CN102903090A

CN102903090A - Method, device and system for synthesizing panoramic stereograms, and browsing device for panoramic stereograms

Info

Publication number: CN102903090A
Application number: CN2012101465524A
Authority: CN
Inventors: 李文松
Original assignee: Individual
Current assignee: Hangzhou Xigu Video Technology Co Ltd
Priority date: 2012-01-20
Filing date: 2012-05-11
Publication date: 2013-01-30
Anticipated expiration: 2032-05-11
Also published as: CN102903090B

Abstract

The invention provides a method, a device and a system for synthesizing panoramic stereograms, and a browsing device for panoramic stereograms. The method includes: acquiring a plurality of original images which meet first predetermined conditions and are acquired by an imaging device; cutting each original image to obtain a first sub-image and a second sub-image; splicing the first sub-images to form a first panoramic image, and splicing the second sub-images to form a second panoramic image. The first predetermined conditions include: visual areas of the original images are sequentially adjacent, each two adjacent original images have overlapped visual areas, and the sum of visual angles of the original images is larger than or equal to 720 degrees. The visual area of the first sub-image of each original image and the visual area of the second sub-image of the adjacent original image overlap completely. A user can have a full view of a stereo image when watching the first panoramic image and the second panoramic image.

Description

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

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

Technical field

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

Background technology

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

Along with people are more and more higher for the requirement of image, usually wish to see panoramic picture or stereo-picture, panoramic picture refers to that image can reach and meets the normal effectively visual angle of eyes (about horizontal 90-degree, vertical 70 spend) or comprise that (approximately level 180 is spent at eyes remaining light visual angle, vertical 90 degree) more than, and even the captured image that goes out of the complete angular field of view of 360 degree, stereo-picture refers to have two pictures with alternate position spike and represents the content that left and right sides eyes are watched, and utilizes the right and left eyes parallax to allow the observer produce image with the depth preception effect.

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

The inventor finds under study for action, and existing image combining method just splices the image of different visual angles, forms the image of panorama.But do not have a kind of effective image synthetic technology in the prior art, can form panorama and three-dimensional image, to satisfy user's viewing demand.

Summary of the invention

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

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

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

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

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

Each first subimage is spliced processing form the first panoramic picture, and each second subimage is spliced processing formation the second panoramic picture.

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

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

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

Each r subimage is spliced respectively processing form r panoramic picture, r=1,2 ... n.

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

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

Cut out module, be used for according to default panorama visual angle and original image number, each original image is cut out out the first subimage and the second subimage, and wherein, the second subimage of the original image that the first subimage of each original image is adjacent is complete overlapped view zone;

Synthesis module is used for that each first subimage is spliced processing and forms the first panoramic picture, and each second subimage is spliced processing formation the second panoramic picture.

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

Cut out module, be used for each original image being cut out out the n number of sub images by same direction: comprise the first subimage, the second subimage according to default panorama visual angle and original image number ... the n subimage; Wherein, the m+1 subimage of the original image that the m subimage in each original image is adjacent is complete overlapped view zone, m=1,2 ... n-1;

Synthesis module is used for that each r subimage is spliced respectively processing and forms r panoramic picture, r=1,2 ... n.

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

Described imaging device is used for gathering original image;

Described image processor is for a plurality of original images of the first predetermined condition of obtaining described imaging device collection, described the first predetermined condition is: described a plurality of original images are that area of visual field is adjacent successively, and two adjacent original images have the image in overlapped view zone, each overlapped view zone is overlapping at least twice, and visual angle sum corresponding to described a plurality of original images is more than or equal to 720 degree; According to default panorama visual angle and original image number, each original image is cut out out the first subimage and the second subimage, wherein, the second subimage of the original image that the first subimage of each original image is adjacent is complete overlapped view zone; Each first subimage is spliced processing form the first panoramic picture, and each second subimage is spliced processing formation the second panoramic picture.

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

Described imaging device is used for gathering original image;

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

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

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

Be arranged on the processing module of described first lens module and described the second lens module direction, described processing module comprises the display screen in the face of described first lens module and described the second lens module, and described display screen comprises the first viewing area of corresponding described first lens module and the second viewing area of corresponding described the second lens module; By adjust described can be so that the described separatrix place that is in described the first viewing area and described the second viewing area every tabula rasa every tabula rasa;

Described processing module is used for obtaining by a plurality of original images with first predetermined condition, according to default panorama visual angle and original image number, each original image is cut out out the first subimage and the second subimage, process the first panoramic picture that forms and the second panoramic picture that is formed by each the second subimage splicing processing by each the first subimage splicing; And show described the first panoramic picture in described the first viewing area and show described the second panoramic picture in described the second viewing area;

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

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

Via above-mentioned technical scheme as can be known, compared with prior art, the invention provides a kind of panoramic stereo image synthetic method, device, system and browsing apparatus, at first obtain a plurality of original images of the first predetermined condition that imaging device gathers, then with default panorama visual angle and the original image number of described original image basis, cut out out the first subimage and the second subimage, and the second subimage of the first subimage of each original image and an original image adjacent with this original image corresponding be complete overlapping area of visual field.Afterwards each first subimage is spliced and process formation the first panoramic picture, and each second subimage is spliced processing formation the second panoramic picture.Described the first panoramic picture and described the second panoramic picture are can be so that produce two panoramic pictures of parallax sensation, so the user can watch panorama and have relief image when watching described the first panoramic picture and described the second panoramic picture.

Description of drawings

In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art, the below will do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art, apparently, accompanying drawing in the following describes only is embodiments of the invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to the accompanying drawing that provides other accompanying drawing.

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

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

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

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

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

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

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

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

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

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

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

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

Figure 13 is a kind of schematic diagram of cutting out of four original images of the present invention;

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

Figure 15 is a kind of schematic diagram of cutting out of three original images of the present invention.

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

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

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

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

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

Embodiment

Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that obtains under the creative work prerequisite.

The embodiment of the invention discloses a kind of panoramic stereo image synthetic method, device, system and browsing apparatus, at first obtain a plurality of original images of the first predetermined condition that imaging device gathers, then with default panorama visual angle and the original image number of described original image basis, cut out out the first subimage and the second subimage, and the second subimage of the first subimage of an original image and the original image adjacent with this original image corresponding be complete overlapping area of visual field.Afterwards each first subimage is spliced and process formation the first panoramic picture, and each second subimage is spliced processing formation the second panoramic picture.Described the first panoramic picture and described the second panoramic picture are to feel two panoramic pictures so that produce parallax, so the user can watch panorama and have relief image when watching described the first panoramic picture and described the second panoramic picture.

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

Step 101: a plurality of original images that obtain the first predetermined condition of imaging device collection, described the first predetermined condition is: described a plurality of original images are that area of visual field is adjacent successively, and adjacent original image has the image in overlapped view zone, each overlapped view zone is overlapping at least twice, and visual angle sum corresponding to a plurality of original images is more than or equal to 720 degree.

