CN112616017A - Video panorama stitching and fusing method and system based on multi-camera cross photography - Google Patents

Video panorama stitching and fusing method and system based on multi-camera cross photography Download PDF

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CN112616017A
CN112616017A CN202011481765.3A CN202011481765A CN112616017A CN 112616017 A CN112616017 A CN 112616017A CN 202011481765 A CN202011481765 A CN 202011481765A CN 112616017 A CN112616017 A CN 112616017A
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cameras
overlapping area
angle
optical axis
included angle
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CN112616017B (en
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杨培春
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Shenzhen Qidebao Technology Co ltd
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Shenzhen Puhui Zhilian Technology Co ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformation in the plane of the image
    • G06T3/40—Scaling the whole image or part thereof
    • G06T3/4038—Scaling the whole image or part thereof for image mosaicing, i.e. plane images composed of plane sub-images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/50—Image enhancement or restoration by the use of more than one image, e.g. averaging, subtraction
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/80—Camera processing pipelines; Components 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
    • H04N23/90—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
    • 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
    • H04N5/2624—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 for obtaining an image which is composed of whole input images, e.g. splitscreen
    • 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
    • H04N5/265—Mixing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20212—Image combination
    • G06T2207/20221—Image fusion; Image merging

Abstract

The invention provides a video panorama splicing and fusing method and a system based on multi-camera cross photography, wherein the method comprises the following steps: arranging a plurality of cameras, and setting a main optical axis included angle between two adjacent cameras; respectively acquiring the same frame of video images of every two adjacent cameras in the plurality of cameras at the same time point, and detecting whether the included angle of the main optical axis between every two adjacent cameras meets the panoramic stitching and fusing requirement according to the edge overlapping area of every two adjacent video images; if the requirements of panoramic stitching and fusion are not met, adjusting and setting the included angle of the main optical axis between two adjacent cameras until the overlapping area of the same frame of video image at the same time point shot by each two adjacent cameras meets the requirements of panoramic stitching and fusion; and acquiring the same frame of video images of the plurality of cameras at the same time point, and fusing the video images to obtain a fused panoramic image. The system comprises modules corresponding to the steps of the method.

Description

Video panorama stitching and fusing method and system based on multi-camera cross photography
Technical Field
The invention provides a video panorama stitching fusion method and system based on multi-camera cross photography, and belongs to the technical field of image processing.
Background
Along with the vigorous development in the fields of intelligent manufacturing and smart cities, more and more scenes need to be monitored without dead angles in 360 degrees, and the simplest solution is to directly install a spherical panoramic camera in a central area. However, 360-degree dead-angle-free shooting is required, the spherical panoramic camera is required to be vertically installed in the central area of a scene, no large-scale shelter is required in the scene, distortion correction is required to be carried out on an image output by the camera, due to the imaging relation, an area right below the spherical panoramic camera with the smallest included angle with a main optical axis almost occupies 80% of the whole output video, and the shooting definition of the area with the larger angle away from the main optical axis is lower. Compared with the limitation of various conditions, the cross shooting mode of a plurality of gun-shaped or other conventionally used non-spherical panoramic cameras can meet the requirement of more than 90 percent of scenes on 360-degree dead-angle-free monitoring. However, the number of installed cameras is increased, and it is very laborious and time-consuming to view videos shot by each camera manually, and meanwhile, if a plurality of cameras adopt cameras with different specifications and viewing angles due to the realization of other functions (for example, functions of monitoring or recording an entertainment scene in an entertainment facility or a scene), the adjustment of the angle between each camera is more energy-consuming, and the quality of subsequent image fusion is very low.
Disclosure of Invention
The invention provides a video panorama splicing and fusing method and system based on multi-camera cross photography, which are used for solving the problems of low image fusion quality and efficiency caused by low adjustment efficiency of the angle setting of a main optical axis of a camera when cameras with different visual angles are adopted:
the invention provides a video panorama splicing and fusing method based on multi-camera cross photography, which comprises the following steps:
arranging a plurality of cameras, and setting a main optical axis included angle between two adjacent cameras;
respectively acquiring the same frame of video images of every two adjacent cameras in the plurality of cameras at the same time point, and detecting whether the included angle of the main optical axis between every two adjacent cameras meets the panoramic stitching and fusing requirement according to the edge overlapping area of every two adjacent video images; if the requirements of panoramic stitching and fusion are not met, adjusting and setting the included angle of the main optical axis between two adjacent cameras until the overlapping area of the same frame of video image at the same time point shot by each two adjacent cameras meets the requirements of panoramic stitching and fusion;
and acquiring the same frame of video images of the plurality of cameras at the same time point, and fusing the video images to obtain a fused panoramic image.
