CN107071279A - A kind of method and system of panoramic picture frame stabilization - Google Patents
A kind of method and system of panoramic picture frame stabilization Download PDFInfo
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- CN107071279A CN107071279A CN201710214295.6A CN201710214295A CN107071279A CN 107071279 A CN107071279 A CN 107071279A CN 201710214295 A CN201710214295 A CN 201710214295A CN 107071279 A CN107071279 A CN 107071279A
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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
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/681—Motion detection
- H04N23/6812—Motion detection based on additional sensors, e.g. acceleration sensors
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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
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/682—Vibration or motion blur correction
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/2628—Alteration of picture size, shape, position or orientation, e.g. zooming, rotation, rolling, perspective, translation
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Abstract
The invention discloses a kind of method and system of panoramic picture frame stabilization.This method comprises the following steps：Gyroscope is added in panorama shooting device；The initial rotation angle Q of rotation attitude when gyroscope acquisition panorama shooting device is upright；Each present frame posture anglec of rotation Q' when gyroscope obtains panorama shooting device photographing panoramic picture；Spin matrix M is obtained according to initial rotation angle Q and present frame anglec of rotation Q'；The current panorama of single frame is projected on panorama sphere；Present frame panorama sphere picture is subjected to panorama sphere picture after being rotated using spin matrix M；Panorama sphere image projection obtains the panorama under stable state to plane panorama after rotating.The anglec of rotation of each frame when a kind of method and system for panoramic picture frame stabilization that the present invention is provided obtain panorama shooting device photographing panoramic picture by gyroscope, recycles spin matrix to be rotated, so as to realize that panoramic picture is in the purpose of stable state.
Description
Technical field
The present invention relates to panoramic picture field, more particularly to a kind of method and system of panoramic picture frame stabilization.
Background technology
Pan video (including taking pictures, video recording is live) at present, shoots, is moving typically by hand-held panorama shooting device
When dynamic shooting, because human hand is unstable, panorama shooting device rotation attitude can be caused unstable, cause the picture shot not
It is stable, cause picture during viewing unstable, Consumer's Experience is not good.
One of current solution is the frame stabilization for shooting it using the stable panorama shooting device of head.However,
Have the disadvantage head costly, volume is not fully solved hand-held panorama shooting device and shoots picture typically than larger
The problem of picture is unstable during face.
In view of this, the picture captured by panorama shooting device how is caused to keep a stable state to be a needs
The problem of solution.
The content of the invention
The embodiments of the invention provide a kind of method and system of panoramic picture frame stabilization, pan-shot is obtained by gyroscope
The anglec of rotation of each frame during equipment photographing panoramic picture, recycles spin matrix rotate the panorama stablized, from
And realize that panoramic picture is in the purpose of stable state, picture is unstable when solving hand-held panorama shooting device shooting picture
Problem, improves Consumer's Experience.
First aspect of the embodiment of the present invention discloses a kind of method of panoramic picture frame stabilization, comprises the following steps：
Gyroscope is added in panorama shooting device；Rotation attitude when definition panorama shooting device is upright is initial attitude, gyro
Instrument obtains the anglec of rotation of initial attitude, and referred to as initial rotation angle Q；Gyroscope obtains panorama shooting device photographing panoramic picture
When each frame the posture anglec of rotation, and it is present frame anglec of rotation Q' to define per the single frame current posture anglec of rotation；According to initial
Anglec of rotation Q and present frame anglec of rotation Q' obtain spin matrix M；The current panorama of single frame is projected on panorama sphere,
And referred to as current panorama sphere picture；Current panorama sphere picture is carried out using spin matrix M complete after being rotated
Scape sphere picture；Panorama sphere image projection obtains the panorama under stable state to plane panorama after rotating.
It is preferred that, panorama shooting device is panorama camera.
It is preferred that, spin matrix M and initial rotation angle Q and present frame anglec of rotation Q' formula is MQ'=Q.
It is preferred that, the equipment of photographing panorama picture is connected with the panorama camera, and is fixation with the panorama camera
Connection.
It is preferred that, the equipment of photographing panorama picture is mobile phone, ipad or tablet personal computer.
There is provided a kind of method of panoramic picture frame stabilization in the embodiment of the present invention, panorama is obtained by gyroscope and clapped
The anglec of rotation of each frame during equipment photographing panoramic picture is taken the photograph, recycles spin matrix rotate the panorama stablized,
So as to realize that panoramic picture is in the purpose of stable state, picture is unstable when solving hand-held panorama shooting device shooting picture
The problem of, improve Consumer's Experience.
