameter obtained;
Projecting cell, for forming corresponding projected image by the image projection of acquisition to the projector space determined.
Alternatively, described registration Fusion Module comprises:
Feature extraction unit, for extracting fixed reference feature from described reference projection images, and extracts the matching characteristic corresponding with described fixed reference feature one by one from the described follow-up projected image meeting multiple visual angles of presetting projection condition;
Registration unit, for according to the position relationship between described matching characteristic and fixed reference feature, is combined meeting the described follow-up projected image presetting projection condition with reference projection images registration;
Integrated unit, for the satisfied default described follow-up projected image of projection condition and the overlapping region of reference projection images are carried out pixel fusion, Non-overlapping Domain direct splicing to form new reference projection images, until traveled through the follow-up projected image of acquisition, and the just final reference projection images formed is as output projected image.
Alternatively, described image collection module, also for when obtaining the image of mobile terminal view finder timing acquiring, obtain the kinematic parameter of mobile terminal, kinematic parameter comprises moving direction and angle of inclination;
Described registration unit also for:
Determine to meet according to the kinematic parameter of mobile terminal and preset the described follow-up projected image of projection condition and the bonding position of reference projection images;
According to described bonding position, and the position relationship between matching characteristic and fixed reference feature, be combined meeting the described follow-up projected image presetting projection condition with reference projection images registration.
Alternatively, described integrated unit also for:
Obtain input color value, the reference color value of each pixel position in the satisfied default described follow-up projected image of projection condition and the overlapping region of reference projection images and merge number of times;
According to described input color value, reference color value and fusion number of times, adjust the color value of each pixel in described overlapping region to complete pixel fusion, wherein inputting color value is the color value of follow-up projected image pixel position in overlapping region, reference color value is reference projection images pixel position in overlapping region color value, merging number of times is that the number of times of pixel fusion is carried out in reference projection images pixel position in overlapping region.
The present invention also provides a kind of long exposure panoramic picture image pickup method, and described long exposure panoramic picture image pickup method comprises:
When receiving long exposure shooting instruction, obtain the image of mobile terminal view finder timing acquiring;
The image projection of acquisition is formed corresponding projected image to presetting projector space, wherein using the corresponding projected image of the first two field picture that obtains as with reference to projected image, using the corresponding projected image of successive image that obtains as follow-up projected image;
Position registration is carried out with described reference projection images one by one and pixel fusion forms new reference projection images by meeting the described follow-up projected image at multiple visual angles presetting projection condition, until traveled through the follow-up projected image of acquisition, to obtain output projected image;
Described output projected image back projection is gathered the coordinate space of image to mobile terminal view finder to generate long exposure panoramic picture.
Alternatively, described the image projection of acquisition to be comprised to the step presetting projector space and formed corresponding projected image:
Obtain the kinematic parameter of mobile terminal, this kinematic parameter comprises the direction of motion and angle of inclination;
The projector space of image projection is determined according to the kinematic parameter obtained;
The image projection of acquisition to the projector space determined is formed corresponding projected image.
Alternatively, the described described follow-up projected image by the multiple visual angles meeting default projection condition carries out position registration with described reference projection images one by one and pixel fusion forms new reference projection images, travel through the follow-up projected image of acquisition, comprised to obtain the step exporting projected image:
From described reference projection images, extract fixed reference feature, and from the described follow-up projected image meeting multiple visual angles of presetting projection condition, extract the matching characteristic corresponding with described fixed reference feature one by one;
According to the position relationship between described matching characteristic and fixed reference feature, be combined meeting the described follow-up projected image presetting projection condition with reference projection images registration;
The satisfied default described follow-up projected image of projection condition and the overlapping region of reference projection images are carried out pixel fusion, Non-overlapping Domain direct splicing to form new reference projection images, until traveled through the follow-up projected image of acquisition;
Using the reference projection images finally formed as exporting projected image.
Alternatively, described long exposure panoramic picture image pickup method also comprises: when obtaining the image of mobile terminal view finder timing acquiring, obtain the kinematic parameter of mobile terminal, kinematic parameter comprises moving direction and angle of inclination;
Described according to the position relationship between described matching characteristic and fixed reference feature, the step that the described follow-up projected image meeting default projection condition is combined with reference projection images registration is comprised:
Determine to meet according to the kinematic parameter of mobile terminal and preset the described follow-up projected image of projection condition and the bonding position of reference projection images;
According to described bonding position, and the position relationship between matching characteristic and fixed reference feature, be combined meeting the described follow-up projected image presetting projection condition with reference projection images registration.
Alternatively, described step of the satisfied default described follow-up projected image of projection condition and the overlapping region of reference projection images being carried out pixel fusion comprises:
Obtain input color value, the reference color value of each pixel position in the satisfied default described follow-up projected image of projection condition and the overlapping region of reference projection images and merge number of times;
According to described input color value, reference color value and fusion number of times, adjust the color value of each pixel in described overlapping region to complete pixel fusion, wherein inputting color value is the color value of follow-up projected image pixel position in overlapping region, reference color value is reference projection images pixel position in overlapping region color value, merging number of times is that the number of times of pixel fusion is carried out in reference projection images pixel position in overlapping region.
When the present invention is by receiving long exposure shooting instruction, obtain the image of mobile terminal view finder timing acquiring, then the image projection of acquisition is formed corresponding projected image to presetting projector space, wherein using the corresponding projected image of the first two field picture that obtains as with reference to projected image, using the corresponding projected image of successive image that obtains as follow-up projected image, again follow-up projected image is carried out position registration with reference projection images one by one and pixel fusion forms new reference projection images, until traveled through the follow-up projected image of acquisition, to obtain output projected image, finally gather the coordinate space of image to generate long exposure panoramic picture by exporting projected image back projection to mobile terminal view finder, thus by follow-up projected image with reference to the position registration of head portrait image and pixel fusion, the image that under being in slight jitter state to mobile terminal, (such as user's handling mobile terminal grows exposure shooting) gathers also can grow exposure synthesis, thus strengthen the adaptive capacity of mobile terminal to shake under long exposure screening-mode, thus user is when carrying out growing exposure shooting out of doors, without the need to carrying fixture, mobile terminal long exposure shoot function is made to use more convenient.
Accompanying drawing explanation
Fig. 1 is the hardware configuration schematic diagram of the optional mobile terminal realizing each embodiment of the present invention;
The electrical structure block diagram that Fig. 2 is camera in Fig. 1;
Fig. 3 is the high-level schematic functional block diagram of the present invention's long exposure panorama image shooting apparatus first embodiment;
Fig. 4 is the refinement high-level schematic functional block diagram of image projection module in the present invention's long exposure panorama image shooting apparatus second embodiment;
Fig. 5 is the refinement high-level schematic functional block diagram of registration Fusion Module in the present invention's long exposure panorama image shooting apparatus the 3rd embodiment;
Fig. 6 is the schematic flow sheet of the present invention's long exposure panoramic picture image pickup method first embodiment;
Fig. 7 is the refinement schematic flow sheet in the present invention's long exposure panoramic picture image pickup method second embodiment, the image projection of acquisition being formed the step of corresponding projected image to default projector space;
The follow-up projected image meeting multiple visual angles of presetting projection condition is carried out position registration with reference projection images in the present invention's long exposure panoramic picture image pickup method the 3rd embodiment and pixel fusion forms new reference projection images, until traveled through the refinement schematic flow sheet of the step of the follow-up projected image of acquisition by Fig. 8 one by one.
The realization of the object of the invention, functional characteristics and advantage will in conjunction with the embodiments, are described further with reference to accompanying drawing.
Embodiment
Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
The mobile terminal realizing each embodiment of the present invention is described referring now to accompanying drawing.In follow-up description, use the suffix of such as " module ", " parts " or " unit " for representing element only in order to be conducive to explanation of the present invention, itself is specific meaning not.Therefore, " module " and " parts " can mixedly use.
Mobile terminal can be implemented in a variety of manners.Such as, the terminal described in the present invention can comprise the such as mobile terminal of mobile phone, smart phone, notebook computer, digit broadcasting receiver, PDA (personal digital assistant), PAD (panel computer), PMP (portable media player), guider etc. and the fixed terminal of such as digital TV, desktop computer etc.Below, suppose that terminal is mobile terminal.But it will be appreciated by those skilled in the art that except the element except being used in particular for mobile object, structure according to the embodiment of the present invention also can be applied to the terminal of fixed type.
Fig. 1 is the hardware configuration schematic diagram of the optional mobile terminal realizing each embodiment of the present invention.
Mobile terminal 100 can comprise wireless communication unit 110, A/V (audio/video) input unit 120, user input unit 130, sensing cell 140, output unit 150, memory 160, interface unit 170, controller 180, power subsystem 190 and long exposure panorama image shooting apparatus 200 etc.Fig. 1 shows the mobile terminal with various assembly, it should be understood that, does not require to implement all assemblies illustrated.Can alternatively implement more or less assembly.Will be discussed in more detail below the element of mobile terminal.
