CN1893671A - Digital-code pick-up apparatus with panoramic pick-up function - Google Patents

Abstract

The digital camera device includes functional fittings for panoramic camera shot, digital camera unit with macro filming function, microprocessor (MP) for processing panoramic digital photo. The said functional fittings are composed of reflected hyperbola mirror, transparent outer cover, not transparent cone, and base. Imager of digital camera unit is located at position of virtual focus of hyperbola mirror. Through output interface, the digital camera unit is communicated to MP. The MP includes module for reading, displaying, browsing images, image preprocessing module, image initialization module, module for expanding and processing images, storage module, and image output module. Through geometric transform, the expanding and processing module expands rounded omnirange image from digital camera device to rectangular cylindrical panoramic image. Adding functional fittings, and software makes digital camera device with macro filming function possible to obtain panoramic image.

Description

Digital camera equipment with panorama camera function

(1) technical field

The invention belongs to the application aspect digital camera equipment of optical technology, computer image processing technology and computer software technology, mainly be applicable on the picture pick-up devices such as various digital cameras with microspur camera function and Digital Video.

(2) background technology

The digital camera equipment of Xiao Shouing in the market, be typically digital camera, will be when shooting with the pick-up lens aiming shooting target of equipment, the scope of the image that photographs by this image capture method is limited in the low coverage of picture pick-up device aiming, can not once take the panoramic picture in the 360 degree scopes.

The panoramic vision sensor ODVS that developed recently gets up (OmniDirectional Vision Sensors) provide a kind of new solution for the panoramic picture that obtains scene.The characteristics of ODVS are looking away (360 degree), can become piece image to the Information Compression in the hemisphere visual field, and the amount of information of piece image is bigger; This ODVS picture pick-up device can be at all situations of pan-shot in the hemisphere visual field.Can become piece image to the Information Compression in the hemisphere visual field, the amount of information of piece image is bigger.

Therefore how for providing a kind of visual information of panorama, the picture pick-up device field to gather approach by panoramic optical imaging technique, computer image processing, embedded system technology, computer software technology, when obtaining a scene image, as long as picture pick-up device is raised high, just can obtain the image of panorama scene without run-home, without other tumblers.

(3) summary of the invention

In order to overcome the deficiency that existing picture pick-up device can not obtain panoramic picture, the invention provides a kind of by add the panorama camera function accessory, panoramic digital photograph process software can make the general digital camera equipment with microspur camera function can obtain panoramic picture.

The present invention for the technical scheme that solves its technical problem employing is:

A kind of digital camera equipment with panorama camera function, this equipment comprises the panorama camera function accessory, digital camera with macroshot function, microprocessor with panoramic digital photograph processing capacity, described panorama camera function accessory is by hyperbola face mirroring parts, transparent housing, non-printing opacity cone, base is formed, described hyperbola face mirror is positioned at the upper end of transparent housing, and the recess of face mirror inwardly stretches in the transparent housing, the bottom surface of hyperbola face mirror is a reflecting surface, the fixedly connected described non-printing opacity cone of reflecting surface central authorities, the cone angle of described cone is downward; Described transparent housing is installed on the base, and the rotating shaft of described hyperbola face mirror, non-printing opacity cone, transparent housing, base is on same central axis; Described base is provided with camera aperture, and the camera lens of described digital camera is positioned at camera aperture, and the imager of digital camera is positioned at the virtual focus position of hyperbola face mirror; Described digital camera is connected with microprocessor communication by output interface; Described microprocessor comprises that image reads and the display navigation module, is used to read the image of described imager and shows on display unit; The image pretreatment module is used for image denoising, the smoothing processing of will gather; The image initial module is used to determine that the position and the internal diameter of the central point of the panoramic picture gathered is that r, external diameter are R, pairing (r, x of the value of pixel mean variation maximum on the corresponding circumference when searching radius change ^* ₀, y ^* ₀), its calculating formula is:

${\max }_{(r,{x^{*}}_0,{y^{*}}_0)}\left|\frac{1}{\mathrm{\Δr}}\underset{k}{\mathrm{\Σ}}\right\{G_{\mathrm{\σ}}\left(r\right)\underset{m}{\mathrm{\Σ}}I(x^{*},y^{*})\left\}\right|---\left(1\right)$

Wherein: G _σ(r)=G _σ((n-k) Δ r)-G _σ((n-k-1) Δ r) (2)

$\underset{m}{\mathrm{\Σ}}I(x^{*},y^{*})=I[(\mathrm{k\Δ}r\cos \left(\mathrm{m\Δ\β}\right)+{x^{*}}_0),(\mathrm{k\Δ}r\sin \left(\mathrm{m\Δ\β}\right)+{y^{*}}_0)]---\left(3\right)$

I (x ^*, y ^*) be the pixel of image, r is the radius of circumference, and G is for to carry out level and smooth Gauss's template to original image, and Δ r represents the step-length of radius search, and Δ β represents along the step-length of the angle of circular arc separation;

Image launches processing module, is used for circular panoramic picture is launched into the rectangle cylinder panoramic image by geometric transformation;

Image printout module is used for the rectangle cylinder panoramic image after launching is outputed to display unit (or printer).

Further, described image launches processing module and comprises: read the coordinate information unit, be used for reading the centre coordinate of the circular panoramic picture that above-mentioned initialization module calculates and the inside and outside circle radius of image; The approximate expansion computing unit is used for the centre coordinate of the circular panoramic picture that calculates according to above-mentioned initialization module and the inside and outside circle radius of image, the centre coordinate of circular panoramic picture is set the initial point O of plane coordinate system ^*(0,0), X ^*Axle, Y ^*Axle, the internal diameter of image is r, external diameter is R, radius of a circle: r in the middle of setting ₁=(r+R)/2, the azimuth is: β=tan ^-1(y ^*/ x ^*); The rectangle cylinder panoramic image is with origin of coordinates O ^*(0,0), X ^*Axle, Y ^*Axle is a plane coordinate system, is r and X with the internal diameter in the circular panoramic picture ^*The intersection point (r, 0) of axle is as origin of coordinates O ^*Counterclockwise launch with azimuthal angle beta (0,0); Set up any some pixel coordinates P in the rectangle cylinder panoramic image ^*(x ^*, y ^*) with circular panoramic picture in pixel coordinates Q ^*(x ^*, y ^*) corresponding relation, its calculating formula is:

x ^*＝y ^*/(tan(360x ^**/π(R+r))) (4)

y ^*＝(y ^**+r)cosβ (5)

In the following formula, x ^*, y ^*Be the pixel coordinates value of rectangle cylinder panoramic image, x ^*, y ^*Be the pixel coordinates value of circular panoramic picture, R is the external diameter of circular panoramic picture, and r is the internal diameter of circular panoramic picture, and β is the azimuth of circular panoramic picture coordinate.

Or described image launches processing module and comprises: read the coordinate information unit, be used for reading the centre coordinate of the circular panoramic picture that above-mentioned initialization module calculates and the inside and outside circle radius of image; Mapping matrix launches the unit, is used for the centre coordinate of the circular panoramic picture that calculates according to above-mentioned initialization module and the inside and outside circle radius of image, the centre coordinate of circular panoramic picture is set the initial point O of plane coordinate system ^*(0,0), X ^*Axle, Y ^*Axle, the internal diameter of image is r, and external diameter is R, and the azimuth is: β=tan ^-1(y ^*/ x ^*); The rectangle cylinder panoramic image is with origin of coordinates O ^*(0,0), X ^*Axle, Y ^*Axle is a plane coordinate system, is r and X with the internal diameter in the circular panoramic picture ^*The intersection point (r, 0) of axle is as origin of coordinates O ^*Counterclockwise launch with azimuthal angle beta (0,0); According to any some pixel coordinates Q in the circular panoramic picture ^*(x ^*, y ^*) with the rectangle cylinder panoramic image in pixel coordinates P ^*(x ^*, y ^*) corresponding relation, set up from Q ^*(x ^*, y ^*) to P ^*(x ^*, y ^*) the mapping matrix corresponding relation, its calculating formula is:

P ^**(x ^**，y ^**)← M× Q ^*(x ^*，y ^*) (6)

In the following formula, Q ^*(x ^*, y ^*) be the matrix of each pixel coordinates on the panoramic picture, M is the corresponding relation matrix from the panoramic picture coordinate to rectangle cylinder panoramic image coordinate, P ^*Matrix for each pixel coordinates on the rectangle cylinder panoramic image.

