CN106572307A - Panoramic image generation method, panoramic image generation system and photographing device - Google Patents
Panoramic image generation method, panoramic image generation system and photographing device Download PDFInfo
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- CN106572307A CN106572307A CN201610965994.XA CN201610965994A CN106572307A CN 106572307 A CN106572307 A CN 106572307A CN 201610965994 A CN201610965994 A CN 201610965994A CN 106572307 A CN106572307 A CN 106572307A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000013178 mathematical model Methods 0.000 claims abstract description 49
- 238000003384 imaging method Methods 0.000 claims abstract description 20
- 238000013507 mapping Methods 0.000 claims abstract description 7
- 230000000007 visual effect Effects 0.000 claims description 49
- 230000004927 fusion Effects 0.000 claims description 10
- 230000003287 optical effect Effects 0.000 claims description 4
- 241000251468 Actinopterygii Species 0.000 claims description 2
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
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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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
- G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Studio Devices (AREA)
- Stereoscopic And Panoramic Photography (AREA)
Abstract
The invention is applicable to the field of photographing, and provides a panoramic image generation method, a panoramic image generation system and a photographing device. The method comprises the following steps: building a spherical panorama mathematical model in advance; collecting two images through the two lenses of a photographing device; mapping the two images to the spherical panorama mathematical model according to the corresponding relationship between the imaging height and the angle of view of the lenses; and fusing the overlap areas of the two images in the spherical panorama mathematical model so as to stitch the two images into a spherical panoramic image covering all angle-of-view azimuths in the horizontal and vertical directions. The method is applied to a photographing device of which the two lenses are not concentrically arranged front and back. A complete panoramic image can be collected at a time. A panoramic video can be recorded. A panoramic image can be acquired more completely and efficiently. The user's operation is simplified greatly. The cost of panoramic photographing is reduced. The information acquisition ability of the photographing device is maximized, and the photographing device has complete scene saving ability.
Description
Technical field
The invention belongs to field is shot, more particularly to a kind of generation method of panoramic picture, system and filming apparatus.
Background technology
Panorama camera is needed using two camera lenses, and with reference to corresponding panorama image generation method with reach pan-shot it
Purpose；However, two camera lenses that the panorama camera of prior art includes are the concentric settings using before and after, this concentric setting
Form can reach the purpose of pan-shot, but concentric setting camera lens can make panorama camera in the case of equal Lens
Thickness increase, it is impossible to reach the portable convenience of low-profile.Prior art does not propose that two camera lenses are not to adopt
In front and back the filming apparatus of concentric setting, do not propose the panorama image generation method for being applied to this kind of filming apparatus yet.
The content of the invention
It is an object of the invention to provide a kind of generation method of panoramic picture, system and filming apparatus, it is intended to solve existing
There is technology not propose to be applied to the panoramic picture generation side that two camera lenses are not the filming apparatus of concentric setting using before and after
The problem of method.
In a first aspect, the invention provides a kind of generation method of panoramic picture, methods described includes：
Spherical panorama mathematical model is pre-build, the spherical panorama mathematical model is back-to-back in before and after with filming apparatus
Two angles of visual field that mode is arranged are the centre of sphere more than the centrosymmetry point of the locus of the camera lens of 180 degree, with described two mirrors
The spherical crown that the head angle of visual field to be collected is respectively obtained is combined into sphere；
Two width images are gathered by the two of filming apparatus camera lenses；
According to the corresponding relation between the lens imaging height and angle of visual field size of camera lens, two width images are mapped to spherical
In panorama mathematical model；
The overlapping region of two width images in spherical panorama mathematical model is done and is merged, so as to by two width image mosaics into covering
The Spherical Panorama Image in all visual angle orientation in horizontally and vertically direction is covered.
