CN104601897B - A kind of video camera anti-shake apparatus and anti-fluttering method - Google Patents
A kind of video camera anti-shake apparatus and anti-fluttering method Download PDFInfo
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Abstract
The invention discloses a kind of video camera anti-shake apparatus and anti-fluttering method, the device includes position sensor, controller, servo control mechanism, image device and takes out frame device, linear acceleration and angular acceleration that position sensor measurement DE Camera Shake is caused, and the linear acceleration measured and angular acceleration are sent to controller；Controller converses the displacement and angle that shake is caused, then the ultimate range and maximum angle that can be moved with image device are compared, pre- picture frame when being discarded in ultimate range and the maximum angle that the displacement and angle that shake causes can be moved beyond image device, then on the premise of video subjective feeling is not influenceed, actively abandon the picture frame for exceeding setting frame number in advance according to default strategy, servo control mechanism interior stopping action during the pre- framing for abandoning picture frame is controlled, and controls to take out the picture frame that the discarding of frame device is abandoned in advance.Apparatus and method of the present invention reduces servo control mechanism working time and stroke, reduces servo accuracy requirement.
Description
Technical field
The invention belongs to technical field of imaging, more particularly to a kind of video camera anti-shake apparatus and anti-fluttering method.
Background technology
Video monitoring is the important component of safety and protection system, and video monitoring is with its directly perceived, accurate, timely and information
It is abundant in content and be widely used in many occasions.In recent years, with computer, network and image procossing, transmission technology fly
Speed development, the universalness trend of video monitoring is more and more obvious.In video monitoring system, the stabilization of headend equipment such as video camera
It is a critically important link, if video camera stabilization function imperfection, will result directly in video image and obscure, influence video prison
Control effect.
In terms of video camera stabilization, three kinds of modes are commonly used at present, and respectively camera lens stabilization, image device stabilization and number is anti-
Tremble.Wherein camera lens stabilization is exactly to set special stabilization to compensate microscope group in camera lens, according to the jitter direction and degree of video camera,
The corresponding adjustment position of microscope group and angle are compensated, light path is kept stable；Image device stabilization is after DE Camera Shake is perceived, to change
The position or angle for becoming image device are kept into the stabilization of picture；Digital stabilization is exactly the situation according to DE Camera Shake, in number
When being synthesized according to sampling and image brought influence is shaken by way of software is calculated to make up.
Such as Sensor shift stabilizations video camera just uses image device stabilization, and its stabilization part includes camera lens, removable
Dynamic image device (Sensor), position sensor, servo control mechanism and controller MCU, position sensor measures video camera
Linear acceleration and angular acceleration, the linear acceleration and angular acceleration that controller is obtained according to position sensor measurement calculate shake
Direction, speed and displacement, then control drive servo action, so as to drive image device movement to eliminate shake band
The influence come, can be received with the degree that the guarantee imaging picture of maximum possible is not shaken or shaken subjective.It can be seen that, imaging
When device exposes, stabilization part can perceive DE Camera Shake and servo movement image device, be caused with eliminating DE Camera Shake
Flating, image device movement speed it is faster, subdivision walk smaller, position it is more accurate, obtained image stabilization effect is just
Better.
Yet with the randomness of shake, the accuracy and speed to servo control mechanism requires very high.If image device exposes
Between photophase, it is impossible to real-time precision servo, it is easy for causing image blurring or distortion.The shake duration is longer, servo control mechanism
The time that movement need to be continued is longer, also higher to the reliability requirement of servo-drive system.
Particularly, image device uses the video camera of rolling shut shutter modes, and a two field picture time for exposure is long, leads
Servo-drive system is caused to need the continuous firing within the whole frame period time.Idle time is short, and servo-drive system is vibrated random
The probability of noise jamming is just high, and image blurring possibility is also high.
The content of the invention
It is an object of the invention to provide a kind of video camera anti-shake apparatus and anti-fluttering method, persistently moved with reducing servo control mechanism
Time and stroke, improve video image definition.
