CN207369147U - A kind of panorama 3D video cameras - Google Patents
A kind of panorama 3D video cameras Download PDFInfo
- Publication number
- CN207369147U CN207369147U CN201720527011.4U CN201720527011U CN207369147U CN 207369147 U CN207369147 U CN 207369147U CN 201720527011 U CN201720527011 U CN 201720527011U CN 207369147 U CN207369147 U CN 207369147U
- Authority
- CN
- China
- Prior art keywords
- camera module
- mounting platform
- panorama
- camera
- video cameras
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Studio Devices (AREA)
- Stereoscopic And Panoramic Photography (AREA)
- Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
Abstract
It the utility model is related to a kind of panorama 3D video cameras.Panorama 3D video cameras include：At least one set of camera module and bearing plate, wherein, the bearing plate includes at least the first mounting platform；Each camera module at least one set camera module is mounted on first mounting platform.Image information is gathered by the camera module at least one set of camera module on bearing plate, and image information is synthesized, and then obtains panorama 3D rendering.
Description
Technical field
It the utility model is related to image processing field, more particularly to a kind of panorama 3D video cameras.
Background technology
Panoramic camera is can independently to realize the video camera shot on a large scale without dead angle, the multiple and different courts of its enclosed inside
To monomer video camera or image acquisition device module, by the split screen that each video camera or image acquisition device collect into
Row image mosaic operates to obtain panoramic effect.The structure of mainstream panoramic camera is more than some mega pixels on Vehicles Collected from Market
Sensor or video camera, and field angle independence short-focus lens are encapsulated in unified shell, by some single pictures
360 ° of high definition panorama picture is integrated into by user demand, then rear end management platform is transferred to by network or high-speed bus.One
Panoramic camera can substitute more common video cameras, accomplish seamless shooting.Panoramic camera realizes shooting new opplication, can
Applied to every field, including amusement scene, government bodies, bank, social safety, prison, public place, cultural place
Deng.
To reach pan-shot purpose, more molding product is by the way of dual camera currently on the market：In panorama
Left and right (or front and rear) both direction of video camera sets a wide range of wide-angle camera respectively, and the single head of usually each camera is clapped
It is more than 180 ° coverings to take the photograph scope, and this each camera of mode is responsible for the ambient video shooting in oneself direction, is taken the photograph due to each
As head be all greater than 180 ° covering, therefore panorama camera be collected into the photographing information of two cameras after regarded inside equipment
Frequency synthesizes, and exports as 360 ° of panoramic videos.
But the scheme for shooting the video of different directions respectively using two a wide range of wide-angle cameras and then synthesizing, though
Panoramic video can be so generated, but since each camera is 180 ° of wide-angles even fish eye lens, marginal distortion is larger, edge
Locate video quality to decline, and be limited to the limitation of single camera sensing device resolution ratio, high-resolution shooting cannot be carried out,
And the panoramic video being synthesized can not have 3D effect.
In order to avoid drawbacks described above, in the prior art, there is part panoramic apparatus manufacturer using multiple existing simple eye
The mode that video camera simply stacks, each video camera is directed at the image information that the direction is responsible for gathering in different directions, using increasing
Add the mode of camera to reduce marginal distortion and increase spliced whole resolution and produce panorama 3D visual effects.
But this mode is since simple eye video camera own vol is bigger, to realize pan-shot effect, more
Video camera bundles so that the volume of panoramic camera is more huge, and portability significantly reduces, such a to improve portability
Multiple video cameras can only often be pressed circumferential arrangement by scheme, the scene of capture apparatus surrounding and sacrifice above and below equipment
Numerous image informations in two regions.
Simple eye video camera has not for customized in pan-shot and various caters to market and the additional work(of consumer
Can, cause power consumption big, the stacking of multiple simple eye video cameras, can cause field shooting very tired the heavy dependence of power supply
Difficulty, even in indoor shot, it is also necessary to powered using fixed power source, mobile and coverage is severely limited by the length of electric wire.
In addition, each monomer camera for forming this panoramic camera is existing product, not designed for pan-shot,
Each camera is separate, is unable to co-ordination mutually, and panoramic video shooting process requires all machine operations completely the same,
The random shooting failure of any unit can all cause entirely to shoot mission failure, time-consuming and laborious and costly, panoramic video
Shooting effect heavy dependence post-processing, it is serious to ultimately result in video jitter, and serious spinning sensation is brought to beholder.
Utility model content
In order to solve the above technical problems, the utility model provides a kind of panorama 3D video cameras.
In a first aspect, the utility model provides a kind of panorama 3D video cameras, panorama 3D video cameras include：
At least one set of camera module and bearing plate, wherein, bearing plate includes at least the first mounting platform；
Each camera module at least one set of camera module is mounted on the first mounting platform, wherein, shooting
Each camera module camera lens in head mould group is and horizontal direction parallel.
The beneficial effects of the utility model are：At least one set of camera module, is installed on the first mounting platform of bearing plate,
Each camera module can obtain the image information of horizontal direction different angle respectively, and avoid " shooting as far as possible
Dead angle " problem, after handling the image information of different angle, the panoramic video after final synthesis can realize that panorama 3D is imitated
Fruit.Camera module is more, and image resolution ratio is higher., can be with maximum journey by panorama 3D video cameras provided by the utility model
Degree and the high-resolution actual scenery of reduction.Meanwhile camera module is light succinct, the panorama 3D video camera portability of composition
It is high.
