WO2018081924A1 - Method, system and photographing device for generating panoramic image - Google Patents
Method, system and photographing device for generating panoramic image Download PDFInfo
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- WO2018081924A1 WO2018081924A1 PCT/CN2016/104232 CN2016104232W WO2018081924A1 WO 2018081924 A1 WO2018081924 A1 WO 2018081924A1 CN 2016104232 W CN2016104232 W CN 2016104232W WO 2018081924 A1 WO2018081924 A1 WO 2018081924A1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
- G06T3/40—Scaling the whole image or part thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- Embodiment 1 is a flowchart of a method for generating a panoramic image according to Embodiment 1 of the present invention.
- the mapping module 13 is configured to perform a correspondence between the lens imaging height and the angle of view of the lens according to the lens
Abstract
Provided are a method, a system and a photographing device for generating a panoramic image. The method comprises: pre-establishing a spherical panoramic mathematical model (S101); acquiring two images by two lenses of a photographing device (S102); mapping the two images into the spherical panoramic mathematical model according to a correspondence between a lens imaging height and the size of a field of view (S103); and fusing an overlapping area of the two images in the spherical panoramic mathematical model so that the two images are spliced into a spherical panoramic image covering all viewing angles in both horizontal and vertical directions (S104). The above method is suitable for a photographing device that has two lenses which are not coaxially arranged in a fore-and-aft manner. The method can collect a complete panoramic image at one time, record panoramic video, acquire panorama images more completely and efficiently, and greatly simplify the user operation flow and reduce the cost of panoramic shooting, thereby maximizing the information capturing capabilities of the photographing device and enabling the device to possess the ability to completely save the scene.
Description
一种全景图像的生成方法、 系统及拍摄装置 技术领域 Method, system and photographing device for generating panoramic image
[0001] 本发明属于拍摄领域， 尤其涉及一种全景图像的生成方法、 系统及拍摄装置。 [0001] The present invention belongs to the field of photography, and in particular, to a method, system, and imaging apparatus for generating a panoramic image.
背景技术 Background technique
[0002] 全景相机需要采用两个镜头， 并结合相应的全景图像生成方法以达到全景拍摄 之目的； 然而， 现有技术的全景相机包括的两个镜头是采用前后同轴心设置， 这种同轴心设置形式可以达成全景拍摄的目的， 但同轴心设置镜头在同等镜头 尺寸情况下， 会使全景相机的厚度尺寸加大， 无法达到外形小巧便携之便利性 。 现有技术没有提出两个镜头不是采用前后同轴心设置的拍摄装置， 也没有提 出适用于这类拍摄装置的全景图像生成方法。 [0002] The panoramic camera needs to adopt two lenses, and combines corresponding panoramic image generation methods to achieve the purpose of panoramic shooting; however, the prior art panoramic camera includes two lenses which are arranged with front and rear concentricity. The axis setting form can achieve the purpose of panoramic shooting, but the concentric lens setting lens will increase the thickness of the panoramic camera in the case of the same lens size, and the compact and portable convenience cannot be achieved. The prior art does not propose that the two lenses are not a camera set with a front and rear concentric arrangement, nor does it propose a panoramic image generation method suitable for such a camera.
技术问题 technical problem
[0003] 本发明的目的在于提供一种全景图像的生成方法、 系统及拍摄装置， 旨在解决 现有技术没有提出适用于两个镜头不是采用前后同轴心设置的拍摄装置的全景 图像生成方法的问题。 [0003] An object of the present invention is to provide a method, a system, and a photographing apparatus for generating a panoramic image, which are intended to solve the problem that the prior art does not propose a panoramic image generating method suitable for a photographing apparatus in which two lenses are not arranged with a front-rear concentric arrangement. The problem.