To achieve these goals, technical solution of the present invention is as follows：
A kind of video camera anti-shake apparatus, applied to video camera, the video camera anti-shake apparatus includes position sensor, control
Device, servo control mechanism, image device and frame device is taken out, the servo control mechanism is controlled by the controller the driving image device movement,
Wherein：
The image device is high frame per second image device；
Linear acceleration and angular acceleration that the position sensor measurement DE Camera Shake is caused, and the line measured is accelerated
Degree and angular acceleration are sent to controller；
The linear acceleration and angular acceleration of the controller receiving position sensor measurement, converse the movement that shake is caused
Distance and angle, the ultimate range and maximum angle that then can be moved with image device are compared, and shake is discarded in advance and is made
Into the ultimate range that can move beyond image device of displacement and angle and picture frame during maximum angle, then not
On the premise of influenceing video subjective feeling, the picture frame for exceeding setting frame number is actively abandoned in advance according to default strategy, control is watched
Mechanism interior stopping action during the framing of picture frame is abandoned in advance is taken, and output control signal control takes out frame device and abandons pre- discarding
Picture frame；
It is described to take out the control signal that frame device is inputted according to controller, abandon and lose in advance in the picture frame exported from image device
The picture frame abandoned, exports the picture frame retained.
Further, the frame device of taking out is from the picture frame that image device is exported when abandoning the picture frame abandoned in advance,
Perform following operate：
It is discarded in and shakes ultimate range and maximum angular that the displacement caused and angle can be moved beyond image device
The picture frame that image device is gathered when spending, picture frame that the image frame position being dropped is not dropped using its former frame is replaced
Generation；
The picture frame for exceeding setting frame number is actively abandoned further according to default strategy, the picture frame retained is exported.
Filled up on the image frame position being dropped with the normal picture frame of former frame to substitute, image black can be prevented
Screen, the picture frame of above-mentioned steps output has more preferable continuity.
Further, the default strategy is to be abandoned every frame, and a two field picture frame is abandoned every a frame.When imaging equipment is
Frame per second be 50 frames/s when, be output as 25 frames of standard frame number/s.
Further, the video camera anti-shake apparatus is additionally provided with stabilization frame, and the stabilization frame is arranged on the mirror of video camera
Between head and the image device, the one side of the stabilization frame is fixedly connected with camera lens, and another side is against image device, imager
Part may move in the range of it.
The inner width and Nei Gao of the stabilization frame are respectively W and H, the wide and a height of w and h of the image device, then imager
Part moveable ultimate range D up and downh, the ultimate range D that moves left and rightwRespectively：
Dh=(H-h)/2
Dw=(W-w)/2
Accordingly, the maximum angle θ that the image device can be moved up and downhWith the maximum angle θ that can be moved left and rightw
For：
θh=arctan (Dh/F)
θw=arctan (Dw/F)
Wherein F is focal length.
The invention also provides a kind of video camera anti-fluttering method, applied to above-mentioned stabilization camera system, the stabilization side
Method includes step：
Linear acceleration and angular acceleration that measurement DE Camera Shake is caused；
According to the linear acceleration and angular acceleration of measurement, converse displacement and angle that shake is caused, then with into
As the ultimate range and maximum angle that device can be moved are compared, displacement and angle that shake causes are discarded in advance super
Go out picture frame when ultimate range and the maximum angle that image device can be moved, then before video subjective feeling is not influenceed
Put, according to default strategy, actively pre- discarding is more than the picture frame of setting frame number, and control servo control mechanism is in discarding picture frame in advance
Framing during in stopping action；
The picture frame abandoned in advance is abandoned in the picture frame exported from image device, the picture frame retained is exported.
Preferably, when abandoning the picture frame abandoned in advance in the picture frame exported from image device, including step：
It is discarded in and shakes ultimate range and maximum angular that the displacement caused and angle can be moved beyond image device
The picture frame that image device is gathered when spending, picture frame that the image frame position being dropped is not dropped using its former frame is replaced
Generation；
The picture frame for exceeding setting frame number is actively abandoned further according to default strategy, the picture frame retained is exported.
The present invention proposes a kind of video camera anti-shake apparatus and anti-fluttering method, by using high frame per second image device, collection
More than the picture frame of standard frame number, parts of images frame is abandoned in Image Coding, the picture frame of a retention criteria frame number is output as
Video flowing.Parts of images frame is abandoned according to frame strategy is taken out, during the picture frame framing for needing to abandon, servo control mechanism stops work
Make, reduce servo control mechanism working time and stroke, reduce servo accuracy requirement.
Brief description of the drawings
Fig. 1 is the structured flowchart of video camera anti-shake apparatus of the present invention；
Fig. 2 is the position relationship schematic diagram of stabilization of embodiment of the present invention frame and image device；
Fig. 3 is image device displacement schematic diagram of the embodiment of the present invention；
Fig. 4 is image device move angle schematic diagram of the embodiment of the present invention.
Embodiment
Technical solution of the present invention is described in further details with reference to the accompanying drawings and examples, following examples are not constituted
Limitation of the invention.
