CN108600652B - Multi-camera integrated image acquisition equipment and control method thereof - Google Patents

Multi-camera integrated image acquisition equipment and control method thereof Download PDF

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CN108600652B
CN108600652B CN201810431685.3A CN201810431685A CN108600652B CN 108600652 B CN108600652 B CN 108600652B CN 201810431685 A CN201810431685 A CN 201810431685A CN 108600652 B CN108600652 B CN 108600652B
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image
sub
camera
focal length
main
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CN108600652A (en
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李章勇
鞠孟汐
李泽禹
刘伟
姜小明
王伟
庞宇
蒋宇浩
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Chongqing University of Post and Telecommunications
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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
    • 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
    • H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
    • 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
    • H04N23/67—Focus control based on electronic image sensor signals
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/04—Synchronising

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Abstract

本发明公开一种多摄像机综合图像采集设备及其方法，设置有设备箱，该设备箱内设置有用于采集全景图像S的主摄像机，以及至少两台用于采集分隔图像的分摄像机，该分摄像机的焦距大于主摄像机的焦距，所述主摄像机和分摄像机的图像输出端分别与控制系统的图像输入端组连接，所有所述分摄像机采集的分隔图像组合成的组合画面S’包含所述全景图像S。有益效果：采用本发明的多摄像机综合图像采集设备及其控制方法，能同步采集全景图像，以及全景图像各个分隔区域的图像，并且采集的分隔图像细节更加清楚，方便图像的后期编辑。

Figure 201810431685

The invention discloses a multi-camera integrated image acquisition device and a method thereof. An equipment box is provided. The equipment box is provided with a main camera for acquiring a panoramic image S, and at least two sub-cameras for acquiring separate images. The focal length of the camera is greater than the focal length of the main camera, the image output ends of the main camera and the sub-camera are respectively connected to the image input end group of the control system, and the combined picture S' formed by the separated images collected by all the sub-cameras includes the Panoramic image S. Beneficial effects: The multi-camera integrated image acquisition device and the control method thereof of the present invention can simultaneously acquire panoramic images and images of separate areas of the panoramic images, and the details of the collected separate images are clearer, which facilitates post-editing of images.

Figure 201810431685

Description

Multi-camera integrated image acquisition equipment and control method thereof
Technical Field
The invention relates to the field of image acquisition, in particular to a multi-camera comprehensive image acquisition device and a control method thereof.
Background
The focal length of the lens is a very important indicator of the lens. The length of the focal length of the lens determines the size of an image formed by a shot object on an imaging medium, namely the scale of the object and the image. When the same camera shoots the same object with the same distance, the focal length of the lens is short, the formed image is small, the shooting angle of view is large, and the scene in a large range can be shot. But the shot details are small and not clear enough.
According to the formulas f-wD/W and f-hD/H, where f is the focal length, W is the imaging width, D is the object distance, W is the imaging target width, H is the imaging height, and H is the imaging target height. It can be concluded that the size of the camera image is proportional to the focal length. To enlarge the image and make the details clearer, the focal length must be enlarged.
However, according to the formulas ah, ah is a horizontal angle of view and av is a vertical angle of view, 2arctg (h/2f) and av is 2arctg (v/2 f). If the focal length of the lens is enlarged, the field angle of the shot image becomes smaller, and only a partial area of the image can be shot.
In the prior art, in order to collect a panoramic image of a shooting target and also collect an enlarged image of each area of the panoramic image, only a focal length is reduced to obtain the panoramic image, and then the focal length is enlarged to collect the enlarged image. This results in the panoramic image and the magnified image not being acquired simultaneously. However, no device capable of synchronously acquiring panoramic images and amplifying images exists in the prior art.
Disclosure of Invention
In order to solve the technical problems, the invention provides a multi-camera integrated image acquisition device and a control method thereof.
The technical scheme is as follows:
the utility model provides an image acquisition equipment is synthesized to many cameras, is provided with the equipment box, and its key lies in: the equipment box is internally provided with a main camera for collecting a panoramic image S and at least two sub-cameras for collecting separated images, the focal length of each sub-camera is greater than that of the main camera, the image output ends of the main camera and the sub-cameras are respectively connected with the image input end group of a control system, and a combined picture S' formed by the separated images collected by all the sub-cameras contains the panoramic image S.
