CN112616018A - Stackable panoramic video real-time splicing method - Google Patents
Stackable panoramic video real-time splicing method Download PDFInfo
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- CN112616018A CN112616018A CN202011481837.4A CN202011481837A CN112616018A CN 112616018 A CN112616018 A CN 112616018A CN 202011481837 A CN202011481837 A CN 202011481837A CN 112616018 A CN112616018 A CN 112616018A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image 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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N17/00—Diagnosis, testing or measuring for television systems or their details
- H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/2624—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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/265—Mixing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/32—Indexing scheme for image data processing or generation, in general involving image mosaicing
Abstract
The invention provides a stackable panoramic video real-time splicing method, which comprises the following steps: the method comprises the steps of setting the number of cameras according to the angle range of a video to be shot, and determining the included angle of a main optical axis between two adjacent cameras according to the number of the cameras, wherein the visual angles of the cameras are the same; starting a plurality of cameras, and checking the shooting consistency of the cameras; and splicing the video images of the same frame of video images of all the cameras which finish the consistency check at the same time and the same time point to obtain a spliced panoramic image.
Description
Technical Field
The invention provides a stackable panoramic video real-time splicing method, and belongs to the technical field of video 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 the conditions, the mode of stacking and shooting by using a plurality of gun-shaped or other conventionally used non-spherical panoramic cameras can meet the requirement of monitoring 360 degrees without dead angles of more than 90 percent of scenes. 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 stackable panoramic video real-time splicing method, which is used for solving the problems of lower splicing efficiency and lower video splicing quality of the existing panoramic video:
the invention provides a stackable panoramic video real-time splicing method, which comprises the following steps:
the method comprises the steps of setting the number of cameras according to the angle range of a video to be shot, and determining the included angle of a main optical axis between two adjacent cameras according to the number of the cameras, wherein the visual angles of the cameras are the same;
starting a plurality of cameras, and checking the shooting consistency of the cameras;
and splicing the video images of the same frame of video images of all the cameras which finish the consistency check at the same time and the same time point to obtain a spliced panoramic image.
Further, the setting of the number of cameras according to the angle range of the video to be shot comprises:
determining a panoramic range to be shot;
determining the number of cameras by using the number determination model according to the panoramic range; the number determination model is as follows:
wherein n represents the determined number of cameras; alpha represents a corresponding view angle of the camera;
representing the angle of a view angle required by a panoramic range to be shot; λ represents a viewing angle adjustment angle, and λ has a value ranging from 20 ° to 26 °.
Further, determining a main optical axis included angle between two adjacent cameras according to the number of the cameras, including:
arranging the cameras in the scene of the video to be shot at equal intervals according to the obtained number;
according to the visual angle of the cameras, acquiring the included angle of the main optical axis between every two adjacent cameras by utilizing a visual angle setting model, wherein the visual angle setting model is as follows:
where ω represents the principal optical axis angle between each two adjacent cameras.
Further, starting a plurality of cameras and checking shooting consistency of the cameras comprises:
simultaneously starting a plurality of cameras, recording starting time points of video shooting after each camera is started, and judging time difference between the starting time points of the cameras;
acquiring the starting time interval of every two adjacent cameras by utilizing the starting time point of each camera entering video shooting according to the starting time adjustment model, so that all the cameras can enter a video shooting stage in the same time range during shooting;
after the starting time of every two adjacent cameras is adjusted, sequentially acquiring the video screen images of the same frame shot by every two adjacent cameras at the same moment; judging whether the area of the overlapping area of the video image meets a preset area threshold value or not; if the overlapping area of the video images of the same frame shot by every two adjacent cameras at the same moment is larger than a preset area threshold value, starting to splice the collected video images, wherein the starting time adjustment model is as follows:
wherein, TgIndicating an adjusted starting time interval between the camera with the later starting time and the camera with the earlier starting time in every two adjacent cameras; camera with later start time is advanced by TgStarting the time; t is0Indicating a standard time period from the startup of the camera to the entry of video shooting; t isiRepresenting a time difference between start time points of incoming video shots between the ith pair of adjacent two cameras; m represents the logarithm of all adjacent two cameras among all cameras; epsilon represents a time adjustment coefficient, and the value range of the time adjustment coefficient is 0.81-0.95, wherein the value range is preferably 0.87.
