CN109600556B - High-quality precise panoramic imaging system and method based on single lens reflex - Google Patents
High-quality precise panoramic imaging system and method based on single lens reflex Download PDFInfo
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- CN109600556B CN109600556B CN201910123353.3A CN201910123353A CN109600556B CN 109600556 B CN109600556 B CN 109600556B CN 201910123353 A CN201910123353 A CN 201910123353A CN 109600556 B CN109600556 B CN 109600556B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04N23/80—Camera processing pipelines; Components thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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- 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
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- 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
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Abstract
The invention belongs to the technical field of image processing, and discloses a high-quality precise panoramic imaging system and method based on a single lens reflex, which provides a solution for the integrated development of a plurality of single lens reflex cameras and comprises a data processing end, a data conversion end and a data acquisition end; the data processing end adopts an embedded processor and has a program for controlling shutter lines of a plurality of cameras, a mode switching program, a picture downloading program and a panoramic stitching program. The invention realizes the shutter line control and picture storage integrated system of a plurality of cameras, can process the simultaneously acquired images into a full-scene picture, not only can replace the traditional multi-camera picture acquisition and storage mode, has the advantages of no transmission distortion, time and labor saving, good panoramic effect, high efficiency, low cost and easy secondary development, but also has the advantages of giving accurate geometric information to the panoramic technology, conforming to the model of photogrammetry, and meeting the high-level requirements of high-quality imaging and multi-scene application.
Description
Technical Field
The invention belongs to the technical field of image processing, and particularly relates to a high-quality precise panoramic imaging system and method based on a single lens reflex.
Background
Traditional image acquisition device realizes the collection of image with single camera lens more, removes single camera lens image acquisition device, obtains the image of each different angle and splices and acquire panoramic image, and such mode is consuming time and is hard, and extremely unstable. With the progress of the technology, a panoramic image acquisition system formed by multiple lenses appears, images in all angle ranges are recorded in a camera surrounding mode, but the image splicing technology after the image acquisition is completed is high in difficulty and poor in precision.
The panoramic camera is divided into a consumer-grade panoramic camera and a commercial-grade panoramic camera, and various panoramic camera products with excellent shooting effects are produced according to different requirements. The consumption-level panoramic camera is suitable for requirements of personal outdoor sport entertainment or news sites, wedding, aerial photography and the like; while commercial grade panoramic cameras are suitable for use in capturing power or other professional grade application scenarios.
The early panoramic camera mostly adopts a scheme of splicing multiple cameras, adopts 6 or more than 6 cameras to shoot in different directions and then splices the cameras. Nowadays, most consumer-grade panoramic cameras adopt 2-4 fisheye cameras for shooting, and pictures obtained by shooting are corrected and spliced, so that panoramic pictures are obtained. Consumer-grade panoramic cameras using a small number of fisheye lens solutions are currently on the market in RICOH Theta series, Insta 360 and Insta 360pro, Bublcam, PHIIMAX 3D, etc. Although the scheme of adopting a small number of fisheye lenses can reduce the cost and improve the portability, the small number of fisheye lenses can cause the distortion of the shot pictures to be serious, the definition to be poor and the resolution of the pictures to be low. In order to meet some specific shooting requirements, professional-level panoramic cameras still adopt a scheme of shooting by a plurality of video cameras, such as OZO of taikoyi, nokia, and series products under Ladybug and Upano flags.
Most panoramic cameras in the market mainly store shot pictures or videos in the cameras, and then import the pictures or videos into computers for processing and viewing, so that the real-time performance is lost. Professional-level panoramic cameras are very expensive, and fewer panoramic cameras capable of realizing a real-time stitching program with lower cost are available, for example, the price of the Ladybug5 panoramic camera is up to 18 ten thousand RMB.