A panoramic image S of a shooting target is collected through a main camera, and amplified images of all areas of the panoramic image S are collected through a plurality of sub cameras with large focal lengths. Thus, the panoramic image S of the photographic subject and the enlarged images of the respective areas can be simultaneously acquired.
Furthermore, the front portion of the equipment box is provided with a supporting frame, a main sash is arranged in the center of the supporting frame, the main camera is installed on the main sash, at least two sub sashes are arranged on the periphery of the main sash, all the sub sashes are uniformly distributed around the main sash, and each sub sash is installed with the sub camera, all the sub cameras are parallel to each other and are consistent in orientation with the main camera.
The main camera and the sub-cameras are respectively arranged in the main sash and the sub-sash, if one of the cameras fails, the new camera can be conveniently replaced, and the shooting time is not delayed.
Furthermore, the control system is provided with at least three image processing modules, an image memory, an input/output module and a controller, wherein one image processing module is connected with the main camera, and the other image processing modules are respectively connected with the branch cameras in a one-to-one correspondence manner;
the output ends of all the image processing modules are connected with an image memory, the image memory is bidirectionally connected with a controller, and the controller is bidirectionally connected with the input and output module.
Each image input end corresponds to one image processing module, so that the images collected by the cameras can be filtered simultaneously, image time delay is avoided, and later-stage image cutting and editing are facilitated.
Furthermore, all the image processing modules are connected to the same image memory, the image memory is provided with an input end group, the input end group is connected with all the filters in a one-to-one correspondence manner, and each input end in the input end group corresponds to one storage area.
The image processing module synchronously carries out denoising processing on the panoramic image S sent by the main camera and the separating image sent by the sub-camera, sends the processed images to the image memory, and stores the panoramic image S and the separating image in corresponding memories. Images shot by each camera cannot be omitted, and when the images of each area need to be switched, the controller only needs to call the images from the corresponding storage area of the area, so that the images can be switched conveniently.
Furthermore, the main camera and the sub-cameras are both electrically controlled focusing cameras, a focusing control end of the main camera is connected with a main lens control end of the controller, the controller is provided with a sub-lens control end, and the sub-lens control end is connected with the focusing control ends of all the sub-cameras. In order to ensure that the magnification of the main camera is consistent with that of the sub-cameras, the ratio of the focal lengths of all the sub-cameras to the focal length of the main camera is equal and is kept synchronously changed. Therefore, the phenomenon that the images shot by the branch camera and the main camera are not coordinated due to the fact that the magnification times of the branch camera and the main camera are inconsistent can be avoided.
Furthermore, the main camera and all the sub-cameras are provided with electronic control focusing lenses with the same structure, each electronic control focusing lens is provided with a lens barrel, a linear guide rail, a lens group and a linear stepping motor are arranged between the front end and the rear end of each lens barrel, each linear stepping motor drives the lens group to slide back and forth on the linear guide rail, and each linear stepping motor is connected with the controller.
A control method of a multi-camera integrated image acquisition device is characterized in that: the method comprises the following steps:
step S1, the controller generates a focal length ratio coefficient c between the main camera and the sub-camera;
step S2, the controller controls the main camera and the sub cameras to synchronously acquire the panoramic image S and the combined picture S 'of the shooting target and send the panoramic image S and the combined picture S' to the connected image processing module;
step S3, the controller controls the image processing module to process the panoramic image S and the combined picture S' to generate image information e, and transmits the image information e to a correspondingly connected storage area for storage;
step S4, the controller obtains the image selection information d input by the input/output module, the image selection information d corresponds to the storage area in the image memory;
and step S5, the controller calls the image information e stored in real time from the corresponding storage area according to the image selection information d and sends the image information e to the input and output module for display.