Further, determining whether the area of the overlapping region of the video image meets a preset region threshold includes:
judging the size relation between the area of the overlapping area of the video images and a preset area threshold, and starting to splice the acquired video images if the overlapping area of the video images of the same frame shot by the two adjacent cameras at the same moment is larger than the preset area threshold;
if the overlapping area of the view screen images of the same frame shot by the two adjacent cameras at the same moment is smaller than a preset area threshold value, marking the two adjacent cameras as target adjusting cameras, and performing compensation adjustment on the angle of a main optical axis between the target adjusting cameras by using an angle compensation model, wherein the angle compensation model comprises the following steps:
wherein, ω istThe included angle of a main optical axis between every two adjacent cameras after being adjusted through the angle compensation model is shown, h represents an angle adjustment coefficient, and the range of the angle adjustment coefficient is 1.12-1.23; among them, 1.14 is preferable; s0A region area value representing a preset region threshold of the video image, and S represents an area value of an overlapping region of the actual video image.
Further, the splicing method is realized by a splicing system, and the splicing system comprises:
the quantity and angle determining module is used for setting the number of cameras according to the angle range of the video to be shot and determining the main optical axis included angle between two adjacent cameras according to the number of the cameras, wherein the visual angles of the cameras are the same;
the starting verification module is used for starting the plurality of cameras and verifying the shooting consistency of the cameras;
and the panoramic stitching module is used for stitching the video images of the same frame at the same time point by all the cameras which finish the consistency check, and obtaining the stitched panoramic image.
Further, the number and angle determination module comprises:
the panoramic range determining module is used for determining a panoramic range to be shot;
and the number determining module is used for determining the number of the cameras by using the number determining model according to the panoramic range.
Further, the number and angle determining module further includes:
the arrangement control module is used for arranging the cameras in the scene of the video to be shot at equal intervals according to the acquired number;
and the angle setting module is used for acquiring the included angle of the main optical axis between every two adjacent cameras by utilizing the visual angle setting model according to the visual angles of the cameras.
Further, the start check module includes:
the time acquisition module is used for simultaneously starting a plurality of cameras, recording the starting time point of video shooting after each camera is started, and judging the time difference between the starting time points of the cameras;
the time interval acquisition module is used for acquiring the starting time interval of every two adjacent cameras by utilizing the starting time point of each camera entering the video shooting according to the starting time adjustment model so that all the cameras can enter the video shooting stage in the same time range during shooting;
the adjusting module is used for sequentially acquiring the video images of the same frame shot by every two adjacent cameras at the same moment after adjusting the starting time of every two adjacent cameras; judging whether the area of the overlapping area of the video image meets a preset area threshold value or not; and if the overlapping area of the video images of the same frame shot by every two adjacent cameras at the same moment is larger than a preset area threshold value, starting to splice the collected video images.
Further, the adjustment module includes:
the judgment starting module is used for judging the size relation between the area of the overlapping area of the video images and a preset area threshold value, and if the overlapping area of the video images of the same frame shot by the two adjacent cameras at the same moment is larger than the preset area threshold value, the collected video images are started to be spliced;
and the angle compensation module is used for marking the two adjacent cameras as target adjustment cameras if the overlapping area of the video images of the same frame shot by the two adjacent cameras at the same moment is smaller than a preset area threshold value, and performing compensation adjustment on the angle of a main optical axis between the target adjustment cameras by using an angle compensation model.