Panoramic cameras generally existing in the market often cannot achieve a balance point between price and performance, consumer-level panoramic cameras are poor in image quality and unstable in file transmission, functions of users are single, secondary development on platforms of the consumer-level panoramic cameras is almost impossible, professional-level panoramic cameras are high in price, ordinary consumers cannot afford the professional-level panoramic cameras, and secondary development capacity is limited.
Most importantly, the panoramic camera products on the market are abundant, and most of the shooting quality basically meets the requirements of users, but the requirements only stay in the aspect of panoramic browsing. If the panoramic technology brings only one browsing effect to us, the limitation of the technology is obvious, and the advantages of the panoramic technology cannot be brought into play. Therefore, it is one of our focuses to explore new usage scenarios for panoramic technology. Through extensive and intensive research, the application range of the panoramic technology added with accurate geometric information is undoubtedly greatly widened, and the panoramic technology can play roles except for a browsing function in multiple fields such as Augmented Reality (AR), Virtual Reality (VR), indoor three-dimensional modeling, engineering measurement, automatic driving, target recognition, path planning and the like.
Therefore, it is one of the cores embodied in our patent to give accurate geometric information to the panoramic technology. Under the condition, the imaging quality of the panoramic image has high requirements, the panoramic image strictly meets a photogrammetric model, and meanwhile, the panoramic image has a series of characteristics such as high-quality imaging, multi-scene applicability and the like. From this point of view, the mainstream panoramic imaging system in the market at present cannot meet our high-level requirements. Therefore, through extensive and intensive research and study, we plan to adopt a single lens reflex camera as an image acquisition sensor instead of a common camera. This can maximize the quality of the panoramic image and provide a more open development environment. There is no solution available on the market that can satisfy the synchronous control of multiple cameras.
In summary, the problems of the prior art are as follows:
(1) in the prior art, a panoramic camera cannot achieve a balance point between price and performance;
(2) although the consumer-grade camera is low in cost and good in portability, a small number of fisheye lenses can cause the distortion of a shot picture to be serious, the definition of the shot picture is poor, the resolution of the shot picture is not high, and secondary development is almost impossible;
(3) although professional cameras can solve the problems of picture distortion, poor pixels and low resolution to a certain extent, due to high selling price, the popularization of the professional cameras is limited, and the secondary development capability of the professional cameras is limited.
(4) The functions are single panoramic browsing, and the panoramic technology lacks accurate geometric information, so that the application field is limited;
the difficulty of solving the technical problems is as follows: how to select camera module, fisheye lens, control circuit and main control computer, design corresponding system and optimal combination for under the target of cost is the lowest, imaging is effectual, and the concrete expression is that the distortion is few after the image correction, and pixel resolution is high, and panorama concatenation is effectual, and secondary development ability promotes, and how to increase accurate geometric information makes the multi-scene suitable for.
The significance of solving the technical problems is as follows: under the prerequisite of guaranteeing the distortion of picture minimumization, the pixel is better, the resolution ratio is high, increase API, interfaces such as SDK and hardware IO provide the secondary development ability that improves the system, furthest reduces the cost of this professional panoramic camera, make the popularization of professional panorama become easy, promote the combination and the development of professional panoramic camera in alternately professional field, and increase the application scope of the panoramic technique of accurate geometric information and widen greatly undoubtedly, can be at Augmented Reality (AR), Virtual Reality (VR), indoor three-dimensional modeling, engineering survey, automatic driving, target recognition, a plurality of fields such as path planning play the role except browsing function.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a high-quality precise panoramic imaging system and method based on a single lens reflex.
The invention is realized in such a way that a high-quality precise panoramic imaging system based on a single lens reflex comprises a data processing end, a data conversion end and a data acquisition end. The data processing end adopts an embedded processor and has a program for controlling shutter lines of a plurality of cameras, a mode switching program, a picture downloading program and a panoramic stitching program. The data conversion end comprises a shutter release control circuit board which is in serial port communication with the embedded processor and controls the camera set to collect image data; the USB concentrator is used for simultaneously downloading and storing the picture data of a plurality of cameras of the camera set. The data acquisition end is a camera group comprising six cameras, and the cameras are used for acquiring picture data through the control of the shutter release.
