CN101833231B - Device and method for adjusting view field of spliced panoramic camera - Google Patents

Abstract

The invention discloses a device and a method for adjusting the view field of a spliced panoramic camera. The adjusting device comprises an inclined plane, a guide rod and an adjusting lever, wherein a camera is arranged on the inclined plane; the adjusting lever consists of an upper connecting rod and a lower connecting rod; the guide rod is provided with a sleeve sliding linearly along the guide rod; the inclined plane is hinged with the sleeve through the upper connecting rod which is hinged with the upper edge of the inclined plane; the inner side of the inclined plane is vertically fixed with the lower connecting rod which is coaxial with the optical axis of the camera; and the inclined plane is hinged with the lower end of the guide rod through the lower connecting rod. The adjusting method comprises the following steps of: calculating a required inclination angle alpha 1 and a current inclination angle alpha 0 of the optical axis of the camera according to the view field adjusting range of the camera; synchronously adjusting the inclination angle of each camera optical axis of the spliced panoramic camera to the alpha 1; and regenerating a spliced panoramic image according to the adjusted inclination angle alpha 1 of the camera optical axis to complete view field adjustment. The device and the method are simple and effective and meet the objective requirement on the adjustment of the view field of the camera in practical application of the spliced panoramic camera.

Description

The regulating device of view field of spliced panoramic camera and control method

Technical field:

The present invention relates to the spliced panoramic imaging field, refer in particular to and a kind ofly under the prerequisite that guarantees spliced panoramic non-notch, dislocation-free, can adapt to different ken requirements, and the regulating device of simple and effective view field of spliced panoramic camera and method.

Background technology:

The spliced panoramic imaging technique adopts to be taken many around certain fixed view one way or another the overlapping image in border is arranged, and carries out seamless splicedly then according to the information (perhaps camera location information) of border lap, obtains panoramic picture.Compare with the refractive and reflective panorama imaging technique, the spliced panoramic imaging technique has resolution height, imaging advantage such as even, can be widely used in big visual field, comprehensive video monitoring (airport, square etc.) on a large scale.

Spliced panoramic imaging system commonly used; " the adopting the video pattern splicing method to make up high-resolution full view supervisory system frequently " that in 2008 the 12nd phases " Chinese image graphics journal ", proposes such as horsepower etc.; As shown in Figure 1; Each road camera is fixed on the inclined-plane that a plurality of annulars with identical inclination angle place; To catch the scene of equally distributed different directions, utilize the border lap information of each road scene that camera obtains and camera location information to carry out seamless spliced (as shown in Figure 2) again, realized the panoramic video monitoring.

But this type spliced panoramic imaging system fixedly mounts camera, in case can cause its angle of pitch of the fixing back of camera just can't change, thus the camera ken can't be adjusted, can only monitor FX.Yet, in practical application, on the one hand; Under the different application occasion; The camera setting height(from bottom) is not quite similar, and the user observes ken demand and also is not quite similar, thereby the camera angle of pitch that needs also not to the utmost together; The camera stationary installation of the different application occasion of therefore having nothing for it but design differing tilt angles must cause production cost to rise; On the other hand; In the certain applications occasion; For example airport monitoring, the user also hopes according to different situations, the ken of quick adjustment monitoring on a large scale; To the conduct monitoring at all levels of zones of different, spliced panoramic camera commonly used can not satisfy this type of demand in wider to realize (or even to the sky, over the ground).

Summary of the invention:

Be installed in the problem that to regulate the camera ken on the inclined-plane of fixed angle because of each road camera to spliced panoramic camera commonly used in the prior art; The present invention is intended to propose a kind of regulating device and method of view field of spliced panoramic camera; Under the prerequisite that guarantees the spliced panoramic effect; Can be through the simple adjusting of effectively adjusting each road camera angle of pitch realization view field of spliced panoramic camera apace synchronously, to satisfy the objective demand of in the spliced panoramic camera practical application camera ken being regulated.

The solution that the present invention proposes is: a kind of view field of spliced panoramic camera regulating device; Comprise inclined-plane, guide rod that camera has been installed and the adjuster bar of forming by last connecting rod and lower link; Said guide rod is provided with the sleeve of making linear slide along guide rod, and said inclined-plane is through hinged with hinged last connecting rod and the sleeve in its upper edge, and the inboard vertical fixing in inclined-plane has the lower link with the camera light shaft coaxle; Said inclined-plane is hinged through this lower link and lower end of the guide rod, and each pin joint is in same level height; The inclined-plane at camera place, each road, go up connecting rod, lower link is of similar shape and size, and be uniformly distributed in around the guide rod.

The adjuster bar of said each road camera is uniformly distributed in and specifically is meant around the guide rod: the said connecting rod of going up is equably around sleeve and hinged with sleeve, and lower link is equably around being fixed in lower link hinged disk on the guide rod and hinged with the lower link hinged disk.

As preferred version, said guide rod top is provided with rolling wheel driven by stepper motors, and said sleeve set is on guide rod, and sleeve is connected with said rolling wheel through the belt that is attached thereto, and last connecting rod is preferably schistose texture.

