CN106412397A - Camera shooting device, and method and device for identifying state of the camera shooting device - Google Patents
Camera shooting device, and method and device for identifying state of the camera shooting device Download PDFInfo
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- CN106412397A CN106412397A CN201610901647.0A CN201610901647A CN106412397A CN 106412397 A CN106412397 A CN 106412397A CN 201610901647 A CN201610901647 A CN 201610901647A CN 106412397 A CN106412397 A CN 106412397A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/667—Camera operation mode switching, e.g. between still and video, sport and normal or high- and low-resolution modes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Image Analysis (AREA)
Abstract
The invention discloses a camera shooting device, and a method and device for identifying a state of the camera shooting device. The camera shooting device comprises a first base, a second base, a first camera shooting module, a second camera shooting module and a rotation component. The second camera shooting module is arranged on an outer surface of the first base. The second camera shooting module is arranged on the outer surface of the second base. The first base is connected with the second base through the rotation component. The first base and the second base can be folded and unfolded through the rotation component. According to the camera shooting device, and the method and device for identifying the state of the camera shooting device, both a panorama video and a 3D video can be shot; and the troublesome operation problem of employing different shooting devices when the panorama video and the 3D video are shot is solved.
Description
Technical field
The present invention relates to camera technology field, more particularly to a kind of picture pick-up device and the side for recognizing picture pick-up device state
Method and device.
Background technology
With developing rapidly for panoramic technique and 3D technology, the picture pick-up device of its pan video and 3D videos is also therewith
Develop rapidly, but or existing picture pick-up device can only pan video panorama camera, or being can only to shoot 3D to regard
The 3D cameras of frequency, do not occur the camera that can be panned and can shoot 3D, due to the demand that pan-shot and 3D shoot
More and more so that picture pick-up device can pan and can shoot 3D this demand more and more urgent.
Content of the invention
The invention provides a kind of picture pick-up device and the method and device for recognizing picture pick-up device state, can shoot complete
Scape video can shoot 3D videos again, and solving need to cause to operate using different capture apparatus when video and 3D videos is panned
Loaded down with trivial details problem.
The embodiment of the present application first aspect provides a kind of picture pick-up device, including first base, second base, the first shooting
Module, the second photographing module and rotatable parts, first photographing module are arranged on the outer surface of the first base, described
Second photographing module is arranged on the outer surface of the second base, and the first base passes through the rotatable parts and described second
Base connects；The first base and the second base can be folded by the rotatable parts or be launched.
Optionally, the inner surface of the first base and the second base when picture pick-up device is in folded state
Inner surface is contacted；The inner surface and the interior table of the second base of the first base when picture pick-up device is in deployed condition
There is between face angle.
Optionally, the rotatable parts are hinge arrangement or bar linkage structure.
Optionally, when the rotatable parts are hinge arrangement, the rotatable parts include rotary shaft, revolving member and consolidate
Determine component, the fixing component includes that the fixed block of two pieces of separate types, the revolving member are arranged between two pieces of fixed blocks, institute
State in revolving member and be provided with through hole, the rotary shaft is arranged in the through hole.
The embodiment of the present application second aspect provides a kind of method for recognizing the picture pick-up device state of first aspect, institute
The two width images for stating the first photographing module and the second photographing module synchronization acquisition are one group of image, including：
N group images are obtained successively, N is positive integer；
After one group of image of every acquisition, following steps are executed for each group of image for obtaining：
Step A：Two feature point sets are extracted from the one group of image for obtaining by feature point extraction algorithm and its is included
The characterization information of each characteristic point；
Step B：The characteristic point in described two feature point sets is mated using characterization information, get coupling
The quantity of feature point pairs；
Step C：Detect the quantity of the matching characteristic point pair whether more than predetermined threshold value；
After above-mentioned steps being executed to the N groups image, get the corresponding N number of testing result of the N groups image；
Detect whether N number of testing result meets pre-conditioned；
If N number of testing result meet described pre-conditioned, determine the picture pick-up device be in 3D shooting states；
If N number of testing result be unsatisfactory for described pre-conditioned, determine the picture pick-up device be in pan-shot state.
Optionally, after execution step A, before performing stepb, methods described also includes：
Step D：Judge each self-contained characteristic point quantity of two feature point sets of this group of image whether more than default feature
Point quantity；
If the characteristic point quantity that two characteristic points of this group of image are concentrated with a feature point set is more than the default feature
Quantity is put, then execution step B；
If each self-contained characteristic point quantity of two feature point sets of this group of image is counted no more than the default feature
Amount, then obtain next group of image of this group of image, then for the next group of image successively execution step A, step D, step B
With step C.
Optionally, the utilization characterization information mates to the characteristic point in described two feature point sets, obtains
The quantity of matching characteristic point pair is arrived, specially：
Similarity mode is carried out to the characteristic point in described two feature point sets using characterization information, coupling is got
The quantity of feature point pairs, wherein, the feature description similarity between each pair matching characteristic point pair is all higher than default similarity.
Optionally, the detection N number of testing result whether meet pre-conditioned, specially：
Detect whether each testing result characterizes the quantity of matching characteristic point pair and be more than the predetermined threshold value.
Optionally, the detection N number of testing result whether meet pre-conditioned, specially：
Detect testing result of the quantity more than the predetermined threshold value that matching characteristic point pair is characterized in N number of testing result
Whether proportion is more than preset ratio.