Wireless communication unit 110 generally includes one or more assembly, and it allows the radio communication between mobile terminal 100 and radio communication device or network.
A/V input unit 120 is for audio reception or vision signal.A/V input unit 120 can comprise camera 121, and the view data of camera 121 to the static images obtained by image capture apparatus in Video Capture pattern or image capture mode or video processes.Picture frame after process may be displayed on display unit 151.Picture frame after camera 121 processes can be stored in memory 160 (or other storage medium) or via wireless communication unit 110 and send, and can provide two or more cameras 121 according to the structure of mobile terminal.
User input unit 130 can generate key input data to control the various operations of mobile terminal according to the order of user's input.User input unit 130 allows user to input various types of information, and keyboard, the young sheet of pot, touch pad (such as, detecting the touch-sensitive assembly of the change of the resistance, force value, electric capacity etc. that cause owing to being touched), roller, rocking bar etc. can be comprised.Especially, when touch pad is superimposed upon on display unit 151 as a layer, touch-screen can be formed.
Sensing cell 140 detects the current state of mobile terminal 100, (such as, mobile terminal 100 open or close state), the position of mobile terminal 100, user for mobile terminal 100 contact (namely, touch input) presence or absence, the orientation of mobile terminal 100, the direction of motion and angle of inclination etc. of mobile terminal 100, and the order of operation generated for controlling mobile terminal 100 or signal.Such as, sensing cell 140 comprises accelerometer 141 and gyroscope 142, accelerometer 141 is for detecting the real time acceleration of mobile terminal 100 to draw the direction of motion of mobile terminal 100, and gyroscope 142 is for detecting the angle of inclination of mobile terminal 100 relative to its place plane.In addition, whether whether sensing cell 140 can detect power subsystem 190 provides electric power or interface unit 170 to couple with external device (ED).
Interface unit 170 is used as at least one external device (ED) and is connected the interface that can pass through with mobile terminal 100.Such as, external device (ED) can comprise wired or wireless head-band earphone port, external power source (or battery charger) port, wired or wireless FPDP, memory card port, for connecting the port, audio frequency I/O (I/O) port, video i/o port, ear port etc. of the device with identification module.Identification module can be that storage uses the various information of mobile terminal 100 for authentication of users and can comprise subscriber identification module (UIM), client identification module (SIM), Universal Subscriber identification module (USIM) etc.In addition, the device (hereinafter referred to " recognition device ") with identification module can take the form of smart card, and therefore, recognition device can be connected with mobile terminal 100 via port or other jockey.Interface unit 170 may be used for receive from external device (ED) input (such as, data message, electric power etc.) and the input received be transferred to the one or more element in mobile terminal 100 or may be used for transmitting data between mobile terminal and external device (ED).
Output unit 150 is constructed to provide output signal (such as, audio signal, vision signal, vibration signal etc.) with vision, audio frequency and/or tactile manner.Output unit 150 can comprise display unit 151, dio Output Modules 152 etc.
Display unit 151 may be displayed on the information of process in mobile terminal 100.Such as, when mobile terminal 100 is in telephone calling model, display unit 151 can show with call or other communicate (such as, text messaging, multimedia file are downloaded etc.) be correlated with user interface (UI) or graphic user interface (GUI).When mobile terminal 100 is in video calling pattern or image capture mode, display unit 151 can the image of display capture and/or the image of reception, UI or GUI that video or image and correlation function are shown etc.
Meanwhile, when display unit 151 and touch pad as a layer superposed on one another to form touch-screen time, display unit 151 can be used as input unit and output device.Display unit 151 can comprise at least one in liquid crystal display (LCD), thin-film transistor LCD (TFT-LCD), Organic Light Emitting Diode (OLED) display, flexible display, three-dimensional (3D) display etc.Some in these displays can be constructed to transparence and watch from outside to allow user, and this can be called transparent display, and typical transparent display can be such as TOLED (transparent organic light emitting diode) display etc.According to the specific execution mode wanted, mobile terminal 100 can comprise two or more display units (or other display unit), such as, mobile terminal can comprise outernal display unit (not shown) and inner display unit (not shown).Touch-screen can be used for detecting touch input pressure value and touch input position and touch and inputs area.
When dio Output Modules 152 can be under the isotypes such as call signal receiving mode, call mode, logging mode, speech recognition mode, broadcast reception mode at mobile terminal, voice data convert audio signals that is that wireless communication unit 110 is received or that store in memory 160 and exporting as sound.And dio Output Modules 152 can provide the audio frequency relevant to the specific function that mobile terminal 100 performs to export (such as, call signal receives sound, message sink sound etc.).Dio Output Modules 152 can comprise pick-up, buzzer etc.
Memory 160 software program that can store process and the control operation performed by controller 180 etc., or temporarily can store oneself through exporting the data (such as, telephone directory, message, still image, video etc.) that maybe will export.And, memory 160 can store about when touch be applied to touch-screen time the vibration of various modes that exports and the data of audio signal.
Memory 160 can comprise the storage medium of at least one type, described storage medium comprises flash memory, hard disk, multimedia card, card-type memory (such as, SD or DX memory etc.), random access storage device (RAM), static random-access memory (SRAM), read-only memory (ROM), Electrically Erasable Read Only Memory (EEPROM), programmable read only memory (PROM), magnetic storage, disk, CD etc.And mobile terminal 100 can be connected the memory function of execute store 160 network storage device with by network cooperates.
Controller 180 controls the overall operation of mobile terminal usually.Such as, controller 180 performs the control relevant to voice call, data communication, video calling etc. and process.In addition, controller 180 can comprise the multi-media module 181 for reproducing (or playback) multi-medium data, such as multi-media module 181 can be used for the long exposure panoramic picture that display in real time generates in real time, multi-media module 181 can be configured in controller 180, or can be configured to be separated with controller 180.Controller 180 can pattern recognition process, is identified as character or image so that input is drawn in the handwriting input performed on the touchscreen or picture.
Power subsystem 190 receives external power or internal power and provides each element of operation and the suitable electric power needed for assembly under the control of controller 180.
Various execution mode described herein can to use such as computer software, the computer-readable medium of hardware or its any combination implements.For hardware implementation, execution mode described herein can by using application-specific IC (ASIC), digital signal processor (DSP), digital signal processing device (DSPD), programmable logic device (PLD), field programmable gate array (FPGA), processor, controller, microcontroller, microprocessor, being designed at least one performed in the electronic unit of function described herein and implementing, in some cases, such execution mode can be implemented in controller 180.For implement software, the execution mode of such as process or function can be implemented with allowing the independent software module performing at least one function or operation.Software code can be implemented by the software application (or program) write with any suitable programming language, and software code can be stored in memory 160 and to be performed by controller 180.
Long exposure panorama image shooting apparatus 200 comprises image collection module 10, image projection module 20, registration Fusion Module 30 and back projection module 40, wherein,
Image collection module 10, for when receiving long exposure shooting instruction, obtains the image of mobile terminal view finder timing acquiring;
Image projection module 20, for the image projection of acquisition is formed corresponding projected image to presetting projector space, wherein using the corresponding projected image of the first two field picture that obtains as with reference to projected image, using the corresponding projected image of successive image that obtains as follow-up projected image;
Registration Fusion Module 30, for carrying out position registration with reference projection images one by one by follow-up projected image and pixel fusion forms new reference projection images, until traveled through the follow-up projected image of acquisition, to obtain output projected image;
Back projection module 40, for gathering the coordinate space of image to generate long exposure panoramic picture by exporting projected image back projection to mobile terminal view finder.
In addition, because this case relates generally to a kind of long exposure panorama image shooting apparatus and method, so describe in detail to the electrical structure of camera 121 in mobile terminal in Fig. 1 100 hardware configuration, be the electrical structure block diagram of camera in Fig. 1 with reference to Fig. 2, Fig. 2.
Phtographic lens 1211 is made up of the multiple optical lens for the formation of shot object image, is single-focus lens or zoom lens.Phtographic lens 1211 can move in the direction of the optical axis under the control of lens driver 1221, lens driver 1221 is according to the control signal from lens driving control circuit 1222, control the focal position of phtographic lens 1211, when zoom lens, also can control focal length.Lens driving control circuit 1222 carries out the drived control of lens driver 1221 according to the control command from microcomputer 1217.
