CN114372939A - Image distortion correction method for panoramic photography - Google Patents
Image distortion correction method for panoramic photography Download PDFInfo
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/80—Geometric correction
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
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Abstract
The invention relates to the technical field of image processing, in particular to an image distortion correction method for panoramic shooting. The method comprises the following steps: and (4) building a adit model with the same size as the adit to be tested by using the sample drawing, and taking the sample drawing as the inner surface of the adit model. And taking a picture of the inner surface of the adit model in a panoramic shooting mode to obtain distorted image data. And taking the image of the template drawing in a plane unfolding state as sample image data. And carrying out neural network training by taking the sample image data and the distorted image data as data sets to obtain the mapping relation between the sample image data and the distorted image data. And taking a picture of the inner surface of the adit to be measured in a panoramic shooting mode to obtain distortion actual measurement image data. And correcting the distorted measured image data according to the mapping relation. The high-precision panoramic distortion image correction method can realize high-precision correction of panoramic distortion images, is suitable for photography and shooting, and can be applied to geological exploration.
Description
Technical Field
The invention relates to the technical field of image processing, in particular to an image distortion correction method for panoramic shooting.
Background
When designing a panoramic imaging camera, not only the optical distortion of the camera lens but also the correction of chromatic aberration are taken into account. The lens designed under the condition that both are corrected ideally is a complex optical system, so that the design difficulty is very high, the difficulty of the manufacturing process is increased, and the manufacturing cost is increased. In the case where both are not compatible, the correction of chromatic aberration is often ensured first, so that the camera lens always has a certain physical distortion phenomenon.
Due to the inconsistency between the three-dimensional stereo structure and the two-dimensional plane image, the relative position of each point of the shot object cannot be completely matched with the lens imaging, so that obvious geometric distortion always exists. In order to accurately recognize, analyze, and judge an image, distortion needs to be corrected.
In view of this, the present application is specifically made.
Disclosure of Invention
The invention aims to provide an image distortion correction method for panoramic photography, which is simple and convenient, is convenient to implement and execute, can realize high-precision correction of panoramic distortion images, has stronger universality and can greatly improve the precision of image acquisition and processing work. The device is not only suitable for photography and camera shooting, but also can be applied to geological exploration.
The embodiment of the invention is realized by the following steps:
an image distortion correction method for panoramic photography, comprising:
and setting a template drawing.
And (4) building a adit model with the same size as the adit to be tested by using the sample drawing, and taking the sample drawing as the inner surface of the adit model.
And taking a picture of the inner surface of the adit model in a panoramic shooting mode to obtain distorted image data.
And taking the image of the template drawing in a plane unfolding state as sample image data.
And carrying out neural network training by taking the sample image data and the distorted image data as data sets to obtain the mapping relation between the sample image data and the distorted image data.
And taking a picture of the inner surface of the adit to be measured in a panoramic shooting mode to obtain distortion actual measurement image data.
And correcting the distorted measured image data according to the mapping relation.
Further, the template drawing includes any one of a metric paper and a three-dimensional drawing.
Further, the characterization of the mapping relationship is publicShown as follows:
。
wherein, P' [ x ]d，yd]For image points where distortion actually exists, Δ [ x ]d，yd]For distortion of the image, f (x, y) is a mapping function for distortion correction.
Further, when the inner surface of the adit model is photographed in a panoramic photographing mode, the panoramic camera is rotated by different angles along the central axis of the optical path of the panoramic camera at the same photographing position, and the photographing is performed respectively under different angle states.
And for the images at the same shooting position and different rotation angles, adopting the average value of the mapping relations of the corresponding image areas at different rotation angles.
Further, when the inner surface of the adit model is photographed in a panoramic photographing mode, the panoramic camera is rotated by 90 degrees along the central axis of the optical path at each time at the same photographing position, and the photographing is respectively performed under different angle states.
Further, the panoramic camera is rotated by a rotating mechanism. The rotating mechanism includes: the device comprises a mounting base, a protective shell, a first rotating shaft, a second rotating shaft, a rotating wheel, a driving rod and a driver.
The mounting base is rotatably mounted on the protective shell and provided with a mounting part for mounting the panoramic camera.
First axis of rotation and second axis of rotation are rotationally installed in the protective housing, second axis of rotation and mounting base fixed connection. The rotating wheel is arranged in the protective shell and is coaxially matched with the first rotating shaft, and the rotating wheel is in transmission fit with the second rotating shaft.