In third aspect present invention, present invention also offers a kind of dress for recognizing the picture pick-up device state of first aspect
Put, the two width images that first photographing module and the second photographing module synchronization are obtained are one group of image, including：
Image collection module, for obtaining N group images successively, N is positive integer；
Loop detection module, for, after one group of image of every acquisition, executing following walking for each group of image for obtaining
Suddenly, step A：Each that two feature point sets is extracted from the one group of image for obtaining by feature point extraction algorithm and its is included is special
Levy characterization information a little；Step B：Characteristic point in described two feature point sets is carried out using characterization information
Match somebody with somebody, get the quantity of matching characteristic point pair；Step C：Detect the quantity of the matching characteristic point pair whether more than predetermined threshold value；
Testing result acquisition module, for, after above-mentioned steps are executed to the N groups image, getting the N groups figure
As corresponding N number of testing result；
Detection module, pre-conditioned for detecting whether N number of testing result meets；
Determining module, for when N number of testing result meets described pre-conditioned, determining that the picture pick-up device is in
3D shooting states；And be used for, when N number of testing result is unsatisfactory for described pre-conditioned, determining that the picture pick-up device is in
Pan-shot state.
Optionally, the loop detection module, for, after execution step A, before performing stepb, also including：
Step F：Judge each self-contained characteristic point quantity of two feature point sets of this group of image whether more than default feature
Point quantity.
Beneficial effects of the present invention are as follows：
Above-mentioned technical proposal is based on, picture pick-up device includes N number of photographing module in the embodiment of the present invention, each photographing module is solid
Determine on the outer surface of a base, the N number of base corresponding to N number of photographing module passes sequentially through rotatable parts head and the tail phase
Even, N number of base can be folded by the rotatable parts or be launched so that the picture pick-up device can be clapped in deployed condition
Pan video, and can shoot 3D videos in folded state, and then solves the need when video and 3D videos is panned
Cause cumbersome problem using different capture apparatus, it is achieved that can pan video again energy using a kind of picture pick-up device
3D videos are shot, and simplifies the technique effect that operating procedure causes more convenient operation.
Description of the drawings
Fig. 1 be in the present invention picture pick-up device be in folded state when structural representation；
Fig. 2 be in the present invention picture pick-up device be in deployed condition when structural representation；
Fig. 3 is the blast connection figure of first base in the present invention, second base and rotatable parts；
Fig. 4 is the structural representation of locking member in the present invention；
Fig. 5 is the first structural representation of sliding part in the present invention；
Fig. 6 is second structural representation of sliding part in the present invention；
Fig. 7 is the flow chart of the method for being used for recognizing picture pick-up device state in the present invention；
The step of Fig. 8 is the testing result for obtaining each group of image in present invention flow chart；
Fig. 9 is the structural representation of the device for being used for recognizing picture pick-up device state in the present invention.
In figure, relevant labelling is as follows：
10 first bases, 100 globoidal structures, 11 second bases, 20 first photographing modules, 21 second shootings
Module, 30 rotatable parts, 31 rotary shafts, 32 revolving members, 33 fixing components, 331 fixed blocks, 3311 ends
Face, 332 fixed blocks, 3321 end faces, 333 first blind holes, 334 second blind holes, 40 diagonal, 41 chutes,
411 compression head bore, 412 compression head bore, 42 sliding parts, 420 elastic components, 421 hold-down heads, 422 fixed supports,
43 chutes, 431 compression head bore, 432 compression head bore, 44 sliding parts, 440 elastic components, 441 hold-down heads, 442
Fixed support.
Specific embodiment
The invention provides a kind of picture pick-up device and the method and device for recognizing picture pick-up device state, can shoot complete
Scape video can shoot 3D videos again, and solving need to cause to operate using different capture apparatus when video and 3D videos is panned
Loaded down with trivial details problem.
Below in conjunction with the accompanying drawings the preferred embodiment of the present invention is described in detail.
Embodiment one：
As shown in figs 1 to 6, first aspect present invention provides a kind of picture pick-up device, including first base 10, the second bottom
The 11, first photographing module 20 of seat, the second photographing module 21 and rotatable parts 30, the first photographing module 20 are arranged on first base 10
Outer surface on, the second photographing module 21 is arranged on the outer surface of second base 11, first base 10 by rotatable parts 30 with
Second base 11 connects；First base 10 and second base 11 can be folded or be launched by rotatable parts 30.
Wherein, the first photographing module 20 and the second photographing module 21 can be the camera head such as fish eye lens, and each
Photographing module has the visual field not less than 180 °, so that the picture pick-up device can be taken the photograph by the first photographing module 20 and second
As 21 photographing panorama picture of module and panoramic video；Further, first base 10 and second base 11 are usually disposed as rectangular
The structure such as body or square.
Specifically, referring to Fig. 1, when first base 10 and second base 11 is folded, the picture pick-up device is in folding
Overlapping state, and the picture pick-up device be in folded state when the inner surface of first base 10 and the inner surface of second base 11 connect
Touch；Referring to Fig. 2, when first base 10 and second base 11 is launched, the picture pick-up device is in deployed condition, and described takes the photograph
There is between the inner surface of first base 10 and the inner surface of second base 11 when being in deployed condition as equipment angle.
Specifically, the value of the angle can be 100 ° -200 ° between value, for example can be 100 °, 120 °,
150 °, 180 ° and 200 ° etc., it is preferred that the value of the angle is 180 °.
Specifically, if the picture pick-up device is in folded state, referring to Fig. 1, then the inner surface of first base 10 and second
The inner surface of base 11 is brought into close contact；If the folding apparatus are in deployed condition, referring to Fig. 2, first base 10 and the second bottom
Angle between seat 11 is 180 °.
Specifically, in order that the picture pick-up device be in folded state when first base 10 inner surface and second base
11 inner surface is brought into close contact, and the folding apparatus be in deployed condition when between first base 10 and second base 11
Angle is 180 °, can be arranged to globoidal structure 100, and globoidal structure in first base 10 with the connecting portion of rotatable parts 30
100 are matched with 30 structure of rotatable parts.
Specifically, rotatable parts 30 can be hinge arrangement or bar linkage structure, and wherein, the bar linkage structure for example can be with
It is two bar linkage structures (wind brace), three bar linkage structures and four-bar linkage structure etc..
