CN103957351B - A kind of three-dimensional camera shooting system and its image debounce processing method - Google Patents
A kind of three-dimensional camera shooting system and its image debounce processing method Download PDFInfo
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Abstract
The present invention discloses a kind of three-dimensional camera shooting system and its image debounce processing method, and the image debounce processing method includes：The three-dimensional motion vector data of detection video camera in real time；Current vibration vector is calculated according to the three-dimensional motion vector data detected；According to the unit vibration vector prestored and the mapping table of pixel-shift quantity, the pixel-shift quantity corresponding to current vibration vector is determined；Cutting process or splicing are carried out to current image frame according to identified pixel-shift quantity, wherein, the part of current image frame and same image content in previous image frame is only retained in the image after cutting；Current image frame and the part of same image content in previous image frame are overlapping in spliced image；Processing is zoomed in and out to cutting or spliced image.Implement technical scheme, the shake of image that receiving terminal exported on visual space can be made to weaken significantly, moreover, the cost and price of the three-dimensional camera shooting system substantially reduces.
Description
Technical field
The present invention relates to image processing field, more particularly to a kind of three-dimensional camera shooting system and its image debounce processing method.
Background technology
Transmitted in unmanned plane real-time video capture in the systems such as the real-time monitoring system of video of control system, bullet train,
The video data of video camera shooting is wirelessly sent to receiving terminal after processing, and receiving terminal is to the video counts that are received
According to being handled, then export.But in such systems, video camera is often in severe working environment, for example, shaking
Move strong unmanned plane and hang storehouse.If video camera is mounted directly in this environment, the image of receiving terminal output is empty in vision
Between on shake very much, observer is unable to the details of resolution image, can not watch such picture for a long time.
To solve the problems, such as flating, generally need for video camera to be arranged on the three-dimensional stability platform of damping
On, but accurate three-dimensional stability platform cost is higher, and the weight of its own is also bigger, especially to Load Sensitive
Unmanned plane during flying device is difficult to adopt such equipment.
The content of the invention
The technical problem to be solved in the present invention is, for prior art above-mentioned cost it is high, weight is big the defects of, there is provided
A kind of three-dimensional high-definition camera system and its image debounce processing method, cost is low and hardly increases weight.
The technical solution adopted for the present invention to solve the technical problems is：Construct a kind of image debounce of three-dimensional camera shooting system
Processing method, including：
A1. the three-dimensional motion vector data of video camera are detected in real time；
B1. current vibration vector is calculated according to the three-dimensional motion vector data detected, the current vibration vector is to work as
Three-dimensional motion vector data under the shooting time of preceding picture frame and the three-dimensional motion vector under the shooting time of previous image frame
The difference of data；
C1. according to the unit vibration vector prestored and the mapping table of pixel-shift quantity, current vibration is determined
Pixel-shift quantity corresponding to vector；
D1. pixel-shift quantity carries out cutting process to current image frame determined by, wherein, the image after cutting
In only retain the part of same image content in current image frame and previous image frame；
E1. processing is zoomed in and out to the image after cutting, before the size of the image after scaling processing is equal to cutting process
Picture frame size.
In the image debounce processing method of three-dimensional camera shooting system of the present invention, in the step C1, according to pre-
Unit vibration vector and the mapping table of pixel-shift quantity under the different focal first stored, determine that current vibration vector is being worked as
Corresponding pixel-shift quantity under front focal length.
In the image debounce processing method of three-dimensional camera shooting system of the present invention, in the step A1, it is arranged on
Three dimensions gyro sensor on video camera detects the three-dimensional motion vector data of video camera in real time.