The invention has the beneficial effects that:
the stackable panoramic video real-time splicing method provided by the invention can be used for carrying out unified one-time check adjustment on the camera equipment through formally carrying out the check link before the video splicing operation under the condition that a plurality of cameras with the same visual angle range are arranged, thereby effectively saving the equipment adjusting time, improving the equipment adjusting efficiency and further improving the quality of the subsequent video splicing treatment. The video acquisition efficiency is improved by keeping the starting time consistency of the plurality of cameras, and the overall splicing processing efficiency of the panoramic video is further improved. Meanwhile, the splicing requirement standard reaching rate of video data acquisition can be effectively improved through the number of the cameras and the angle adjustment of the main optical axis, the video image data acquisition quality and the video image data acquisition efficiency are further improved, and the time wasted by the adjustment of repeated equipment caused by the fact that the acquired video image data standard does not reach the standard in the subsequent video processing process is greatly reduced. Meanwhile, the quality of the video after the panoramic video is spliced is improved by improving the quality of video image acquisition.
Drawings
FIG. 1 is a flow chart of the method 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 invention provides a stackable panoramic video real-time splicing method, which comprises the following steps:
s1, setting the number of cameras according to the angle range of the video to be shot, and determining the included angle of the main optical axis between two adjacent cameras according to the number of the cameras, wherein the visual angles of the cameras are the same;
s2, starting a plurality of cameras, and checking the shooting consistency of the cameras;
and S3, splicing the video images of the same frame of video images of all the cameras which finish the consistency check at the same time and the same time point to obtain a spliced panoramic image.
Firstly, setting the number of cameras according to the angle range of a video to be shot, and determining the included angle of a main optical axis between two adjacent cameras according to the number of the cameras, wherein the visual angles of a plurality of cameras are the same; then, starting a plurality of cameras, and checking the shooting consistency of the cameras; and finally, splicing the video images of the same frame of video images of all the cameras which finish the consistency check at the same time and the same time point to obtain a spliced panoramic image.
The effect of the above technical scheme is as follows: the video acquisition efficiency can be improved by keeping the starting time consistency of a plurality of cameras under the condition that the cameras with the same view angle range are arranged, and the overall splicing processing efficiency of the panoramic video is further improved. Meanwhile, the splicing requirement standard reaching rate of video data acquisition can be effectively improved through the number of the cameras and the angle adjustment of the main optical axis, the video image data acquisition quality and the video image data acquisition efficiency are further improved, and the time wasted by the adjustment of repeated equipment caused by the fact that the acquired video image data standard does not reach the standard in the subsequent video processing process is greatly reduced. Meanwhile, the quality of the video after the panoramic video is spliced is improved by improving the quality of video image acquisition.
According to an embodiment of the present invention, the setting of the number of cameras according to the angle range of the video to be captured includes:
s101, determining a panoramic range to be shot;
s102, determining the number of cameras by utilizing the number determination model according to the panoramic range; the number determination model is as follows:
wherein n represents the determined number of cameras; alpha represents a corresponding view angle of the camera;
representing the angle of a view angle required by a panoramic range to be shot; λ represents a viewing angle adjustment angle, and λ has a value ranging from 20 ° to 26 °.
The working principle of the technical scheme is as follows: firstly, determining a panoramic range to be shot; then. And determining the number of the cameras by using the number determination model according to the panoramic range.
The effect of the above technical scheme is as follows: the number of the cameras obtained through the formula and the mode can accurately and quickly obtain the number of the cameras meeting the requirements of the field shooting panoramic range, the time consumed by adjusting the number of the cameras through trial and experience is greatly reduced, and the number of the cameras obtained through the number formula can meet the quality requirement of the range of the overlapping area of video image acquisition without adding new cameras in the subsequent camera angle adjusting process. The subsequent equipment increase links are effectively reduced, the time wasted in equipment adjustment is effectively reduced, and the standard reaching efficiency of equipment setting is improved.
According to one embodiment of the present invention, determining a primary optical axis angle between two adjacent cameras according to the number of cameras includes:
s103, arranging the cameras in the scene of the video to be shot at equal intervals according to the obtained number;
s104, acquiring a main optical axis included angle between every two adjacent cameras by using a visual angle setting model according to the visual angles of the cameras, wherein the visual angle setting model is as follows:
where ω represents the principal optical axis angle between each two adjacent cameras.
