CN211047088U - Positionable panoramic three-dimensional imaging system - Google Patents
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- CN211047088U CN211047088U CN202020270212.2U CN202020270212U CN211047088U CN 211047088 U CN211047088 U CN 211047088U CN 202020270212 U CN202020270212 U CN 202020270212U CN 211047088 U CN211047088 U CN 211047088U
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Abstract
The utility model provides a panorama three-dimensional imaging system that can fix a position belongs to an image acquisition system, including the camera control equipment to and two at least spherical camera devices, spherical camera device includes at least three lens group, is used for receiving the image sensor of camera lens group light signal, and the data processing unit, camera control equipment is used for controlling all spherical camera devices to shoot the target point simultaneously; the two spherical cameras respectively form a first panorama and a second panorama, the first panorama and the second panorama have shooting overlapping areas, and a target point is located in the shooting overlapping areas; the problem of when target location point and imaging system are in the both sides of transparent object, because laser or structured light can take place reflection and refraction through transparent object surface, influence the intensity or the direction of laser or structured light, lead to the measurement of target location point to appear the error, can't fix a position the target point that the actual field of vision is visible is solved.
Description
Technical Field
The utility model relates to an image acquisition system especially relates to a panorama three-dimensional imaging system that can fix a position.
Background
At present, in the field of court science, in case site investigation or in criminal photography, the recording and reproduction of court sites, case sites and crime sites are mainly realized by shooting and recording the scenes by various camera systems (machines), wherein the scenes are two-dimensional video image records, and data, information and traces are two-dimensional. The law enforcement departments such as public security in China and the like urgently need to apply the three-dimensional panoramic image technology in the scene of on-site investigation, make up the short board of the traditional criminal photography two-dimensional image, and improve the efficiency of case analysis, case situation research and judgment and case-merging investigation.
The patent of the present application publication No. CN110381306A provides a spherical three-dimensional panoramic imaging system, which includes a sphere, at least three lens groups, an image sensor corresponding to the lens groups, a data processing unit, a storage module, and a power module, wherein the real focal points of the lens groups are located at the center of the sphere, and the image sensor is located at the imaging surface of the lens groups.
The imaging system can form a three-dimensional panorama, and the distance between any point in the three-dimensional panorama and the spherical center of the imaging system can be measured by adopting methods such as structured light panorama measurement or laser scanning panorama measurement.
However, the above technical solutions have the following problems: when the target location point and the imaging system are located at two sides of a transparent object (such as glass), the measurement of the target location point has errors due to the fact that the laser or the structured light is reflected and refracted by the surface of the transparent object to influence the intensity or direction of the laser or the structured light, and a target point with a visible actual view cannot be located, so that improvement is needed.
Disclosure of Invention
Therefore, the present invention is directed to a positionable panoramic three-dimensional imaging system to solve the above technical problems.
The above technical purpose of the present invention can be achieved by the following technical solutions:
a localizable panoramic three-dimensional imaging system comprises a shooting control device and at least two spherical shooting devices, wherein each spherical shooting device comprises at least three lens groups, an image sensor for receiving optical signals of the lens groups and a data processing unit, and the shooting control device is used for controlling all the spherical shooting devices to shoot target points simultaneously;
the two spherical cameras respectively form a first panorama and a second panorama, the first panorama and the second panorama have shooting overlapping areas, and the target point is located in the shooting overlapping areas.
Preferably, the spherical camera devices are provided in three numbers, and the centers of the three spherical camera devices are not on the same straight line.
Preferably, the image pickup control apparatus transmits a voltage signal to a plurality of spherical image pickup devices at the same time at the time of shooting.
The utility model provides a pair of panorama three-dimensional imaging system that can fix a position has following advantage:
1. the first panorama and the second panorama formed by shooting by using the two spherical cameras can accurately position the coordinates of target points in the overlapping area of the two panorama shots;
2. the three spherical camera devices can solve the special condition when the target point is positioned between the connecting lines of the two spherical camera devices so as to further expand the positioning range;
3. the plurality of spherical cameras shoot simultaneously, so that the formed panorama is ensured to be instantly consistent, and the time error caused by shooting at different places for a plurality of times by one spherical camera is reduced.
Drawings
Fig. 1 is a schematic structural view of a spherical camera device of the present invention;
fig. 2 is a three-dimensional sectional view of the spherical camera device of the present invention;
fig. 3 is a schematic diagram of a three-dimensional coordinate system XYZ of the present invention;
fig. 4 is a flowchart illustrating the steps of the positioning method according to the present invention.
The reference numerals in the figures are explained below:
1. a sphere; 2. a lens group; 3. an image sensor; 4. a data processing unit; 5. a storage unit; 6. and a power supply module.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
At present, the shooting methods adopted by law enforcement departments such as public security and the like in China for on-site investigation comprise several methods, one method is to use the same camera to shoot a target point at a plurality of angles respectively so as to form a plurality of pictures surrounding the target point, and the other method is to use a plurality of cameras to shoot the target point at different angles so as to form a plurality of pictures of the target point at the same time.
The second method is superior to the first method in terms of timeliness, but even the second method has a disadvantage that the photos displayed by the camera are local, and all angles of the scene cannot be checked in one photo, that is, the camera cannot shoot the situation behind the scene, and if the position of the object behind the camera needs to be observed in the subsequent investigation work, the photos shot by the camera cannot be provided with investigation assistance only.
Therefore, in the invention patent with application publication number CN110381306A, a spherical three-dimensional panoramic imaging system is provided, which can shoot all objects in the survey scene to form a three-dimensional panorama, and can measure the distance between any point in the three-dimensional panorama and the spherical center of the imaging system by using methods such as structured light panorama measurement or laser scanning panorama measurement.
However, when the target location point and the imaging system are located on two sides of a transparent object (e.g., glass), the laser or the structured light is reflected and refracted by the surface of the transparent object, which affects the intensity or direction of the laser or the structured light, resulting in an error in the measurement of the target location point, and a target point with a visible actual view cannot be located.
For solving foretell "the ordinary camera can't accomplish the all-round shooting of inspection scene" and "the unable location" these two problems of the location when transparent barrier appears of reply of current spherical three-dimensional panoramic imaging system simultaneously, the utility model provides a panoramic three-dimensional imaging system that can fix a position specifically as follows.
A positionable panoramic three-dimensional imaging system, as shown in fig. 1-4, includes a camera control apparatus, and at least two spherical cameras.
The spherical image pickup device includes a sphere 1, and at least three lens groups 2, preferably thirty-six or seventy-two lens groups 2, are mounted on the surface of the sphere 1.
The lens groups 2 are equidistantly and uniformly distributed on the surface of the sphere 1, each lens group 2 has a real focus and an imaging surface, the real focus of each lens group 2 is collected at the center of the sphere 1, and the lens group 2 is used for collecting scenes in the area where the lens group is responsible for and shooting to form images.
The image sensors 3 with the same number as the lens groups 2 are arranged inside the sphere 1 and are in one-to-one correspondence with the lens groups 2, and the image sensors 3 are located at the imaging surfaces of the corresponding lens groups 2 and are used for receiving optical signals of the lens groups 2 and converting the optical signals into electrical signals.
A data processing unit 4, a storage module and a power supply module 6 are also arranged in the sphere 1.
The data processing unit 4 is electrically connected with all the image sensors 3, receives the electric signals transmitted by part or all the image sensors 3, and can control all the lens groups 2 to collect scene image sets in the responsible regions at the same time.
And the storage module is electrically connected with the data processing unit 4 and receives and stores the scene image set output by the data processing unit 4.
And the power module 6 is connected with the lens group 2, the data processing unit 4 and the storage module and is used for supplying power to the lens group 2, the data processing unit 4 and the storage module.
The shooting control equipment is used for controlling all the spherical shooting devices to shoot a target point at the same time, and simultaneously sending voltage signals to the spherical shooting devices when shooting is carried out, so that the shooting time interval of each spherical shooting device is not more than 100 milliseconds, the time uniformity of a panoramic three-dimensional scene formed by all the spherical shooting devices is improved, and the positioning error caused by the change of multiple factors such as light rays and object positions due to shooting time errors is avoided.
Except for the special condition that the target point is positioned on the connecting line of the two camera devices, the positioning of any target point in the space can be completed by utilizing the two camera devices.
The two spherical cameras respectively form a first panorama and a second panorama, the first panorama and the second panorama have shooting overlapping areas, and a target point is located in the shooting overlapping areas.
The first panorama and the second panorama are imagined into a huge sphere, the first panorama and the second panorama are observed in a computer system, namely the panorama which is equivalent to a space observed by a human body at the center of the huge sphere, if a certain direction is determined as an initial direction, a ray is made from the center of a sphere of a first spherical camera to a target point, the direction of the ray can be determined through the first panorama and the initial direction, a ray is made from the center of a sphere of a second spherical camera to the target point, the direction of the ray can also be determined through the second panorama and the initial direction, so that the direction vectors of the two rays can be determined, and the intersection point coordinate of the ray can also be determined, thereby determining the coordinate of the target point.
The above is an implementation principle of positioning coordinates of a space target point by using two spherical cameras.
However, if the target point is located on the straight line where the centers of the two spherical cameras are located, the two rays formed above are on the same straight line, and thus the intersection points are numerous, and the coordinates of the target point cannot be determined.
Therefore, the utility model discloses further optimize, spherical camera device is provided with threely, and three spherical camera device's centre of sphere is not on same straight line.
Therefore, even if the target point is located at the connecting line of the sphere centers of two spherical camera devices, any one of the spherical camera devices can be replaced by the third spherical camera device to position the coordinate of the target point.
In the above solution, the key point of the problem to be solved in the present invention is a specific method for determining the direction vectors of two rays through two spherical cameras and then determining the coordinates of a target point with the direction vectors.
Therefore, the utility model provides a panorama three-dimensional imaging system's that can fix a position method is still provided, and the panorama three-dimensional imaging system that can use this positioning method includes two at least spherical camera devices including first spherical camera device and the spherical camera device of second, and first spherical camera device and the spherical camera device of second shoot simultaneously, form first panorama and second panorama respectively.
The positioning method for positioning the coordinates of the target point in the space specifically comprises the following steps:
s1, mounting the first spherical camera device and the second spherical camera device to the first panorama and the second panorama, wherein the first panorama and the second panorama both comprise a target point P1(x, y, z);
before installation, the position of a first target point of a surveyed site is determined, and then a first spherical camera device and a second spherical camera device are installed near the position;
s2, establishing a three-dimensional coordinate system XYZ by taking any point in space as a coordinate origin O (0,0,0), and obtaining a sphere center coordinate D of the first spherical imaging device by performing on-site measurement1(a1,b1,c1) Center coordinates D of the second spherical camera2(a2,b2,c2)；
The coordinate origin is usually selected at a corner photographed in a space, for example, if photographing is performed in a room, any wall corner of the room can be selected as the coordinate origin O (0,0,0), so that the coordinates of the centers of sphere of the first spherical camera and the second spherical camera and the coordinates of the target point are all located in the same spatial quadrant;
s3, determination of D1P1One direction vector of the straight line is obtained, and the symmetrical equation (1) of the straight line is obtained through the direction vector, and the method specifically comprises the following steps:
s31, establishing a three-dimensional coordinate system X by taking the sphere center of the first spherical camera as a coordinate origin1Y1Z1；
S32, in Z1The shaft is a rotating shaft and rotates Y1D1Z1The plane to which the target point P passes1The required angle of rotation of (x, y, z) is α1With X1The shaft is a rotating shaft and rotates X1D1Y1The plane to which the target point P passes1The required rotation angle is β1；
S33, obtaining D1P1One of the direction vectors of the straight line is (cos β)1×sinα1,-sinβ1,cosβ1×cosα1)；
And, D1P1The equation of symmetry of the straight line is expressed as:
s4, determination of D2P1One direction vector of the straight line is obtained, and a symmetrical equation (2) of the straight line is obtained through the direction vector, and the method specifically comprises the following steps:
s41, establishing a three-dimensional coordinate system X by taking the sphere center of the second spherical camera as a coordinate origin2Y2Z2；
S42, in Z2The shaft is a rotating shaft and rotates Y2D2Z2The plane to which the target point P passes1The required rotation angle is α2With X2The shaft is a rotating shaft and rotates X2D2Y2The plane to which the target point P passes1The required rotation angle is β2；
S43, obtaining D2P1One of the direction vectors of the straight line is (cos β)2×sinα2,-sinβ2,cosβ2×cosα2)；
And, D2P1The equation of symmetry of the straight line is expressed as:
s5, simultaneous equation (1) and equation (2), and solving to obtain (x, y, z), namely the target point P1Coordinates in a three-dimensional coordinate system XYZ.