Specifically, so that rotatable parts are as hinge arrangement as an example, referring to Fig. 3 and Fig. 4, rotatable parts 30 include rotary shaft 31,
Revolving member 32 and fixing component 33, fixing component 33 include fixed block 331 and fixed block 332, fixed block 331 and fixed block
332 is the fixed block of two pieces of separate types, and revolving member 32 is arranged between fixed block 331 and fixed block 332, in revolving member 32
Through hole is provided with, rotary shaft 31 is arranged in the through hole.
Specifically, revolving member 32 is specifically as follows cylinder, so that revolving member 32 in fixed block 331 and can be consolidated
Determine more easily to rotate between block 332；Wherein, revolving member 32 can be integrally formed with first base 10, it is also possible to first
It is, for example, to weld that base 10 is affixed；Fixing component 33 can be integrally formed with second base 11, it is also possible to solid with second base 11
Connect and e.g. weld.Certainly, revolving member 32 can also be and is integrally formed with second base 11, it is also possible to weld with second base 11
Connect；And fixing component 33 is integrally formed with first base 10, it is also possible to affixed with first base 10, the application does not make concrete limit
System.
In the embodiment of the present application, each photographing module is protruded on the outer surface of respective seat, i.e. the first photographing module
20 protrusions are protruded on the outer surface of second base 11 with the second photographing module 21 on the outer surface of first base 10, so as to expand
The visual field that big first, second photographing module shoots, so that can shoot 360 ° of panoramic picture by two photographing modules.
Specifically, in order to prevent revolving member 32 from deviating from from fixing component 33, can be in fixed block 331 and revolving member
The first blind hole 333 is provided with and on the end face 3321 that fixed block 332 is contacted with revolving member 32 on the end face 3311 of 32 contacts
The second blind hole 334 is provided with, rotary shaft 31 through the through hole and is entered in the first blind hole 333 and the second blind hole 334；Thus,
Can prevent revolving member 32 from deviating from from fixing component 33 by rotary shaft 31.It is, of course, also possible to only arrange the first blind hole
333 or second blind hole 334, can equally prevent revolving member 32 from deviating from from fixing component 33.Certainly, the first blind hole 333
Through hole can also be arranged to the second blind hole 334, the application is not specifically limited.
Certainly, the first blind hole 333 and the second blind hole 334 can also be arranged to through hole, it is also possible to be arranged to a through hole
With a blind hole, the application is not specifically limited.
In the embodiment of the present application, the picture pick-up device can also include that locking member, the locking member are arranged on fixing component
33 and revolving member 32 on, the locking member is used for carrying out in deployed condition and during folded state in the picture pick-up device spacing
Process, prevent the picture pick-up device from being changed between deployed condition and folded state when not operated.
Specifically, the locking member includes that chute 41 and sliding part 42, chute 41 are arranged on fixing component 33 and rotate
On the end face of the contact of component 32；One end of sliding part 42 is arranged in chute 41, and the other end is fixed in revolving member 32.
Specifically, chute 41 can be arranged on the end face 3311 of fixed block 331, it is also possible to be arranged on fixed block 332
On end face 3321, the application is not specifically limited, and lower mask body is arranged on the end face 3311 of fixed block 331 with chute 41 and is
Example.
Specifically, referring to Fig. 5, sliding part 42 includes that elastic component 420 and hold-down head 421,420 one end of elastic component are fixed on and turn
In dynamic component 32, the other end connects hold-down head 421；Hold-down head 421 is arranged in chute 41.
In the embodiment of the present application, the locking member can also include that chute 43 and sliding part 44, chute 43 are arranged on fixation
On the end face that component 33 is contacted with revolving member 32；One end of sliding part 44 is arranged in chute 43, and the other end is fixed on rotation
In component 32；Wherein, chute 43 is arranged on the end face 3321 of fixed block 332.
Specifically, referring to Fig. 6, sliding part 44 includes that elastic component 440 and hold-down head 441,440 one end of elastic component are fixed on and turn
In dynamic component 32, the other end connects hold-down head 441；Hold-down head 441 is arranged in chute 43.
Specifically, chute 41 and chute 43 could be arranged to semicircle, facilitate sliding part 42 and sliding part 44 corresponding
Chute in slide so that first base 10 and second base 11 can be rotated with 180 ° by rotatable parts 30.
In another embodiment of the application, referring to Fig. 5, sliding part 42 can also adopt another kind of structure, specifically, sliding part
42 include that elastic component 420, hold-down head 421 and fixed support 422, fixed support 422 are fixed in revolving member 32；Elastic component
420 one end are fixed in the hollow structure of fixed support 422, and the other end connects hold-down head 421；Hold-down head 421 is arranged on chute
In 41.
Specifically, fixed support 422 can be T-type structure, and the T-shaped part of fixed support 422 is fixed on revolving member
In 32, so that fixed support 422 is more firm being fixed in revolving member 32.
Specifically, elastic component 420 is specifically as follows the elastomers such as spring, and hold-down head 421 is specifically as follows ripple pearl or screw thread
Pearl etc. is dialled, elastic component 420 can be affixed with hold-down head 421, elastic component 420 can also be connected with the contact of hold-down head 421, by institute
State hollow structure to limit the moving range of hold-down head 421, make hold-down head 421 be only capable of moving to chute 41 along the hollow structure
Dynamic, thus, hold-down head 421 can be caused at an arbitrary position to be pressed in chute 41 by elastic component 420.
Specifically, in order to further reduce the probability that hold-down head 421 is deviate from from chute 41, the diameter of the hollow structure is big
In the diameter of hold-down head 421, and the diameter of the hollow structure is not more than predetermined threshold value with the difference of the diameter of hold-down head 421,
The predetermined threshold value can be the value of 1-20 millimeters (mm), for example, 1mm, 10mm, 15mm and 20mmm etc.；And revolving member
During 32 rotation, as chute 41 is semicircle so that hold-down head 421 is arranged in chute 41.