The working principle of the technical scheme is as follows: firstly, arranging the cameras in the scene of the video to be shot at equal intervals according to the obtained number; and then, acquiring a main optical axis included angle between every two adjacent cameras by using a visual angle setting model according to the visual angles of the cameras.
The effect of the above technical scheme is as follows: the included angle of the main optical axes of the two connected cameras, which is obtained by the formula, can effectively improve the standard-reaching rate of the overlapping area of the images shot by the two adjacent cameras with the same visual angle range, and the standard-reaching rate of the overlapping area of the shot images can reach 96 percent. The possibility of subsequent camera adjustment is greatly reduced, and the equipment adjustment time in the early stage of video splicing is saved.
In one embodiment of the present invention, starting a plurality of cameras and checking the shooting consistency of the cameras includes:
s201, simultaneously starting a plurality of cameras, recording starting time points of video shooting after each camera is started, and judging time difference between the starting time points of the cameras;
s202, acquiring the starting time interval of every two adjacent cameras by utilizing the starting time point of each camera entering video shooting according to the starting time adjusting model, so that all the cameras can enter a video shooting stage in the same time range during shooting;
s203, after the starting time of each two adjacent cameras is adjusted, sequentially acquiring the video images of the same frame shot by each two adjacent cameras at the same moment; judging whether the area of the overlapping area of the video image meets a preset area threshold value or not; if the overlapping area of the video images of the same frame shot by every two adjacent cameras at the same moment is larger than a preset area threshold value, starting to splice the collected video images, wherein the starting time adjustment model is as follows:
wherein, TgIndicating an adjusted starting time interval between the camera with the later starting time and the camera with the earlier starting time in every two adjacent cameras; camera with later start time is advanced by TgStarting the time; t is0Indicating that the camera is switched on from the start to the entry to video captureA standard time period; t isiRepresenting a time difference between start time points of incoming video shots between the ith pair of adjacent two cameras; m represents the logarithm of all adjacent two cameras among all cameras; epsilon represents a time adjustment coefficient, and the value range of the time adjustment coefficient is 0.81-0.95, wherein the value range is preferably 0.87.
The working principle of the technical scheme is as follows: firstly, simultaneously starting a plurality of cameras, recording starting time points of video shooting after each camera is started, and judging time difference between the starting time points of the cameras; then, acquiring the starting time interval of every two adjacent cameras by utilizing the starting time point of each camera entering the video shooting according to the starting time adjustment model, so that all the cameras can enter a video shooting stage in the same time range during shooting; finally, after the starting time of each two adjacent cameras is adjusted, the video images of the same frame shot by each two adjacent cameras at the same moment are sequentially acquired; judging whether the area of the overlapping area of the video image meets a preset area threshold value or not; if the overlapping area of the video images of the same frame shot by every two adjacent cameras at the same moment is larger than a preset area threshold value, splicing the collected video images
The effect of the above technical scheme is as follows: due to the fact that the cameras with the same specification and the same view angle range are not synchronous when entering a time point capable of carrying out video shooting after being started up, the cameras can be started up. In the process of simultaneously starting the cameras, due to the fact that the time points of entering the cameras capable of shooting videos are different, long time is required to be waited to guarantee that each camera can be used for collecting video images only when entering a video shooting state, and more waiting time of early-stage data collection is consumed. Through the starting time interval, no matter how many cameras exist and enter the camera with later or slower time point capable of carrying out video shooting, the time points of entering the video shooting of all the cameras can be ensured to be within the range of the preset time point difference value, and the synchronism of the camera starting at the earlier stage entering the video shooting stage is ensured. The time consumed by waiting for all shooting devices to enter and be capable of carrying out video shooting is effectively reduced. The acquisition efficiency of the video image data is further improved.