Second aspect of the embodiment of the present invention discloses a kind of system of panoramic picture frame stabilization, including pan-shot is set
Standby, gyroscope, computing module and rotary module, wherein, panorama shooting device is used for photographing panoramic picture；Gyroscope is used to obtain
The posture anglec of rotation of each frame when taking panorama shooting device photographing panoramic picture, wherein, define panorama shooting device upright
When rotation attitude be initial attitude, the anglec of rotation of initial attitude is referred to as initial rotation angle Q, and definition is per the current appearance of single frame
The state anglec of rotation is present frame anglec of rotation Q'；Computing module is used to be rotated according to initial rotation angle Q and present frame anglec of rotation Q'
Matrix M, and the current panorama of single frame is projected on panorama sphere, and referred to as current panorama sphere picture；Rotation
Module is used to current panorama sphere picture carrying out panorama sphere picture after being rotated using spin matrix M, and will rotation
Panorama sphere image projection obtains the panorama under stable state to plane panorama after turning.
It is preferred that, panorama shooting device is panorama camera.
It is preferred that, spin matrix M and initial rotation angle Q and present frame anglec of rotation Q' formula is MQ'=Q.
It is preferred that, the equipment of photographing panorama picture is connected with the panorama camera, and is fixation with the panorama camera
Connection.
It is preferred that, the equipment of photographing panorama picture is mobile phone, ipad or tablet personal computer.In the embodiment of the present invention there is provided
A kind of system of panoramic picture frame stabilization, passes through each frame when gyroscope obtains panorama shooting device photographing panoramic picture
The anglec of rotation, recycles spin matrix rotate the panorama stablized, so as to realize that panoramic picture is in stable state
Purpose, the problem of picture is unstable when solving hand-held panorama shooting device shooting picture improve Consumer's Experience.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, is used required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ability
For the those of ordinary skill of domain, on the premise of not paying creative work, it can also be obtained according to these accompanying drawings other attached
Figure.
Fig. 1 is a kind of flow signal of embodiment of panoramic picture frame stabilization method one disclosed in the embodiment of the present invention
Figure；
Fig. 2 is picture view of the panoramic picture disclosed in the embodiment of the present invention in different rotary posture；
Fig. 3 is a kind of structural representation of the embodiment of panoramic picture frame stabilization system one disclosed in the embodiment of the present invention.
Main element symbol description
| Panorama shooting device | 10 |
| Gyroscope | 20 |
| Computing module | 30 |
| Rotary module | 40 |
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Term " comprising " and " having " in description and claims of this specification and above-mentioned accompanying drawing and they appoint
What is deformed, it is intended that covering is non-exclusive to be included.For example contain the process of series of steps or unit, method, system, production
The step of product or equipment are not limited to list or unit, but alternatively also include the step of do not list or unit, or
Alternatively also include for the intrinsic other steps of these processes, method, product or equipment or unit.
The embodiments of the invention provide a kind of method and system of panoramic picture frame stabilization, panorama is obtained by gyroscope
The anglec of rotation of each frame during capture apparatus photographing panoramic picture, recycles spin matrix rotate the panorama stablized
Face, so as to realize that panoramic picture is in the purpose of stable state, picture is not when solving hand-held panorama shooting device shooting picture
Stable the problem of, improve Consumer's Experience.
Referring to Fig. 1, Fig. 1 is a kind of embodiment of panoramic picture frame stabilization method one disclosed in the embodiment of the present invention
Schematic flow sheet.As shown in figure 1, a kind of embodiment step of panoramic picture frame stabilization method one disclosed in the embodiment of the present invention
Including：
Step S100, adds gyroscope in panorama shooting device, and initial rotation angle Q is obtained using gyroscope, specifically, fixed
Rotation attitude when adopted panorama shooting device is upright is initial attitude, and the anglec of rotation of initial attitude is obtained using gyroscope,
And referred to as initial rotation angle Q, specific visible Fig. 2A, Fig. 2A are picture view of the panoramic picture in initial rotation posture；
Step S102, present frame anglec of rotation Q is obtained using gyroscope, specifically, and gyroscope obtains panorama shooting device and shot
The posture anglec of rotation of each frame during panorama, and it is present frame anglec of rotation Q' to define per the current posture anglec of rotation of single frame,
Specific visible Fig. 2 B or Fig. 2 C, Fig. 2 B or Fig. 2 C are picture view of the panoramic picture in non-initial rotation attitude；
Step S104, spin matrix M is obtained according to initial rotation angle Q and present frame anglec of rotation Q', specifically, spin matrix M
Formula with initial rotation angle Q and present frame anglec of rotation Q' is MQ'=Q；
Step S106, the current panorama of single frame is projected on panorama sphere, and referred to as current panorama sphere picture；
Step S108, panorama sphere picture after being rotated is carried out by current panorama sphere picture using spin matrix M；
Step S110, by panorama sphere image projection after rotation to plane panorama, obtains the panorama under stable state.