Accordingly, referring to Fig. 6, in any one embodiment of the application, sliding part 44 includes elastic component 440,441 and of hold-down head
Fixed support 442, fixed support 442 are fixed in revolving member 32；440 one end of elastic component is fixed in fixed support 442
In hollow structure, the other end connects hold-down head 441；Hold-down head 441 is arranged in chute 43.
Specifically, fixed support 442 can be T-type structure, and the T-shaped part of fixed support 442 is fixed on revolving member
In 32, so that fixed support 442 is more firm being fixed in revolving member 32.
Specifically, elastic component 440 is specifically as follows the elastomers such as spring, and hold-down head 441 is specifically as follows ripple pearl or screw thread
Pearl etc. is dialled, elastic component 440 can be affixed with hold-down head 441, elastic component 440 can also be connected with the contact of hold-down head 441, by solid
The hollow structure of fixed rack 442 is limiting the moving range of hold-down head 441 so that hold-down head 441 is only capable of along fixed support 442
Hollow structure is moved to chute 43, thus, can cause at an arbitrary position hold-down head 441 by elastic component 440 by its
In press-in chute 43.
Specifically, in order to further reduce the probability that hold-down head 441 is deviate from from chute 43, the diameter of the hollow structure is big
In the diameter of hold-down head 441, and the diameter of the hollow structure of fixed support 442 is not more than with the difference of the diameter of hold-down head 441
Predetermined threshold value, the predetermined threshold value can be the value of 1-20 millimeters (mm), for example, 1mm, 10mm, 15mm and 20mmm etc.；And
When revolving member 32 is rotated, as chute 43 is semicircle so that hold-down head 441 is arranged in chute 43.
In the application any embodiment, the picture pick-up device also includes that being arranged on revolving member 32 is contacted with fixing component 33
End face on compression head bore, the two ends of each chute be each provided with one compression head bore.
Specifically, referring to Fig. 5 and Fig. 6, by taking chute 41 and chute 43 as an example, 41 two ends of chute are provided with and hold-down head
The compression head bore 411 of 421 couplings and compression head bore 412, compress head bore 411 and compress the line of head bore 412 and 41 center of circle of chute
Between angle be 180 °, so so that above compress head bore 411 and compress the two ends that head bore 412 is distributed in chute 41；Chute 43
Two ends are provided with the compression head bore 431 and compression head bore 432 that mates with hold-down head 441, compress head bore 431 and compress head bore 432
180 ° of angle and the line in 43 center of circle of chute between, so so that hold-down head hole 431 and compression head bore 432 are distributed in chute 43
Two ends.
As the two ends of chute 41 are provided with the compression head bore 411 and compression head bore 412 mated with hold-down head 421, and
The two ends of chute 43 are provided with the compression head bore 431 and compression head bore 432 that mates with hold-down head 441 so that the picture pick-up device
When being in folded state, hold-down head 421 can be pressed in compression head bore 411, and hold-down head 441 can be pressed in compression head bore 431,
And then the picture pick-up device is carried out spacing, reducing maloperation causes the probability that the state of the picture pick-up device changes；With
Reason, when the picture pick-up device is in deployed condition, hold-down head 421 can be pressed in compression head bore 412, and 441 meeting of hold-down head
Press-in is compressed in head bore 432, and then the picture pick-up device is carried out spacing, and reducing maloperation causes the state of the picture pick-up device
The probability for changing.
Specifically, arrange in chute 41 and compress head bore 411 and one or more pressures can also be set outside compressing head bore 412
Tight head bore, in the same manner, arranges in chute 43 and compresses head bore 431 and can also arrange one or more compressions outside compressing head bore 432
Head bore, during so that the picture pick-up device can be caused to be in deployed condition, can shoot 3D videos and 3D rendering with multiple visual fields.
Compared with prior art, the present invention has the advantages that：
In the present invention, the first photographing module of picture pick-up device is arranged on the outer surface of first base, and the second photographing module sets
Put on the outer surface of second base, the first base is connected with the second base by rotatable parts；The first base
Can be folded by the rotatable parts with the second base or be launched；The picture pick-up device is clapped in deployed condition
Take the photograph 3D videos, and the video that can pan in folded state, and then solve and need when video and 3D videos is panned
Cause cumbersome problem using different capture apparatus, it is achieved that can pan video again energy using a kind of picture pick-up device
3D videos are shot, and simplifies the technique effect that operating procedure causes more convenient operation.
Implement two：
Second aspect present invention provide a kind of for recognize first aspect provide picture pick-up device state method, first
The two width images that photographing module 20 and 21 synchronization of the second photographing module are obtained are one group of image, as shown in fig. 7, methods described
Including：
S701, successively acquisition N group images, N is positive integer, after one group of image of every acquisition, for each group obtained
Image executes following steps：
Step A：Two feature point sets are extracted from the one group of image for obtaining by feature point extraction algorithm and its is included
The characterization information of each characteristic point；
Step B：The characteristic point in described two feature point sets is mated using characterization information, get coupling
The quantity of feature point pairs；
Step C：Detect the quantity of the matching characteristic point pair whether more than predetermined threshold value；
S702, to the N groups image execute above-mentioned steps after, get the N groups image corresponding N number of detection tie
Really；
S703, to detect whether N number of testing result meets pre-conditioned；
If S704 N number of testing results meet described pre-conditioned, determine the picture pick-up device in 3D shoot shape
State；
If S705 N number of testing results be unsatisfactory for described pre-conditioned, determine the picture pick-up device be in pan-shot
State.
Wherein, the two width images that the first photographing module 20 and 21 synchronization of the second photographing module are obtained are one group of image,
According to the difference of the picture pick-up device state, each group of image is used for being spliced into a width panoramic picture or 3D rendering；I.e. described
When picture pick-up device is in 3D shooting states, each group of image is used for being spliced into a width 3D rendering；And at the picture pick-up device
When pan-shot state, each group of image is used for being spliced into a width panoramic picture.