In an embodiment of the present invention, determining whether an area of an overlapping region of a video image meets a preset region threshold includes:
judging the size relation between the area of the overlapping area of the video images and a preset area threshold, and starting to splice the acquired video images if the overlapping area of the video images of the same frame shot by the two adjacent cameras at the same moment is larger than the preset area threshold;
if the overlapping area of the view screen images of the same frame shot by the two adjacent cameras at the same moment is smaller than a preset area threshold value, marking the two adjacent cameras as target adjusting cameras, and performing compensation adjustment on the angle of a main optical axis between the target adjusting cameras by using an angle compensation model, wherein the angle compensation model comprises the following steps:
wherein, ω istThe included angle of a main optical axis between every two adjacent cameras after being adjusted through the angle compensation model is shown, h represents an angle adjustment coefficient, and the range of the angle adjustment coefficient is 1.12-1.23; among them, 1.14 is preferable; s0A region area value representing a preset region threshold of the video image, and S represents an area value of an overlapping region of the actual video image.
The working principle of the technical scheme is as follows: judging the size relation between the area of the overlapping area of the video images and a preset area threshold, and starting to splice the acquired video images if the overlapping area of the video images of the same frame shot by the two adjacent cameras at the same moment is larger than the preset area threshold; if the overlapping area of the video images of the same frame shot by the two adjacent cameras at the same moment is smaller than a preset area threshold value, marking the two adjacent cameras as target adjusting cameras, and utilizing an angle compensation model to perform compensation adjustment on the angle of a main optical axis between the target adjusting cameras
The effect of the above technical scheme is as follows: because the same specification camera or the camera that visual angle specification scope is the same often appears the error in the visual angle in the in-service use, consequently can appear because of the problem emergence that the overlapping range of the video image that the visual angle error leads to does not reach standard, consequently, when the camera has the condition that the overlapping range of image does not reach standard that the error leads to, can be effectively quick with camera primary optical axis angle adjustment to the position that the image overlapping region is up to standard through above-mentioned formula, need not to carry out angle compensation once more and adjust, effectively improve angle adjustment efficiency, and shorten angle adjustment time. Meanwhile, the calculation amount is small, and the calculation amount and the calculation time of angle adjustment are greatly reduced.
In an embodiment of the present invention, the splicing method is implemented by a splicing system, and the splicing system includes:
the quantity and angle determining module is used for setting the number of cameras according to the angle range of the video to be shot and determining the main optical axis included angle between two adjacent cameras according to the number of the cameras, wherein the visual angles of the cameras are the same;
the starting verification module is used for starting the plurality of cameras and verifying the shooting consistency of the cameras;
and the panoramic stitching module is used for stitching the video images of the same frame at the same time point by all the cameras which finish the consistency check, and obtaining the stitched panoramic image.
Wherein the number and angle determining module comprises:
the panoramic range determining module is used for determining a panoramic range to be shot;
and the number determining module is used for determining the number of the cameras by using the number determining model according to the panoramic range.
The number and angle determining module further comprises:
the arrangement control module is used for arranging the cameras in the scene of the video to be shot at equal intervals according to the acquired number;
and the angle setting module is used for acquiring the included angle of the main optical axis between every two adjacent cameras by utilizing the visual angle setting model according to the visual angles of the cameras.
The start check module includes:
the time acquisition module is used for simultaneously starting a plurality of cameras, recording the starting time point of video shooting after each camera is started, and judging the time difference between the starting time points of the cameras;
the time interval acquisition module is used for acquiring the starting time interval of every two adjacent cameras by utilizing the starting time point of each camera entering the video shooting according to the starting time adjustment model so that all the cameras can enter the video shooting stage in the same time range during shooting;
the adjusting module is used for sequentially acquiring the video images of the same frame shot by every two adjacent cameras at the same moment after adjusting the starting time of every two adjacent cameras; judging whether the area of the overlapping area of the video image meets a preset area threshold value or not; and if the overlapping area of the video images of the same frame shot by every two adjacent cameras at the same moment is larger than a preset area threshold value, starting to splice the collected video images.