In the present embodiment, panorama shooting device is that the equipment of panorama camera and photographing panorama picture not only can be with
It is panorama camera, can also be equipment that panorama shooting device is connected and with panorama shooting device to be fixedly connected, it is all
To be fixedly connected, reason is, if panoramic picture rotation when the anglec of rotation angle be consistent, it is however generally that, with panorama
The equipment that capture apparatus is connected is mobile phone, ipad or tablet personal computer, or is that other can capture apparatus.
In the present embodiment, when hand-held panorama shooting device carries out pan-shot, obtain panorama using gyroscope and clap
The anglec of rotation of each frame during equipment photographing panoramic picture is taken the photograph, recycles spin matrix rotate the panorama stablized,
Now illustrated by taking panorama camera photographing panorama picture picture as an example.
First, it is built-in when panorama camera carries out pan-shot on the move, and when panorama camera is in upright
Gyroscope obtains the now posture anglec of rotation, and the posture anglec of rotation defined now is initial attitude anglec of rotation Q.
Secondly, gyroscope obtains the posture anglec of rotation of each frame in real time, and defines per the current posture anglec of rotation of single frame
For present frame anglec of rotation Q'.
Then, spin matrix M is obtained according to initial rotation angle Q and present frame anglec of rotation Q', spin matrix M herein is specific
Formula is MQ'=Q.
Finally, the current panorama of single frame is projected on panorama sphere, current panorama sphere picture is used into rotation
Torque battle array M carries out panorama sphere picture after being rotated, by panorama sphere image projection after rotation to plane panorama,
So as to obtain the panorama under stable state.
In the embodiment of the present invention, the rotation of each frame when obtaining panorama shooting device photographing panoramic picture by gyroscope
Angle, recycles spin matrix rotate the panorama stablized, so as to realize that panoramic picture is in the mesh of stable state
, the problem of picture is unstable when solving hand-held panorama shooting device shooting picture improves Consumer's Experience.
Referring to Fig. 2, Fig. 2 is picture view of the panoramic picture disclosed in the embodiment of the present invention in different rotary posture.
Specifically, Fig. 2A is picture view of the panoramic picture in initial rotation posture, and Fig. 2 B or Fig. 2 C are panoramic picture non-
The picture view of initial rotation posture.
In the present embodiment, it is assumed that picture during in initial rotation posture is the picture under stabilization, then other are in
The picture of non-initial rotation attitude is unstable panorama.Specifically, in panoramic picture picture, Fig. 2A, Fig. 2 B
And Fig. 2 C picture is only three kinds of different pictures of all panoramas, when hand-held panorama shooting device carries out pan-shot
When, three of the above panorama is possible to occur.
The purpose of the present invention is that the picture become Fig. 2 B and Fig. 2 C picture in Fig. 2A so that panorama energy
It is enough to be in the state of stabilization, it is easy to watch.Therefore, in the present embodiment, panorama shooting device is obtained by gyroscope to clap
Pan picture when each frame the anglec of rotation, recycle spin matrix to carry out rotating the panorama 2A that is stablized, e.g. so that
Realize that panoramic picture is in the purpose of stable state, picture is unstable when solving hand-held panorama shooting device shooting picture asks
Topic, improves Consumer's Experience.
Referring to Fig. 3, Fig. 3 is a kind of embodiment of panoramic picture frame stabilization system one disclosed in the embodiment of the present invention
Structural representation.Wherein, panoramic picture frame stabilization system of the present invention includes panorama shooting device 10, gyroscope 20, calculates mould
Block 30 and rotary module 40, and connected before modules by certain communication mode.