Further, the data processing end comprises an embedded processor and logic of an operation program thereof, and interface settings of the embedded processor and the data conversion end.
Further, the logic of the embedded running program comprises a shutter line program for controlling a plurality of cameras, a mode switching program, a picture downloading program and a panorama splicing program.
Furthermore, the data conversion end comprises a shutter release control circuit board and a USB concentrator, wherein the shutter release control circuit board is in serial communication with the embedded processor.
Further, the shutter line control circuit board controls the camera set to collect image data through serial port communication with the embedded processor, and the USB concentrator downloads the image data of the multiple cameras simultaneously after mode switching and stores the image data in the embedded processor.
Further, the data acquisition end comprises a camera group comprising six cameras, and the camera group is used for acquiring picture data under the control of the shutter release circuit board.
Furthermore, the shutter release control circuit board is connected with a plurality of cameras of the camera set through shutter releases and earphone holes to control photographing, is connected with the embedded processor through a USB to realize serial port communication, and is connected with the USB concentrator to realize mode switching.
Further, the program for controlling the shutter lines of the plurality of cameras comprises a logic program for controlling each camera, the mode switching program comprises a picture acquisition mode and a picture downloading mode, the picture downloading program comprises an automatic processing flow, and the panoramic picture program comprises a splicing process for rationalizing the downloaded picture sets.
Further, the camera group of the six cameras comprises a bracket and the structure of the six same cameras.
Another object of the present invention is to provide a method for generating a panoramic picture by integrating control and storage of a multi-camera shutter line, comprising:
(1) the camera is in a photographing mode in an initial state, the USB data line is connected with the processor and the shutter line control circuit board, the shutter line is connected with the synchronous shutter line control circuit board and the camera, and the camera is controlled to photograph synchronously in a serial port communication mode. Therefore, the shutter line control circuit board can control the six cameras to take pictures simultaneously through the shutter lines.
(2) The embedded processor sends an instruction ion to the shutter release control circuit board to control a power supply line access of the USB concentrator, so that the cameras are controlled to be switched from a photographing mode to a storage mode, and a photo downloading program is operated to control camera data downloading of the six cameras.
(3) The embedded processor sends an instruction ioff to the shutter release control circuit board, the shutter release control circuit board controls the power supply line of the USB concentrator to be open-circuited, and the camera is switched back to the photographing mode from the storage mode.
(4) And the panoramic stitching program is positioned in the embedded processor, inputs six fisheye pictures shot at the same time and outputs the six fisheye pictures into a panoramic picture, and the panoramic stitching program sorts and integrates the downloaded pictures and then uses a panoramic stitching algorithm to stitch the pictures to obtain the panoramic picture. Before that, the internal parameters and the external orientation elements of the camera are obtained through a camera calibration experiment.
(5) And by combining the internal parameters and the external orientation elements of the camera, accurate geometric information is extracted, and a new use scene is provided for the panoramic technology.
Another object of the present invention is to provide a computer program for implementing the multi-camera shutter release control and storage-integrated panorama picture generation method.
Another object of the present invention is to provide an information data processing terminal for implementing the multi-camera shutter release control and storage integrated panorama picture generation method.
It is another object of the present invention to provide a computer-readable storage medium comprising instructions which, when run on a computer, cause the computer to perform the multi-camera shutter-line control and storage-integrated panorama picture generating method.