Further, set up a plurality of cameras to main optical axis contained angle between two adjacent cameras sets up, includes:
determining a panoramic range to be shot, and determining the number of cameras according to the panoramic range through the following formula;
Figure BDA0002837790040000021
wherein n represents the determined number of cameras, and m represents the number of types of cameras with different viewing angles; alpha is alphaiRepresenting the corresponding view angle of the ith camera;
Figure BDA0002837790040000023
representing the angle of a view angle required by a panoramic range to be shot; lambda represents a visual angle adjustment angle, and the value range of lambda is 10-18 degrees;
the cameras are arranged in a panoramic scene according to the number of the acquired cameras, the camera cross arrangement mode of large visual angle and small visual angle, and the main optical axis included angle between every two adjacent cameras is set through an included angle determination model.
Further, the included angle determination model is as follows:
Figure BDA0002837790040000022
wherein, ω represents the included angle of the main optical axis between every two adjacent cameras; alpha is alphamaxIndicating a view angle value corresponding to a camera with the largest view angle in cameras with different view angles; alpha is alphaminThe angle value of the view angle corresponding to the camera with the smallest view angle among the cameras with different view angles is shown.
Further, the same frame of video images of every two adjacent cameras in the multiple cameras at the same time point are respectively collected, and whether the included angle of the main optical axis between every two adjacent cameras meets the panoramic stitching fusion requirement or not is detected according to the edge overlapping area of every two adjacent video images; if unsatisfied panorama concatenation and amalgamation requirement, then adjust the setting to the primary optical axis contained angle between two adjacent cameras, satisfy panorama concatenation and amalgamation requirement until the overlap area of the same frame video image of the same time point of every two adjacent cameras shooting, include:
respectively collecting the same frame of video images of a plurality of cameras at the same time point to obtain basic images;
carrying out distortion correction on the basic image to obtain a corrected basic image;
comparing the basic images acquired by every two adjacent cameras to obtain an image overlapping area between the two basic images;
and judging whether the overlapping area reaches a preset overlapping area threshold value, if not, readjusting the number of the cameras and readjusting the included angle of the main optical axis between every two adjacent cameras according to the difference value between the image overlapping area and the preset overlapping area threshold value.
Further, whether the overlapping area reaches a preset overlapping area threshold value or not is judged, if the overlapping area does not reach the preset overlapping area threshold value, the number of the cameras is readjusted and the included angle of the main optical axis between every two adjacent cameras is readjusted according to the difference value between the image overlapping area and the preset overlapping area threshold value, and the method comprises the following steps:
judging whether the overlapping area reaches a preset overlapping area threshold value, adding two cameras in the set number of the cameras when the overlapping area threshold value does not reach a preset first overlapping area threshold value, and adjusting and setting a main optical axis included angle between every two adjacent cameras through a first adjusting model, wherein the first adjusting model is as follows:
Figure BDA0002837790040000031
wherein, ω is1Representing the included angle of the main optical axis between every two adjacent cameras after adjustment according to the first adjustment model;
judging whether the overlapping area reaches a preset overlapping area threshold value, when the overlapping area threshold value reaches a preset first overlapping area threshold value but does not reach a preset second overlapping area threshold value, adding one camera in the set number of cameras, and adjusting and setting the included angle of the main optical axis between every two adjacent cameras through a second adjustment model, wherein the second adjustment model is as follows:
Figure BDA0002837790040000032
wherein, ω is2And the included angle of the main optical axis between every two adjacent cameras after being adjusted according to the second adjustment model is shown.
Video panorama concatenation fusion system based on many camera are photographic alternately, the system includes:
the number and angle setting module is used for setting a plurality of cameras and setting a main optical axis included angle between two adjacent cameras;
the image acquisition and verification module is used for respectively acquiring the same frame of video images of every two adjacent cameras in the plurality of cameras at the same time point, and detecting whether the included angle of the main optical axis between every two adjacent cameras meets the panoramic stitching and fusion requirement or not according to the edge overlapping area of every two adjacent video images; if the requirements of panoramic stitching and fusion are not met, adjusting and setting the included angle of the main optical axis between two adjacent cameras until the overlapping area of the same frame of video image at the same time point shot by each two adjacent cameras meets the requirements of panoramic stitching and fusion;
and the image fusion module is used for acquiring the same frame of video images of the plurality of cameras at the same time point, and fusing the video images to obtain a fused panoramic image.
Further, the number and angle setting module comprises:
the number determining module is used for determining a panoramic range to be shot and determining the number of the cameras according to the panoramic range through the following formula;
Figure BDA0002837790040000033
wherein n represents the determined number of cameras, and m represents the number of types of cameras with different viewing angles; alpha is alphaiRepresenting the corresponding view angle of the ith camera;
Figure BDA0002837790040000034
representing the angle of a view angle required by a panoramic range to be shot; lambda represents a visual angle adjustment angle, and the value range of lambda is 10-18 degrees;
and the angle determining module is used for setting the cameras in the panoramic scene according to the number of the acquired cameras, the camera cross arrangement mode of large visual angle and small visual angle, and setting the main optical axis included angle between every two adjacent cameras through the included angle determining model.