Further, when camera module number is at least two groups, bearing plate further includes the second mounting platform, and the second installation is flat
Platform and at least one set of camera module are installed on the first mounting platform top or lower part；
In at least two groups of camera modules, the camera module peace in addition to the camera module for being installed on the first mounting platform
Loaded on the second mounting platform, wherein, it is installed on the camera lens of each camera module in the camera module of the second mounting platform
From the horizontal by the first predetermined angle.
Advantageous effects using above-mentioned further scheme are, when panorama 3D video cameras are only in the first mounting platform
When camera module is installed, the 3D rendering of horizontal direction can be only obtained.So, camera module is installed in the second mounting platform
Afterwards, then the image information with the camera module corresponding direction of the second mounting platform installation can be obtained at the same time.By horizontal direction
Image information and with the second mounting platform installation camera module corresponding direction image information carry out integrated treatment, then can
The enough more real scenery of reduction, realizes panorama 3D effect.
Further, when camera module includes at least three groups, except the camera module for being installed on the first mounting platform,
And the module outside the camera module of the second mounting platform is installed on, the 3rd mounting platform is installed on, wherein, the 3rd installation
Stage+module is installed on the position with second assembling platform opposition on first mounting platform, is installed on the 3rd peace
Each camera module is from the horizontal by the second predetermined angle in the camera module of assembling platform.
Advantageous effects using above-mentioned further scheme are, flat in the first installation of the video camera bearing plate
The camera module of platform, the second mounting platform, and be installed on the 3rd mounting platform camera module gather jointly image letter
Breath, after then carrying out respective handling to image information, can obtain one 360 ° and look around 3D rendering information, realize that panorama 3D is imitated
Fruit.
Further, at least one set of camera module includes a main camera module.
Advantageous effects using above-mentioned further technical solution are in camera module, there is a camera
Module is main camera module, other are auxiliary camera module.Main camera module controls all camera modules work at the same time
Make, it is ensured that the video frame of each camera module shooting has synchronism.Thus, it is possible to avoid due to camera module not
Caused by working at the same time shoot video jitter it is serious, caused by user experience it is low the problem of.
Further, at least one set of camera module, include in each camera module：Camera lens, lens mount, with
And integrated circuit plate；
On camera lens installation lens mount；
Integrated circuit plate is connected with lens mount.
Further, image acquisition device, data transmission bus and message handler are included at least in integrated circuit plate；
The output terminal of image acquisition device is connected with the input terminal of message handler：
The output terminal of message handler is connected with the input terminal of comprehensive treatment device by the data transmission bus, its
In, Image Synthesis Processor is external equipment.
Advantageous effects using above-mentioned further technical solution are that each camera module collection image is believed
After breath, Image Synthesis Processor is all transmitted to by data transmission bus respectively, can be more efficient.
Further, image acquisition device is included at least in the integrated circuit plate of each camera module, data transfer is total
Line and message handler；
The output terminal of image acquisition device is connected with the input terminal of message handler；
The corresponding message handler of camera module at least one camera module in addition to main camera module
The input terminal of output terminal message handler corresponding with main camera module respectively is connected；
The output terminal of the corresponding message handler of main camera module, passes through the defeated of data transmission bus and comprehensive treatment device
Enter end to be connected, wherein, comprehensive treatment device is external equipment.
Advantageous effects using above-mentioned further technical solution are:Pass through the letter of a main camera module
The image information that processor collects all camera module collections is ceased, after carrying out unified image compression processing, it is comprehensive to be uploaded to image
Processor is closed, can facilitate Image Synthesis Processor is unified to download, and handled.
Further, panorama 3D video cameras further include：Main information processor；
Image acquisition device, data transmission bus and point letter are included at least in the integrated circuit plate of each camera module
Cease processor；
The output terminal of image acquisition device is with dividing the input terminal of message handler to be connected：
The input terminal of the output terminal of point message handler message handler corresponding with main camera module respectively is connected：
The output terminal of the corresponding message handler of main camera module, passes through the data transmission bus and comprehensive treatment device
Input terminal be connected, wherein, Image Synthesis Processor is external equipment.
Advantageous effects using above-mentioned further technical solution are：By main information processor by all shootings
After the image information of head mould group collection carries out image Compression, then uniform transmission is into Image Synthesis Processor.It can realize
Collected locally, then by limited bandwidth for transmission into Image Synthesis Processor, can equally realize efficient number
According to transmission.
Further, the camera module of the first mounting platform is installed on, is installed on the shooting head mould of the second mounting platform
Group, and be installed in the camera module of the 3rd mounting platform, each camera module is mounted on default installation site.
It is using above-mentioned further beneficial effect, in the first mounting platform, the second mounting platform, and the 3rd installation
The camera module of platform, is installed according to default position.Camera module is more, two neighboring camera module it
Between the image information lap that gathers will be more, then when doing image mosaic, it is easier to which image information is reduced into reality
Border scene.But camera module is more, cost is also higher.Moreover, the first mounting platform, the second mounting platform and the 3rd peace
Assembling platform limited area, it is also not possible to carry more camera modules.Therefore, it is necessary to preset suitable position, installation is optimal
The camera module of number.
Further, the camera module of the second mounting platform is installed on, and is installed on the shooting of the 3rd mounting platform
In head mould group, including at least one camera module.
It is using above-mentioned further beneficial effect, when the camera module for being installed on the second mounting platform and/or the
When the camera module of three mounting platforms is one, then this camera module can be a wide-angle camera module or fish
Eye imaging head mould group, so as to capturing panoramic view image information.