Further, in step S1, the focal length ratio coefficient c is determined by the following method:
s1-1, acquiring focal length setting information f input by the input and output module, wherein the focal length setting information f comprises primary focal length setting information f1 of a main camera and primary focal length setting information f2 of a branch camera;
step S1-2, respectively setting the focal length of the main camera and the focal length of the branch camera according to the focal length preliminary setting information f1 of the main camera and the focal length preliminary setting information f2 of the branch camera;
s1-3, acquiring a panoramic original image a1 of a shooting target through a main camera, and sending the panoramic original image a1 to an input and output module for display;
s1-4, acquiring fine adjustment information b1 of the focal length of the main lens sent by the input and output module;
s1-5, adjusting the focal length of the main camera according to the main lens focal length fine adjustment information b 1;
s1-6, acquiring a panoramic correction image a1 'of a shooting target through a main camera, and sending the panoramic correction image a 1' to an input and output module for display;
step S1-7, judging whether the information j1 of the camera is received, if not, returning to the step S1-4, if so, entering the step S1-8;
s1-8, acquiring a separated original image a2 of the shooting target through a branch camera, and sending the separated original image a2 to an input and output module for display;
s1-9, acquiring the fine tuning information b2 of the focal length of the sub-lens sent by the input and output module;
s1-10, adjusting the focal length of the sub-camera according to the sub-lens focal length fine adjustment information b 2;
s1-11, acquiring a separation correction image a2 'of a shooting target through a sub camera, and sending the separation correction image a 2' to an input and output module for display;
step S1-12, judging whether the setting completion information j2 is received, if not, returning to the step S1-9, if so, entering the step S1-13;
and step S1-13, combining the focal length setting information f, the sub-lens focal length fine adjustment information b2 and the main lens focal length fine adjustment information b1 to generate and store a focal length ratio coefficient c between the sub-lens and the main lens.
By adopting the method, the focal lengths of the main camera and the sub-camera can be respectively set according to the requirements of a cameraman, and in the shooting process, if the cameraman adjusts the focal length of one of the cameras, the controller can also synchronously adjust other cameras according to the focal length ratio coefficient c, so that the situation that the images are not matched is avoided.
Further, in step S2, if the focal length of the main camera changes, the controller synchronously adjusts the focal lengths of the sub-cameras according to the focal length ratio coefficient c;
if the focal length of the sub-camera changes, the controller synchronously adjusts the focal length of the main camera according to the focal length ratio coefficient c.
Has the advantages that: by adopting the multi-camera comprehensive image acquisition equipment and the control method thereof, the panoramic image S and the images of all the partitioned areas of the panoramic image S can be synchronously acquired, the acquired partitioned images are clearer in detail, and the later-stage editing of the images is convenient.
Drawings
FIG. 1 is a block diagram of the present invention;
fig. 2 is a structural view of the support frame 4;
fig. 3 is a structural view of an electronically controlled focus lens;
fig. 4 is a schematic view of a connection structure of the support frame 4 and the equipment box 1;
FIG. 5 is a block diagram of a control system;
FIG. 6 is a flow chart of controller focus setting;
fig. 7 is a flow chart of controller image switching.
Detailed Description
The invention is further illustrated by the following examples and figures.
As shown in fig. 1 to 5, a multi-camera integrated image pickup apparatus is provided with an apparatus box 1, a main camera for picking up a panoramic image S of a photographic subject and a sub camera 3 for picking up a divisional image S' of the photographic subject are provided in the apparatus box 1.
The main camera 2 and the sub-camera 3 are both electric control focusing cameras, the electric control focusing cameras are provided with electric control focusing lenses and imaging equipment 11, the electric control focusing lenses are provided with lens barrels 7, and linear guide rails 8, lens groups 9 and linear stepping motors 10 are arranged between the front ends and the rear ends of the lens barrels 7. The linear guide rail 8 is divided into an upper guide rail and a lower guide rail, the upper guide rail and the lower guide rail are both arranged on the inner wall of the lens cone 7 and are respectively positioned at the top and the bottom of the lens cone 7, and the rear end of the lens cone 7 is connected with the imaging device 11.
The lens group 9 is arranged between the upper guide rail and the lower guide rail and is respectively connected with the upper guide rail and the lower guide rail in a sliding manner. The linear stepping motor 10 is arranged at the rear end of the lens barrel 7, and a push rod of the linear stepping motor 10 is fixed with the lens group. And the control end of the linear stepping motor 10 is used as a focusing control end and is connected with the controller.
The focusing control end of the main camera 2 is connected with the main lens control end of the controller, the controller is provided with a sub-lens control end, and the sub-lens control end is connected with the focusing control ends of all the sub-cameras 3.