问题的解决方案 Problem solution
技术解决方案 Technical solution
[0004] 第一方面， 本发明提供了一种全景图像的生成方法， 所述方法包括： [0004] In a first aspect, the present invention provides a method for generating a panoramic image, where the method includes:
[0005] 预先建立球形全景数学模型， 所述球形全景数学模型以拍摄装置的呈前后背对 背方式设置的两个视场角大于 180度的镜头的空间位置的中心对称点为球心， 以 所述两个镜头所能够采集到的视场角分别得到的球冠组合成球面； [0005] a spherical panoramic mathematical model is established in advance, wherein the spherical panoramic mathematical model is a center of symmetry of a spatial position of a lens having two angles of view greater than 180 degrees, which are disposed in a front-to-back manner of the photographing device, in a back-to-back manner, The spherical crowns obtained by the angles of view of the two lenses can be combined into a spherical surface;
[0006] 通过拍摄装置的两个镜头采集两幅图像； [0006] acquiring two images by two lenses of the photographing device;
[0007] 根据镜头的镜头成像高度和视场角大小之间的对应关系， 将两幅图像映射到球 形全景数学模型中； [0007] mapping the two images into the spherical panoramic mathematical model according to the correspondence between the lens imaging height of the lens and the angle of the field of view;
[0008] 对球形全景数学模型中的两幅图像的重叠区域做融合， 从而将两幅图像拼接成 覆盖了水平和竖直方向所有视角方位的球面全景图像。 [0008] The overlapping regions of the two images in the spherical panoramic mathematical model are fused, thereby splicing the two images into a spherical panoramic image covering all the viewing angles of the horizontal and vertical directions.
[0009] 第二方面， 本发明提供了一种全景图像的生成系统， 所述系统包括：
[0010] 模型建立模块， 用于建立球形全景数学模型， 所述球形全景数学模型以拍摄装 置的呈前后背对背方式设置的两个视场角大于 180度的镜头的空间位置的中心对 称点为球心， 以所述两个镜头所能够采集到的视场角分别得到的球冠组合成球 面； [0009] In a second aspect, the present invention provides a system for generating a panoramic image, the system comprising: [0010] a model building module, configured to establish a spherical panoramic mathematical model, wherein the spherical panoramic mathematical model is a spherical symmetry point of a spatial position of a lens with two angles of view greater than 180 degrees disposed in a front-to-back manner of the camera The spherical crown obtained by the angle of view of the two lenses can be combined into a spherical surface;
[0011] 采集模块， 用于通过拍摄装置的两个镜头采集两幅图像； [0011] an acquisition module, configured to acquire two images by two lenses of the photographing device;
[0012] 映射模块， 用于根据镜头的镜头成像高度和视场角大小之间的对应关系， 将两 幅图像映射到球形全景数学模型中； [0012] a mapping module, configured to map the two images into the spherical panoramic mathematical model according to the correspondence between the lens imaging height and the angle of view of the lens;
[0013] 融合模块， 用于对球形全景数学模型中的两幅图像的重叠区域做融合， 从而将 两幅图像拼接成覆盖了水平和竖直方向所有视角方位的球面全景图像。 [0013] The fusion module is configured to fuse the overlapping regions of the two images in the spherical panoramic mathematical model, thereby splicing the two images into a spherical panoramic image covering all the viewing directions of the horizontal and vertical directions.
[0014] 第三方面， 本发明提供了一种拍摄装置， 所述拍摄装置包括上述的全景图像的 生成系统。 [0014] In a third aspect, the present invention provides an imaging apparatus including the above-described panoramic image generation system.
发明的有益效果 Advantageous effects of the invention
有益效果 Beneficial effect
[0015] 在本发明中， 由于以拍摄装置的呈前后背对背方式设置的两个视场角大于 180 度的镜头的空间位置的中心对称点为球心， 以所述两个镜头所能够采集到的视 场角分别得到的球冠组合成球面， 建立球形全景数学模型， 根据镜头的镜头成 像高度和视场角大小之间的对应关系， 将两幅图像映射到球形全景数学模型中 。 因此本发明的全景图像生成方法适用于两个镜头不是采用前后同轴心设置的 拍摄装置。 本发明可以一次性采集完整全景图像， 可以录制全景视频， 能够更 完整、 更高效地获取全景图像， 且极大简化了用户操作流程， 降低全景拍摄成 本； 另外， 由于以球形全景数学模型为基础， 因此最大限度地扩大了拍摄装置 的信息采集能力， 使其具备完整的保存场景现场的能力。 [0015] In the present invention, since the central symmetry point of the spatial position of the lens with the two viewing angles greater than 180 degrees disposed in the front-to-back back-to-back manner of the photographing device is the center of the sphere, the two lenses can be collected. The spherical crowns obtained from the angles of view are combined into a spherical surface, and a spherical panoramic mathematical model is established. According to the correspondence between the lens imaging height and the angle of view of the lens, the two images are mapped into a spherical panoramic mathematical model. Therefore, the panoramic image generating method of the present invention is applicable to a photographing apparatus in which two lenses are not disposed in a front-rear concentric manner. The invention can collect the complete panoramic image at one time, can record the panoramic video, can obtain the panoramic image more completely and efficiently, and greatly simplifies the user operation process and reduces the panoramic shooting cost; in addition, based on the spherical panoramic mathematical model Therefore, the information acquisition capability of the camera is maximized, so that it has the ability to save the scene on the spot.
对附图的简要说明 Brief description of the drawing
附图说明 DRAWINGS
[0016] 图 1是本发明实施例一提供的全景图像的生成方法的流程图。 1 is a flowchart of a method for generating a panoramic image according to Embodiment 1 of the present invention.
[0017] 图 2是采用本发明实施例一提供的全景图像的生成方法的拍摄装置的两个镜头 的位置关系示意图。 2 is a schematic diagram showing the positional relationship of two lenses of the photographing apparatus using the method for generating a panoramic image according to the first embodiment of the present invention.
[0018] 图 3是本发明实施例二提供的全景图像的生成系统的流程图。
实施该发明的最佳实施例 3 is a flowchart of a system for generating a panoramic image according to Embodiment 2 of the present invention. BEST MODE FOR CARRYING OUT THE INVENTION
本发明的最佳实施方式 BEST MODE FOR CARRYING OUT THE INVENTION
[0019] 为了使本发明的目的、 技术方案及有益效果更加清楚明白， 以下结合附图及实 施例， 对本发明进行进一步详细说明。 应当理解， 此处所描述的具体实施例仅 仅用以解释本发明， 并不用于限定本发明。 [0019] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
[0020] 为了说明本发明所述的技术方案， 下面通过具体实施例来进行说明。 [0020] In order to explain the technical solution described in the present invention, the following description will be made by way of specific embodiments.
[0021] 实施例一： [0021] Embodiment 1:
[0022] 请参阅图 2， 采用本发明实施例一提供的全景图像的生成方法的拍摄装置包括 呈前后背对背方式设置的两个镜头， 镜头包括镜头前部和镜筒， 两个镜头的镜 筒呈错位并部分重叠设置， 两个镜头的光轴线偏移大于一个镜筒直径的距离。 [0022] Referring to FIG. 2, a photographing apparatus using a method for generating a panoramic image according to a first embodiment of the present invention includes two lenses disposed in a front-to-back manner, the lens includes a front portion of the lens and a lens barrel, and the lens barrel of the two lenses. Misaligned and partially overlapping, the optical axes of the two lenses are offset by more than one lens diameter.
[0023] 因此拍摄装置的两个镜头可以在镜头高度方向有部分重叠， 从而可以减小拍摄 装置的厚度。 拍摄装置可以是全景相机， 镜头是视场角大于 180度的广角镜头或 鱼眼镜头 （即超广角镜头） 。 [0023] Therefore, the two lenses of the photographing device can be partially overlapped in the lens height direction, so that the thickness of the photographing device can be reduced. The camera can be a panoramic camera, and the lens is a wide-angle lens or a fisheye lens (ie, an ultra-wide-angle lens) with an angle of view greater than 180 degrees.
[0024] 请参阅图 1， 本发明实施例一提供的全景图像的生成方法包括以下步骤： [0024] Please refer to FIG. 1. The method for generating a panoramic image according to Embodiment 1 of the present invention includes the following steps:
[0025] S101、 预先建立球形全景数学模型， 所述球形全景数学模型以拍摄装置的两个 镜头的空间位置的中心对称点为球心， 以所述两个镜头所能够采集到的视场角 分别得到的球冠组合成球面。 [0025] S101, a spherical panoramic mathematical model is pre-established, wherein the spherical panoramic mathematical model uses a central symmetry point of a spatial position of two lenses of the imaging device as a center of the sphere, and an angle of view that can be acquired by the two lenses The spherical crowns obtained separately are combined into a spherical surface.
[0026] S102、 通过拍摄装置的两个镜头采集两幅图像； [102] S102. Collect two images by using two lenses of the photographing device;
[0027] S103、 根据镜头的镜头成像高度和视场角大小之间的对应关系， 将两幅图像映 射到球形全景数学模型中； [0027] S103. Depending on a correspondence between a lens imaging height of the lens and a size of the field of view, the two images are mapped into a spherical panoramic mathematical model;
[0028] 在本发明实施例一中， [0028] In the first embodiment of the present invention,
[0029] r=f(0)= -3.564x10 703-9.624xl0 602+0.0188 0-0.002 r=f(0)= -3.564x10 7 0 3 -9.624xl0 6 0 2 +0.0188 0-0.002
[0030] 其中， r为镜头的镜头成像高度， 0为镜头的视场角。 [0030] wherein r is the lens imaging height of the lens, and 0 is the angle of view of the lens.
[0031] 镜头成像高度是指在图像传感器上距离成像中心位置的竖直距离， 该对应关系 可以通过测试镜头的光学结构得出。 [0031] The lens imaging height refers to the vertical distance from the imaging center position on the image sensor, and the correspondence can be obtained by testing the optical structure of the lens.
[0032] 在本发明实施例一中， S103具体可以包括以下步骤： [0032] In the first embodiment of the present invention, S103 may specifically include the following steps:
[0033] 将两幅图像中每个位置的像素点根据镜头的镜头成像高度和视场角大小之间的 对应关系， 转化为球形全景数学模型中对应的视场角位置；
[0034] 结合每个位置的像素点在图像中相对于圆心的角度 ω， 在任意半径的球形全景 数学模型上唯一确定像素点在原始图像中的位置； [0033] converting the pixel points of each position in the two images according to the correspondence between the lens imaging height and the angle of the field of view of the lens into a corresponding field of view position in the spherical panoramic mathematical model; [0034] combining the angle ω of the pixel at each position with respect to the center of the circle in the image, and uniquely determining the position of the pixel in the original image on a spherical panoramic mathematical model of an arbitrary radius;
[0035] 在球形全景数学模型上将每个视场角位置填充对应位置的像素数据。 [0035] Each view angle position is filled with pixel data of a corresponding position on a spherical panoramic mathematical model.
[0036] S104、 对球形全景数学模型中的两幅图像的重叠区域做融合， 从而将两幅图像 拼接成覆盖了水平和竖直方向所有视角方位的球面全景图像。 [0036] S104: merging the overlapping regions of the two images in the spherical panoramic mathematical model, thereby splicing the two images into a spherical panoramic image covering all the viewing angle orientations of the horizontal and vertical directions.
[0037] 在本发明实施例一中， S104具体可以为： [0037] In the first embodiment of the present invention, S104 may specifically be:
[0038] 在球形全景数学模型中的两幅图像的重叠区域， 取灰度值最大的点的像素值作 为融合后的像素值， 从而将两幅图像拼接成覆盖了水平和竖直方向所有视角方 位的球面全景图像。 [0038] In the overlapping area of the two images in the spherical panoramic mathematical model, the pixel value of the point with the largest gray value is taken as the fused pixel value, thereby splicing the two images to cover all the horizontal and vertical directions. A spherical panoramic image of the azimuth.
[0039] 实施例二： [0039] Embodiment 2:
[0040] 请参阅图 3， 本发明实施例二提供的全景图像的生成系统包括： [0040] Referring to FIG. 3, a system for generating a panoramic image according to Embodiment 2 of the present invention includes:
[0041] 模型建立模块 11， 用于建立球形全景数学模型， 所述球形全景数学模型以拍摄 装置的呈前后背对背方式设置的两个视场角大于 180度的镜头的空间位置的中心 对称点为球心， 以所述两个镜头所能够采集到的视场角分别得到的球冠组合成 球面； [0041] The model establishing module 11 is configured to establish a spherical panoramic mathematical model, wherein the spherical panoramic mathematical model has a central symmetry point of a spatial position of the lens with two angles of view greater than 180 degrees disposed in a front-to-back manner of the camera a spherical core, the spherical crown obtained by respectively obtaining the angle of view of the two lenses is combined into a spherical surface;
[0042] 采集模块 12， 用于通过拍摄装置的两个镜头采集两幅图像； [0042] The acquisition module 12 is configured to collect two images by using two lenses of the imaging device;
[0043] 映射模块 13， 用于根据镜头的镜头成像高度和视场角大小之间的对应关 [0043] The mapping module 13 is configured to perform a correspondence between the lens imaging height and the angle of view of the lens according to the lens
[0044] 系， 将两幅图像映射到球形全景数学模型中； 所述镜头的镜头成像高度和视场 角大小之间的对应关系具体为： 在本发明实施例一中， [0044] The two images are mapped to the spherical panoramic mathematical model; the corresponding relationship between the lens imaging height and the angle of the field of view of the lens is specifically: In the first embodiment of the present invention,
[0045] r=f(0)= -3.564x10 703-9.624xl0 602+0.0188 0-0.002 r=f(0)= -3.564x10 7 0 3 -9.624xl0 6 0 2 +0.0188 0-0.002
[0046] 其中， r为镜头的镜头成像高度， 0为镜头的视场角。 [0046] wherein r is the lens imaging height of the lens, and 0 is the angle of view of the lens.
[0047] 融合模块 14， 用于对球形全景数学模型中的两幅图像的重叠区域做融合， 从而 将两幅图像拼接成覆盖了水平和竖直方向所有视角方位的球面全景图像。 [0047] The fusion module 14 is configured to fuse the overlapping regions of the two images in the spherical panoramic mathematical model, thereby splicing the two images into a spherical panoramic image covering all the orientations of the horizontal and vertical directions.
[0048] 在本发明实施例二中， 所述镜头包括镜头前部和镜筒， 两个镜头的镜筒呈错位 并部分重叠设置， 两个镜头的光轴线偏移大于一个镜筒直径的距离， 所述镜头 是广角镜头或鱼眼镜头。 [0048] In the second embodiment of the present invention, the lens includes a front portion of the lens and a lens barrel, and the lens barrels of the two lenses are misaligned and partially overlapped, and the optical axes of the two lenses are offset by a distance larger than the diameter of one lens barrel. The lens is a wide-angle lens or a fisheye lens.