Second aspect, the invention provides a kind of generation system of panoramic picture, the system includes：
Model building module, for setting up spherical panorama mathematical model, the spherical panorama mathematical model is with filming apparatus
Two angles of visual field arranging of back-to-back mode in before and after be ball more than the centrosymmetry point of the locus of the camera lens of 180 degree
The heart, with the spherical crown that described two camera lenses angle of visual field to be collected is respectively obtained sphere is combined into；
Acquisition module, for gathering two width images by two camera lenses of filming apparatus；
Mapping block, for according to the corresponding relation between the lens imaging of camera lens height and angle of visual field size, by two width
Image is mapped in spherical panorama mathematical model；
Fusion Module, merges for doing to the overlapping region of two width images in spherical panorama mathematical model, so as to by two
Width image mosaic is into the Spherical Panorama Image for covering all visual angle orientation in horizontally and vertically direction.
The third aspect, the invention provides a kind of filming apparatus, life of the filming apparatus including above-mentioned panoramic picture
Into system.
In the present invention, because two angles of visual field that back-to-back mode is arranged in before and after with filming apparatus are more than 180 degree
Camera lens locus centrosymmetry point be the centre of sphere, respectively obtained with the angle of visual field that described two camera lenses to be collected
Spherical crown be combined into sphere, spherical panorama mathematical model is set up, according between the lens imaging of camera lens height and angle of visual field size
Corresponding relation, two width images are mapped in spherical panorama mathematical model.Therefore the panorama image generation method of the present invention is fitted
It is not the filming apparatus of the concentric setting using before and after for two camera lenses.The present invention can disposably gather complete panorama sketch
Picture, can record panoramic video, can more complete, more efficiently obtain panoramic picture, and greatly simplify user operation flow process,
Reduce pan-shot cost；Further, since based on spherical panorama mathematical model, therefore shooting dress is expanded to greatest extent
The information collecting capacity put so as to possess the ability at complete saving scenario scene.
Description of the drawings
Fig. 1 is the flow chart of the generation method of the panoramic picture that the embodiment of the present invention one is provided.
Fig. 2 is two camera lenses of the filming apparatus of the generation method of the panoramic picture provided using the embodiment of the present invention one
Position relationship schematic diagram.
Fig. 3 is the flow chart of the generation system of the panoramic picture that the embodiment of the present invention two is provided.
Specific embodiment
In order that the purpose of the present invention, technical scheme and beneficial effect become more apparent, below in conjunction with accompanying drawing and enforcement
Example, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only to explain this
It is bright, it is not intended to limit the present invention.
In order to illustrate technical solutions according to the invention, illustrate below by specific embodiment.
Embodiment one：
Refer to Fig. 2, using the embodiment of the present invention one provide panoramic picture generation method filming apparatus include be in
Two camera lenses that in front and back back-to-back mode is arranged, camera lens includes camera lens front portion and lens barrel, and the lens barrel of two camera lenses is in the simultaneously portion that misplaces
Divide and overlap, the optical axis line skew of two camera lenses is more than the distance of a lens barrel diameter.
Therefore two camera lenses of filming apparatus can overlap in camera lens short transverse, and such that it is able to reduce dress is shot
The thickness put.Filming apparatus can be panorama camera, camera lens be the angle of visual field more than 180 degree wide-angle lens or fish eye lens (i.e.
Bugeye lens).
Fig. 1 is referred to, the generation method of the panoramic picture that the embodiment of the present invention one is provided is comprised the following steps：
S101, spherical panorama mathematical model is pre-build, the spherical panorama mathematical model is with two mirrors of filming apparatus
The centrosymmetry point of the locus of head is the centre of sphere, with the ball that described two camera lenses angle of visual field to be collected is respectively obtained
Hat is combined into sphere.
S102, gather two width images by the two of filming apparatus camera lenses；
S103, according to the corresponding relation between the lens imaging of camera lens height and angle of visual field size, by the mapping of two width images
To in spherical panorama mathematical model；
In the embodiment of the present invention one,
Wherein, r is the lens imaging height of camera lens,For the angle of visual field of camera lens.
Lens imaging highly refers to the vertical distance of Range Imaging center on the image sensor, and the corresponding relation can
To be drawn by the optical texture of testing lens.