Further, the included angle determination model is as follows:
Figure BDA0002837790040000041
wherein, ω represents the included angle of the main optical axis between every two adjacent cameras; alpha is alphamaxIndicating that, of cameras having different angles of view, the camera with the largest angle of view corresponds toAngle of view value of; alpha is alphaminThe angle value of the view angle corresponding to the camera with the smallest view angle among the cameras with different view angles is shown.
Further, the image acquisition verification module comprises:
the image acquisition module is used for respectively acquiring the same frame of video images of the plurality of cameras at the same time point to obtain a basic image;
the correction module is used for carrying out distortion correction on the basic image to obtain a corrected basic image;
the comparison module is used for comparing the basic images acquired by each two adjacent cameras to obtain an image overlapping area between the two basic images;
and the judging module is used for judging whether the overlapping area reaches a preset overlapping area threshold value, and if not, readjusting the number of the cameras and readjusting the included angle of the main optical axis between every two adjacent cameras according to the difference value between the image overlapping area and the preset overlapping area threshold value.
Further, the judging module comprises:
the first adjusting module is used for judging whether the overlapping area reaches a preset overlapping area threshold value, when the overlapping area threshold value does not reach a preset first overlapping area threshold value, two cameras are added to the set number of the cameras, the included angle of a main optical axis between every two adjacent cameras is adjusted and set through a first adjusting model, and the first adjusting model is as follows:
Figure BDA0002837790040000042
wherein, ω is1Representing the included angle of the main optical axis between every two adjacent cameras after adjustment according to the first adjustment model;
the second adjusting module is used for judging whether the overlapping area reaches a preset overlapping area threshold value, when the overlapping area threshold value reaches a preset first overlapping area threshold value but does not reach a preset second overlapping area threshold value, adding one camera in the set number of cameras, and adjusting and setting the included angle of the main optical axis between every two adjacent cameras through a second adjusting model, wherein the second adjusting model is as follows:
Figure BDA0002837790040000051
wherein, ω is2And the included angle of the main optical axis between every two adjacent cameras after being adjusted according to the second adjustment model is shown.
The invention has the beneficial effects that:
the invention provides a video panorama splicing and fusing method and system based on multi-camera cross shooting, which can effectively ensure that the adjustment efficiency of the angle of a main optical axis between cameras is improved and the adjustment efficiency of the cameras for panorama splicing and fusing is improved under the condition that the visual angles of the cameras are not uniform, so that the efficiency of video panorama splicing and fusing is improved, and the time and the energy consumed by adjusting camera equipment in the video panorama splicing and fusing process are greatly reduced. Meanwhile, the method and the system of the invention are used for adjusting the camera, so that the overlapping area of the images shot by the camera can meet the requirement of video panorama splicing and fusion to the maximum extent under the condition that the visual angle specifications of the camera are not uniform, and the image quality of the video panorama splicing and fusion is improved.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
fig. 2 is a system block diagram of the system of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
The embodiment of the invention provides a video panorama splicing and fusing method based on multi-camera cross photography, which comprises the following steps of:
s1, arranging a plurality of cameras, and setting a main optical axis included angle between two adjacent cameras;
s2, respectively collecting the same frame of video image of every two adjacent cameras in the multiple cameras at the same time point, and detecting whether the included angle of the main optical axis between every two adjacent cameras meets the panoramic stitching fusion requirement according to the edge overlapping area of every two adjacent video images; if the requirements of panoramic stitching and fusion are not met, adjusting and setting the included angle of the main optical axis between two adjacent cameras until the overlapping area of the same frame of video image at the same time point shot by each two adjacent cameras meets the requirements of panoramic stitching and fusion;
and S3, acquiring the same frame of video images of the plurality of cameras at the same time point, and fusing the video images to obtain a fused panoramic image.
The working principle of the technical scheme is as follows: firstly, arranging a plurality of cameras, and setting a main optical axis included angle between two adjacent cameras; then, respectively acquiring the same frame of video images of every two adjacent cameras in the plurality of cameras at the same time point, and detecting whether the included angle of the main optical axis between every two adjacent cameras meets the panoramic stitching and fusing requirement according to the edge overlapping area of every two adjacent video images; if the requirements of panoramic stitching and fusion are not met, adjusting and setting the included angle of the main optical axis between two adjacent cameras until the overlapping area of the same frame of video image at the same time point shot by each two adjacent cameras meets the requirements of panoramic stitching and fusion; and finally, acquiring the same frame of video images of the plurality of cameras at the same time point, and fusing the video images to obtain a fused panoramic image.