Brief description of the drawings
Fig. 1 is a kind of panorama 3D video camera theory structure schematic diagrams that the utility model embodiment provides；
Fig. 2 is the structure diagram that 1 camera module is installed in the second mounting platform；
Fig. 3 is the structure diagram that 6 camera modules are installed in the second mounting platform；
Fig. 4 is the structure diagram that 6 camera modules are installed in the 3rd mounting platform；
Fig. 5 is that the bearing plate of panorama 3D video cameras is flat comprising the first mounting platform, the second mounting platform and the 3rd installation
The structure diagram of platform；
Fig. 6 is the contraction by people's ciliary muscle so that the schematic diagram of object blur-free imaging；
Fig. 7, when observing same object, forms the schematic diagram of different imagings for two；
Fig. 8 is the structure diagram for forming all light arrangements in panorama；
Fig. 9 is the light schematic diagram that left eye and right eye are respectively seen in human eye；
Figure 10 is gathered the schematic diagram of light by two adjacent camera modules；
Figure 11 is the schematic diagram of the image of two neighboring virtual camera collection；
Figure 12 is to determine that the visual range of camera module, panorama 3D video cameras 3D splice radius, right and left eyes inner circle radius
And between human eye vision subtended angle relation structure diagram；
Figure 13 is a kind of visual range of simplified camera module, panorama 3D video cameras 3D splices radius, right and left eyes inner circle
The structure diagram of relation between radius and human eye vision subtended angle：
Figure 14 is a kind of main view principle schematic of panorama 3D video cameras provided in an embodiment of the present invention；
Figure 15 is a kind of vertical view principle schematic of panorama 3D video cameras provided in an embodiment of the present invention；
Figure 16 is the main view principle schematic of another panorama 3D video cameras provided in an embodiment of the present invention；
Figure 17 looks up principle schematic for a kind of panorama 3D video cameras provided in an embodiment of the present invention.
Embodiment
In being described below, in order to illustrate rather than in order to limit, it is proposed that such as particular system structure, interface, technology it
The detail of class, understands the utility model to cut thoroughly.However, it will be clear to one skilled in the art that there is no these
The utility model can also be realized in the other embodiments of detail.In other situations, omit to well-known device,
The detailed description of circuit and method, in case unnecessary details hinders the description of the utility model.
Fig. 1 is a kind of panorama 3D video camera theory structure schematic diagrams that the utility model embodiment provides, and panorama 3D takes the photograph
Camera includes：At least one set of camera module and bearing plate.
At least one set of camera module and bearing plate, wherein, bearing plate includes at least the first mounting platform；It is at least one set of
Each camera module in camera module is mounted on the first mounting platform, corresponding with panorama 3D video cameras for gathering
Horizontal direction panorama image information, wherein, each camera module camera lens in camera module is and horizontal direction
It is parallel.
, should specifically as shown in Figure 1, the first mounting platform includes one group of camera module in the utility model embodiment
Group camera module includes 12 camera modules.Preferably, panorama 3D video cameras can also include supporting rod, which rises
To supporting role.It is of course also possible to use other modes realize support panorama 3D video cameras, it is not necessary to using supporting rod.Its
He does not limit mode here.In addition, if camera module only is installed in the first mounting platform, then, to camera module
In camera module acquired image information carry out respective handling after, can synthesize horizontal direction 360 ° of images letter
Breath.360 ° of image informations looked around horizontally and vertically are similarly in order to realize, bearing plate can also include the
Two mounting platforms, the second mounting platform and at least one set of camera module are installed on the first mounting platform top or lower part, and
Specifically installation and the top or lower part of the first mounting platform, the then image gathered as needed are in panorama to second mounting platform
The top or lower part of 3D video cameras determines.
At this time, camera module quantity is at least two groups.In at least two groups of camera modules, put down except the first installation is installed on
Camera module outside the camera module of platform is installed on the second mounting platform, is taken the photograph for gathering with what the second mounting platform was installed
As the image information of head mould group corresponding direction, wherein, it is installed on each camera in the camera module of the second mounting platform
From the horizontal by the first predetermined angle, (the first predetermined angle that is to say θ hereinafter to the camera lens of module2)。
It is further preferred that when camera module includes at least three groups, except the camera for being installed on the first mounting platform
Module, and the module outside the camera module of the second mounting platform is installed on, the 3rd mounting platform is installed on, for gathering
The image information for the camera module corresponding direction installed with the 3rd mounting platform, wherein, the 3rd mounting platform is installed on first
On mounting platform, and it is installed on and opposes position with the second mounting platform, is installed in the camera module of the 3rd mounting platform every
From the horizontal by the second predetermined angle, (the second predetermined angle that is to say θ hereinafter to one camera module3)。
Further, the camera module of the second mounting platform is installed on, and is installed on the shooting of the 3rd mounting platform
Head mould group, including at least one camera module.For example, in the second mounting platform, only including one group of camera module, and it is somebody's turn to do
Group camera module only includes a camera module.So, this camera module can be the wide of 1 180 ° of visual range
Angle or fish eye lens.Collect the camera module corresponding direction image information with the installation of the second mounting platform.Structure such as Fig. 2
It is shown.Fig. 2 is the structure diagram that 1 camera module is installed in the second mounting platform.Similar, if flat in the 3rd installation
Platform, only including one group of camera module, and this group of camera module only includes a camera module.Likewise, 1 can be used
The wide-angle or fish eye lens of a 180 ° of visual ranges.And when using a camera module collection image information, it will necessarily adopt
Collect the image information of supporting rod, then, can be existing by some by the image of supporting rod in successive image processing procedure
Technology is removed.For example with PS technologies etc..Being that using the benefit of 1 camera module to reduce expenses.Such as
In the case that fruit is less high to image information requirement, it is possible to use a camera module.
