CN107135336B - A kind of video camera array - Google Patents

A kind of video camera array Download PDF

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Publication number
CN107135336B
CN107135336B CN201610113510.9A CN201610113510A CN107135336B CN 107135336 B CN107135336 B CN 107135336B CN 201610113510 A CN201610113510 A CN 201610113510A CN 107135336 B CN107135336 B CN 107135336B
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China
Prior art keywords
video camera
support
support plate
plate
array
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CN201610113510.9A
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CN107135336A (en
Inventor
田勇
谢清鹏
张维
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Huawei Technologies Co Ltd
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Huawei Technologies Co Ltd
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Priority to CN201610113510.9A priority Critical patent/CN107135336B/en
Priority to PCT/CN2016/095899 priority patent/WO2017148108A1/en
Publication of CN107135336A publication Critical patent/CN107135336A/en
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    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B35/00—Stereoscopic photography
    • G03B35/08—Stereoscopic photography by simultaneous recording
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control 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
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Studio Devices (AREA)

Abstract

The present invention relates to multimedia technology fields, disclose a kind of video camera array, the video camera array includes the video camera of support construction and the arrangement of multiple arrays, and the video camera in the video camera array may be implemented to slide along its axis direction, and position adjustment in the horizontal direction, so that the optical center of the video camera of video camera array is in coplanar or conllinear.In the above-mentioned technical solutions, the adjustment to camera position is realized by the support construction of setting, realizes that the optical center of video camera is in coplanar or conllinear, improves video camera using picture in spliced effect.

Description

A kind of video camera array
Technical field
The present invention relates to multimedia technology field more particularly to a kind of video camera arrays.
Background technique
With the development of multimedia technology, single camera has not been able to satisfy the requirement of people gradually.Panoramic video, solid A variety of applications such as camera shooting, augmented reality, vision measurement, three-dimensional reconstruction, synthetic aperture imaging require multiple video camera collaboration works Make, these video cameras are exactly video camera array with the combination that particular pose collectively forms.
Video camera array must be positioned by certain means, and target is to be conducive to video registration as far as possible, that is, be realized Optimize positioning posture.Video camera array (video of acquisition combines) must be registrated by certain means, and target is to obtain Space Consistency as ideal as possible is obtained, that is, realizes and optimizes registration state.
Video-splicing is a kind of important application based on video camera array, provides the more high score more than ordinary video for people Resolution and bigger visual angle content, bring visual experience on the spot in person, have broad application prospects and deep researching value.
The positioning and registration that video-splicing is related to need to obtain Space Consistency as ideal as possible, that is, limit as far as possible Parallactic shift processed has an adverse effect to video quality because it will lead to the abnormal phenomenon such as ghost.
The necessary condition for eliminating parallactic shift is: video camera array is total to optical center or scene is coplanar.As long as meeting this two At least one of condition, by homograph appropriate, so that it may realize that parallax free deviates.Regrettably, actual environment is almost There is no coplanar scenes；And due to video camera duty conflict, it is generally also that can not accomplish that array, which is total to optical center,.Although parallax is inclined Shifting can not be eliminated, but can pass through the positioning and method for registering being optimal registration state of optimization.
The prior art provide it is a kind of can positioning shooting machine array device, it utilizes a kind of structural unit, in the structure It include support plate and two video cameras arranged in vertical direction in unit, wherein each video camera is close to camera One end and support plate are rotatablely connected, and sliding slot is provided in the support plate, and the video camera setting is threaded through the sliding slot Interior lock-screw realizes the positioning to camera position by screwing the lock-screw, by structural unit as several It is arranged in the horizontal direction, to constitute two-dimensional camera array.It is in the overlapping region of two video camera acquisition videos Several groups corresponding points are found, solve the homograph matrix for expressing registration relationship using corresponding points, are taken the photograph to complete two The registration of camera.But above-mentioned video camera array can only realize the adjustment of camera rotation, when adjusting homocentric, position fixing process is difficult With control, array can not be positioned to optimization spatial attitude；And registration places one's entire reliance upon and acquires the desired level of video, calculates Precision is poor.
Summary of the invention
The present invention provides a kind of video camera arrays to improve control to improve video camera array in the adjustment of optimum attitude Precision processed.
In order to solve the above-mentioned technical problem, the embodiment of the invention provides a kind of video camera array, the video camera arrays Include:
Support plate；
The support of at least two video cameras in the support plate, any in the support of at least two video camera Support can rotate relative to the support plate and may be locked in the setting position in the support plate, any support rotation institute around Shaft perpendicular to the support plate；
The camera of at least two video camera converges, and the optical center of at least two video camera is conllinear；Wherein,
In at least two video camera any video camera can along any video camera optical axis direction described any The setting position on the support of any video camera is slided and may be locked on the support of video camera.
In the above-mentioned technical solutions, in the horizontal direction turn of video camera is realized by the support plate of setting and support It is dynamic, and in the sliding in camera light axis direction, so as to realize that the light of video camera in the same plane is in Position on same straight line improves video camera using picture in spliced effect.
In a kind of specific embodiment, it is sliding that arc corresponding with any support is provided in the support plate Slot, and at least two arc chutes in the support plate are the arc chute of the concyclic heart；Is provided on any support One locking member, first locking member passes through the arc chute and is threadedly coupled with any support, so that the branch Fagging is connect with any bearing sliding；
It is provided with straight on the support of any video camera, is provided with the second locking on any video camera Part, second locking member is threadedly coupled after passing through the straight with any video camera, so that described any The support of video camera is slidably connected with any video camera.In above-mentioned specific structure, realized by the first locking member to branch The control of the movement of seat, first locking member can be bolt or screw, be provided with threaded hole on corresponding support, bolt or Screw is connect after passing through arc chute with threaded hole, when needing sliding support, unscrews bolt or screw, at this point, support can be with Sliding, when needing to lock, screwing bolts or screw, after screwing, the nut of bolt or screw is compressed on the supporting plate, will be propped up Seat locking.The case where principle of sliding and the locking of video camera is with above-mentioned support is identical, i.e., realizes sliding by the second locking member And the control of locking, in this not go into detail.
In a preferred solution, the arc chute is provided with angle index value, and/or, the straight is set It is equipped with length scale value.By the way that scale value is arranged on arc chute, facilitate the angle of control support rotation.Similarly, in straight line Length scale is set on sliding slot, the distance for facilitating control video camera flexible.
In a specific embodiment scheme, any support includes: cylindrical case open at one end, symmetrical to rotate It is connected to two connecting plates of cylindrical case open end two sides；
At least two fixed plates are provided in the support plate, any support is located at least two fixed plate The space that mutual two fixed plates at right angle are partitioned into, and in any connecting plate of any support and described two fixed plates Any fixed plate be slidably connected and may be locked in the setting position in any fixed plate, pass through any connecting plate phase Any support is rotated relative to the support plate to be realized to any fixed plate sliding.
In specific setting, the video camera array further includes the tight latch fitting of third, and it is sliding that straight line is provided in the fixed plate Slot；Any connecting plate is slidably connected by passing through the third locking member of the straight with the fixed plate；
When there are connecting plate in the fixed plate two sides, the connecting plate positioned at the fixed plate two sides is described straight by passing through The third locking member and the fixed plate of line sliding slot are slidably connected.
In a more specific embodiment, the support plate and another support plate are rotated in one end close to camera Connection.By the rotation connection mode between two support plates, the adjustment adjusted the angle to video camera is further improved, is mentioned The high effect of video camera acquisition picture.
The placement of upper video camera array for convenience, which further includes pedestal, and branch is provided on the pedestal Frame, the support plate are slidably connected in the support plate with close to the opposite other end in one end of camera with the bracket, And the setting position of lockable on the bracket, another support plate and the bracket in another support plate with lean on The opposite other end connection in one end of nearly camera, wherein the direction of the relatively described bracket slide of the support plate and the branch Fagging is identical relative to the direction of another support plate rotation.Two support plates are supported by the bracket of setting, and pass through bracket The sliding slot of upper setting and the locking member in sliding slot realize the locking to support plate turned position.
In order to solve the above-mentioned technical problem, the present invention also provides a kind of video camera array, which includes: two A first support plate, two video cameras and two supports, described two video cameras are separately fixed in described two supports, In,
Described two first support plate rotation connections；
Described two supports are slidably connected with described two first support plates respectively and may be locked in described two first Setting position on fagging, wherein the glide direction of relatively described any first support plate of any support in described two supports, With any first support plate rotation institute around shaft it is parallel, any support and any first support plate sliding company It connects.
In the above-mentioned technical solutions, by the rotation between the first support plate and the sliding between two the first supports, Realize that the adjustment to camera position improves the effect of video camera array shooting picture so that the optical center of video camera is conllinear, with And video-splicing effect.
In a specific embodiment, the video camera array further includes two the second support plates, and described two The rotation connection of two support plates, the rotation of described two second support plates around shaft rotated perpendicular to described two first support plates Around shaft, wherein for any second support plate in described two second support plates, any first support plate and institute It states any second support plate to be slidably connected and may be locked in setting position in any second support plate, described two first Another first support plate is connect with any second support plate in fagging, wherein the difference in described two first support plates The one end connecting with any second support plate, the opposite end of the one end being rotatablely connected between described two support plates are described The direction of the relatively described any second support plate sliding of any first support plate and any first support plate are opposite described another The direction of one first support plate rotation is identical.It is arranged by the second support plate of setting, facilitates the adjustment of video camera, realization is taken the photograph The optical center of camera is conllinear.