The effect of the above technical scheme is as follows: the adjustment efficiency of the angle of the main optical axis between the cameras can be effectively improved under the condition that the visual angles of the cameras are not uniform, the adjustment efficiency of the cameras for panoramic stitching fusion is improved, the efficiency of the video panoramic stitching fusion is further improved, and the time and energy consumed by adjusting the camera equipment in the video panoramic stitching fusion process are greatly reduced. Meanwhile, the method and the system of the invention are used for adjusting the camera, so that the overlapping area of the images shot by the camera can meet the requirement of video panorama splicing and fusion to the maximum extent under the condition that the visual angle specifications of the camera are not uniform, and the image quality of the video panorama splicing and fusion is improved.
In one embodiment of the present invention, a plurality of cameras are provided, and a main optical axis included angle between two adjacent cameras is set, including:
s101, determining a panoramic range to be shot, and determining the number of cameras according to the panoramic range through the following formula;
Figure BDA0002837790040000061
wherein n represents the determined number of cameras, and m represents the number of types of cameras with different viewing angles; alpha is alphaiRepresenting the corresponding view angle of the ith camera;
Figure BDA0002837790040000063
representing the angle of a view angle required by a panoramic range to be shot; lambda represents a visual angle adjustment angle, and the value range of lambda is 10-18 degrees;
s102, arranging the cameras in a panoramic scene according to the number of the acquired cameras, the cross arrangement mode of the cameras with large visual angles and small visual angles, and setting a main optical axis included angle between every two adjacent cameras through an included angle determination model.
Wherein, the included angle determination model is as follows:
Figure BDA0002837790040000062
wherein, ω represents the included angle of the main optical axis between every two adjacent cameras; alpha is alphamaxIndicating a view angle value corresponding to a camera with the largest view angle in cameras with different view angles; alpha is alphaminThe angle value of the view angle corresponding to the camera with the smallest view angle among the cameras with different view angles is shown.
The working principle of the technical scheme is as follows: firstly, determining a panoramic range to be shot, and determining the number of cameras according to the panoramic range; and then, arranging the cameras in the panoramic scene according to the number of the acquired cameras, the cross arrangement mode of the cameras with large visual angles and small visual angles, and setting the main optical axis included angle between every two adjacent cameras through an included angle determination model.
The effect of the above technical scheme is as follows: through the mode and the formula, under the condition that the visual angle specifications of the cameras are not uniform, the number of the cameras meeting the requirements of the field shooting panoramic range can be accurately and quickly obtained, and the basic included angle of two adjacent cameras meeting panoramic splicing can be quickly obtained through the included angle determination model. The number and the angle adjusting time of the camera equipment at the earlier stage are effectively reduced under the condition that the visual angle specifications of the cameras are not uniform, and the adjusting efficiency of the camera equipment is greatly improved. Meanwhile, the main optical axis included angle between every two adjacent cameras obtained through the included angle model can enable the overlapping area of the images shot by the two adjacent cameras to reach over 90% of standard reaching rate meeting the overlapping requirement.
According to one embodiment of the invention, the same frame of video images of every two adjacent cameras in a plurality of cameras at the same time point are respectively collected, and whether the included angle of the main optical axis between every two adjacent cameras meets the requirement of panorama splicing fusion is detected according to the edge overlapping area of every two adjacent video images; if unsatisfied panorama concatenation and amalgamation requirement, then adjust the setting to the primary optical axis contained angle between two adjacent cameras, satisfy panorama concatenation and amalgamation requirement until the overlap area of the same frame video image of the same time point of every two adjacent cameras shooting, include:
s201, respectively collecting the same frame of video images of a plurality of cameras at the same time point to obtain basic images;
s202, distortion correction is carried out on the basic image to obtain a corrected basic image;
s203, comparing the basic images acquired by each two adjacent cameras to obtain an image overlapping area between the two basic images;
and S204, judging whether the overlapping area reaches a preset overlapping area threshold value, if not, readjusting the number of the cameras and readjusting the included angle of the main optical axis between every two adjacent cameras according to the difference value between the image overlapping area and the preset overlapping area threshold value.
Wherein, judge whether overlap area reaches predetermined overlap area threshold value, if do not reach predetermined overlap area threshold value, then according to the image overlap area and the difference value between the predetermined overlap area threshold value, readjust camera quantity and readjust the primary optical axis contained angle between every two adjacent cameras, include:
judging whether the overlapping area reaches a preset overlapping area threshold value, adding two cameras in the set number of the cameras when the overlapping area threshold value does not reach a preset first overlapping area threshold value, and adjusting and setting a main optical axis included angle between every two adjacent cameras through a first adjusting model, wherein the first adjusting model is as follows:
Figure BDA0002837790040000071
wherein, ω is1Representing the included angle of the main optical axis between every two adjacent cameras after adjustment according to the first adjustment model;
judging whether the overlapping area reaches a preset overlapping area threshold value, when the overlapping area threshold value reaches a preset first overlapping area threshold value but does not reach a preset second overlapping area threshold value, adding one camera in the set number of cameras, and adjusting and setting the included angle of the main optical axis between every two adjacent cameras through a second adjustment model, wherein the second adjustment model is as follows:
Figure BDA0002837790040000081
wherein, ω is2And the included angle of the main optical axis between every two adjacent cameras after being adjusted according to the second adjustment model is shown.
The working principle of the technical scheme is as follows: firstly, respectively acquiring the same frame of video images of a plurality of cameras at the same time point to obtain basic images; then, distortion correction is carried out on the basic image to obtain a corrected basic image; then, comparing the basic images acquired by every two adjacent cameras to obtain an image overlapping area between the two basic images; and finally, judging whether the overlapping area reaches a preset overlapping area threshold value, if not, readjusting the number of the cameras and readjusting the included angle of the main optical axis between every two adjacent cameras according to the difference value between the image overlapping area and the preset overlapping area threshold value.
In executing step S204: judging whether the overlapping area reaches a preset overlapping area threshold value, if not, readjusting the number of the cameras and readjusting the included angle of the main optical axis between every two adjacent cameras according to the difference value between the image overlapping area and the preset overlapping area threshold value, wherein the process comprises the following steps:
judging whether the overlapping area reaches a preset overlapping area threshold value or not, adding two cameras in the set number of cameras when the overlapping area threshold value does not reach a preset first overlapping area threshold value, and adjusting and setting a main optical axis included angle between every two adjacent cameras through a first adjusting model;
and judging whether the overlapping area reaches a preset overlapping area threshold value, adding one camera in the set number of cameras when the overlapping area threshold value reaches a preset first overlapping area threshold value but does not reach a preset second overlapping area threshold value, and adjusting and setting the included angle of the main optical axis between every two adjacent cameras through a second adjusting model.
The effect of the above technical scheme is as follows: through the angle adjustment mode of above-mentioned two grades, can carry out quick and accurate regulation to the shooting angle between the camera under the condition that the visual angle specification of camera is not unified, improve the regulation efficiency of camera shooting angle to a very big extent to effectively improved the equipment adjustment rate of accuracy of video concatenation fusion early stage. Meanwhile, the angle adjustment values obtained by the first adjustment model and the second adjustment model can enable the overlapping area of the images shot by two adjacent cameras to reach an adjustment success rate of more than 96% when the overlapping area of the images shot by two adjacent cameras with the adjusted included angle model does not meet the requirement due to the specification of the cameras, so that the cameras can meet the standard required by the overlapping requirement as soon as possible.
The embodiment of the invention discloses a video panorama splicing and fusing system based on multi-camera cross photography, as shown in fig. 2, the system comprises:
the number and angle setting module is used for setting a plurality of cameras and setting a main optical axis included angle between two adjacent cameras;
the image acquisition and verification module is used for respectively acquiring the same frame of video images of every two adjacent cameras in the plurality of cameras at the same time point, and detecting whether the included angle of the main optical axis between every two adjacent cameras meets the panoramic stitching and fusion requirement or not according to the edge overlapping area of every two adjacent video images; if the requirements of panoramic stitching and fusion are not met, adjusting and setting the included angle of the main optical axis between two adjacent cameras until the overlapping area of the same frame of video image at the same time point shot by each two adjacent cameras meets the requirements of panoramic stitching and fusion;
and the image fusion module is used for acquiring the same frame of video images of the plurality of cameras at the same time point, and fusing the video images to obtain a fused panoramic image.
The working principle of the technical scheme is as follows: firstly, a plurality of cameras are arranged through a number and angle setting module, and a main optical axis included angle between two adjacent cameras is set; then, respectively acquiring the same frame of video images of every two adjacent cameras in the multiple cameras at the same time point by using an image acquisition and verification module, and detecting whether a main optical axis included angle between every two adjacent cameras meets the panoramic stitching and fusion requirement according to the edge overlapping area of every two adjacent video images; if the requirements of panoramic stitching and fusion are not met, adjusting and setting the included angle of the main optical axis between two adjacent cameras until the overlapping area of the same frame of video image at the same time point shot by each two adjacent cameras meets the requirements of panoramic stitching and fusion; and then, acquiring the same frame of video images of the plurality of cameras at the same time point through an image fusion module, and carrying out fusion processing on the video images to obtain a fused panoramic image.
The effect of the above technical scheme is as follows: the adjustment efficiency of the angle of the main optical axis between the cameras can be effectively improved under the condition that the visual angles of the cameras are not uniform, the adjustment efficiency of the cameras for panoramic stitching fusion is improved, the efficiency of the video panoramic stitching fusion is further improved, and the time and energy consumed by adjusting the camera equipment in the video panoramic stitching fusion process are greatly reduced. Meanwhile, the method and the system of the invention are used for adjusting the camera, so that the overlapping area of the images shot by the camera can meet the requirement of video panorama splicing and fusion to the maximum extent under the condition that the visual angle specifications of the camera are not uniform, and the image quality of the video panorama splicing and fusion is improved.
In an embodiment of the present invention, the number and angle setting module includes:
the number determining module is used for determining a panoramic range to be shot and determining the number of the cameras according to the panoramic range through the following formula;
Figure BDA0002837790040000091
wherein n represents the determined number of cameras, and m represents the number of types of cameras with different viewing angles; alpha is alphaiRepresenting the corresponding view angle of the ith camera;
Figure BDA0002837790040000092
representing the angle of a view angle required by a panoramic range to be shot; λ represents the viewing angle adjustment angle, and the value of λIn the range of 10 ° to 18 °;
and the angle determining module is used for setting the cameras in the panoramic scene according to the number of the acquired cameras, the camera cross arrangement mode of large visual angle and small visual angle, and setting the main optical axis included angle between every two adjacent cameras through the included angle determining model.
Wherein, the included angle determination model is as follows:
Figure BDA0002837790040000101
wherein, ω represents the included angle of the main optical axis between every two adjacent cameras; alpha is alphamaxIndicating a view angle value corresponding to a camera with the largest view angle in cameras with different view angles; alpha is alphaminThe angle value of the view angle corresponding to the camera with the smallest view angle among the cameras with different view angles is shown.
The working principle of the technical scheme is as follows: firstly, determining a panoramic range to be shot through a number determining module, and determining the number of cameras according to the panoramic range; and then, setting the cameras in the panoramic scene according to the number of the acquired cameras and the cross arrangement mode of the cameras with large visual angles and small visual angles by using an angle determination module, and setting the main optical axis included angle between every two adjacent cameras by using an included angle determination model.
The effect of the above technical scheme is as follows: through the mode and the formula, under the condition that the visual angle specifications of the cameras are not uniform, the number of the cameras meeting the requirements of the field shooting panoramic range can be accurately and quickly obtained, and the basic included angle of two adjacent cameras meeting panoramic splicing can be quickly obtained through the included angle determination model. The number and the angle adjusting time of the camera equipment at the earlier stage are effectively reduced under the condition that the visual angle specifications of the cameras are not uniform, and the adjusting efficiency of the camera equipment is greatly improved. Meanwhile, the main optical axis included angle between every two adjacent cameras obtained through the included angle model can enable the overlapping area of the images shot by the two adjacent cameras to reach over 90% of standard reaching rate meeting the overlapping requirement.
In an embodiment of the present invention, the image capturing and verifying module includes:
the image acquisition module is used for respectively acquiring the same frame of video images of the plurality of cameras at the same time point to obtain a basic image;
the correction module is used for carrying out distortion correction on the basic image to obtain a corrected basic image;
the comparison module is used for comparing the basic images acquired by each two adjacent cameras to obtain an image overlapping area between the two basic images;
and the judging module is used for judging whether the overlapping area reaches a preset overlapping area threshold value, and if not, readjusting the number of the cameras and readjusting the included angle of the main optical axis between every two adjacent cameras according to the difference value between the image overlapping area and the preset overlapping area threshold value.
Wherein, the judging module comprises:
the first adjusting module is used for judging whether the overlapping area reaches a preset overlapping area threshold value, when the overlapping area threshold value does not reach a preset first overlapping area threshold value, two cameras are added to the set number of the cameras, the included angle of a main optical axis between every two adjacent cameras is adjusted and set through a first adjusting model, and the first adjusting model is as follows:
Figure BDA0002837790040000111
wherein, ω is1Representing the included angle of the main optical axis between every two adjacent cameras after adjustment according to the first adjustment model;
the second adjusting module is used for judging whether the overlapping area reaches a preset overlapping area threshold value, when the overlapping area threshold value reaches a preset first overlapping area threshold value but does not reach a preset second overlapping area threshold value, adding one camera in the set number of cameras, and adjusting and setting the included angle of the main optical axis between every two adjacent cameras through a second adjusting model, wherein the second adjusting model is as follows:
Figure BDA0002837790040000112
wherein, ω is2And the included angle of the main optical axis between every two adjacent cameras after being adjusted according to the second adjustment model is shown.
The working principle of the technical scheme is as follows: firstly, respectively acquiring the same frame of video images of a plurality of cameras at the same time point through an image acquisition module to obtain a basic image; then, carrying out distortion correction on the basic image by using a correction module to obtain a corrected basic image; then, comparing the basic images acquired by each two adjacent cameras by using a comparison module to obtain an image overlapping area between the two basic images; and finally, judging whether the overlapping area reaches a preset overlapping area threshold value or not through a judging module, if not, readjusting the number of the cameras and readjusting the included angle of the main optical axis between every two adjacent cameras according to the difference value between the image overlapping area and the preset overlapping area threshold value.
The operation process of the judgment module comprises the following steps:
whether the overlap area reaches a preset overlap area threshold value is judged through a first adjusting module, when the overlap area threshold value does not reach a preset first overlap area threshold value, two cameras are added to the set number of the cameras, a main optical axis included angle between every two adjacent cameras is adjusted and set through a first adjusting model, and the first adjusting model is as follows:
Figure BDA0002837790040000113
wherein, ω is1Representing the master between each two adjacent cameras adjusted according to a first adjustment modelAn optical axis included angle;
judging whether the overlapping area reaches a preset overlapping area threshold value or not through a second adjusting module, adding one camera in the set number of cameras when the overlapping area threshold value reaches a preset first overlapping area threshold value but does not reach a preset second overlapping area threshold value, and adjusting and setting the included angle of a main optical axis between every two adjacent cameras through a second adjusting model, wherein the second adjusting model is as follows:
Figure BDA0002837790040000121
wherein, ω is2And the included angle of the main optical axis between every two adjacent cameras after being adjusted according to the second adjustment model is shown.
The effect of the above technical scheme is as follows: through the angle adjustment mode of above-mentioned two grades, can carry out quick and accurate regulation to the shooting angle between the camera under the condition that the visual angle specification of camera is not unified, improve the regulation efficiency of camera shooting angle to a very big extent to effectively improved the equipment adjustment rate of accuracy of video concatenation fusion early stage. Meanwhile, the angle adjustment values obtained by the first adjustment model and the second adjustment model can enable the overlapping area of the images shot by two adjacent cameras to reach an adjustment success rate of more than 96% when the overlapping area of the images shot by two adjacent cameras with the adjusted included angle model does not meet the requirement due to the specification of the cameras, so that the cameras can meet the standard required by the overlapping requirement as soon as possible.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. The video panorama splicing and fusing method based on multi-camera cross photography is characterized by comprising the following steps:
arranging a plurality of cameras, and setting a main optical axis included angle between two adjacent cameras;
respectively acquiring the same frame of video images of every two adjacent cameras in the plurality of cameras at the same time point, and detecting whether the included angle of the main optical axis between every two adjacent cameras meets the panoramic stitching and fusing requirement according to the edge overlapping area of every two adjacent video images; if the requirements of panoramic stitching and fusion are not met, adjusting and setting the included angle of the main optical axis between two adjacent cameras until the overlapping area of the same frame of video image at the same time point shot by each two adjacent cameras meets the requirements of panoramic stitching and fusion;
and acquiring the same frame of video images of the plurality of cameras at the same time point, and fusing the video images to obtain a fused panoramic image.
2. The method of claim 1, wherein the step of setting a plurality of cameras and setting the included angle of the principal optical axis between two adjacent cameras comprises:
determining a panoramic range to be shot, and determining the number of cameras according to the panoramic range through the following formula;
Figure FDA0002837790030000011
wherein n represents the determined number of cameras, and m represents the number of types of cameras with different viewing angles; alpha is alphaiRepresenting the corresponding view angle of the ith camera;
Figure FDA0002837790030000012
representing the angle of a view angle required by a panoramic range to be shot; lambda represents a visual angle adjustment angle, and the value range of lambda is 10-18 degrees;
the cameras are arranged in a panoramic scene according to the number of the acquired cameras, the camera cross arrangement mode of large visual angle and small visual angle, and the main optical axis included angle between every two adjacent cameras is set through an included angle determination model.
3. The method of claim 2, wherein the angle determination model is as follows:
Figure FDA0002837790030000013
wherein, ω represents the included angle of the main optical axis between every two adjacent cameras; alpha is alphamaxIndicating a view angle value corresponding to a camera with the largest view angle in cameras with different view angles; alpha is alphaminThe angle value of the view angle corresponding to the camera with the smallest view angle among the cameras with different view angles is shown.
4. The method according to claim 1, characterized in that the same frame of video images of every two adjacent cameras in the plurality of cameras at the same time point are respectively collected, and whether the main optical axis included angle between every two adjacent cameras meets the panoramic stitching fusion requirement is detected according to the edge overlapping area of every two adjacent video images; if unsatisfied panorama concatenation and amalgamation requirement, then adjust the setting to the primary optical axis contained angle between two adjacent cameras, satisfy panorama concatenation and amalgamation requirement until the overlap area of the same frame video image of the same time point of every two adjacent cameras shooting, include:
respectively collecting the same frame of video images of a plurality of cameras at the same time point to obtain basic images;
carrying out distortion correction on the basic image to obtain a corrected basic image;
comparing the basic images acquired by every two adjacent cameras to obtain an image overlapping area between the two basic images;
and judging whether the overlapping area reaches a preset overlapping area threshold value, if not, readjusting the number of the cameras and readjusting the included angle of the main optical axis between every two adjacent cameras according to the difference value between the image overlapping area and the preset overlapping area threshold value.
5. The method of claim 4, wherein determining whether the overlap area reaches a preset overlap area threshold, and if not, readjusting the number of cameras and readjusting the included angle of the main optical axis between every two adjacent cameras according to the difference between the image overlap area and the preset overlap area threshold comprises:
judging whether the overlapping area reaches a preset overlapping area threshold value, adding two cameras in the set number of the cameras when the overlapping area threshold value does not reach a preset first overlapping area threshold value, and adjusting and setting a main optical axis included angle between every two adjacent cameras through a first adjusting model, wherein the first adjusting model is as follows:
Figure FDA0002837790030000021
wherein, ω is1Representing the included angle of the main optical axis between every two adjacent cameras after adjustment according to the first adjustment model;
judging whether the overlapping area reaches a preset overlapping area threshold value, when the overlapping area threshold value reaches a preset first overlapping area threshold value but does not reach a preset second overlapping area threshold value, adding one camera in the set number of cameras, and adjusting and setting the included angle of the main optical axis between every two adjacent cameras through a second adjustment model, wherein the second adjustment model is as follows:
Figure FDA0002837790030000022
wherein, ω is2And the included angle of the main optical axis between every two adjacent cameras after being adjusted according to the second adjustment model is shown.
6. Video panorama concatenation fusion system based on many camera are photographic alternately, its characterized in that, the system includes:
the number and angle setting module is used for setting a plurality of cameras and setting a main optical axis included angle between two adjacent cameras;
the image acquisition and verification module is used for respectively acquiring the same frame of video images of every two adjacent cameras in the plurality of cameras at the same time point, and detecting whether the included angle of the main optical axis between every two adjacent cameras meets the panoramic stitching and fusion requirement or not according to the edge overlapping area of every two adjacent video images; if the requirements of panoramic stitching and fusion are not met, adjusting and setting the included angle of the main optical axis between two adjacent cameras until the overlapping area of the same frame of video image at the same time point shot by each two adjacent cameras meets the requirements of panoramic stitching and fusion;
and the image fusion module is used for acquiring the same frame of video images of the plurality of cameras at the same time point, and fusing the video images to obtain a fused panoramic image.
7. The system of claim 6, wherein the number and angle setting module comprises:
the number determining module is used for determining a panoramic range to be shot and determining the number of the cameras according to the panoramic range through the following formula;
Figure FDA0002837790030000031
wherein n represents the determined number of cameras, and m represents the number of types of cameras with different viewing angles; alpha is alphaiRepresenting the corresponding view angle of the ith camera;
Figure FDA0002837790030000032
representing the angle of a view angle required by a panoramic range to be shot; λ represents the angle of view adjustment, and λ is takenValues ranging from 10 ° to 18 °;
and the angle determining module is used for setting the cameras in the panoramic scene according to the number of the acquired cameras, the camera cross arrangement mode of large visual angle and small visual angle, and setting the main optical axis included angle between every two adjacent cameras through the included angle determining model.
8. The system of claim 7, wherein the angle determination model is as follows:
Figure FDA0002837790030000033
wherein, ω represents the included angle of the main optical axis between every two adjacent cameras; alpha is alphamaxIndicating a view angle value corresponding to a camera with the largest view angle in cameras with different view angles; alpha is alphaminThe angle value of the view angle corresponding to the camera with the smallest view angle among the cameras with different view angles is shown.
9. The system of claim 6, wherein the image capture verification module comprises:
the image acquisition module is used for respectively acquiring the same frame of video images of the plurality of cameras at the same time point to obtain a basic image;
the correction module is used for carrying out distortion correction on the basic image to obtain a corrected basic image;
the comparison module is used for comparing the basic images acquired by each two adjacent cameras to obtain an image overlapping area between the two basic images;
and the judging module is used for judging whether the overlapping area reaches a preset overlapping area threshold value, and if not, readjusting the number of the cameras and readjusting the included angle of the main optical axis between every two adjacent cameras according to the difference value between the image overlapping area and the preset overlapping area threshold value.
10. The system of claim 9, wherein the determining module comprises:
the first adjusting module is used for judging whether the overlapping area reaches a preset overlapping area threshold value, when the overlapping area threshold value does not reach a preset first overlapping area threshold value, two cameras are added to the set number of the cameras, the included angle of a main optical axis between every two adjacent cameras is adjusted and set through a first adjusting model, and the first adjusting model is as follows:
Figure FDA0002837790030000041
wherein, ω is1Representing the included angle of the main optical axis between every two adjacent cameras after adjustment according to the first adjustment model;
the second adjusting module is used for judging whether the overlapping area reaches a preset overlapping area threshold value, when the overlapping area threshold value reaches a preset first overlapping area threshold value but does not reach a preset second overlapping area threshold value, adding one camera in the set number of cameras, and adjusting and setting the included angle of the main optical axis between every two adjacent cameras through a second adjusting model, wherein the second adjusting model is as follows:
Figure FDA0002837790030000042
wherein, ω is2And the included angle of the main optical axis between every two adjacent cameras after being adjusted according to the second adjustment model is shown.
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