If in the case of exigent to image information, at least two camera modules can be used.Specific such as Fig. 3
It is shown.Fig. 3 is the structure diagram that 6 camera modules are installed in the second mounting platform.And when camera module is multiple,
Common camera module, wide-angle or fish eye lens etc. can then be used.Any camera module is specifically used, is not done here
Limitation.
Similar, Fig. 4 is the structure diagram that 6 camera modules are installed in the 3rd mounting platform, specifically such as Fig. 4 institutes
Show.Camera module in Fig. 4 can equally use common camera module, wide-angle or fish eye lens etc..Which is specifically used
A kind of camera module, is not limited here.
The bearing plate that Fig. 5 then gives panorama 3D video cameras includes the first mounting platform, the second mounting platform and the 3rd
The structure diagram of mounting platform, it is specific as shown in Figure 5.Wherein, the first mounting platform, the second mounting platform and the 3rd installation
Platform includes multiple camera modules.
In order to ensure that camera module can work at the same time, ensureing the video frame of each camera module shooting has
Synchronism.It is possible to be main camera module by one of camera module configuration at least one set of camera module, use
All camera modules at least one set of camera module are installed in control to work at the same time.Thereby guarantee that the frame of shooting video is same
Step.And this synchronism can perfectly eliminate the shake in panoramic video splicing, the quality of video-see is improved, is reduced
The uncomfortable reaction such as dizziness that beholder produces.
Specifically, a camera module can include：Camera lens, lens mount, and integrated circuit plate.Camera lens installs mirror
On headstock；Integrated circuit plate is connected with lens mount.In the present embodiment, integrated circuit plate is located at lens mount bottom；Camera lens is used
In collection light information；Lens mount is used to support camera lens；Integrated circuit plate is used for the light information gathered according to camera lens, obtains figure
Respective handling is carried out as information, and to image information.
Here three kinds of situations can be included by carrying out respective handling to image information.Before these three situations are introduced, first
Introduce integrated circuit plate included in following camera module：
Image acquisition device, data transmission bus and message handler are included at least in integrated circuit plate.Image acquisition device
For catching the light entered from camera lens, image information is gathered.Message handler is used to carry out respective handling to image information.
Specifically, the output terminal of image acquisition device is connected with the input terminal of message handler：
The output terminal of message handler is connected with the input terminal of comprehensive treatment device by data transmission bus, wherein, figure
As comprehensive treatment device is external equipment.Explanation is needed exist for, Image Synthesis Processor is an external equipment, for example, being
One PC machine, or it is that by the terminal device to image procossing.Specifically what, is not limited here.
In the first case, if each camera module respectively sends out image information after image information is gathered
Send to Image Synthesis Processor, then, the message handler in the integrated circuit plate that each camera module includes is then
It is respectively used to image information being transmitted to Image Synthesis Processor (not shown) by data transmission bus, so that image is comprehensive
Processor is closed to be used to carry out integrated treatment to image information.Here Image Synthesis Processor carries out integrated treatment to image information,
What is referred in fact is exactly to be spliced and synthesized etc. respective handling to image information, so that the image finally synthesized can be presented entirely
Scape 3D effect.
In the second situation, the output terminal of image acquisition device is connected with the input terminal of message handler；It is at least one
The output terminal of the corresponding message handler of camera module in camera module in addition to main camera module is taken the photograph with master respectively
As the input terminal of the corresponding message handler of head mould group is connected；The output terminal of the corresponding message handler of main camera module,
It is connected by data transmission bus with the input terminal of comprehensive treatment device.
If at least one set of camera module includes a main camera module.So, at least one set of camera module
In the corresponding message handler of camera module in addition to main camera module be used for, the image information of collection is passed through into data
Transfer bus is transmitted in the corresponding message handler of main camera module；The corresponding message handler of main camera module is used for
The image information gathered respectively to all camera modules at least one set of camera module carries out image Compression, and uploads
To Image Synthesis Processor.
In the third situation, panorama 3D video cameras further include：Main information processor.Each camera module integrates
Include at least image acquisition device in circuit board, data transmission bus and divide message handler；The output terminal of image acquisition device with
The input terminal of message handler is divided to be connected：Input terminal of the output terminal of message handler respectively with main information processor is divided to be connected
Connect：The input terminal phase that the output terminal of the corresponding message handler of main camera module passes through data transmission bus and comprehensive treatment device
Connection, wherein, Image Synthesis Processor is external equipment.
So, if the message handler in integrated circuit plate being interpreted as point message handler, then, divide information processing
Device is used to image information being transmitted to main information processor by data transmission bus；
Main information processor is used to receive the figure that each camera module gathers respectively at least one set of camera module
Compression of images is carried out as information, and by the image information that each camera module gathers respectively at least one set of camera module
After processing, Image Synthesis Processor is uploaded to, so that Image Synthesis Processor is used to carry out integrated treatment to image information.
In order to enable the image of shooting that 360 ° of panoramic videos of vertical direction are preferably presented, and look around 360 ° of panorama 3D
Video.Need to do the installation site of camera module certain restriction.The camera module of the first mounting platform is installed on,
The camera module of the 3rd mounting platform is installed on, and is installed in the camera module of the second mounting platform, each is taken the photograph
As head mould group is mounted on default installation site.It that is to say that the installation site of camera module must is fulfilled for certain restriction bar
Part.Before qualifications are determined, the principle for realizing 3D imagings is introduced first.