The purpose of the present embodiment is the image for synthetic full-view stereo.

Wherein, panoramic picture refers to exceed the effective visual angle of people's emmetropia or comprises more than the eyes remaining light visual angle, and even the corresponding image of complete field range of 360 degree.Obtain the image that imaging device gathers in the present embodiment, the visual angle that described original image is corresponding namely refers to the visual angle of imaging device, the absolute visual field scope that the expression imaging device can be taken, that is to say, described original image is that imaging device gathers the image that the scene in absolute visual field scope corresponding to its visual angle obtains.

Described imaging device can refer to that camera, video camera etc. have the photographic equipment of pick-up lens, perhaps also can be the camera that can gather image.When described imaging device gather when the video image, then need at first video image to be carried out frame and separate, again with each two field picture as original image.

The a plurality of original images that obtain need first predetermined condition, that is: the area of visual field of a plurality of original images is adjacent successively, and two adjacent original images have the overlapped view zone, overlapping at least 2 times of each overlapped view zone, the visual angle sum that a plurality of original images are corresponding is spent more than or equal to 720.

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

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

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

Has relief panoramic picture in order better to synthesize, in described a plurality of original image, it is overlapping twice that overlapped view zone in each area of visual field needs at least, to guarantee that area of visual field corresponding to each angle all has the area of visual field that overlaps in the panoramic picture.

For example get access to A, B, C, four original images of D, the area of visual field of these four original image representatives is adjacent successively, and adjacent two original images have the overlapped view zone, suppose by the order of this A, B, C, D, A adjacent successively, then A and B need to have the overlapped view zone, B and C need to have the overlapped view zone, and C and D need to have the overlapped view zone, and D and A need to have the overlapped view zone.Certainly when visual angle corresponding to original image is all very large, the overlapped view zone can be arranged also between other original images, so each overlapped view zone at least will overlapping twice.In order to guarantee to form stereo-picture, described original image A, B, C, its corresponding visual angle sum of D need to more than or equal to 720 degree, also namely need to satisfy following relational expression simultaneously:

N*M≥720°，

Wherein, described N is the original image number, and described M is that the maximum of imaging device is taken the visual angle, it also is the corresponding visual angle of each original image, if the visual angle that for example each original image is corresponding is 120 degree, then according to following formula as can be known, need at least to gather six original images.

Wherein, in order to reduce operand, the visual angle that the original image that obtains is corresponding should be larger visual angle as far as possible, therefore described imaging device specifically can be to adopt wide-angle lens or fish eye lens etc. to have the imaging device of super large visual angle camera lens, therefore can reduce the quantity of the original image that obtains, for example fish-eye shooting visual angle can reach 180 degree, synthesize the panoramic pictures of 360 degree, gathers at least four original images and gets final product.

The a plurality of original images that obtain the imaging device collection can have various ways:

A kind of possible mode is: obtain a plurality of original images that an imaging device gathers in a plurality of different camera sites.

For a plurality of original images that guarantee to gather satisfy above-mentioned the first predetermined condition, need to take the visual angle according to the maximum of this imaging device, determine to be captured in the original image of which place, camera site picked-up.The original image number N that gathers, the maximum of imaging device is taken visual angle M need satisfy following relational expression:

N*M≥720°。

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

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

In addition, for the area of visual field that guarantees different original images is adjacent successively, need separated by a distancely between the different camera sites, can make human eye produce the parallax effect to guarantee final synthetic image.

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

Scope in, therefore known two eyeball spacings can obtain circle diameter.

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

Need to prove, in the certain error scope, the shooting focus that the original image that gathers is corresponding can have certain deviation along the radius of a circle direction.

Another kind of possible mode is: obtain and lay respectively at the original image that a plurality of imaging devices on the different camera sites gather.

Each imaging device gathers an original image, and for a plurality of original images that guarantee to gather satisfy above-mentioned the first predetermined condition, the original image number that gathers also is imaging equipment number N, and the maximum of imaging device is taken visual angle M need satisfy following relational expression:

N*M≥720°。

The imaging device number has a plurality of, i.e. corresponding what original images that gather need separated by a distancely between the camera site when a plurality of imaging devices are taken, have a collection position with the image that guarantees final collection poor.

In order to improve the imaging effect of synthetic panoramic stereo image, the shooting focus that is positioned on a plurality of imaging devices on the different camera sites is positioned on the same circumference, and each takes the extension line of focus through the center of circle of described circumference.

Scope in, therefore known two eyeball spacings can obtain circle diameter.

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

Another possible mode is: at first, obtain the first initial pictures that an imaging device gathers by a plurality of reflectors that are positioned at before the described imaging device camera lens, described reflector is positioned on the same circumference, and convex surface is used for the light reflection of 360 degree is advanced in the imaging device camera lens towards plane, described imaging device camera lens place;

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

Concrete, reflector is arranged on the same circumference, and the imaging device camera lens is towards the center of circle of this circumference.Focal length by adjusting imaging device and camera lens can so that camera lens can complete and only photograph described reflector, make it possible to gather whole scenes that reflector reflects to the parameters such as distance in this center of circle.The diameter of reflector place circumference need to be greater than 0.This circle diameter can obtain according to two eyeball spacings.Two eyeball spacings need described circle diameter 1/2 to described circle diameter

Scope in, therefore known two eyeball spacings can obtain circle diameter.

Because the image that gathers by each reflector is the corresponding scene of the 360 complete field ranges of degree.For a plurality of original images that guarantee to mark off satisfy described the first predetermined condition, the number R of described reflector need satisfy:

R*360≥720°。

Therefore need to obtain the first initial pictures that imaging device gathers by at least two reflectors.And then described the first initial pictures divided, distinguish the corresponding image of each reflector, the visual angle that the corresponding original image of each reflector is corresponding is 360 degree.Because reflector is positioned on the diverse location, therefore can guarantee that original image satisfies this predetermined condition.

In order to guarantee the quality of composograph, while is for fear of the waste of resource, preferably, described reflector is three or four, thereby can be when carrying out the image cutting-out processing, the image of the reflector of other that can each reflector is captured is removed, and has guaranteed the last image that synthesizes in the picture quality of specific direction, and also has stereoscopic sensation at special angle.

Another possible mode is: a plurality of original images that obtain the first predetermined condition that a plurality of imaging devices of being positioned on the different camera sites gather by a reflector respectively.

Wherein, the shooting focus of described a plurality of imaging devices is positioned on the same circumference, and the camera lens of described a plurality of imaging devices is towards same direction, and described reflector is positioned at the top, the center of circle of described circumference, and convex surface is towards plane, described imaging device camera lens place.

The diameter of this circumference need to be greater than 0.This circle diameter can obtain according to two eyeball spacings.Two distance values need described circle diameter 1/2 to described circle diameter

Scope in, therefore known two spacings can obtain circle diameter.