Imaging apparatus 1212 is configured with near the position of the shot object image formed on the optical axis of phtographic lens 1211, by phtographic lens 1211.Imaging apparatus 1212 is for making a video recording to shot object image and obtaining image data.On imaging apparatus 1212 two dimension and be arranged in a matrix the photodiode forming each pixel.Each photodiode produces the opto-electronic conversion electric current corresponding with light income, and this opto-electronic conversion electric current carries out charge accumulation by the capacitor be connected with each photodiode.The front surface of each pixel is configured with the RGB colour filter of Bayer arrangement.
Imaging apparatus 1212 is connected with imaging circuit 1213, this imaging circuit 1213 carries out charge accumulation and controls and picture signal reading control in imaging apparatus 1212, to the picture signal (analog picture signal) of this reading reduce reset noise after carry out waveform shaping, and then carry out gain raising etc. to become suitable signal level.Imaging circuit 1213 is connected with A/D converter 1214, and this A/D converter 1214 pairs of analog picture signals carry out analog-to-digital conversion, to bus 1227 output digital image signal (hereinafter referred to as view data).
Bus 1227 is the transfer paths of the various data that the inside for being transmitted in camera reads or generates.Above-mentioned A/D converter 1214 is connected in bus 1227, be connected to image processor 1215, jpeg processor 1216, microcomputer 1217, SDRAM (SynchronousDynamicrandomaccessmemory in addition, SDRAM) 1218, memory interface (hereinafter referred to as memory I/F) 1219, LCD (LiquidCrystalDisplay, liquid crystal display) driver 1220.
Image processor 1215 carries out OB to the view data of the output based on imaging apparatus 1212 and subtracts each other process, blank level adjustment, color matrix computing, gamma conversion, color difference signal process, noise removal process, changes the various image procossing such as process, edge treated simultaneously.Jpeg processor 1216 by Imagery Data Recording in recording medium 1225 time, according to JPEG compress mode compression from SDRAM1218 read view data.In addition, jpeg processor 1216 carries out the decompression of jpeg image data in order to carry out image reproducing display.When decompressing, read the file that is recorded in recording medium 1225, implement decompression in jpeg processor 1216 after, the view data of decompression to be temporarily stored in SDRAM1218 and to show on LCD1226.H.264 in addition, in the present embodiment, what adopt as image compression decompression mode is JPEG mode, but compressed and decompressed mode is not limited thereto, and certainly can adopt MPEG, TIFF, other the compressed and decompressed mode such as.
Microcomputer 1217 plays the function of the control part as this camera entirety, the unified various process sequences controlling camera.Microcomputer 1217 is connected to operating unit 1223 and flash memory 1224.
Operating unit 1223 includes but not limited to physical button or virtual key, this entity or virtual key can be the operational controls such as various load button and various enter keies such as power knob, key of taking pictures, edit key, dynamic image button, reproduction button, menu button, cross key, OK button, delete button, large buttons, detect the mode of operation of these operational controls.
Testing result is exported to microcomputer 1217.In addition, be provided with touch panel at the front surface of the LCD1226 as display, detect the touch location of user, this touch location is exported to microcomputer 1217.Microcomputer 1217, according to the testing result of the operating position from operating unit 1223, performs the various process sequences corresponding with the operation of user.
Flash memory 1224 stores the program of the various process sequences for performing microcomputer 1217.Microcomputer 1217 carries out the control of camera entirety according to this program.In addition, flash memory 1224 stores the various adjusted values of camera, and microcomputer 1217 reads adjusted value, carries out the control of camera according to this adjusted value.
SDRAM1218 is can the electricity volatile memory of rewriting for what carry out view data etc. temporarily storing.This SDRAM1218 temporarily stores the view data that exports from A/D converter 1214 and image processor 1215, jpeg processor 1216 etc., to have carried out the view data after processing.
Memory interface 1219 is connected with recording medium 1225, carries out the control by view data and the first-class data writing recording medium 1225 of file be attached in view data and reading from recording medium 1225.Recording medium 1225 be such as can on camera main-body the recording medium such as memory card of disassembled and assembled freely, but being not limited thereto, also can be the hard disk etc. be built in camera main-body.
Lcd driver 1210 is connected with LCD1226, view data after being processed by image processor 1215 is stored in SDRAM1218, when needing display, read the view data that SDRAM1218 stores also to show on LCD1226, or the compressed view data of jpeg processor 1216 is stored in SDRAM1218, when needs show, jpeg processor 1216 reads the compressed view data of SDRAM1218, then decompresses, and the view data after decompressing is shown by LCD1226.
Image display is carried out at the back side that LCD1226 is configured in camera main-body.This LCD1226LCD), but be not limited thereto, also can adopt the various display floaters (LCD1226) such as organic EL, but be not limited thereto, also can adopt the various display floaters such as organic EL.
Based on the electrical structure schematic diagram of above-mentioned mobile terminal hardware configuration and camera, propose each embodiment of the present invention's long exposure panorama image shooting apparatus, long exposure panorama image shooting apparatus is a part for mobile terminal.
With reference to Fig. 3, the invention provides a kind of long exposure panorama image shooting apparatus, in long exposure panorama image shooting apparatus first embodiment, this device comprises:
Image collection module 10, for when receiving long exposure shooting instruction, obtains the image of mobile terminal view finder timing acquiring;
When user needs to utilize mobile terminal to take long exposure photograph, long exposure mode is entered to control mobile terminal to mobile terminal input long exposure shooting instruction, the camera shutter of mobile terminal is open, and the view finder of camera catches the change of shadow in long-time interior scene.When mobile terminal camera receives long exposure shooting instruction, the view finder of mobile terminal starts timing acquiring image, such as, gather a two field picture at interval of 0.5s, and image collection module 10 collects the image of mobile terminal view finder timing acquiring.
Image projection module 20, for the image projection of acquisition is formed corresponding projected image to presetting projector space, wherein using the corresponding projected image of the first two field picture that obtains as with reference to projected image, using the corresponding projected image of successive image that obtains as follow-up projected image;
The image projection obtaining the collection of mobile terminal view finder is extremely preset projector space by image projection module 20, to form corresponding projected image.Projection is carried out to acquisition image and can have multiple execution sequence, such as: often can obtain the two field picture that mobile terminal view finder gathers, just this two field picture obtained is projected to default projector space; Also often can obtain default frame (the such as 5 frames) image that mobile terminal view finder gathers, then be projected to default projector space one by one by disposable for the default two field picture obtained; Can gather after image by standby communication terminal view finder in addition, be projected to default projector space one by one by disposable for the whole two field pictures obtained.The execution sequence image obtained being carried out to projection operation can be arranged as required flexibly, such as mobile terminal image-capable is stronger, can gather after image by standby communication terminal view finder, be projected to default projector space one by one by disposable for the whole two field pictures obtained.Wherein, the first two field picture obtaining the collection of mobile terminal view finder projects formed projected image as reference projected image in default projector space, and the subsequent frame image obtaining the collection of mobile terminal view finder projects formed projected image as follow-up projected image in default projector space.Described projector space comprises cylindrical surface projecting space, spherical projection space, square projector space etc.
Registration Fusion Module 30, follow-up projected image for the multiple visual angles by satisfied default projection condition carries out position registration with reference projection images one by one and pixel fusion forms new reference projection images, until traveled through the follow-up projected image of acquisition, to obtain output projected image;
The follow-up projected image obtained comprises multiple visual angle, such as user moves horizontally mobile terminal when carrying out growing exposure pan-shot, the image obtained is the image at multiple visual angle on same level direction, thus the follow-up projected image of projection gained is also the image at the multiple visual angles relative to reference projection images.After the acquisition after continuous projected image, registration Fusion Module 30 first judges that whether the follow-up projection obtained meets and presets projection condition, such as preset projection condition comprise follow-up projected image relative reference projected image translation or rotation angle of inclination can not be greater than predetermined angle, the translation of follow-up projected image relative reference projected image vertical direction is greater than preset value etc., then with reference to projected image as benchmark image, the order that the follow-up projected image obtained is projected to default projector space according to it is carried out position registration and pixel fusion with reference projection images one by one, until mobile terminal view finder stops gathering image, be about to obtain all images that mobile terminal view finder gathers after the follow-up projected image of default projector space and reference projection images position registration and pixel fusion, with reference to the image after projected image registration and all follow-up projected images of fusion as output projected image, thus the follow-up projected image at multiple visual angle and reference projection images are synthesized the projected image at a large visual angle, thus can obtain with great visual angle long exposure panoramic picture by back projection.
Follow-up projected image first carries out position registration with reference projection images, then pixel fusion is carried out with reference projection images, form new reference projection images, then next follow-up projected image and new reference projection images position registration carry out pixel fusion, wherein position registration is based on image registration techniques, and pixel fusion is based on integration technology.