[0049] 在本发明实施例二中， 所述映射模块具体包括： [0049] In the second embodiment of the present invention, the mapping module specifically includes:
[0050] 转化模块， 用于将两幅图像中每个位置的像素点根据镜头的镜头成像高度和视
场角大小之间的对应关系， 转化为球形全景数学模型中对应的视场角位置； [0051] 位置确定模块， 用于结合每个位置的像素点在图像中相对于圆心的角度 ω， 在 任意半径的球形全景数学模型上唯一确定像素点在原始图像中的位置； [0050] a conversion module, configured to image the pixel points of each position in the two images according to the lens of the lens The correspondence between the field angles is converted into the corresponding field of view position in the spherical panoramic mathematical model; [0051] a position determining module for combining the angles ω of the pixels of each position with respect to the center of the circle in the image, Uniquely determining the position of a pixel in the original image on a spherical panoramic mathematical model of arbitrary radius;
[0052] 填充模块， 用于在球形全景数学模型上将每个视场角位置填充对应位置的像素 数据。 [0052] a filling module, configured to fill each field of view angular position with pixel data of a corresponding position on a spherical panoramic mathematical model.
[0053] 在本发明实施例二中， 所述融合模块具体用于在球形全景数学模型中的两幅图 像的重叠区域， 取灰度值最大的点的像素值作为融合后的像素值。 In the second embodiment of the present invention, the fusion module is specifically configured to use the pixel value of the point with the largest gray value as the fused pixel value in the overlapping area of the two images in the spherical panoramic mathematical model.
[0054] 本发明实施例还提供了包括本发明实施例二提供的全景图像的生成系统的拍摄 装置。 An embodiment of the present invention further provides a photographing apparatus including a panoramic image generating system provided by Embodiment 2 of the present invention.
[0055] 在本发明实施例中， 由于以拍摄装置的呈前后背对背方式设置的两个视场角大 于 180度的镜头的空间位置的中心对称点为球心， 以所述两个镜头所能够采集到 的视场角分别得到的球冠组合成球面， 建立球形全景数学模型， 根据镜头的镜 头成像高度和视场角大小之间的对应关系， 将两幅图像映射到球形全景数学模 型中。 因此本发明的全景图像生成方法适用于两个镜头不是采用前后同轴心设 置的拍摄装置。 本发明可以一次性采集完整全景图像， 可以录制全景视频， 育 够更完整、 更高效地获取全景图像， 且极大简化了用户操作流程， 降低全景拍 摄成本； 另外， 由于以球形全景数学模型为基础， 因此最大限度地扩大了拍摄 装置的信息采集能力， 使其具备完整的保存场景现场的能力。 [0055] In the embodiment of the present invention, since the central symmetry point of the spatial position of the lens with the two viewing angles greater than 180 degrees disposed in the back-to-back manner of the photographing device is the center of the sphere, the two lenses can The spherical crowns obtained by the acquired angles of view are combined into a spherical surface, and a spherical panoramic mathematical model is established. According to the correspondence between the lens imaging height and the angle of the field of view, the two images are mapped into a spherical panoramic mathematical model. Therefore, the panoramic image generating method of the present invention is applicable to a photographing apparatus in which two lenses are not disposed in a front-rear concentric manner. The invention can collect the complete panoramic image at one time, can record the panoramic video, and can acquire the panoramic image more completely and efficiently, and greatly simplifies the user operation process and reduces the cost of panoramic shooting; in addition, due to the spherical panoramic mathematical model The foundation, thus maximizing the information acquisition capability of the camera, so that it has the ability to save the scene on the spot.
[0056] 本领域普通技术人员可以理解实现上述实施例方法中的全部或部分步骤是可以 通过程序来指令相关的硬件来完成， 所述的程序可以存储于一计算机可读取存 储介质中， 所述的存储介质， 如 ROM/RAM、 磁盘、 光盘等。 [0056] Those skilled in the art can understand that all or part of the steps in implementing the above embodiments may be completed by a program instructing related hardware, and the program may be stored in a computer readable storage medium. The storage medium described, such as a ROM/RAM, a magnetic disk, an optical disk, or the like.
[0057] 以上所述仅为本发明的较佳实施例而已， 并不用以限制本发明， 凡在本发明的 精神和原则之内所作的任何修改、 等同替换和改进等， 均应包含在本发明的保 护范围之内。
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the present invention. Within the scope of protection of the invention.