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

By being adjusted to picture device focus or reflector to the parameters such as distance in this circumference center of circle, so that each imaging device can complete and only photograph this reflector.Thereby so that reflector can enter the light reflection of 360 degree in the different imaging device camera lenses, also be that the visual field corresponding to original image that each imaging device gathers is 360 degree

Therefore, satisfy described the first predetermined condition in order to guarantee a plurality of original images that a plurality of imaging devices gather, spend more than or equal to 720 according to the visual field sum that a plurality of original images are corresponding in described the first predetermined condition, imaging device needs two at least as can be known.

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

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

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

Wherein, described every group of reflective mirror comprises at least two reflective mirrors, and described reflector is positioned at described imaging device camera lens direction, and convex surface is towards described imaging device camera lens; Described many group reflective mirrors are between described imaging device and described reflector; The successively adjacent arrangement of described many group reflective mirrors;

Described every group of reflective mirror is used for the light of described reflector reflection is entered described imaging device camera lens again behind Multi reflection.

Position between reflective mirror, reflector and the imaging device is adjustable, and the angle between each reflective mirror in every group of reflective mirror is also adjustable.Reflector can reflect light in the 360 degree scopes, by adjusting the position between reflective mirror, reflector and the imaging device, and the angle between the reflective mirror in every group of reflective mirror, wherein the angle between each reflective mirror of reflective mirror is not identical on the same group, the in the same size of each reflective mirror, can be so that every group of reflective mirror can be with all or part of light of reflector reflection again behind Multi reflection, enter the imaging device camera lens, the light that every group of reflective mirror reflects has overlapping light, and visual angle corresponding to the light that every group of reflective mirror reflects is more than or equal to 180 degree.

Wherein, satisfy at visual angle corresponding to light reflected of the group number of reflective mirror and every group of reflective mirror: group number * visual angle 〉=180 °.

Therefore, because every group of reflective mirror is adjacent successively, the corresponding area of visual field of light that reflects through every group of reflective mirror also is adjacent successively, and has the overlapping region, each overlapping region is overlapping at least twice, and the visual angle sum that reflective mirror institute reflection ray is not corresponding on the same group is more than or equal to 720 degree;

As a specific embodiment, described every group of reflective mirror comprises two reflective mirrors, and by position and angular setting, every group of reflective mirror can with the light of 360 degree scopes of described reflective mirror reflection again behind two secondary reflections, enter camera lens.In actual applications, preferably, comprise altogether four groups of reflective mirrors.

Secondly, described the second initial pictures is divided, determined the original image of corresponding every group of reflective mirror.

The second initial pictures that imaging device is captured need to be divided again, to determine every group of original image corresponding to light that reflective mirror reflects.

After dividing according to the second initial pictures of the manner collection, a plurality of original images that mark off are first predetermined condition again.

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

Each original image all needs to cut out out the first subimage and the second subimage, and the visual angle that each of cutting out out the first subimage is corresponding can be identical, also can be different, and the visual angle that each the second subimage is corresponding can be identical, also can be different.And the first subimage in each original image can be identical with the corresponding visual angle of the second subimage, also can be different.But, what the subimage of cutting out out need to satisfy is: the corresponding fully overlapping zone of the second subimage of the original image that the first subimage of each original image is adjacent, it is identical also to be that the corresponding visual angle of the second subimage of the original image that is adjacent of the first subimage of each original image needs, two images that the second subimage of an original image that is adjacent take the first subimage that guarantees this original image is felt for producing parallax.

The original image that described original image is adjacent namely refer to the area of visual field adjacent with its corresponding area of visual field the corresponding image of shooting, wherein, therefore an original image may have two adjacent original images, and described the second subimage of cutting out the original image that the first subimage that operation need guarantee each original image is adjacent is complete overlapped view zone.Because a plurality of original image area of visual field are adjacent successively, therefore so that the second subimage of each original image is the first subimage of another original image of being adjacent is complete overlapped view zone.And in same original image, the first subimage and area of visual field corresponding to the second subimage are required to be continuous.

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

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

For example, when described panorama visual angle is 360 when spending, suppose the original image that has four to satisfy above-mentioned predetermined condition, then in each original image, the first visual angle and the second visual angle sum are required to be the 360*2/4=180 degree.

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

Shooting area of visual field corresponding to the second subimage that is to say the original image that the first subimage of each original image is adjacent is identical area of visual field, and just the camera site is different.

Described crop position need to satisfy, and in the image of the both sides that described crop position is divided, can determine image corresponding to the first visual angle or the second visual angle.

Preferably, because the image quality at the camera lens of imaging device middle part is best when gathering image, therefore can select the centre position of each original image as crop position, then from the both sides of described crop position, determine respectively the first subimage corresponding to the first visual angle, and the second subimage corresponding to the second visual angle.Also namely determine respectively corresponding the first subimage and second subimage of area of visual field of the first visual angle and the second visual angle representative.

Step 103: each first subimage is spliced processing form the first panoramic picture, and each second subimage is spliced processing formation the second panoramic picture.

After all cutting out out the first subimage and the second subimage for each original image, each the first subimage can be spliced processing.The first subimage contiguous concatenation of the original image that area of visual field is adjacent, because the corresponding visual angle of the second subimage of the original image that the visual angle corresponding to the first subimage of each original image is adjacent is identical, visual angle sum corresponding to the first subimage that also is the original image that is adjacent of the visual angle corresponding to the first subimage of each original image equals Q*2/N, N is the original image number, after therefore a plurality of the first subimage splicings, can form the first panoramic picture of corresponding described panorama angle.

In like manner, each second subimage is spliced processing and can form the second panoramic picture.

Wherein, fully the position in the first panoramic picture is identical with the position in the second panoramic picture respectively with the second subimage for first subimage in overlapped view zone, and is identical with area of visual field corresponding in the first panoramic picture of guaranteeing to synthesize and the second panoramic picture same view angle.The first panoramic picture and the second panoramic picture are identical picture material, and are equivalent to respectively the image in the same field of view zone that diverse location gathers, and have a collection position poor.Therefore when the first panoramic picture and the second panoramic picture are exported in the stereo-picture browser, the user is when watching, so that user's eyes, only see a wherein panoramic picture such as left eye, such as the first panoramic picture, the another eyes, only see another panoramic picture such as right eye, such as the second panoramic picture, user's eyes namely can produce parallax, thereby can see having relief panoramic stereo image.

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

Described the first panoramic picture and the second panoramic picture be the image seen of commissarial right and left eyes respectively, because the second subimage of the original image that the first subimage of each original image is adjacent is complete overlapping area of visual field, just collection position is different, also namely have collection position poor, the first panoramic picture after therefore splicing is processed and the second panoramic picture are for producing two images of parallax.Therefore utilize the parallax of right and left eyes, when watching spliced the first panoramic picture and the second panoramic picture, namely can allow the people produce the stereoscopic panoramic image of seeing with the depth preception effect.