Above-mentioned image registration techniques refers to: two width obtain (weather, illumination, camera position and angle etc.) under different time, different sensors (imaging device) or different condition or multiple image carry out the process of mating, superposing, and it has been widely used in the fields such as remotely-sensed data analysis, computer vision, image procossing.The general flow of image registration techniques is as follows: first carry out feature extraction to two width images and obtain characteristic point; The feature point pairs of coupling is found by carrying out similarity measurement; Then image space coordinate conversion parameter is obtained by the feature point pairs of coupling; Finally carry out image registration by coordinate conversion parameter.
Above-mentioned image fusion technology refers to: the view data about same target collected by multi-source channel is through image procossing and computer technology etc., extract the advantageous information in each self-channel to greatest extent, the high-quality image of last comprehensive one-tenth, with improve image information utilance, improve computer interpretation precision and reliability, the spatial resolution of lifting original image and spectral resolution, be beneficial to monitoring.Image to be fused registration is good and pixel bit wide is consistent.
In order to understand the present invention's long exposure panoramic picture image pickup method better, below explain with an object lesson and the present invention is described: such as, after receiving long exposure shooting instruction, image collection module 10 obtains 3 two field pictures that mobile terminal view finder gathers, image 1, image 2 and image 3 successively, first image 1 is projected to default projector space and forms corresponding projected image 1 by image projection module 20, using projected image 1 as reference projected image; Then the image 2 of acquisition is projected to default projector space and forms corresponding projected image 2, using projected image 2 as follow-up projected image by image projection module 20; Moreover, projected image 2 (i.e. follow-up projected image) and projected image 1 (i.e. reference projection images) are carried out position registration and pixel fusion by registration Fusion Module 30, form new reference projection images (being set to projected image 1a); Then the image 3 of acquisition is projected to default projector space and forms corresponding projected image 3, using projected image 3 as new follow-up projected image by image projection module 20; Projected image 3 is carried out position registration and pixel fusion with projected image 1a by registration Fusion Module 30 again, form up-to-date reference projection images, again because the image obtained all projects, registration, fusion are complete, therefore this up-to-date reference projection images is set to export projected image.
Back projection module 40, for gathering the coordinate space of image to generate long exposure panoramic picture by exporting projected image back projection to mobile terminal view finder.
Back projection module 40 performs back projection to the output projected image with great visual angle after synthesis, be about to export projected image gathers image coordinate space from default projector space back projection to mobile terminal view finder, to generate the long exposure panoramic picture with great visual angle that user operation mobile terminal camera gathers image aspects.
In the present embodiment, when receiving long exposure shooting instruction by image collection module 10, the image of mobile terminal view finder timing acquiring is obtained, then the image projection of acquisition is formed corresponding projected image to presetting projector space by image projection module 20, wherein using the corresponding projected image of the first two field picture that obtains as with reference to projected image, using the corresponding projected image of successive image that obtains as follow-up projected image, registration Fusion Module 30 the follow-up projected image meeting multiple visual angles of presetting projection condition is carried out position registration with reference projection images one by one and pixel fusion forms new reference projection images, until traveled through the follow-up projected image of acquisition, to obtain output projected image, last back projection module 40 gathers the coordinate space of image to generate long exposure panoramic picture by exporting projected image back projection to mobile terminal view finder, thus by follow-up projected image with reference to the position registration of head portrait image and pixel fusion, the image that under being in slight jitter state to mobile terminal, (such as user's handling mobile terminal grows exposure shooting) gathers also can grow exposure synthesis, thus strengthen the adaptive capacity of mobile terminal to shake under long exposure screening-mode, thus user is when carrying out growing exposure shooting out of doors, without the need to carrying fixture, mobile terminal long exposure shoot function is made to use more convenient.And, the follow-up projected image at multiple visual angle and reference projection images are synthesized the output projected image at a large visual angle, then carry out to exporting projected image the long exposure panoramic picture that back projection obtains with great visual angle, namely by the shadow casting technique of long exposure shooting and pan-shot is combined, user can be taken exceed the long with great visual angle exposure panoramic picture beyond camera perspective scope, thus overcome existing method fixed cellular terminal camera and can only take the scene of fixed viewpoint, the defect of shooting limited viewing angle.
Further, on the basis of the present invention's long exposure panorama image shooting apparatus first embodiment, propose long exposure panorama image shooting apparatus second embodiment, in a second embodiment, with reference to Fig. 4, image projection module 20 comprises:
Parameter acquiring unit 21, for obtaining the kinematic parameter of mobile terminal, this kinematic parameter comprises the direction of motion and angle of inclination;
When starting to obtain the image that mobile terminal view finder gathers, parameter acquiring unit 21 controls to be arranged on the accelerometer sense of mobile terminal inside and the moving direction of gyroscope induction user's handling mobile terminal and angle of inclination; Or use the method for image registration to extract feature to present image, parameter acquiring unit 21 finds aligned position, to determine moving direction and the angle of inclination of user's handling mobile terminal.
Space determining unit 22, for determining the projector space of image projection according to the kinematic parameter obtained;
Space determining unit 22 determines the projector space be suitable for according to the direction of motion of mobile terminal and angle of inclination; Such as when angle of inclination is less than predetermined angle, and the direction of motion only 360 degree of rotations in the horizontal direction, then determine the default projector space of cylindrical surface projecting space as image projection volume; When the angle of inclination of mobile terminal is greater than predetermined angle, or when vertical direction translation is greater than preset value, point out user or abandon excessive image.When level, vertical direction translation are all greater than preset value, determine the projector space of spherical projection space as image projection, mobile terminal camera can be synthesized in three-dimensional with the scene of spheric motion in spherical projection space.
Projecting cell 23, for forming corresponding projected image by the image projection of acquisition to the projector space determined.
User's handling mobile terminal moving process shooting image after projecting to the projector space determined, follow-up registration process and pixel fusion process can be carried out in identical projector space.Wherein, using corresponding for the first two field picture of acquisition projected image as with reference to projected image, using corresponding for the successive image of acquisition projected image as follow-up projected image.
In the present embodiment, the kinematic parameter of mobile terminal is obtained by parameter acquiring unit 21, determine that user's handling mobile terminal carries out growing the movement tendency of exposure shooting, thus space determining unit 22 selects suitable projector space, thus improve the drop shadow effect of image projection to the projector space determined, improve the integrity degree of projected image, be convenient to the registration between follow-up projected image and fusion, thus improve the effect of shadow that mobile terminal carries out growing exposure panoramic picture shooting gained image.
Further, on the basis of the present invention's long exposure panorama image shooting apparatus first embodiment, propose long exposure panorama image shooting apparatus the 3rd embodiment, in the third embodiment, with reference to Fig. 5, registration Fusion Module 30 comprises:
Feature extraction unit 31, for extracting fixed reference feature from reference projection images, and extracts the matching characteristic corresponding with fixed reference feature one by one from the follow-up projected image meeting multiple visual angles of presetting projection condition;
In process of image registration, first a kind of transformation model will be selected as hypothesis, image overall conversion can select geometric transformation, similarity transformation, affine, projective transformation, image local conversion can be divided into different piece image, and independent registration parameter is calculated to every part, this registration parameter is used for aliging with follow-up projected image with reference to projected image.Then feature extraction unit 31 extracts registration features, and the method extracting registration features has: Feature Points Matching, optical flow method, cross-correlation etc.Wherein:
Feature Points Matching refers to: extract some characteristic points from reference frame (i.e. reference projection images), then extract or search characteristic of correspondence point from frame subject to registration (i.e. follow-up projected image), according to the position of characteristic point as data, solve the registration parameter of the relative reference frame of frame subject to registration.
Optical flow method refers to: the instantaneous velocity of the pixel motion on imaging plane is being observed in estimation space moving object, be the corresponding relation that the correlation between change and consecutive frame utilizing pixel in image sequence in time-domain exists between present frame to find previous frame to follow, thus calculate the movable information of object between consecutive frame.
Cross-correlation refers to: utilize Fourier transform by image conversion to frequency domain, then uses the correlation of cross-correlation formulae discovery frame subject to registration each position in the spatial domain, gets the registration parameter of maximum position as the relative reference frame of frame subject to registration.
Registration unit 32, for according to the position relationship between matching characteristic and fixed reference feature, is combined meeting the follow-up projected image presetting projection condition with reference projection images registration;
Registration unit 32 is according to the position relationship between matching characteristic and fixed reference feature, drawing registration parameter (such as registration parameter is the motion-vector of a two dimension or three-dimensional), being combined meeting the follow-up projected image presetting projection condition with reference projection images registration (namely align and connect) according to registration parameter.Such as matching characteristic has three, according to the position relationship between three matching characteristic fixed reference features corresponding to three, show that matching characteristic is to the moving direction of fixed reference feature and displacement, and each pixel of follow-up projected image is moved according to this moving direction and displacement, draw each pixel of follow-up projected image move after position, thus allow the matching characteristic of follow-up projected image align with the fixed reference feature of reference projection images, also allow the identical image area coincidence of follow-up projected image and reference projection images.