The rotating wheel is provided with a positioning column, the positioning column is parallel to the first rotating shaft and arranged at intervals, and the positioning column is fixedly connected to the side wall of the rotating wheel. The driving rod is arranged in parallel to the side wall of the rotating wheel, and one end of the driving rod is matched with the positioning rod. The protective housing is provided with a yielding hole for the driving rod to pass through, the yielding hole is a straight hole, and the central axis of the yielding hole does not pass through the first rotating shaft. The other end of the positioning rod penetrates out of the protective shell through the abdicating hole, and the driving rod can be matched with the protective shell in a sliding mode.
One end of the driving rod, which is far away from the positioning column, is provided with a stopping part, and an elastic part is abutted between the stopping part and the outer wall of the protective shell. The elastic piece can push the driving rod to slide towards the outside of the protective shell.
The drive rod is an elastic rod, and the driver is used for pushing the drive rod to the limit position in the protective shell according to a preset time interval.
Further, the rotating wheel is meshed with the second rotating shaft, and the circumference of the gear ring of the rotating wheel is one fourth of that of the gear ring of the second rotating shaft.
Furthermore, one side of the rotating wheel, which is far away from the positioning column, is provided with a circular ring, the circular ring is fixedly connected to the side wall of the rotating wheel, and the circular ring and the first rotating shaft are coaxially arranged.
The coaxial fixedly connected with rotating turret of second axis of rotation, the rotating turret is provided with four and rotates the post, rotates the post all parallel with the second axis of rotation, the interval sets up and all rotationally cooperate in the rotating turret, and four rotate the even interval settings of circumference along the second axis of rotation.
Two of the four rotating columns are attached to the outer annular wall of the circular ring, and the other two rotating columns are attached to the inner annular wall of the circular ring.
First breach and second breach have been seted up to the ring, and first breach and second breach run through to its rampart by the rampart in the ring, and the interval between first breach and the second breach increases progressively by rampart outward by the rampart in the rampart. The outer annular wall is provided with a protruding part, and the protruding part is located in the area between the first notch and the second notch.
In the rotating process of the rotating wheel, when the protruding part is contacted with one rotating column on the outer side of the circular ring, the other rotating column on the outer side of the circular ring is aligned with the first notch, and one rotating column on the inner side of the circular ring is aligned with the second notch.
The protruding part drives the rotating frame to rotate by pushing the rotating column on the outer side of the circular ring, so that the other rotating column on the outer side of the circular ring rotates to the inner side of the circular ring through the first notch, and the rotating column on the inner side of the circular ring rotates to the outer side of the circular ring through the second notch.
Further, the protective housing includes first casing and second casing, and the second casing is cylindric and with the diameter looks adaptation of rotating turret, first casing be the cake form and with the diameter looks adaptation of runner.
The central axis of first casing and the central axis of second casing are parallel, the interval sets up, and first casing is connected and the two inner chamber intercommunication with the second casing. The first rotating shaft and the first shell are coaxially arranged, and the second rotating shaft and the second shell are coaxially arranged. The mounting base is mounted at one end of the first shell, which is far away from the second shell.
Furthermore, both ends of the first notch and the second notch are subjected to smoothing treatment.
The technical scheme of the embodiment of the invention has the beneficial effects that:
the image distortion correction method for panoramic photography provided by the embodiment of the invention is simple and convenient, is convenient to implement and execute, can realize high-precision correction of panoramic distortion images, has stronger universality, and can greatly improve the precision of image acquisition and processing work. The device is not only suitable for photography and camera shooting, but also can be applied to geological exploration.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic diagram of a panoramic camera used in an image distortion correction method for panoramic photography according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a rotating mechanism used in the image distortion correction method for panoramic photography according to the embodiment of the present invention;
fig. 3 is a schematic view of a first operating state of a driving rod driving wheel of a rotating mechanism used in the image distortion correction method for panoramic photography according to the embodiment of the present invention;
fig. 4 is a schematic diagram of a second operating state of a driving rod driving wheel of a rotating mechanism used in the image distortion correction method for panoramic photography according to the embodiment of the present invention;
fig. 5 is a schematic diagram of a third operating state of a driving rod driving wheel of a rotating mechanism used in the image distortion correction method for panoramic photography according to the embodiment of the present invention;
fig. 6 is a schematic view of a first working state of a turret drive of a rotation mechanism used in the image distortion correction method for panoramic imaging according to the embodiment of the present invention;
fig. 7 is a schematic diagram of a second working state of a turret drive of a rotation mechanism used in the image distortion correction method for panoramic photography according to the embodiment of the present invention;
fig. 8 is a schematic diagram of a third operating state of a turret drive of a rotation mechanism used in the image distortion correction method for panoramic imaging according to the embodiment of the present invention.