The present invention also constructs a kind of image debounce processing method of three-dimensional camera shooting system, including：
A2. the three-dimensional motion vector data of video camera are detected in real time；
B2. current vibration vector is calculated according to the three-dimensional motion vector data detected, the current vibration vector is to work as
Three-dimensional motion vector data under the shooting time of preceding picture frame and the three-dimensional motion vector under the shooting time of previous image frame
The difference of data；
C2. according to the unit vibration vector prestored and the mapping table of pixel-shift quantity, current vibration is determined
Pixel-shift quantity corresponding to vector；
D2. current image frame and previous image frame are carried out splicing by pixel-shift quantity determined by, wherein,
Current image frame and the part of same image content in previous image frame are overlapping in spliced image；
E2. processing is zoomed in and out to spliced image, before the size of the image after scaling processing is equal to splicing
Picture frame size.
In the image debounce processing method of three-dimensional camera shooting system of the present invention, in the step C2, according to pre-
Unit vibration vector and the mapping table of pixel-shift quantity under the different focal first stored, determine that current vibration vector is being worked as
Corresponding pixel-shift quantity under front focal length.
In the image debounce processing method of three-dimensional camera shooting system of the present invention, in the step A2, it is arranged on
Three dimensions gyro sensor on video camera detects the three-dimensional motion vector data of video camera in real time.
The present invention also constructs a kind of three-dimensional camera shooting system, including video camera, and the three-dimensional camera shooting system also includes：
First detection module, for detecting the three-dimensional motion vector data of video camera in real time；
First computing module, it is described to work as calculating current vibration vector according to the three-dimensional motion vector data detected
Preceding vibration vector is under the three-dimensional motion vector data and the shooting time of previous image frame under the shooting time of current image frame
Three-dimensional motion vector data difference；
First deflection determination module, for being closed according to the unit vibration vector prestored is corresponding with pixel-shift quantity
It is table, determines the pixel-shift quantity corresponding to current vibration vector；
Cutting process module, cutting process is carried out to current image frame for the pixel-shift quantity determined by, its
In, the part of same image content in current image frame and previous image frame is only retained in the image after cutting；
First scaling processing module, for zooming in and out processing to the image after cutting, make the image after scaling processing
Size is equal to the size of the picture frame before cutting process.
In three-dimensional camera shooting system of the present invention, the first detection module is three dimensions gyro sensor,
Moreover, the three dimensions gyro sensor is arranged on video camera.
The present invention also constructs a kind of three-dimensional camera shooting system, including video camera, and the three-dimensional camera shooting system also includes：
Second detection module, for detecting the three-dimensional motion vector data of video camera in real time；
Second computing module, it is described to work as calculating current vibration vector according to the three-dimensional motion vector data detected
Preceding vibration vector is under the three-dimensional motion vector data and the shooting time of previous image frame under the shooting time of current image frame
Three-dimensional motion vector data difference；
Second deflection determination module, for being closed according to the unit vibration vector prestored is corresponding with pixel-shift quantity
It is table, determines the pixel-shift quantity corresponding to current vibration vector；
Splicing module, current image frame and previous image frame are carried out for the pixel-shift quantity determined by
Splicing, wherein, current image frame and the part of same image content in previous image frame are overlapping in spliced image；
Second scaling processing module, for zooming in and out processing to spliced image, make the image after scaling processing
Size of the size equal to the picture frame before splicing.
In three-dimensional camera shooting system of the present invention, second detection module is three dimensions gyro sensor,
Moreover, the three dimensions gyro sensor is arranged on video camera.
Implement technical scheme, when three-dimensional camera shooting system works in rugged environment, first, according to being examined
The three-dimensional motion vector data of survey calculate current vibration vector；Then, it is inclined according to the unit vibration vector and pixel that prestore
The mapping table of quantity is moved, determines the pixel-shift quantity corresponding to current vibration vector；Then, according to identified pixel
Offset number carries out cutting process or splicing to current image frame；Finally, cutting or spliced image are zoomed in and out
Processing.So, after the video captured by the three-dimensional camera shooting system is sent to receiving terminal, the image that receiving terminal is exported is in vision
Shake spatially weakens significantly, and its effect is arranged on the three-dimensional stability platform of damping equivalent to by video camera, moreover, comparing
Three-dimensional stability platform is installed, the cost and price of three-dimensional camera shooting system of the invention substantially reduces, moreover, hardly increase is three-dimensional
The weight of camera system.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is the flow chart of the image debounce processing embodiment of the method one of three-dimensional camera shooting system of the present invention；
Fig. 2 is the schematic diagram handled using the method shown in Fig. 1 image；
Fig. 3 is the flow chart of the image debounce processing embodiment of the method two of three-dimensional camera shooting system of the present invention；
Fig. 4 is the schematic diagram handled using the method shown in Fig. 3 image；
Fig. 5 is the logic chart of three-dimensional camera shooting system embodiment one of the present invention；
Fig. 6 is the logic chart of three-dimensional camera shooting system embodiment two of the present invention.