For affine Transform Model, conversion has 6 parameters, for 2*3 matrix notation A = a 11 a 12 a 13 a 21 a 22 a 23 , A can be obtained by registration Algorithm.A bit of input picture frame (i.e. follow-up projected image) before so projection cylinder being taken in P = x y 1 , Coordinate position after registration P ′ = a 11 a 12 a 13 a 21 a 22 a 23 x y 1 , In like manner obtain coordinate position after all pixel registrations of current input image, thus according to the coordinate position after all pixel registrations, current input image is alignd with reference projection images.
Integrated unit 33, for the satisfied default follow-up projected image of projection condition and the overlapping region of reference projection images are carried out pixel fusion, Non-overlapping Domain direct splicing to form new reference projection images, until traveled through the follow-up projected image of acquisition, and using the reference projection images finally formed as exporting projected image.
Meet the incoming frame image (i.e. follow-up projected image) presetting projection condition each pixel upper to current, first judge whether this pixel has overlap with the pixel of previous panoramic picture (i.e. reference projection images).Determination methods is when carrying out initialization to panorama sketch, and the color of each location of pixels is initially 0.If at synthesising position, each pixel of new incoming frame image judges that the color of original pixels is full 0, then not overlapping; If color is not 0 entirely, then overlapping.
Preset after the follow-up projected image of projection condition aligns with reference projection images meeting, pixel fusion is carried out in the overlapping region of follow-up projected image and reference projection images by integrated unit 33, namely based on image fusion technology, carry out pixel fusion according to the color value of the follow-up projected image pixel in overlapping region and the color value of reference projection images pixel, obtain the pixel color value after merging; Follow-up projected image and reference projection images are not carried out pixel direct splicing in overlapping region by integrated unit 33, there is follow-up projected image in region even outside reference projection images, show mobile terminal because of mobile collection new image, by the follow-up projected image that newly gathers and reference projection images correspondence position direct splicing; Thus through pixel fusion and image mosaic, the image of formation is as new reference projection images.In like manner, utilize new reference projection images to carry out identical processing procedure to other follow-up projected image, so circulate, until traveled through or processed the follow-up projected image of acquisition.In addition, the image after follow-up projected image merges with reference projection images registration can be synchronous present in mobile terminal viewing area, watches for user.
After mobile terminal view finder stops gathering image, and after the follow-up projected image of all acquisitions and reference projection images are carried out registration fusion, the new reference projection images of final formation, integrated unit 33 using this up-to-date reference projection images as output projected image.
In the present embodiment, by comparing the fixed reference feature in reference projection images and the matching characteristic in follow-up projected image, draw the position relationship of reference projection images and follow-up projected image, namely the registration parameter of follow-up projected image relative reference projected image is drawn, then according to the position relationship of reference projection images and follow-up projected image, follow-up projected image is alignd with reference projection images, then pixel fusion is carried out in the overlapping region of follow-up projected image and reference projection images, Non-overlapping Domain direct splicing is to form new reference projection images, until traveled through the follow-up projected image of acquisition, finally using the reference projection images that finally formed as output projected image, thus by each follow-up projected image with upgrade in reference projection images circulate and carry out registration and fusion, the panorama forming long exposure photographic images corresponding exports projected image, it can be the output projected image of the panorama of a large multi-view image by the Images uniting at multiple visual angle, and be at mobile terminal and when certain amplitude is rocked, also realize long exposure shoot function, extend the mobile terminal long exposure shooting scope of application.
Further, on the basis of the present invention's long exposure panorama image shooting apparatus the 3rd embodiment, long exposure panorama image shooting apparatus the 4th embodiment is proposed, in the fourth embodiment,
Image collection module 10, also for when obtaining the image of mobile terminal view finder timing acquiring, obtain the kinematic parameter of mobile terminal, kinematic parameter comprises moving direction and angle of inclination;
Kinematic parameter, when starting the image obtaining the collection of mobile terminal view finder, responds to moving direction and the angle of inclination of user's handling mobile terminal by the accelerometer sense and gyroscope being arranged on mobile terminal inside; Or use the method for image registration to extract feature to present image, find aligned position, to determine moving direction and the angle of inclination of user's handling mobile terminal.
Registration unit 32 also for:
Determine to meet according to the kinematic parameter of mobile terminal and preset the follow-up projected image of projection condition and the bonding position of reference projection images;
According to bonding position, and the position relationship between matching characteristic and fixed reference feature, be combined meeting the follow-up projected image presetting projection condition with reference projection images registration.
Registration unit 32 can be determined roughly to meet the default follow-up projected image of projection condition and the bonding position of reference projection images according to the kinematic parameter of mobile terminal, such as mobile terminal level moves right, then meet the follow-up projected image presetting projection condition to combine with the right side of reference projection images, namely follow-up projected image and the bonding position of reference projection images are that dextrad is combined.After the bonding position determining follow-up projected image and reference projection images, registration unit 32 is again according to the position relationship between matching characteristic and fixed reference feature, and can be alignd with reference projection images by follow-up projected image fast and carry out registration be combined.
In the present embodiment, by when obtaining the image of mobile terminal view finder timing acquiring, obtain the kinematic parameter of mobile terminal, then determine to meet according to the direction of motion of mobile terminal and preset the follow-up projected image of projection condition and the bonding position of reference projection images; After determining to meet the default follow-up projected image of projection condition and the bonding position of reference projection images, again according to the position relationship between matching characteristic and fixed reference feature, can fast follow-up projected image be alignd with reference projection images and carry out registration and be combined, improve the efficiency of continuous projected image and reference projection images position registration.
Further, on the basis of the present invention's long exposure panorama image shooting apparatus the 3rd embodiment, long exposure panorama image shooting apparatus the 5th embodiment is proposed, in the 5th embodiment,
Integrated unit 33 also for:
Obtain input color value, the reference color value of each pixel position in the satisfied default follow-up projected image of projection condition and the overlapping region of reference projection images and merge number of times;
According to input color value, reference color value and fusion number of times, in adjustment overlapping region, the color value of each pixel is to complete pixel fusion, wherein inputs color value that color value is follow-up projected image pixel position in overlapping region, color value that reference color value is reference projection images pixel position in overlapping region, to merge number of times be that the number of times of pixel fusion is carried out in reference projection images pixel position in overlapping region.
Integrated unit 33 obtains the input color value with each pixel in the overlapping region of reference projection images in the follow-up projected image meeting and preset projection condition, with the reference color value of each pixel in the overlapping region of follow-up projected image and the fusion number of times of pixel fusion in acquisition reference projection images; Integrated unit 33 is according to input color value, the reference color value of each pixel position, overlapping region and merge number of times, and in adjustment overlapping region, the color value of each pixel is to complete pixel fusion.Such as, obtain the color value of each pixel in overlapping region according to calculated with weighted average method, if a certain pixel Co-factor propagation number of times is F in overlapping region, reference color value is C f, input color value is C p, then the color value after synthesis is:
C F + 1 = F F + 1 C F + 1 F + 1 C P .
Number of times record F is merged from increasing 1 after synthesis.Color value in this embodiment is the value in hexadecimal color code.
In the present embodiment, by input color value, the reference color value of each pixel position in the overlapping region that obtains follow-up projected image and reference projection images with merge number of times, right family is based on Weighted Average Algorithm, and according to input color value, reference color value and fusion number of times, in adjustment overlapping region, the color value of each pixel is to complete pixel fusion, overlapping region pixel color value is merged relevant to all follow-up projected image corresponding pixel points color values, make pixel fusion effect better.
The present invention also provides a kind of long exposure panoramic picture image pickup method, and in long exposure panoramic picture image pickup method first embodiment, with reference to Fig. 6, the method comprises:
Step S10, when receiving long exposure shooting instruction, obtains the image of mobile terminal view finder timing acquiring;
When user needs to utilize mobile terminal to take long exposure photograph, long exposure mode is entered to control mobile terminal to mobile terminal input long exposure shooting instruction, the camera shutter of mobile terminal is open, and the view finder of camera catches the change of shadow in long-time interior scene.When mobile terminal camera receives long exposure shooting instruction, the view finder of mobile terminal starts timing acquiring image, such as, gather a two field picture at interval of 0.5s, and long exposure panorama image shooting apparatus collects the image of mobile terminal view finder timing acquiring.