Description of reference numerals:
a rotation mechanism 1000; a mounting base 100; a protective case 200; a first housing 210; a second housing 220; a relief hole 230; a sliding sleeve 240; a first rotating shaft 300; a second rotating shaft 400; a runner 500; a positioning post 510; a drive rod 520; a stopper 521; the elastic member 522; a circular ring 600; a first notch 610; a second notch 620; a boss 630; a turret 700; a rotating post 710; a rotating post 720; a rotating post 730; the post 740 is rotated.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The terms "first," "second," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be understood that as used herein, a "system," "device," "unit," and/or "module" and the like is a method for distinguishing different components, elements, components, parts, or assemblies at different levels. However, other words may be substituted by other expressions if they accomplish the same purpose.
As used in this specification and the appended claims, the singular forms "a", "an", and "the" include plural referents unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements.
The flow charts used in this specification are used to illustrate operations performed by a system according to embodiments of the specification. It is to be understood that the operations of the various steps are not necessarily performed in the exact order shown. Rather, the various steps may be processed in reverse order or simultaneously. Meanwhile, other operations may be added to the processes, or a certain step or several steps of operations may be removed from the processes.
Examples
The present embodiment provides an image distortion correction method for panoramic photography, which includes the steps of:
and setting a template drawing. The template drawing may be a planar drawing, but is not limited thereto.
And (4) building a adit model with the same size as the adit to be tested by using the sample drawing, and taking the sample drawing as the inner surface of the adit model. If the template drawing is a plane picture, the plane picture is rolled up to form a shape (at least the inner diameter is the same) with the same size as the adit to be measured, and at the moment, the inner surface of the adit model is the image surface of the plane picture.
And (3) taking a picture of the inner surface of the adit model by adopting a panoramic camera mode (generally, a 360-degree panoramic camera is used for image acquisition) to obtain distorted image data.
And unfolding and tiling the template drawing, and taking the image of the template drawing in a plane unfolding state as sample image data.
The method comprises the steps of training a neural network by taking sample image data and distorted image data as data sets to obtain a mapping relation between the sample image data and the distorted image data, wherein the mapping relation represents the corresponding relation between a distorted image and an image with distortion eliminated (namely a corrected image).
And taking a picture of the inner surface of the adit to be measured in a panoramic shooting mode to obtain distortion actual measurement image data.
And correcting the distorted measured image data according to the mapping relation to obtain a corrected image of the adit to be measured.
In the method, the mapping relation between the sample image data and the distorted image data is established, and the corresponding relation between the distorted image and the corrected image is found, so that the corrected image of the adit to be detected is obtained according to the distorted image of the adit to be detected.
It should be noted that the size (including at least the inner diameter) of the adit model needs to be the same as that of the adit to be measured, and the same panoramic camera needs to be used for image acquisition.
Generally, the image distortion correction method for panoramic photography is simple and convenient, is convenient to implement and execute, can realize high-precision correction of panoramic distortion images, has stronger universality, and can greatly improve the precision of image acquisition and processing work. The device is not only suitable for photography and camera shooting, but also can be applied to geological exploration.
It should be noted that the template drawing may use a metric paper, or may use a three-dimensional drawing, and is not limited thereto, as long as the purpose of establishing the mapping relationship can be achieved.
Further, in the present embodiment, an image point where distortion does not exist is represented as P [ x, y ]]And the corresponding image point where distortion actually exists is represented as P' [ x ]d，yd]The distortion of the image is represented as Δ xd，yd]Then, P' = P +. Δ.
Thus, the distortion correction can be expressed as: p = P' - Δ. Since the image is data on a two-dimensional plane, the mapping function of distortion correction can be expressed as
Where f (x, y) is a mapping function for distortion correction. By correcting f (x, y), an image point with distortion can be corrected to an image point without distortion.