In the present embodiment, the photographing panoramic picture of panorama shooting device 10；
The posture anglec of rotation of each frame when the gyroscope of gyroscope 20 obtains panorama shooting device photographing panoramic picture, wherein, definition
Rotation attitude when panorama shooting device is upright is initial attitude, and the anglec of rotation of initial attitude is referred to as initial rotation angle Q,
Definition is present frame anglec of rotation Q' per the current posture anglec of rotation of single frame；
Computing module 30 obtains spin matrix M according to initial rotation angle Q and present frame anglec of rotation Q', and by current complete of single frame
Scape image projection is on panorama sphere, and referred to as current panorama sphere picture.
Current panorama sphere picture is carried out panorama sphere after being rotated using spin matrix M and drawn by rotary module 40
Face, and panorama sphere image projection after rotation is obtained into the panorama under stable state to plane panorama.
In the present embodiment, panorama shooting device 10 not only may be used for the equipment of panorama camera and photographing panorama picture
To be panorama camera, can also be equipment that panorama shooting device is connected and with panorama shooting device to be fixedly connected, institute
Promising to be fixedly connected, reason is, if panoramic picture rotation when the anglec of rotation angle be consistent, it is however generally that, it is and complete
The equipment that scape capture apparatus is connected is mobile phone, ipad or tablet personal computer, or is that other can capture apparatus.
In the present embodiment, when hand-held panorama shooting device 10 carries out pan-shot, obtained entirely using gyroscope 20
The anglec of rotation of each frame during scape capture apparatus photographing panoramic picture, recycles spin matrix rotate the panorama stablized
Face, is now illustrated by taking panorama camera photographing panorama picture picture as an example.
First, it is built-in when panorama camera carries out pan-shot on the move, and when panorama camera is in upright
Gyroscope 20 obtains the now posture anglec of rotation, and the posture anglec of rotation defined now is initial attitude anglec of rotation Q.
Secondly, gyroscope 20 obtains the posture anglec of rotation of each frame in real time, and defines the posture rotation current per single frame
Angle is present frame anglec of rotation Q'.
Then, computing module 30 obtains spin matrix M according to initial rotation angle Q and present frame anglec of rotation Q', rotation herein
The specific formula of torque battle array M are MQ'=Q, and the current panorama of single frame is projected on panorama sphere, and are referred to as current
Panorama sphere picture.
Finally, current panorama sphere picture is carried out panorama after being rotated by rotary module 40 using spin matrix M
Sphere picture, by panorama sphere image projection after rotation to plane panorama, so that the panorama under obtaining stable state.
In the embodiment of the present invention, the rotation of each frame when obtaining panorama shooting device photographing panoramic picture by gyroscope
Angle, recycles spin matrix rotate the panorama stablized, so as to realize that panoramic picture is in the mesh of stable state
, the problem of picture is unstable when solving hand-held panorama shooting device shooting picture improves Consumer's Experience.
It should be noted that for foregoing each method embodiment, in order to be briefly described, therefore it is all expressed as a series of
Combination of actions, but those skilled in the art should know, the present invention is not limited by described sequence of movement because
According to the present invention, some steps can be carried out sequentially or simultaneously using other.Secondly, those skilled in the art should also know
Know, embodiment described in this description belongs to preferred embodiment, involved action and module is not necessarily of the invention
It is necessary.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and does not have the portion being described in detail in some embodiment
Point, it may refer to the associated description of other embodiment.
, can be by another way in several embodiments provided herein, it should be understood that disclosed device
Realize.For example, device embodiment described above is only schematical, the division of such as unit, only a kind of logic
Such as function is divided, and can have other dividing mode when actually realizing, multiple units or component can be combined or can collected
Into to another system, or some features can be ignored, or not perform.Another, shown or discussed coupling each other
Close or direct-coupling or communication connection can be by some interfaces, the INDIRECT COUPLING or communication connection of device or unit, can be with
It is electrical or other forms.