The general thought of the present invention be on the basis of mobile image device, in the case of ensureing that video image is continuous,
Working time and the stroke of servo control mechanism are reduced as far as possible, random noise disturbance is reduced, and reduce the fuzzy possibility of video image.
To achieve these goals, the present embodiment use high frame per second image device, such as 50 frames/s (PAL-system), 60 frames/
S (NTSC), and configure it and be operated in the imaging of high frame per second.Because naked eyes are seeing that the static images per second more than 24 frames will be considered
Continuous dynamic video, usual video monitoring system uses standard frame number (25 frames/s~30 frames/s).The present embodiment imager
The frame number of the video image of part collection, when high frame per second is imaged, is pressed considerably beyond the frame number for meeting the requirement of human eye vision continuity
According to the picture frame that frame strategy abandons unqualified picture frame and the frame number that is above standard of taking out hereafter, human eye can just be met by retaining 25 frames
Visual continuity requirement, necessary condition is provided to take out frame.Based on the above, the present embodiment realizes that reduction is watched by taking out frame
Working time and the stroke of mechanism are taken, following two strategies is specifically based on and takes out frame to realize：
Strategy one, the unqualified picture frame of discarding.The linear acceleration and angular acceleration obtained according to position sensor measurement, is changed
Calculate as video camera displacement and angle, the threshold value that driving image device with servo control mechanism can move is compared, it is mobile away from
From or angle can move beyond image device threshold value when, actively abandon current picture frame in advance, it is contemplated that the image being dropped
During frame framing, servo control mechanism stopping action, image device is not moved.Or according to the chattering frequency measured, beyond servo
When mechanism drives the reflection performance of image device, current picture frame is actively abandoned in advance, it is contemplated that the picture frame framing phase being dropped
Between, servo control mechanism stopping action, image device is not moved.
Strategy two, the picture frame for abandoning the frame number that is above standard.It can be moved without departing from image device in displacement or angle
It is actively pre- to abandon the picture frame for exceeding setting frame number, it is contemplated that quilt on the premise of video subjective feeling is not influenceed during dynamic threshold value
During the framing of the picture frame of discarding, servo control mechanism stopping action, image device is not moved.
By above two strategy, according to 25 frames/s video flowing requirement, servo control mechanism can reduce by 50% or so work
Time.
As shown in figure 1, a kind of video camera anti-shake apparatus of the present embodiment, applied to video camera, including position sensor, control
Device, servo control mechanism, image device and frame device is taken out, its Position Sensor, servo control mechanism, take out frame device and connect with controller
Connect, servo control mechanism is connected with image device by power transmission shaft, when servo control mechanism is controlled by the controller work, drive image device
Mobile, the picture frame of image device output, which is output to, takes out frame device, takes out frame device and is carried out taking out frame according to the control signal of controller
Processing, the picture frame of outputting standard frame number.Wherein：
Position sensor is used to measure linear acceleration and the angular acceleration that DE Camera Shake is caused, and the line measured is accelerated
Degree and angular acceleration are sent to controller；
Controller is used for linear acceleration and the angular acceleration that receiving position sensor is measured, and converses the movement that shake is caused
Distance and angle, the ultimate range and maximum angle that then can be moved with image device are compared, and shake is discarded in advance and is made
Into the ultimate range that can move beyond image device of displacement and angle and picture frame during maximum angle, then not
On the premise of influenceing video subjective feeling, the picture frame for exceeding setting frame number is actively abandoned in advance according to default strategy, control is watched
Mechanism interior stopping action during the framing of picture frame is abandoned in advance is taken, and output control signal control takes out frame device and abandons pre- discarding
Picture frame；
Abandon and lose in advance in taking out the control signal that frame device is used to input according to controller, the picture frame exported from image device
The picture frame abandoned, exports the picture frame retained.
The position sensor that the present embodiment is used is 6 axle gyroscope, and the present embodiment controller is obtained from position sensor and surveyed
The linear acceleration and angular acceleration measured, converses the shake displacement and angle that cause, then can be with image device
Mobile ultimate range and maximum angle is compared, to see if fall out the moveable scope of image device.
The present embodiment image device is moved by servo control mechanism driving, and transportable ultimate range and maximum angle can
To be obtained by the performance of servo control mechanism in itself, when itself performance does not limit mobile ultimate range and maximum angle,
Obtained by the specific size of video camera stabilization frame and image device.Video camera stabilization frame can be moved for limiting image device
Dynamic specific scope.The one side of stabilization frame is fixedly connected with camera lens, and another side is against image device, and image device is in the range of it
It is removable, as shown in Figure 2.