In step s 701, the N groups image is obtained successively by the first photographing module 20 and the second photographing module 21, its
In, the value of N is, for example, the positive integers such as 1,3,6 and 10, and the value of N is pre-set.
Specifically, the value of N can determine according to actual needs, for example, judge residing for the picture pick-up device to improve
The accuracy of state, N can take larger value；Again for example in order to shorten the duration for judging the picture pick-up device status, N can
To take less value.
Specifically, for example 10:25:25 seconds (S) moment obtained first group of image, 10:25:The 26S moment obtains second
Group image, finally 10:25:The 27S moment obtains the 3rd group of image, and then by the first group of image for obtaining successively, described
Second group of image and the 3rd group of image are used as the N groups image.
Specifically, during execution step S701, after one group of image of every acquisition, for each group of figure for obtaining
As execution step A- step C.
Wherein, in step, two feature point sets are extracted from the one group of image for obtaining by feature point extraction algorithm.
In specific implementation process, can be by feature point extraction algorithms such as ORB, S I FT, SURF to the acquisition
Two images in one group of image carry out feature extraction, extract described two feature point sets, and obtain described two characteristic points
Characterization information of each characteristic point that collection includes in respective image region, characterization information can be 8 bytes
Or the feature description of other length.Certainly, characterization information can also include each characteristic point in respective image region
Interior positional information and directional information, the positional information of characteristic point can represent with two-dimensional coordinate that characteristic point direction can be one
The directional information of individual 0-1023.
For example, 10:25:The 25S moment obtains first group of image, and wherein, first group of image is included in 10:25:25S
S images that moment is photographed by the first photographing module 20 and 10:25:The 25S moment is photographed by the second photographing module 21
M images, K feature point sets are extracted from S images by feature point extraction algorithm respectively then and extract K1 from M images
Feature point set, K feature point sets include that characterization information of each characteristic point in S image-regions, K1 feature point sets include every
Characterization information of the individual characteristic point in M image-regions.
After execution step A, execution step B, in this step, using characterization information to described two characteristic points
The characteristic point of concentration is mated, and gets the quantity of matching characteristic point pair.
In specific implementation process, the characteristic point in described two feature point sets is carried out using characterization information similar
Degree coupling, gets the quantity of matching characteristic point pair, and wherein, the feature description similarity between each pair matching characteristic point pair is big
In default similarity.
Certainly, due to position and its direction of the feature point pairs in respective image mated relatively, the spy for keeping off
Levy a little to being unlikely to be correct coupling, therefore, it can positional information and directional information first with characteristic point to described two spies
Levy a characteristic point that concentrates to be filtered, in the described two feature point sets after then recycling characterization information to filtration
Characteristic point carries out similarity mode, so, it is possible effectively to reduce operand, improves the efficiency of coupling.
Specifically, the matching characteristic in described two feature point sets can be obtained by ORB, S I FT, SURF algorithm
Then point obtains the feature between each pair matching characteristic point pair of the matching characteristic point to concentration by similarity algorithm to collection
Description similarity, and whether the feature description similarity between each pair matching characteristic point pair is detected more than the default similarity,
Then the quantity of the matching characteristic point pair more than the default similarity is obtained, thus, can be from the matching characteristic point pair for obtaining
Concentrate the matching characteristic point pair for similarity being got rid of less than the default similarity so that get the quantity of matching characteristic point pair
Accuracy higher, and then cause that the follow-up quantity using matching characteristic point pair is calculated or the accuracy that judged also is carried therewith
High.
Specifically, it can be Euclidean distance algorithm, cosine similarity algorithm and phase that the similarity algorithm can for example be
Like degree metric algorithm etc.；Further, the default similarity can be obtained by template training.
For example, by taking the S images and M images that constitute first group of image as an example, K feature point sets and K1 feature point sets are being got
Afterwards, the matching characteristic point set of the characteristic point in the characteristic point and K1 feature point sets in K feature point sets is got by ORB algorithms
Including (a1, a11), (a2, a21), (a3, a31), (a4, a41) and (a5, a51) this 5 pairs of matching characteristic points pair, then pass through Europe
Formula distance algorithm obtains 5 Euclidean distances between above-mentioned 5 pairs of matching characteristics point pair, and as the value of Euclidean distance is less, which is similar
Degree is higher, and the value of Euclidean distance its similarity bigger is lower, it is therefore desirable to which whether each Euclidean distance that detection is obtained is less than pre-
If distance, and the quantity that the quantity of the matching characteristic point pair less than the predeterminable range is that 3, i.e., 3 are matching characteristic point pair is obtained,
Wherein, the Euclidean distance between (a1, a11), (a3, a31) and (a5, a51) this 3 pairs of matching characteristic points pair is respectively less than described default
Distance.
Again for example, (a1, a11), (a2, a21), (a3, a31), (a4, a41) and (a5, a51) this 5 couple coupling spy is being obtained
Levy a little to afterwards, if obtaining 5 cosine values between above-mentioned 5 pairs of matching characteristics point pair by cosine similarity algorithm, due to remaining
In string similarity algorithm, its similarity is higher closer to 1 for cosine value, otherwise cosine value is closer to 0, and its similarity is lower, therefore needs
Whether each cosine value of acquisition to be detected is more than default cosine value, and obtains special more than the coupling of the default cosine value
Levy a little to quantity be 3, i.e., 3 for matching characteristic point pair quantity, wherein, (a1, a11), (a3, a31) and (a5, a51) this 3 couple
Cosine value between matching characteristic point pair is more than the default cosine value.
After execution step B, execution step C in this step, detects whether the quantity of the matching characteristic point pair is big
In predetermined threshold value.
In specific implementation process, in order that the value accuracy of the predetermined threshold value is higher, can be in the shooting
When equipment is in 3D shooting states, it is trained to determine by collection great amount of images so that the described default threshold that training draws
The accuracy of value is higher so that N number of testing result of acquisition judges that the accuracy of the picture pick-up device state for drawing also is improved therewith.
Specifically, as the predetermined threshold value is by gathering in a large number when the picture pick-up device is in 3D shooting states
Image is trained to determine, and the picture pick-up device the first photographing module 20 and second shooting mould when being in 3D shooting states
Overlapping region in one group of image of the collection of block 21 is larger so that the value of the predetermined threshold value also becomes big therewith；Equally, not
Under with scene, the value of the predetermined threshold value is also converted therewith；Scene is more complicated, and the value of the predetermined threshold value is bigger, conversely,
Scene is simpler, and the value of the predetermined threshold value is less.
For example, with 10:25:As a example by the 26S moment obtains second group of image, if after by step A and B, obtaining described
The quantity of the matching characteristic point pair in second group of image between two images is 100, if the predetermined threshold value is 90, due to 100>
90, then corresponding second testing result of the second group of image for obtaining characterizes the quantity of matching characteristic point pair more than default threshold
Value.
In another embodiment of the application, referring to Fig. 8, after execution step A, before performing stepb, the side
Method also includes：
Step D：Judge each self-contained characteristic point quantity of two feature point sets of this group of image whether more than default feature
Point quantity；
If the characteristic point quantity that two characteristic points of this group of image are concentrated with a feature point set is more than the default feature
Quantity is put, then execution step B；
If each self-contained characteristic point quantity of two feature point sets of this group of image is counted no more than the default feature
Amount, then obtain next group of image of this group of image, then for the next group of image successively execution step A, step D, step B
With step C.
Wherein, in step D, after described two feature point sets being obtained by step A, judge described two characteristic points
Whether collect each self-contained characteristic point quantity more than the default characteristic point quantity, if there is the feature that a feature point set includes
Point quantity then continues executing with step B and step C more than the default characteristic point quantity；If described two feature point sets are each wrapped
The characteristic point quantity for containing is respectively less than the default characteristic point quantity, then obtain next group of image, then execution step A, step successively
Rapid D, step B and step C；Circulated by this kind of mode and each group of image is detected；So so that in one group of image at least
The characteristic point quantity that piece image includes could obtain the corresponding testing result of this group of image more than the default characteristic point quantity,
The each group image that characteristic point quantity is respectively less than the default characteristic point quantity is got rid of so that obtain by step A- step C
Every group of image testing result more accurate so that the follow-up shooting that is judged according to N number of testing result is arranged
State also becomes more accurately, to effectively increase the accuracy of the state of the picture pick-up device that judges.
Specifically, by taking the S images and M images that constitute first group of image as an example, K feature point sets and K1 features are being got
After point set, judge whether the characteristic point quantity that K feature point sets include is less than the default characteristic point quantity and judges K1 features
Whether the characteristic point quantity that point set includes is less than the default characteristic point quantity, if the default characteristic point quantity is 150, and K
The characteristic point quantity that feature point set includes is 180 and the characteristic point quantity that includes of K1 feature point sets is 120, due to 180>120, then
Continue executing with step B and step C；If the default characteristic point quantity is 200, due to 200>180>150, then obtain described second
Group image, then for second group of image successively execution step A, step D, step B and step C.
After above-mentioned steps are executed to the N groups image, execution step S702 gets the corresponding N of the N groups image
Individual testing result.
In specific implementation process, after to N groups image execution step A, B and C, N number of detection is got
As a result；Equally, or after to N groups image execution step A, D, B and C, N number of testing result is got.
Specifically, due to, after one group of image of every acquisition, needing for each group of image execution step A, B for obtaining
And C, or for each group of image execution step A, D, B and the C for obtaining such that it is able to get N number of testing result.
Specifically, when for each group of image execution step A, D, B and C for obtaining, if the one group of image for getting is not
Complete step A, D of execution step, B and C, then judge that this group of image for getting is not belonging to the N groups image, i.e., described N groups image
In each group of image at least there is the characteristic point quantity that piece image includes and be more than the default characteristic point quantity.
For example, if N=2, first group of image is obtained first, after first group of image is obtained, to described first
Group image execution of step A, D, B and C, get corresponding first testing result of first group of image；Getting
After stating first group of image, continue to obtain second group of image, and after second group of image is got, to described the
During two groups of image execution steps A, D, B and C, the characteristic point quantity that each image includes in second group of image is detected
Respectively less than described default characteristic point quantity, then next group of image for continuing to get are the 3rd group of image, then for described
3rd group of image execution step A, D, B and C, if the 3rd image has been able to carry out step A, D, B and C, it is determined that the N groups
Image is first group of image and the 3rd group of image；If the 3rd group of image is still execution of step A, D, B and C,
Then continue to next group of image execution step A, D, B and C, until look for next group of image being able to carry out step A, D, B and C and
First group of image constitutes the N groups image.
Next execution step S703, in this step, detects whether N number of testing result meets pre-conditioned.
In specific implementation process, can be detect each testing result whether characterize matching characteristic point pair quantity big
In the predetermined threshold value, if detecting each testing result characterizes the quantity of matching characteristic point pair more than the predetermined threshold value,
Described pre-conditioned, execution step S704 that then determines that N number of testing result meets；Otherwise, it is determined that N number of testing result
It is unsatisfactory for described pre-conditioned, execution step S705.
For example, if the N groups image is first group of image, second group of image and the 3rd group of image, to above-mentioned 3 groups of figures
After as execution of step A, D, B and C, or after execution of step A, D, B and C, first group of image is got corresponding
The first testing result, corresponding second testing result of second group of image and the 3rd group of image corresponding 3rd detection
As a result, then judge whether first, second, and third testing result characterizes the quantity of matching characteristic point pair more than described
Predetermined threshold value, if so, then execution step S704, otherwise, then execution step S705.