In the embodiment of the present invention one, S103 specifically may comprise steps of：
By between lens imaging height and angle of visual field size of the pixel of each position in two width images according to camera lens
Corresponding relation, is converted into corresponding visual field Angle Position in spherical panorama mathematical model；
With reference to each position pixel in the picture relative to angle ω in the center of circle, in the spherical panorama number of any radius
Learn and uniquely determine position of the pixel in original image on model；
Each visual field Angle Position is filled the pixel data of correspondence position on spherical panorama mathematical model.
S104, the overlapping region to two width images in spherical panorama mathematical model are done and are merged, so as to two width images be spelled
It is connected into the Spherical Panorama Image for covering all visual angle orientation in horizontally and vertically direction.
In the embodiment of the present invention one, S104 is specifically as follows：
The overlapping region of the two width images in spherical panorama mathematical model, takes the pixel value conduct of the maximum point of gray value
Pixel value after fusion, so as to by two width image mosaics into the spherical panorama for covering all visual angle orientation in horizontally and vertically direction
Image.
Embodiment two：
Fig. 3 is referred to, the generation system of the panoramic picture that the embodiment of the present invention two is provided includes：
Model building module 11, for setting up spherical panorama mathematical model, the spherical panorama mathematical model is shooting dress
Two angles of visual field that back-to-back mode is arranged in before and after put are ball more than the centrosymmetry point of the locus of the camera lens of 180 degree
The heart, with the spherical crown that described two camera lenses angle of visual field to be collected is respectively obtained sphere is combined into；
Acquisition module 12, for gathering two width images by two camera lenses of filming apparatus；
Mapping block 13, for being closed according to the correspondence between the lens imaging of camera lens height and angle of visual field size
System, two width images are mapped in spherical panorama mathematical model；The lens imaging height of the camera lens and the angle of visual field
Corresponding relation between size is specially：
Wherein, r is the lens imaging height of camera lens,For the angle of visual field of camera lens.
Fusion Module 14, merges for doing to the overlapping region of two width images in spherical panorama mathematical model, so as to incite somebody to action
Two width image mosaics are into the Spherical Panorama Image for covering all visual angle orientation in horizontally and vertically direction.
In the embodiment of the present invention two, the camera lens includes camera lens front portion and lens barrel, and the lens barrel of two camera lenses is in misplace simultaneously
Partly overlap setting, the optical axis line skew of two camera lenses more than a lens barrel diameter distance, the camera lens be wide-angle lens or
Fish eye lens.
In the embodiment of the present invention two, the mapping block is specifically included：
Conversion module, for the lens imaging height by the pixel of each position in two width images according to camera lens and visual field
Corresponding relation between the size of angle, is converted into corresponding visual field Angle Position in spherical panorama mathematical model；
Position determination module, for reference to the pixel of each position in the picture relative to angle ω in the center of circle, it is in office
Position of the pixel in original image is uniquely determined on the spherical panorama mathematical model of meaning radius；
Filling module, for the pixel count that each visual field Angle Position is filled correspondence position on spherical panorama mathematical model
According to.
In the embodiment of the present invention two, the Fusion Module is specifically for the two width images in spherical panorama mathematical model
Overlapping region, take the pixel value of the maximum point of gray value as the pixel value after fusion.
The embodiment of the present invention additionally provides the shooting of the generation system of the panoramic picture provided including the embodiment of the present invention two
Device.
In embodiments of the present invention, because two angles of visual field that back-to-back mode is arranged in before and after with filming apparatus are more than
The centrosymmetry point of the locus of the camera lens of 180 degree is the centre of sphere, with described two camera lenses angle of visual field to be collected point
The spherical crown not obtained is combined into sphere, sets up spherical panorama mathematical model, big according to the lens imaging height and the angle of visual field of camera lens
Corresponding relation between little, two width images are mapped in spherical panorama mathematical model.Therefore the panoramic picture of the present invention is generated
Method is applied to the filming apparatus that two camera lenses are not the concentric settings using before and after.The present invention can disposably gather complete complete
Scape image, can record panoramic video, can more complete, more efficiently obtain panoramic picture, and greatly simplify user operation
Flow process, reduces pan-shot cost；Further, since based on spherical panorama mathematical model, therefore expand to greatest extent
The information collecting capacity of filming apparatus so as to possess the ability at complete saving scenario scene.