Assuming that the inner width and Nei Gao of stabilization frame are respectively W and H, the wide and a height of w and h of image device, then on image device
Moveable ultimate range D downh, the ultimate range D that moves left and rightwRespectively：
Dh=(H-h)/2
Dw=(W-w)/2
By DhAnd DwThe ultimate range that can be moved as image device.
Fig. 3 shows displacement of the image device in shake, and image device is in position 1 when normal, and when trembling
After dynamic, image device is located at position 2, and now image device can only be imaged to the top half of object scene；Pass through servo control mechanism
Drive image device, be moved into position 3, can completely for object scene be imaged, now image device moved up away from
From L.It can be seen that displacement L is in the vertical direction no more than Dh, in the lateral direction no more than Dw。
And for the maximum angle that image device can be moved, with reference to Fig. 4：Image device is in position 1 when normal, and works as hair
After raw shake, image device is located at position 2, and now image device can only be imaged to the top half of object scene；Pass through servo
Mechanism drives image device, is moved into position 3, completely can be imaged for object scene.After movement, image device occurs
Mobile angle is θ, and the distance of its corresponding image device movement is L.
As shown in Figure 4, when DE Camera Shake is shaken, if deflected up and down, need above and below image device
The mobile influence to eliminate shake, if left and right deflects, needs image device to move left and right to eliminate the influence of shake.
Simultaneously because：L=F*tan θ, wherein F be focal length of camera, so as to according to moved apart from L calculate obtain moving
Angle.According to the transportable ultimate range D of image devicehAnd Dw, can calculate and obtain what image device can be moved up and down
Maximum angle θhWith the maximum angle θ moved left and rightw：
θh=arctan (Dh/F)
θw=arctan (Dw/F)
And image device is operationally, it can be measured due to shaking the displacement caused and angle according to position sensor
Obtained linear acceleration and angular acceleration is calculated and obtained.Controller converses what shake was caused according to linear acceleration and angular acceleration
Displacement and angle, formula are as follows：
Speed=speed+linear acceleration * dt
Distance=(speed+linear acceleration/2) * dt
Angle=angle+angular acceleration * dt
The present embodiment position sensor measurement frequency is 2-4Khz, is converted according to the linear acceleration and angular acceleration of measurement
The displacement and angle caused to shake.Angle can also do data fusion with linear acceleration angle, lift the accurate of data
Property, linear acceleration angle leads to antitrigonometric function can be in the hope of because acceleration of gravity be, it is known that linear acceleration is, it is known that pass through anti-three
Angle function can be obtained：
Final angle=angular acceleration angle weights * angular acceleration integration angle+(1- angular acceleration weights) * lines accelerate
Spend angle
Other angle asks method to be not limited to the above method, then can also turn Euler by quaternary number by seeking quaternary number
Angle is tried to achieve, and the invention is not restricted to specific conversion method.
Controller is after the displacement that causes of shake and angle is conversed in the present embodiment, with above-mentioned default imager
The ultimate range and maximum angle that part can be moved are compared, and the displacement and angle caused in shake exceeds image device
When the ultimate range and maximum angle that can move, according to strategy one, current picture frame is abandoned in advance；Then according to strategy two,
On the premise of video subjective feeling is not influenceed, actively pre- to abandon the picture frame for exceeding setting frame number, control servo control mechanism is pre-
Stopping is acted in during abandoning the framing of picture frame, and output control signal control takes out frame device and abandons the picture frame abandoned in advance.
It should be noted that during the framing of the picture frame abandoned in advance image device also current location according to itself
Frame per second is imaged, and is output to picture frame after imaging and is taken out frame device, take out the control signal that frame device is exported according to controller, will lose in advance
The picture frame abandoned extracts discarding, only retains the picture frame output of remaining standard frame number.Generally, taking out frame device can
To be encoder or special equipment, picture frame is encoded to Media Stream output after frame processing is taken out.
The present embodiment takes out frame device when taking out frame, including two stages, and underproof picture frame is abandoned first, then actively
Abandon the picture frame for exceeding setting frame number, it is ensured that be finally left the several picture frames of standard frame.In order to prevent not conforming to continuously in extraction
During lattice frame, there is no image during this takes out frame and cause blank screen, the present embodiment is not lost using the previous of unqualified frame abandoned
The picture frame abandoned substitutes the picture frame being dropped.