In specific connection, two the first support plates in same second support plate, each first support plate rotation Connect first mounting plate, and first mounting plate the first support plate connected to it institute around shaft and described two the One support plate rotation around shaft it is parallel；One of them first mounting plate is fixedly connected with second support plate, another First mounting plate and second support plate are slidably connected and may be locked in setting position.So that in two the first support plates When relative rotation, two the first support plates can be parallel with the second support plate with the first mounting plate of the second support plate, facilitates two Sliding between person.
In specific slidable fit, first straight line sliding slot is provided in each second support plate；The first sliding groove Length direction is parallel to the length direction of the shaft of described two second support plate rotation connections, another described first mounting plate On be provided with the locking member being slidedly assemblied in the first straight line sliding slot.
Each second support plate is rotatablely connected second mounting plate, and second mounting plate second connected to it Fagging rotation around shaft and described two second support plates rotate around shaft it is parallel；
In order to facilitate the placement of video camera array, the video camera array further includes fixed plate, any second support Plate and the fixed plate are slidably connected and may be locked in setting position in the fixed plate, another in described two second support plates Second support plate is connect with the fixed plate.
In specific connection, and one of them second mounting plate is fixedly connected with the fixed plate, another second installation Plate and the fixed plate are slidably connected and may be locked in setting position；
Second straight line sliding slot is provided in the fixed plate, and the length direction of the second straight line sliding slot is perpendicular to described The length direction of the shaft of two the first support plates rotation connection, is provided on another described second mounting plate and is slidedly assemblied in Locking member in the second straight line sliding slot.
For convenience when adjusting the camera, the adjustment amplitude of video camera is controlled, in a specific embodiment, institute It states and is provided with length scale value in any first support plate, for identifying any support relative to described any first The position of support plate；And/or
It is provided with length scale value in any second support plate, for identifying any first support plate phase For the position of any second support plate；
And/or
It is provided with length scale value in the fixed plate, for identifying any second support plate relative to described The position of fixed plate.The relative position that all parts can be intuitively observed by the length scale value of setting, facilitates adjustment to take the photograph The position of camera.
In order to facilitate video camera array is placed, in a more specifical embodiment, which further includes Three-legged bracket, is used to support video camera array, and video camera array may be implemented in setting to the Three-legged bracket around vertical Axis rotation, and the whole adjustment overlooked and looked up may be implemented.
Detailed description of the invention
Fig. 1 is the top view of video camera array provided in an embodiment of the present invention；
Fig. 2 is the explosive view of video camera array provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of the arc chute of video camera array provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of straight provided in an embodiment of the present invention；
Fig. 5 be another embodiment of the present invention provides video camera array side view；
Fig. 6 be another embodiment of the present invention provides video camera array top view；
Fig. 7 be another embodiment of the present invention provides video camera array camera alignment schematic diagram；
Fig. 8 be another embodiment of the present invention provides video camera array support structural schematic diagram；
Fig. 9 be another embodiment of the present invention provides video camera array support plate structural schematic diagram；
Figure 10 be another embodiment of the present invention provides video camera array pedestal structural schematic diagram；
Figure 11 is the structural schematic diagram of the pedestal for the video camera array that third embodiment of the invention provides；
Figure 12 is the structural schematic diagram of the fixed plate for the video camera array that third embodiment of the invention provides；
Figure 13 is the structural schematic diagram of the second support plate of the video camera array that third embodiment of the invention provides；
Figure 14 is the structural schematic diagram of the first support plate of the video camera array that third embodiment of the invention provides；
Figure 15 is the structural schematic diagram of the support for the video camera array that third embodiment of the invention provides；
Figure 16 is the decomposition diagram of the Three-legged bracket for the video camera array that third embodiment of the invention provides；
Figure 17 is video camera array optical center circle distribution state diagram provided in an embodiment of the present invention；
Figure 18 is video camera array optical center aligned fashion state diagram provided in an embodiment of the present invention；
Figure 19 is video camera array optical center aligned fashion state diagram provided in an embodiment of the present invention；
Figure 20 is camera optical center position view provided in an embodiment of the present invention；
Figure 21 is the camera lens schematic diagram of video camera provided in an embodiment of the present invention；
Figure 22 is video camera array optical center aligned fashion state diagram provided in an embodiment of the present invention；
Figure 23 is video camera array optical center aligned fashion state diagram provided in an embodiment of the present invention；
Figure 24 is video camera re-projection schematic diagram provided in an embodiment of the present invention；
Figure 25 is the top view of video camera re-projection provided in an embodiment of the present invention；
Figure 26 is video camera array horizontal alignment state diagram provided in an embodiment of the present invention；
Figure 27 is video camera provided in an embodiment of the present invention according to the state diagram after 25 correspondent transform of formula；
Figure 28 is that X-coordinate offset sequence provided in an embodiment of the present invention clusters schematic diagram.
Appended drawing reference:
1- support plate 11- arc chute 2- video camera
3- support 31- straight 10- pedestal
101- bracket 1011- sliding slot 20- support plate
201- fixed plate 2011- sliding slot 30- support
301- connecting plate 302- shell 40- video camera
100- pedestal 200- fixed plate 2001- second straight line sliding slot
300- the second support plate 3001- first straight line sliding slot the second mounting plate of 400-
500- the first support plate 5001- sliding slot the first mounting plate of 600-
700- support 800- triangular supports
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into It is described in detail to one step, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole implementation Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts All other embodiment, shall fall within the protection scope of the present invention.
In order to improve video camera array in the adjustment of optimum attitude, high control precision is mentioned.The embodiment of the invention provides one Kind video camera array, facilitates the posture of the video camera in adjustment video camera array, to be conducive to video registration, improves video-splicing Effect afterwards.
In a specific embodiment, shown as Fig. 1, Fig. 1 are shown using the structure of 2 array of video camera of one-dimensional array It is intended to, which can not only use and be horizontally arranged, but also can be placed using vertical direction, be adopted below with shown in FIG. 1 It is illustrated for being placed with horizontal direction.
In this embodiment, 2 array of video camera includes:
Support plate 1；
The support 3 of at least two video cameras 2 in support plate 1, any in the support 3 of at least two video cameras 2 Seat 3 can relative support plate 1 rotate and may be locked in the setting position in support plate 1, any rotation of support 3 around shaft it is vertical In support plate 1；
The camera of at least two video cameras 2 converges, and the optical center of at least two video cameras 2 is conllinear；Wherein,
In at least two video cameras 2 any video camera 2 can along any video camera 2 optical axis direction in any video camera 2 The setting position on the support 3 of any video camera 2 is slided and may be locked on support 3.
In the above-described embodiments, 2 in the horizontal direction turns of video camera are realized by the support plate of setting 1 and support 3 It is dynamic, and in the sliding on 2 optical axis direction of video camera, at the light so as to realize video camera 2 in the same plane Position on same straight line improves video camera 2 using picture in spliced effect.
To facilitate understanding of the present embodiment of the invention 2 array of video camera provided with reference to the accompanying drawing carries out it detailed Explanation.
As shown in Figures 1 and 2, arc chute 11 corresponding with any support 3 is provided in support plate 1, and in support plate 1 At least two arc chutes 11 be the concyclic heart arc chute 11；The first locking member, the first locking are provided on any support 3 Part passes through arc chute 11 and is threadedly coupled with any support 3, so that support plate 1 is slidably connected with any support 3；Specifically , the control to the movement of support 3 is realized by the first locking member, which can be bolt or screw, corresponding Support 3 on be provided with threaded hole, bolt or screw are connect after passing through arc chute 11 with threaded hole, are needing sliding support 3 When, bolt or screw are unscrewed, at this point, support 3 can slide, when needing to lock, screwing bolts or screw, after screwing, spiral shell The nut of bolt or screw is pressed in support plate 1, and support 3 is locked.In a specific embodiment, when the number of support 3 When for odd number, support 3 is located in the middle with support plate 1 by the way of being fixedly connected, at this point, connect on support 3 first Locking member is fixedly connected after passing through the through-hole in support plate 1 with support 3, positioned at 3 two sides of intermediate support support 3 and support plate Corresponding 11 slidable fit of arc chute on 1, and when using the above structure, above-mentioned arc chute 11 and through-hole are positioned at same On circumference.In the above-mentioned technical solutions, in order to guarantee the adjustment effect of support 3, preferably, and the corresponding arc of each support 3 Sliding slot 11 is two, and first locking member corresponding with each arc chute 11 is provided on support 3.
In addition, being provided with straight 31 on the support 3 of any video camera 2, the second locking is provided on any video camera 2 Part, the second locking member is threadedly coupled after passing through straight 31 with any video camera 2, so that the support 3 of any video camera 2 It is slidably connected with any video camera 2.In above-mentioned specific structure, the sliding of video camera 2 and the principle of locking and above-mentioned support 3 are sliding It is dynamic identical as the case where locking, i.e., the control of sliding and locking is realized by the second locking member, in this not go into detail.
In order to facilitate the control that control video camera 2 adjusts the angle, arc chute 11 is provided with angle index value, and/or, directly Line sliding slot 31 is provided with length scale value.By the way that scale value is arranged on arc chute 11, the angle for facilitating control support 3 to rotate Degree.Similarly, length scale is set on straight 31, the distance for facilitating control video camera 2 flexible.Fig. 3 and figure are referred to together 4, as shown in figure 3, the arc chute 11 in support plate 1 is provided with angle value, can directly be observed by the angle value of setting The angle that support 3 turns to, i.e. support 3 in the position when, angle corresponding with center, to facilitate adjustment, such as when should When support 3 needs to be located at 50 °, the support 3 is slided, so that corresponding first locking member is located at 11 subscript of arc chute on support 3 It is shown with 50 ° of position, at this point, the position that the position of support 3 adjusts required for being, facilitates the adjustment of support 3.Similarly, when When video camera 2 needs protruding 3cm, the second locking member on video camera 2 is adjusted, so that third locking member is located at 3cm meaning Position.The control to 2 position of video camera is realized by above-mentioned adjustment, so that 2 optical center of video camera can be conllinear, raising is taken the photograph Camera 2 acquires the effect of video, and then improves the effect of video-splicing.