Embodiment
Fig. 1 is the flow chart of the image debounce processing embodiment of the method one of invention three-dimensional camera shooting system, the figure
As debounce processing method includes：
A1. the three-dimensional motion vector data of video camera are detected in real time, in this step, for example, being arranged on video camera
Three dimensions gyro sensor detects the three-dimensional motion vector data of video camera in real time；
B1. current vibration vector is calculated according to the three-dimensional motion vector data detected, the current vibration vector is to work as
Three-dimensional motion vector data under the shooting time of preceding picture frame and the three-dimensional motion vector under the shooting time of previous image frame
The difference of data, in this step, it should be noted that, the detection frequency of three-dimensional motion vector data is higher than the shutter of video camera
Frequency of exposure, therefore, only need to be by the bat of the shooting time of current image frame and previous image frame when calculating current vibration vector
Three-dimensional motion vector data corresponding respectively are inscribed when taking the photograph to be subtracted each other；
C1. according to the unit vibration vector prestored and the mapping table of pixel-shift quantity, current vibration is determined
Pixel-shift quantity corresponding to vector, in this step, it should be noted that, it can be determined beforehand through the mode of test of many times pair
Relation table is answered, for example, control video camera carries out unit vibration, obtains two frames under the initial time and finish time of unit vibration
Image, in this two field pictures, some picture material is identical, and some picture material is different.Then,
Image recognition is carried out to this two field pictures, judges the pixel-shift quantity of same image content in two field pictures, i.e. for figure
As this part of content identical, the position of each pixel of the part in the first picture frame is compared to it in the second picture frame
In position all offset certain quantity；
D1. pixel-shift quantity carries out cutting process to current image frame determined by, wherein, the image after cutting
In only retain the part of same image content in current image frame and previous image frame；
E1. processing is zoomed in and out to the image after cutting, before the size of the image after scaling processing is equal to cutting process
Picture frame size, in this step, can by scaler chips come zoom in and out processing.
With reference to Fig. 2, picture frame 1 is the previous image frame of current image frame, and picture frame 2 is current image frame.To image
When carrying out debounce processing, first, during by the shooting of the three-dimensional motion vector data under the shooting time of picture frame 2 and picture frame 1
The three-dimensional motion vector data inscribed are subtracted each other, to obtain current vibration vector.Then, according to the corresponding pass prestored
It is table, determines the pixel-shift quantity corresponding to current vibration vector, for example, offsets up 20 row pixels.Then, to image
Frame 2 carries out cutting process, and the image after cutting process is image 3, and it is identical with picture frame 1 only to retain picture frame 2 in image 3
The part of picture material（Dash area）.Finally, processing is zoomed in and out to image 3, the image after scaling processing is image 4, and
The size of image 4 is equal to the size of picture frame 2.