For example：Assuming that the frame per second of image device is to be imaged 50 two field pictures in 50 frames/s, i.e., one second.Abandon first underproof
Picture frame, it is assumed that the 16th and the 17th frame is unqualified, then abandon the 16th and the 17th frame, and substitutes with the 15th frame the 16th frame and the
The video image of 17 frames, the i.e. image of the 16th frame and the 17th frame is identical with the image of the 15th frame.
And actively abandoning the picture frame for exceeding setting frame number again afterwards, preferably default strategy is to be abandoned every frame, is carried out
Abandoned every frame, it is assumed that reservation the 1st, 3,5,7 ... frames, discarding the 2nd, 4,6,8 ... frames, because the 17th frame has had the figure of the 15th frame
Picture, it is hereby ensured that being output as the video flowing of standard frame number (25 frames/s), to keep the continuity of image.
Above-mentioned frame method of taking out is preferred scheme, and the present invention, which is not limited to abandon in active, exceedes the picture frame for setting frame number
Shi Caiyong is abandoned every frame, can also be extracted parts of images frame according to totalframes by the time interval of setting and abandon, only retain and set
The several picture frames of framing, typically set frame number as 25 frames of standard frame number/s.
In summary, the servo control mechanism at least half of working time is reduced by taking out frame strategy.Due in advance abandoning
The all stoppings of picture frame framing device servo control mechanism are acted, and servo control mechanism only can will not in advance be lost in picture frame formed by image device
Image device is driven when abandoning, therefore the stroke summation of servo control mechanism also greatly reduces；Simultaneously when shaking big, movement is needed originally
Larger stroke, due to that for unqualified frame, then need not move, when needing to move next time, its shake is less big,
The stroke then moved is further reduced.Hysterisis error is thus reduced, servo accuracy is improved, related Mechatronic Systems can be also improved
Life-span；Unqualified picture frame is abandoned, image subjective feeling can be effectively improved.
The present embodiment also proposed a kind of video camera anti-fluttering method, applied to above-mentioned stabilization camera system, the stabilization
Method includes step：
Linear acceleration and angular acceleration that measurement DE Camera Shake is caused；
According to the linear acceleration and angular acceleration of measurement, converse displacement and angle that shake is caused, then with into
As the ultimate range and maximum angle that device can be moved are compared, displacement and angle that shake causes are discarded in advance super
Go out picture frame when ultimate range and the maximum angle that image device can be moved, then before video subjective feeling is not influenceed
Put, according to default strategy, actively pre- discarding is more than the picture frame of setting frame number, and control servo control mechanism is in discarding picture frame in advance
Framing during in stopping action；
The picture frame abandoned in advance is abandoned in the picture frame exported from image device, the picture frame retained is exported.
Preferably, when abandoning the picture frame abandoned in advance in the picture frame exported from image device, including step：
It is discarded in and shakes ultimate range and maximum angular that the displacement caused and angle can be moved beyond image device
The picture frame that image device is gathered when spending, picture frame that the image frame position being dropped is not dropped using its former frame is replaced
Generation；
The picture frame for exceeding setting frame number is actively abandoned further according to default strategy, the picture frame retained is exported.
The default strategy of the present embodiment is to be abandoned every frame, and a two field picture frame is abandoned every a frame.
The above embodiments are merely illustrative of the technical solutions of the present invention rather than is limited, without departing substantially from essence of the invention
In the case of refreshing and its essence, those skilled in the art work as can make various corresponding changes and change according to the present invention
Shape, but these corresponding changes and deformation should all belong to the protection domain of appended claims of the invention.
Claims (10)
1. a kind of video camera anti-shake apparatus, applied to video camera, it is characterised in that the video camera anti-shake apparatus includes position sensing
Device, controller, servo control mechanism, image device and frame device is taken out, the servo control mechanism is controlled by the controller the driving imager
Part is moved, wherein：
The image device is high frame per second image device；
The position sensor, adds for measuring linear acceleration and the angular acceleration that DE Camera Shake is caused, and by the line measured
Speed and angular acceleration are sent to controller；
The controller, the linear acceleration measured for receiving position sensor and angular acceleration, converse the shifting that shake is caused
Dynamic distance and angle, are then compared with precalculating ultimate range that obtained image device can move and maximum angle
Compared with when being discarded in ultimate range and the maximum angle that the displacement that causes of shake and angle can be moved beyond image device in advance
Picture frame, then on the premise of video subjective feeling is not influenceed, according to default strategy, actively pre- abandon exceedes setting frame
Several picture frames, the interior stopping action during the framing of picture frame is abandoned in advance of control servo control mechanism, and output control signal are controlled
Take out frame device and abandon the picture frame abandoned in advance；
It is described to take out frame device, for the control signal inputted according to controller, abandoned in the picture frame exported from image device pre-
The picture frame of discarding, exports the picture frame retained.