In the present embodiment, by obtaining a plurality of original images of first predetermined condition, and cut out and splice processing, form the first panoramic picture and the second panoramic picture, form the panoramic picture that two width of cloth can produce the parallax effect, so that the user when watching image, can watch panorama and have relief image.

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

Step 201: a plurality of video images that obtain respectively a plurality of imaging device synchronous acquisitions.

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

Step 202: each video image is carried out frame separates, with in the different video image in time synchronously and a two field picture of first predetermined condition as original image.

Because video image is to be formed by one by one image, therefore at first described video image is carried out the frame separation.And the video image that obtains is the video image of the synchronous acquisition that obtains, namely refers to synchronously time synchronized, also is that a plurality of imaging devices carry out video capture at the same time.

Video image is carried out after frame separates, and as described original image, also is all corresponding a plurality of original images of upper each synchronous frame of time with a upper synchronous two field picture of time in each video image.

An also i.e. two field picture synchronous with this two field picture in time in a two field picture in the video image and other video images synchronous with it is as original image.

Step 203: according to default panorama visual angle and original image number, a plurality of original images that each frame is corresponding are cut out out respectively the first subimage and the second subimage.

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

Step 204: each first subimage that each frame is corresponding splices processes formation the first panoramic picture, and each second subimage that each frame is corresponding splices processing formation the second panoramic picture.

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

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

Owing to all having carried out the operation of step 203 ~ step 204 for the corresponding a plurality of original images of each frame of video image, therefore can obtain several first panoramic pictures of corresponding video frame image and the second panoramic picture, then the first panoramic picture that each frame is corresponding carries out the frame combination, namely formed the first full-view video image, and the second panoramic picture that each frame is corresponding carries out frame combination, namely forms the second full-view video image.

At last, described the first full-view video image and described the second full-view video image are outputed to the three-dimensional video-frequency reader, the user namely can be observed panorama and three-dimensional video image.

Introduce in detail implementation of the present invention below in conjunction with concrete practical application scene of the present invention, referring to Fig. 3, show the process flow diagram of a kind of panoramic stereo image synthetic method of the present invention embodiment 3.

The present embodiment is take synthetic 360 degree panoramic stereo images as example, the visual angle that the original image that gathers is corresponding is spent more than or equal to 180, therefore spend more than or equal to 720 according to visual angle sum corresponding to described a plurality of original images, therefore equal 180 when spending when visual angle corresponding to original image, described original image will gather four at least, therefore the present embodiment is take four original images as example, and described four original images are that area of visual field is adjacent successively, and two adjacent original images have the image in overlapped view zone, and described method can comprise:

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

In the present embodiment, establish described four original images and be expressed as respectively A, B, C, D.

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

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

Another kind of possible mode is: obtain four original images that imaging device gathers that lay respectively at four different camera sites, the camera lens focus of described four imaging devices is positioned on the same circumference, each takes the extension line of focus through the center of circle of described circumference, and in order to guarantee the stereoeffect of final composograph, described four imaging devices are spacedly distributed on described circumference.

Another possible mode is: obtain the first initial pictures that an imaging device gathers by four reflectors that are arranged on before its camera lens, then described the first initial pictures is divided, determine the corresponding original image of each reflector, described reflector is positioned on the same circumference, and convex surface is towards plane, described imaging device camera lens place.

Another possible mode is: a plurality of original images that obtain the first predetermined condition that four imaging devices being positioned on the different camera sites gather by a reflector, wherein, the shooting focus of described four imaging devices is positioned on the same circumference, the camera lens of described four imaging devices is towards same direction, described reflector is positioned at the top, the center of circle of described circumference, and convex surface is towards plane, described four imaging device camera lens places.

Another may mode be: obtain the second initial pictures that an imaging device gathers by being positioned at 4 groups of reflective mirrors before the imaging device camera lens and a reflector.Described the second initial pictures is divided, determined respectively four original images of corresponding every group of reflective mirror.Described four original images satisfy described the first predetermined condition.

Wherein, two reflective mirrors of described every group of reflective mirror bag, described reflector is positioned at described imaging device camera lens direction; Described four groups of reflective mirrors are between described imaging device and described reflector; The successively adjacent arrangement of described four groups of reflective mirrors, every group of reflective mirror is used for the light of described reflector reflection is entered described imaging device camera lens again behind Multi reflection.

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

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

Step 303: the centre position of selecting each original image is crop position, cuts out out the first subimage and the second subimage in described crop position both sides respectively.

Step 304: each first subimage is spliced processing form the first panoramic picture, and each second subimage is spliced processing formation the second panoramic picture.

Concrete, Fig. 4 is a kind of schematic diagram of cutting out of each original image in the present embodiment.Among Fig. 4, a, b, the different imaging device of c, d representative, the camera lens focus of this imaging device is positioned on the same circumference.A, b, c, d are spacedly distributed on circumference, and the line of corresponding imaging device forms respectively X-axis and Y-axis.The original image of shooting is respectively A, B, C, D, respectively the visual angle of corresponding 180 degree.Be crop position with the centre position of each original image, the first subimage that image A is cut out is that A1, the second subimage are A2; The first subimage that image B is cut out is that B1, the second subimage are B2; The first subimage that image C is cut out is that C1, the second subimage are C2; The first subimage that image A is cut out is that D1, the second subimage are D2, and each first subimage and visual angle corresponding to the second subimage are 90 degree.

Fig. 5 is the first panoramic picture that forms after the first subimage splicing of each original image is processed.Fig. 6 is the second panoramic picture that forms after the second subimage splicing of each original image is processed.Can be found out by Fig. 5 and Fig. 6, the first subimage with complete overlapped view zone and the second subimage respectively in the first panoramic picture the position identical with the position in the second panoramic picture, be arranged on same position such as image A 1 and image B 2, image B 1 is arranged on identical position with image C 2, image C 1 is arranged on identical position with image D2, image D1 is arranged on identical position with image A 2, so that the first panoramic picture and the second panoramic picture have identical content, and the first panoramic picture and the second panoramic picture are equivalent to respectively the image in the same field of view zone that diverse location gathers, and it is poor to have a collection position.When the first panoramic picture and the second panoramic picture are exported in the stereo-picture browser, the user is when watching, when user's eyes are only seen a wherein panoramic picture, such as the first panoramic picture, the another eyes are only seen another panoramic picture, such as the second panoramic picture, user's eyes namely can produce parallax, thereby can see having relief panoramic stereo image.

In the present embodiment, the visual angle of four correspondences is greater than the original image of 180 degree, determine the crop position of each original image, cut out out the first subimage and the second subimage, and respectively each first subimage and each second subimage are spliced processing, the people forms the first panoramic picture and the second panoramic picture that two width of cloth have the parallax effect, so that when watching image, can watch panorama and have relief image.