Or be that described image launches processing module and comprises: read the coordinate information unit, be used for reading the centre coordinate of the circular panoramic picture that above-mentioned initialization module calculates and the inside and outside circle radius of image; Polar coordinates unfolding calculation unit, the position and the internal diameter that are used for according to the central point of panoramic picture are that r, external diameter are R, r ^*Be the radical length of distance interior circle in arbitrfary point on the image, the azimuth is: β=tan ^-1(y ^*/ x ^*), set up polar coordinates (r ^*, β), be respectively (x with the intersecting point coordinate on panorama inside and outside circle border ^* _Inner(β), y ^* _Inner(β)) and (x ^* _Outer(β), y ^* _Outer(β)); The rectangle cylinder panoramic image is with origin of coordinates O ^*(0,0), X ^*Axle, Y ^*Axle is a plane coordinate system, is r and X with the internal diameter in the circular panoramic picture ^*The intersection point (r, 0) of axle is as origin of coordinates O ^*Counterclockwise launch with azimuthal angle beta (0,0); According to any some pixel coordinates (r in the circular panoramic picture ^*, β) with the rectangle cylinder panoramic image in pixel coordinates P ^*(x ^*, y ^*) corresponding relation, its calculating formula is:

$\left\{\begin{array}{c}{x}^{**}(r^{*},\mathrm{\β})=(1-r^{*}){x^{*}}_{\mathrm{inner}}\left(\mathrm{\β}\right)+r^{*}{x^{*}}_{\mathrm{outer}}\left(\mathrm{\β}\right)\\ y^{**}(r^{*},\mathrm{\β})=(1-r^{*}){y^{*}}_{\mathrm{inner}}\left(\mathrm{\β}\right)+r^{*}{y^{*}}_{\mathrm{outer}}\left(\mathrm{\β}\right)\end{array}\right.---\left(7\right)$

Further again, image launches processing module and also comprises: the interpolation calculation unit is used to eliminate in described expansion unit rounding the error that calculating brings, certain pixel coordinates P of the rectangle cylinder panoramic image that calculates ^*(x ^*, y ^*) picture element be (k ₀, j ₀), described picture element coordinate drop on by (k, j), (k+1, j), (k, j+1), (k+1, j+1) four adjacent integer pixels are in the square that apex coordinate constituted, with formula (8) interpolation calculation:

P ^**(x ^**，y ^**)＝(P ^*(x ^*+1，y ^*)-P ^*(x ^*，y ^*))*(k0-k)+(P ^*(x ^*，y ^*+1)-P ^*(x ^*，y ^*))*(j0-j)+(P ^*(x ^*+1，y ^*+1)+P ^*(x ^*，y ^*)-P ^*(x ^*+1，y ^*)-P ^*(x ^*，y ^*+1))*(k0-k)*(j0-j)+P ^*(x ^*，y ^*)(8)

The input of described interpolation calculation unit connects the output of unfolding calculation unit, and the output of described interpolation calculation unit connects image output module.

Further, image launches processing module and also comprises: image enhancing unit, be used for pixel equalization to the output of image output unit, and calculating formula is:

$S\left(r_k\right)=T\left(r_k\right)=\frac{1}{N}\underset{i=0}{\overset{k}{\mathrm{\Σ}}}N\left(r_i\right)---\left(9\right)$

In the following formula, transforming function transformation function is gray scale cumulative distribution function T (r), and the gray scale of establishing original image is r _k, S (r) is gray distribution of image function after the conversion, N is the pixel sum in the image, N (r _i) be that gray scale is r in the image _iThe pixel sum.

Described image pretreatment module comprises: the image filtering unit is used to adopt two-dimensional Gabor filter that circular panoramic picture is carried out filtering; The picture quality judging unit is used to adopt Two-dimensional FFT transformation calculations frequency domain high-frequency energy, and relatively the high-frequency energy value and default lower limit of gained, optionally exports panoramic picture during greater than lower limit at the high-frequency energy value.

The structure of the accessory of described panorama camera function is: described lens outer cover is a cylinder; Described hyperbola face mirror, cone, cylindrical rotating shaft are on same central axis; Described digital camera is positioned at the below of cylinder; Have on the described base and the identical circular groove of described cylindrical wall thickness, described cylinder is inserted circular groove on the described base in when assembling; Described cone is filled the non-light transmittance material or is sprayed its surface with light-proofness coating.

Described equipment also comprises PC, and PC comprises microprocessor, display unit, printer, and described output interface is a USB interface.The USB interface plug and play is connected digital camera by connecting line with microprocessor communication, realize the image transmission.

The camera lens of described digital camera and the camera aperture of described base removably connect.When not adding assembly parts, be common digital camera or Digital Video; Possesses panorama camera function after adding assembly parts.

Operation principle of the present invention is: Fig. 1, Fig. 2 are the expression schematic diagrams that makes digital camera equipment have the optical system of panorama camera function accessory of the present invention, and Fig. 1 is a upward view, and Fig. 2 is a front view.Hyperbola minute surface 1 have 2 focuses (0,0, c), (0,0 ,-c), the imager of digital camera (for CCD image unit) be configured in a focus of hyperbola minute surface spigot shaft coaxle (0,0 ,-c) on.According to such configuration, around the camera of energy logarithmic code camera head make a video recording in 360 ° of orientation.As shown in Figure 2, enter the light at the center of hyperbola minute surface, reflect towards its virtual focus according to bi-curved minute surface characteristic.Material picture reflexes to imaging in the camera of digital camera, a some P on this imaging plane through hyperbolic mirror ₁(x ^* ₁, y ^* ₁) corresponding the coordinate A (x of a point spatially in kind ₁, y ₁, z ₁), big five-pointed star is a some A (x on the space ₁, y ₁, z ₁); Middle five-pointed star is the space coordinates P that incides the image on the hyperbola face mirror ₁(x ₁, y ₁, z ₁).

The optical system that hyperbolic mirror shown in Fig. 1, Fig. 2 constitutes can be represented by following 5 equatioies;

((X ²+Y ²)/a ²)-(Z ²/b ²)＝-1(Z＞0) (10)

$c=\sqrt{a^2+b^2}---\left(11\right)$

β＝tan ^-1(Y/X) (12)

α＝tan ^-1[(b ²+c ²)sinγ-2bc]/(b ²+c ²)cosγ (13)

$\mathrm{\&gamma;}={\tan }^{-1}[f/\sqrt{({\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="A20051005059500272.png,A20051005059500281.png"\; state="\{\{state\}\}">X</figure-callout>}}^2+Y^2)}]---\left(14\right)$

X in the formula, Y, Z representation space coordinate, c represents the focus of hyperbolic mirror, and 2c represents two distances between the focus, a, b is respectively the real axis of hyperbolic mirror and the length of the imaginary axis, β represents angle one azimuth of incident ray on the XY plane, and α represents angle one angle of depression of incident ray on the XZ plane, and f represents the distance of imaging plane to the virtual focus of hyperbolic mirror.

Can make a hyperboloid of two sheets by formula (1) on three dimensions, as shown in Figure 3, this hyperboloid has 2 focuses (0,0, c), (0,0 ,-c), and symmetry and XY plane, this patent is configured in another focus (0,0 with the hyperboloid spigot shaft coaxle with the imager of digital camera,-c) on, replace a hyperboloid under the XY plane, as shown in Figure 4, enter the hyperbola minute surface the center (0,0, light c), according to bi-curved minute surface characteristic towards its virtual focus (0,0 ,-c) refraction.

According to Fig. 5, Fig. 6 the principle that 360 ° of panoramas are made a video recording is described, a some A (x on the space ₁, y ₁, z ₁) (representing with big five-pointed star among the figure) enter the recess minute surface through hyperbola minute surface 1, incide the space coordinates point P1 (x1 of the image on the hyperbola face mirror 1, y1, z1) (among the figure with in five-pointed star represent) reflexes on the lens of digital camera equipment a subpoint P should be arranged ₁(x ^* ₁, y ^* ₁) (representing with little five-pointed star among Fig. 6), it (is the camera center that the light of the lens by digital camera equipment becomes the imager that directional light projects digital camera equipment, the CCD imaging apparatus) on, at this moment the image of imaging is the ring-type image of a speciogenesis deformation on the camera lens of digital camera, because the imager of digital camera is another focus (0 that is in the hyperboloid spigot shaft coaxle, 0,-c) on, the camera distance of digital camera to be adjusted on this option of distance element during for shooting, at this moment pressing shooting button on the digital camera photographs and just 360 ° of ring-type images can be kept in the memory cell of digital camera, when image processing, the USB interface on the digital camera is connected with USB interface on the PC, read in the PC and handle by being installed in 360 ° of ring-type images in the memory cell that software in the PC will be kept at digital camera, adopt software that this ring-type image is launched to obtain the image of panorama and be presented on the display screen or with printer prints.