In order to facilitate the effect for understanding 2 array of video camera provided in this embodiment, the following detailed description of the present embodiment provides 2 array of video camera working principle.
Firstly the need of explanation, video-splicing is a kind of important application based on 2 array of video camera, and the present embodiment will be with For video-splicing, positioning and the registration of 2 array of video camera are illustrated.For this purpose, proposing the camera shooting for being used for video-splicing first 2 array of machine optimizes positioning posture and optimizes the definition of registration state.
2 array of video camera for video-splicing optimizes positioning posture definition: specified arrays scale and resolution feelings Under condition, the total visual angle of array maximizes and non-blind area；It supports by optimizing method for registering, being optimal registration state.
2 array of video camera for video-splicing optimizes the definition of registration state: by global registration, adjacent camera The length global minimization of all corresponding points parallactic shifts of 2 acquisition videos, direction are limited to assigned direction, and target corresponding points Parallactic shift is zero.
The present embodiment includes two steps: positioning and registration,
Positioning therein includes four steps: determining that array form, calculating deflection angle, positioning deflection direction, positioning are flexible Position, wherein rear two steps embody key feature of the invention.
The first step determines array form.
In the case where the total visual angle of array does not require close or larger than 180 degree, optimizing positioning posture, it is preferable to use convergences Formula array is as basic fixed position mode.So-called convergence type array refers to that each 2 optical axis of video camera intersects in front, thus sight Intersect, by taking two video cameras 2 as an example, forms that left 2 visual field of video camera is to the right, right 2 visual field of video camera effect to the left, with remittance Poly- formula Array Model it is opposite be divergence expression Array Model, the former is with respect at least following advantage of the latter:
One, 2 visual angle of video camera of convergence type array does not waste, N number of to take the photograph if the visual angle of single camera 2 is a Total visual angle of camera 2 can achieve Na.And total visual angle of divergence expression array is centainly less than Na；
Two, convergence type array is almost without blind area, and there are the blind areas of certain depth range for divergence expression array, if it is desired to always Visual angle is closer to Na, then blind area depth bounds are bigger；
Three, since camera lens is mounted on 2 front of video camera, position of the optical center in video camera 2 is usually to the front.Therefore it converges Optical center distance more smaller than divergence expression array may be implemented in poly- formula array, is possible to realize that 2 parallax of adjacent camera is inclined in this way The length for the amount of shifting to minimizes.
Next more generally situation is discussed, i.e. spatial distribution is the two-dimensional array that M row N is arranged, and is denoted as M N array.It is above-mentioned Horizontal distribution one-dimensional array, and vertical distribution one-dimensional array all can be considered the special circumstances of two-dimensional array, i.e. M=1 and N=1 The case where.
Two kinds of station-keeping modes are located in two-dimensional array, and one is row major station-keeping modes, i.e., first carry out water to the every row of array Square to one-dimensional array position, determine that each row's one-dimensional array in the relative position of vertical direction, just completes two on this basis Tie up array positioning；Another kind is the preferential station-keeping mode of column, i.e., first carries out the positioning of vertical direction one-dimensional array to array each column, herein On the basis of determine each column one-dimensional array relative position in the horizontal direction, just complete two-dimensional array positioning.
By taking row major station-keeping mode as an example, process is regarded as the one-dimensional array after positioning every row and is considered as single virtual Video camera 2, then vertical direction positioning is carried out to these virtual cameras 2.
It needs to be noted that the video camera 2 in 2 array of video camera all can be placed uprightly and can also be put upside down with unitary side It sets, can be stood upside down placement, etc. with full line or permutation, such as the first row video camera 2 is exactly all to stand upside down to place.But when camera shooting 2 side of machine is put upside down when setting, and the horizontal directions parameter such as original horizontal view angle, sensor levels length should be regarded as vertical direction ginseng Number, the vertical directions parameters such as original vertical visual angle, sensor vertical length should be regarded as horizontal direction parameter.
Second step determines deflection angle.
In order to maximize the total visual angle of array under the premise of not generating blind area, the present invention proposes following scheme for determining Deflection angle.To simplify description, it is assumed that the inner parameters such as focal length, size sensor of each video camera 2 are identical in array.
The deflection angle of the first dimension in two-dimensional array is determined first.For every a line of row major station-keeping mode, including level It is distributed one-dimensional array, the horizontal direction deflection angle of adjacent camera 2 should be equal to the horizontal view angle of single camera 2；It is excellent for arranging Each column of first station-keeping mode, including it is distributed one-dimensional array vertically, the vertical direction deflection angle of adjacent camera 2 should be equal to single The vertical visual angle of video camera 2.The calculation formula at the horizontal view angle of single camera 2 and vertical visual angle is
AX and aY is the horizontal view angle and vertical visual angle of single camera 2 in formula (1), and sX and sY are sensors in level The physical length in direction and vertical direction, f are lens focus.Strictly speaking, the f in formula (1), which should be used, is imaged object distance, but by It is difficult to measure in it, and its numerical value and lens focus are very close, therefore approximation is replaced with lens focus.
Next two-dimensional deflection angle in two-dimensional array is determined.The concept of centre visual angle and edge visual angle is introduced thus, Aforementioned levels visual angle and vertical visual angle are all centre visual angles, the former is the horizontal view angle that 2 visual field of video camera is located between two parties up and down, the latter It is the vertical visual angle at 2 visual field center ofthe of video camera.And the calculation formula at edge visual angle is
AX' is horizontal edge visual angle in formula (2), i.e. horizontal view angle at 2 visual field lower edges of video camera, and aY' is perpendicular Straight edge visual angle, i.e. vertical visual angle at 2 visual field left and right side of video camera.
For row major station-keeping mode, if 2, every row video camera several N are odd number, the capable vertical direction between row is inclined Corner should be aY, otherwise should be aY'；For arranging preferential station-keeping mode, if 2, each column video camera several M are odd number, column and column Between horizontal direction deflection angle should be aX, otherwise should be aX'.
Third step, positioning deflection direction.
Positioning deflection direction, is that array is navigated to the appearance of optical center circle distribution on the basis of determining array deflection angle State.Optical center circle distribution is the abbreviation of the compact circle distribution of optical center, at this moment 2 isogonism spacing arrangement of video camera, 2 mirror of adjacent camera Head front end offsets just.
At this moment it needs to be not only able to the convenient adjusting deflection angle in the case where optical center circle distribution constrains, Er Qiezi by the present apparatus State can quantitative readout, specific physics realization is as follows.
Firstly the need of support 3 is provided, which is U-shaped support 3, facilitates video camera 2 to place, utilizes video camera about 2 two Video camera 2 can be fixed in support 3, as shown in Figure 2 by the screw hole at end.Secondly it needs to open sliding slot (i.e. arc in support plate 1 Shape sliding slot 11), such as Fig. 2.Using the screw hole of 3 bottom surface of support, support 3 can be fixed in support plate 1.Optical center circle distribution about Under beam, in certain parameter adjustable range, the motion profile of U-shaped 3 bottom surface screw hole of support can be calculated, and the shape of sliding slot The track is depended on position.
The coordinate (x0, y0) of 2 local Coordinate System of known diameter of lens d and screw hole relative camera, for given deflection Angle a can calculate coordinate (x, y) of the screw hole relative to common coordinate system.When deflection angle a changes in restriction range, institute There is corresponding coordinate (x, y) just to constitute screw hole motion profile.It will be directed to respectively 1 × 3 array and 1 × 4 array below, provides seat Mark the calculation formula of (x, y).
1 × 3 video camera, 2 array, such as Figure 17 are discussed first.The array using O point be the coordinate system of coordinate origin as public The fixation of 2 camera lens front end midpoint of center camera is placed in this point by coordinate system.
For center camera 2,2 local Coordinate System of video camera is using camera lens front end midpoint as origin, and relative camera 2 is to the right It is downwards Y positive direction for X positive direction.The coordinate system is overlapped with common coordinate system, therefore under 2 local Coordinate System of video camera The screw hole P (x0, y0) of definition, the formula for calculating its public coordinate (x, y) are
When a variation, center camera 2 is fixed, and the track that therefore (x, y) is formed is a fixed point.
For right end video camera 2,2 local Coordinate System of video camera using the left vertex in camera lens front end as origin, relative camera 2 to The right side is X positive direction, is downwards Y positive direction.Screw hole P (x0, y0) undefined for 2 local Coordinate System of video camera calculates its public affairs The formula of coordinate (x, y) is altogether
L is diameter of lens in formula 4, and when a variation, the track that (x, y) is formed is using the right A point as the circular arc in the center of circle.
For left end video camera 2,2 local Coordinate System of video camera using the right vertex in camera lens front end as origin, relative camera 2 to A left side is X positive direction, is downwards Y positive direction.Screw hole P (x0, y0) undefined for 2 local Coordinate System of video camera calculates its public affairs The same formula of formula (4) of coordinate (x, y) altogether.When a variation, the track that (x, y) is formed is using left side A point as the circular arc in the center of circle.
It is now discussed with 1 × 4 array, such as Figure 18.The array using point O be the coordinate system of coordinate origin as common coordinate system, Intermediate two 2 camera lens front end subtracting points of video camera fixation is placed in this point.
For center-right video camera 2,2 local Coordinate System of video camera is opposite to image using the left vertex in camera lens front end as origin Machine 2 is X positive direction to the right, is downwards Y positive direction.Screw hole P (x0, y0) undefined for 2 local Coordinate System of video camera calculates The formula of its public coordinate (x, y) is
When a variation, the track that (x, y) is formed is using O point as the circular arc in the center of circle.
For center-left video camera 2,2 local Coordinate System of video camera is opposite to image using the right vertex in camera lens front end as origin Machine 2 is X positive direction to the left, is downwards Y positive direction.Screw hole P (x0, y0) undefined for 2 local Coordinate System of video camera calculates The same formula of formula (5) of its public coordinate (x, y).When a variation, the track that (x, y) is formed is using O point as the circular arc in the center of circle.
For right end video camera 2,2 local Coordinate System of video camera using the left vertex in camera lens front end as origin, relative camera 2 to The right side is X positive direction, is downwards Y positive direction.Screw hole Q (x0, y0) undefined for 2 local Coordinate System of video camera calculates its public affairs The formula of coordinate (x, y) is altogether
When a variation, the track that (x, y) is formed is a kind of relative complex curve shape.
For left end video camera 2,2 local Coordinate System of video camera using the right vertex in camera lens front end as origin, relative camera 2 to A left side is X positive direction, is downwards Y positive direction.Screw hole Q (x0, y0) undefined for 2 local Coordinate System of video camera calculates its public affairs The same formula of formula (6) of coordinate (x, y) altogether.When a variation, the track that (x, y) is formed is a kind of relative complex curve shape.
The motion profile of screw hole is given under the premise of meeting the constraint of optical center circle distribution above, it determines sliding slot Shape and position.It should indicate the location of U-shaped bottom seat bottom surface screw hole on sliding slot with scale, i.e. the deflection angle a of video camera 2, Device provided in this embodiment shown in Fig. 2 can fast position video camera 2 to required deflection angle in locating module A can fast read deflection angle a locating for video camera 2 in registration module.
4th step positions telescopic location.
Telescopic location is positioned, is on the basis of array has constituted optical center circle distribution, along each 2 optical axis direction of video camera Being moved forward and backward 2 optical center of video camera makes them in specified distribution, so that 2 parallactic shift vector direction of adjacent camera be made to be limited to refer to Determine direction.Usually make all 2 optical centers of video camera coplanar and be distributed in regular matrix, this state of the present invention is referred to as optical center alignment point Cloth, such as Figure 19.At this moment after carrying out homograph appropriate to all video cameras 2 acquisition image, 2 parallax of left and right adjacent camera Offset vector would be limited to horizontal direction, and vertical 2 parallactic shift vector of adjacent camera would be limited to vertical direction.
Positioning telescopic location can be realized by increasing the freedom degree being moved forward and backward along optical axis direction on the positioning device. Under such constraint, to reach optical center aligned fashion, needs to calculate the length of back-and-forth motion, need to know video camera 2 thus Position of the optical center in video camera 2, a kind of implementation are as follows.
Optical center should be located on camera lens central axes, then only needing to estimate the depth location of optical center.Such as Figure 20, a kind of method is To converge position forward by the light of sensor, i.e. point O' is optical center position, which is located at sensor f depth forward.It is another Kind method is to converge position backward by the light of camera lens front end, i.e. point O is optical center position.Since camera lens is generally impossible to sternly Lattice meet pin-hole model, so what point O and point O' were not overlapped usually, actual use point O is more reasonable as optical center position.
It when the position point O can not accurately obtain, can be estimated with this criterion: by the filter point of arrival O of camera lens front end Light can constitute the visual angles of needs just, it is equal which with passing point O' reaches the visual angle of sensor.So estimate point O The formula of depth is
E is the physical distance for estimating optical center position to camera lens front end in formula 7, and w and h are sensor levels and vertical direction Effective physical size, l0 are filter diameter, typically slightly less than diameter of lens l, as shown in Figure 20 and Figure 21.Practical optical center position is arrived The distance of camera lens front end may be slightly less than e, without being likely larger than e.
In addition it can the method for using video camera 2 to demarcate, such as the object of known physical length is shot, measures it to mirror The physical distance and imaging pixel length of head front end, recycle imaging geometry principle that e is calculated.
Next positioning telescopic location is illustrated how by taking 1 × 3 array as an example, that is, reaches optical center aligned fashion state.Such as figure 22 be optical center circle distribution state, establish coordinate system using 2 camera lens front end center point of center camera as origin, along optical axis direction to Preceding is Y positive direction.Figure 23 is optical center aligned fashion state, in order to reach optical center aligned condition, if center camera 2 is needed along it Optical axis moves forward t0, and the right video camera 2 needs to move forward t1 along its optical axis, and left side video camera 2 needs before its optical axis direction Mobile t2.Here stroke t0, t1, t2 numerical value can just be born, and be moved backward if negative number representation.
Plane where usually requiring that the optical center after array is mobile is vertical with 2 optical axis of center camera, should be had according to symmetry T1=t2, then only needing to calculate t0 and t1.Obviously, duty punching would not occur for the number as long as t0 and t1 are not positive simultaneously, array It is prominent.
Based on optical center circle distribution state, after center camera 2 is moved forward t0, optical center Y-coordinate is
y0=t0-e
(8)
Based on optical center circle distribution state, after the right video camera 2 is moved forward t1, optical center Y-coordinate is
To reach optical center aligned fashion state, it is only necessary to meet y0=y1, i.e.,
It as long as stroke t0, t1 meet formula 10, that is, can reach optical center aligned condition, at this moment center camera 2 acquired Image is not processed, and after acquiring image progress homograph appropriate to the right video camera 2, it can be by this two video cameras 2 Parallactic shift vector be limited to horizontal direction.
Further, in order to minimize parallactic shift vector length, t1=0 should be made, i.e., the right video camera 2, which is not done, stretches Contracting, at this moment video camera 2 stroke in the left side should be
The t0 that formula 11 provides must be positive number, i.e., center camera 2 should be to front stretching.Adjacent camera 2 will not in this way Duty conflict occurs, field obscuration will not be occurred for the majority of case of practical application.But in certain inside and outside parameter feelings Under condition, however it remains center camera 2 is by the possibility of 2 field obscuration of the right video camera.At this moment center camera 2 and the right camera shooting The stroke of machine 2 should cooperate, and under the premise of meeting formula 10 and field obscuration not occurring, reduce the right as far as possible and take the photograph The collapsing length backward of camera 2, so that parallactic shift vector length be made to minimize.Seldom occur such case in practical applications, Therefore the present invention does not provide specific formula.
The physics realization for positioning telescopic location can be utilized by the way that the side wall of the support 3 in Fig. 2 is used straight 31 It can support video camera 2 to be moved forward and backward along optical axis direction.The location of 2 screw hole of video camera should be indicated with scale on sliding slot, i.e., The telescopic location t of video camera 2, as shown in Figure 2.Wherein t=0 is initial telescopic location, aforementioned under 2 local Coordinate System of video camera U-shaped base end face screw hole coordinate (x0, y0) is defined, all relatively initial telescopic location defines.Using such device, fixed Video camera 2 can fast be positioned to required telescopic location t in the module of position, video camera can be fast read in registration module Telescopic location t locating for 2.
Locating module changes implementation method.
Positioning deflection angle is presented above and positions a kind of implementation method of telescopic location, more specific implementation methods can Flexible design according to demand, such as moving component can be sliding slot, screw rod, hinge, wheel shaft etc., control mode can be it is artificial, Electronic, program-controlled etc., posture reading can be read by scale, screen be shown, apparatus measures etc..
The above positioning deflection angle and the embodiment for positioning telescopic location are provided for one-dimensional array, at this moment every in array The deflection angle magnitude of a 2 only one dimension of video camera.Following embodiment two and embodiment three will be provided for two-dimensional array It positions deflection angle and positions the embodiment of telescopic location, at this moment deflection angle of each video camera 2 with two dimensions in array Metric.
The above positioning deflection angle and the embodiment for positioning telescopic location are based on the optimization positioning posture of aforementioned definitions It provides, in fact can positioning posture be redefined and decomposed according to actual needs.Such as vision measurement (estimation of Depth) When, it is not required that parallactic shift length minimizes, therefore optimizes positioning posture and be necessarily different from aforementioned definitions.
Locating module is abstract to be refined.
Deflection angle and telescopic location can be abstracted as to the magnitude of some independent dimension of spatial attitude, sliding slot etc. is moved The function modeling that component provides is the limit track of some corresponding independent dimension, then that the abstract refinement of locating module is as follows:
To each video camera of array 2, the spatial attitude being likely to occur is decomposed into the limit track of several independent dimensions, respectively It track can location-independent and reading；To each video camera of array 2, it is positioned respectively along each limit track to the track is corresponding and is tieed up The required magnitude of degree, thus by each video camera 2 positioning to required spatial attitude.
Two, it is registrated
The optimization method for registering set forth below that positioning is optimized based on 2 array of video camera.This method includes three steps: Modelling correction, direction alignment, target registration.It will be illustrated by taking 1 × 3 array as an example below, at this moment direction alignment step will be specific Turn to horizontal alignment.
It is assumed that three 2 optical centers of video camera are conllinear, and the rectilinear direction and center camera by optimizing array positioning 2 horizontal direction (imaging plane X-direction) is parallel；In addition, the posture of three video cameras 2 can quantitatively be read from the positioning device at place Out.The optimization registration concept proposed according to the present invention, registration state is: center camera 2 acquires image and is not necessarily to processing, right Left and right cameras 2 acquires after image carries out homograph appropriate, by the parallactic shift of all corresponding points of adjacent camera 2 to Amount is limited to horizontal direction (horizontal alignment), and the parallactic shift of target corresponding points is zero (target registration).Why the shape is claimed State is to optimize, and is because the perfect condition that two video cameras 2 acquire all corresponding points parallax frees offset of image is actually being answered The almost impossible appearance in, so-called optimal state are just being closest to ideal and the state most beneficial for subsequent processing.
The first step, modelling correction.
Modelling correction, be according to optimize array positioning after can convenient acquisition 2 inside and outside parameter of video camera, with number Method derives that left and right cameras 2 acquires the initial homograph of image, obtains approaching the preliminary corrections knot for optimizing registration Fruit.The step has evaded the prior art and has been completely dependent on acquisition image desired level and local mistake completely without acquisition image It is fitted and the biggish risk of global error, even if also having obtained available knot without subsequent two steps Fruit.
Modelling correction can be divided into two steps: deflection correction and parallax correction.Ginseng required for deflection correction step Number has: lens focus f, sensor effective level physical size w acquire image level pixel number W, acquire the vertical pixel number of image H, 2 horizontal deflection angle a of adjacent camera.The parameter that parallax correction step also needs in addition to above-mentioned parameter has: diameter of lens l, light Physical distance e of the heart to camera lens front end, the collapsing length t of left and right cameras 2, center camera on the basis of optical center circle distribution Physical distance estimated value g of 2 optical centers along optical axis direction to typical target.Partial parameters indicate in Figure 24, wherein deflection angle a with Deflection is positive to the right, and deflection is negative to the left, i.e., takes positive value to left side video camera 2, take negative value to the right video camera 2, take the photograph to centre Camera 2 takes zero；Collapsing length t1 is positive with moving forward, and is moved backward and is negative；Remaining parameter all takes positive value.In above-mentioned parameter In, f, w, W, d are easy to obtain by 2 interface of video camera or specification, and a, t can be read from the positioning device where array It takes, e can be measured or be estimated and (be detailed in locating module elaboration)；G, that is, exemplary depth can measure to obtain, can also be rough Estimation provides, such as when system is applied to indoor scene is 5 meters desirable, is applied to 50 meters desirable when outdoor scene.
Deflection correction is carried out first.Deflection correction assumes that 2 optical center position of video camera is motionless, in only horizontal deflection campaign In the case where calculate resulting homograph relationship.In deflection correction, pixel re-projection principle such as Figure 24, top view Such as Figure 25.Figure midpoint C is 2 optical center of video camera, and CO is array primary optical axis, that is, 2 optical axis direction of center camera, and CO1 is current camera shooting 2 optical axis direction of machine, deflection angle of the direction with respect to CO is a.OXY is the coordinate system of benchmark imaging plane S, direction and centre The acquisition image direction of video camera 2 is consistent, and origin is the image center；O1X1Y1 is 2 imaging plane S1 of current camera Coordinate system, direction is consistent with the acquisition image direction of current camera 2, and origin is the image center.Vector CO's and CO1 Length is F, and F is converted focal length to pixel unit as a result, its calculation formula is here
Herein under setting, the length unit of coordinate system OXY and O1X1Y1 are pixel.
Any point P1 on current imaging plane S1 is exactly projected to and is obtained P on benchmark imaging plane by re-projection, it is known that P1 exists The coordinate (x1, y1) of coordinate system O1X1Y1, asks P in the coordinate (x, y) of coordinate system OXY.It can be obtained by derivation
The transformation relation of formula 13 can use homograph expression matrix, i.e.,
P~HRP1
(14)
Symbol~expression only differs an invariant in formula 14, and variable P and P1 are homogeneous coordinates column vector, and HR is 3 × 3 matrixes obtained by formula 13, i.e.,
Since actual acquisition image is using its upper left corner rather than central point is origin, when coordinate system O1X1Y1 is changed to acquisition image When coordinate, need for formula 14 to be modified to
P~HRHCP1
(16)
In formula 16
Formula 16 gives by the coordinate conversion relation of current acquired image to benchmark image.The formula to the left side, the right, Center camera 2 is equally applicable, and the deflection angle a value only wherein used is respectively positive value, negative value, zero.
Followed by parallax correction.Parallax correction is provided typical deep in view of optical center positional shift Spend the homograph relationship at plane.It is inclined with respect to the level of 2 optical center of center camera firstly the need of 2 optical center of current camera is calculated Move physical length, i.e. C0C1 in Figure 24, its calculation formula is
D is horizontal-shift of 2 optical center of current camera with respect to 2 optical center of center camera in formula 18, to left side video camera 2 Negative value is taken, r value is taken to the right video camera 2.And for center camera 2, take d=0.Derivation can obtain, which causes typical deep Horizontal-shift pixel number at degree is
D is positive in formula 19 with deviating to the right, and offset is negative to the left, and F is provided by formula 12, and g is exemplary depth estimated value.
Consider parallax correction, formula 16 will be further corrected for
P~HDHRHCP1
(20)
In formula 20
And HR is still provided by formula 15, HC is still provided by formula 17.Formula 20 gives by current acquired image to benchmark The coordinate conversion relation of image, the formula are equally applicable to centre, the left side, the right video camera 2, if they are numbered respectively is 0, 1,2, then formula 20 it is rewritable at
P~HDiHRiHCiPi, i=0,1,2
(22)
It can be derived by formula 22, if acquiring image as benchmark image using center camera 2, be taken the photograph by the left side, the right The acquisition of camera 2 image coordinate transforms to benchmark image transformation of coordinates relationship and is
P0~(HD0HR0HC0)-1HDiHRiHCiPi, i=1,2
(23)
I.e. at exemplary depth plane, from the left side and the acquisition image of the right video camera 2 to the homograph square of benchmark image Battle array be respectively
Hi=(HD0HR0HC0)-1HDiHRiHCi, i=1,2
(24)
HR0 is equivalent to unit matrix singly answering in formula 24 in meaning, and HD0 is unit battle array, therefore formula 24 of equal value can simplify For
Hi=HC0 -1HDiHRiHCi, i=1,2
(25)
If each parameter that formula 25 is related to is exact value, and scene concentrates entirely on exemplary depth plane, then in Between video camera 2 acquire image and remained unchanged as benchmark image, and image is acquired to left and right cameras 2 and is carried out respectively with formula 25 After homograph, image can be with benchmark image desired alignment after transformation, i.e., the parallactic shift of all corresponding points is zero.It is real In the case of border, scene can not concentrate entirely on exemplary depth plane, therefore the parallactic shift of corresponding points is it is not possible that all zero； But it can all limit in the horizontal direction, that is, reach horizontal alignment state, such as Figure 26.In fact, due to theoretical model error, taking the photograph 2 image error of camera, positioning device rigging error, parameter are read and the reasons such as measurement error, is singly answered respectively with formula 25 After transformation, virtual condition such as Figure 27 is usually approached but be not fully achieved horizontal alignment, it is therefore desirable to carry out at next step Reason.
Second step, horizontal alignment.
Horizontal alignment step is adjusted on the basis of modeling correction, realizes the state of full figure horizontal alignment.Water The implementation method of flat alignment is correction formula 25, is inserted into correction matrix HA in the foremost of its right side of the equal sign, i.e.,
Hi=HAHC0 -1HDiHRiHCi, i=1,2
(26)
In fact, if being also feasible by the other positions of HA insertion formula 25, but the benefit shaped like formula 26 exists In, it is equivalent to first once obtain Pi' using the Hi transformation of formula 25 to the point Pi on video camera 2i (i=1,2) acquisition image, Pi' is converted using the HA of formula 26 again and once obtains Pi ", the convenience on calculating will be brought in this way.In addition, formula 26 is only right The left side and the right video camera 2 acquire image and are further converted, and center camera 2 acquires image and is still used as benchmark image It remains unchanged, also for the convenience of calculating, if it is also feasible that three width images are converted simultaneously.
Next need to consider the freedom degree of correction matrix HA.Homography matrix generally has 8 freedom degrees, and conceptual design Actual conditions should be directed to, balance is made between freedom degree and constraint.By analysis, more appropriate embodiment is only to retain 3 freedom degrees, i.e., uniformly scaling and X, Y-direction translate, at this moment HA shaped like
S is uniform scaling ratio in formula 27, and u is X-direction translational movement, and v is Y-direction translational movement.It is pointed out that in level Alignment step only needs to consider s and v, just needs to consider u in target registration step.
The implementation method of horizontal alignment step will be illustrated by taking middle figure and right figure horizontal alignment as an example below, here in during figure refers to Between video camera 2 acquire image, right figure refer to left side video camera 2 acquisition and with formula 25 convert after image, current state such as Figure 28.
It takes out first from middle figure and from the area-of-interest of right figure, can be overlapping region, can be full figure, it can be with It is that obtained region is expanded by overlapping region appropriate inwardly (to the left, right figure is to the right for middle figure).Area-of-interest can be fitted Work as processing, such as filtering, enhancing, scaling, binaryzation, is related to the processing of coordinate transform, subsequent needs if scaled etc. Correspondingly carry out matched transformation.
Then characteristic point is detected in two area-of-interests, SIFT operator, SURF operator, Harris operator can be used Deng.And the characteristic point from middle figure and from right figure is matched, the methods of Brute Force, Flann can be used.
To improve robustness, matching double points set can be screened.Crosscheck, detection Optimum Matching point can be used The methods of high-lighting in candidate match point set can be limited matching double points with coordinate shift allowed band etc.； A series of subsets can be extracted out from matching double points set, parameter of consistency is calculated by each subset, further take out identical parameters and The subset, etc. of most significant (element number is most or/and consistency is most strong).
Assuming that obtaining N to match point by screening, it is denoted as Pn (xn, yn) from middle figure, wherein n=0,1 ..., N-1, As shown in stain in Figure 27；Pn'(xn', yn' are denoted as from right figure), as shown in white point in Figure 27.If using in formula 27 Correction matrix HA converts right figure, reaches the horizontal alignment state such as Figure 26, is actually exactly to meet condition
yn=syn'+v, n=0,1 ..., N-1
(28)
Formula 28 is the system of linear equations about s and v, is more intuitively expressed as
Equation group can be solved as N >=2, practical to improve robustness, and N answers as big as possible, and at this moment formula 29 constitutes overdetermination System of linear equations can be solved with the methods of Eigenvalues Decomposition, SVD decomposition, QR decomposition, RANSAC, Hough transform, be obtained most Small two multiply the solution s and v of meaning or other optimization meanings.
The s and v that formula 29 is solved substitute into formula 27, and wherein u can use arbitrary value, might as well temporarily be set to zero, will thus obtain The correction matrix HA arrived substitutes into formula 26, obtains homograph matrix H i (i=1,2).At this moment center camera 2 acquires image and makees It is remained unchanged for benchmark image, and after carrying out homograph respectively with Hi (i=1,2) to the acquisition image of left and right cameras 2, After transformation image can reach Figure 26 state with benchmark image horizontal alignment.
Third step, target registration.
Target registration step is further adjusted on the basis of full figure horizontal alignment, realizes that coordinate is aligned shape at target The state that state, i.e. parallactic shift are zero.Here target can be single target and be also possible to multiple targets, can be strong perspective It can be weak perspective, the target that can be automatic identification is also possible to the target manually chosen, it might even be possible to refer to entire field Scape.
Embodiment presented below is still to acquire image to left and right cameras 2 with formula 26 to carry out single strain respectively It changes, only needs the u value in calculation formula 27 on the basis of step in front.
By taking middle figure and right figure target registration as an example, in the case where u is temporarily set to zero, the matching point sequence from right figure Pn " (xn ", yn ") is transformed to by formula 26, wherein n=0,1 ..., N-1.At this moment the matching point sequence from middle figure is still Pn (xn, yn), by the X-coordinate difference to calculating matching double points, i.e.,
un=xn-xn", n=0,1 ..., N-1
(30)
Here un is the X-coordinate difference of n-th pair of matching double points from from right figure to from middle figure, i.e. from white point in Figure 26 X-coordinate to stain deviates.It is not difficult to find out that being exactly to be carried out to the X-coordinate difference of n-th pair of matching double points using n-th of un as u Compensation, so as to which n-th pair of matching double points coordinate to be aligned.U actually should be someways calculated according to un sequence, it is fairly simple Method be the mean value for taking un sequence or intermediate value as u, effect is that entire scene is generalized for realization of goal target registration.
Another method is clustered to un sequence, and most significant (element number is most or/and consistency is most strong) is taken out Subset, using its mean value or intermediate value as u.The general-purpose algorithms such as K Means can be used in cluster, and following method also can be used.
Un sequence from small to large or is sorted from large to small, and is in turn connected into curve, such as Figure 28.It is detected in curve " step ", it is adjacent element difference no more than differential threshold that step, which defines, here and element number is not less than the company of length threshold The subset that continuous element is constituted, the i.e. corresponding target area of a step.Such as differential threshold takes 0.5, length threshold takes 10, then Having length in Figure 18 is respectively 18 and 20 two subsets.Next a kind of method is to take the maximum subset of length, i.e. length For 20 subset；Another method is to take the smallest subset of un average absolute value, i.e., length is 18 subset, uses this method On condition that target depth estimated value g is accurate enough.After obtaining subset, using its mean value or intermediate value as u, effect is with this Rank corresponding region is realization of goal target registration.
Registration module changes implementation method.
The above implementation method all carries out target registration on the basis of completing horizontal alignment again, in addition a kind of method be this two A step 1 simultaneously carries out.Specific method with above before there is formula 28 it is identical, and formula 28 is become
The purpose is to which X-direction and Y-direction to be aligned together, effect is that entire scene is generalized for realization of goal target to match It is quasi-.Formula 31 is the system of linear equations about s, u, v, is more intuitively expressed as
The equation group that solution formula 32 is constituted, can disposably complete horizontal alignment and target registration, but inclined in parallax Move it is very big in the case where, the robustness (robustness) of this method is not so good as preceding method.
The implementation method of level above alignment and target registration is all based on feature, and in addition a kind of method is based on area , such as computing cross-correlation is carried out to the area-of-interest from adjacent acquisition image, then obtain the extreme value of cross-correlation function Point or the function carry out the extreme point after the operations such as second dervative again, and registration parameter is thus calculated.There are also a kind of methods to be Using the methods of moving object detection, Face datection, conspicuousness detection, focal zone detection, first examined in adjacent acquisition image Target is measured, then target is registrated.
The implementation method of level above alignment and target registration can have to one group of registration parameter, according to actual needs Available multiple groups registration parameter.
The implementation method of level above alignment and target registration belongs to autoregistration, and in addition a kind of method is to match manually Standard, or manually and automatically be combined with each other.At this moment it needs to provide corresponding human-computer interaction interface, supports user's hand with some form Dynamic input registration parameter, and it can be seen that parameter implement after registration result, to adjust repeatedly.Manually and automatically mutually tie Conjunction refers to user's further adjustment parameter on the benchmark of autoregistration, or selects in the multiple groups alternative parameter that system provides One group, etc..
The optimization method for registering that positioning is optimized based on 2 array of video camera is elaborated by taking 1 × 3 array as an example above.Needle It, can thought specific implementation according to the present invention to the array of other forms.
Registration module is abstract to refine.
It can be by the abstract refinement of registration module are as follows: track reading and/or other letters are respectively limited according to each video camera 2 of array Breath, is registrated each video camera 2.It includes at least following two classes embodiment.
Aligning step is modeled completely without acquisition video, and registration result only can be obtained also with this step, therefore Refinement can be abstracted are as follows: according to the limit track of each video camera 2 reading and inner parameter, be registrated to each video camera 2.
And it models aligning step and adds horizontal alignment step, or modelling aligning step that horizontal alignment step is added to add target Step of registration, these methods require acquisition video, therefore can be abstracted refinement are as follows: are read according to the limit track of each video camera 2 Number, inner parameter, acquisition video, are registrated each video camera 2.
Three, 2 system of multiple-camera.
System using 2 array of video camera is 2 system of multiple-camera, positions and optimize registration in aforementioned optimize On the basis of, the present invention proposes a kind of mentality of designing of 2 system of multiple-camera.
2 system of multiple-camera can be it is offline be also possible to it is online, that is to say, that the original video of input and output Panoramic video can exist in the form of video file or image file, can also exist in the form of video flowing.This is The basic procedure of system frame is: the optimization positioning device one side for being loaded with 2 array of video camera passes through array acquisition and obtains original The combination of beginning video, on the other hand exports attitude parameter.Original video combination and attitude parameter pass through jointly optimizes registration module, Obtain registration video combination.It is registrated video combination and passes through video processing module, obtain output result.If 2 system of multiple-camera is Video-splicing system, then video processing can be embodied as video fusion, and output result can be embodied as panoramic video.
2 system of multiple-camera proposed by the present invention can be changed and be expanded on the above process base, be exemplified below.
Optimizing registration module can be with 2 array of feedback control video camera.Such as the right side is calculated in optimizing registration process To scheme HA matrix, the adjustment focusing depth of left side video camera 2 is controlled by s value, specific method is: s > 1 item suitably increases focusing depth, S < 1 item suitably reduces focusing depth.At this moment 2 array of video camera still continuous collecting video, the original video group acquired after adjustment It closes and is sent to optimization registration module again, so lasting calculating and feedback adjustment, until s=1.
Positioning device can be optimized with feedback control by optimizing registration module.Such as it is calculated in optimizing registration process Right figure HA matrix controls left side video camera 2 by v value and adjusts pitch angle, and specific method is: v > 0 item rotates appropriate angle upwards Degree, v < 0 item is rotated down appropriate angle.At this moment 2 array of video camera still continuous collecting video, the original video acquired after adjustment Combination is sent to optimization registration module again, so lasting calculating and feedback adjustment, until v=0.
Optimize another example that registration module feedback control optimizes positioning device.It falls into a trap optimizing registration process Basis matrix of the right figure relative to middle figure is calculated, and then obtains each polar curve of the right figure relative to middle figure, passes through polar curve direction controlling Left side video camera 2 adjusts telescopic location, and specific method is: adjust appropriate location forward if polar curve converges to the right, polar curve to Left side convergence then adjusts appropriate location backward.At this moment 2 array of video camera still continuous collecting video, the original view acquired after adjustment Frequently combination is sent to optimization registration module again, so lasting calculating and feedback adjustment, until polar curve all horizontal directions.
Above 2 array of feedback control video camera can realize that feedback control images by the control interface that video camera 2 provides 2 array of machine and feedback control optimize positioning device can control equipment realization by stepper motor etc..
The judgment mechanism whether parameter needs to update can be increased by optimizing registration module, the mechanism can by artificial or Person judges automatically.2 array of video camera or positioning device, camera site are only had adjusted in system initialization, manually or automatically Or scene itself changes, is registrated and just needs to recalculate registration parameter when target is reset, it otherwise can be straight The registration parameter for picking up out last computation and saving, and need not all be recalculated when obtaining video combination every time.
Pass through the description of above-mentioned working principle, it can be seen that video camera array provided in this embodiment can also use two Tie up the mode of setting.It is described in detail below with specific embodiment.
As shown in Fig. 5, Fig. 6 and Fig. 7, Fig. 5 shows 40 array of video camera and arranges side view using two-dimensional approach, and Fig. 6 is 40 array of video camera uses as the top view that mode arranges, and Fig. 7 is schematic diagram of the video camera 40 using two-dimensional arrangements mode.
In the present embodiment, the number of support plate 20 uses two, and a support plate 20 is being leaned on another support plate 20 One end rotation connection of nearly camera.By the rotation connection mode between two support plates 20, to realize in vertical direction On adjustment to 40 position of video camera.It is described in detail below with reference to specific attached drawing.
As shown in Fig. 5 and Figure 10, video camera array provided by the embodiment further includes pedestal 10, is provided with bracket on pedestal 10 101, support plate 20 is slidably connected in support plate 20 with close to the opposite other end in one end of camera with bracket 101, and can It is locked in the setting position on bracket 101, another support plate 20 is with bracket 101 in another support plate 20 and close to camera The opposite other end connection in one end, wherein direction of the support plate 20 with respect to the sliding of bracket 101 and the relatively another support of support plate 20 The direction that plate 20 rotates is identical.Two support plates 20, and the cunning by being arranged on bracket 101 are supported by the bracket 101 of setting Locking member in slot 1011 and sliding slot 1011 realizes the locking to 20 turned position of support plate.Specifically, being arranged on bracket 101 The sliding slot 1011 and through-hole of vertical direction, underlying support plate 20 are fixedly connected with bracket 101, the branch being located above Fagging 20 is slidedly assemblied in the sliding slot 1011, and can be slided along the vertical direction and be locked in setting position.By adjusting being located at The position of the support plate 20 of top, realize to video camera 40 vertical position adjustment.
Fig. 6 and Fig. 8 is referred to together, which includes cylindrical case 302 open at one end, is symmetrically rotatably connected on tubular Two connecting plates 301 of 302 open end two sides of shell；The shell 302 is tubular structure open at one end, and video camera 40 is inserted into Fixed in shell 302, two connecting plates 301 are rotatablely connected with the two sides of 302 open end of shell and with shell 302 respectively.
Fig. 5, Fig. 6 and Fig. 9 are referred to together, and one end of two support plates 20 therein is hinged, which, which is located at, sets camera and lean on It is solid to be provided at least two for two video cameras 40 are arranged in each support plate 20 for close one end in each support plate 20 Fixed board 201, any support 30 are located at the space that mutual two fixed plates 201 at right angle are partitioned at least two fixed plates 201, And any connecting plate 301 of any support 30 is slidably connected and may be locked in any fixed plate 201 in two fixed plates 201 Any support is realized by the relatively any sliding of fixed plate 201 of any connecting plate 301 in setting position in any fixed plate 201 30 rotate relative to support plate 20.Its installation effect is as shown in fig. 6,40 array of video camera further includes the tight latch fitting of third, fixed plate Straight 2011 is provided on 201；Any connecting plate 301 passes through the third locking member and fixed plate across straight 2011 201 are slidably connected；And when there are connecting plate 301 in 201 two sides of fixed plate, the connecting plate 301 positioned at 201 two sides of fixed plate is logical The third locking member crossed across straight 2011 is slidably connected with fixed plate 201.I.e. as shown in Figure 6 in it is centrally located There are connecting plate 301 in fixed plate 201, two sides, and third locking member uses bolts and nuts, and bolt passes through two connecting plates 301 And after sliding slot 2011, connect with nut, pass through the control screwed or support 30 is slided in loosening nut realization.
When needing to adjust in the horizontal direction, by adjusting the relative position between connecting plate 301 and fixed plate 201, thus It realizes the adjustment rotated to support 30, also, makes to be located at taking the photograph in same support plate 20 according to the method for adjustment of foregoing description The optical center of camera 40 is in same straight line, and the optical center for adjusting the video camera 40 in two support plates 20 is in same plane, Its effect is as shown in figure 19.The effect for adjusting video-splicing by the principle of foregoing description later, improves the overall effect of video.
It should be understood that in above-described embodiment only by using for two video cameras 40 are set in each support plate 20 into Capable explanation, when using the video camera 40 of three, four or other numbers in each support plate 20, principle is identical, In This is not described in detail.
In addition, the adjustment of video camera 40 for convenience, the embodiment of the invention provides another 40 arrays of video camera, should The positioning of 40 array of video camera and the principle of registration are identical as the principle of positioning and registration in above-described embodiment, herein no longer in detail Carefully repeat.The variation in the structure of 40 array of video camera provided in this embodiment is only introduced below.
Together with reference to figure Figure 11~Figure 15, above-mentioned attached drawing gives each portion of 40 array of video camera provided in this embodiment The structural schematic diagram of part.
The present invention also provides a kind of video camera array, which includes: two the first support plates 500, two Video camera and two supports 700, two video cameras are separately fixed in two supports 700, wherein
Two the first support plate 500 rotation connections；
Two supports 700 are slidably connected with two the first support plates 500 respectively and may be locked in two the first support plates 500 On setting position, wherein the glide direction of relatively any first support plate 500 of any support 700 in two supports 700, with The rotation of any first support plate 500 around shaft it is parallel, any support 700 is slidably connected with any first support plate 500.
In the above-mentioned technical solutions, by between rotation between the first support plate 500 and two the first supports 700 Sliding, realize that adjustment to camera position improves video camera array shooting picture so that the optical center of video camera is conllinear Effect and video-splicing effect.
The structure of the camera shooting array and the principle of positioning adjustment are described in detail with reference to the accompanying drawing.
As shown in figure 15, the video camera setting in video camera array provided in this embodiment is in support 700, the support 700 are folded into cuboid side view by one piece of rectangular steel plates, have with the consistent square hole of video camera frontage dimension, can will image Machine is snugly fitted into.It is d that it, which has two groups of fore-and-aft clearances at video camera dipped beam heart end,1Screw hole, i.e. F1、G1And F2、G2。
As shown in figure 14, in addition, being provided with the second support plate 300 in video camera array provided in this embodiment for adjusting Video camera array position in the horizontal direction, wherein two the first support plates 500 in same second support plate 300, often A first support plate 500 is rotatablely connected first mounting plate 600, and first support plate connected to it of the first mounting plate 600 500 around shaft and two the first support plates 500 rotate around shaft it is parallel；One of them first mounting plate 600 and Two support plates 300 are fixedly connected, another first mounting plate 600 and the second support plate 300 are slidably connected and may be locked in setting Position.Specifically, the first support plate 500 is hinged the rectangular steel plates of 4 pieces of same widths, junction is free to rotate.In Between two pieces of steel plate length having the same, referred to as movable plate, two blocks of outside steel plate is known as mounting plate.Every piece of movable plate has one group Fore-and-aft clearance is d1Sliding slot 5001, i.e. H and I.Every piece of connecting plate have one group between left and right away from for d2Screw hole, i.e. J1、J1And K1、 K2。
As shown in figure 13, video camera array further includes two the second support plates 300, and two the second support plate 300 rotations connect Connect, the rotation of two the second support plates 300 around shaft perpendicular to two the first support plates 500 rotate around shaft, wherein For any second support plate 300 in two the second support plates 300, any first support plate 500 and any second support plate 300 It is slidably connected and may be locked in setting position in any second support plate 300, another first support in two the first support plates 500 Plate 500 is connect with any second support plate 300, wherein in two the first support plates 500 respectively with any second support plate One end of 300 connections, the opposite end of the one end being rotatablely connected between two support plates, any first support plate 500 are relatively any The direction phase that the direction of second support plate 300 sliding is rotated with any first support plate 500 relative to another first support plate 500 Together.In addition, the two sides of the second support plate 300 are respectively provided with the second mounting plate 400, specifically, in each second support plate 300 It is provided with first straight line sliding slot 3001；The length direction of the first sliding groove is parallel to described two second support plates 300 and rotates The length direction of the shaft of connection is provided on another described first mounting plate and is slidedly assemblied in the first straight line sliding slot Locking member in 3001.
In specific production, the rectangular steel plates of 4 pieces of same widths are hinged, junction is free to rotate.Centre two Block steel plate length having the same, also referred to as movable plate, two blocks of outside steel plate are also referred to as connecting plate.Intermediate every block of steel plate tool Have one group between left and right away from for d2First straight line sliding slot 3001, i.e. M1And M2, in addition have one group between left and right away from for d2Screw hole with Alignment, i.e. L1And L2.Every block of outside steel plate have two groups between the upper and lower away from for d3Screw hole, i.e. N1、N3, N2、N4And P1、Q1, P2、 Q2, wherein the first two group is between left and right away from for d4.In addition sliding slot M1Or M2Side indicates scale, indicates 500 2 pieces of movable plates of the first support plate It is for vertical deflection angle relative to the angle of completely overlapped state rotation.
As shown in figure 12, which is provided with a fixed plate 200, any second support plate 300 and fixed plate 200 are slidably connected and may be locked in setting position in fixed plate 200, another second support plate 300 in two the second support plates 300 It is connect with fixed plate 200.
In specific connection, and one of them second mounting plate 400 is fixedly connected with fixed plate 200, another second peace Loading board 400 and fixed plate 200 are slidably connected and may be locked in setting position；
Be provided with second straight line sliding slot 2001 in fixed plate 200, and the length direction of second straight line sliding slot 2001 perpendicular to The length direction of the shaft of two the first support plates 500 rotation connection, is provided with slidable fit on another second mounting plate 400 Locking member in second straight line sliding slot 2001.The fixed plate 200 determines square hole in centre by one piece of rectangular steel plates, shaped like return Word.Left side have 4 between the upper and lower away from for d3, between left and right away from for d4The screw hole of distributed rectangular, i.e. R1、R2、R3、R4.Right side has one Group is between the upper and lower away from for d3Second straight line sliding slot 2001, i.e. T and S.In addition scale is indicated by sliding slot T or S, indicates the second support plate The angle that 300 2 pieces of movable plates are rotated relative to complete flat is for horizontal deflection angle.