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

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

Step 701: a plurality of original images that obtain the second predetermined condition of imaging device collection.

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

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

Adjacent original image has the overlapped view zone, and each overlapped view zone superimposed n time at least that is to say that area of visual field all has identical area of visual field, each overlapped view zone of guarantee superimposed n time at least in adjacent n the original image successively, n 〉=3, and be positive integer.N panoramic picture finally namely can be synthesized in each overlapping region superimposed n time at least, and therefore the numerical value of described n is relevant with the number that needs synthetic panoramic picture.

Wherein, suppose that the original image number is N, the visual angle that each original image is corresponding, i.e. the maximum shooting of imaging equipment visual angle is M, then the visual angle sum of N original image need to satisfy: N*M 〉=360 ° * n.

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

The described a plurality of original images that obtain the second predetermined condition of imaging collection can have several modes:

A kind of possibility mode be: obtain a plurality of original images that an imaging device gathers in a plurality of different camera sites, and the original image number N of described collection, the maximum of imaging device is taken visual angle M, also is that visual angle corresponding to original image need be satisfied: N*M 〉=360 ° * n.

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

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

Scope in, therefore known two eyeball spacings can obtain circle diameter.

Another kind of possibility mode be: obtain and lay respectively at the original image that a plurality of imaging devices on the different camera sites gather.The original image number also is the number N of imaging equipment, and the visual angle that original image is corresponding also is that the maximum shooting visual angle M of imaging equipment need satisfy: N*M 〉=360 ° * n.

The shooting focus of described a plurality of imaging devices is positioned on the same circumference, and each takes the extension line of focus through the center of circle of described circumference.

Scope in, therefore known two eyeball spacings can obtain circle diameter.

Another may mode be: at first, obtain the first initial pictures that an imaging device gathers by a plurality of reflectors that are positioned at before the described imaging device camera lens.Described reflector is positioned on the same circumference, and convex surface is towards plane, described imaging device camera lens place, be used for the light reflections of 360 degree are advanced in the imaging device camera lens,

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

Wherein, the number R of reflector need satisfy: R*360 〉=360 ° * n.Reflector is arranged on the same circumference, and the imaging device camera lens is towards the center of circle of this circumference.Focal length by adjusting imaging device and camera lens can so that camera lens can complete and only photograph described reflector, make it possible to gather whole scenes that reflector reflects to the parameters such as distance in this center of circle.The diameter of reflector place circumference need to be greater than 0.This circle diameter can obtain according to two eyeball spacings.Two eyeball spacings need described circle diameter 1/2 to described circle diameter

Scope in, therefore known two eyeball spacings can obtain circle diameter.

Another possible mode is: obtain a plurality of original images that satisfy predetermined condition that a plurality of imaging devices of being positioned on the different camera sites gather by a reflector respectively.

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

More than or equal to 360 ° of * n, because in this kind situation, the visual angle that the original image that each imaging device gathers is corresponding is 360 degree, imaging device needs n at least as can be known according to a plurality of original images are corresponding in the second predetermined condition visual field sum.

Another possible mode is: obtain the second initial pictures that an imaging device gathers by being positioned at many groups reflective mirror before the imaging device camera lens and a reflector.Described the second initial pictures is divided, determined respectively a plurality of original images of corresponding every group of reflective mirror.Described a plurality of original image satisfies described the first predetermined condition.

Wherein, described every group of reflective mirror comprises two reflective mirrors at least, and described reflector is positioned at described imaging device camera lens direction; Described many group reflective mirrors are between described imaging device and described reflector; The successively adjacent arrangement of described many groups group reflective mirror, every group of reflective mirror is used for the light of described reflector reflection is entered described imaging device camera lens again behind Multi reflection.

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

Wherein, the mode of cutting out of each original image is consistent.Area of visual field corresponding to n number of sub images in each original image is continuous successively.

When n=3, also be that each original image is cut out out three number of sub images: the first subimage, the second subimage and the 3rd subimage.The area of visual field that the first subimage, the second subimage and the 3rd subimage are corresponding is continuous successively.The corresponding identical area of visual field of the second subimage of the original image that then the first subimage of each original image is adjacent with this original image, the corresponding identical area of visual field of the 3rd subimage of the second subimage of each original image and described adjacent original image.Because a plurality of original image area of visual field are adjacent successively, so the corresponding identical area of visual field of the first subimage of the 3rd subimage of each original image another original image adjacent with this original image.

When n=4, also be that each original image is cut out out four number of sub images: the first subimage, the second subimage, the 3rd subimage and the 4th subimage.The area of visual field that the first subimage, the second subimage, the 3rd subimage and the 4th subimage are corresponding is continuous successively.The corresponding identical area of visual field of the second subimage of the original image that is adjacent of the first subimage of each original image then, the corresponding identical area of visual field of the 3rd subimage of the described adjacent original image of the second subimage of each original image, the corresponding identical area of visual field of the 4th subimage of the 3rd subimage of each original image and described adjacent original image, because a plurality of original image area of visual field are adjacent successively, so the corresponding identical area of visual field of the first subimage of the 4th subimage of each original image another original image adjacent with this original image.

The like, the relation of the subimage of a plurality of original images can be referring to described above.

Wherein, suppose that the original image number is N, default panorama visual angle is Q, then according to default panorama visual angle and original image number, each original image is cut out out the n number of sub images be specially:

At first according to the number of described panorama visual angle and original image, calculate visual angle corresponding to subimage to be cut out in each original image.

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

Secondly, according to visual angle corresponding to subimage to be cut out of determining, each original image is cut out out the n number of sub images.

When a plurality of subimages of cutting out out in each original image corresponding visual angle sum during less than visual angle corresponding to original image, the part of preferentially selecting the picture material of the center section of original image to cut out as needs.

Step 703: each r subimage is spliced respectively processing form r panoramic picture, r=1,2 ... n synthesizes n panoramic picture.

This step namely refers to, each first subimage is spliced processing form the first panoramic picture, each second subimage is spliced processing form the second panoramic picture ... each n subimage is spliced respectively processing form the n panoramic picture, therefore, finally synthesize n panoramic picture.

Because the corresponding identical picture material of m+1 subimage of the original image that the m subimage of each original image is adjacent with this original image, therefore final n synthetic panoramic picture is identical picture material.And be equivalent to respectively the image in the same field of view zone that diverse location gathers.Therefore the user watches any two panoramic pictures all can be so that human eye produces parallax, thereby produces stereoscopic sensation.

Final n synthetic panoramic picture presents simultaneously, supplies the user when watching, because per two panoramic pictures all can so that human eye produces parallax, produce stereoscopic sensation.Therefore need not special stereo-picture browsing apparatus, the user namely can see the image of full-view stereo, also is that n panoramic picture namely forms the full view hologram picture, and user's direct viewing can be seen panorama and have relief image.