The front of the equipment cabinet 1 is provided with a support frame 4 for fixing the main camera 2 and the sub-cameras 3. A rectangular main frame 5 is provided at the center of the support frame 4, and 1 rectangular sub-frame 6 is provided in each of the upper, lower, left, and right directions of the main frame 5.
The 4 sub-lattices 6 are evenly distributed around the main lattice 5 and fixed with the main lattice 5 by connecting columns 5 a. Each sub-sash 6 is fixed with the inner wall of the equipment box 1 through a fixing column 6 a. The front frame opening and the rear frame opening of the main frame 5 and the sub frame 6 are both provided with buckles, and the main frame 5 of the imaging equipment 11 of the main camera is fixed in the main frame 5 through the buckles. The imaging devices 11 of the partial cameras 3 are fixed in the partial sash 6 by means of snap-in.
The front end of the equipment box 1 is provided with a main lens window matched with the main sash 5 and a sub lens window matched with the sub sash 6. The lens of the main camera 2 penetrates out of the equipment box 1 along the main lens window, and the lens of the sub camera penetrates out of the equipment box 1 along the sub lens window.
The focal length of the branch camera 3 is larger than that of the main camera 2, the image output ends of the main camera 2 and the branch camera 3 are respectively connected with the image input end of a control system through data transmission lines, and the control system is arranged at the rear part of the equipment box 1.
The control system is provided with an image processing module, an image memory and an input and output module. The image processing module is provided with 5 image input ends, and each image input end is correspondingly connected with the main camera 2 and the branch cameras 3 one by one through data transmission lines.
The image output end of the image processing module is connected with an image memory, the image memory is bidirectionally connected with a controller, the controller is bidirectionally connected with an input and output module, and the input and output module is arranged on the outer surface of the equipment box 1.
The image processing module is provided with 5 image output ends which are respectively in one-to-one correspondence with the image input ends. The image memory is provided with 5 storage areas, the 5 storage areas correspond to the main camera 2 and the sub-cameras 3 one by one, and the input ends of all the storage areas are connected with the image output end groups of the image processing module in a one-to-one correspondence mode.
The main camera 2 and the sub-cameras 3 respectively collect a panoramic image S and a combined picture S ' of a shooting target, and send the panoramic image S and the combined picture S ' to corresponding image processing modules through data transmission lines, and the image processing modules send information to corresponding storage areas for storage after filtering the panoramic image S and the combined picture S '. The controller calls the corresponding image information from the image memory according to the image rotation information d input by the input-output module and sends the image information to the input-output module for display.
As shown in fig. 6, a control method of a multi-camera integrated image capturing apparatus includes the steps of:
step S1, the controller generates a focal length ratio coefficient c between the main camera 2 and the sub-camera 3;
step S2, the controller controls the main camera 2 and the sub-cameras 3 to synchronously acquire the panoramic image S and the combined picture S 'of the shooting target and send the panoramic image S and the combined picture S' to the connected image processing module;
step S3, the controller controls the image processing module to process the panoramic image S and the combined picture S' to generate image information e, and transmits the image information e to a correspondingly connected storage area for storage;
step S4, the controller obtains the image selection information d input by the input/output module, the image selection information d corresponds to the storage area in the image memory;
and step S5, the controller calls the image information e stored in real time from the corresponding storage area according to the image selection information d and sends the image information e to the input and output module for display.
As shown in fig. 7, in step S1, the focal length ratio coefficient c is determined by the following method:
step S1-1, acquiring focal length setting information f input by the input and output module, wherein the focal length setting information f comprises focal length preliminary setting information f1 of the main camera 2 and focal length preliminary setting information f2 of the branch camera 3;
step S1-2, respectively setting the focal length of the main camera 2 and the focal length of the sub camera 3 according to the focal length preliminary setting information f1 of the main camera 2 and the focal length preliminary setting information f2 of the sub camera 3;
s1-3, acquiring a panoramic original image a1 of a shooting target through the main camera 2, and sending the panoramic original image a1 to an input and output module for display;
s1-4, acquiring fine adjustment information b1 of the focal length of the main lens sent by the input and output module;
step S1-5, adjusting the focal length of the main camera 2 according to the main lens focal length fine adjustment information b 1;
s1-6, acquiring a panoramic correction image a1 'of a shooting target through the main camera 2, and sending the panoramic correction image a 1' to an input and output module for display;
step S1-7, judging whether the information j1 of the camera is received, if not, returning to the step S1-4, if so, entering the step S1-8;
s1-8, acquiring a separated original image a2 of the shooting target through the branch camera 3, and sending the separated original image a2 to an input and output module for display;
s1-9, acquiring the fine tuning information b2 of the focal length of the sub-lens sent by the input and output module;
s1-10, adjusting the focal length of the sub-camera 3 according to the sub-lens focal length fine adjustment information b 2;
s1-11, acquiring a separation correction image a2 'of a shooting target through the sub camera 3, and sending the separation correction image a 2' to an input and output module for display;
step S1-12, judging whether the setting completion information j2 is received, if not, returning to the step S1-9, if so, entering the step S1-13;
and step S1-13, combining the focal length setting information f, the sub-lens focal length fine adjustment information b2 and the main lens focal length fine adjustment information b1 to generate and store a focal length ratio coefficient c between the sub-lens and the main lens.
Finally, it should be noted that the above-mentioned description is only a preferred embodiment of the present invention, and those skilled in the art can make various similar representations without departing from the spirit and scope of the present invention.

Claims (3)

1.一种多摄像机综合图像采集设备，设置有设备箱(1)，其特征在于：该设备箱(1)内设置有用于采集全景图像S的主摄像机(2)，以及至少两台用于采集分隔图像的分摄像机(3)，该分摄像机(3)的焦距大于主摄像机(2)的焦距，所述主摄像机(2)和分摄像机(3)的图像输出端分别与控制系统的图像输入端组连接，所有所述分摄像机(3)采集的分隔图像组合成的组合画面S’包含所述全景图像S；1. A multi-camera integrated image acquisition device, provided with an equipment box (1), characterized in that: the equipment box (1) is provided with a main camera (2) for collecting a panoramic image S, and at least two are used for A sub-camera (3) for collecting separated images, the focal length of the sub-camera (3) is greater than the focal length of the main camera (2), and the image output ends of the main camera (2) and the sub-camera (3) are respectively connected with the image of the control system The input end groups are connected, and the combined picture S' formed by the separated images collected by all the sub-cameras (3) includes the panoramic image S; 通过主摄像机采集拍摄目标的全景图像S，并通过多个焦距较大的分摄像机分别采集全景图像S各个区域的放大图像；这样就能同时采集拍摄目标的全景图像S和各个区域的放大图像；The panorama image S of the shooting target is collected by the main camera, and the enlarged images of each area of the panoramic image S are collected respectively through a plurality of sub-cameras with larger focal lengths; in this way, the panoramic image S of the shooting target and the enlarged image of each area can be collected simultaneously; 所述设备箱(1)的前部设置有支撑框架(4)，该支撑框架(4)的中央位置设置有主框格(5)，该主框格(5)安装有所述主摄像机(2)，所述主框格(5)的四周均匀分布有至少两个分框格(6)，且每个分框格(6)均安装有所述分摄像机(3)，所有所述分摄像机(3)的拍摄视线与主摄像机(2)相平行且朝向一致；The front part of the equipment box (1) is provided with a support frame (4), the central position of the support frame (4) is provided with a main frame (5), and the main frame (5) is installed with the main camera ( 2), at least two sub-frames (6) are evenly distributed around the main frame (5), and each sub-frame (6) is equipped with the sub-camera (3), and all the sub-frames (6) are installed with the sub-cameras (3). The shooting line of sight of the camera (3) is parallel to the main camera (2) and has the same orientation; 所述控制系统设置有至少三个图像处理模块、图像存储器、输入输出模块和控制器，其中一个图像处理模块与所述主摄像机连接，其余图像处理模块分别与所述分摄像机(3)一一对应连接；The control system is provided with at least three image processing modules, an image memory, an input and output module and a controller, wherein one image processing module is connected to the main camera, and the remaining image processing modules are respectively connected to the sub-cameras (3) one by one. corresponding connection; 所有所述图像处理模块的滤波输出端均连接有图像存储器，所述图像存储器与控制器双向连接，所述控制器与输入输出模块双向连接；The filter output ends of all the image processing modules are connected with an image memory, the image memory is bidirectionally connected with the controller, and the controller is bidirectionally connected with the input and output modules; 所述主摄像机(2)和分摄像机(3)均为电控调焦摄像机，所述主摄像机(2)的调焦控制端与所述控制器的主镜头控制端连接，所述控制器设置有分镜头控制端，该分镜头控制端与所有分摄像机(3)的调焦控制端连接，所有所述分摄像机(3)的焦距与主摄像机(2)的焦距之间的比值相等且保持同步变化；The main camera (2) and the sub-cameras (3) are both electronically controlled focusing cameras, and the focusing control end of the main camera (2) is connected to the main lens control end of the controller, and the controller is provided with There is a sub-lens control terminal, the sub-lens control terminal is connected with the focus control terminals of all the sub-cameras (3), and the ratios between the focal lengths of all the sub-cameras (3) and the focal length of the main camera (2) are equal and keep changing synchronously ; 所述主摄像机(2)和所有分摄像机(3)均设置有结构一致的电控调焦镜头，该电控调焦镜头设置有镜筒(7)，镜筒(7)的前后两端之间设置有直线导轨(8)、透镜组(9)和线性步进电机(10)，该线性步进电机(10)驱动透镜组(9)在直线导轨(8)上前后滑动，所述线性步进电机(10)与控制器连接。The main camera (2) and all the sub-cameras (3) are provided with an electronically controlled focusing lens with the same structure, the electronically controlled focusing lens is provided with a lens barrel (7), and the front and rear ends of the lens barrel (7) are located between the front and rear ends. A linear guide rail (8), a lens group (9) and a linear stepping motor (10) are arranged between the linear stepping motors (10), and the linear stepping motor (10) drives the lens group (9) to slide back and forth on the linear guide rail (8). The stepper motor (10) is connected with the controller. 2.根据权利要求1所述多摄像机综合图像采集设备，其特征在于：所有所述图像处理模块连接在同一所述图像存储器上，所述图像存储器设置输入端组，该输入端组与所有滤波器一一对应连接，所述输入端组中的每个输入端对应一个存储区。2. The multi-camera integrated image acquisition device according to claim 1, characterized in that: all the image processing modules are connected to the same image memory, and the image memory is provided with an input end group, and the input end group is connected with all filter The devices are connected in a one-to-one correspondence, and each input terminal in the input terminal group corresponds to a storage area. 3.一种多摄像机综合图像采集设备的控制方法，其特征在于：包括以下步骤：3. A control method for a multi-camera integrated image acquisition device, characterized in that: comprising the following steps: 步骤S1、控制器生成主摄像机(2)和分摄像机(3)之间的焦距比值系数c；Step S1, the controller generates the focal length ratio coefficient c between the main camera (2) and the sub-camera (3); 步骤S2、控制器控制主摄像机(2)和分摄像机(3)同步采集拍摄目标的全景图像S和组合画面S’，并发送给连接的图像处理模块；Step S2, the controller controls the main camera (2) and the sub-camera (3) to synchronously collect the panoramic image S and the combined picture S' of the shooting target, and send them to the connected image processing module; 步骤S3、控制器控制图像处理模块对全景图像S和组合画面S’进行图像处理，生成图像信息e，并将图像信息e传输给对应连接的存储区存储；Step S3, the controller controls the image processing module to carry out image processing to the panoramic image S and the combined screen S', generates image information e, and transmits the image information e to the correspondingly connected storage area for storage; 