The correction method provided by the embodiment utilizes the neural network to extract the characteristic information of the distorted image of the panoramic lens, and establishes the mapping relation between the distorted characteristic and the distorted image correction parameter. To train the neural network, the sample image data and the distorted image data are trained as a data set.
The trained neural network can accurately predict the correction parameters of the distorted image, and the high-precision correction of the panoramic distorted image is realized. The correction method provided by the embodiment can be used for accurately correcting the distorted image under the condition that the parameters of the panoramic camera are unknown.
It is worth noting that under the condition that the same panoramic camera is used, different mapping relations can be trained for adits with different inner diameters, and when the panoramic camera is used for collecting images of adits with different inner diameters, the mapping relations of the corresponding inner diameters are selected to correct the collected images. The mapping relation can be stored in a database or in the cloud, and calling is facilitated.
If the panoramic camera is replaced in the using process, the mapping relation of the panoramic camera in the adit with different inner diameters needs to be reestablished under the general condition, and the specific steps are as described above.
Further, when the inner surface of the adit model is photographed in a panoramic photographing mode, the panoramic camera is rotated by different angles along the central axis of the optical path thereof at the same photographing position, that is, the panoramic camera is rotated by taking the central axis K of the optical path of the panoramic camera as a rotation center (as shown in fig. 1), and photographing is performed respectively under different angle states. Therefore, the distortion difference of different positions of the panoramic camera in the circumferential direction can be eliminated, and the panoramic camera does not need to be installed strictly according to a specific angle when being used for collecting images, so that the use convenience is improved.
And for the images at the same shooting position and different rotation angles, adopting the average value of the mapping relations of the corresponding image areas at different rotation angles.
Specifically, when the inner surface of the adit model is photographed in a panoramic photographing mode, the panoramic camera is rotated by 90 degrees along the central axis of the optical path at each time at the same photographing position, and the photographing is respectively performed under different angle states.
In the present embodiment, please refer to fig. 2 to 8, the panoramic camera is rotated by the rotating mechanism 1000. The rotation mechanism 1000 includes: the mounting base 100, the protective case 200, the first rotating shaft 300, the second rotating shaft 400, the rotating wheel 500, the driving rod 520, and the driver (not shown in the drawings).
The mounting base 100 is rotatably mounted on the protective casing 200, and the mounting base 100 has a mounting portion for mounting a panoramic camera, and the panoramic camera is mounted on the mounting base 100 through the mounting portion and can rotate with the mounting base 100.
The first and second rotation shafts 300 and 400 are rotatably installed in the protective case 200, and both the first and second rotation shafts 300 and 400 are rotatably engaged with the protective case 200. The second rotating shaft 400 is fixedly connected to the mounting base 100, and the second rotating shaft 400 can drive the mounting base 100 to rotate, so as to adjust the rotation angle of the panoramic camera. It should be noted that the rotation axis line of the second rotation shaft 400 coincides with the central axis K of the optical path of the panoramic camera.
The rotating wheel 500 is disposed in the protective shell 200 and coaxially and fixedly engaged with the first rotating shaft 300, and the rotating wheel 500 is in transmission engagement with the second rotating shaft 400.
The wheel 500 is provided with a positioning column 510, the positioning column 510 is parallel to and spaced apart from the first rotating shaft 300, the positioning column 510 is fixedly connected to a sidewall of the wheel 500, and the positioning column 510 is perpendicular to the sidewall of the wheel 500.
The driving rod 520 is disposed parallel to the sidewall of the wheel 500, and one end of the driving rod 520 is engaged with the positioning rod. The protective shell 200 is provided with a yielding hole 230 for the driving rod 520 to pass through, the yielding hole 230 is a straight hole, and the central axis of the yielding hole 230 does not pass through the first rotating shaft 300. The other end of the positioning rod passes out of the protective case 200 through the escape hole 230, and the driving rod 520 is slidably fitted to the protective case 200.
A stopping part 521 is arranged at one end of the driving rod 520 far away from the positioning column 510, and an elastic member 522 is abutted between the stopping part 521 and the outer wall of the protective shell 200. The elastic member 522 can push the driving rod 520 to slide toward the outside of the protective case 200 by pushing the stopper 521.
The driving rod 520 is an elastic rod, and a rubber rod having a certain elasticity may be used, but is not limited thereto. That is, the driving rod 520 has a certain structural strength, and can push the rotating wheel 500 to rotate by pushing the positioning column 510, and meanwhile, the driving rod 520 has a certain elasticity and can be elastically deformed along with the position change of the positioning column 510 to adapt to the movement process of the positioning column 510.