Step S20, forms corresponding projected image by the image projection of acquisition to presetting projector space, wherein using the corresponding projected image of the first two field picture that obtains as with reference to projected image, using the corresponding projected image of successive image that obtains as follow-up projected image;
By obtaining the image projection of mobile terminal view finder collection to presetting projector space, to form corresponding projected image.Projection is carried out to acquisition image and can have multiple execution sequence, such as: often can obtain the two field picture that mobile terminal view finder gathers, just this two field picture obtained is projected to default projector space; Also often can obtain default frame (the such as 5 frames) image that mobile terminal view finder gathers, then be projected to default projector space one by one by disposable for the default two field picture obtained; Can gather after image by standby communication terminal view finder in addition, be projected to default projector space one by one by disposable for the whole two field pictures obtained.The execution sequence image obtained being carried out to projection operation can be arranged as required flexibly, such as mobile terminal image-capable is stronger, can gather after image by standby communication terminal view finder, be projected to default projector space one by one by disposable for the whole two field pictures obtained.Wherein, the first two field picture obtaining the collection of mobile terminal view finder projects formed projected image as reference projected image in default projector space, and the subsequent frame image obtaining the collection of mobile terminal view finder projects formed projected image as follow-up projected image in default projector space.Described projector space comprises cylindrical surface projecting space, spherical projection space, square projector space etc.
Step S30, position registration is carried out with reference projection images one by one and pixel fusion forms new reference projection images by meeting the follow-up projected image at multiple visual angles presetting projection condition, until traveled through the follow-up projected image of acquisition, to obtain output projected image;
The follow-up projected image obtained comprises multiple visual angle, such as user moves horizontally mobile terminal when carrying out growing exposure pan-shot, the image obtained is the image at multiple visual angle on same level direction, thus the follow-up projected image of projection gained is also the image at the multiple visual angles relative to reference projection images.After the acquisition after continuous projected image, first judge that whether the follow-up projection obtained meets and preset projection condition, such as preset projection condition comprise follow-up projected image relative reference projected image translation or rotation angle of inclination can not be greater than predetermined angle, the translation of follow-up projected image relative reference projected image vertical direction is greater than preset value etc., then with reference to projected image as benchmark image, the order that the follow-up projected image obtained is projected to default projector space according to it is carried out position registration and pixel fusion with reference projection images one by one, until mobile terminal view finder stops gathering image, be about to obtain all images that mobile terminal view finder gathers after the follow-up projected image of default projector space and reference projection images position registration and pixel fusion, with reference to the image after projected image registration and all follow-up projected images of fusion as output projected image, thus the follow-up projected image at multiple visual angle and reference projection images are synthesized the projected image at a large visual angle, thus can obtain with great visual angle long exposure panoramic picture by back projection.
Follow-up projected image first carries out position registration with reference projection images, then pixel fusion is carried out with reference projection images, form new reference projection images, then next follow-up projected image and new reference projection images position registration carry out pixel fusion, wherein position registration is based on image registration techniques, and pixel fusion is based on integration technology.
Above-mentioned image registration techniques refers to: two width obtain (weather, illumination, camera position and angle etc.) under different time, different sensors (imaging device) or different condition or multiple image carry out the process of mating, superposing, and it has been widely used in the fields such as remotely-sensed data analysis, computer vision, image procossing.The general flow of image registration techniques is as follows: first carry out feature extraction to two width images and obtain characteristic point; The feature point pairs of coupling is found by carrying out similarity measurement; Then image space coordinate conversion parameter is obtained by the feature point pairs of coupling; Finally carry out image registration by coordinate conversion parameter.
Above-mentioned image fusion technology refers to: the view data about same target collected by multi-source channel is through image procossing and computer technology etc., extract the advantageous information in each self-channel to greatest extent, the high-quality image of last comprehensive one-tenth, with improve image information utilance, improve computer interpretation precision and reliability, the spatial resolution of lifting original image and spectral resolution, be beneficial to monitoring.Image to be fused registration is good and pixel bit wide is consistent.
In order to understand the present invention's long exposure panoramic picture image pickup method better, below explain with an object lesson and the present invention is described: such as, after receiving long exposure shooting instruction, obtain 3 two field pictures that mobile terminal view finder gathers, image 1, image 2 and image 3 successively, first image 1 is projected to default projector space and forms corresponding projected image 1, using projected image 1 as reference projected image; Then the image 2 of acquisition is projected to default projector space and forms corresponding projected image 2, using projected image 2 as follow-up projected image; Moreover, projected image 2 (i.e. follow-up projected image) and projected image 1 (i.e. reference projection images) are carried out position registration and pixel fusion, forms new reference projection images (being set to projected image 1a); Then the image 3 of acquisition is projected to default projector space and forms corresponding projected image 3, using projected image 3 as new follow-up projected image; Again projected image 3 is carried out position registration and pixel fusion with projected image 1a, form up-to-date reference projection images, again because the image obtained all projects, registration, fusion are complete, therefore this up-to-date reference projection images is set to export projected image.
Step S40, gathers the coordinate space of image to generate long exposure panoramic picture by exporting projected image back projection to mobile terminal view finder.
Back projection is performed to the output projected image with great visual angle after synthesis, be about to export projected image gathers image coordinate space from default projector space back projection to mobile terminal view finder, to generate the long exposure panoramic picture with great visual angle that user operation mobile terminal camera gathers image aspects.
In the present embodiment, by when receiving long exposure shooting instruction, the image of mobile terminal view finder timing acquiring is obtained, then the image projection of acquisition is formed corresponding projected image to presetting projector space, wherein using the corresponding projected image of the first two field picture that obtains as with reference to projected image, using the corresponding projected image of successive image that obtains as follow-up projected image, position registration is carried out with reference projection images one by one and pixel fusion forms new reference projection images, until traveled through the follow-up projected image of acquisition, to obtain output projected image again by meeting the follow-up projected image at multiple visual angles presetting projection condition, finally gather the coordinate space of image to generate long exposure panoramic picture by exporting projected image back projection to mobile terminal view finder, thus by follow-up projected image with reference to the position registration of head portrait image and pixel fusion, the image that under mobile terminal is in slight jitter state, (such as user's handling mobile terminal carries out growing exposure shooting) gathers also can carry out growing exposure synthesis, thus strengthen the adaptive capacity of mobile terminal to shake under long exposure screening-mode, thus user is when carrying out growing exposure shooting out of doors, without the need to carrying fixture, mobile terminal long exposure shoot function is made to use more convenient.And, the follow-up projected image at multiple visual angle and reference projection images are synthesized the output projected image at a large visual angle, then carry out to exporting projected image the long exposure panoramic picture that back projection obtains with great visual angle, namely by the shadow casting technique of long exposure shooting and pan-shot is combined, user can be taken exceed the long with great visual angle exposure panoramic picture beyond camera perspective scope, thus overcome existing method fixed cellular terminal camera and can only take the scene of fixed viewpoint, the defect of shooting limited viewing angle.
Further, on the basis of the present invention's long exposure panoramic picture image pickup method first embodiment, propose long exposure panoramic picture image pickup method second embodiment, in a second embodiment, with reference to Fig. 7, step S20 comprises:
Step S21, obtain the kinematic parameter of mobile terminal, this kinematic parameter comprises the direction of motion and angle of inclination;
When starting the image obtaining the collection of mobile terminal view finder, responded to moving direction and the angle of inclination of user's handling mobile terminal by the accelerometer sense and gyroscope being arranged on mobile terminal inside; Or use the method for image registration to extract feature to present image, find aligned position, to determine moving direction and the angle of inclination of user's handling mobile terminal.
Step S22, determines the projector space of image projection according to the kinematic parameter obtained;
The projector space be suitable for is determined according to the direction of motion of mobile terminal and angle of inclination; Such as when angle of inclination is less than predetermined angle, and the direction of motion only 360 degree of rotations in the horizontal direction, then determine the default projector space of cylindrical surface projecting space as image projection volume; When the angle of inclination of mobile terminal is greater than predetermined angle, or when vertical direction translation is greater than preset value, points out user or abandon excessive image.When level, vertical direction translation are all greater than preset value, determine the projector space of spherical projection space as image projection, mobile terminal camera can be synthesized in three-dimensional with the scene of spheric motion in spherical projection space.
Step S23, forms corresponding projected image by the image projection of acquisition to the projector space determined.
User's handling mobile terminal moving process shooting image after projecting to the projector space determined, follow-up registration process and pixel fusion process can be carried out in identical projector space.Wherein, using corresponding for the first two field picture of acquisition projected image as with reference to projected image, using corresponding for the successive image of acquisition projected image as follow-up projected image.
In the present embodiment, by obtaining the kinematic parameter of mobile terminal, determine that user's handling mobile terminal carries out growing the movement tendency of exposure shooting, thus select suitable projector space, thus improve the drop shadow effect of image projection to the projector space determined, improve the integrity degree of projected image, be convenient to the registration between follow-up projected image and fusion, thus improve the effect of shadow that mobile terminal carries out growing exposure panoramic picture shooting gained image.