In summary, the advantages and positive effects of the invention are:
(1) the imaging model of a single camera of the system is tighter, and the image quality is higher than that of a popular panoramic camera;
(2) the CMOS chip adopted by the camera has higher pixel number, larger size and wider photosensitive range; meanwhile, the matched lens is also a high-precision optical lens, the FOV is as high as 180 degrees, and the image overlapping degree between the FOV and the FOV is higher;
(3) the file transmission is distortion-free, and the file is downloaded into the embedded processor through the USB concentrator, so that the efficiency is high;
(4) under the aim of lowest cost, the imaging effect is good, and the imaging method is characterized in that the distortion is less after the image is corrected, the pixel resolution is high, and the panoramic stitching effect is good;
(5) the splicing algorithm adopted by the system is tighter. Each camera separately calibrates the inner orientation element, and the outer orientation element is calibrated between every two cameras (the relative position relation of the cameras in the object space is determined). Therefore, the stitching algorithm is more accurate and has significantly less error compared to image matching;
(6) the system can be jointly developed with other types of sensors (such as IMU, GPS and the like) through the circuit board, and more working scenes can be competent;
(7) on the premise of ensuring the minimum distortion of the picture, better pixels and high resolution, interfaces such as API, SDK, hardware IO and the like are added to improve the secondary development capability of the system, the cost of the professional panoramic camera is reduced to the maximum extent, the popularization of the professional panoramic camera is easy, and the combination and development of the professional panoramic camera in the crossed professional field are promoted;
(8) the system combines the laser SLAM technology to endow the panoramic picture with strict geometric information, provides an effective solution for high-precision modeling of indoor and outdoor spaces, and greatly improves the efficiency compared with manual modeling. Fig. 8 (1) to (6) are schematic views of photographs taken by a single camera, respectively, and fig. 9 is a panoramic photograph spliced by the cameras (1) to (6) in fig. 8, wherein the pixels of the panoramic photograph are up to one hundred million pixels.
The following table is an advantage analysis table:
drawings
Fig. 1 is a schematic diagram of an assembly logic structure provided by an embodiment of the present invention.
Fig. 2 is a schematic diagram of embedded processor program logic according to an embodiment of the present invention.
Fig. 3 is a diagram of a shutter line control circuit board PCB provided in an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a USB hub according to an embodiment of the present invention.
Fig. 5 is a schematic view of a camera structure according to an embodiment of the present invention.
Fig. 6 is a schematic view of a camera group placement structure according to an embodiment of the present invention.
Fig. 7 is a finished view of a camera group placement structure according to an embodiment of the present invention.
Fig. 8 is a schematic diagram of photographs taken by 6 single cameras according to an embodiment of the present invention.
Fig. 9 is a panoramic picture stitched by the 6 cameras in fig. 8 according to the embodiment of the present invention.
Detailed description of the preferred embodiments
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Panoramic camera products on the market are abundant, and most of shooting quality basically meets the requirements of users, but the requirements only stay in the aspect of panoramic browsing. If the panoramic technology brings only one browsing effect to us, the limitation of the technology is obvious, and the advantages of the panoramic technology cannot be brought into play. Therefore, it is one of our focuses to explore new usage scenarios for panoramic technology. Through extensive and intensive research, the application range of the panoramic technology added with accurate geometric information is undoubtedly greatly widened, and the panoramic technology can play roles except for a browsing function in multiple fields such as Augmented Reality (AR), Virtual Reality (VR), indoor three-dimensional modeling, engineering measurement, automatic driving, target recognition, path planning and the like.
Therefore, it is one of the cores embodied in our patent to give accurate geometric information to the panoramic technology. Under the condition, the imaging quality of the panoramic image has high requirements, the panoramic image strictly meets a photogrammetric model, and meanwhile, the panoramic image has a series of characteristics such as high-quality imaging, multi-scene applicability and the like. From this point of view, the mainstream panoramic imaging system in the market at present cannot meet our high-level requirements.
In order to solve the above technical problems, the present invention will be described in detail with reference to specific embodiments.
The high-quality precise panoramic imaging system based on the single lens reflex provided by the embodiment of the invention comprises a data processing end, a data conversion end and a data acquisition end. As shown in fig. 1, the data processing end employs an embedded processor, and has a program for controlling shutter lines of multiple cameras, a mode switching program, a picture downloading program, and a panorama stitching program. The data conversion end comprises a shutter release control circuit board which is in serial port communication with the embedded processor and controls the camera set to collect image data; the USB concentrator is used for simultaneously downloading and storing the picture data of a plurality of cameras of the camera set. The data acquisition end is a camera group comprising six cameras, and the cameras are used for acquiring picture data through the control of the shutter release.
As shown in fig. 2, the hardware structure required by the embedded software is that the embedded processor is connected with a USB hub and a shutter release control circuit board through a USB data cable, the USB hub is connected with six cameras through the USB data cable, and the shutter release control circuit board is connected with the six cameras through a shutter release. The subprogram of the embedded software is divided into a multi-camera synchronous exposure control program, a photo downloading program, a mode switching program and a panoramic stitching program.
The multi-camera synchronous exposure control program is located in the shutter release control circuit board and the embedded processor, the processor and the shutter release control circuit board are connected through the USB data cable, the synchronous shutter release control circuit board and the camera are connected through the shutter release, synchronous shooting of the camera is controlled by using a serial port communication mode, and the embedded processor sends an instruction itrigger to the shutter release control circuit board to trigger the camera to shoot.
The photo downloading program is positioned in the embedded processor and controls the camera data downloading of the six cameras through the USB data line and the USB concentrator.
The mode switching program is positioned in the embedded processor and is characterized in that the cameras are in a photographing mode or a storage mode in a starting state, the multi-camera synchronous exposure control program controls the six cameras to photograph synchronously in the photographing mode, the photo downloading program controls the downloading of camera data in the storage mode, and the implementation logic of the mode switching program is as follows: (1) sending an instruction ion to a shutter release control circuit board by an embedded processor, controlling a power supply line channel of a USB concentrator, and further controlling a camera to be switched from a photographing mode to a storage mode; (2) the embedded processor sends an instruction ioff to the shutter release control circuit board to control the power supply line of the USB concentrator to be open-circuited, and then the camera is controlled to be switched from the storage mode to the photographing mode.
And the panoramic stitching program is positioned in the embedded processor, six fisheye pictures shot at the same time are input, a panoramic picture is output, and the internal parameters and the external orientation elements of the camera are obtained through a camera calibration experiment before the panoramic stitching program is input. The image splicing implementation logic is as follows: (1) correcting the six fisheye pictures through internal parameters; (2) projecting six corrected pictures on a spherical surface through an external orientation element of the camera; (3) camera exposure compensation, namely adjusting the brightness of the pictures to be basically consistent through gain compensation; (4) searching a splicing line, and searching a line with the lowest energy of the overlapped part of the two images by a graph cutting method, wherein the line is a dividing line; (5) image fusion, namely performing pyramid fusion on the two images around the division line, and reserving detail information of each frequency band to ensure that the transition around the division line is natural; (6) the panoramic image fills the 'ground hole', and because a part of cameras at the bottom cannot shoot, a part of holes exist during panoramic browsing, and the holes are filled through image information of front and rear stations;
the operation steps of the embedded software are as follows:
(a) the embedded processor sends an instruction itrigger to the shutter release control circuit board, and the camera is in a photographing mode in an initial state, so that the shutter release control circuit board can control the six cameras to photograph at the same time through the shutter release.
(b) The embedded processor sends an instruction ion to the shutter release control circuit board, the shutter release control circuit board controls a power supply line passage of the USB hub, and the camera is switched from a photographing mode to a storage mode.
(c) The embedded processor runs a photo downloading program, and the program downloads photos from six cameras to the embedded processor.
(d) The embedded processor sends an instruction ioff to the shutter release control circuit board, the shutter release control circuit board controls the power supply line of the USB concentrator to be open-circuited, and the camera is switched back to the photographing mode from the storage mode.
(e) And the embedded processor runs a panoramic stitching program, sequences and integrates the downloaded photos, and then uses a panoramic stitching algorithm to stitch the photos to obtain panoramic pictures.
As shown in fig. 3, the shutter line control circuit board performs serial communication with the embedded processor, and performs a photographing function with the camera through six headphone bases on the PCB. The shutter line control circuit board is provided with two switches, wherein one switch controls the release of the cache electric quantity of the shutter line, the switch needs to be reset after the system is started every time, and the other switch controls the on-off of the USB concentrator to switch the photographing mode and the storage mode.
As shown in fig. 4, the USB hub is mainly responsible for acquiring the photo data taken by the camera group, and since the relative positions of the six cameras in the camera group are fixed, it is not feasible to acquire the image data by manually using the memory card. After the data acquisition is finished, the USB concentrator integrates the data lines of the six cameras into a whole, and the six cameras in the camera set can be simultaneously converted into a USB access mode through an embedded processor end program. The embedded processor is connected with all cameras in the camera set through the USB integrator to access and delete data of all cameras in the camera set. The USB hub thus solves the problem of the relative position of the camera group camera data access agile cameras.
As shown in fig. 5, the structure of a single camera is as shown. The camera has HDMI, AVOUT/DIGITAL and REMOTE/MIC interfaces. The AVOUT port is a shutter release input port, one end of the shutter release is connected with the AVOUT port of the camera, and the other end of the shutter release is connected with an earphone jack of the shutter release control panel PCB. Wherein REMOTR/MIC is a power supply port, and the six cameras use a voltage stabilizing source with 12V output to carry out unified power supply. The camera also includes setting operations including a shooting mode, a lens setting, a shutter line control, and the like. In the shooting mode, the camera is shot by the short circuit of the AVOUT port connected with the shutter release, photos are automatically stored in the SD card in the camera, when the system mode is switched to the storage mode, the SD card is mounted on the embedded processor, and the photos in the SD card can be downloaded to the storage unit of the embedded processor.
As shown in fig. 6, the five fisheye cameras provided by the embodiment of the invention are placed on each side of the pentagon, so that the maximum viewing angle field in the peripheral direction of radiation is ensured; a camera is placed on the top surface of the pentagon, so that the photo collection of the top part under a scanning environment is guaranteed, and a panoramic picture without dead angles is built. The structure of the camera is the optimized result under multiple parameters of the number of cameras, the parameters of the wide-angle lens, the setting of photographing inside the camera and the like.
The high-quality precise panoramic imaging system provided by the invention is further described in combination with a BOM (Bill of Material) table of a shutter release control circuit board.
In the present invention, the finished product of the camera group placing structure is shown in fig. 7. In the figure, (a) is a front view; (b) is a top view; (c) is a side view.
The invention combines the laser SLAM technology to endow the panoramic picture with strict geometric information, provides an effective solution for high-precision modeling of indoor and outdoor spaces, and greatly improves the efficiency compared with manual modeling. Fig. 8 (1) to (6) are schematic views of photographs taken by a single camera, respectively, and fig. 9 is a panoramic photograph spliced by the cameras (1) to (6) in fig. 8, wherein the pixels of the panoramic photograph are up to one hundred million pixels.