In the above, X1Axis, X2The axis being parallel to the X-axis, Y1Axis, Y2The axis being parallel to the Y axis, Z1Axis, Z2The axis is parallel to the Z axis.
Similarly, the above-mentioned positioning method cannot position the target point on the connecting line of the first spherical camera and the second spherical camera.
Therefore, in the positioning method, the panoramic three-dimensional imaging system is provided with three spherical cameras, namely a first spherical camera, a second spherical camera and a third spherical camera, and the panoramic three-dimensional imaging system can position the coordinates of any target point in the space.
Following to simultaneously require several target points P to the space1、P2、P3The positioning is performed to illustrate how to realize the positioning work of any target point in the space, wherein, P1On the line where the sphere centers of the first spherical camera and the second spherical camera are connected, P2On the straight line of the connecting line of the sphere centers of the first spherical camera device and the third spherical camera device, P3And the spherical center connecting line of the second spherical camera and the third spherical camera is positioned on the straight line.
The target point P can be positioned by using the combination of the first spherical camera device and the third spherical camera device or the combination of the second spherical camera device and the third spherical camera device and the positioning method1The coordinates of (a).
By using the combination of the first spherical camera and the second spherical camera or the combination of the first spherical camera and the third spherical camera and the positioning method, the target point P can be positioned2The coordinates of (a).
By using the combination of the first spherical camera and the second spherical camera or the combination of the second spherical camera and the third spherical camera and the positioning method, the target point P can be positioned3The coordinates of (a).
Therefore, the problem that when only two spherical cameras are arranged, when a target point is positioned on a connecting line of the spherical centers of the two spherical cameras, the target point cannot be positioned is solved.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (3)
1. A positionable panoramic three-dimensional imaging system is characterized by comprising a shooting control device and at least two spherical shooting devices, wherein each spherical shooting device comprises at least three lens groups, an image sensor for receiving optical signals of the lens groups and a data processing unit, and the shooting control device is used for controlling all the spherical shooting devices to shoot target points simultaneously;
the two spherical cameras respectively form a first panorama and a second panorama, the first panorama and the second panorama have shooting overlapping areas, and the target point is located in the shooting overlapping areas.
2. The positionable panoramic three-dimensional imaging system of claim 1, wherein three spherical cameras are provided, and the centers of the three spherical cameras are not on the same line.
3. The positionable panoramic three-dimensional imaging system of claim 1, wherein the camera control apparatus sends voltage signals to a plurality of spherical cameras simultaneously while taking a photograph.
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| CN111866488A (en) * | 2020-07-23 | 2020-10-30 | 深圳市福莱斯科数据开发有限公司 | Editing system and editing method based on panoramic image |
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| CN111866488A (en) * | 2020-07-23 | 2020-10-30 | 深圳市福莱斯科数据开发有限公司 | Editing system and editing method based on panoramic image |
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Address after: 518000 Room 403, building 4, Shenzhen software industry base, No. 19, 17 and 18, Haitian 1st Road, Binhai community, Yuehai street, Nanshan District, Shenzhen, Guangdong Patentee after: Shenzhen man machine consensus Technology Co.,Ltd. Address before: 518000 floor 3, complex building of Shenzhen Virtual University industrialization base, No. 2, Yuehai street, Nanshan District, Shenzhen, Guangdong Province Patentee before: Shenzhen Mobile Internet Research Institute Co.,Ltd. |
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