Specifically, step S703 can also be the quantity for characterizing matching characteristic point pair in detection N number of testing result
Whether preset ratio is more than more than the testing result proportion of the predetermined threshold value.
Specifically, if the quantity of matching characteristic point pair is more than the testing result proportion of the predetermined threshold value more than described
Preset ratio, it is determined that N number of testing result meets described pre-conditioned, execution step S704；Otherwise, it is determined that the N
Individual testing result is unsatisfactory for described pre-conditioned, execution step S705；Wherein, the preset ratio is set according to practical situation
Fixed, can for example be the value not less than 3/5, for example, 4/5,5/6 and 6/7 etc..
Specifically, if the N groups image is first group of image, second group of image and the 3rd group of image, got is described
First testing result and second testing result characterize the quantity of matching characteristic point pair more than the predetermined threshold value, and described
3rd testing result characterizes the quantity of matching characteristic point pair and is less than the predetermined threshold value, then understand that the quantity of matching characteristic point pair is big
In the predetermined threshold value testing result proportion be 2/3, if the preset ratio be 3/5, due to 2/3>3/5, then can be with
Described pre-conditioned, execution step S704 that determines that N number of testing result meets.
Certainly, the pre-conditioned quantity that can also be sign matching characteristic point pair in N number of testing result is more than
The testing result of the predetermined threshold value is more than setting value；Can also be N number of testing result matching characteristic point pair average
Quantity is more than the predetermined threshold value, and the application is not specifically limited.
If N number of testing result meets described pre-conditioned, execution step S704, determine that the picture pick-up device is in 3D
Shooting state；If N number of testing result is unsatisfactory for described pre-conditioned, execution step S705, determine at the picture pick-up device
In pan-shot state.
For example, specifically, if the N groups image is first group of image, second group of image and the 3rd group of image, get
First testing result and second testing result characterize the quantity of matching characteristic point pair more than the predetermined threshold value, and
3rd testing result characterizes the quantity of matching characteristic point pair and is less than the predetermined threshold value, then understand the number of matching characteristic point pair
Amount is 2/3 more than the testing result proportion of the predetermined threshold value, if the preset ratio is 3/5, due to 2/3>3/5, then
Can determine that N number of testing result meets described pre-conditioned, determine that the picture pick-up device is in 3D shooting states.
Beneficial effects of the present invention are as follows：
The present invention obtains the corresponding N number of testing result of N group images first, then judges whether N number of testing result is full
Foot is pre-conditioned, when meeting described pre-conditioned, determines that the picture pick-up device is in 3D shooting states；Be unsatisfactory for described pre-
If during condition, determining that the picture pick-up device is in pan-shot shape；Thus, in this way can real-time judge go out described taking the photograph
As equipment status, the accuracy of condition adjudgement is improve, and can automatically using corresponding splicing when carrying out live
The image mosaic of collection is played out by mode into panoramic video or 3D videos, is user-friendly to.
Embodiment three：
Based on technology design same as mentioned above, third aspect present invention provides one kind to be used for recognizing first aspect
Two width that the device of the picture pick-up device state of offer, first photographing module and the second photographing module synchronization are obtained
Image is one group of image, as shown in figure 9, including：
Image collection module 901, for obtaining N group images successively, N is positive integer；
Loop detection module 902, for, after one group of image of every acquisition, executing for each group of image for obtaining following
Step, step A：Each that two feature point sets is extracted from the one group of image for obtaining by feature point extraction algorithm and its is included
The characterization information of characteristic point；Step B：Characteristic point in described two feature point sets is carried out using characterization information
Match somebody with somebody, get the quantity of matching characteristic point pair；Step C：Detect the quantity of the matching characteristic point pair whether more than predetermined threshold value；
Testing result acquisition module 903, for, after above-mentioned steps are executed to the N groups image, getting the N groups
The corresponding N number of testing result of image；
Detection module 904, pre-conditioned for detecting whether N number of testing result meets；
Determining module 905, for when N number of testing result meets described pre-conditioned, determining the picture pick-up device
It is in 3D shooting states；And be used for, when N number of testing result is unsatisfactory for described pre-conditioned, determining the picture pick-up device
It is in pan-shot state.
Specifically, loop detection module 902, for, after execution step A, before performing stepb, also including：Step
Rapid F：Whether each self-contained characteristic point quantity of two feature point sets for judging this group of image is more than default characteristic point quantity.
Specifically, loop detection module 902 is concentrated with one in two characteristic points for judging this group of image by step F
When the characteristic point quantity of feature point set is more than the default characteristic point quantity, execution step B；And judging this group of image
When each self-contained characteristic point quantity of two feature point sets is no more than the default characteristic point quantity, obtain under this group of image
One group of image, then for the next group of image successively execution step A, step D, step B and step C.
Specifically, step B is specifically for utilizing characterization information to the characteristic point in described two feature point sets
Similarity mode is carried out, the quantity of matching characteristic point pair is got, wherein, feature description phase between each pair matching characteristic point pair
Default similarity is all higher than like degree.
Specifically, detection module 904 is specifically for detecting whether each testing result characterizes the number of matching characteristic point pair
Amount is more than the predetermined threshold value.
Specifically, detection module 904 is specifically for detecting the quantity for characterizing matching characteristic point pair in N number of testing result
Whether preset ratio is more than more than the testing result proportion of the predetermined threshold value.
Beneficial effects of the present invention are as follows：
The present invention obtains the corresponding N number of testing result of N group images first, then judges whether N number of testing result is full
Foot is pre-conditioned, when meeting described pre-conditioned, determines that the picture pick-up device is in 3D shooting states；Be unsatisfactory for described pre-
If during condition, determining that the picture pick-up device is in pan-shot shape；Thus, in this way can real-time judge go out described taking the photograph
As equipment status, the accuracy of condition adjudgement is improve, and can automatically using corresponding splicing when carrying out live
The image mosaic of collection is played out by mode into panoramic video or 3D videos, is user-friendly to.