Simultaneously, the invention allows for a kind of view field of spliced panoramic camera control method, comprise the steps:

The first step:, calculate the required inclined angle alpha of camera optical axis according to camera ken range of adjustment ₁And the current inclined angle alpha of camera optical axis ₀

First kind of situation: but camera installation site and the equal timing of surface imaging blind area size over the ground, according to camera setting height(from bottom) H and surface imaging blind area radius R over the ground, the adjusting camera ken.In order to simplify calculating, that each road camera viewpoint is virtual at camera point of fixity O, by formula

Calculate the ken and regulate back camera inclined light shaft angle α ₁, wherein the camera vertical angle of view is 2 γ;

Second kind of situation: the camera installation site is constant, and when needing the timely adjustment camera ken, on cylindrical panoramic, selects the intersection point of time coordinate at point S as camera optical axis and cylindrical panoramic, and then OS (O point is the cylindrical surface projecting center) is the ken adjusting optical axis position of camera afterwards.The camera optical axis intersected at a P ' with cylindrical panoramic before the ken was regulated, and regulated the back optical axis and intersected at a S with cylindrical panoramic, and shown in Figure 10 (c), P ', S correspond respectively to the P on the cylindrical panoramic after the expansion ", S ", and its coordinate is respectively P " (x ₀, y ₀), S ' (x ₁, y ₁).By formula

Calculate the ken and regulate front camera and rear camera inclined light shaft angle α ₀, α ₁, wherein W is for launching back cylinder picture traverse, and coordinate system is for launching back cylinder panoramic coordinates system (concrete shown in Figure 10 (c));

Second step: under the condition that distance equates in the photocentre of point of fixity, each road camera to optical axes crosspoint, the photocentre of each road camera is concyclic at the optical axis intersection that satisfies each road camera of spliced panoramic camera, each plane, camera horizontal view angle, road and the vertical plane of its optical axis of mistake are vertical all the time, synchronously each camera inclined light shaft angle, road is adjusted into α ₁

The 3rd step: according to the camera inclined light shaft angle α after regulating ₁, regenerate the spliced panoramic image, accomplish the ken and regulate.

The design concept of the present invention and the course of work are: when carrying out ken adjusting, at first according to the required viewing area of user position, calculate the required pitch angle of camera; The camera pitch angle of calculating according to the first step is again guaranteeing that under the overlapping fully prerequisite in border, the left and right sides, the control camera is done corresponding tilting action synchronously.The present invention has adopted a kind of regulating device of view field of spliced panoramic camera, and it realizes the adjusting of the panorama camera ken through each road camera angle of pitch of adjusted in concert.Specifically be but that each road camera is installed on the inclined-plane of same size at synchro control pitch angle, the shape on each inclined-plane, measure-alike wherein.The upper edge, inclined-plane links through last connecting rod and the sleeve that can on guide rod, slide, the shape of connecting rod, measure-alike on each.The lower link that the center, inclined-plane is fixedly connected links the shape of each lower link, measure-alike with lower end of the guide rod.In use, at first each road camera is installed on the inclined-plane, calculates the correspondence position of sleeve on guide rod; Control sleeve again and slide into correspondence position along guide rod, sleeve will synchronously drive each inclined-plane and turn to desired locations, and the camera angle of pitch is adjusted to the right place; Accomplishing the panorama camera ken regulates; Thereby obtain image in the required viewing area,, wait the spliced panoramic image generating algorithm that proposes such as horsepower in the background technology the ken imagery exploitation known method of each camera collection; Splicing generates new ken panoramic picture, realizes the required viewing area overall view monitoring of user.

The regulating device of view field of spliced panoramic camera proposed by the invention and control method mainly contain following advantage:

1) but adjusted in concert multichannel camera visual angle is simple, effectively, and cost is low;

The present invention utilizes the homoorganicity of each road camera of spliced panoramic camera, uses the one-to-many synchronisation control means, is the control of sleeve sliding distance with the control transformation of multichannel camera.Not only simplify control procedure, and can guarantee that each road camera has identical pitch angle in adjusted in concert multichannel camera visual angle, also reduced motion control device quantity (only needing a control parts of motion), reduced cost.

2) ken is regulated does not influence the panoramic picture splicing effect;

In the view field of spliced panoramic camera adjustment process,, will cause adjacent camera photographic images to produce the vertical direction dislocation, influence splicing effect if can not guarantee that all camera angles of pitch are identical; In addition, shown in Fig. 8 (b),, will cause spliced panoramic image adjacent image jointing positions to produce breach if can not guarantee that the border, the image left and right sides that adjacent camera obtains is overlapping fully.In spliced panoramic ken regulating device; Distance equates the optical axis intersection of every road camera in point of fixity, camera photocentre to optical axes crosspoint, each road camera photocentre is concyclic, each plane, camera horizontal view angle, road is vertical all the time with the vertical plane of its optical axis of mistake; Thereby, adopt this device to carry out the ken and regulate, can guarantee all the time that the camera angle of pitch is identical overlapping fully with the adjacent image vertical boundary; Can not produce dislocation of adjacent image vertical direction and splicing breach; And avoid the distortion of projection ken horizontal torsion, can not influence the panoramic picture splicing effect, can not increase panorama splicing difficulty.

3) the scalable FOV is wide, can help to obtain the uniform high resolving power spherical panorama of imaging;

Adopting this method to carry out the camera ken regulates; Can be through selecting suitable design size; Make the pitching of ken range of adjustment can reach 90 degree; Regulate the camera ken in the in the vertical direction 180 degree scopes, thereby satisfy the application demand of carrying out on a large scale (even to the sky, over the ground) ken adjustment such as needs such as airport monitoring.In addition, can be implemented in the panoramic scanning on the vertical direction, thereby obtain the uniform high resolving power spherical panorama of imaging, and the camera optical axis intersection can be simplified spherical panorama image mosaic process in the characteristic of point of fixity through this device.

In sum; The regulating device of view field of spliced panoramic camera of the present invention and control method are under the prerequisite that guarantees the spliced panoramic effect; Can be through the simple adjusting of effectively adjusting each road camera angle of pitch realization view field of spliced panoramic camera apace synchronously, to satisfy the objective demand of in the spliced panoramic camera practical application camera ken being regulated.

Description of drawings:

Fig. 1 is the said spliced panoramic camera stationary installation of a background technology shape synoptic diagram;

Fig. 2 is a panoramic picture splicing synoptic diagram;

Wherein Fig. 2 (a) is four road overlapping original images of border;

Fig. 2 (b) is panorama splicing figure;

Fig. 3 is a view field of spliced panoramic camera regulating device schematic diagram;

Fig. 4 is a view field of spliced panoramic camera regulating device design drawing;

Fig. 5 is the upward view of pallet among Fig. 4;

Fig. 6 goes up the connecting rod synoptic diagram among Fig. 4;

Wherein Fig. 6 (a) is a side view of going up connecting rod among Fig. 4;

Fig. 6 (b) is a front elevation of going up connecting rod among Fig. 4;

Fig. 7 is view field of spliced panoramic camera regulating device simplified model and Principles of Regulation figure;

Wherein Fig. 7 (a) is a ken adjustment process reduced graph;

Fig. 7 (b) is ken regulating device simplified model figure (only draws and wherein go out one tunnel);

Fig. 7 (c) is that camera is overlooked profile and dimensional drawing;

Fig. 8 is an adjacent image splicing synoptic diagram;

Wherein Fig. 8 (a) is the complete overlapping nothing splicing breach synoptic diagram in border, the adjacent image left and right sides;

Fig. 8 (b) is the incomplete overlapping generation splicing breach synoptic diagram in border, the adjacent image left and right sides;

Fig. 8 (c) is that adjacent camera pitch angle causes the dislocation synoptic diagram on the spliced panoramic vertical direction when unequal;

The torsional deflection synoptic diagram that Fig. 8 (d) produces when being camera horizontal view angle and the vertical plane out of plumb of crossing optical axis;

Fig. 9 regulates the ken not produce splicing breach schematic diagram;

Wherein Fig. 9 (a) is the overlapping synoptic diagram of view field of spliced panoramic camera;

Fig. 9 (b) is that optical axis rotates synoptic diagram;

Fig. 9 (c) is that camera is looked up face surface level perspective view;

Fig. 9 (d) is that camera is looked up the projection of face surface level on cylinder;

Figure 10 is cylinder panoramic image generating principle figure;

Wherein Figure 10 (a) is the acquired original image coordinate system;

Figure 10 (b) is the cylindrical panoramic perspective view;

Figure 10 (c) launches the cylinder panoramic image coordinate system;

In above-mentioned accompanying drawing:

1-guide rod 2-sleeve 3-goes up connecting rod 4-inclined-plane 5-camera 6-lower link 7-lower link link dish

8-pallet 9-translucent cover 10-camera case 11-shaft collar 12-stepper motor 13-rolling wheel 14-belt

Embodiment:

Present embodiment provides a kind of regulating device of view field of spliced panoramic camera; Like Fig. 2, shown in 3; Comprise the view field of spliced panoramic camera regulating device shell of forming by camera case 10 and translucent cover 9; Enclosure is provided with the guide rod 1 on the pallet 8 that is used to the inclined-plane 4 of camera 5 is installed and is vertically mounted on horizontal positioned, and the inboard of said camera case 10 is fixed with the shaft collar 11 of horizontal positioned, and shaft collar 11 bottom vertical are lifted with guide rod 1 and stepper motor 12.Said guide rod 1 is provided with the sleeve 2 of making linear slide along guide rod; Said inclined-plane 4 is through hinged with hinged last connecting rod in its upper edge 3 and sleeve 2; The inboard vertical fixing in inclined-plane has the lower link 6 with the camera light shaft coaxle, and said inclined-plane is hinged with guide rod 1 lower end through this lower link 6.The adjuster bar of wherein every road camera, the inclined-plane 4 of promptly going up connecting rod 3, lower link 6 and installation video camera all has identical shaped and size, and uniform ring is around guide rod.

In use, camera 5 is installed on the inclined-plane 4, and the center, inclined-plane is welded with lower link 6, and the other end of lower link 6 is linked on the lower end of the guide rod link dish 7.According to panorama splicing camera quantity n, on sleeve and the lower end of the guide rod link dish evenly installation each on connecting rod and lower link; Sleeve 2 is enclosed within on the guide rod 1, and the upper end connects belt 14; The belt upper end twists on the rolling wheel 13 that links to each other with stepper motor 12.The pulling force and the camera self gravitation Collaborative Control sleeve 2 that drive rolling wheel 13 scrolling belts 14 through stepper motor 12 slide along guide rod 1, and each inclined-plane of synchro control drives each road camera 5 and rotates around point of fixity, realizes the adjusting of the camera ken.

Rotate in the process at camera; When moving to its base and connecting into positive n limit shape; Reached extreme position, in order to prevent adjacent camera mutual extrusion after reaching the limit of the position, a special length of side positive n limit shape pallet 8 identical that be provided with in the lower end of guide rod with camera width w; As shown in Figure 5, to guarantee connecting into positive n limit shape reposefully at each road camera of extreme position.In addition, for guaranteeing that each road camera evenly distributes all the time in the ken adjustment process, as shown in Figure 6, present embodiment will be gone up link design schistose texture in echelon, and upper/lower terminal links with sleeve, upper edge, inclined-plane respectively.Adopting schistose texture can guarantee that connecting rod can not drive about camera during the stationary shaft rotation on sleeve squints; Thereby each road camera is evenly distributed all the time; Make the horizontal view angle of camera vertical with the vertical plane of crossing its optical axis all the time simultaneously, thereby guarantee the panorama splicing effect.