As shown in figure 11, which is fixed on a pedestal 100, which is in the whole of rectangular-ambulatory-plane steel plate At body lower edge and square hole lower edge, junction steel plate U and steel plate V, and each three support rods reinforcing in use left and right perpendicularly thereto,.Its Light plate U constitutes pedestal 100, and steel plate V constitutes support plate, for carrying the moiety by weight of the second support plate 300.
In addition, for convenience when adjusting the camera, the adjustment amplitude of video camera is controlled, in a specific embodiment In, it is provided with length scale value in any first support plate 500, for identifying any support 700 relative to any first support The position of plate 500；And/or
Be provided with length scale value in any second support plate 300, for identify any first support plate 500 relative to appoint The position of one second support plate 300；
And/or
Length scale value is provided in fixed plate 200, for identifying any second support plate 300 relative to fixed plate 200 Position.The relative position that all parts can be intuitively observed by the length scale value of setting facilitates adjustment video camera Position.
In order to facilitate placement video camera array, in a more specifical embodiment, as shown in figure 16, the video camera Array further includes Three-legged bracket 800, is used to support video camera array, and video camera array arrives the Three-legged bracket 800 in setting On, it may be implemented to rotate around vertical axes, and the whole adjustment overlooked and looked up may be implemented.The Three-legged bracket and pedestal 100 connections, to realize the connection between camera shooting array and Three-legged bracket, it should be appreciated that above-mentioned Three-legged bracket Camera shooting array be can be applied to using in attached drawing 1 and attached structure shown in fig. 5.
In specific installation, the first step is the second support plate 300 of connection and structural unit E, while position level deflection angle. N is separately connected with screw first1R1、N2R2、N3R3、N4R4, will connect on the left of 300 left side connecting plate of the second support plate and structural unit E It is connected to together.Then P two groups of screw holes is combined1Q1And P2Q2In one group or two groups, be connected to correct in sliding slot combination S and T Position, thus by being connected together on the right side of 300 right side connecting plate of the second support plate and fixed plate 200.Correct position should make Q1In T Lower row's scale reading or Q2It is equal to expected horizontal deflection angle in upper row's scale reading of T, it, should according to deflection angle computation rule Angle should be equal to the horizontal view angle of single camera.
Second step is connection the first support plate 500 and the second support plate 300, while vertical registration deflection angle.Due to first Support plate 500 has two entities, only need to describe how left entity connect with 300 left side active page of the second support plate, symmetrically may be used Obtain the connection method of 300 right side active page of right entity and the second support plate.J is separately connected with screw first1L1、J2L2, by It is connected together on the upside of the lower side connecting plate of one support plate 500 and the second support plate 300.Then K screw hole is combined1K2It is connected to cunning Slot combines M1M2In correct position, thus by being connected on the upside of side connecting plate in the first support plate 500 and the second support plate 300 Together.Correct position should make K2In M2Scale reading be equal to expected vertical deflection angle, according to deflection angle computation rule, the angle Degree should be equal to the vertical visual angle of single camera.The angle positioning of positioning device has been completed by the first two step.First support plate Still there is a fixed gap between 500 two entities, all situations needed support are supported for array, structure design should ensure that two A entity is not in attempt the case where invading to side space.
Third step is connecting support 700 and the first support plate 500.Since there are four entities for support 700, support need to only be described How 700 upper left side entities connect with movable plate on the upside of 500 left entity of the first support plate, can symmetrically obtain 700 lower left of support 700 upper right side of connection method and support of active page, lower right entity on the downside of 500 left entity of entity and the first support plate With the connection method of the first support plate 500 right entity upside, downside active page.Two groups of screw holes combine F1G1And F2G2Connection To the optimum position in sliding slot combination H and I, make the axis pair near inner vertex just with the second support plate 300 of support 700 Together.Four entities of such connecting support 700, upper left side, upper right side entity just will be pushed up mutually at axis, lower left, bottom right Fang Shiti also just will be pushed up mutually at axis, then bilateral symmetry is mutually pushed up, is symmetrical above and below connected by combination of entities.
After the assembly for completing positioning device, the work for installing video camera array is very simple.It only need to be by the four of video camera A entity is respectively charged into four entities of support 700, and is aligned video camera front end with 700 front end of support.At this moment screw hole F1G1With F2G2In addition to having the function of positioning support 700, the effect of fastening video camera is also had concurrently.
In adjustment, the rotational angle of the first support plate of two rotation connections is adjusted, is realized to camera lens perpendicular Histogram to position adjust, by adjusting the rotational angle of two the second support plates, realize to camera lens in the horizontal direction Position adjustment, in addition, when needing video camera to slide, adjusting position of the support in the first support plate be can be realized, and be passed through Above-mentioned several sliding adjustment realize that the adjustment to camera position mentions so that the optical center of video camera is in coplanar state The effect of high video camera acquisition video, and then improve effect of the video when adjusting.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies Within, then the present invention is also intended to include these modifications and variations.

Claims (10)

1. a kind of video camera array, which is characterized in that the video camera array includes:
Support plate；
The support of at least two video cameras in the support plate, any support in the support of at least two video camera Can rotate and may be locked in the setting position in the support plate relative to the support plate, any support rotation institute around turn Axis is perpendicular to the support plate；
The camera of at least two video camera converges；Wherein,
In at least two video camera any video camera can along any video camera optical axis direction in any camera shooting The setting position on the support of any video camera is slided and may be locked on the support of machine；
Any support includes: cylindrical case open at one end, is symmetrically rotatably connected on cylindrical case open end two sides Two connecting plates；
At least two fixed plates are provided in the support plate, any support, which is located at least two fixed plate, to be mutually The space that two fixed plates at right angle are partitioned into, and appointing in any connecting plate of any support and described two fixed plates One fixed plate is slidably connected and may be locked in the setting position in any fixed plate, by any connecting plate with respect to institute It states any fixed plate sliding and realizes that any support is rotated relative to the support plate.
2. video camera array as described in claim 1, which is characterized in that be provided in the support plate and any support Corresponding arc chute, and at least two arc chutes in the support plate are the arc chute of the concyclic heart；Described any The first locking member is provided on seat, first locking member passes through the arc chute and any support carries out screw thread company It connects, so that the support plate is connect with any bearing sliding；
It is provided with straight on the support of any video camera, the second locking member, institute are provided on any video camera It states the second locking member to be threadedly coupled after the straight with any video camera, so that any video camera Support be slidably connected with any video camera.
3. video camera array as claimed in claim 2, which is characterized in that the arc chute is provided with angle index value, and/ Or, the straight is provided with length scale value.
4. video camera array as described in claim 1, which is characterized in that the video camera array further includes third locking member, Straight is provided in the fixed plate；Any connecting plate passes through the third locking member across the straight It is slidably connected with the fixed plate；
When there are connecting plate in the fixed plate two sides, the connecting plate positioned at the fixed plate two sides is sliding by passing through the straight line The third locking member and the fixed plate of slot are slidably connected.
5. video camera array as described in claim 1 or 4, which is characterized in that the support plate is with another support plate close One end of camera is rotatablely connected.
6. video camera array as claimed in claim 5, which is characterized in that further include pedestal, is provided with bracket on the pedestal, The support plate is slidably connected in the support plate with close to the opposite other end in one end of camera with the bracket, and can The setting position of locking on the bracket, another support plate and the bracket are in another support plate and by close-shot As the opposite other end connection in one end of head, wherein the direction of the relatively described bracket slide of the support plate and the support plate Direction relative to another support plate rotation is identical.
7. a kind of video camera array, which is characterized in that the video camera array includes: two the first support plates, two video cameras And two supports, described two video cameras are separately fixed in described two supports, wherein
Described two first support plate rotation connections；
Described two supports are slidably connected with described two first support plates respectively and may be locked in described two first support plates On setting position, wherein the glide direction of relatively described any first support plate of any support in described two supports, with institute State the rotation of any first support plate around shaft it is parallel, any support is slidably connected with any first support plate.
8. video camera array as claimed in claim 7, which is characterized in that the video camera array further includes two second supports Plate, the rotation connection of described two second support plates, described two second support plates rotations around shaft perpendicular to described two First support plate rotation around shaft, wherein it is described any for any second support plate in described two second support plates First support plate and any second support plate are slidably connected and may be locked in setting position in any second support plate, Another first support plate is connect with any second support plate in described two first support plates, wherein described two first One end being connect respectively with any second support plate in support plate, one be rotatablely connected between described two support plates The opposite end at end, the direction of the relatively described any second support plate sliding of any first support plate and any first support Plate is identical relative to the direction of another first support plate rotation.
9. video camera array as claimed in claim 8, which is characterized in that the video camera array further includes fixed plate, described Any second support plate and the fixed plate are slidably connected and may be locked in setting position in the fixed plate, and described two second Another second support plate is connect with the fixed plate in support plate.
10. video camera array as claimed in claim 9, which is characterized in that be provided in any first support plate Length scale value, for identifying position of any support relative to any first support plate；And/or
Be provided with length scale value in any second support plate, for identify any first support plate relative to The position of any second support plate；
And/or
It is provided with length scale value in the fixed plate, for identifying any second support plate relative to the fixation The position of plate.
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