步骤S4、控制器获取输入输出模块输入的图像选择信息d，该图像选择信息d与图像存储器中的存储区域对应；Step S4, the controller obtains the image selection information d input by the input and output module, and the image selection information d corresponds to the storage area in the image memory; 步骤S5、控制器根据图像选择信息d从对应的存储区域中调取实时存储的图像信息e，并将图像信息e发送给输入输出模块显示；Step S5, the controller retrieves the image information e stored in real time from the corresponding storage area according to the image selection information d, and sends the image information e to the input and output module for display; 步骤S1中采用以下方法确定焦距比值系数c：In step S1, the following method is used to determine the focal length ratio coefficient c: 步骤S1-1、获取输入输出模块输入的焦距设定信息f，该焦距设定信息f包括主摄像机(2)的焦距初步设定信息f1和分摄像机(3)的焦距初步设定信息f2；Step S1-1, obtain the focal length setting information f input by the input and output module, the focal length setting information f includes the focal length preliminary setting information f1 of the main camera (2) and the focal length preliminary setting information f2 of the sub-camera (3); 步骤S1-2、根据主摄像机(2)的焦距初步设定信息f1和分摄像机(3)的焦距初步设定信息f2分别设定主摄像机(2)的焦距和分摄像机(3)的焦距；Step S1-2, according to the focal length preliminary setting information f1 of the main camera (2) and the focal length preliminary setting information f2 of the sub-camera (3), respectively set the focal length of the main camera (2) and the focal length of the sub-camera (3); 步骤S1-3、通过主摄像机(2)采集拍摄目标的全景原始图像a1，并将全景原始图像a1发送给输入输出模块显示；Step S1-3, collecting the panoramic original image a1 of the shooting target through the main camera (2), and sending the panoramic original image a1 to the input and output module for display; 步骤S1-4、获取输入输出模块发送的主镜头焦距微调信息b1；Step S1-4, obtaining the main lens focal length fine-tuning information b1 sent by the input and output module; 步骤S1-5、根据主镜头焦距微调信息b1调节主摄像机(2)的焦距；Step S1-5, adjusting the focal length of the main camera (2) according to the focal length fine-tuning information b1 of the main lens; 步骤S1-6、通过主摄像机(2)采集拍摄目标的全景校正图像a1’，并将全景校正图像a1’发送给输入输出模块显示；Step S1-6, collect the panorama correction image a1' of the shooting target by the main camera (2), and send the panorama correction image a1' to the input and output module for display; 步骤S1-7、判定是否收到切换摄像头信息j1，若没有收到，则返回步骤S1-4，若收到，则进入步骤S1-8；Step S1-7, determine whether the switch camera information j1 is received, if not, go back to step S1-4, if received, go to step S1-8; 步骤S1-8、通过分摄像机(3)采集拍摄目标的分隔原始图像a2，并将分隔原始图像a2发送给输入输出模块显示；Step S1-8, collecting the separated original image a2 of the shooting target by the sub-camera (3), and sending the separated original image a2 to the input and output module for display; 步骤S1-9、获取输入输出模块发送的分镜头焦距微调信息b2；Step S1-9, obtaining the fine-tuning information b2 of the sub-lens focal length sent by the input and output module; 步骤S1-10、根据分镜头焦距微调信息b2调节分摄像机(3)的焦距；Step S1-10, adjusting the focal length of the sub-camera (3) according to the fine-tuning information b2 of the sub-lens focal length; 步骤S1-11、通过分摄像机(3)采集拍摄目标的分隔校正图像a2’，并将分隔校正图像a2’发送给输入输出模块显示；Step S1-11, collect the separation correction image a2' of the shooting target by the sub-camera (3), and send the separation correction image a2' to the input and output module for display; 步骤S1-12、判定是否收到设定完成信息j2，若没有收到，则返回步骤S1-9，若收到，则进入步骤S1-13；Step S1-12, determine whether the setting completion information j2 is received, if not, return to step S1-9, if received, enter step S1-13; 步骤S1-13、结合焦距设定信息f、分镜头焦距微调信息b2和主镜头焦距微调信息b1，生成分镜头和主镜头之间的焦距比值系数c，并存储；Step S1-13, combining the focal length setting information f, the sub-lens focal length fine-tuning information b2 and the main lens focal length fine-tuning information b1, generate the focal length ratio coefficient c between the sub-lens and the main lens, and store; 步骤S2中，若主摄像机(2)的焦距发生变化，则控制器根据焦距比值系数c同步调整分摄像机(3)的焦距；In step S2, if the focal length of the main camera (2) changes, the controller synchronously adjusts the focal lengths of the sub-cameras (3) according to the focal length ratio coefficient c; 若分摄像机(3)的焦距发生变化，则控制器根据焦距比值系数c同步调整主摄像机(2)的焦距。If the focal length of the sub-camera (3) changes, the controller synchronously adjusts the focal length of the main camera (2) according to the focal length ratio coefficient c.
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