Claims
权利要求书 Claim
一种全景图像的生成方法， 其特征在于， 所述方法包括： A method for generating a panoramic image, the method comprising:
预先建立球形全景数学模型， 所述球形全景数学模型以拍摄装置的呈 前后背对背方式设置的两个视场角大于 180度的镜头的空间位置的中 心对称点为球心， 以所述两个镜头所能够采集到的视场角分别得到的 球冠组合成球面； 通过拍摄装置的两个镜头采集两幅图像； 根据镜头 的镜头成像高度和视场角大小之间的对应关系， 将两幅图像映射到球 形全景数学模型中； 对球形全景数学模型中的两幅图像的重叠区域做 融合， 从而将两幅图像拼接成覆盖了水平和竖直方向所有视角方位的 球面全景图像。 Forming a spherical panoramic mathematical model in advance, wherein the spherical panoramic mathematical model is a center of symmetry of the spatial position of the lens with two angles of view greater than 180 degrees disposed in a front-to-back manner of the photographing device, and the two lenses are The spherical crowns obtained by the acquired angles of view are combined into a spherical surface; two images are acquired by two lenses of the camera; and two images are obtained according to the correspondence between the lens imaging height and the angle of view of the lens Mapping to the spherical panoramic mathematical model; merging the overlapping regions of the two images in the spherical panoramic mathematical model, thereby splicing the two images into a spherical panoramic image covering all the viewing angles of the horizontal and vertical directions.
如权利要求 1所述的方法， 其特征在于， 所述镜头包括镜头前部和镜 筒， 两个镜头的镜筒呈错位并部分重叠设置， 两个镜头的光轴线偏移 大于一个镜筒直径的距离。 The method according to claim 1, wherein the lens comprises a front portion of the lens and a lens barrel, and the lens barrels of the two lenses are misaligned and partially overlapped, and the optical axes of the two lenses are offset by more than one barrel diameter. the distance.
如权利要求 1所述的方法， 其特征在于， 所述镜头是广角镜头或鱼眼 镜头。 The method according to claim 1, wherein the lens is a wide-angle lens or a fisheye lens.
如权利要求 1所述的方法， 其特征在于， 所述镜头的镜头成像高度和 视场角大小之间的对应关系具体为： The method according to claim 1, wherein the correspondence between the lens imaging height and the angle of view of the lens is specifically:
r=f(0)= -3.564x10 703-9.624xl0 602+0.0188 0-0.002其中， r为镜头 的镜头成像高度， 0为镜头的视场角。 r=f(0)= -3.564x10 7 0 3 -9.624xl0 6 0 2 +0.0188 0-0.002 where r is the lens imaging height of the lens and 0 is the field of view of the lens.
如权利要求 1所述的方法， 其特征在于， 所述根据镜头的镜头成像高 度和视场角大小之间的对应关系， 将两幅图像映射到球形全景数学模 型中具体包括： 将两幅图像中每个位置的像素点根据镜头的镜头成像高度和视场角大 小之间的对应关系， 转化为球形全景数学模型中对应的视场角位置； 结合每个位置的像素点在图像中相对于圆心的角度 ω， 在任意半径的 球形全景数学模型上唯一确定像素点在原始图像中的位置； 在球形全 景数学模型上将每个视场角位置填充对应位置的像素数据。 The method according to claim 1, wherein the mapping the two images to the spherical panoramic mathematical model according to the correspondence between the lens imaging height and the angle of the field of view of the lens comprises: The pixel points in each position are converted into the corresponding field angle positions in the spherical panoramic mathematical model according to the correspondence between the lens imaging height and the angle of view of the lens; the pixel points combined with each position are in the image relative to The angle ω of the center of the circle uniquely determines the position of the pixel in the original image on a spherical panoramic mathematical model of arbitrary radius; and fills each field of view angular position with the pixel data of the corresponding position on the spherical panoramic mathematical model.
如权利要求 1至 5任一项所述的方法， 其特征在于， 所述对球形全景数
学模型中的两幅图像的重叠区域做融合具体为： The method according to any one of claims 1 to 5, wherein the pair of spherical panoramic numbers The overlapping areas of the two images in the model are fused as follows:
在球形全景数学模型中的两幅图像的重叠区域， 取灰度值最大的点的 像素值作为融合后的像素值。 In the overlapping area of the two images in the spherical panoramic mathematical model, the pixel value of the point with the largest gray value is taken as the fused pixel value.
[权利要求 7] —种全景图像的生成系统， 其特征在于， 所述系统包括： [Claim 7] A system for generating a panoramic image, wherein the system includes:
模型建立模块， 用于建立球形全景数学模型， 所述球形全景数学模型 以拍摄装置的呈前后背对背方式设置的两个视场角大于 180度的镜头 的空间位置的中心对称点为球心， 以所述两个镜头所能够采集到的视 场角分别得到的球冠组合成球面； a model building module, configured to establish a spherical panoramic mathematical model, wherein the spherical panoramic mathematical model is a center of symmetry of a spatial position of a lens with two viewing angles greater than 180 degrees disposed in a front-to-back manner of the capturing device, The spherical crowns respectively obtained by the angles of view of the two lenses are combined into a spherical surface;
采集模块， 用于通过拍摄装置的两个镜头采集两幅图像； An acquisition module, configured to acquire two images by two lenses of the camera;
映射模块， 用于根据镜头的镜头成像高度和视场角大小之间的对应关 系， 将两幅图像映射到球形全景数学模型中； a mapping module, configured to map two images into a spherical panoramic mathematical model according to a correspondence between a lens imaging height and a viewing angle of the lens;
融合模块， 用于对球形全景数学模型中的两幅图像的重叠区域做融合 ， 从而将两幅图像拼接成覆盖了水平和竖直方向所有视角方位的球面 全景图像。 The fusion module is used to fuse the overlapping regions of the two images in the spherical panoramic mathematical model, thereby splicing the two images into a spherical panoramic image covering all the viewing directions of the horizontal and vertical directions.
[权利要求 8] 如权利要求 7所述的系统， 其特征在于， 所述映射模块具体包括： 转化模块， 用于将两幅图像中每个位置的像素点根据镜头的镜头成像 高度和视场角大小之间的对应关系， 转化为球形全景数学模型中对应 的视场角位置； [Claim 8] The system of claim 7, wherein the mapping module comprises: a conversion module, configured to image a pixel of each position in the two images according to a lens of the lens and a field of view The correspondence between the angular sizes is converted into the corresponding field of view angular position in the spherical panoramic mathematical model;
位置确定模块， 用于结合每个位置的像素点在图像中相对于圆心的角 度 ω， 在任意半径的球形全景数学模型上唯一确定像素点在原始图像 中的位置； a position determining module for combining the angle ω of the pixel of each position with respect to the center of the circle in the image, and uniquely determining the position of the pixel in the original image on a spherical panoramic mathematical model of an arbitrary radius;
填充模块， 用于在球形全景数学模型上将每个视场角位置填充对应位 置的像素数据。 A filling module is configured to fill each field of view angular position with pixel data of a corresponding position on a spherical panoramic mathematical model.
[权利要求 9] 如权利要求 7所述的系统， 其特征在于， 所述融合模块具体用于在球 形全景数学模型中的两幅图像的重叠区域， 取灰度值最大的点的像素 值作为融合后的像素值。 [Claim 9] The system according to claim 7, wherein the fusion module is specifically configured to use the pixel value of the point where the gray value is the largest as the overlapping area of the two images in the spherical panoramic mathematical model. The fused pixel value.
[权利要求 10] —种拍摄装置， 其特征在于， 所述拍摄装置包括权利要求 7至 9任一项 所述的全景图像的生成系统。
[Claim 10] A photographing apparatus comprising the panoramic image generating system according to any one of claims 7 to 9.
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