One of ordinary skill in the art will appreciate that realizing that all or part of step in above-described embodiment method can be
Related hardware is instructed to complete by program, described program can be stored in a computer read/write memory medium,
Described storage medium, such as ROM/RAM, disk, CD.
Presently preferred embodiments of the present invention is the foregoing is only, not to limit the present invention, all essences in the present invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of generation method of panoramic picture, it is characterised in that methods described includes：
Pre-build spherical panorama mathematical model, the spherical panorama mathematical model back-to-back mode in before and after with filming apparatus
Two angles of visual field for arranging are the centre of sphere more than the centrosymmetry point of the locus of the camera lens of 180 degree, with described two camera lens institutes
The spherical crown that the angle of visual field that can be collected is respectively obtained is combined into sphere；
Two width images are gathered by the two of filming apparatus camera lenses；
According to the corresponding relation between the lens imaging height and angle of visual field size of camera lens, two width images are mapped to into spherical panorama
In mathematical model；
The overlapping region of two width images in spherical panorama mathematical model is done and is merged, so as to by two width image mosaics into covering
The horizontally and vertically Spherical Panorama Image in all visual angle orientation in direction.
2. the method for claim 1, it is characterised in that the camera lens includes that camera lens is anterior and lens barrel, two camera lenses
In misplacing and the setting that partly overlaps, the optical axis line skew of two camera lenses is more than the distance of a lens barrel diameter to lens barrel.
3. the method for claim 1, it is characterised in that the camera lens is wide-angle lens or fish eye lens.
4. the method for claim 1, it is characterised in that between the lens imaging height of the camera lens and angle of visual field size
Corresponding relation be specially：
Wherein, r is the lens imaging height of camera lens,For the angle of visual field of camera lens.
5. the method for claim 1, it is characterised in that the lens imaging height and angle of visual field size according to camera lens
Between corresponding relation, two width images are mapped in spherical panorama mathematical model and are specifically included：
By the correspondence between lens imaging height and angle of visual field size of the pixel of each position in two width images according to camera lens
Relation, is converted into corresponding visual field Angle Position in spherical panorama mathematical model；
With reference to each position pixel in the picture relative to angle ω in the center of circle, in the spherical panorama mathematical modulo of any radius
Position of the pixel in original image is uniquely determined in type；
Each visual field Angle Position is filled the pixel data of correspondence position on spherical panorama mathematical model.
6. the method as described in any one of claim 1 to 5, it is characterised in that two in the mathematical model to spherical panorama
Do fusion and be specially in the overlapping region of width image：
The overlapping region of the two width images in spherical panorama mathematical model, takes the pixel value of the maximum point of gray value as fusion
Pixel value afterwards.
7. the generation system of a kind of panoramic picture, it is characterised in that the system includes：
Model building module, for setting up spherical panorama mathematical model, the spherical panorama mathematical model is in filming apparatus
Two angles of visual field that in front and back back-to-back mode is arranged are the centre of sphere more than the centrosymmetry point of the locus of the camera lens of 180 degree, with
The spherical crown that described two camera lenses angle of visual field to be collected is respectively obtained is combined into sphere；
Acquisition module, for gathering two width images by two camera lenses of filming apparatus；
Mapping block, for according to the corresponding relation between the lens imaging of camera lens height and angle of visual field size, by two width images
In being mapped to spherical panorama mathematical model；
Fusion Module, merges for doing to the overlapping region of two width images in spherical panorama mathematical model, so as to by two width figures
As being spliced into the Spherical Panorama Image for covering all visual angle orientation in horizontally and vertically direction.