Specifically, realize that the mode of 3D imagings is divided into two kinds substantially：Monocular stereo vision and binocular stereo vision.It is simple eye vertical
Body vision, which implies, includes two kinds：Focal adjustments and simple eye mobile parallax.Focal adjustments refer to people and are watching closer object (10m
Within) when, by the contraction of people's ciliary muscle so that while object blur-free imaging, brain can calculate the distance of object
(specific as shown in Figure 6).When simple eye mobile parallax refers to observer's movement, observed from observer apart from different objects
Movement velocity in person's eye differs, so as to obtain the context of object.
What binocular stereo vision mainly utilized is that two differences being imaged when same object is observed of people obtain
The context of object.It is more on the right of the object that right eye is seen since left eye sees that the left side of object is more, thus formed
Visual difference, i.e. binocular parallax, it is specific as shown in Figure 7.Binocular parallax is the physiological foundation for obtaining depth information.Currently
3D systems substantially use is all that the principle is imaged.In other words, as left eye and right eye are allowed respectively in same a period of time
Between see different images.
In the utility model embodiment, then 3D visual effects are produced using the second way.
In general, what a Zhang Quanjing figure represented is to be rotated by 360 ° to see pair in the horizontal direction around some point
The light information answered, as shown in figure 8, each arrow represents the light on a unique direction in Fig. 8, also correspond to panorama sketch
A certain row pixel.Light is more intensive (panorama sketch horizontal pixel is higher), represents that panoramic information is more complete.
And if to form 3D panoramas, it is necessary to which 2 similar panorama sketch correspond to right and left eyes respectively, but need to meet 2
Constraints：
1st, every figure must all record complete panoramic information, that is to say, that 360 degree have corresponding light；
2nd, (the row pixel for being presented as same position on the image) must be spatially two to right and left eyes in a same direction
A light for having parallax, can freely be set as this parallax is much.In order to meet the viewing of people custom, this 2 can be allowed
Light ray parallel and the distance between for human eye distance (human eye distance probably be 6.4cm).Specifically as shown in figure 9, in Fig. 9
In, the light that light and right eye that left eye can be seen can be seen is two light parallel to each other.As shown in Figure 9, it is real
Line represents the light that right eye can be seen, the light that dotted line can be seen for left eye.So each group parallel light represents empty
Between right and left eyes are seen on some upper unique direction light information.
After having above-mentioned model, we just need to design a kind of camera structure to capture all of right and left eyes needs
Light.But have a unavoidable problem, it is exactly actual video camera finite volume, we can not be that every light configures one
A camera.As shown in Figure 10, wherein inner circle be our model foundations imaginary circles, the cylindrical circle (half put for camera module
Footpath is R).
It should be noted that the shape that actually camera is put should not Seeking Truth circle, but circle symmetry be conducive to algorithm
Calculate, therefore, the shape that we are put using camera module is to be schematically illustrated as circle.
It is specific as shown in Figure 10, a in Figure 10, b, what c was represented is the light on 3 directions that right eye can be seen, a light
It can be obtained from A cameras, c light can also be obtained from C cameras, and due to camera volume, have no idea to put
B cameras are put to obtain b light.That is to say b light is actually what can not be obtained, missing.So, if without b light into
If entering camera, what image was probably just missing from, it is incomplete.And the problem of solving the problems, such as this method is exactly：Increase R
Value.Allow the distance between camera to become larger, be possible to configure a camera for each light.But if multi-configuration camera
If, production cost will necessarily be increased.So, in order on the premise of cost is not increased, then optical flow algorithm can be used (existing
A kind of algorithm in technology, be not described in detail here) calculate the value of b light.In other words, it is exactly to utilize A cameras and C cameras
The data provided, by optical flow algorithm, get the exact value of light b.It can be appreciated that pass through optical flow algorithm, simulation life
Into " virtual camera a B ".Limited camera can be thus utilized, obtains substantial amounts of panoramic rays.
In the utility model, by taking the first mounting platform as an example, when the first mounting platform installs m camera module, mainly
By the way of looking around m camera module and being uniformly equidistantly angularly placed in around panoramic apparatus.Each camera module mould
The distance at the first mounting platform of image acquisition device distance center of group is R, looks around 2 π of radian (360 °), then between camera module
Angle be：
In this configuration, the data between every two neighboring camera all will be at the same time for left eye and the light of right eye panoramic figure
Stream calculation, that is, reduce the distance between camera, also takes full advantage of the data of camera, be very suitable for radius it is larger or shooting
The larger structure in head mould group visual angle.
More preferable panorama 3D three-dimensional video-frequencies, above-mentioned camera structure should meet as far as possible on product structure in order to obtain
It is following to require：
A, the visual range of adjacent camera module should overlap each other to realize the splicing of panoramic video, this is overlapping
Part is more more more easy to be spliced into the image quality of high quality, but with the increase of lap, it is meant that using bigger wide-angle
Camera lens or the more camera modules of increase；
B, since the calculating of virtual camera needs to provide the data of adjacent 2 cameras at the same time, it requires adjacent cameras
Lap can cover all directions of inner circle right and left eyes, as shown in figure 11.Wherein, the point of pleft is labeled as in Figure 11
Point with pright is the dotted line and the maximum visual angle of camera module (being the camera module of center in figure) that radius is d
The intersection point of line.The meaning of the pleft occurred in Figure 12 and pright is identical, hereinafter will not be described in great detail.
C, the distance between adjacent camera module should be small as far as possible, to increase between camera into row interpolation light field
The accuracy of calculating；Possess optimal video image quality, but such demand generally means that and uses more cameras
Module.