Further, on the basis of the present invention's long exposure panoramic picture image pickup method first embodiment, propose long exposure panoramic picture image pickup method the 3rd embodiment, in the third embodiment, with reference to Fig. 8, step S30 comprises:
Step S31, extracts fixed reference feature from reference projection images, and from the follow-up projected image meeting multiple visual angles of presetting projection condition, extracts the matching characteristic corresponding with fixed reference feature one by one;
In process of image registration, first a kind of transformation model will be selected as hypothesis, image overall conversion can select geometric transformation, similarity transformation, affine, projective transformation, image local conversion can be divided into different piece image, and independent registration parameter is calculated to every part, this registration parameter is used for aliging with follow-up projected image with reference to projected image.Then extract registration features, the method extracting registration features has: Feature Points Matching, optical flow method, cross-correlation etc.Wherein:
Feature Points Matching refers to: extract some characteristic points from reference frame (i.e. reference projection images), then extract or search characteristic of correspondence point from frame subject to registration (i.e. follow-up projected image), according to the position of characteristic point as data, solve the registration parameter of the relative reference frame of frame subject to registration.
Optical flow method refers to: the instantaneous velocity of the pixel motion on imaging plane is being observed in estimation space moving object, be the corresponding relation that the correlation between change and consecutive frame utilizing pixel in image sequence in time-domain exists between present frame to find previous frame to follow, thus calculate the movable information of object between consecutive frame.
Cross-correlation refers to: utilize Fourier transform by image conversion to frequency domain, then uses the correlation of cross-correlation formulae discovery frame subject to registration each position in the spatial domain, gets the registration parameter of maximum position as the relative reference frame of frame subject to registration.
Step S32, according to the position relationship between matching characteristic and fixed reference feature, is combined meeting the follow-up projected image presetting projection condition with reference projection images registration;
According to the position relationship between matching characteristic and fixed reference feature, drawing registration parameter (such as registration parameter is the motion-vector of a two dimension or three-dimensional), being combined meeting the follow-up projected image presetting projection condition with reference projection images registration (namely align and connect) according to registration parameter.Such as matching characteristic has three, according to the position relationship between three matching characteristic fixed reference features corresponding to three, show that matching characteristic is to the moving direction of fixed reference feature and displacement, and each pixel of follow-up projected image is moved according to this moving direction and displacement, draw each pixel of follow-up projected image move after position, thus allow the matching characteristic of follow-up projected image align with the fixed reference feature of reference projection images, also allow the identical image area coincidence of follow-up projected image and reference projection images.
For affine Transform Model, conversion has 6 parameters, for 2*3 matrix notation A = a 11 a 12 a 13 a 21 a 22 a 23 , A can be obtained by registration Algorithm.A bit of input picture frame (i.e. follow-up projected image) before so projection cylinder being taken in P = x y 1 , Coordinate position after registration P ′ = a 11 a 12 a 13 a 21 a 22 a 23 x y 1 , In like manner obtain coordinate position after all pixel registrations of current input image, thus according to the coordinate position after all pixel registrations, current input image is alignd with reference projection images.
Step S33, presets the follow-up projected image of projection condition by meeting and pixel fusion, Non-overlapping Domain direct splicing are carried out to form new reference projection images, until traveled through the follow-up projected image of acquisition in the overlapping region of reference projection images;
Meet the incoming frame image (i.e. follow-up projected image) presetting projection condition each pixel upper to current, first judge whether this pixel has overlap with the pixel of previous panoramic picture (i.e. reference projection images).Determination methods is when carrying out initialization to panorama sketch, and the color of each location of pixels is initially 0.If at synthesising position, each pixel of new incoming frame image judges that the color of original pixels is full 0, then not overlapping; If color is not 0 entirely, then overlapping.
Preset after the follow-up projected image of projection condition aligns with reference projection images meeting, pixel fusion is carried out in the overlapping region of follow-up projected image and reference projection images, namely based on image fusion technology, carry out pixel fusion according to the color value of the follow-up projected image pixel in overlapping region and the color value of reference projection images pixel, obtain the pixel color value after merging; Follow-up projected image and reference projection images are not carried out pixel direct splicing in overlapping region, there is follow-up projected image in region even outside reference projection images, show mobile terminal because of mobile collection new image, by the follow-up projected image that newly gathers and reference projection images correspondence position direct splicing; Thus through pixel fusion and image mosaic, the image of formation is as new reference projection images.In like manner, utilize new reference projection images to carry out identical processing procedure to other follow-up projected image, so circulate, until traveled through or processed the follow-up projected image of acquisition.In addition, the image after follow-up projected image merges with reference projection images registration can be synchronous present in mobile terminal viewing area, watches for user.
Step S34, using the reference projection images finally formed as exporting projected image.
After mobile terminal view finder stops gathering image, and after the follow-up projected image of all acquisitions and reference projection images are carried out registration fusion, the final new reference projection images formed, using this up-to-date reference projection images as output projected image.
In the present embodiment, by comparing the fixed reference feature in reference projection images and the matching characteristic in follow-up projected image, draw the position relationship of reference projection images and follow-up projected image, namely the registration parameter of follow-up projected image relative reference projected image is drawn, then according to the position relationship of reference projection images and follow-up projected image, follow-up projected image is alignd with reference projection images, then pixel fusion is carried out in the overlapping region of follow-up projected image and reference projection images, Non-overlapping Domain direct splicing is to form new reference projection images, until traveled through the follow-up projected image of acquisition, finally using the reference projection images that finally formed as output projected image, thus by each follow-up projected image with upgrade in reference projection images circulate and carry out registration and fusion, the panorama forming long exposure photographic images corresponding exports projected image, it can be the output projected image of the panorama of a large multi-view image by the Images uniting at multiple visual angle, and mobile terminal is in also to realize long exposure shoot function when certain amplitude is rocked, extend the mobile terminal long exposure shooting scope of application.
Further, on the basis of the present invention's long exposure panoramic picture image pickup method the 3rd embodiment, long exposure panoramic picture image pickup method the 4th embodiment is proposed, in the fourth embodiment,
Long exposure panoramic picture image pickup method also comprises:
Step S35, when obtaining the image of mobile terminal view finder timing acquiring, obtain the kinematic parameter of mobile terminal, kinematic parameter comprises moving direction and angle of inclination;
Kinematic parameter, when starting the image obtaining the collection of mobile terminal view finder, responds to moving direction and the angle of inclination of user's handling mobile terminal by the accelerometer sense and gyroscope being arranged on mobile terminal inside; Or use the method for image registration to extract feature to present image, find aligned position, to determine moving direction and the angle of inclination of user's handling mobile terminal.
Step S32 comprises:
Step S321, determines to meet according to the direction of motion of mobile terminal and presets the follow-up projected image of projection condition and the bonding position of reference projection images;
The rear satisfied default continuous projected image of projection condition and the bonding position of reference projection images can be determined roughly according to the kinematic parameter of mobile terminal, such as mobile terminal level moves right, then meet the follow-up projected image presetting projection condition to combine with the right side of reference projection images, namely follow-up projected image and the bonding position of reference projection images are that dextrad is combined.
Step S322, according to bonding position, and the position relationship between matching characteristic and fixed reference feature, follow-up projected image is combined with reference projection images registration.
After the bonding position determining follow-up projected image and reference projection images, then according to the position relationship between matching characteristic and fixed reference feature, can be alignd with reference projection images by follow-up projected image fast and carry out registration be combined.
In the present embodiment, by when obtaining the image of mobile terminal view finder timing acquiring, obtain the kinematic parameter of mobile terminal, then determine to meet according to the direction of motion of mobile terminal and preset the follow-up projected image of projection condition and the bonding position of reference projection images; After determining to meet the default follow-up projected image of projection condition and the bonding position of reference projection images, again according to the position relationship between matching characteristic and fixed reference feature, can fast follow-up projected image be alignd with reference projection images and carry out registration and be combined, improve the efficiency of continuous projected image and reference projection images position registration.
Further, on the basis of the present invention's long exposure panoramic picture image pickup method the 3rd embodiment, propose long exposure panoramic picture image pickup method the 5th embodiment, in the 5th embodiment, the step that pixel fusion is carried out in the overlapping region of follow-up projected image and reference projection images comprised:
Step S331, obtains input color value, the reference color value of each pixel position in the satisfied default follow-up projected image of projection condition and the overlapping region of reference projection images and merges number of times;
Step S332, according to input color value, reference color value and fusion number of times, in adjustment overlapping region, the color value of each pixel is to complete pixel fusion, wherein inputs color value that color value is follow-up projected image pixel position in overlapping region, color value that reference color value is reference projection images pixel position in overlapping region, to merge number of times be that the number of times of pixel fusion is carried out in reference projection images pixel position in overlapping region.