8. system as claimed in claim 7, it is characterised in that the mapping block is specifically included：
Conversion module, for the pixel of each position in two width images is big according to the lens imaging height and the angle of visual field of camera lens
Corresponding relation between little, is converted into corresponding visual field Angle Position in spherical panorama mathematical model；
Position determination module, for reference to the pixel of each position in the picture relative to angle ω in the center of circle, arbitrarily half
Position of the pixel in original image is uniquely determined on the spherical panorama mathematical model in footpath；
Filling module, for the pixel data that each visual field Angle Position is filled correspondence position on spherical panorama mathematical model.
9. system as claimed in claim 7, it is characterised in that the Fusion Module is specifically in spherical panorama mathematical model
In two width images overlapping region, take the pixel value of the maximum point of gray value as the pixel value after fusion.
10. a kind of filming apparatus, it is characterised in that the filming apparatus include the panorama sketch described in any one of claim 7 to 9
The generation system of picture.
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Cited By (10)
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| CN107452053A (en) * | 2017-07-27 | 2017-12-08 | 中国科学技术大学 | A kind of omnidirectional imaging system and its implementation of micro-dimension object |
| CN107948488A (en) * | 2017-12-22 | 2018-04-20 | 深圳岚锋创视网络科技有限公司 | Mobile terminal coordinates the method and lens assembly for realizing pan-shot with lens assembly |
| WO2018081924A1 (en) * | 2016-11-01 | 2018-05-11 | 深圳岚锋创视网络科技有限公司 | Method, system and photographing device for generating panoramic image |
| CN109151442A (en) * | 2018-09-30 | 2019-01-04 | 维沃移动通信有限公司 | A kind of image capturing method and terminal |
| CN111031243A (en) * | 2019-12-16 | 2020-04-17 | 河南铭视科技股份有限公司 | Panoramic image generation method and device |
| CN111820753A (en) * | 2019-04-18 | 2020-10-27 | 佛山市美的清湖净水设备有限公司 | Water dispenser and control method and device thereof |
| CN111915482A (en) * | 2020-06-24 | 2020-11-10 | 福建（泉州）哈工大工程技术研究院 | Image splicing method suitable for fixed scene |
| WO2021083049A1 (en) * | 2019-11-01 | 2021-05-06 | 深圳市大疆创新科技有限公司 | Image processsing device, image processing method and program |
| CN113916984A (en) * | 2021-10-09 | 2022-01-11 | 山东大学 | Automatic ultrasonic online detection system for large pultrusion composite material |
| CN114184353A (en) * | 2020-08-24 | 2022-03-15 | 佳凌科技股份有限公司 | Optical lens assembling method |
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| CN107948488A (en) * | 2017-12-22 | 2018-04-20 | 深圳岚锋创视网络科技有限公司 | Mobile terminal coordinates the method and lens assembly for realizing pan-shot with lens assembly |
| CN109151442A (en) * | 2018-09-30 | 2019-01-04 | 维沃移动通信有限公司 | A kind of image capturing method and terminal |
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| WO2021083049A1 (en) * | 2019-11-01 | 2021-05-06 | 深圳市大疆创新科技有限公司 | Image processsing device, image processing method and program |
| CN111031243A (en) * | 2019-12-16 | 2020-04-17 | 河南铭视科技股份有限公司 | Panoramic image generation method and device |
| CN111915482A (en) * | 2020-06-24 | 2020-11-10 | 福建（泉州）哈工大工程技术研究院 | Image splicing method suitable for fixed scene |
| CN111915482B (en) * | 2020-06-24 | 2022-08-05 | 福建（泉州）哈工大工程技术研究院 | Image splicing method suitable for fixed scene |
| CN114184353A (en) * | 2020-08-24 | 2022-03-15 | 佳凌科技股份有限公司 | Optical lens assembling method |
| CN114184353B (en) * | 2020-08-24 | 2024-03-05 | 佳凌科技股份有限公司 | Optical lens assembly method |
| CN113916984A (en) * | 2021-10-09 | 2022-01-11 | 山东大学 | Automatic ultrasonic online detection system for large pultrusion composite material |
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Application publication date: 20170419 |