In the present embodiment, by obtaining a plurality of original images of second predetermined condition, and cut out and splice processing, form n the panoramic picture with same image content, because per two panoramic pictures are the panoramic picture that can produce parallax, the user can watch panorama and have relief image when browsing described panoramic picture, therefore need not special stereo-picture browsing apparatus, the user also can see having relief panoramic picture.

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

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

Wherein, as another embodiment, described acquisition module 801 is concrete to be used for obtaining a plurality of original images of the first predetermined condition that an imaging device gathers in different camera sites respectively, the shooting focus of the described imaging device that described different original image is corresponding is positioned on the same circumference, and each takes the extension line of focus through the center of circle of described circumference.

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

Wherein, as another embodiment, described acquisition module specifically is used for obtaining the first initial pictures that an imaging device gathers by a plurality of reflectors that are positioned at before the described imaging device camera lens, and described reflector is positioned on the same circumference, and convex surface is towards plane, described imaging device camera lens place; Described the first initial pictures is divided, determined the original image of the first predetermined condition of corresponding each reflector.

Wherein, as another embodiment, described acquisition module can be specifically be used for obtaining a plurality of original images of the first predetermined condition that a plurality of imaging devices of being positioned on the different camera sites gather by a reflector, wherein, the shooting focus of described a plurality of imaging devices is positioned on the same circumference, the camera lens of described a plurality of imaging devices is towards same direction, and described reflector is positioned at the top, the center of circle of described circumference, and convex surface is towards plane, described imaging device camera lens place.

Cut out module 802, be used for according to default panorama visual angle and original image number, each original image is cut out out the first subimage and the second subimage, and wherein, the second subimage of the original image that the first subimage of each original image is adjacent is complete overlapped view zone.

Wherein, the described module 802 of cutting out specifically comprises:

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

Cut out submodule 8022, be used for determining the crop position of each original image, and cutting out out described the first subimage and described the second subimage according to described the first visual angle and described the second visual angle.

Synthesis module 803 is used for that each first subimage is spliced processing and forms the first panoramic picture, and each second subimage is spliced processing formation the second panoramic picture.

Device of the present invention can be integrated in the image processor in actual applications, also can be used as independent entity and links to each other with image processor.

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

Obtain submodule 9011, be used for obtaining respectively the video image that is positioned at a plurality of imaging device synchronous acquisitions on the different camera sites, the shooting focus of described a plurality of imaging devices is positioned on the same circumference, and each takes the extension line of focus through the center of circle of described circumference.

In order to guarantee a plurality of imaging device synchronous acquisitions, can control by synchro timer.

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

Trigger module 9013 is used for for a plurality of original images corresponding to each frame, triggers the described module of cutting out and starts.

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

The present embodiment can be realized the processing to video image, thereby so that the user is watching video, can watch panoramic video, and can produce stereo perception.

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

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

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

Synthesis module 1003 is used for that each r subimage is spliced respectively processing and forms r panoramic picture, r=1,2 ... n.

In the present embodiment, by obtaining a plurality of original images of second predetermined condition, and cut out and splice processing, form n the panoramic picture with same image content, per two panoramic pictures are the panoramic picture with parallax, and the user can watch panorama and have relief image when browsing described panoramic picture, and need not special stereo-picture browsing apparatus, the user namely can see having relief panoramic picture.

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

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

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

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

N*M≥720°。

Wherein, in order to guarantee the stereoscopic sensation of composograph, the diameter of described circumference need to be greater than 0.This circle diameter is according to two parallax, and also namely two eyeball spacings calculate, the binocular parallax value need described circle diameter 1/2 to described circle diameter

Scope in, therefore known binocular parallax can obtain circle diameter.

As another embodiment of panoramic stereo image synthesis system, described system can comprise a plurality of imaging devices, wherein, each imaging device gathers an original image, described a plurality of imaging device is positioned at different camera sites, the shooting focus of described a plurality of imaging devices is positioned on the same circumference, and the maximum of the original image number N that gathers of imaging device and described imaging device is taken visual angle M and need be satisfied following relational expression:

N*M≥720°。

The imaging device number has a plurality of, i.e. corresponding what original images that gather.Satisfy the original image that a plurality of imaging devices of described relational expression gather and namely satisfy described the first predetermined condition.

The diameter of imaging device shooting focus place circumference need to be greater than 0.This circle diameter calculates according to two eyeball spacings, two eyeball spacing values need described circle diameter 1/2 to described circle diameter

Scope in, therefore known two eyeball spacings can obtain circle diameter.

As another embodiment of panoramic stereo image synthesis system of the present invention, described system also comprises reflector, before described reflector is arranged on the camera lens of described imaging device, and the plane, camera lens place of the corresponding described imaging device of convex surface when shooting is for the camera lens that 360 light reflections of spending scopes is advanced described imaging device; Then described image processor a plurality of original images of obtaining the first predetermined condition of described imaging device collection specifically obtain a plurality of original images that described imaging device gathers by described reflector.

In this embodiment, a kind of possibility situation be: described system comprises an imaging device, a plurality of reflectors.Described reflector position is positioned on the same circumference, and described imaging device camera lens is over against the center of circle of described circumference.Because the position of reflector is different, so that the scene that reflects has alternate position spike.The number R of reflector need satisfy: R*360 〉=720 °.

Then described image processor obtains a plurality of original images first initial pictures of gathering by described reflector of described imaging device specifically of the first predetermined condition of described imaging device collection, and described the first initial pictures divided, determine the original image of the first predetermined condition of corresponding each reflector.Because the image that different reflectors reflect is 360 degree panorama visual angles, and because reflector for being positioned at diverse location, therefore can be met the original image of this first predetermined condition.

Preferably, quality for the first initial pictures of guaranteeing to gather, while is for fear of the waste of resource, preferably, described reflector is three or four, thereby can carry out image cutting-out when processing, and the image of the reflector by captured other of each reflector can be removed, guaranteed last synthetic image in the picture quality of specific direction, and the stereoscopic sensation that has at special angle.

Take four reflectors as example, specifically referring to Figure 11, show imaging device when gathering image, a kind of structural representation of reflector and imaging device.Before four reflectors 10 were positioned at imaging device 20 camera lenses, convex surface was over against camera lens.

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

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

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

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

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

Figure 13 shows a kind of schematic diagram of cutting out of four original images, and four circles among the figure represent four original images, and the solid line of described circle partly represents the first subimage and the second subimage of cutting out out, and dotted portion namely represents remaining image section.Owing to adopting four reflectors, the image of other reflectors that therefore absorb by each reflector can be got rid of when cutting out, and also is the image that comprises other reflectors that absorb by each reflector in the image of dotted portion representative.