Specifically, a matching hole is formed in one end, close to the positioning column 510, of the driving rod 520, the aperture of the matching hole is matched with the outer diameter of the positioning column 510, the positioning column 510 is matched with the matching hole, and the positioning column 510 and the driving rod 520 can rotate relatively.
The driver can be an air cylinder or other linear motion mechanisms.
The driver is used to push the driving rod 520 into the protective case 200 to the limit position at a preset time interval, which may be controlled by a control circuit or a controller, including but not limited to a PLC.
When the driver has not pushed the driving rod 520, since the central axis of the avoiding hole 230 does not pass through the first rotating shaft 300 and the elastic force of the elastic member 522 exists, at this time, more part of the driving rod 520 is located outside the protective shell 200, and the positioning column 510 is pulled and moved to a position closer to the avoiding hole 230, as shown in fig. 3.
When the driver starts to push the driving rod 520, since the positioning post 510 is located at an eccentric position with respect to the wheel 500, the positioning post 510 can be pushed away from the avoiding hole 230 by the driving rod 520, so as to rotate the wheel 500 (as indicated by the arrow in the figure, i.e. clockwise in the figure). During the rotation of the wheel 500, the position of the positioning post 510 changes, and the positioning rod has a certain elasticity, so that the position change of the positioning post 510 can be adapted.
Along the central axis of the avoiding hole 230 and pointing to the direction of the first rotating shaft 300, when the driving rod 520 pushes the positioning post 510 to the farthest distance in the direction, as shown in fig. 4, in order to adapt to the position of the positioning post 510, the driving rod 520 has undergone a certain elastic deformation and is biased to the first rotating shaft 300, and therefore, the driving rod 520 is not the limit position for pushing the positioning post 510 to move. It is because the driving rod 520 is biased to the first rotating shaft 300 and the rotating wheel 500 has inertia, so the driving rod 520 can continue to push the positioning pillar 510 for a distance before reaching the limit position of the pushing process, as shown in fig. 5.
At this time, the pushing force of the driver on the driving rod 520 is removed, the elastic member 522 pushes the driving rod 520 to reset, and since the pulling force of the driving rod 520 on the positioning post 510 is still eccentric, the driving rod 520 can smoothly pull the positioning post 510, so that the rotating wheel 500 continues to rotate clockwise in fig. 5 until the state of fig. 3 is returned. In this way, the runner 500 can be rotated once by pushing the primary driving rod 520 by the driver. Each time the driver pushes the driving rod 520, the wheel 500 rotates exactly one turn each time, so that the wheel 500 can smoothly drive the second rotating shaft 400, thereby rotating the mounting base 100 and achieving the purpose of adjusting the rotation angle of the panoramic camera.
In order to improve the smoothness of the movement of the driving rod 520 in the receding hole 230, a sliding sleeve 240 is arranged in the receding hole 230, the inner surface of the sliding sleeve 240 is smoothed, and the diameter of the driving rod 520 is matched with the inner diameter of the sliding sleeve 240. In this way, the smoothness of the sliding of the driving rod 520 can be improved, and the mechanical wear of the protective case 200 can be reduced.
In order to enable the panoramic camera to rotate 90 ° per adjustment, the jog dial 500 may be engaged with the second rotation shaft 400 such that the circumference of the ring gear of the jog dial 500 is one-fourth of the circumference of the ring gear of the second rotation shaft 400.
Of course, in conjunction with fig. 6, 7 and 8, the present embodiment also provides another transmission method of the rotary wheel 500 and the second rotary shaft 400. The specific method comprises the following steps:
the ring 600 is disposed on a side of the rotating wheel 500 away from the positioning column 510, the ring 600 is fixedly connected to a sidewall of the rotating wheel 500, and the ring 600 and the first rotating shaft 300 are coaxially disposed.
The second rotating shaft 400 is coaxially and fixedly connected with a rotating frame 700, the rotating frame 700 is provided with four rotating columns, the rotating columns are parallel to the second rotating shaft 400, arranged at intervals and rotatably matched with the rotating frame 700, and the four rotating columns are uniformly arranged at intervals along the circumferential direction of the second rotating shaft 400. The four rotating posts are rotating post 710, rotating post 720, rotating post 730, and rotating post 740, respectively.