Above-mentioned have a cone that prevents that light is saturated is arranged in the panorama camera function accessory, therefore a black circle is arranged on imaging plane, the center of circle of this black circle is exactly the centre of expansion point of panoramic picture, the panoramic picture centralized positioning is the image fault that causes in order to reduce decentraction in expansion process, utilize the algorithm of panoramic picture centralized positioning, can detect the centre of expansion point that finds panoramic picture in the piece image that photographed rapidly, and not needing manual intervention, this practicability for the panoramic shooting device has crucial meaning.

The round template matching method of employing Daugman carries out the location of the centre of expansion point of panoramic picture in this patent.In the panoramic picture that shooting is obtained, intensity profile exists certain difference, and generally speaking the panoramic expansion part is brighter than cone reflecting part.Shape according to panorama is the situation of annular then, utilizes the circular method that detects adaptation to cut apart panorama, and its math equation is:

Wherein: $G_{\mathrm{\&sigma;}}\left(r\right)=(1/\sqrt{2\mathrm{\&pi;\&sigma;}})e^{-({\left({r-r}_0\right)}^2/2{\mathrm{\&sigma;}}^2)},$ I (x ^*, y ^*) be the pixel of image; R is the radius of circumference; G is for to carry out level and smooth Gauss's template to original image.The physical significance of formula (1-1) is to search the value pairing (r, the x that change pixel mean variation maximum on the corresponding circumference along with radius r ^* ₀, y ^* ₀), determine the centre of expansion point of panoramic picture and the edge of cone reflecting part with this.Convolution is used for image is carried out smoothly, eliminates The noise in the edges of regions, and the size of smooth template is relevant with locating accuracy.The discretization of formula (1-1) realizes for convenience, utilizes convolution character, and (1-1) is converted into formula:

Wherein: $\frac{{\&PartialD;G}_{\mathrm{\&sigma;}}\left(r\right)}{\&PartialD;r}\&ap;G_{\mathrm{\&sigma;}}\left(n\right)=\frac{1}{\mathrm{\&Delta;r}}{G}_{\mathrm{\&sigma;}}\left(\mathrm{n\&Delta;r}\right)-\frac{1}{\mathrm{\&Delta;r}}{G}_{\mathrm{\&sigma;}}\left((n-1)\mathrm{\&Delta;r}\right)---(1-3)$

(1-2) carries out discretization to formula, with add up and ∑ replace convolution and curvilinear integral, be converted to:

${\max }_{(r,{x^{*}}_0,{y^{*}}_0)}\left|\frac{1}{\mathrm{\&Delta;r}}\underset{k}{\mathrm{\&Sigma;}}\right\{G_{\mathrm{\&sigma;}}\left(r\right)\underset{m}{\mathrm{\&Sigma;}}I(x^{*},y^{*})\left\}\right|---\left(1\right)$

Wherein: G _σ(r)=G _σ((n-k) Δ r)-G _σ((n-k-1) Δ r) (2)

$\underset{m}{\mathrm{\&Sigma;}}I(x^{*},y^{*})=I[(\mathrm{k\&Delta;}r\cos \left(\mathrm{m\&Delta;\&beta;}\right)+{x^{*}}_0),(\mathrm{k\&Delta;}r\sin \left(\mathrm{m\&Delta;\&beta;}\right)+{y^{*}}_0)]---\left(3\right)$

Δ r represents the step-length of radius search, and Δ β represents along the step-length of the angle of circular arc separation.Also can improve, make and can better locate the panorama inward flange formula (14):

Wherein r ' is slightly less than r, and the distance between them is certain, and r ' is along with r changes; λ prevents that for default value denominator from being 0.Formula (1-4) has been utilized such fact, and promptly the intensity profile of cone reflecting part is always uniform.Therefore, when the edge fine coupling of the circular arc of search and cone reflecting part, the denominator of formula (1-4) is very little, thereby formula (1-4) has a sudden change value, and the position of this sudden change value is exactly the position of the centre of expansion point of panoramic picture.

Further, on method of deploying, adopted a kind of algorithm of approximate expansion fast in this patent, can drop to minimum, kept Useful Information simultaneously as much as possible with time loss with to the requirement of various parameters.Consider in the algorithm of back several steps that the β component is that the information of orientation angles needs most; And in the vertical direction, some deformation take place does not almost have any influence to the result, and the Approximate Fast Algorithm of this expansion is as Fig. 7, Fig. 8, shown in Figure 9.Fig. 7 is a plane of reflection imaging schematic diagram, and Fig. 8 is a lens imaging planar imaging schematic diagram, and Fig. 9 is for launching floor map.Fig. 8 is circular panoramic picture, and wherein internal diameter is r, and external diameter is R, and between the interior external diameter is the effective coverage of image, now it is launched into the rectangle panorama sketch of Fig. 9, and launching rule has three,

(1) X ^*Axle is an original position, launches by counterclockwise mode;

(2) X among the left figure ^*Axle and the intersection point O of internal diameter r correspond to the initial point O (0,0) in the lower left corner among the right figure;

(3) width of the right figure after the expansion equals the girth of the circle shown in the dotted line among the left figure.Wherein broken circle is the concentric circles of external diameter in the left figure, and its radius r 1=(r+R)/2.

If the center of circle O of circular diagram Fig. 8 ^*Coordinate (x ^*0, y ^*0), the histogram lower left corner origin O of expansion ^*(0,0), histogram C) any 1 P in ^*=(x ^*, y ^*) pairing coordinate in circular diagram is (x ^*, y ^*). it is following that we need ask is (x ^*, y ^*) and (x ^*, y ^*) corresponding relation.Can obtain following formula according to geometrical relationship:

β＝tan ^-1(y ^*/x ^*) (15)

r1＝(r+R)/2 (16)

Make the radius r 1=(r+R)/2 of broken circle, purpose is in order to allow the figure after launching seem that deformation is even.

x ^*＝y ^*/(tan(360x ^**/π(R+r))) (4)

y ^*＝(y ^**+r)cosβ (5)

Can obtain a point (x on the circular panoramic picture from formula (4), (5) ^*, y ^*) and the rectangle panorama sketch on a point (x ^*, y ^*) corresponding relation.This method has come down to do the process of an image interpolation.After the expansion, the image of dotted line top is that transverse compression is crossed, and the image of dotted line below is that cross directional stretch is crossed, dotted line originally on one's body point then remain unchanged.

Another kind method is according to a point (x on the circular panoramic picture ^*, y ^*) and the rectangle panorama sketch on a point (x ^*, y ^*) corresponding relation, set up (x ^*, y ^*) and (x ^*, y ^*) mapping matrix.Because this one-to-one relationship can be being transformed into indeformable panoramic picture by the mapping matrix method.Can set up formula (6) relation by the M mapping matrix.

P ^**(x ^**，y ^**)← M× P ^*(x ^*，y ^*) (6)

According to formula (6), for each the pixel P on the imaging plane ^*(x ^*, y ^*) a some P arranged on panoramic picture ^*(x ^*, y ^*) correspondence, set up the M mapping matrix after, the task that realtime graphic is handled can obtain simplifying.The panoramic picture of each distortion that obtains on imaging plane is finished the computing of tabling look-up, and generates indeformable panoramic picture and is shown on the display or is kept in the memory cell or by printer prints.

Another method is to utilize polar coordinate system, and the image inner and outer boundary of panorama all is circular, therefore can utilize method of geometry to launch simply.The center of circle with the cone reflecting part is a starting point, is respectively (x with the intersecting point coordinate on panorama inside and outside circle border ^* _Inner(β), y ^* _Inner(β)) and (x ^* _Outer(β), y ^* _Outer(β)), as shown in figure 10, can obtain formula (17), generate indeformable panoramic picture according to the polar coordinates expansion formula;

$\left\{\begin{array}{c}{x}^{**}(r,\mathrm{\&beta;})=(1-r){x^{*}}_{\mathrm{inner}}\left(\mathrm{\&beta;}\right)+r{x^{*}}_{\mathrm{outer}}\left(\mathrm{\&beta;}\right)\\ y^{**}(r,\mathrm{\&beta;})=(1-r){y^{*}}_{\mathrm{inner}}\left(\mathrm{\&beta;}\right)+r{y^{*}}_{\mathrm{outer}}\left(\mathrm{\&beta;}\right)\end{array}\right.---\left(17\right)$

Can with in the panoramic picture each the point be mapped to one by one polar coordinates (r, β) in.

Compression, circular panoramic picture is launched into the cylinder panoramic image of rectangle, because certain the pixel P on the imaging plane ^*(x ^*, y ^*) with panoramic picture on some P ^*(x ^*, y ^*) exist non-linear geometrical relationship, the some P on the panoramic picture ^*(x ^*, y ^*) pixel may just in time not be certain pixel P on the imaging plane ^*(x ^*, y ^*), in this case, the employing insertion solves the pixel value of decimal coordinate in this patent, as shown in figure 11, and the pixel (k that assumed calculation obtains ₀, j ₀), computational methods can adopt a kind of in two kinds of methods of above-mentioned introduction, pixel (k ₀, j ₀) drop on by (k, j), (k+1, j), (k, j+1), (k+1, j+1) in the square that apex coordinate constituted:

P ^**(x ^**，y ^**)＝(P ^*(x ^*+1，y ^*)-P ^*(x ^*，y ^*))*(k0-k)+(P ^*(x ^*，y ^*+1)-P ^*(x ^*，y ^*))*(j0-j)+(P ^*(x ^*+1，y ^*+1)+P ^*(x ^*，y ^*)-P ^*(x ^*+1，y ^*)-P ^*(x ^*，y ^*+1))*(k0-k)*(j0-j)+P ^*(x ^*，y ^*)(8)

The interpolation calculation of through type (8) can be eliminated the error of being brought that rounds that produces when launching to change, also can adopt some other interpolation computing method, as methods such as batten method, the method for average and secondary insertions.

Beneficial effect of the present invention is: 1, not influencing under digital camera (digital camera or video camera) the function situation, can make common digital camera increase the function of photographing panorama picture; 2, can become piece image to the Information Compression in the hemisphere visual field, information content of image is very big; 3, opticator is rational in infrastructure, long service life, and versatility is good, can satisfy the supporting requirement of most commercial digital camera, can select the base that matches with this diameter to the diameter of lens of the big or small digital camera of difference; 3, cone has the saturated function of the light of preventing; 4, easy to loading and unloading between panorama camera function accessory and the digital camera, accessory is enclosed within on the camera lens of digital camera equipment just becomes panoramic shooting equipment, unloading down from the camera lens of digital camera equipment just becomes general digital camera, simultaneously easy to carry.

(4) description of drawings

Fig. 1 has the upward view of the optical schematic diagram of panorama camera function accessory in the hyperbola mirrored sides;

Fig. 2 is the optical schematic diagram with panorama camera function accessory;

Fig. 3 is the schematic three dimensional views of a hyperboloid of two sheets;

Fig. 4 is for to replace another empty bi-curved schematic diagram with digital camera equipment in hyperboloid of two sheets;

Fig. 5 is the explanation schematic diagram of the luminous point light path on imaging plane on the total space;

Fig. 6 is the upward view of the hyperbola mirrored sides of Fig. 5;

Fig. 7 is a plane of reflection imaging schematic diagram;

Fig. 8 is the schematic diagram of the circular panoramic picture of lens imaging planar imaging;

Fig. 9 is the schematic diagram of the cylindricality panoramic picture on expansion plane;

Figure 10 is that the image of polar coordinates deployment algorithm transforms schematic diagram;

Figure 11 is the pixel interpolation schematic diagram;

Figure 12 makes digital camera equipment have the accessory of panorama camera function and the schematic diagram that digital camera equipment is used;

Figure 13 for embodiment 1 carry out image processing the time connection layout such as digital camera equipment and PC;

Figure 14 is the structured flowchart of the image processing of embodiment 1,2;

Figure 15 is the structured flowchart of the microprocessor of embodiment 3;

Figure 16 is the structured flowchart of the microprocessor of embodiment 4;

Figure 17 is the flow chart of the image initial unit in the PC;

Figure 18 is launched into the flow chart of panoramic picture for the image in the PC;

(5) embodiment

Below in conjunction with accompanying drawing the present invention is further described.

Embodiment 1

With reference to Figure 12, Figure 13, Figure 14, Figure 17, Figure 18, a kind of digital camera equipment with panorama camera function, comprise the panorama camera function accessory, digital camera 5 with macroshot function, microprocessor 6 with panoramic digital photograph processing capacity, described panorama camera function accessory is by hyperbola face mirroring parts 1, non-printing opacity cone 2, transparent housing 3, base 4 is formed, hyperbola face mirror 1 is positioned at the upper end of transparent housing 3, and the recess of face mirror 1 inwardly stretches in the transparent housing 3, the bottom surface of hyperbola face mirror 1 is a reflecting surface, the fixedly connected described non-printing opacity cone 2 of reflecting surface central authorities, the cone angle of described cone 2 is downward; Described transparent housing 3 is installed on the base 4, and the rotating shaft of described hyperbola face mirror, non-printing opacity cone, transparent housing, base is on same central axis; Described base 4 is provided with camera aperture, and the camera lens of described digital camera is positioned at camera aperture, and the imager of digital camera is positioned at the virtual focus position of hyperbola face mirror 1; Described digital camera communicates to connect by output interface and microprocessor 6; Described microprocessor 6 comprises that image reads and display navigation module 24, be used to read the image of described imager and on display unit, show, when shooting, this panorama camera function accessory is set on the camera lens of digital camera 5, make digital camera 5 have the accessory of panorama camera function, at this moment the imager of digital camera is configured in the virtual focus position of hyperbola face mirror 1, one cover panoramic digital photograph process software has been installed in the microprocessor 6 of PC 8, when image processing the USB interface on the digital camera equipment is connected with USB interface on the PC, a cover panoramic digital photograph process software comprises that image reads and display navigation module 24; Image pretreatment module 26 is used for image denoising, the smoothing processing of will gather; Image initial module 35 is used to determine that the position and the internal diameter of the central point of the panoramic picture gathered is that r, external diameter are R, pairing (r, x of the value of pixel mean variation maximum on the corresponding circumference when searching radius change ^* ₀, y ^* ₀), its calculating formula is:

${\max }_{(r,{x^{*}}_0,{y^{*}}_0)}\left|\frac{1}{\mathrm{\&Delta;r}}\underset{k}{\mathrm{\&Sigma;}}\right\{G_{\mathrm{\&sigma;}}\left(r\right)\underset{m}{\mathrm{\&Sigma;}}I(x^{*},y^{*})\left\}\right|---\left(1\right)$

Wherein: G _σ(r)=G _σ((n-k) Δ r)-G _σ((n-k-1) Δ r) (2)

$\underset{m}{\mathrm{\&Sigma;}}I(x^{*},y^{*})=I[(\mathrm{k\&Delta;}r\cos \left(\mathrm{m\&Delta;\&beta;}\right)+{x^{*}}_0),(\mathrm{k\&Delta;}r\sin \left(\mathrm{m\&Delta;\&beta;}\right)+{y^{*}}_0)]---\left(3\right)$

I (x ^*, y ^*) be the pixel of image, r is the radius of circumference, and G is for to carry out level and smooth Gauss's template to original image, and Δ r represents the step-length of radius search, and Δ β represents along the step-length of the angle of circular arc separation;

Image initial processing module 35, at first carry out filtering, denoising, determine to finish in the center of circle and the inside and outside circle radius processing unit 37 calculating of above-mentioned (1), (2), (3) formula then, by preserving result unit 38 result of calculation is preserved hereof, so that launch to call in the processing module 29 at image;

Image launches processing module 29, and the circular panoramic picture that is used for obtaining is launched into the rectangle cylinder panoramic image by geometric transformation; Image output module 34 is used for the rectangle cylinder panoramic image after launching being outputed to the display screen of PC or coming out by printer prints.

Present embodiment adopts the approximate expansion algorithm, with reference to Figure 14, described image launches processing module 29 and comprises: read coordinate information unit 30, with the data reads such as inside and outside circle radius of the centre coordinate of the circular panoramic picture that calculates in the above-mentioned initialization module and image in program so that unfolding calculation; Approximate expansion computing unit 31 is set the centre coordinate of circular panoramic picture the initial point O of plane coordinate system ^*(0,0), X ^*Axle, Y ^*Axle, the internal diameter of image is r, external diameter is R, radius of a circle: r in the middle of setting ₁=(r+R)/2, the azimuth is: β=tan ^-1(y ^*/ x ^*); The rectangle cylinder panoramic image is with origin of coordinates O ^*(0,0), X ^*Axle, Y ^*Axle is a plane coordinate system, is r and X with the internal diameter in the circular panoramic picture ^*The intersection point (r, 0) of axle is as origin of coordinates O ^*Counterclockwise launch with azimuthal angle beta (0,0); Be used for setting up rectangle cylinder panoramic image some pixel coordinates P arbitrarily ^*(x ^*, y ^*) with circular panoramic picture in pixel coordinates Q ^*(x ^*, y ^*) corresponding relation, its calculating formula is:

x ^*＝y ^*/(tan(360x ^**/π(R+r))) (4)

y ^*＝(y ^**+r)cosβ (5)

In the following formula, x ^*, y ^*Be the pixel coordinates value of rectangle cylinder panoramic image, x ^*, y ^*Be the pixel coordinates value of circular panoramic picture, R is the external diameter of circular panoramic picture, and r is the internal diameter of circular panoramic picture, and β is the azimuth of circular panoramic picture coordinate.

Further again, the computational methods of above-mentioned expansion unit obtain panoramic picture, image is further processed, image launches processing module 29 and also comprises: interpolation calculation unit 32, be used to eliminate in described expansion unit rounding the error that calculating brings, certain pixel coordinates P of the rectangle cylinder panoramic image that calculates ^*(x ^*, y ^*) picture element be (k ₀, j ₀), described picture element coordinate drop on by (k, j), (k+1, j), (k, j+1), (k+1, j+1) four adjacent integer pixels are in the square that apex coordinate constituted, with formula (8) interpolation calculation:

P ^**(x ^**，y ^**)＝(P ^*(x ^*+1，y ^*)-P ^*(x ^*，y ^*))*(k0-k)+(P ^*(x ^*，y ^*+1)-P ^*(x ^*，y ^*))*(j0-j)+(P ^*(x ^*+1，y ^*+1)+P ^*(x ^*，y ^*)-P ^*(x ^*+1，y ^*)-P ^*(x ^*，y ^*+1))*(k0-k)*(j0-j)+P ^*(x ^*，y ^*)(8)

The input of described interpolation calculation unit 32 connects the output of unfolding calculation unit 31, and the output of described interpolation calculation unit 32 connects image enhancing unit 33.

Further, image launches processing module 29 and also comprises: image enhancing unit 33, be used for pixel equalization to the output of image output unit, and calculating formula is:

$S\left(r_k\right)=T\left(r_k\right)=\frac{1}{N}\underset{i=0}{\overset{k}{\mathrm{\&Sigma;}}}N\left(r_i\right)---\left(9\right)$

In the following formula, transforming function transformation function is gray scale cumulative distribution function T (r), and the gray scale of establishing original image is r _k, S (r) is gray distribution of image function after the conversion, N is the pixel sum in the image, N (r _i) be that gray scale is r in the image _iThe pixel sum.

Described image pretreatment module 26 comprises: image filtering unit 27 is used to adopt two-dimensional Gabor filter that circular panoramic picture is carried out filtering; Picture quality judging unit 28 is used to adopt Two-dimensional FFT (Fourier) transformation calculations frequency domain high-frequency energy, and relatively the high-frequency energy value and default lower limit of gained, optionally exports panoramic picture during greater than lower limit at the high-frequency energy value.

With reference to Figure 12, the structure of the accessory of panorama camera function of the present invention by: hyperbola face mirroring parts 1, the cone 2 of saturated non-printing opacity against sunshine, transparent housing cylinder 3, base 4 are formed, described hyperbola face mirror 1 is positioned at the upper end of cylinder 3, and facial recess inwardly stretches in the cylinder, and the bottom surface of described hyperbola face mirror is a reflecting surface; The cone 3 of the fixedly connected described saturated non-printing opacity against sunshine of described reflecting surface central authorities, the cone angle of described cone 3 is downward; The rotating shaft of described hyperbola face mirror 1, cone 2, cylinder 3, base 4 is on same central axis; Described digital camera 5 is positioned at the below of cylinder 3; Have the circular groove identical on the described base 4 with the wall thickness of described cylinder 3; Described cone 2 is filled the non-light transmittance material or is sprayed its surface with light-proofness coating; Described base 4 is provided with a hole of a size of the camera lens with digital camera 5, described digital camera 5 can be that digital camera head also can be a digital camera, when using panoramic shooting the camera lens of digital camera 5 up direction insert in the hole on the described base 4, the camera lens of digital camera and the camera aperture of described base removably connect.

The optical system of panoramic shooting is made of a plurality of parts, and in order to reduce manufacturing cost, this optical system also can be made of the parts of single shaping.Figure 12 is the relative location diagrams of each parts of expression.Again the optical system of panoramic shooting is divided into two unit, upper and lower in this patent, the upper unit of optical system, at first form the recess of a hyperbola face mirror 1, form a cone 2 towards projected direction along central axis from the deep of above-mentioned recess, cylinder 3 is formed by the transparent material pressure injection of lucite or glass etc.Recess and cone 2 preferably and form simultaneously during cylinder 3 moulding.It is less important to the silver-plated mirror process of above-mentioned recess enforcement, to above-mentioned cone 2 filling non-light transmittance materials, also can spray its surface to above-mentioned cone 2 usefulness light-proofness coating.The upper unit of the optical system that the such operation of process obtains, recess becomes hyperbolic mirror, and the cone 2 of filling the non-light transmittance material has the saturated function of light that prevents at the optics portrait.The base 4 of lower unit is formed by coloured synthetic resin material pressure injection, have a circular groove identical on the base 4, the upper unit aligned with lower unit of optical system is applied the assembling process that certain power just can be finished the optical system of whole panoramic shooting with the wall thickness of cylinder 3.There are good productivity, processing cost low by the optical system of this mode of production and the panoramic shooting that constituted of assembling.Can guarantee the position relation of digital camera 5 and hyperbola face mirror 1.

Operation principle of the present invention is: Fig. 1, Fig. 2 are the expression schematic diagrams with optical system of panorama camera function digital camera equipment of the present invention, and Fig. 1 is a upward view, and Fig. 2 is a front view.Hyperbola face mirror 1 have 2 focuses (0,0, c), (0,0 ,-c), digital camera 5 be configured in a focus of hyperbola face mirror spigot shaft coaxle (0,0 ,-c) on.According to such configuration, can make a video recording in 360 ° of orientation on every side by logarithmic code camera head 5.As shown in Figure 2, enter the light at the center of hyperbola face mirror, reflect towards its virtual focus according to bi-curved minute surface characteristic.Material picture reflexes to imaging in the lens of digital camera 5, a some P on this imaging plane through hyperbolic mirror ₁(x ^* ₁, y ^* ₁) corresponding the coordinate A (x of a point spatially in kind ₁, y ₁, z ₁), big five-pointed star is a some A (x on the three dimensions ₁, y ₁, z ₁); Middle five-pointed star is the three dimensional space coordinate P (x that incides the image on the hyperbola face mirror ₁, y ₁, z ₁).

The optical system that hyperbolic mirror shown in Fig. 1, Fig. 2 constitutes can be represented by following 5 equatioies;

((X ²+Y ²)/a ²)-(Z ²/b ²)＝-1(Z＞0) (10)

$c=\sqrt{a^2+b^2}---\left(11\right)$

β＝tan ^-1(Y/X) (12)

α＝tan ^-1[(b ²+c ²)sinγ-2bc]/(b ²+c ²)cosγ (13)

$\mathrm{\&gamma;}={\tan }^{-1}[f/\sqrt{({\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="A20051005059500272.png,A20051005059500281.png"\; state="\{\{state\}\}">X</figure-callout>}}^2+Y^2)}]---\left(14\right)$

X in the formula, Y, Z representation space coordinate, c represents the focus of hyperbolic mirror, and 2c represents two distances between the focus, a, b is respectively the real axis of hyperbolic mirror and the length of the imaginary axis, β represents angle one azimuth of incident ray on the XY plane, and α represents angle one angle of depression of incident ray on the XZ plane, and f represents the distance of imaging plane to the virtual focus of hyperbolic mirror.

Can make a hyperboloid of two sheets by formula (1) on three dimensions, as shown in Figure 3, this hyperboloid has 2 focuses (0,0, c), (0,0 ,-c), and symmetry and XY plane, this patent is configured in another focus (0,0 with the hyperboloid spigot shaft coaxle with digital camera 5,-c) on, replace a hyperboloid under the XY plane, as shown in Figure 4, enter hyperbola face mirror the center (0,0, light c), according to bi-curved minute surface characteristic towards its virtual focus (0,0 ,-c) refraction.

According to Fig. 5, Fig. 6 the principle that 360 ° of panoramas are made a video recording is described, a some A (x on the space ₁, y ₁, z ₁) (representing with big five-pointed star among the figure) enter the recess minute surface through hyperbola face mirror 1, incides the space coordinates point P of the image on the hyperbola face mirror 1 ₁(x ₁, y ₁, z ₁) (among the figure with in five-pointed star represent), reflex on the lens of digital camera 5 a subpoint P should be arranged ₁(x ^* ₁, y ^* ₁) (representing with little five-pointed star among Fig. 6), the light of scioptics becomes the shooting part that directional light projects digital camera 5, at this moment the image of imaging is the ring-type image of a speciogenesis deformation on shooting part, PC is read in the ring-type image that is kept in the digital camera equipment by USB interface, adopts the image processing software be installed in the PC that this ring-type image is launched to obtain the image of panorama and is presented on the display screen or the image after will launching comes out by printer prints.

A cone that prevents that light is saturated is arranged in the accessory of panorama camera function above-mentioned, therefore a black circle is arranged on imaging plane, the center of circle of this black circle is exactly the centre of expansion point of panoramic picture, the panoramic picture centralized positioning is the image fault that causes in order to reduce decentraction in expansion process, utilize the algorithm of panoramic picture centralized positioning, can detect the centre of expansion point that finds panoramic picture in the piece image that photographed rapidly, and not needing manual intervention, this practicability for the panoramic shooting device has crucial meaning.

The round template matching method of employing Daugman carries out the location of the centre of expansion point of panoramic picture in this patent.In the panoramic picture that shooting is obtained, intensity profile exists certain difference, and generally speaking the panoramic expansion part is brighter than cone reflecting part.Shape according to panorama is the situation of annular then, utilizes the circular method that detects adaptation to cut apart panorama, and its math equation is:

Wherein: $G_{\mathrm{\&sigma;}}\left(r\right)=(1/\sqrt{2\mathrm{\&pi;\&sigma;}})e^{-({\left({r-r}_0\right)}^2/2{\mathrm{\&sigma;}}^2)},$ I (x ^*, y ^*) be the pixel of image; R is the radius of circumference; G is for to carry out level and smooth Gauss's template to original image.The physical significance of formula (1-1) is to search the value pairing (r, the x that change pixel mean variation maximum on the corresponding circumference along with radius r ^* ₀, y ^* ₀), determine the centre of expansion point of panoramic picture and the edge of cone reflecting part with this.Convolution is used for image is carried out smoothly, eliminates The noise in the edges of regions, and the size of smooth template is relevant with locating accuracy.The discretization of formula (1-1) realizes for convenience, utilizes convolution character, and (1-1) is converted into formula:

Wherein: $\frac{{\&PartialD;G}_{\mathrm{\&sigma;}}\left(r\right)}{\&PartialD;r}\&ap;G_{\mathrm{\&sigma;}}\left(n\right)=\frac{1}{\mathrm{\&Delta;r}}{G}_{\mathrm{\&sigma;}}\left(\mathrm{n\&Delta;r}\right)-\frac{1}{\mathrm{\&Delta;r}}{G}_{\mathrm{\&sigma;}}\left((n-1)\mathrm{\&Delta;r}\right)---(1-3)$

(1-2) carries out discretization to formula, with add up and ∑ replace convolution and curvilinear integral, be converted to:

${\max }_{(r,{x^{*}}_0,{y^{*}}_0)}\left|\frac{1}{\mathrm{\&Delta;r}}\underset{k}{\mathrm{\&Sigma;}}\right\{G_{\mathrm{\&sigma;}}\left(r\right)\underset{m}{\mathrm{\&Sigma;}}I(x^{*},y^{*})\left\}\right|---\left(1\right)$

Wherein: G _σ(r)=G _σ((n-k) Δ r)-G _σ((n-k-1) Δ r) (2)

$\underset{m}{\mathrm{\&Sigma;}}I(x^{*},y^{*})=I[(\mathrm{k\&Delta;}r\cos \left(\mathrm{m\&Delta;\&beta;}\right)+{x^{*}}_0),(\mathrm{k\&Delta;}r\sin \left(\mathrm{m\&Delta;\&beta;}\right)+{y^{*}}_0)]---\left(3\right)$

Δ r represents the step-length of radius search, and Δ β represents along the step-length of the angle of circular arc separation.Also can improve, make and can better locate the panorama inward flange formula (14):

Wherein r ' is slightly less than r, and the distance between them is certain, and r ' is along with r changes; λ prevents that for default value denominator from being 0.Formula (1-4) has been utilized such fact, and promptly the intensity profile of cone reflecting part is always uniform.Therefore, when the edge fine coupling of the circular arc of search and cone reflecting part, the denominator of formula (1-4) is very little, thereby formula (1-4) has a sudden change value, and the position of this sudden change value is exactly the position of the centre of expansion point of panoramic picture.

Further, on method of deploying, adopted a kind of algorithm of approximate expansion fast in this patent, can drop to minimum, kept Useful Information simultaneously as much as possible with time loss with to the requirement of various parameters.Consider in the algorithm of back several steps that the β component is that the information of orientation angles needs most; And in the vertical direction, some deformation take place does not almost have any influence to the result, and the Approximate Fast Algorithm of this expansion is as Fig. 7, Fig. 8, shown in Figure 9.Fig. 7 is a plane of reflection imaging schematic diagram, and Fig. 8 is a lens imaging planar imaging schematic diagram, and Fig. 9 is for launching floor map.Fig. 8 is circular panoramic picture, and wherein internal diameter is r, and external diameter is R, and between the interior external diameter is the effective coverage of image, now it is launched into the rectangle panorama sketch of Fig. 9, and launching rule has three,

(1) X ^*Axle is an original position, launches by counterclockwise mode;

(2) X among the left figure ^*Axle and the intersection point O of internal diameter r correspond to the initial point O (0,0) in the lower left corner among the right figure;

(3) width of the right figure after the expansion equals the girth of the circle shown in the dotted line among the left figure.Wherein broken circle is the concentric circles of external diameter in the left figure, and its radius r 1=(r+R)/2.

If the center of circle O of circular diagram Fig. 8 ^*Coordinate (x ^*0, y ^*0), the histogram lower left corner origin O of expansion ^*(0,0), any 1 P among histogram Fig. 9 ^*=(x ^*, y ^*) pairing coordinate in circular diagram is (x ^*, y ^*). it is following that we need ask is (x ^*, y ^*) and (x ^*, y ^*) corresponding relation.Can obtain following formula according to geometrical relationship:

β＝tan ^-1(y ^*/x ^*) (15)

r1＝(r+R)/2 (16)

Make the radius r 1=(r+R)/2 of broken circle, purpose is in order to allow the figure after launching seem that deformation is even.

x ^*＝y ^*/(tan(360x ^**/π(R+r))) (4)

y ^*＝(y ^**+r)cosβ (5)

Can obtain a point (x on the circular panoramic picture from formula (4), (5) ^*, y ^*) and the rectangle panorama sketch on a point (x ^*, y ^*) corresponding relation.This method has come down to do the process of an image interpolation.After the expansion, the image of dotted line top is that transverse compression is crossed, and the image of dotted line below is that cross directional stretch is crossed, dotted line originally on one's body point then remain unchanged.

Embodiment 2

With reference to Figure 12, Figure 13, Figure 15, Figure 17, Figure 18, opticator, the operation principle of present embodiment are substantially the same manner as Example 1, difference is: image launches processing module and adopts the mapping matrix deployment algorithm: launch processing module 29 and comprise: read coordinate information unit 30, with the data reads such as inside and outside circle radius of the centre coordinate of the circular panoramic picture that calculates in the above-mentioned initialization module and image in program so that unfolding calculation; Mapping matrix launches unit 39, with the centre coordinate of the circular panoramic picture that calculates in the above-mentioned initialization module and the inside and outside circle radius of image, the centre coordinate of circular panoramic picture is set the initial point O of plane coordinate system ^*(0,0), X ^*Axle, Y ^*Axle, the internal diameter of image is r, and external diameter is R, and the azimuth is: β=tan ^-1(y ^*/ x ^*); The rectangle cylinder panoramic image is with origin of coordinates O ^*(0,0), X ^*Axle, Y ^*Axle is a plane coordinate system, is r and X with the internal diameter in the circular panoramic picture ^*The intersection point (r, 0) of axle is as origin of coordinates O ^*Counterclockwise launch with azimuthal angle beta (0,0); According to any some pixel coordinates Q in the circular panoramic picture ^*(x ^*, y ^*) with the rectangle cylinder panoramic image in pixel coordinates P ^*(x ^*, y ^*) corresponding relation, set up from Q ^*(x ^*, y ^*) to P ^*(x ^*, y ^*) the mapping matrix corresponding relation, its calculating formula is:

P ^**(x ^**，y ^**)← M× Q ^*(x ^*，y ^*) (6)

In the following formula, Q ^*(x ^*, y ^*) be the matrix of each pixel coordinates on the panoramic picture, M is the corresponding relation matrix from the panoramic picture coordinate to rectangle cylinder panoramic image coordinate, P ^*Matrix for each pixel coordinates on the rectangle cylinder panoramic image.

The principle of the unfolding calculation method of present embodiment is: according to a point (x on the circular panoramic picture ^*, y ^*) and the rectangle panorama sketch on a point (x ^*, y ^*) corresponding relation, set up (x ^*, y ^*) and (x ^*, y ^*) mapping matrix.Because this one-to-one relationship can be being transformed into indeformable panoramic picture by the mapping matrix method.Can set up formula (6) relation by the M mapping matrix.

P ^**(x ^**，y ^**)← M× P ^*(x ^*，y ^*) (6)

According to formula (6), for each the pixel P on the imaging plane ^*(x ^*, y ^*) a some P arranged on panoramic picture ^*(x ^*, y ^*) correspondence, set up the M mapping matrix after, the task of image processing can obtain simplifying.The panoramic picture of each distortion that obtains on imaging plane is finished the computing of tabling look-up, and generates on the display screen that indeformable panoramic picture is shown to PC or is kept in the memory cell or by printer prints.

Embodiment 3

With reference to Figure 12, Figure 13, Figure 16, Figure 17, Figure 18, opticator, the basic principle of present embodiment are substantially the same manner as Example 1, difference is that image launches processing module and adopts the polar coordinates deployment algorithm: launch processing module 29 and comprise: read coordinate information unit 30, with the data reads such as inside and outside circle radius of the centre coordinate of the circular panoramic picture that calculates in the above-mentioned initialization module and image in program so that unfolding calculation; Polar coordinates unfolding calculation unit 40, the position and the internal diameter that are used for the central point of panoramic picture are that r, external diameter are R, r ^*Be the radical length of distance interior circle in arbitrfary point on the image, the azimuth is: β=tan ^-1(y ^*/ x ^*), set up polar coordinates (r ^*, β), be respectively (x with the intersecting point coordinate on panorama inside and outside circle border ^* _Inner(β), y ^* _Inner(β)) and (x ^* _Outer(β), y ^* _Outer(β)); The rectangle cylinder panoramic image is with origin of coordinates O ^*(0,0), X ^*Axle, Y ^*Axle is a plane coordinate system, is r and X with the internal diameter in the circular panoramic picture ^*The intersection point (r.0) of axle is as origin of coordinates O ^*Counterclockwise launch with azimuthal angle beta (0,0); According to any some pixel coordinates (r in the circular panoramic picture ^*, β) with the rectangle cylinder panoramic image in pixel coordinates P ^*(x ^*, y ^*) corresponding relation, its calculating formula is:

$\left\{\begin{array}{c}{x}^{**}(r^{*},\mathrm{\&beta;})=(1-r^{*}){x^{*}}_{\mathrm{inner}}\left(\mathrm{\&beta;}\right)+r^{*}{x^{*}}_{\mathrm{outer}}\left(\mathrm{\&beta;}\right)\\ y^{**}(r^{*},\mathrm{\&beta;})=(1-r^{*}){y^{*}}_{\mathrm{inner}}\left(\mathrm{\&beta;}\right)+r^{*}{y^{*}}_{\mathrm{outer}}\left(\mathrm{\&beta;}\right)\end{array}\right.---\left(17\right).$

Can with in the panoramic picture each the point be mapped to one by one polar coordinates (r, β) in, as shown in figure 10.

Embodiment 4

With reference to Figure 12, Figure 13, Figure 14, Figure 17, Figure 18, opticator, the basic principle of present embodiment are substantially the same manner as Example 1, difference is that the microprocessor 6 that will have image processing software is directly installed in the digital camera 5, processing such as the expansion of panoramic picture are directly carried out in digital camera, be kept in the memory cell in the digital camera 5 is figure after launching, the digital camera equipment that also requires simultaneously to have this panorama camera function has corresponding selection Lay list, and can allow the user freely select panoramic shooting still is common shooting.

Claims (10)

1, a kind of digital camera equipment with panorama camera function, it is characterized in that: this equipment comprises the panorama camera function accessory, digital camera with macroshot function, microprocessor with panoramic digital photograph processing capacity, described panorama camera function accessory is by hyperbola face mirroring parts, transparent housing, non-printing opacity cone, base is formed, described hyperbola face mirror is positioned at the upper end of transparent housing, and the recess of face mirror inwardly stretches in the transparent housing, the bottom surface of hyperbola face mirror is a reflecting surface, the fixedly connected described non-printing opacity cone of reflecting surface central authorities, the cone angle of described cone is downward; Described transparent housing is installed on the base, and the rotating shaft of described hyperbola face mirror, non-printing opacity cone, transparent housing, base is on same central axis; Described base is provided with camera aperture, and the camera lens of described digital camera is positioned at camera aperture, and the imager of digital camera is positioned at the virtual focus position of hyperbola face mirror; Described digital camera is connected with microprocessor communication by output interface; Described microprocessor comprises that image reads and the display navigation module, is used to read the image of described imager and shows on display unit; The image pretreatment module is used for image denoising, the smoothing processing of will gather; The image initial module is used to determine that the position and the internal diameter of the central point of the omnidirectional images gathered is that r, external diameter are R, when searching radius change on the corresponding circumference pixel average change maximum value pairing (r, x ^* ₀, y ^* ₀), its calculating formula is:

${\max }_{(r,{x^{*}}_0,{y^{*}}_0)}\left|\frac{1}{\mathrm{\&Delta;r}}\underset{k}{\mathrm{\&Sigma;}}\left\{G_{\mathrm{\&sigma;}}\left(r\right)\underset{m}{\mathrm{\&Sigma;}}I(x^{*},y^{*})\right\}\right|---\left(1\right)$

Wherein: G _σ(r)=G _σ((n-k) Δ r)-G _σ((n-k-1) Δ r) (2)

$\underset{m}{\mathrm{\&Sigma;}}I(x^{*},y^{*})I[(\mathrm{k\&Delta;}r\cos \left(\mathrm{m\&Delta;\&beta;}\right)+{x^{*}}_0),(\mathrm{k\&Delta;}r\sin \left(\mathrm{m\&Delta;\&beta;}\right)+{y^{*}}_0)]---\left(3\right)$

I (x ^*, y ^*) be the pixel of image, r is the radius of circumference, and G is for to carry out level and smooth Gauss's template to original image, and Δ r represents the step-length of radius search, and Δ β represents along the step-length of the angle of circular arc separation;

Image launches processing module, is used for circular omnidirectional images is launched into the rectangle cylinder panoramic image by geometric transformation;

Image output module is used for the rectangle cylinder panoramic image after launching is outputed to display unit.