Shown in Fig. 7 (a) and (b), in the simplified model of view field of spliced panoramic camera regulating device, O ' T is a guide rod, and the Q point is a sleeve; The O point is the lower link point of fixity, and QF is last connecting rod, and OE is a lower link, and GF is that camera is installed the inclined-plane; O ' G ' is a bottom tray, and LJ is the camera sensitive chip, and I is a photocentre, and MK is a ground level; Camera vertical angle of view 2 γ, EI is determined by camera for the distance of camera photocentre to the inclined-plane.Camera is installed bevel altitude GF by camera base length l decision (Fig. 7 (c)), and pallet 8 inscribed circle radius O ' G ' are by camera base w decision (Fig. 7 (c)).Last connecting rod, lower link, guide rod length are determined by camera ken range of adjustment demand.

By camera setting height(from bottom) H (OM=H), surface imaging blind area radius R (MK=R) over the ground, can try to achieve the length of lower link OE, operational method is referring to formula 1.By the length of lower link OE can try to achieve connecting rod QF, lower link point of fixity to the guide rod top OT, lower link point of fixity to the length of guide rod bottom OO ', specifically referring to formula 2,3,4.If with the blind area radius R is that the regulating device size of confirming in 0 o'clock is carried out the regulating device design, just can be implemented in and regulates the camera ken in the vertical direction 180 degree scopes.

$\left\{\begin{array}{c}\frac{\mathrm{OE}+\mathrm{EI}}{\sin \mathrm{\&rho;}}=\frac{H+R/\tan \mathrm{\&rho;}}{\sin \mathrm{\&gamma;}}\\ \mathrm{\&rho;}=\mathrm{\&gamma;}-\arcsin \frac{2O^{\&prime;}{G}^{\&prime;}}{\sqrt{{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="HSA00000056346500013.png,HSA00000056346500021.png"\; state="\{\{state\}\}">l</figure-callout>}}^2+4{\mathrm{OE}}^2}}-\mathrm{<figure-callout\; id="2"\; label="arctan\; l"\; filenames="HSA00000056346500013.png,HSA00000056346500021.png"\; state="\{\{state\}\}">arctan</figure-callout>}\frac{l}{}\frac{}{2\mathrm{OE}}\\ O^{\&prime;}{G}^{\&prime;}=\frac{\mathrm{<figure-callout\; id="2"\; label="w"\; filenames="HSA00000056346500013.png,HSA00000056346500021.png"\; state="\{\{state\}\}">w</figure-callout>}}{2\tan \frac{\mathrm{\&pi;}}{n}}\end{array}\right.---\left(1\right)$

$\mathrm{QF}=\sqrt{\frac{{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="HSA00000056346500013.png,HSA00000056346500021.png"\; state="\{\{state\}\}">l</figure-callout>}}^2}{4}+{\mathrm{<figure-callout\; id="2"\; label="OE"\; filenames="HSA00000056346500013.png,HSA00000056346500021.png"\; state="\{\{state\}\}">OE</figure-callout>}}^2}+\mathrm{\&Delta;d}---\left(2\right)$

$\mathrm{OT}=\sqrt{\frac{{\mathrm{<figure-callout\; id="2"\; label="w"\; filenames="HSA00000056346500013.png,HSA00000056346500021.png"\; state="\{\{state\}\}">w</figure-callout>}}^2}{4{\tan }^2\frac{\mathrm{\&pi;}}{n}}+{\mathrm{<figure-callout\; id="2"\; label="QF"\; filenames="HSA00000056346500013.png,HSA00000056346500021.png"\; state="\{\{state\}\}">QF</figure-callout>}}^2}+\sqrt{\frac{{\mathrm{<figure-callout\; id="2"\; label="w"\; filenames="HSA00000056346500013.png,HSA00000056346500021.png"\; state="\{\{state\}\}">w</figure-callout>}}^2}{4{\tan }^2\frac{\mathrm{\&pi;}}{n}}+{\mathrm{OE}}^2}---\left(3\right)$

${\mathrm{OO}}^{\&prime;}=\sqrt{\frac{{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="HSA00000056346500013.png,HSA00000056346500021.png"\; state="\{\{state\}\}">l</figure-callout>}}^2}{4}+{\mathrm{OE}}^2-{\left(\frac{\mathrm{<figure-callout\; id="2"\; label="w"\; filenames="HSA00000056346500013.png,HSA00000056346500021.png"\; state="\{\{state\}\}">w</figure-callout>}}{2\tan \frac{\mathrm{\&pi;}}{n}}\right)}^2}---\left(4\right)$

In above-mentioned formula, shown in Fig. 7 (b), OE is a lower link length; EI is the distance of camera photocentre I to the inclined-plane; H is camera setting height(from bottom), i.e. OM; R is the spliced panoramic camera blind area radius of surface imaging, i.e. MK over the ground; ρ is the angle that camera is overlooked boundary line IK and vertical direction; The camera vertical angle of view is 2 γ; O ' G ' is the inscribed circle radius of bottom tray; N is the camera number; QF is last length of connecting rod; OT for the lower link point of fixity to the guide rod top distance; OO ' is the distance of lower link point of fixity to the guide rod bottom; Shown in Fig. 7 (c), w, l are camera base size.Wherein the Δ d in the formula 2 is a variable, can not uniquely confirm, when Δ d was big, the regulating device size was relatively large, Δ d hour, required motor torque is big, the consideration of will trading off in the practical application.

The regulating device of above-mentioned view field of spliced panoramic camera is in the middle of adjustment process: because the depth of field is far longer than the regulating device size of view field of spliced panoramic camera; Can with the viewpoint of each camera virtual be point of fixity O, and with the O point as the virtual single view of spliced panoramic.By the view field of spliced panoramic camera regulating device simplified model among Fig. 7, the relation of can drawing between OQ and camera inclined light shaft angle α is:

$\left\{\begin{array}{c}\mathrm{OQ}=\cos \mathrm{\&phi;}\sqrt{{\mathrm{<figure-callout\; id="2"\; label="OE"\; filenames="HSA00000056346500013.png,HSA00000056346500021.png"\; state="\{\{state\}\}">OE</figure-callout>}}^2+\frac{{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="HSA00000056346500013.png,HSA00000056346500021.png"\; state="\{\{state\}\}">l</figure-callout>}}^2}{4}}+\sqrt{{\mathrm{<figure-callout\; id="2"\; label="cos"\; filenames="HSA00000056346500013.png,HSA00000056346500021.png"\; state="\{\{state\}\}">cos</figure-callout>}}^2\mathrm{\&phi;}({\mathrm{<figure-callout\; id="2"\; label="OE"\; filenames="HSA00000056346500013.png,HSA00000056346500021.png"\; state="\{\{state\}\}">OE</figure-callout>}}^2+\frac{{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="HSA00000056346500013.png,HSA00000056346500021.png"\; state="\{\{state\}\}">l</figure-callout>}}^2}{4})-{\mathrm{OE}}^2-\frac{{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="HSA00000056346500013.png,HSA00000056346500021.png"\; state="\{\{state\}\}">l</figure-callout>}}^2}{4}+{\mathrm{<figure-callout\; id="2"\; label="QF"\; filenames="HSA00000056346500013.png,HSA00000056346500021.png"\; state="\{\{state\}\}">QF</figure-callout>}}^2}\\ \mathrm{\&phi;}=\mathrm{\&pi;}-\mathrm{\&alpha;}-\mathrm{<figure-callout\; id="2"\; label="arctan\; l"\; filenames="HSA00000056346500013.png,HSA00000056346500021.png"\; state="\{\{state\}\}">arctan</figure-callout>}\frac{l}{}\frac{}{2\mathrm{OE}}\end{array}\right.---\left(5\right)$

In formula 5, as shown in Figure 7, OQ coils the distance of sleeve for the lower link link; OE is a lower link length; L is a camera base size; QF is last length of connecting rod; α is the angle of lower link and vertical direction; φ is an intermediate variable.

Like Figure 10 (b), in the spliced panoramic camera imaging model, point of fixity O is the perspective projection center, and OP is the camera optical axis, and ABCD is the focal plane.The angle of OP and Z axle is α, and the camera focal length is f, and project cylindrical face bottom surface radius is r, and W is for launching back cylinder picture traverse.According to the perspective projection model, obtain launching on the cylindrical panoramic 1 N (x, y) with its on the focal plane corresponding point T (u, v) between mapping relations (formula 6).

$\left\{\begin{array}{c}u=f\tan \mathrm{\&beta;}-\frac{\mathrm{fr}\sin \frac{W/2-x}{r}}{(\mathrm{Rctg}(\mathrm{\&alpha;}+\mathrm{\&gamma;})+y)\cos \mathrm{\&alpha;}+r\sin \mathrm{\&alpha;}\cos \frac{W/2-x}{r}}\\ v=f(\tan \mathrm{\&alpha;}+\tan \mathrm{\&gamma;})-\frac{\mathrm{fr}\cos \frac{W/2-x}{r}}{(\mathrm{Rctg}(\mathrm{\&alpha;}+\mathrm{\&gamma;})+y){\mathrm{<figure-callout\; id="2"\; label="cos"\; filenames="HSA00000056346500013.png,HSA00000056346500021.png"\; state="\{\{state\}\}">cos</figure-callout>}}^2\mathrm{\&alpha;}+r\sin \mathrm{\&alpha;}\cos \frac{W/2-x}{r}}\end{array}\right.---\left(6\right)$

In formula 6, x, y are pixel coordinate in the cylindrical panoramic expansion image (Figure 10 (b)); W is for launching back cylinder picture traverse, i.e. face of cylinder girth; α is the angle of OP and Z axle; F is the camera focal length; The camera horizontal view angle is 2 β; The vertical angle of view is 2 γ; R is a project cylindrical face bottom surface radius; Shown in Figure 10 (a), u, v are respectively the horizontal ordinate (Figure 10 (c)) of corresponding point on the focal plane.

The control method of the regulating device of the said view field of spliced panoramic camera of present embodiment is:

The first step at first according to camera ken range of adjustment, is calculated the required inclined angle alpha of camera optical axis ₁With current inclined angle alpha ₀The following two kinds of situation analysis of concrete branch:

First kind of situation: but camera installation site and the equal timing of surface imaging blind area size over the ground according to camera setting height(from bottom) H, surface imaging blind area radius R over the ground, are regulated the camera ken.In order to simplify calculating, road camera viewpoint is virtual installs and fixes an O at camera with each, then can calculate the ken by formula 7 and regulate back camera inclined light shaft angle α ₁, wherein the camera vertical angle of view is 2 γ.

${\mathrm{\&alpha;}}_1=\arctan \frac{R}{H}+\mathrm{\&gamma;}---\left(7\right)$

Wherein, R is the camera blind area radius of surface imaging over the ground; H is the camera setting height(from bottom); α ₁For the ken is regulated camera inclined light shaft angle, back.

To the view field of spliced panoramic camera regulating device that present embodiment proposed, also need use formula 8 to calculate when top rake and be α ₀

${\mathrm{\&alpha;}}_0=\arctan \frac{O^{\&prime;}{G}^{\&prime;}}{{\mathrm{OO}}^{\&prime;}}+\mathrm{<figure-callout\; id="2"\; label="arctan\; GF"\; filenames="HSA00000056346500013.png,HSA00000056346500021.png"\; state="\{\{state\}\}">arctan</figure-callout>}\frac{\mathrm{GF}}{}\frac{}{2\mathrm{OE}}---\left(8\right)$

In formula 8, shown in Fig. 7 (b), O ' G ' is pallet 8 inscribed circle radius, and OO ' is the distance of lower link point of fixity to the guide rod bottom, and GF is that camera is installed the inclined-plane size, and OE is a lower link length, α ₀Be in the camera inclined light shaft angle of lower end of the guide rod extreme position for sleeve.

Second kind of situation: it is constant and need application scenario such as the timely adjustment camera ken to adapt to the camera installation site, carries out the camera ken and regulates.Shown in figure 10; Know by the perspective projection model; Pixel is corresponding one by one with the original graph picture point on the cylindrical panoramic, therefore can on cylindrical panoramic, select the intersection point of time coordinate at point S as camera optical axis and cylindrical panoramic, and then OS (the O point is the cylindrical surface projecting center) regulates the optical axis position of back camera for the ken.Therefore, can confirm inclined light shaft angle α through cylinder panoramic image.Camera optical axis and cylindrical panoramic intersect at a P ' before regulating, and the coordinate of its cylindrical panoramic after expansion is P ' (x ₀, y ₀), to regulate back optical axis and cylindrical panoramic and intersect at a S, the coordinate of its cylindrical panoramic after expansion is S (x ₁, y ₁), then can calculate the ken and regulate front camera and rear camera inclined light shaft angle α by formula 9 ₀, α ₁

$\left\{\begin{array}{c}{\mathrm{\&alpha;}}_0=\mathrm{<figure-callout\; id="2"\; label="arctan\; W"\; filenames="HSA00000056346500013.png,HSA00000056346500021.png"\; state="\{\{state\}\}">arctan</figure-callout>}\frac{W}{}\frac{}{2\mathrm{\&pi;}{y}_0}\\ {\mathrm{\&alpha;}}_1=\mathrm{<figure-callout\; id="2"\; label="arctan\; W"\; filenames="HSA00000056346500013.png,HSA00000056346500021.png"\; state="\{\{state\}\}">arctan</figure-callout>}\frac{W}{}\frac{}{2\mathrm{\&pi;}{y}_1}\end{array}\right.---\left(9\right)$

In formula 9, W is for launching back cylinder picture traverse, i.e. face of cylinder girth; α ₀, α 1 is respectively the ken and regulates front camera and rear camera inclined light shaft angle; y ₀, y ₁Be respectively ken adjusting front camera and rear camera optical axis and cylindrical panoramic intersection point at the ordinate in the cylindrical panoramic after the expansion (shown in Figure 10 (c)).

Structure by the regulating device of above-mentioned view field of spliced panoramic camera can be known; In real time camera is being carried out the angle of inclination when adjusting; Conditions such as the optical axis intersection that the said regulating device that connects the panorama camera ken can satisfy each road camera of spliced panoramic camera equates in the photocentre of point of fixity, each road camera to the optical axes crosspoint distance, the photocentre of each road camera is concyclic, the vertical plane of each plane, camera horizontal view angle, road and its optical axis of mistake is vertical all the time so just can realize that each camera inclined light shaft angle, road is adjusted into α synchronously ₁, and avoided panoramic picture when splicing to produce breach and dislocation, guaranteed the adjusted panorama splicing effect of the ken.Make a concrete analysis of as follows:

In the view field of spliced panoramic camera adjustment process, as shown in Figure 8, if can not guarantee that all camera inclined light shaft angles are identical, will cause adjacent camera photographic images to produce vertical direction dislocation (Fig. 8 (c)); If can not guarantee that the border, the image left and right sides that adjacent camera obtains is overlapping fully, will cause spliced panoramic image adjacent image jointing positions to produce breach (Fig. 8 (b)); If can not guarantee that plane, camera horizontal view angle is vertical with its vertical plane of crossing optical axis; To cause photographic images in the projection of the cylinder distortion (Fig. 8 (d)) that twists; And need carry out treatment for correcting to its torsional deflection; Increase panorama splicing difficulty, also can cause the adjacent image jointing positions to produce breach when serious.

And when the optical axis intersection of each road camera of spliced panoramic camera equates in the photocentre of point of fixity, each road camera to the optical axes crosspoint distance, the photocentre of each road camera is concyclic, when the vertical plane of each plane, camera horizontal view angle, road and its optical axis of mistake is vertical all the time; Synchronously each camera inclined light shaft angle, road is adjusted into any equal angular; Can not produce splicing breach and dislocation, can not increase panorama splicing difficulty.Prove below:

Shown in Fig. 8 (a); Camera downwards (on) when taking, under the adjacent image (on) along going up (descending) many along lap, therefore; As long as guarantee camera downwards (on) when taking; (descend) on the adjacent image along having the overlapping region, just can guarantee that border, the adjacent image left and right sides is overlapping fully, can not produce the splicing breach.

Shown in Fig. 9 (a); With four road spliced panoramic cameras is example; Because the camera size restrictions can not make the photocentre concurrent of each road camera, the horizontal view angle of adjacent camera can be to overlap on the circle of center of circle radius greater than r with optical axes crosspoint O, and r is the distance of optical axes crosspoint O to limit, adjacent camera horizontal view angle intersection point; Therefore, can select radius to carry out the panoramic picture splicing greater than the cylinder (being the radius R among Fig. 9 (a)) of r.Know that by geometric knowledge adjacent camera is looked up the angle and on this face of cylinder, also had the overlapping region.Shown in Fig. 9 (b), arc AB is that camera is looked up angle plane and radius is the intersection on the face of cylinder of optical axes crosspoint O for the R center of circle, and it is ∠ AIB that camera is looked up the angle, and I is a photocentre.When each road camera optical axes crosspoint O is fixed, be initial position with each camera horizontal view angle, road co-planar locations, the camera optical axis is around point of fixity O rotates arbitrarily angled φ downwards in the perpendicular of mistake optical axis after; Photocentre is I ', and looking up the angle is ∠ A ' I ' B ', and ∠ A ' I ' B '=∠ AIB; A ' B '=AB crosses A ', 2 planes of doing perpendicular to the Z axle of B ', intersects at an O ' with the Z axle; Photocentre I ' is projected to surface level O ' obtains I ", I is projected to surface level obtain I ^*Because optical axis rotates downwards in crossing the perpendicular of optical axis around point of fixity O, then by Fig. 9 (c) "＜O ' I that can know O ' I ^*, A ' B '=AB again, then can demonstrate,prove: arc A " B "＞arc AB.Therefore, shown in Fig. 9 (d), when camera when fixing optical axes crosspoint O rotates, the upper edge of the projection of image that this camera obtains on cylindrical panoramic (corresponding to looking up the angle) width will increase.Based on above proof, learn easily, be initial position with each camera horizontal view angle, road co-planar locations, when camera upwards rotates around fixing optical axes crosspoint O, camera imaging ken lower edge (corresponding to the depression angle) width also will increase.

N camera horizontal view angle Plane intersects can constitute a n rib body; When each road camera optical axis intersection in point of fixity; Each road camera photocentre equates, when photocentre is concyclic, the pitch angle of each road camera optical axis in the vertical direction is equated, and plane, camera horizontal view angle remains vertical with the vertical plane of crossing optical axis to optical axis distance; Can know that by geometric knowledge the n rib body that each plane, camera horizontal view angle, road constitutes is positive n rib body.Similarly, can obtain each road camera looks up the intersection point and the optical axes crosspoint O on limit, angle (depression angle) and also constitutes positive n rib body.Thereby; Each road camera is to have identical shaped and view field area on the cylinder of R at radius; Combine the analysis of front again about the change width situation on the upper and lower edge of view field in the camera rotation process; Can obtain to draw a conclusion: distance equates in the photocentre of point of fixity, each road camera to optical axes crosspoint, the photocentre of each road camera is concyclic at the optical axis intersection that satisfies each road camera, during vertical all the time these four conditions of the vertical plane of each plane, camera horizontal view angle, road and its optical axis of mistake; Carry out the adjustment of the panorama camera ken, can not produce the splicing breach.In addition, because the pitch angle of each road camera is equal, therefore can not make spliced panoramic produce the vertical direction dislocation yet; Plane, camera horizontal view angle is vertical all the time with the vertical plane of crossing optical axis, has also avoided the distortion that twists of the cylindrical surface projecting of image that camera obtains, and has avoided the correct operation to torsional deflection, and the panorama that can not increase in the ken adjustment process splices difficulty.

In sum; Equate in the photocentre of point of fixity, each road camera to the optical axes crosspoint distance at the optical axis intersection that satisfies each road camera of panorama splicing camera, the photocentre of each road camera is concyclic, during vertical all the time these four conditions of the vertical plane of each plane, camera horizontal view angle, road and its optical axis of mistake; Carry out the adjustment of the panorama camera ken; Can not produce splicing breach and dislocation, can not increase panorama splicing difficulty, can not influence the panorama splicing effect.

In spliced panoramic ken regulating device; Lower link 6 and camera light shaft coaxle; Lower link is articulated in lower link hinged disk 7, and lower link hinged disk size (being about 10mm) is little a lot of than panorama camera photographed scene (greater than 20000mm), therefore; Can ignore optical axes crosspoint along the small sway on the guide rod direction, be similar to and think that optical axis intersection is in point of fixity; Connecting rod 3, camera are installed inclined-plane 4, lower link 6 on each, all are of similar shape and size, and constitute stable triangular structure with guide rod; Be uniformly distributed in around the guide rod; Therefore, can make each road camera photocentre equate that to the optical axes crosspoint distance each road camera photocentre is concyclic; In addition, adopt the last connecting rod 3 of schistose texture, can prevent to take place in the camera rotation process left and right sides deflection and guarantee that each road camera evenly distributes, thereby the plane, horizontal view angle that has guaranteed each road camera is vertical all the time with the vertical plane of crossing optical axis.To sum up, the panorama camera ken regulating device that present embodiment proposes satisfies ken adjusting and does not produce splicing breach, dislocation, does not increase above-mentioned four conditions of splicing difficulty.