Module described in the embodiment of the present invention or unit, can be by universal integrated circuit, such as CPU
(CentralProcessing Unit, central processing unit), or pass through ASIC (Application Specific
IntegratedCircuit, special IC) realizing.
One of ordinary skill in the art will appreciate that realize all or part of flow process in above-described embodiment method, being can be with
Instruct related hardware to complete by computer program, described program can be stored in a computer read/write memory medium
In, the program is upon execution, it may include such as the flow process of the embodiment of above-mentioned each method.Wherein, described storage medium can be magnetic
Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access
Memory, RAM) etc..
Above disclosed is only present pre-ferred embodiments, can not limit certainly the right model of the present invention with this
Enclose, one of ordinary skill in the art will appreciate that all or part of flow process of above-described embodiment is realized, and will according to right of the present invention
Made equivalent variations are sought, the covered scope of invention is still fallen within.
Claims (11)
1. a kind of picture pick-up device, it is characterised in that including first base, second base, the first photographing module, the second photographing module
And rotatable parts, first photographing module is arranged on the outer surface of the first base, and second photographing module is arranged
On the outer surface of the second base, the first base is connected with the second base by the rotatable parts；Described
One base and the second base can be folded by the rotatable parts or be launched.
2. picture pick-up device as claimed in claim 1, it is characterised in that first described in when the picture pick-up device is in folded state
The inner surface contact of the inner surface of base and the second base；The first base when picture pick-up device is in deployed condition
Inner surface and the inner surface of the second base between have angle.
3. picture pick-up device as claimed in claim 1, it is characterised in that the rotatable parts are hinge arrangement or bar linkage structure.
4. picture pick-up device as claimed in claim 3, it is characterised in that when the rotatable parts are hinge arrangement, described turn
Dynamic component includes rotary shaft, revolving member and fixing component, and the fixing component includes the fixed block of two pieces of separate types, described turn
Dynamic component is arranged between two pieces of fixed blocks, is provided with through hole in the revolving member, and the rotary shaft is arranged on the through hole
In.
5. a kind of method for picture pick-up device state of the identification as described in any one of claim 1-4, the first shooting mould
The two width images that block and the second photographing module synchronization are obtained are one group of image, it is characterised in that include：
N group images are obtained successively, N is positive integer；
After one group of image of every acquisition, following steps are executed for each group of image for obtaining：
Step A：Each that two feature point sets is extracted from the one group of image for obtaining by feature point extraction algorithm and its is included
The characterization information of characteristic point；
Step B：The characteristic point in described two feature point sets is mated using characterization information, get matching characteristic
Point to quantity；
Step C：Detect the quantity of the matching characteristic point pair whether more than predetermined threshold value；
After above-mentioned steps being executed to the N groups image, get the corresponding N number of testing result of the N groups image；
Detect whether N number of testing result meets pre-conditioned；
If N number of testing result meet described pre-conditioned, determine the picture pick-up device be in 3D shooting states；
If N number of testing result be unsatisfactory for described pre-conditioned, determine the picture pick-up device be in pan-shot state.
6. method as claimed in claim 5, it is characterised in that after execution step A, before performing stepb, the side
Method also includes：
Step D：Judge each self-contained characteristic point quantity of two feature point sets of this group of image whether more than default feature points
Amount；
If two characteristic points of this group of image are concentrated with the characteristic point quantity of a feature point set more than the default feature points
Measure, then execution step B；
If each self-contained characteristic point quantity of two feature point sets of this group of image is no more than the default characteristic point quantity,
Next group of image of this group of image is obtained, then for the next group of image successively execution step A, step D, step B and step
Rapid C.
7. method as claimed in claim 5, it is characterised in that the utilization characterization information is to described two feature point sets
In characteristic point mated, get the quantity of matching characteristic point pair, specially：
Similarity mode is carried out to the characteristic point in described two feature point sets using characterization information, matching characteristic is got
Point to quantity, wherein, the feature description similarity between each pair matching characteristic point pair is all higher than default similarity.
8. method as claimed in claim 5, it is characterised in that whether the detection N number of testing result meets default bar
Part, specially：
Detect whether each testing result characterizes the quantity of matching characteristic point pair and be more than the predetermined threshold value.
9. method as claimed in claim 5, it is characterised in that whether the detection N number of testing result meets default bar
Part, specially：
Detecting, the quantity that matching characteristic point pair is characterized in N number of testing result is more than shared by the testing result of the predetermined threshold value
Whether ratio is more than preset ratio.
10. a kind of device for picture pick-up device state of the identification as described in any one of claim 1-4, the first shooting mould
The two width images that block and the second photographing module synchronization are obtained are one group of image, it is characterised in that include：
Image collection module, for obtaining N group images successively, N is positive integer；
Loop detection module, for, after one group of image of every acquisition, executing following steps, step for each group of image for obtaining
Rapid A：Two feature point sets and its each characteristic point for including are extracted from the one group of image for obtaining by feature point extraction algorithm
Characterization information；Step B：The characteristic point in described two feature point sets is mated using characterization information, obtain
Get the quantity of matching characteristic point pair；Step C：Detect the quantity of the matching characteristic point pair whether more than predetermined threshold value；
Testing result acquisition module, for, after above-mentioned steps are executed to the N groups image, getting the N groups image pair
The N number of testing result that answers；
Detection module, pre-conditioned for detecting whether N number of testing result meets；
Determining module, for when N number of testing result meets described pre-conditioned, determining that the picture pick-up device is clapped in 3D
Take the photograph state；And be used for, when N number of testing result is unsatisfactory for described pre-conditioned, determining that the picture pick-up device is in panorama
Shooting state.
11. devices as claimed in claim 10, it is characterised in that the loop detection module, for execution step A it
Afterwards, before performing stepb, also include：
Step F：Judge each self-contained characteristic point quantity of two feature point sets of this group of image whether more than default feature points
Amount.
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