Obtain the input color value with each pixel in the overlapping region of reference projection images in the follow-up projected image meeting and preset projection condition, with the reference color value of each pixel in the overlapping region of follow-up projected image and the fusion number of times of pixel fusion in acquisition reference projection images; According to the input color value of each pixel position, overlapping region, reference color value with merge number of times, in adjustment overlapping region, the color value of each pixel is to complete pixel fusion.Such as, obtain the color value of each pixel in overlapping region according to calculated with weighted average method, if a certain pixel Co-factor propagation number of times is F in overlapping region, reference color value is C f, input color value is C p, then the color value after synthesis is:
C F + 1 = F F + 1 C F + 1 F + 1 C P .
Number of times record F is merged from increasing 1 after synthesis.Color value in this embodiment is the value in hexadecimal color code.
In the present embodiment, by input color value, the reference color value of each pixel position in the overlapping region that obtains follow-up projected image and reference projection images with merge number of times, right family is based on Weighted Average Algorithm, and according to input color value, reference color value and fusion number of times, in adjustment overlapping region, the color value of each pixel is to complete pixel fusion, overlapping region pixel color value is merged relevant to all follow-up projected image corresponding pixel points color values, make pixel fusion effect better.
It should be noted that, in this article, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, method, article or device and not only comprise those key elements, but also comprise other key elements clearly do not listed, or also comprise by the intrinsic key element of this process, method, article or device.When not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, method, article or the device comprising this key element and also there is other identical element.
The invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be well understood to the mode that above-described embodiment method can add required general hardware platform by software and realize, hardware can certainly be passed through, but in a lot of situation, the former is better execution mode.Based on such understanding, technical scheme of the present invention can embody with the form of software product the part that prior art contributes in essence in other words, this computer software product is stored in a storage medium (as ROM/RAM, magnetic disc, CD), comprising some instructions in order to make a station terminal equipment (can be mobile phone, computer, server, air conditioner, or the network equipment etc.) perform method described in each embodiment of the present invention.
These are only the preferred embodiments of the present invention; not thereby the scope of the claims of the present invention is limited; every utilize specification of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.

Claims (10)

1. a long exposure panorama image shooting apparatus, is characterized in that, described long exposure panorama image shooting apparatus comprises:
Image collection module, for when receiving long exposure shooting instruction, obtains the image of mobile terminal view finder timing acquiring;
Image projection module, for the image projection of acquisition is formed corresponding projected image to presetting projector space, wherein using the corresponding projected image of the first two field picture that obtains as with reference to projected image, using the corresponding projected image of successive image that obtains as follow-up projected image;
Registration Fusion Module, described follow-up projected image for the multiple visual angles by satisfied default projection condition carries out position registration with described reference projection images one by one and pixel fusion forms new reference projection images, until traveled through the follow-up projected image of acquisition, to obtain output projected image;
Back projection module, for gathering the coordinate space of image to generate long exposure panoramic picture to mobile terminal view finder by described output projected image back projection.
2. long exposure panorama image shooting apparatus as claimed in claim 1, it is characterized in that, described image projection module comprises:
Parameter acquiring unit, for obtaining the kinematic parameter of mobile terminal, this kinematic parameter comprises the direction of motion and angle of inclination;
Space determining unit, for determining the projector space of image projection according to the kinematic parameter obtained;
Projecting cell, for forming corresponding projected image by the image projection of acquisition to the projector space determined.
3. long exposure panorama image shooting apparatus as claimed in claim 1 or 2, it is characterized in that, described registration Fusion Module comprises:
Feature extraction unit, for extracting fixed reference feature from described reference projection images, and extracts the matching characteristic corresponding with described fixed reference feature one by one from the described follow-up projected image meeting multiple visual angles of presetting projection condition;
Registration unit, for according to the position relationship between described matching characteristic and fixed reference feature, is combined meeting the described follow-up projected image presetting projection condition with reference projection images registration;
Integrated unit, for the satisfied default described follow-up projected image of projection condition and the overlapping region of reference projection images are carried out pixel fusion, Non-overlapping Domain direct splicing to form new reference projection images, until traveled through the follow-up projected image of acquisition, and the just final reference projection images formed is as output projected image.
4. long exposure panorama image shooting apparatus as claimed in claim 3, is characterized in that,
Described image collection module, also for when obtaining the image of mobile terminal view finder timing acquiring, obtain the kinematic parameter of mobile terminal, kinematic parameter comprises moving direction and angle of inclination;
Described registration unit also for:
Determine to meet according to the kinematic parameter of mobile terminal and preset the described follow-up projected image of projection condition and the bonding position of reference projection images;
According to described bonding position, and the position relationship between matching characteristic and fixed reference feature, be combined meeting the described follow-up projected image presetting projection condition with reference projection images registration.
5. long exposure panorama image shooting apparatus as claimed in claim 3, is characterized in that,
Described integrated unit also for:
Obtain input color value, the reference color value of each pixel position in the satisfied default described follow-up projected image of projection condition and the overlapping region of reference projection images and merge number of times;
According to described input color value, reference color value and fusion number of times, adjust the color value of each pixel in described overlapping region to complete pixel fusion, wherein inputting color value is the color value of follow-up projected image pixel position in overlapping region, reference color value is reference projection images pixel position in overlapping region color value, merging number of times is that the number of times of pixel fusion is carried out in reference projection images pixel position in overlapping region.
6. a long exposure panoramic picture image pickup method, is characterized in that, described long exposure panoramic picture image pickup method comprises:
When receiving long exposure shooting instruction, obtain the image of mobile terminal view finder timing acquiring;
The image projection of acquisition is formed corresponding projected image to presetting projector space, wherein using the corresponding projected image of the first two field picture that obtains as with reference to projected image, using the corresponding projected image of successive image that obtains as follow-up projected image;
Position registration is carried out with described reference projection images one by one and pixel fusion forms new reference projection images by meeting the described follow-up projected image at multiple visual angles presetting projection condition, until traveled through the follow-up projected image of acquisition, to obtain output projected image;
Described output projected image back projection is gathered the coordinate space of image to mobile terminal view finder to generate long exposure panoramic picture.
7. exposure panoramic picture image pickup method as claimed in claim 6 long, is characterized in that, describedly the image projection of acquisition is comprised to the step presetting projector space and formed corresponding projected image:
Obtain the kinematic parameter of mobile terminal, this kinematic parameter comprises the direction of motion and angle of inclination;
The projector space of image projection is determined according to the kinematic parameter obtained;
The image projection of acquisition to the projector space determined is formed corresponding projected image.
8. long exposure panoramic picture image pickup method as claimed in claims 6 or 7, it is characterized in that, the described described follow-up projected image by the multiple visual angles meeting default projection condition carries out position registration with described reference projection images one by one and pixel fusion forms new reference projection images, travel through the follow-up projected image of acquisition, comprised to obtain the step exporting projected image:
From described reference projection images, extract fixed reference feature, and from the described follow-up projected image meeting multiple visual angles of presetting projection condition, extract the matching characteristic corresponding with described fixed reference feature one by one;
According to the position relationship between described matching characteristic and fixed reference feature, be combined meeting the described follow-up projected image presetting projection condition with reference projection images registration;
The satisfied default described follow-up projected image of projection condition and the overlapping region of reference projection images are carried out pixel fusion, Non-overlapping Domain direct splicing to form new reference projection images, until traveled through the follow-up projected image of acquisition;
Using the reference projection images finally formed as exporting projected image.
9. long exposure panoramic picture image pickup method as claimed in claim 8, it is characterized in that, described long exposure panoramic picture image pickup method also comprises: when obtaining the image of mobile terminal view finder timing acquiring, obtain the kinematic parameter of mobile terminal, kinematic parameter comprises moving direction and angle of inclination;
Described according to the position relationship between described matching characteristic and fixed reference feature, the step that the described follow-up projected image meeting default projection condition is combined with reference projection images registration is comprised:
Determine to meet according to the kinematic parameter of mobile terminal and preset the described follow-up projected image of projection condition and the bonding position of reference projection images;
According to described bonding position, and the position relationship between matching characteristic and fixed reference feature, be combined meeting the described follow-up projected image presetting projection condition with reference projection images registration.
10. long exposure panoramic picture image pickup method as claimed in claim 8, is characterized in that, described step of the satisfied default described follow-up projected image of projection condition and the overlapping region of reference projection images being carried out pixel fusion comprises:
Obtain input color value, the reference color value of each pixel position in the satisfied default described follow-up projected image of projection condition and the overlapping region of reference projection images and merge number of times;
According to described input color value, reference color value and fusion number of times, adjust the color value of each pixel in described overlapping region to complete pixel fusion, wherein inputting color value is the color value of follow-up projected image pixel position in overlapping region, reference color value is reference projection images pixel position in overlapping region color value, merging number of times is that the number of times of pixel fusion is carried out in reference projection images pixel position in overlapping region.
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