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

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

Take three reflectors as example, the first initial pictures of the imaging device collection that image processor obtains finally can mark off three original image A, B, the C of respectively corresponding three reflectors.Same hypothesis panorama visual angle is 360 degree, and then the first subimage of cutting out of each original image and the visual angle of the second subimage are 120 degree, and Figure 15 shows a kind of schematic diagram of cutting out for three original images.Three three original images that circular representative marks off, the solid line of described circle partly represents the first subimage and the second subimage of cutting out out, and dotted portion namely represents remaining image section.

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

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

In addition, the another kind of the present embodiment may situation be: described system specifically comprises a reflector, a plurality of imaging devices, and described a plurality of imaging devices are positioned on the same circumference, and camera lens is towards same direction, and described reflector convex surface is over against the center of circle of described circumference.

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

In this case, be to utilize the difference of imaging device camera site and so that the original image that adjacent imaging device collects has alternate position spike, satisfy described the first predetermined condition.

This circle diameter calculates according to two eyeball spacings, two eyeball spacing values need described circle diameter 1/2 to described circle diameter

Scope in, therefore known two eyeball spacings namely can calculate circle diameter.

In order to guarantee that each imaging device can both complete and only gather the image of this reflector reflection,

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

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

In addition, another of the present embodiment may situation be: imaging device comprises a plurality of, and described system also comprises a plurality of reflectors that are positioned at before the imaging device camera lens, and the camera lens of imaging device is towards same direction, and the reflector convex surface is over against plane, imaging device camera lens place.

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

As another embodiment of panoramic stereo image synthesis system, described system specifically comprises an imaging device, and described system also comprises a reflector and many group reflective mirrors.

Described every group of reflective mirror is used for the light of described reflector reflection is entered described imaging device camera lens again behind Multi reflection.Position between reflective mirror, reflector and the imaging device is adjustable, and the angle between each reflective mirror in every group of reflective mirror is also adjustable.Satisfy at the visual angle that the light that the group number of reflective mirror and every group of reflective mirror reflect is corresponding: group number * visual angle 〉=180 °.

Then described image processor specifically obtains the second initial pictures that gathers by being positioned at many groups reflective mirror before the imaging device camera lens and a reflector, and described the second initial pictures is divided, and determines respectively corresponding every group of reflective mirror original image.

Comprise four groups of reflective mirrors with described system, every group of reflective mirror comprises that two reflective mirrors are example, show a kind of structural representation of imaging device among the present invention, reflective mirror and reflector referring to Figure 18, described system comprises reflector 10, imaging device 20 and reflective mirror 30, not shown whole reflective mirrors among Figure 18, take two groups of reflective mirrors as example, show the light reflection circuit.Reflective mirror 31 and reflective mirror 32 are respectively two reflective mirrors in every group of reflective mirror.

By adjusting the position between imaging device, reflector and the reflective mirror, angle between each and every one reflective mirror of in every group of reflective mirror two, can so that every group of reflective mirror with all or part of light of reflector reflection again behind Multi reflection, enter the imaging device camera lens.A concrete application is whole light that reflector is reflected, and namely the light in the 360 degree scopes all reflects in the camera lens.Therefore so that the different area of visual field that absorb through every group of reflective mirror all have the overlapping region.

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

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

In the embodiment of the invention, described visual angle can comprise the horizontal view angle, also can refer to the vertical angle of view, no matter be to the corresponding original image of taking in which visual angle, the image combining method that adopts the present invention program to provide, can produce horizontal direction is panorama, or vertical direction is panorama and has relief image.Therefore satisfied user's viewing demand.

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

Described imaging device is used for gathering original image;

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

Pass through the present embodiment, finally can form a plurality of panoramic stereo images, because per two panoramic pictures are the panoramic picture with parallax, the user is when browsing described panoramic picture, need not special stereo-picture browsing apparatus, can watch panorama and have relief image.

The present invention also provides a kind of panoramic stereo image browsing apparatus, shows the structural representation of an embodiment of described device referring to Figure 20, and described device can comprise:

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

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

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

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

Described processing module 400 is used for obtaining by a plurality of original images with first predetermined condition, according to default panorama visual angle and original image number, each original image is cut out out the first subimage and the second subimage, processed forming the first panoramic picture and forming the second panoramic picture by each the second subimage splicing processing by each the first subimage splicing; And at described the first viewing area 410 described the first panoramic pictures of demonstration with at described the second panoramic picture of described the second viewing area 420 demonstrations.

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

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

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

Concrete, described processing module can also comprise sensing unit, for detection of the rotation of eyeball, and according to oculogyral direction, the user determines the image moving direction, can control the first panoramic picture and the second panoramic picture moves, so that can watch the image of panorama.

Because the first panoramic picture is identical with the second panoramic picture content, and be equivalent to gather in different camera sites, therefore user's eyes lay respectively at the first display position a and the second display position b when watching the display screen of described processing module, because every the tabula rasa effect, so that each eye of user can only be seen the panoramic picture that it is corresponding, utilize right and left eyes to produce parallax, thereby so that the user can produce stereoscopic sensation.

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

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

By adjusting described first lens module 100, described the second lens module 200 and described processing module 400, with described the first panoramic picture in the first display position imaging, with described the second panoramic picture in the second display position imaging.Concrete, by adjusting described processing module to the distance of described first lens module and the second lens module, and the position of adjusting described first lens module and the second lens module, can be with the first panoramic picture in the first different display position imagings, and with the second panoramic picture in the second different display position imagings.Thereby so that the user can adjust according to the personal considerations when reality is used browsing apparatus, can be just in time as user's eyes position to guarantee the first display position and the second display position.

Described first lens module and described the second lens module are specially the optical male lens module of closely imaging.

Support frame as described above can also comprise mirror holder or bandage, by described mirror holder or bandage, the user can directly be worn on head with described full-view stereo browsing apparatus, the eyes position is the lens imaging position, thereby so that the user can watch panorama and have relief image, and conveniently watch.

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

Wherein, as another embodiment, the first panoramic picture that described processing module is obtained and the second panoramic picture can be that to cut out splicing behind a plurality of original images of the processing module first predetermined condition of obtaining the imaging device collection synthetic after processing, concrete is according to default panorama visual angle and the number of described original image, each original image is cut out out the first subimage and the second subimage, formation the first panoramic picture is processed in each the first subimage splicing, each second subimage splicing is processed forming the second panoramic picture.

Described processing module is processed the process that forms the first panoramic picture and the second panoramic picture and specifically can referring to described in the above-mentioned panoramic stereo image synthetic method embodiment, not repeated them here.

Can realize watching the image informations such as full-view stereo picture or video by the described panoramic stereo image browsing apparatus of the embodiment of the invention.

Each embodiment adopts the mode of going forward one by one to describe in this instructions, and what each embodiment stressed is and the difference of other embodiment that identical similar part is mutually referring to getting final product between each embodiment.For the disclosed device of embodiment, because it is corresponding with the disclosed method of embodiment, so description is fairly simple, relevant part partly illustrates referring to method and gets final product.