The adjustment module includes:
the judgment starting module is used for judging the size relation between the area of the overlapping area of the video images and a preset area threshold value, and if the overlapping area of the video images of the same frame shot by the two adjacent cameras at the same moment is larger than the preset area threshold value, the collected video images are started to be spliced;
and the angle compensation module is used for marking the two adjacent cameras as target adjustment cameras if the overlapping area of the video images of the same frame shot by the two adjacent cameras at the same moment is smaller than a preset area threshold value, and performing compensation adjustment on the angle of a main optical axis between the target adjustment cameras by using an angle compensation model.
The effect of the above technical scheme is as follows: the camera shooting equipment can be uniformly checked and adjusted at one time through a checking link before formally carrying out video splicing operation under the condition that a plurality of cameras with the same visual angle range are arranged, so that the equipment adjusting time is effectively saved, the equipment adjusting efficiency is improved, and the quality of subsequent video splicing processing is further improved. The video acquisition efficiency is improved by keeping the starting time consistency of the plurality of cameras, and the overall splicing processing efficiency of the panoramic video is further improved. Meanwhile, the splicing requirement standard reaching rate of video data acquisition can be effectively improved through the number of the cameras and the angle adjustment of the main optical axis, the video image data acquisition quality and the video image data acquisition efficiency are further improved, and the time wasted by the adjustment of repeated equipment caused by the fact that the acquired video image data standard does not reach the standard in the subsequent video processing process is greatly reduced. Meanwhile, the quality of the video after the panoramic video is spliced is improved by improving the quality of video image acquisition.
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. A stackable panoramic video real-time splicing method is characterized by comprising the following steps:
the method comprises the steps of setting the number of cameras according to the angle range of a video to be shot, and determining the included angle of a main optical axis between two adjacent cameras according to the number of the cameras, wherein the visual angles of the cameras are the same;
starting a plurality of cameras, and checking the shooting consistency of the cameras;
and splicing the video images of the same frame of video images of all the cameras which finish the consistency check at the same time and the same time point to obtain a spliced panoramic image.
2. The method according to claim 1, wherein the setting of the number of cameras according to the angle range of the video to be shot comprises:
determining a panoramic range to be shot;
determining the number of cameras by using the number determination model according to the panoramic range; the number determination model is as follows:
wherein n represents the determined number of cameras; alpha represents a corresponding view angle of the camera;
representing the angle of a view angle required by a panoramic range to be shot; λ represents a viewing angle adjustment angle, and λ has a value ranging from 20 ° to 26 °.
3. The method of claim 1, wherein determining the included angle of the principal optical axis between two adjacent cameras according to the number of cameras comprises:
arranging the cameras in the scene of the video to be shot at equal intervals according to the obtained number;
according to the visual angle of the cameras, acquiring the included angle of the main optical axis between every two adjacent cameras by utilizing a visual angle setting model, wherein the visual angle setting model is as follows:
where ω represents the principal optical axis angle between each two adjacent cameras.
4. The method of claim 1, wherein starting a plurality of cameras and checking for camera consistency comprises:
simultaneously starting a plurality of cameras, recording starting time points of video shooting after each camera is started, and judging time difference between the starting time points of the cameras;
acquiring the starting time interval of every two adjacent cameras by utilizing the starting time point of each camera entering video shooting according to the starting time adjustment model, so that all the cameras can enter a video shooting stage in the same time range during shooting;
after the starting time of every two adjacent cameras is adjusted, sequentially acquiring the video screen images of the same frame shot by every two adjacent cameras at the same moment; judging whether the area of the overlapping area of the video image meets a preset area threshold value or not; if the overlapping area of the video images of the same frame shot by every two adjacent cameras at the same moment is larger than a preset area threshold value, starting to splice the collected video images, wherein the starting time adjustment model is as follows:
wherein, TgIndicating an adjusted starting time interval between the camera with the later starting time and the camera with the earlier starting time in every two adjacent cameras; camera with later start time is advanced by TgStarting the time; t is0Indicating a standard time period from the startup of the camera to the entry of video shooting; t isiRepresenting a time difference between start time points of incoming video shots between the ith pair of adjacent two cameras; m represents the logarithm of all adjacent two cameras among all cameras; ε represents the time adjustment coefficientAnd the value range of the time adjustment coefficient is 0.81-0.95.