Two of the four rotation posts (rotation post 710 and rotation post 720) are attached to the outer circumferential wall of the ring 600, and the other two rotation posts (rotation post 730 and rotation post 740) are attached to the inner circumferential wall of the ring 600.
The first notch 610 and the second notch 620 are configured to: when the protrusion 630 contacts one of the rotation posts 710 on the outer side of the ring 600 during the rotation of the wheel 500, the other rotation post 720 on the outer side of the ring 600 is aligned with the first notch 610, and one rotation post 740 on the inner side of the ring 600 is aligned with the second notch 620. As the wheel 500 continues to rotate, the protrusion 630 pushes the one rotating post 710, and the rotating frame 700 rotates by pushing the one rotating post 710 outside the ring 600, so that the other rotating post 720 outside the ring 600 rotates to the inside of the ring 600 through the first notch 610, and the one rotating post 740 inside the ring 600 rotates to the outside of the ring 600 through the second notch 620.
It should be noted that when the turret 700 rotates while the protrusion 630 pushes the rotating post 710, the rotating post 710 is temporarily separated from the outer circumferential wall of the ring 600, and the height of the protrusion 630 needs to be less than the maximum distance between the rotating post 710 and the outer circumferential wall of the ring 600 during the separation process, so that the rotating post 710 can smoothly pass over the protrusion 630.
In this way, the protrusion 630 pushes the rotation post once per rotation of the wheel 500, so that the rotating frame 700 and the second rotating shaft 400 can rotate by 90 °. This also enables the panoramic camera to rotate 90 deg. when the driver pushes the drive rod 520 once.
Further, the protective case 200 includes a first case 210 and a second case 220, the second case 220 is cylindrical and is adapted to the diameter of the rotating frame 700, and the first case 210 is discoid and is adapted to the diameter of the wheel 500.
The central axis of the first housing 210 is parallel to the central axis of the second housing 220, and the first housing 210 and the second housing 220 are connected and the inner cavities of the two are communicated. The first rotating shaft 300 is coaxially disposed with the first housing 210, and the second rotating shaft 400 is coaxially disposed with the second housing 220. The mounting base 100 is mounted to an end of the first housing 210 remote from the second housing 220. The relief hole 230 is opened in the first housing 210.
In order to improve the smoothness of the movement of the rotating frame 700 and the rotating column, both ends of the first notch 610 and the second notch 620 are smoothed.
The rotating mechanism 1000 may be installed on a rack originally used for installing a panoramic camera, and of course, the rotating mechanism 1000 may also be used independently.
In conclusion, the image distortion correction method for panoramic photography is simple and convenient, is convenient to implement and execute, can realize high-precision correction of panoramic distortion images, has stronger universality, and can greatly improve the precision of image acquisition and processing work. The device is not only suitable for photography and camera shooting, but also can be applied to geological exploration.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An image distortion correction method for panoramic imaging, comprising:
setting a template drawing;
building a adit model with the same size as the adit to be tested by using the sample plate drawing, and taking the sample plate drawing as the inner surface of the adit model;
taking a picture of the inner surface of the adit model in a panoramic shooting mode to obtain distorted image data;
taking the image of the template drawing in a plane unfolding state as sample image data;
carrying out neural network training by taking the sample image data and the distorted image data as data sets to obtain a mapping relation between the sample image data and the distorted image data;
taking a picture of the inner surface of the adit to be measured in the panoramic shooting mode to obtain distortion measured image data;
and correcting the distortion measured image data according to the mapping relation.
2. The image distortion correction method for panoramic photography according to claim 1, wherein the template drawing is a metric paper or a three-dimensional picture.
3. The image distortion correction method for panoramic photography according to claim 1, characterized in that the representation of the mapping relationship is disclosed as:
；
wherein, P' [ x ]d，yd]For image points where distortion actually exists, Δ [ x ]d，yd]For distortion of the image, f (x, y) is a mapping function for distortion correction.
4. The image distortion correction method for panoramic photography according to claim 1, wherein when the inner surface of the adit model is photographed in a panoramic photography manner, the panoramic camera is rotated by different angles along the central axis of the optical path thereof at the same photographing position, and photographing is performed respectively under different angle states;
and for the images at the same shooting position and different rotation angles, adopting the average value of the mapping relations of the corresponding image areas at different rotation angles.