2. video camera anti-shake apparatus according to claim 1, it is characterised in that the frame device of taking out is defeated from image device
When abandoning the picture frame abandoned in advance in the picture frame gone out, following operate is performed：
When being discarded in ultimate range and the maximum angle that the displacement that causes of shake and angle can be moved beyond image device
The picture frame of image device collection, picture frame that the image frame position being dropped is not dropped using its former frame is substituted；
The picture frame for exceeding setting frame number is actively abandoned further according to default strategy, the picture frame retained is exported.
3. video camera anti-shake apparatus according to claim 1 or 2, it is characterised in that the default strategy is to be lost every frame
Abandon, a two field picture frame is abandoned every a frame.
4. video camera anti-shake apparatus according to claim 1, it is characterised in that the video camera anti-shake apparatus is additionally provided with
Stabilization frame, the stabilization frame is arranged between the camera lens of video camera and the image device, the one side and camera lens of the stabilization frame
It is fixedly connected, another side is against image device, and image device may move in the range of it.
5. video camera anti-shake apparatus according to claim 4, it is characterised in that inner width and the Nei Gao difference of the stabilization frame
For W and H, the wide and a height of w and h of the image device, then image device moveable ultimate range D up and downh, move left and right
Ultimate range DwRespectively：
Dh=(H-h)/2
Dw=(W-w)/2
Accordingly, the maximum angle θ that the image device can be moved up and downhWith the maximum angle θ that can be moved left and rightwFor：
θh=arctan (Dh/F)
θw=arctan (Dw/F)
Wherein F is focal length.
6. a kind of video camera anti-fluttering method, applied to the video camera described in claim 1, it is characterised in that the anti-fluttering method
Including step：
Linear acceleration and angular acceleration that measurement DE Camera Shake is caused；
According to the linear acceleration and angular acceleration of measurement, displacement and angle that shake is caused are conversed, then with meter in advance
The ultimate range and maximum angle that obtained image device can be moved are compared, be discarded in advance the movement that causes of shake away from
Picture frame when ultimate range and maximum angle that walk-off angle degree can be moved beyond image device, is not then influenceing video master
Perception is by the premise of, and according to default strategy, actively pre- discarding is more than the picture frame of setting frame number, and control servo control mechanism is pre-
Stopping is acted in during abandoning the framing of picture frame；
The picture frame abandoned in advance is abandoned in the picture frame exported from image device, the picture frame retained is exported.
7. video camera anti-fluttering method according to claim 6, it is characterised in that the picture frame exported from image device
During the picture frame that middle discarding is abandoned in advance, including step：
When being discarded in ultimate range and the maximum angle that the displacement that causes of shake and angle can be moved beyond image device
The picture frame of image device collection, picture frame that the image frame position being dropped is not dropped using its former frame is substituted；
The picture frame for exceeding setting frame number is actively abandoned further according to default strategy, the picture frame retained is exported.
8. the video camera anti-fluttering method according to claim 6 or 7, it is characterised in that the default strategy is to be lost every frame
Abandon, a two field picture frame is abandoned every a frame.
9. video camera anti-fluttering method according to claim 6, it is characterised in that the video camera is additionally provided with stabilization frame,
The video camera anti-fluttering method also includes step：
According to the size of stabilization frame and image device, ultimate range and maximum angle that image device can be moved are calculated.
10. video camera anti-fluttering method according to claim 9, it is characterised in that the inner width and interior high score of the stabilization frame
Wei not W and H, the wide and a height of w and h of the image device, then image device moveable ultimate range D up and downh, move left and right
Ultimate range DwRespectively：
Dh=(H-h)/2
Dw=(W-w)/2
Accordingly, the maximum angle θ that the image device can be moved up and downhWith the maximum angle θ that can be moved left and rightwFor：
θh=arctan (Dh/F)
θw=arctan (Dw/F)
Wherein F is focal length.
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| CN105120155A (en) * | 2015-08-21 | 2015-12-02 | 小米科技有限责任公司 | Panoramic photograph generation method and device |
| CN105430265A (en) * | 2015-11-27 | 2016-03-23 | 努比亚技术有限公司 | Method and device for increasing imaging range of camera |
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