5. The method of claim 4, wherein determining whether the area of the overlapped region of the video images meets a predetermined region threshold comprises:
judging the size relation between the area of the overlapping area of the video images and a preset area threshold, and starting to splice the acquired video images if the overlapping area of the video images of the same frame shot by the two adjacent cameras at the same moment is larger than the preset area threshold;
if the overlapping area of the view screen images of the same frame shot by the two adjacent cameras at the same moment is smaller than a preset area threshold value, marking the two adjacent cameras as target adjusting cameras, and performing compensation adjustment on the angle of a main optical axis between the target adjusting cameras by using an angle compensation model, wherein the angle compensation model comprises the following steps:
wherein, ω istThe included angle of a main optical axis between every two adjacent cameras after being adjusted through the angle compensation model is shown, h represents an angle adjustment coefficient, and the range of the angle adjustment coefficient is 1.12-1.23; s0A region area value representing a preset region threshold of the video image, and S represents an area value of an overlapping region of the actual video image.
6. The method according to claim 1, wherein the splicing method is implemented by a splicing system, and the splicing system comprises:
the quantity and angle determining module is used for setting the number of cameras according to the angle range of the video to be shot and determining the main optical axis included angle between two adjacent cameras according to the number of the cameras, wherein the visual angles of the cameras are the same;
the starting verification module is used for starting the plurality of cameras and verifying the shooting consistency of the cameras;
and the panoramic stitching module is used for stitching the video images of the same frame at the same time point by all the cameras which finish the consistency check, and obtaining the stitched panoramic image.
7. The method of claim 6, wherein the number and angle determination module comprises:
the panoramic range determining module is used for determining a panoramic range to be shot;
and the number determining module is used for determining the number of the cameras by using the number determining model according to the panoramic range.
8. The method of claim 1, wherein the number and angle determination module further comprises:
the arrangement control module is used for arranging the cameras in the scene of the video to be shot at equal intervals according to the acquired number;
and the angle setting module is used for acquiring the included angle of the main optical axis between every two adjacent cameras by utilizing the visual angle setting model according to the visual angles of the cameras.
9. The method of claim 6, wherein the initiating the verification module comprises:
the time acquisition module is used for simultaneously starting a plurality of cameras, recording the starting time point of video shooting after each camera is started, and judging the time difference between the starting time points of the cameras;
the time interval acquisition module is used for acquiring the starting time interval of every two adjacent cameras by utilizing the starting time point of each camera entering the video shooting according to the starting time adjustment model so that all the cameras can enter the video shooting stage in the same time range during shooting;
the adjusting module is used for sequentially acquiring the video images of the same frame shot by every two adjacent cameras at the same moment after adjusting the starting time of every two adjacent cameras; judging whether the area of the overlapping area of the video image meets a preset area threshold value or not; and if the overlapping area of the video images of the same frame shot by every two adjacent cameras at the same moment is larger than a preset area threshold value, starting to splice the collected video images.
10. The method of claim 9, wherein the adjusting module comprises:
the judgment starting module is used for judging the size relation between the area of the overlapping area of the video images and a preset area threshold value, and if the overlapping area of the video images of the same frame shot by the two adjacent cameras at the same moment is larger than the preset area threshold value, the collected video images are started to be spliced;
and the angle compensation module is used for marking the two adjacent cameras as target adjustment cameras if the overlapping area of the video images of the same frame shot by the two adjacent cameras at the same moment is smaller than a preset area threshold value, and performing compensation adjustment on the angle of a main optical axis between the target adjustment cameras by using an angle compensation model.
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