To the above-mentioned explanation of the disclosed embodiments, make this area professional and technical personnel can realize or use the present invention.Multiple modification to these embodiment will be apparent concerning those skilled in the art, and General Principle as defined herein can be in the situation that do not break away from the spirit or scope of the present invention, in other embodiments realization.Therefore, the present invention will can not be restricted to these embodiment shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.

Claims

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

2. method according to claim 1 is characterized in that, the described a plurality of original images that obtain the first predetermined condition that imaging device gathers are specially:

Obtain a plurality of original images of the first predetermined condition that an imaging device gathers in different camera sites respectively, the shooting focus that described different original images are corresponding is positioned on the same circumference, and each takes the extension line of focus through the center of circle of described circumference; Perhaps,

Obtain respectively the original image that is positioned at the first predetermined condition that a plurality of imaging devices on the different camera sites gather, the shooting focus of described a plurality of imaging devices is positioned on the same circumference, and each takes the extension line of focus through the center of circle of described circumference.

3. method according to claim 1 is characterized in that, the described a plurality of original images that obtain the first predetermined condition that imaging device gathers are specially:

Obtain the first initial pictures that an imaging device gathers by a plurality of reflectors that are positioned at before the described imaging device camera lens, described a plurality of reflectors are positioned on the same circumference, and convex surface is towards plane, described imaging device camera lens place;

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

4. method according to claim 1 is characterized in that, the described a plurality of original images that obtain the first predetermined condition that imaging device gathers comprise:

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

5. method according to claim 1 is characterized in that, the described a plurality of original images that obtain the first predetermined condition of imaging device collection comprise:

Obtain the second initial pictures that an imaging device gathers by being positioned at many groups reflective mirror before the imaging device camera lens and a reflector, wherein, described every group of reflective mirror comprises at least two reflective mirrors; Described reflector is positioned at described imaging device camera lens direction; Described many group reflective mirrors are between described imaging device and described reflector; The successively adjacent arrangement of described many group reflective mirrors, every group of reflective mirror is used for the light of described reflector reflection is entered described imaging device camera lens again behind Multi reflection;

Described the second initial pictures is divided, determined the original image of corresponding every group of reflective mirror.

6. each described method is characterized in that according to claim 1 ~ 5, and is described according to described panoramic view angle and original image number, each original image cut out out the first subimage and the second subimage comprises:

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

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

7. method according to claim 1 is characterized in that, the described a plurality of original images that obtain the first predetermined condition that imaging device gathers comprise:

Obtain respectively the video image that is positioned at a plurality of imaging device synchronous acquisitions on the different camera sites, the shooting focus of described a plurality of imaging devices is positioned on the same circumference, and each takes the extension line of focus through the center of circle of described circumference;

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

Then for a plurality of original images corresponding to each frame, carry out described according to described panorama visual angle and original image number, the step of each original image being cut out out the first subimage and the second subimage;

Then described each first subimage is spliced process to form the first panoramic picture, and with each second subimage splice process form the second panoramic picture after, described method also comprises:

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

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

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

10. device according to claim 9 is characterized in that, the described module of cutting out comprises:

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

Cut out submodule, be used for determining the crop position of each original image, and cutting out out described the first subimage and described the second subimage according to described the first visual angle and described the second visual angle.

11. device according to claim 9 is characterized in that, described acquisition module comprises:

Obtain submodule, be used for obtaining the video image that is positioned at a plurality of imaging device synchronous acquisitions on the different camera sites respectively, the shooting focus of described a plurality of imaging devices is positioned on the same circumference, and each takes the extension line of focus through the center of circle of described circumference;

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

Trigger module is used for for a plurality of original images corresponding to each frame, triggers the described module of cutting out and starts;

Then described device also comprises:

The frame composite module is used for the first panoramic picture that each frame is corresponding and carries out the frame combination, forms the first full-view video image, and the second panoramic picture that each frame is corresponding carries out the frame combination, forms the second full-view video image.

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

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

Described imaging device is used for gathering original image;

14. system according to claim 13, it is characterized in that, described system specifically comprises one or more imaging device, described a plurality of original image is specially that described imaging device gathers in different camera sites, the shooting focus of the described imaging device that described different original image is corresponding is positioned on the same circumference, each takes the extension line of focus through the center of circle of described circumference, and the maximum shooting visual angle M of the original image number N that gathers of imaging device and each imaging device satisfies following relational expression:

N*M≥720°。

15. system according to claim 13, it is characterized in that, described system also comprises reflector, before described reflector is arranged on the camera lens of described imaging device, and convex surface is used for the light reflection of 360 degree scopes is advanced the camera lens of described imaging device over against the plane, camera lens place of described imaging device when shooting;

Then described image processor a plurality of original images of obtaining the first predetermined condition of described imaging device collection specifically obtain a plurality of original images that described imaging device gathers by described reflector.

16. system according to claim 15, it is characterized in that, described system specifically comprises an imaging device and a plurality of reflector, described reflector position is positioned on the same circumference, and described imaging device camera lens is over against the center of circle of described circumference, and described reflector number R satisfies following relational expression:

R*360°≥720°；

Then described image processor obtains a plurality of original images first initial pictures of gathering by described reflector of described imaging device specifically of the first predetermined condition of described imaging device collection, and described the first initial pictures divided, determine the original image of the first predetermined condition of corresponding each reflector.

17. system according to claim 15, it is characterized in that, described system specifically comprises a reflector and a plurality of imaging device, and described a plurality of imaging devices are positioned on the same circumference, and camera lens is towards same direction, and described reflector convex surface is over against the center of circle of described circumference.

18. system according to claim 13 is characterized in that, described system specifically comprises an imaging device, and described system also comprises a reflector and many group reflective mirrors, and described every group of reflective mirror comprises two reflective mirrors at least; Wherein,

Described reflector is positioned at described imaging device camera lens direction; Described many group reflective mirrors are between described imaging device and described reflector; The successively adjacent arrangement of described many group reflective mirrors; Every group of reflective mirror is used for the light of described reflector reflection is entered described imaging device camera lens again behind Multi reflection;

Then described image processor a plurality of original images of obtaining the first predetermined condition of described imaging device collection specifically obtain the second initial pictures that an imaging device gathers by being positioned at many groups reflective mirror before the imaging device camera lens and a reflector, and described the second initial pictures divided, determine the original image of corresponding every group of reflective mirror.

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

Described imaging device is used for gathering original image;

20. a panoramic stereo image browsing apparatus is characterized in that, comprising: interconnective first lens module and the second lens module;

21. device according to claim 20 is characterized in that, described device also comprises bracing frame, described first lens module, described the second lens module, describedly is arranged on the support frame as described above every tabula rasa and described processing module;

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

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