According to requirements above, visual range FOV (field of view) γ, panorama 3D video cameras 3D of camera module
Splice radius d, the relation between right and left eyes inner circle radius r, human eye vision subtended angle β can be represented with Figure 12.And then γ, d, r, m with
And the formula restriction relation of β is as shown in formula 1：
By formula it can be seen that：It is deployed in the m camera module number on panorama 3D the first mounting platforms of video camera top
More, the horizontal viewable angle beta of each camera module is smaller, but more camera module number can cause equipment overall
The increase of cost and the volume of equipment especially shoot significantly increasing for radius.Specifically as shown in formula 2- formula 6：
b2=d2+R2- 2dR cos β (formula 2)
Due to：
That is, γ, d, r, m, R and the β of panorama 3D video cameras meets formula 1, formula 2, formula 3 and the grade of formula 64 at the same time
During a formula, you can carry out 3D according to the video information that optical flow algorithm and video-splicing algorithm collect m camera module
The splicing of panoramic video.
In addition, on the basis of above formula, appropriate simplification can be carried out.It is specific as shown in figure 13：Overlap this
Angle represents the lap of two neighboring camera view, this angle is determined by camera fov (γ) and distance d.Because actual clap
It is all larger to take the photograph scene, that is, d is significantly larger than R, this when, we can approximately think to be equal to 0 by R that (wherein, algorithm can
Tolerate this approximation), i.e., the optical center of all cameras is all located at same point.In this case:
Meanwhile
By formula 7 to formula 9, this 3 formula are combined together and can obtain：
Assuming that r=3.2, then need to meet：When, the splicing of 3D panoramas could be carried out.
Certainly, above-described embodiment is only to illustrate when the first mounting platform installs at least one set of camera module, each
The definite formula of the installation site of camera module.In the following, it will respectively introduce in the second mounting platform and put down in the 3rd installation
During platform installation at least one set camera module, the definite formula and explanation of the installation site of each camera module.It is specific as follows：
When the second mounting platform of panorama 3D video cameras installs at least one camera module, at least one camera module
The explanation of installation site and angle and formula is limited as (it is second that this, which sentences and is installed on the mounting platform on the first mounting platform top,
Illustrated exemplified by mounting platform):
vfov1For the vertical direction visible angle for looking around m camera module on the first mounting platform；
vfov2For the vertical direction visible angle of the upward n camera module on the second mounting platform；
M1To look around one of m camera module on the first mounting platform, herein sequence number 1 only for convenience of explanation, not
Do the restriction of the specific camera module on the first mounting platform；
N1For one of upward n camera module on the second mounting platform, herein sequence number 1 only for convenience of explanation, not
Do the restriction of the specific camera module on the second mounting platform；
θ2For the mounting inclination angle degree of the upward n camera module on the second mounting platform；
Rv2For n camera module vertical direction on m camera module on the first mounting platform and the second mounting platform
Video-splicing radius；
R is the radius that panorama 3D camera centers look around m camera module sensor to the first mounting platform.
Based on above parameter setting, front view and the parameter mark of panorama 3D video cameras are as shown in figure 14, shown in Figure 14
Front view is mainly used for the calculating for illustrating apex angles, and specific formula is as follows：.
Therefore, the formula condition for forming panoramic video is：
=>
Except vertical direction, need to meet following condition just at the same time between the n camera module on panorama 3D video cameras top
It can guarantee that the image collected between n camera module can carry out panorama 3D calculating, parameter declaration is as follows：
N is the camera module number of the second mounting platform of panorama 3D video cameras top：
hfov2For the horizontal direction visible angle of n camera module on the second mounting platform；
N1And N2For two camera modules of arbitrary neighborhood among n camera module on the second mounting platform, herein
Sequence number 1,2 only for convenience of explanation, does not do the restriction of the specific camera module on the second mounting platform, as long as guarantee is adjacent i.e.
Can；
Rh2For the video-splicing radius of n camera module horizontal direction on the second mounting platform；
R is the radius that panorama 3D camera centers look around m camera module sensor to the first mounting platform；
Based on above parameter setting, top view and the parameter mark of panorama 3D video cameras are as shown in figure 15.