The BOM (Bill of Material) table of the shutter release control circuit board provided by the invention is as follows:
the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. A method for generating a panoramic picture integrating multi-camera shutter line control and storage of a high-quality precise panoramic imaging system based on a single lens reflex is characterized in that the high-quality precise panoramic imaging system based on the single lens reflex comprises the following steps:
the data processing end adopts an embedded processor and processes the picture data by controlling a shutter line program, a mode switching program, a picture downloading program and a panorama splicing program of a plurality of cameras;
the data conversion end is used for controlling the camera set to acquire image data through a shutter release control circuit board which is in serial port communication with the embedded processor; downloading and storing the picture data of a plurality of cameras of the camera set through the USB concentrator;
the data acquisition end is used for controlling the acquisition of picture data through shutter lines of the camera set of the six cameras;
the data processing end comprises an interface connected with the data conversion end;
the multi-camera shutter line control and storage integrated panoramic picture generation method comprises the following steps:
(1) the camera is in a photographing mode in an initial state, the embedded processor and the shutter release control circuit board are connected through the USB data line, the synchronous shutter release control circuit board and the camera are connected through the shutter release, and the camera is controlled to photograph synchronously in a serial port communication mode; the shutter line control circuit board controls six cameras to shoot simultaneously through the shutter lines;
(2) sending an instruction ion to a shutter release control circuit board by an embedded processor, controlling a power supply line access of a USB concentrator, controlling a camera to be switched from a photographing mode to a storage mode, and operating a photo downloading program to control camera data downloading of six cameras;
(3) the embedded processor sends an instruction ioff to the shutter release control circuit board, the shutter release control circuit board controls the power supply line of the USB concentrator to be open-circuited, and the camera is switched back to the photographing mode from the storage mode;
(4) the panoramic stitching program is positioned in the embedded processor, and the internal parameters and the external orientation elements of the camera are obtained through a camera calibration experiment; inputting six fisheye pictures shot at the same time, outputting the pictures into a panoramic picture, sequencing and integrating the downloaded pictures by a panoramic stitching program, and stitching the pictures by using a panoramic stitching algorithm to obtain a panoramic picture;
the panoramic stitching algorithm comprises the following steps:
(4.1) correcting the six fisheye pictures through the internal parameters of the camera;
(4.2) projecting the six corrected pictures on a spherical surface through an external orientation element of the camera;
(4.3) camera exposure compensation, wherein the brightness of the picture is adjusted to be basically consistent through gain compensation;
(4.4) searching a splicing line, and searching a line with the lowest energy of the overlapped part of the two images by a graph cutting method, wherein the line is a dividing line;
(4.5) carrying out image fusion, carrying out pyramid fusion on the two images around the dividing line, and reserving detail information of each frequency band to enable transition around the dividing line to be natural;
(4.6) filling holes in the panoramic picture, and filling holes in the panoramic picture through the image information of the front station and the rear station;
(5) and (4) extracting accurate geometric information by combining the internal parameters and the external orientation elements of the camera.
2. The panoramic picture generation method of claim 1, wherein the shutter line control circuit board controls the camera set to collect image data through serial communication with the embedded processor; and the USB concentrator downloads the picture data of the plurality of cameras simultaneously after the mode is switched and stores the picture data in the embedded processor.
3. The panoramic picture generation method of claim 1, wherein the shutter release control circuit board is connected with a plurality of cameras of the camera set through shutter release and earphone holes to control photographing, is connected with the embedded processor through USB to realize serial communication, and is connected with the USB concentrator to realize mode switching.
4. The panoramic picture generation method of claim 1, wherein the program for controlling shutter-line of the plurality of cameras includes a logic program for controlling each camera, and the mode switching program includes a picture taking mode and a picture downloading mode; the picture downloading program comprises an automatic processing flow, and the panoramic stitching program comprises a step of stitching the downloaded picture sets.
5. The panorama picture generating method of claim 1, wherein the camera group of six cameras comprises one stand and six identical cameras mounted on the stand.
6. An information data processing terminal, characterized in that the information data processing terminal is used for realizing the panoramic picture generation method of any one of claims 1 to 5.
7. A computer-readable storage medium storing instructions which, when run on a computer, cause the computer to perform the multi-camera shutter-line control and storage-integrated panorama picture generation method of any of claims 1-5.
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| CN111145269B (en) * | 2019-12-27 | 2022-06-14 | 武汉大学 | Calibration method for external orientation elements of fisheye camera and single-line laser radar |
| CN111275750B (en) * | 2020-01-19 | 2022-05-13 | 武汉大学 | Indoor space panoramic image generation method based on multi-sensor fusion |
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