Fig. 3 is the flow chart of the image debounce processing embodiment of the method two of three-dimensional camera shooting system of the present invention, the image debounce
Processing method includes：
A2. the three-dimensional motion vector data of video camera are detected in real time, in this step, for example, being arranged on video camera
Three dimensions gyro sensor detects the three-dimensional motion vector data of video camera in real time；
B2. current vibration vector is calculated according to the three-dimensional motion vector data detected, the current vibration vector is to work as
Three-dimensional motion vector data under the shooting time of preceding picture frame and the three-dimensional motion vector under the shooting time of previous image frame
The difference of data, in this step, it should be noted that, the detection frequency of three-dimensional motion vector data is higher than the shutter of video camera
Frequency of exposure, therefore, only need to be by the bat of the shooting time of current image frame and previous image frame when calculating current vibration vector
Three-dimensional motion vector data corresponding respectively are inscribed when taking the photograph to be subtracted each other；
C2. according to the unit vibration vector prestored and the mapping table of pixel-shift quantity, current vibration is determined
Pixel-shift quantity corresponding to vector, in this step, it should be noted that, it can be determined beforehand through the mode of test of many times pair
Relation table is answered, for example, control video camera carries out unit vibration, obtains two frames under the initial time and finish time of unit vibration
Image, in this two field pictures, some picture material is identical, and some picture material is different.Then,
Image recognition is carried out to this two field pictures, judges the pixel-shift quantity of same image content in two field pictures, i.e. for figure
As this part of content identical, the position of each pixel of the part in the first picture frame is compared to it in the second picture frame
In position all offset certain quantity；
D2. current image frame and previous image frame are carried out splicing by pixel-shift quantity determined by, wherein,
Current image frame and the part of same image content in previous image frame are overlapping in spliced image, in this step, need
Illustrate, present count before previous image frame can be the picture frame that video camera directly exports or current image frame
Picture frame after amount picture frame splicing, that is, splicing can be splicing or the phase of adjacent two field pictures
The splicing of the adjacent picture frame such as three or four.It is determined that the picture frame spliced quantity when, be considered as video camera output frame
Frequency；
E2. processing is zoomed in and out to spliced image, before the size of the image after scaling processing is equal to splicing
Picture frame size, in this step, can by scaler chips come zoom in and out processing.
With reference to Fig. 4, picture frame 1 is the previous image frame of current image frame, and picture frame 2 is current image frame.To image
When carrying out debounce processing, first, during by the shooting of the three-dimensional motion vector data under the shooting time of picture frame 2 and picture frame 1
The three-dimensional motion vector data inscribed are subtracted each other, to obtain current vibration vector.Then, according to the corresponding pass prestored
It is table, determines the pixel-shift quantity corresponding to current vibration vector, for example, offsets up 20 row pixels.Then, to image
Frame 2 and picture frame 1 carry out splicing, and the image after splicing is image 3 ', and the figure identical with picture frame 1 of picture frame 2
As the part of content（Dash area）It is overlapping in image 3 '.Finally, processing, the figure after scaling processing are zoomed in and out to image 3 '
As being image 4 ', and the size of image 4 ' is equal to the size of picture frame 2 and picture frame 1.
Preferably for three-dimensional camera shooting system, if having carried out Focussing to it in shooting process, in above-mentioned reality
In the step C1 or step C2 that apply example, according to unit vibration vector under the different focal prestored and pair of pixel-shift quantity
Relation table is answered, determines current vibration vector pixel-shift quantity corresponding under current focus.
Fig. 5 is the logic chart of three-dimensional camera shooting system embodiment one of the present invention, and the three-dimensional camera shooting system of the embodiment includes the
One detection module 11, the first computing module 12, the first deflection determination module 13, the scaling processing mould of cutting process module 14 and first
Block 15.Wherein, first detection module 11 is used for the three-dimensional motion vector data for detecting video camera in real time, for example, the first detection mould
Block 11 is three dimensions gyro sensor, moreover, the three dimensions gyro sensor is arranged on video camera；First calculates
Module 12 is used to calculate current vibration vector according to the three-dimensional motion vector data detected, and the current vibration vector is current
Three-dimensional motion vector data under the shooting time of picture frame and the three-dimensional motion vector number under the shooting time of previous image frame
According to difference；First deflection determination module 13 is used for corresponding with pixel-shift quantity according to the unit vibration vector prestored
Relation table, determine the pixel-shift quantity corresponding to current vibration vector；Cutting process module 14 is used for the picture determined by
Plain offset number to current image frame carry out cutting process, wherein, only retain in the image after cutting current image frame with it is previous
The part of same image content in picture frame；First scaling processing module 15 is used to zoom in and out processing to the image after cutting,
The size of the image after scaling processing is set to be equal to the size of the picture frame before cutting process.
Fig. 6 is the logic chart of three-dimensional camera shooting system embodiment two of the present invention, and the three-dimensional camera shooting system of the embodiment includes the
Two detection modules 21, the second computing module 22, the second deflection determination module 23, the scaling processing mould of splicing module 24 and second
Block 25.Wherein, the second detection module 21 is used for the three-dimensional motion vector data for detecting video camera in real time, for example, the second detection mould
Block 21 is three dimensions gyro sensor, moreover, the three dimensions gyro sensor is arranged on video camera；Second calculates
Module 22 is used to calculate current vibration vector according to the three-dimensional motion vector data detected, and the current vibration vector is current
Three-dimensional motion vector data under the shooting time of picture frame and the three-dimensional motion vector number under the shooting time of previous image frame
According to difference；Second deflection determination module 23 is used for corresponding with pixel-shift quantity according to the unit vibration vector prestored
Relation table, determine the pixel-shift quantity corresponding to current vibration vector；Splicing module 24 is used for the picture determined by
Current image frame and previous image frame are carried out splicing by plain offset number, wherein, in current image frame and previous image frame
The part of same image content is overlapping in spliced image；Second scaling processing module 25 is used to enter spliced image
The processing of row scaling, make the size of the image after scaling processing equal to the size of the picture frame before splicing.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included within scope of the presently claimed invention.
Claims (4)
1. a kind of image debounce processing method of three-dimensional camera shooting system, it is characterised in that including：
A1. the three-dimensional motion vector data of video camera are detected in real time；
B1. current vibration vector is calculated according to the three-dimensional motion vector data detected, the current vibration vector is current figure
As frame shooting time under three-dimensional motion vector data and previous image frame shooting time under three-dimensional motion vector data
Difference；
C1. according to unit vibration vector under the different focal prestored and the mapping table of pixel-shift quantity, it is determined that working as
Preceding vibration vector pixel-shift quantity corresponding under current focus；
D1. pixel-shift quantity carries out cutting process to current image frame determined by, wherein, in the image after cutting only
Retain the part of current image frame and same image content in previous image frame；
E1. processing is zoomed in and out to the image after cutting, the size of the image after scaling processing is equal to the figure before cutting process
As the size of frame.
2. the image debounce processing method of three-dimensional camera shooting system according to claim 1, it is characterised in that in the step
In A1, the three dimensions gyro sensor being arranged on video camera detects the three-dimensional motion vector data of video camera in real time.
3. a kind of three-dimensional camera shooting system, including video camera, it is characterised in that the three-dimensional camera shooting system also includes：
First detection module, for detecting the three-dimensional motion vector data of video camera in real time；
First computing module, it is described currently to shake for calculating current vibration vector according to the three-dimensional motion vector data detected
Dynamic vector is three under the three-dimensional motion vector data and the shooting time of previous image frame under the shooting time of current image frame
Tie up the difference of motion vector data；
First deflection determination module, for according to unit vibration vector under the different focal prestored and pixel-shift quantity
Mapping table, determine current vibration vector pixel-shift quantity corresponding under current focus；
Cutting process module, cutting process is carried out to current image frame for the pixel-shift quantity determined by, wherein, cut
Only retain the part of current image frame and same image content in previous image frame in image after cutting；
First scaling processing module, for zooming in and out processing to the image after cutting, make the size of the image after scaling processing
Equal to the size of the picture frame before cutting process.
4. three-dimensional camera shooting system according to claim 3, it is characterised in that the first detection module is three dimensions top
Spiral shell instrument sensor, moreover, the three dimensions gyro sensor is arranged on video camera.
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