Therefore, the formula condition for forming panoramic video is：
The explanation and restriction of panorama 3D video cameras lower part x camera module installation site of the 3rd mounting platform and angle are public
Formula (this sentence installed in the first mounting platform lower part mounting platform be the 3rd mounting platform exemplified by illustrate)：
vfov1For the vertical direction visible angle for looking around m camera module on the first mounting platform；
vfov3For the vertical direction visible angle of the downward x camera module on the 3rd mounting platform；
M1To look around one of m camera module on the first mounting platform, herein sequence number 1 only for convenience of explanation, not
Do the restriction of the specific camera module on the first mounting platform；
X1For one of downward x camera module on the 3rd mounting platform, herein sequence number 1 only for convenience of explanation, not
Do the restriction of the specific camera module on the 3rd mounting platform；
θ3For the mounting inclination angle degree of the downward x camera module on the 3rd mounting platform；
Rv3Hang down for the downward x camera module in m camera module and the 3rd mounting platform on the first mounting platform
Nogata to video-splicing radius；
R is the radius that panorama 3D camera centers look around m camera module sensor to the first mounting platform；
Based on above parameter setting, the front view and parameter of panorama 3D video cameras mark, as shown in figure 16, shown in Figure 16
Front view is mainly used for the calculating for illustrating bottom angle, and specific formula is as follows：
Therefore, the formula condition for forming panorama 3D videos is：
=>
Except vertical direction, need at the same time to meet such as between x camera module of the 3rd mounting platform of panorama 3D video cameras
Lower condition just can guarantee that the image collected between x camera module can carry out panorama 3D calculating：
X is the number for the camera module that panorama 3D video cameras are installed on the 3rd mounting platform；
fov3For the horizontal direction visible angle of the downward x camera module on the 3rd mounting platform；
X1And X2For two camera modules of arbitrary neighborhood among the downward x camera module on the 3rd mounting platform,
Sequence number 1,2 only for convenience of explanation, does not do the restriction of the specific camera module on the first mounting platform herein, as long as ensureing phase
Neighbour；
R3For the video-splicing radius of the downward x camera module horizontal direction on the 3rd mounting platform；
R is the radius that panorama 3D camera centers look around m camera module sensor to the first mounting platform；
Based on above parameter setting, bottom view and the parameter mark of panorama 3D video cameras are as shown in figure 17：
Therefore, the formula condition for forming panorama 3D videos is：
The video-splicing of the above-mentioned n camera module vertical direction on panorama 3D the second mounting platforms of video camera half
Footpath Rv2, n camera module horizontal direction of the second mounting platform video-splicing radius Rh2, the shooting of the 3rd mounting platform x
The video-splicing radius R of head mould group vertical directionv3, the 3rd x camera module horizontal direction of mounting platform video-splicing half
Footpath Rh3And panorama 3D camera centers look around the radius r of m camera module sensor, these parameters to the first mounting platform
Be not described by formula, it is meant that no matter Rv2、Rh2、Rv3、Rh3And the concrete numerical value of r, as long as meeting above-mentioned formula
The panoramic shooting equipment of the panorama 3D video effects of formation, in the range of this patent.
It should also be noted that, in the present embodiment, always it is emphasised that panorama 3D video cameras include the first mounting platform,
Second mounting platform and the 3rd mounting platform.And in practical applications, it can only include the first mounting platform, or first in fact
Any combination between mounting platform and other mounting platforms.Even, multiple mounting platforms can also be included.
In addition, in the above embodiment of the present invention, the top of the first mounting platform is only installed on the second mounting platform,
3rd mounting platform illustrates exemplified by being installed on the lower part of the first mounting platform, but is not limited thereto.Here first,
Two and the 3rd are to discriminate between different platforms, and are not intended to the order of actual restriction platform.And the installation side of camera module
Formula is also not necessarily limited to installed in the upper and lower part of mounting platform, can also be installed on the other positions such as the side of mounting platform.This
In be not limited in any way.And how many a camera modules are installed on mounting platform can equally set according to actual conditions,
0 camera module can be in other words installed on mounting platform, a camera module, or installation at least two are installed
Camera module etc..
A kind of panorama 3D video cameras provided by the utility model, using at least one set of camera module, each group is pacified respectively
It is placed in the diverse location of bearing plate, including upper and lower and level orientation.By each group of camera module, can obtain respectively
The image information of different angle, and " shooting blind angle amount " problem is avoided as far as possible, the image information of different angle is handled
Afterwards, the panoramic video after final synthesis can realize 3D effect.Camera module is more, and image resolution ratio is higher.By this reality
, can at utmost and the high-resolution actual scenery of reduction with the panorama 3D video cameras of new offer.Meanwhile camera module
Light succinct, cost is low, and the panorama 3D video cameras portability of composition is high.
Reader should be understood that in the description of this specification, reference term " one embodiment ", " some embodiments ", " show
The description of example ", " specific example " or " some examples " etc. means to combine the specific features that the embodiment or example describe, ties
Structure, material or feature are contained at least one embodiment or example of the utility model.In the present specification, to above-mentioned art
The schematic representation of language need not be directed to identical embodiment or example.Moreover, description specific features, structure, material or
Person's feature may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, in not conflicting feelings
Under condition, those skilled in the art by the different embodiments or example described in this specification and different embodiment or can show
The feature of example is combined and combines.
Although the embodiment of the utility model has been shown and described above, it is to be understood that above-described embodiment is
Exemplary, it is impossible to the limitation to the utility model is interpreted as, those of ordinary skill in the art are in the scope of the utility model
It is interior above-described embodiment to be changed, changed, replaced and modification.
Claims (10)
1. a kind of panorama 3D video cameras, it is characterised in that the panorama 3D video cameras include:
At least one set of camera module and bearing plate, wherein, the bearing plate includes at least the first mounting platform；
Each camera module at least one set camera module is mounted on first mounting platform, wherein,
Each camera module camera lens in the camera module is and horizontal direction parallel.
2. panorama 3D video cameras according to claim 1, it is characterised in that when the camera module number is at least two groups
When, the bearing plate further includes the second mounting platform, and second mounting platform and at least one set of camera module are installed on institute
State the first mounting platform top or lower part；
In at least two groups of camera modules, the shooting head mould in addition to the camera module for being installed on first mounting platform
Group is installed on second mounting platform, wherein, it is installed on each in the camera module of second mounting platform and images
The camera lens of head mould group is from the horizontal by the first predetermined angle.
3. panorama 3D video cameras according to claim 2, it is characterised in that when the camera module includes at least three groups
When, except being installed on the camera module of first mounting platform, and be installed on the second mounting platform camera module it
Outer module, is installed on the 3rd mounting platform, wherein, the 3rd mounting platform is installed on first mounting platform, and
The position with second mounting platform opposition is installed on, is installed on each in the camera module of the 3rd mounting platform
Camera module is from the horizontal by the second predetermined angle.