2, the digital camera equipment with panorama camera function as claimed in claim 1 is characterized in that: described image launches processing module and comprises:

Read the coordinate information unit, be used for reading the centre coordinate of the circular omnidirectional images that above-mentioned initialization module calculates and the inside and outside circle radius of image; The approximate expansion computing unit is used for the initial point O with the centre coordinate setting plane coordinate system of circular omnidirectional images ^*(0,0), X ^*Axle, Y ^*Axle, the internal diameter of image is r, external diameter is R, radius of a circle: r in the middle of setting ₁=(r+R)/2, the azimuth is: β=tan ^-1(y ^*/ x ^*); The rectangle cylinder panoramic image is with origin of coordinates O ^*(0,0), X ^*Axle, Y ^*Axle is a plane coordinate system, is r and X with the internal diameter in the circular omnidirectional images ^*The intersection point (r, 0) of axle is as origin of coordinates O ^*Counterclockwise launch with azimuthal angle beta (0,0); Set up any some pixel coordinate P in the rectangle cylinder panoramic image ^*(x ^*, y ^*) with circular omnidirectional images in pixel coordinate Q ^*(x ^*, y ^*) corresponding relation, its calculating formula is:

x ^*＝y ^*/(tan(360x ^**/π(R+r))) (4)

y ^*＝(y ^**+r)cosβ (5)

In the following formula, x ^*, y ^*Be the pixel coordinate value of rectangle cylinder panoramic image, x ^*, y ^*Be the pixel coordinate value of circular omnidirectional images, R is the external diameter of circular omnidirectional images, and r is the internal diameter of circular omnidirectional images, and β is the azimuth of circular omnidirectional images coordinate.

3, the digital camera equipment with panorama camera function as claimed in claim 1 is characterized in that: described image launches processing module and comprises:

Read the coordinate information unit, be used for reading the centre coordinate of the circular omnidirectional images that above-mentioned initialization module calculates and the inside and outside circle radius of image;

Mapping matrix launches the unit, is used for the centre coordinate of circular omnidirectional images is set the initial point O of plane coordinate system ^*(0,0), X ^*Axle, Y ^*Axle, the internal diameter of image is r, and external diameter is R, and the azimuth is: β=tan ^-1(y ^*/ x ^*); The rectangle cylinder panoramic image is with origin of coordinates O ^*(0,0), X ^*Axle, Y ^*Axle is a plane coordinate system, is r and X with the internal diameter in the circular omnidirectional images ^*The intersection point (r, 0) of axle is as origin of coordinates O ^*Counterclockwise launch with azimuthal angle beta (0,0); According to any some pixel coordinate Q in the circular omnidirectional images ^*(x ^*, y ^*) with the rectangle cylinder panoramic image in pixel coordinate P ^*(x ^*, y ^*) corresponding relation, set up from Q ^*(x ^*, y ^*) to P ^*(x ^*, y ^*) the mapping matrix corresponding relation, its calculating formula is:

P ^**(x ^**，y ^**)← M× Q ^*(x ^*，y ^*) (6)

In the following formula, Q ^*(x ^*, y ^*) be the matrix of each pixel coordinate on the omnidirectional images, M is the corresponding relation matrix from the omnidirectional images coordinate to rectangle cylinder panoramic image coordinate, P ^*Matrix for each pixel coordinate on the rectangle cylinder panoramic image.

4, the digital camera equipment with panorama camera function as claimed in claim 1 is characterized in that: described image launches processing module and comprises:

Read the coordinate information unit, be used for reading the centre coordinate of the circular omnidirectional images that above-mentioned initialization module calculates and the inside and outside circle radius of image; Polar coordinates unfolding calculation unit, the position and the internal diameter that are used for according to the central point of omnidirectional images are that r, external diameter are R, r ^*Be the radical length of distance interior circle in arbitrfary point on the image, the azimuth is: β=tan ^-1(y ^*/ x ^*), set up polar coordinates (r ^*, β), be respectively (x with the intersecting point coordinate on comprehensive inside and outside circle border ^*Inner (β), y ^*Inner (β)) and (x ^*Outer (β), y ^*Outer (β)); The rectangle cylinder panoramic image is with origin of coordinates O ^*(0,0), X ^*Axle, Y ^*Axle is a plane coordinate system, is r and X with the internal diameter in the circular omnidirectional images ^*The intersection point (r, 0) of axle is as origin of coordinates O ^*Counterclockwise launch with azimuthal angle beta (0,0); According to any some pixel coordinate (r in the circular omnidirectional images ^*, β) with the rectangle cylinder panoramic image in pixel coordinate P ^*(x ^*, y ^*) corresponding relation, its calculating formula is:

$\left\{\begin{array}{c}{x}^{**}(r^{*},\mathrm{\&beta;})=(1-r^{*}){x^{*}}_{\mathrm{inner}}\left(\mathrm{\&beta;}\right)+r^{*}{x^{*}}_{\mathrm{outer}}\left(\mathrm{\&beta;}\right)\\ y^{**}(r^{*},\mathrm{\&beta;})=(1-r^{*}){y^{*}}_{\mathrm{inner}}\left(\mathrm{\&beta;}\right)+r^{*}{y^{*}}_{\mathrm{outer}}\left(\mathrm{\&beta;}\right)\end{array}\right.---\left(7\right).$

5, as the described digital camera equipment with panorama camera function of one of claim 1-4, it is characterized in that: image launches processing module and also comprises:

The interpolation calculation unit is used to eliminate in described expansion unit rounding the error that calculating brings, certain pixel coordinate P of the rectangle cylinder panoramic image that calculates ^*(x ^*, y ^*) pixel be (k ₀, j ₀), described pixel coordinate drop on by (k, j), (k+1, j), (k, j+1), (k+1, j+1) four adjacent integer pixels are in the square that apex coordinate constituted, with formula (8) interpolation calculation:

P ^**(x ^**，y ^**)＝(P ^*(x ^*+1，y ^*)-P ^*(x ^*，y ^*))*(k0-k)+(P ^*(x ^*，y ^*+1)-P ^*(x ^*，y ^*))*(j0-j)+(P ^*(x ^*+1，y ^*+1)+P ^*(x ^*，y ^*)-P ^*(x ^*+1，y ^*)-P ^*(x ^*，y ^*+1))*(k0-k)*(j0-j)+P ^*(x ^*，y ^*)(8)

The input of described interpolation calculation unit connects the output of unfolding calculation unit, and the output of described interpolation calculation unit connects image output module.

6, the digital camera equipment with panorama camera function as claimed in claim 5 is characterized in that: image launches processing module and also comprises:

Image enhancing unit is used for the pixel equalization to the output of image output unit, and calculating formula is:

$S\left(r_k\right)=T\left(r_k\right)=\frac{1}{N}\underset{i=0}{\overset{k}{\mathrm{\&Sigma;}}}N\left(r_i\right)---\left(9\right)$

In the following formula, transforming function transformation function is gray scale cumulative distribution function T (r), and the gray scale of establishing original image is r _k, S (r) is gray distribution of image function after the conversion, N is the sum of all pixels in the image, N (r _i) be that gray scale is r in the image _iSum of all pixels.

7, the digital camera equipment with panorama camera function as claimed in claim 6 is characterized in that: described image pretreatment module comprises:

The image filtering unit is used to adopt two-dimensional Gabor filter that circular omnidirectional images is carried out filtering;

The picture quality judging unit is used to adopt Two-dimensional FFT transformation calculations frequency domain high-frequency energy, and relatively the high-frequency energy value and default lower limit of gained, optionally exports omnidirectional images during greater than lower limit at the high-frequency energy value.

8, the digital camera equipment with panorama camera function as claimed in claim 5 is characterized in that: described transparent housing is a cylinder, and described digital camera is positioned at the below of cylinder;

Have on the described base and the identical circular groove of described cylindrical wall thickness, described cylinder is inserted circular groove on the described base in when assembling;

Described cone is filled the non-light transmittance material or is sprayed its surface with light-proofness coating.

9, the digital camera equipment with panorama camera function as claimed in claim 8, it is characterized in that: described equipment also comprises PC, and PC comprises microprocessor, described output interface is a USB interface.

10, the digital camera equipment with panorama camera function as claimed in claim 8 is characterized in that: the camera lens of described digital camera and the camera aperture of described base removably connect.

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