The unit illustrated as separating component can be or may not be physically separate, be shown as unit
Part can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple networks
On unit.Some or all of unit therein can be selected to realize the purpose of this embodiment scheme according to the actual needs.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If integrated unit is realized using in the form of SFU software functional unit and is used as independent production marketing or in use, can
To be stored in a computer-readable access to memory.Understood based on such, technical scheme is substantially in other words
The part contributed to prior art or all or part of the technical scheme can be embodied in the form of software product
Come, the computer software product is stored in a memory, including some instructions are to cause a computer equipment（Can be
Personal computer, parameter calibration module or network equipment etc.）Perform all or part of step of each embodiment method of the invention
Suddenly.And foregoing memory includes：USB flash disk, read-only storage（ROM, ReaD-Only Memory）, random access memory
（RAM, RanDom Access Memory）, mobile hard disk, magnetic disc or CD etc. are various can be with the medium of store program codes.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
To instruct the hardware of correlation to complete by program, the program can be stored in a computer-readable memory, memory
It can include：Flash disk, read-only storage（English：ReaD-Only Memory, referred to as：ROM）, random access device（English：
RanDom Access Memory, referred to as：RAM）, disk or CD etc..
The embodiment of the present invention is described in detail above, specific case used herein to the principle of the present invention and
Embodiment is set forth, and the explanation of above example is only intended to the method and its core concept for helping to understand the present invention；
Simultaneously for those of ordinary skill in the art, according to the thought of the present invention, can in specific embodiments and applications
There is change part, to sum up above-mentioned, this specification content should not be construed as limiting the invention.
Claims (10)
1. a kind of method of panoramic picture frame stabilization, it is characterised in that methods described includes：
Gyroscope is added in panorama shooting device；
Define the panorama shooting device it is upright when rotation attitude be initial attitude, the gyroscope obtains described initial
The anglec of rotation of posture, and referred to as initial rotation angle Q；
The posture anglec of rotation of each frame when the gyroscope obtains the panorama shooting device photographing panoramic picture, and define per single
The current posture anglec of rotation of one frame is present frame anglec of rotation Q'；
Spin matrix M is obtained according to the initial rotation angle Q and the present frame anglec of rotation Q'；
The current panorama of the single frame is projected on panorama sphere, and referred to as present frame panorama sphere picture；
The present frame panorama sphere picture is subjected to panorama sphere picture after being rotated using the spin matrix M；
By panorama sphere image projection after the rotation to plane panorama, the panorama under stable state is obtained.
2. panoramic picture frame stabilization method according to claim 1, it is characterised in that the panorama shooting device is complete
Scape camera.
3. panoramic picture frame stabilization method according to claim 1, it is characterised in that the spin matrix M with it is described
Initial rotation angle Q and the present frame anglec of rotation Q' formula are MQ'=Q.
4. panoramic picture frame stabilization method according to claim 2, it is characterised in that the equipment of photographing panorama picture with
The panorama camera is connected, and is to be fixedly connected with the panorama camera.
5. panoramic picture frame stabilization method according to claim 4, it is characterised in that the photographing panorama picture is set
Standby is mobile phone, ipad or tablet personal computer.
6. a kind of panoramic picture frame stabilization system of panorama camera, the system includes：
Panorama shooting device, for photographing panoramic picture；
Gyroscope, the posture anglec of rotation for obtaining each frame during the panorama shooting device photographing panoramic picture, wherein, definition
The rotation attitude when panorama shooting device is upright is initial attitude, and the anglec of rotation of the initial attitude is referred to as initially
Anglec of rotation Q, definition is present frame anglec of rotation Q' per the current posture anglec of rotation of single frame；
Computing module, for obtaining spin matrix M according to the initial rotation angle Q and the present frame anglec of rotation Q', and by institute
The current panorama of single frame is stated to project on panorama sphere, and referred to as current panorama sphere picture；
Rotary module is complete after being rotated for the current panorama sphere picture to be carried out using the spin matrix M
Scape sphere picture, and by panorama sphere image projection after the rotation to plane panorama, obtain the panorama under stable state
Picture.
7. panoramic picture frame stabilization system according to claim 6, it is characterised in that the panorama shooting device is complete
Scape camera.
8. many scene calibration systems of panorama camera according to claim 6, it is characterised in that the spin matrix M with
The initial rotation angle Q and the present frame anglec of rotation Q' formula are MQ'=Q.
9. many scene calibration systems of panorama camera according to claim 7, it is characterised in that photographing panorama picture is set
It is standby to be connected with the panorama camera, and be to be fixedly connected with the panorama camera.
10. many scene calibration systems of panorama camera according to claim 9, it is characterised in that the figure that pans
The equipment of picture is mobile phone, ipad or tablet personal computer.
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