5. The image distortion correction method for panoramic photography according to claim 4, wherein when the inner surface of the adit model is photographed in a panoramic photography manner, the panoramic camera is rotated by 90 ° along the central axis of the optical path thereof at the same photographing position each time, and the photographing is performed in different angular states.
6. The image distortion correction method for panoramic photography according to claim 5, characterized in that the panoramic camera is rotated by a rotating mechanism; the rotating mechanism includes: the device comprises a mounting base, a protective shell, a first rotating shaft, a second rotating shaft, a rotating wheel, a driving rod and a driver;
the mounting base is rotatably mounted on the protective shell and is provided with a mounting part for mounting the panoramic camera;
the first rotating shaft and the second rotating shaft are rotatably arranged in the protective shell, and the second rotating shaft is fixedly connected with the mounting base; the rotating wheel is arranged in the protective shell and is coaxially matched with the first rotating shaft, and the rotating wheel is in transmission fit with the second rotating shaft;
the rotating wheel is provided with positioning columns, the positioning columns are parallel to the first rotating shaft and are arranged at intervals, and the positioning columns are fixedly connected to the side wall of the rotating wheel; the driving rod is arranged in parallel to the side wall of the rotating wheel, and one end of the driving rod is matched with the positioning rod; the protective shell is provided with a yielding hole for the driving rod to pass through, the yielding hole is a straight hole, and the central axis of the yielding hole does not pass through the first rotating shaft; the other end of the positioning rod penetrates out of the protective shell through the abdicating hole, and the driving rod is matched with the protective shell in a sliding manner;
a stopping part is arranged at one end, away from the positioning column, of the driving rod, and an elastic part is abutted between the stopping part and the outer wall of the protective shell; the elastic piece can push the driving rod to slide towards the outside of the protective shell;
the driving rod is an elastic rod, and the driver is used for pushing the driving rod to the limiting position in the protective shell according to a preset time interval.
7. The image distortion correction method for panoramic photography according to claim 6, wherein the jog dial is engaged with the second rotational axis, and a circumference of a ring gear of the jog dial is one quarter of a circumference of a ring gear of the second rotational axis.
8. The image distortion correction method for panoramic photography according to claim 6, wherein a ring is arranged on one side of the rotating wheel away from the positioning column, the ring is fixedly connected to a side wall of the rotating wheel, and the ring is arranged coaxially with the first rotating shaft;
the second rotating shaft is coaxially and fixedly connected with a rotating frame, the rotating frame is provided with four rotating columns, the rotating columns are parallel to the second rotating shaft, are arranged at intervals and are rotatably matched with the rotating frame, and the four rotating columns are uniformly arranged at intervals along the circumferential direction of the second rotating shaft;
two of the four rotating columns are attached to the outer annular wall of the circular ring, and the other two of the four rotating columns are attached to the inner annular wall of the circular ring;
the circular ring is provided with a first gap and a second gap, the first gap and the second gap penetrate through the outer circular wall of the circular ring from the inner circular wall, and the distance between the first gap and the second gap is gradually increased from the inner circular wall to the outer circular wall; the outer ring wall is provided with a convex part which is positioned in the area between the first notch and the second notch;
when the lug boss is contacted with one rotating column on the outer side of the circular ring in the rotating process of the rotating wheel, the other rotating column on the outer side of the circular ring is aligned with the first notch, and one rotating column on the inner side of the circular ring is aligned with the second notch;
the protruding part drives the rotating frame to rotate by pushing the rotating column on the outer side of the circular ring, so that the other rotating column on the outer side of the circular ring rotates to the inner side of the circular ring through the first notch, and the rotating column on the inner side of the circular ring rotates to the outer side of the circular ring through the second notch.
9. The image distortion correction method for panoramic photography according to claim 8, wherein the protective case includes a first case and a second case, the second case is cylindrical and is adapted to the diameter of the turret, and the first case is discoid and is adapted to the diameter of the wheel;
the central axis of the first shell is parallel to the central axis of the second shell and is arranged at intervals, the first shell is connected with the second shell, and the inner cavities of the first shell and the second shell are communicated; the first rotating shaft is coaxially arranged with the first shell, and the second rotating shaft is coaxially arranged with the second shell; the mounting base is mounted at one end, far away from the second shell, of the first shell.
10. The image distortion correction method for panoramic photography according to claim 8, characterized in that both ends of the first notch and the second notch are smoothed.
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