When the panorama camera ken regulating device that adopts present embodiment to propose is carried out ken adjusting, regulate front camera and rear camera inclined light shaft angle α according to the ken that the first step calculates ₀, α ₁, calculate sleeve displacement Q ₀Q ₁(make α=α respectively ₀, α=α ₁, distinguish the above-mentioned formula 5 of substitution again, calculate Q point position Q ₀, Q ₁, then sleeve displacement is Q ₀Q ₁=OQ ₁-OQ ₀, control step motor-driven sleeve is from current location Q again ₀Arrive precalculated position Q ₁, make each camera inclined light shaft angle, road synchronously be adjusted into α ₁

The 3rd step: adopt horsepower to wait the spliced panoramic image generating algorithm (formula 6) that proposes, according to the camera inclined light shaft angle α after regulating ₁, regenerate the spliced panoramic image, that is: make α=α ₁, in the above-mentioned formula 6 of substitution, generate the cylinder panoramic image in the new FOV again, accomplish view field of spliced panoramic camera and regulate.

Claims (6)

1. the regulating device of a view field of spliced panoramic camera; It is characterized in that; Comprise guide rod (1) and the many groups inclined-plane (4) and the adjuster bar of camera (5) that be uniformly distributed in guide rod (1) installation all around, each adjuster bar is by last connecting rod (3) and lower link (6) composition, and said guide rod (1) is provided with the sleeve (2) of making linear slide along guide rod; Said inclined-plane (4) is through hinged with hinged last connecting rod (3) in its upper edge and sleeve (2); The inboard vertical fixing in inclined-plane has the lower link (6) with the camera light shaft coaxle, and said inclined-plane is hinged through this lower link (6) and guide rod (1) lower end, and each pin joint is in same level height; The inclined-plane (4) at each camera place, road, last connecting rod (3), lower link (6) are of similar shape and size, and are uniformly distributed in around the guide rod; The optical axis intersection of each road camera is concyclic to optical axes crosspoint distance photocentre equal, each road camera in the photocentre of point of fixity, each road camera, each plane, camera horizontal view angle, road is vertical all the time with the vertical plane of crossing its optical axis.

2. according to the regulating device of the said view field of spliced panoramic camera of claim 1; It is characterized in that; Said guide rod (1) top is provided with the rolling wheel (13) that is driven by stepper motor (12), and said sleeve (2) is sleeved on the guide rod (1), and sleeve (2) is connected with said rolling wheel (13) through the belt (14) that is attached thereto.

3. according to the regulating device of claim 1 or 2 said view field of spliced panoramic camera; It is characterized in that; The adjuster bar of said each road camera is uniformly distributed in and specifically is meant around the guide rod: the said connecting rod (3) of going up is equably around sleeve (2) and hinged with sleeve, and lower link (6) is equably around being fixed in lower link hinged disk (7) on the guide rod (1) and hinged with lower link hinged disk (7).

4. according to the regulating device of claim 1 or 2 said view field of spliced panoramic camera, it is characterized in that said upward connecting rod (3) is a schistose texture.

5. the control method of a view field of spliced panoramic camera is characterized in that comprising the steps:

The first step:, calculate the required inclined angle alpha of camera optical axis according to camera ken range of adjustment ₁And the current inclined angle alpha of camera optical axis ₀

Second step: distance equates in the photocentre of point of fixity, each road camera to optical axes crosspoint, the photocentre of each road camera is concyclic at the optical axis intersection that satisfies each road camera of spliced panoramic camera, during vertical all the time four conditions of the vertical plane of each plane, camera horizontal view angle, road and its optical axis of mistake, synchronously each camera inclined light shaft angle, road is adjusted into α ₁

The 3rd step: according to the camera inclined light shaft angle α after regulating ₁, regenerate the spliced panoramic image, accomplish the ken and regulate.

6. according to the control method of the said view field of spliced panoramic camera of claim 5, it is characterized in that the calculating at the angle of inclination of camera optical axis in the said step 1 is divided into two kinds of situation:

First kind of situation: but camera installation site and the equal timing of surface imaging blind area size over the ground, and according to camera setting height(from bottom) H and surface imaging blind area radius R over the ground, the adjusting camera ken: it is virtual at camera point of fixity O to set each road camera viewpoint, by

Calculate the ken and regulate back camera inclined light shaft angle α ₁, wherein the camera vertical angle of view is 2 γ;

Second kind of situation: the camera installation site is constant; And when needing the timely adjustment camera ken, on cylindrical panoramic, select the intersection point of time coordinate at point S as camera optical axis and cylindrical panoramic, the O point is the cylindrical surface projecting center; Then OS is the optical axis position that the ken is regulated the back camera; The camera optical axis intersected at a P ' with cylindrical panoramic before the ken was regulated, P ', S are corresponding respectively launch after P on the cylindrical panoramic ", S ', its coordinate is respectively P " (x ₀, y ₀), S ' (x ₁, y ₁), by $\left\{\begin{array}{c}{\mathrm{\&alpha;}}_0=\mathrm{Arctan}\frac{W}{2\mathrm{\&pi;}{y}_0}\\ {\mathrm{\&alpha;}}_1=\mathrm{Arctan}\frac{W}{2\mathrm{\&pi;}{y}_1}\end{array}\right.$ Calculate the ken and regulate front camera and rear camera inclined light shaft angle α ₀, α ₁, wherein W is for launching back cylinder picture traverse.

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