4. according to claim 1-3 any one of them panorama 3D video cameras, it is characterised in that at least one set of shooting head mould
Group includes a main camera module.
5. panorama 3D video cameras according to claim 4, it is characterised in that at least one set camera module, often
Include in one camera module：Camera lens, lens mount, and integrated circuit plate；
The camera lens is installed on the lens mount；
The integrated circuit plate is connected with the lens mount.
6. panorama 3D video cameras according to claim 5, it is characterised in that figure is included at least in the integrated circuit plate
As collector, data transmission bus and message handler；
The output terminal of described image collector is connected with the input terminal of described information processor：
The output terminal of described information processor is connected by the data transmission bus with the input terminal of Image Synthesis Processor
Connect, wherein, described image comprehensive treatment device is external equipment.
7. panorama 3D video cameras according to claim 5, it is characterised in that the integrated electricity of each camera module
Image acquisition device, data transmission bus and message handler are included at least in the plate of road；
The output terminal of described image collector is connected with the input terminal of described information processor；
The corresponding information processing of camera module at least one camera module in addition to the main camera module
The input terminal of the output terminal of device message handler corresponding with the main camera module respectively is connected；
The output terminal of the corresponding message handler of the main camera module, at the data transmission bus and image synthesis
The input terminal of reason device is connected, wherein, described image comprehensive treatment device is external equipment.
8. panorama 3D video cameras according to claim 6, it is characterised in that the panorama 3D video cameras further include：Main letter
Cease processor；
Image acquisition device, data transmission bus and point letter are included at least in the integrated circuit plate of each camera module
Cease processor；
The output terminal of described image collector is connected with the input terminal for dividing message handler：
Input terminal of the output terminal of described point of message handler respectively with the main information processor is connected：
The output terminal of the main information processor is by the data transmission bus, the input terminal with described image comprehensive treatment device
It is connected, wherein, described image comprehensive treatment device is external equipment.
9. panorama 3D video cameras according to claim 3, it is characterised in that described to be installed on first mounting platform
Camera module, is installed on the camera module of second mounting platform, and is installed on the camera of the 3rd mounting platform
In module, each camera module is mounted on default installation site.
10. panorama 3D video cameras according to claim 3, it is characterised in that described to be installed on taking the photograph for the second mounting platform
As head mould group, and the camera module for being installed on the 3rd mounting platform, including at least one camera module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720527011.4U CN207369147U (en) | 2017-05-12 | 2017-05-12 | A kind of panorama 3D video cameras |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720527011.4U CN207369147U (en) | 2017-05-12 | 2017-05-12 | A kind of panorama 3D video cameras |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207369147U true CN207369147U (en) | 2018-05-15 |
Family
ID=62424927
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720527011.4U Active CN207369147U (en) | 2017-05-12 | 2017-05-12 | A kind of panorama 3D video cameras |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207369147U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107087155A (en) * | 2017-05-12 | 2017-08-22 | 北京都是科技有限公司 | A kind of panorama 3D video cameras |
-
2017
- 2017-05-12 CN CN201720527011.4U patent/CN207369147U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107087155A (en) * | 2017-05-12 | 2017-08-22 | 北京都是科技有限公司 | A kind of panorama 3D video cameras |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107087155A (en) | A kind of panorama 3D video cameras | |
| CN102903090B (en) | Panoramic stereo image synthetic method, device, system and browsing apparatus | |
| CN107038724A (en) | Panoramic fisheye camera image correction, synthesis and depth of field reconstruction method and system | |
| US8908054B1 (en) | Optics apparatus for hands-free focus | |
| CN105684415A (en) | Spherical omnidirectional video-shooting system | |
| JP2017505565A (en) | Multi-plane video generation method and system | |
| CN102164298A (en) | Method for acquiring element image based on stereo matching in panoramic imaging system | |
| JP2004514951A (en) | Spherical stereoscopic imaging system and method | |
| JP4928476B2 (en) | Stereoscopic image generating apparatus, method thereof and program thereof | |
| CN206117890U (en) | 360 degrees virtual reality imaging system in panorama | |
| CN107995421A (en) | A kind of panorama camera and its image generating method, system, equipment, storage medium | |
| CN101540822A (en) | Device and method for high-resolution large-viewing-field aerial image forming | |
| CN109428987A (en) | A kind of 360 degree of stereo photographic devices of wear-type panorama and image pickup processing method | |
| CN103959770A (en) | Image processing device, image processing method and program | |
| CN204681518U (en) | A kind of panorama image information collecting device | |
| CN205792939U (en) | Pisces Eye imaging device for panoramic camera | |
| CN112040140A (en) | Wide-view-field high-resolution hybrid imaging device based on light field | |
| CN207369147U (en) | A kind of panorama 3D video cameras | |
| CN103235478B (en) | System, device, image processing method and apparatus for circular-screen stereographic image capturing | |
| JP3676916B2 (en) | Stereoscopic imaging device and stereoscopic display device | |
| KR101556741B1 (en) | The apparatus and method of camera placement and display for free viewpoint video capture | |
| CN104469340A (en) | Stereoscopic video co-optical-center imaging system and imaging method thereof | |
| CN102323713A (en) | Portable 360-DEG circular-screen 3D theatre system | |
| CN201178472Y (en) | Three-dimensional video taking apparatus capable of direct playing on ordinary video playing apparatus | |
| CN102466961B (en) | Method for synthesizing stereoscopic image with long focal length and stereoscopic imaging system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |