WO2018137721A1 - 一种获取全景图像的装置及其组装方法 - Google Patents

一种获取全景图像的装置及其组装方法 Download PDF

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Publication number
WO2018137721A1
WO2018137721A1 PCT/CN2018/080278 CN2018080278W WO2018137721A1 WO 2018137721 A1 WO2018137721 A1 WO 2018137721A1 CN 2018080278 W CN2018080278 W CN 2018080278W WO 2018137721 A1 WO2018137721 A1 WO 2018137721A1
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Prior art keywords
cameras
optical path
camera
panoramic image
frame
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PCT/CN2018/080278
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English (en)
French (fr)
Inventor
秦军
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成都中信华瑞科技有限公司
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Publication of WO2018137721A1 publication Critical patent/WO2018137721A1/zh

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    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
    • G03B37/02—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe with scanning movement of lens or cameras
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
    • G03B37/04—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe with cameras or projectors providing touching or overlapping fields of view

Definitions

  • the present application relates to the field of panoramic imaging technologies, and in particular, to an apparatus for acquiring a panoramic image and an assembly method thereof.
  • the existing panoramic imaging methods are divided into cylindrical panoramic imaging and spherical panoramic imaging.
  • One of the important prerequisites for a true panoramic image is the authenticity of the panoramic image information, especially the scene in the field of view cannot be falsely increased.
  • the panoramic image has repeated occurrences of the object object in the splicing area to form a false information image. This phenomenon is obvious in detail, and even the use of photogrammetry processing technology can not completely eliminate these pseudo information.
  • the same scene has different conformal ray angles formed by the same target. Different targets in the scene produce projection parallax on the image surface, and it is difficult to eliminate the same target when stitching the panoramic image later. Double" distortion problem.
  • the purpose of the embodiments of the present application includes providing a device for acquiring a panoramic image, so as to improve the problem that a panoramic image has a projection parallax on the image surface in the splicing region in the prior art, and a false information image is formed.
  • an apparatus for acquiring a panoramic image includes a plurality of cameras, a plurality of optical path changing elements, and a frame, and a plurality of the cameras and the plurality of optical path changing elements are disposed in the frame.
  • the side walls, the optical path of the lens center of each of the cameras to the corresponding optical path changing elements are equal to the distance of the optical path changing elements to the geometric center or axis of the frame.
  • the shape of the frame is a prism or a cylinder, and a plurality of the cameras are evenly distributed on the sidewall of the frame, and the optical center of each lens of the camera is corresponding to the optical path of the corresponding optical path conversion component. Equal to the distance of the optical path changing element to the axis of the frame.
  • a plurality of said optical path changing elements are located in a section perpendicular to an axis of said frame.
  • the sum of the angles of view of each of the plurality of cameras in the splicing direction of the panoramic image is greater than 360 degrees, so that the images of the plurality of cameras have preset overlapping regions of images, so that Covers the entire space.
  • the shape of the frame is a sphere, and a plurality of the cameras are evenly distributed on sidewalls of the frame, and an optical path of each lens of the camera to a corresponding optical path conversion element is equal to The distance of the optical path changing element to the center of the frame.
  • the sum of the spherical angles corresponding to the field of view of each of the plurality of cameras is greater than 4 ⁇ radians to cover the entire space.
  • the optical path changing element is at least one of a mirror or a prism or a combination of optical components.
  • the embodiment of the present application further provides an apparatus for acquiring a panoramic image, including at least one camera and a rotating device, at least one of the cameras being mounted on the rotating device, the rotating device being configured to drive at least one of the The camera rotates around the optical center of the lens of the camera.
  • the embodiment of the present application further provides a method for assembling a device for acquiring a panoramic image, the method comprising: calculating an effective field of view of the camera; determining a need according to a shape of the frame and an effective field of view of the camera; The number of the cameras; determining the size of the frame according to the number of cameras and the size required for installation; installing optical path changing elements and the camera such that the lens of each of the cameras is optically corresponding
  • the optical path of the optical path conversion element is equal to the distance of the optical path conversion element to the geometric center or axis of the frame.
  • calculating the effective field of view of the camera comprises: setting the imaging format of the camera to be a rectangle, and using the field of view angle of the splicing direction of the panoramic image minus the field of view of the preset overlapping area, obtaining each An effective field of view of the camera; determining the number of cameras required according to the shape of the frame and the effective field of view of the camera includes: if the frame is a cylinder, the required ones of the cameras The number is 360 degrees divided by the effective field of view of each of the cameras; if the frame is a sphere, and the effective field of view of the camera is converted to a corresponding spherical degree, the number of cameras required is The 4 ⁇ steradian is divided by the sphericity corresponding to the effective field of view of each of the cameras.
  • the full coverage requirements for the 3-dimensional space are respectively satisfied.
  • the apparatus for acquiring a panoramic image includes a plurality of cameras, and the plurality of cameras simultaneously perform shooting, and the virtual light corresponding to the lens optical center of each camera is transferred by transferring the lens optical center of the camera.
  • the acquired multiple images have the same virtual optical center, which is not easy to produce misalignment, and directly reduces the workload and time of the panoramic image mosaic processing.
  • Another embodiment of the apparatus for acquiring a panoramic image employs a single camera to cause a single camera to perform one-dimensional or two-dimensional rotation around the optical center of the lens to take a 360-degree circular panorama or an omnidirectional stereoscopic panorama, and images taken at different times are When shooting, it has the same optical center, and pictures taken at different times are not easy to be misaligned when splicing.
  • FIG. 1 is a schematic structural diagram of an apparatus for acquiring a panoramic image according to a first embodiment of the present application.
  • FIG. 2 is a light path diagram of a camera and an optical path conversion element of the apparatus for acquiring a panoramic image according to the first embodiment of the present application.
  • FIG. 3 is an optical path diagram of a camera and an optical path conversion component of the apparatus for acquiring a panoramic image according to the first embodiment of the present application.
  • FIG. 4 is a schematic diagram of placing a device for acquiring a panoramic image provided in a first embodiment of the present application in a pipeline.
  • FIG. 5 is a geometric schematic diagram of a camera and an optical path conversion component and a frame of a device for acquiring a panoramic image according to a first embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of an apparatus for acquiring a panoramic image according to a second embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of an apparatus for acquiring a panoramic image according to a third embodiment of the present application.
  • FIG. 8 is a flowchart of a method for assembling an apparatus for acquiring a panoramic image according to a fourth embodiment of the present application.
  • Icon 10 - means for acquiring panoramic image; 100 - camera; 101 - lens; 102 - imaging focal plane; 103 - main optical axis; 200 - optical path conversion element; 300 - frame; 400 - scene; 500 - center line; - The main optical axis.
  • FIG. 1 is a schematic structural diagram of an apparatus 10 for acquiring a panoramic image according to a first embodiment of the present application.
  • the embodiment of the present application provides an apparatus 10 for acquiring a panoramic image for panoramic imaging of the inner side of the columnar space and the annular periphery, such as imaging of the inner wall of a tunnel, a pipe, a well, and the like, and imaging of a circular panoramic view of the street view.
  • This embodiment employs a plurality of cameras 100 arranged around a center.
  • the apparatus 10 for acquiring a panoramic image includes a plurality of cameras 100, a plurality of optical path conversion elements 200, and a frame 300, and a plurality of the cameras 100 and a plurality of the optical path conversion elements 200 are disposed on sidewalls of the frame 300.
  • the camera 100 is provided in one-to-one correspondence with the optical path conversion element 200.
  • the camera 100 is combined with a corresponding optical path conversion element 200.
  • the shape of the frame 300 is a cylinder, and a plurality of the cameras 100 are evenly distributed along the circumferential direction of the frame 300 on the side wall of the frame 300.
  • the frame 300 may also have other shapes, such as a hexagonal prism, a cube, and the like.
  • Each camera 100 takes a picture at the same time, and a plurality of images are spliced together to obtain a 360-degree surround panorama.
  • the frame 300 can be either solid or hollow. Further, the outer wall surface of the frame 300 may be continuous or hollow.
  • the scene to be photographed by the camera 100 is located around the cylindrical frame 300, and the direction of the optical path is changed by the optical path conversion element 200 to be incident on the camera 100.
  • the optical path conversion element 200 is a mirror, and is embodied in other embodiments.
  • the optical path changing element 200 may also be other, such as a triangular prism or a combination of a triangular prism and a mirror.
  • FIG. 2 is a geometric schematic diagram of the camera 100 and the optical path conversion component 200 of the apparatus 10 for acquiring a panoramic image according to the first embodiment of the present application.
  • the optical center A is generally in the lens 101.
  • the optical path can be changed by the mirror of the embodiment, and the optical center A is separated from the lens 101 to obtain the virtual optical center B.
  • the light emitted or reflected by the scene 400 is irradiated to the mirror along the main optical axis 103 and enters the lens 101. After passing through the optical center A, it is finally imaged in the imaging focal plane 102 of the camera 100.
  • the distance from the point A of the optical center A to the mirror C can be equal to the distance from the point B to point C of the virtual optical center, and the images of the optical center A and the virtual optical center B are the same, and the optical center A is The image is the same as the image of the virtual optical center B, and the imaging directions of the different optical path conversion elements 200 may be reversed, and only a simple image conversion during image processing is required.
  • the line passing through the two spherical centers of the lens is called the main optical axis.
  • Each lens has a corresponding main optical axis.
  • the camera usually contains multiple lenses. Usually, the main optical axes of the multiple lenses of each camera are coincident. Therefore, the main optical axis of the lens can also be considered as the main light of the camera. axis. Further, as shown in FIGS. 3 and 4, a plurality of cameras 100 are arranged around the same centerline, and the main optical axes 600 of the plurality of cameras 100 are substantially parallel to the same centerline 500.
  • the intersection of the main optical axis of each camera 100 and the reflective surface of the optical path conversion element 200 is a lens optical center projection point, and the distance between the lens optical center projection point and the lens optical center is substantially equal to the lens optical center.
  • the virtual optical center B of each camera 100 can be located on the center line.
  • the virtual optical center B of each camera 100 can coincide with the same point. .
  • lens optical center projection points of each of the optical path conversion elements 200 may be substantially on the same circumference.
  • the lens optical centers of the respective cameras 100 are located on the same circumference of the frame 300.
  • the frame 300 has a cross section that is perpendicular to the centerline of the frame 300 and that can coincide with the optical centers of all of the cameras 200.
  • the lens optical centers of the respective cameras 100 may not be located on the same circumference of the frame 300.
  • the frame 300 has three sections perpendicular to the center line of the frame 300, which are a first section, a second section, and a third section, respectively, and the second section is located between the first section and the third section and the three are parallel to each other.
  • the lens optical center projection point of each of the optical path conversion elements 200 coincides with the second cross section, and the lens optical center of a part of the camera 100 coincides with the first cross section and the lens optical center of the remaining portion of the camera 100 coincides with the third cross section.
  • the light reflecting surface of the partial optical path conversion element 200 is oriented in a different direction, for example, a portion of the camera 100 having the first cross section toward the optical center, and another portion of the camera 100 having the third cross section toward the optical center.
  • one camera 100 and one optical path conversion element 200 are combined, and the optical path conversion elements 200 belonging to the same combination are disposed on the main optical axis 600 of the corresponding camera 100.
  • the extension of the main optical axis 600 of the camera 100 will pass through the optical path conversion elements 200 belonging to the same combination.
  • one camera 100 may correspondingly set a plurality of optical path changing elements 200, and after changing the optical paths multiple times by the plurality of optical path changing elements 200, the partial optical path changing elements 200 corresponding to the camera 100 are not in the main optical axis of the camera 100. 600 on.
  • the surface defined by the main optical axis 600 of the camera 100 and the center line 500 of the frame 200 is a reference surface, and the reference surface corresponding to each camera 100 is substantially perpendicular to the reflective surface of the optical path conversion element 200.
  • the reference surface of the camera 100 at the top of FIG. 5 is parallel to the plane of the paper of FIG. 5, and the reflective surface of the optical path conversion element 200 corresponding to the camera 100 is exactly perpendicular to the plane of the paper.
  • the angle between the main optical axis of the camera 100 and the plane of the reflective surface of the optical path conversion element 200 belonging to the same combination is substantially 40-50°; preferably 45°.
  • the projection of the reflective surface of the optical path conversion element 200 at the top of FIG. 5 on the paper surface is an oblique straight line which is at an angle of 45 to the main optical axis of the camera 100 at the top of FIG. °.
  • FIG. 5 is a geometric schematic diagram of the camera 100 , the optical path conversion component 200 , and the frame 300 of the apparatus 10 for acquiring a panoramic image according to the first embodiment of the present application.
  • the apparatus 10 for acquiring a panoramic image includes a plurality of cameras 100 and a plurality of mirrors in a plane in which the cylindrical frame 300 has a circular cross section. Each camera 100 can capture a scene perpendicular to the cylindrical frame 300.
  • the light of the scene When the light of the scene is emitted from the mirror into the lens 101, it can pass through the optical center A, when the axis of the cylindrical frame 300 and the plurality of mirrors are in the shape of a cylinder.
  • the intersection D of the cross section of the frame 300 coincides with the virtual optical center B
  • the image of the optical center A coincides with the image size at the intersection D, so that the optical path of the optical center A to C (the refraction in the air) is ensured.
  • the rate can be approximately equal to the refractive index of the vacuum) equal to the distance from the C point to the intersection D, so that the virtual optical centers B of the plurality of cameras 100 intersect at the intersection D.
  • the geometric distance of the optical center A to C can be realized by changing the structural composition of the optical path changing element 200. Change, for example, a plurality of prisms, mirrors, and the like are disposed between the points A to C of the optical center.
  • the sum of the angles of view of each camera 100 in the splicing direction of the panoramic image should be greater than 360 degrees, so that the images of the plurality of cameras have preset image splicing overlap regions to cover the entire space. In this way, it is possible to capture a complete circular panoramic image while ensuring easy stitching between images taken by each camera 100.
  • the imaging plane of the camera 100 is rectangular, and the angle of view formed by the short sides of the rectangle is the minimum angle of view.
  • the plurality of cameras 100 have different spatial mounting positions by the optical path changes of the constellation light of the plurality of cameras 100, but the virtual optical centers B of each camera 100 have the same spatial point position.
  • the real-time, synchronization and fast imaging of the panoramic space field by the plurality of cameras 100 are realized, and the conformation light formed by the same target in the overlapping area of the adjacent photos is also guaranteed to be the same.
  • Adjacent photos have no projection difference for different targets in the scene, and the latter can not only cancel the processing of projection transformation, but also can be quickly spliced into perfect panoramic images.
  • This embodiment is especially applicable to a scene with high dynamic scene and high real-time requirements. Since multiple cameras 100 perform simultaneous shooting, the above scenario can be satisfied.
  • other optical elements such as prisms and mirrors, may be added between the lens 101 and the optical path conversion element 200 to reduce the lens 101 and the optical path change when the optical path between the lens 101 and the optical path conversion element 200 is constant. The geometric distance between the components 200 saves installation space.
  • FIG. 6 is a schematic structural diagram of an apparatus 10 for acquiring a panoramic image according to a second embodiment of the present application.
  • the shape of the frame 300 is a sphere, and the outer surface of the sphere frame 300 is provided with a plurality of cameras 100 and a plurality of optical path conversion elements 200. Only a part of the camera 100 and the optical path conversion element 200 are shown, preferably The number of cameras 100 in the apparatus 10 for acquiring a panoramic image coincides with the number of optical path conversion elements 200.
  • the principle of the apparatus 10 for acquiring a panoramic image in this embodiment is basically the same as that of the first embodiment, wherein the optical path of the optical center A and the optical path conversion element 200 of the lens 101 is equal to the optical path conversion element 200 and the center of the sphere.
  • the distance is such that the virtual optical centers B of the plurality of cameras 100 intersect at the center of the sphere, so that the images captured by the plurality of cameras 100 are not spliced and ghosted when stitched.
  • the intersection of the main optical axis of each camera 100 and the reflective surface of the optical path conversion element 200 is the lens optical center projection point, and the distance between the lens optical center projection point and the lens optical center is substantially equal to the lens optical center projection point to the center of the lens. the distance. This allows the virtual optical center B of each camera 100 to coincide with the same point.
  • the number of cameras 100 on the surface of the sphere depends on the angle of view of each camera 100. If the field of view of the camera 100 is larger, the number of cameras that need to be distributed is less, and if the angle of view of the camera 100 is smaller, Then the number of cameras that need to be distributed is more than 100. When the number of cameras 100 and the angle of view of the camera 100 satisfy the condition, it is also necessary to consider the placement positions and intervals of the camera 100 and the optical path conversion element 200 so that the field of view of all cameras can be superimposed to cover the space around the sphere.
  • optical components such as prisms and mirrors
  • other optical components such as prisms and mirrors, may be added between the lens 101 and the optical path conversion component 200 to reduce the lens 101 and the optical path change when the optical path between the lens 101 and the optical path conversion component 200 is constant.
  • the geometric distance between the components 200 saves installation space.
  • FIG. 7 is a schematic structural diagram of an apparatus 10 for acquiring a panoramic image according to a third embodiment of the present application.
  • the embodiment of the present application further provides an apparatus 10 for acquiring a panoramic image, including a camera 100 and a rotating device (not shown).
  • the camera 100 is mounted on the rotating device, and the rotating device is configured to drive the The camera 100 rotates around the optical center A of the lens 101 of the camera 100.
  • the X, Y, Z three-dimensional coordinate system is established with the optical center A as the origin.
  • the one-dimensional rotation mode is that after the camera 100 is mounted on the rotating device, the rotating device drives the camera 100 to rotate, and the axis of its rotation coincides with the Y-axis.
  • the camera 100 can take a panoramic view perpendicular to the Y-axis direction.
  • the rotation is greater than or equal to 360 degrees, and multiple pictures are taken at different times in the time period. Since each picture has the same optical center A when shooting, each picture is in When splicing, there is no misalignment, it is easy to splicing, and the spliced image is complete.
  • the two-dimensional rotation mode is that the rotating device includes two rotating shafts, which ensure that the two rotating shafts coincide with the Y-axis and the Z-axis, that is, the camera 100 ensures that the rotating shaft passes the optical center A when rotating in two dimensions, so different.
  • the apparatus 10 for acquiring a panoramic image of the present embodiment is particularly suitable for a shooting scene with a small change, such as a static scene or the like.
  • the number of the cameras 100 may also be multiple, and the rotation angle may be reduced compared to one camera 100 to improve the real-time performance of the panoramic imaging.
  • the three cameras 100 may be adjacently arranged.
  • the apparatus 10 for acquiring the panoramic image needs At least 180 degrees can be rotated; the three cameras 100 can also be spaced apart from each other.
  • the device 10 for acquiring the panoramic image only needs to be rotated at least 60 degrees, and the angle of rotation is small.
  • FIG. 8 is a flowchart of a method for assembling a device for acquiring a panoramic image according to a fourth embodiment of the present application.
  • the assembling method of the present embodiment is applied to the apparatus 10 for acquiring a panoramic image of the first embodiment and the second embodiment.
  • the method includes:
  • the imaging format of the camera 100 is a rectangle, and after the field of view angle of the splicing direction of the panoramic image minus the field of view of the preset overlapping area, an effective field of view of each of the cameras 100 is obtained. For example, if the long side of the rectangle is spliced into a panoramic image corresponding to the surrounding image under the columnar structure, each of the cameras is obtained by subtracting the field of view of the preset overlapping area from the field of view of the long side of the single camera 100.
  • An effective field of view of 100 when the short side of the rectangle is spliced into a panoramic image, the field of view of the short side of the single camera 100 is subtracted from the field of view of the preset overlapping area, and each of the cameras is obtained.
  • the effective field of view of 100 Under the spherical structure, the effective field of view of each of the cameras 100 is obtained by subtracting the field of view of the predetermined overlap region from the field of view of the short side of the single camera 100.
  • the camera 100 is selected.
  • the angular resolution of one pixel is determined in accordance with the imaging index of the panoramic camera 100.
  • the angle of view of the selected camera 100 is determined, and then the camera 100 and the matching lens 101 that meet the requirements can be selected.
  • the number of the cameras 100 required is determined in accordance with the shape of the frame 300. If the frame 300 is a cylinder or a prism, that is, when a circular panorama is required, the number of the cameras 100 required is 360 degrees divided by the effective angle of view of each of the cameras 100; 300 is a sphere, and the effective field of view of the camera 100 is converted into a corresponding spherical degree, and the number of the cameras 100 required is 4 ⁇ sphericity divided by the effective angle of view of each of the cameras 100. Sphericality. Preferably, in the spherical coordinate system, the full coverage requirements for the 3-dimensional space are respectively satisfied. It should be mentioned that if the number of cameras obtained is a non-integer, the ending method should be used to make the number of cameras an integer and greater than the calculated value.
  • the diameter of the corresponding frame 300 is determined to ensure sufficient installation space for the camera 100 and its accessories.
  • An optical path changing element 200 is disposed on the imaging optical path of each camera 100 to spatially separate the optical center A actual spatial position of the camera 100 from the virtual optical center B position. It is ensured that the plurality of cameras 100 have the same virtual optical center B, which solves the problem that the optical axis A of the multi-camera 100 lens 101 cannot be in the same spatial point.
  • the optical path changing element 200 is a mirror, which is convenient and simple.
  • the device 10 capable of capturing a 360-degree circular panorama in real time or capturing a panoramic image in real time.
  • the apparatus for acquiring a panoramic image includes a plurality of cameras, and a plurality of cameras simultaneously perform shooting.
  • the optical center of the camera By transferring the optical center of the camera, the virtual optical centers corresponding to the optical centers of each camera are merged to the same One point, in real-time panoramic shooting, multiple images acquired have the same optical center, which is not easy to produce misalignment, which directly reduces the workload and time of the panoramic image mosaic processing.
  • the apparatus for acquiring a panoramic image of another embodiment adopts a single camera to make a single camera rotate one-dimensionally or two-dimensionally around the optical center to take a 360-degree circular panoramic image or an omnidirectional stereoscopic panoramic image, and images taken at different times are taken. When there is the same optical center, pictures taken at different times are not easy to be misaligned when splicing.
  • the orientation or positional relationship of the indications is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship that is conventionally placed when the invention product is used, for the convenience of describing the present application and simplifying the description, rather than indicating or implying
  • the device or component referred to must have a particular orientation, is constructed and operated in a particular orientation, and thus is not to be construed as limiting the application.
  • the terms “first”, “second”, “third”, and the like are used merely to distinguish a description, and are not to be construed as indicating or implying a relative importance.
  • horizontal simply means that its direction is more horizontal than “vertical”, and does not mean that the structure must be completely horizontal, but may be slightly inclined.
  • the apparatus for acquiring a panoramic image includes a plurality of cameras, and a plurality of cameras simultaneously perform shooting. By transferring the optical center of the camera, the virtual optical centers corresponding to the optical centers of each camera are merged to the same point, in real-time panoramic view. When shooting, multiple images acquired have the same optical center, which is not easy to produce misalignment, which directly reduces the workload and time of the panoramic image mosaic processing.
  • Another embodiment of the apparatus for acquiring a panoramic image employs a single camera to cause a single camera to perform one-dimensional or two-dimensional rotation around the optical center of the lens to take a 360-degree circular panorama or an omnidirectional stereoscopic panorama, and images taken at different times are When shooting, it has the same virtual optical center, and pictures taken at different times are not easy to be misaligned when splicing.
  • a device for acquiring a panoramic image and an assembly method thereof can be realized and implemented industrially.

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Abstract

一种获取全景图像的装置及其组装方法，装置包括多个相机（100）、多个光路变换元件（200）及框架（300），多个相机（100）和多个光路变换元件（200）均设置于框架（300）侧壁，每个相机（100）的镜头光心A到对应的光路变换元件（200）的光程等于光路变换元件（200）至框架（300）的几何中心或轴线的距离。通过转移相机（100）的镜头光心A，使每个相机（100）的镜头光心A对应的虚拟光心B交汇至同一点，在实时全景拍摄时，获取的多幅图像具有同一虚拟光心B，不易产生错位，直接减少了全景图像镶嵌处理的工作量和时间。

Description

一种获取全景图像的装置及其组装方法
本申请要求于2017年01月25日提交中国专利局的申请号为CN2017100630654、名称为“一种获取全景图像的装置及其组装方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及全景成像技术领域，特别是涉及一种获取全景图像的装置及其组装方法。
背景技术
目前，现有的全景成像方式分为柱面全景成像和球面全景成像。真实的全景图像的重要前提之一是全景影像信息的真实性，尤其是视场里的景物不能虚假增加。但是现有技术中，全景影像在拼接区域都有景物目标的重复出现，形成虚假信息图像。这一现象在细节上比较明显，即使采用摄影测量处理技术也不能完全消除这些伪信息。相邻图像的重叠区里，相同场景对同一个目标形成的构像射线角是不同的，场景中远近不同的目标在像面上产生投影视差，后期拼接全景图像时很难消除同一目标“成双”出现的失真问题。
发明内容
有鉴于此，本申请实施例的目的包括提供一种获取全景图像的装置，以改善现有技术中全景影像在拼接区域都有景物目标在像面上产生投影视差，形成虚假信息图像的问题。
第一方面，本申请实施例提供的一种获取全景图像的装置，包括多个相机、多个光路变换元件及框架，多个所述相机和多个所述光路变换元件均设置于所述框架侧壁，每个所述相机的镜头光心到对应的所述光路变换元件的光程等于所述光路变换元件至所述框架的几何中心或轴线的距离。
优选的，所述框架的形状为棱柱或圆柱体，多个所述相机均匀的分布于所述框架的侧壁，每个所述相机的镜头光心到对应的所述光路变换元件的光程等于所述光路变换元件至所述框架的轴线的距离。
优选的，多个所述光路变换元件位于垂直于所述框架的轴线的截面内。
优选的，多个所述相机的每一个所述相机在全景图像的拼接方向的视场角之和大于360度，使多个所述相机的图像之间具有预设的图像拼接重叠区，使之覆盖全空间。
优选的，所述框架的形状为球体，多个所述相机均匀的分布于所述框架的侧壁，每个所述相机的镜头光心到对应的所述光路变换元件的光程等于所述光路变换元件至所述框架的球心的距离。
优选的，多个所述相机的每一个所述相机的视场角对应的球面度之和大于4π弧度，使之覆盖全空间。
优选的，所述光路变换元件为反射镜或棱镜或多种光学部件的组合中的至少一种。
第二方面，本申请实施例还提供一种获取全景图像的装置，包括至少一个相机及旋转装置，至少一个所述相机安装于所述旋转装置，所述旋转装置被配置成带动至少一个所述相机以围绕所述相机的镜头光心旋转。
第三方面，本申请实施例还提供一种获取全景图像的装置的组装方法，所述方法包括：计算相机的有效视场角；依据框架的形状及所述相机的有效视场角，确定需要的所述相机的个数；依据所述相机的个数及安装所需的尺寸，确定所述框架的大小；安装光路变换元件及所述相机，使每个所述相机的镜头光心到对应的所述光路变换元件的光程等于所述光路变换元件至所述框架的几何中心或轴线的距离。
优选的，计算所述相机的有效视场角包括：设所述相机的成像幅面为矩形，利用在全景图像的拼接方向的视场角减去预设重叠区域的视场角后，得到每个所述相机的有效视场角；依据框架的形状及所述相机的有效视场角，确定需要的所述相机的个数包括：若所述框架为圆柱体，则需要的所述相机的个数为360度除以每个所述相机的有效视场角；若所述框架为球体，将所述相机的有效视场角换算为对应的球面度，则需要的所述相机的个数为4π球面度除以每个所述相机的有效视场角对应的球面度。优选的，在球坐标系里，分别满足对3维空间的全覆盖要求。
与现有技术相比，本申请实施例提供的获取全景图像的装置包括多个相机，多个相机同时进行拍摄，通过转移相机的镜头光心，使每个相机的镜头光心对应的虚拟光心交汇至同一点，在实时全景拍摄时，获取的多幅图像具有同一虚拟光心，不易产生错位，直接减少了全景图像镶嵌处理的工作量和时间。另一实施例的获取全景图像的装置采用 单个相机，使单个相机绕镜头光心进行一维或二维的旋转，以拍摄360度环形全景图或全方位立体全景图，不同时刻拍摄的图像在拍摄时具有同一光心，不同时刻拍摄的图片在拼接时不易产生错位。
为使本申请的上述目的、特征和优点能更明显易懂，下文特举较佳实施例，并配合所附附图，作详细说明如下。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1为本申请第一实施例提供的获取全景图像的装置的结构示意图。
图2为本申请第一实施例提供的获取全景图像的装置的相机与光路变换元件的光路图。
图3为本申请第一实施例提供的获取全景图像的装置的相机与光路变换元件的光路图。
图4为将本申请第一实施例提供的获取全景图像的装置放置于管道内的示意图。
图5为本申请第一实施例提供的获取全景图像的装置的相机与光路变换元件以及框架的几何原理图。
图6为本申请第二实施例提供的获取全景图像的装置的结构示意图。
图7为本申请第三实施例提供的获取全景图像的装置的结构示意图。
图8为本申请第四实施例提供的获取全景图像的装置的组装方法的流程图。
图标：10-获取全景图像的装置；100-相机；101-镜头；102-成像焦平面；103-主光轴；200-光路变换元件；300-框架；400-景物；500-中心线；600-主光轴。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本申请实施例的组件可以以各种不同的配置来布置和设计。
因此，以下对在附图中提供的本申请的实施例的详细描述并非旨在限制要求保护的本申请的范围，而是仅仅表示本申请的选定实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
第一实施例
请参考图1，是本申请第一实施例提供的获取全景图像的装置10的结构示意图。本申请实施例提供一种获取全景图像的装置10，用于对柱状空间内侧和环形周边的全景成像，如隧道、管道、井等内壁空间成像，以及街景环形全景的成像。本实施例采用多个相机100环绕一个中心布置。
所述获取全景图像的装置10包括多个相机100、多个光路变换元件200及框架300，多个所述相机100和多个所述光路变换元件200均设置于所述框架300侧壁。
相机100与光路变换元件200一一对应设置。相机100与对应的光路变换元件200组成组合。
本实施例中，所述框架300的形状为圆柱体，多个所述相机100沿所述框架300的圆周方向均匀地分布于所述框架300的侧壁。当然，在其他具体实施方式中，所述框架300还可以为其他形状，例如六棱柱、正方体等等。每个相机100同时进行拍照，将多幅图像拼接后即可得到360度环绕的全景图。此外，框架300可以是实心的也可以中空的。此外，框架300的外壁面可以是连续的，也可以是镂空的。
相机100实际要拍摄的景物位于柱形框架300的周围，通过光路变换元件200将光路的方向进行变化后入射至相机100，本实施例中所述光路变换元件200为反射镜，在其他具体实施方式中，光路变换元件200还可以为其他，如三棱镜或三棱镜和反射镜的组 合。
请参考图2，是本申请第一实施例提供的获取全景图像的装置10的相机100与光路变换元件200的几何原理图。由于每一个相机100的镜头101都具有光心A，光心A一般在镜头101内，通过本实施例的反射镜可以将光路进行改变，将光心A与镜头101分离得到虚拟光心B。景物400发射或反射的光，沿主光轴103照射到反射镜后进入镜头101内，经过光心A后，最终在相机100的成像焦平面102内成像。根据光学原理可以知道，光心A至反射镜C点的距离可以与所述虚拟光心B至C点的距离相等，光心A和虚拟光心B的像是相同的，及光心A处的像与所述虚拟光心B的像相同，对于不同的光路变换元件200成像可能方向相反，只需要在图像处理过程中简单的图像变换即可。
通过透镜两个球面球心的直线，叫做主光轴。每个透镜都有对应的主光轴，相机通常包含多个透镜，而通常每个相机的多个透镜的主光轴是重合的，所以也可以认为透镜的主光轴即为相机的主光轴。进一步地，如图3和图4所示，多个相机100环绕同一个中心线布置，且多个相机100的主光轴600大致与同一个中心线500平行。
进一步地，如图3所示，每个相机100的主光轴与光路变换元件200的反光面的交点为镜头光心投影点，镜头光心投影点与镜头光心的距离大致等于镜头光心投影点到中心线的垂直距离。这样可以使得每个相机100的虚拟光心B都能位于中心线上，当每个相机100的镜头光心在同一个圆周上时，每个相机100的虚拟光心B能够重合于同一个点。
进一步地，每个光路变换元件200的镜头光心投影点可以大致在同一个圆周上。
本实施例中，各个相机100的镜头光心位于所述框架300的同一个圆周上。换句话说，所述框架300具有一个这样的截面，该截面垂直于框架300的中心线而且能够与所有相机200的光心重合。
在其他实施例中，各个相机100的镜头光心也可以不位于所述框架300的同一个圆周上。例如，框架300具有三个垂直于框架300的中心线的截面，分别是第一截面、第二截面和第三截面，第二截面位于第一截面和第三截面之间且三者相互平行，其中每个光路变换元件200的镜头光心投影点与第二截面重合，一部分相机100的镜头光心与第 一截面重合而剩余部分相机100的镜头光心与第三截面重合。在这种情况下，部分光路变换元件200的反光面是朝向不同的方向，例如一部分朝向光心位于第一截面的相机100，另一部分朝向光心位于第三截面的相机100。
本实施中，一个相机100和一个光路变换元件200组成一个组合，属于同一个组合的光路变换元件200设置在对应的相机100的主光轴600上。或者说相机100的主光轴600的延长线会经过属于同一个组合的光路变换元件200。
在其他实施例中，一个相机100可以对应设置多个光路变换元件200，并且通过多个光路变换元件200多次改变光路后，使得相机100对应的部分光路变换元件200不在相机100的主光轴600上。
进一步地，定义相机100的主光轴600与框架200的中心线500限定的面为参考面，每个相机100所对应的参考面与光路变换元件200的反光面大致垂直。如图5所示，位于图5顶部的相机100的参考面与图5所在的纸面平行，而该相机100所对应的光路变换元件200的反光面正好垂直于纸面。
相机100的主光轴与属于同一个组合的光路变换元件200的反光面的线面夹角基本为40-50°；优选45°。同样以图5为例，位于图5顶部的光路变换元件200的反光面在纸面上的投影为一条倾斜的直线，该直线与位于图5顶部的相机100的主光轴的夹角为45°。
进一步地，各组相机100和光路变换元件200对应的线面夹角基本相同，优选偏差范围±5°；进一步优选偏差范围±1°。请参考图5，是本申请第一实施例提供的获取全景图像的装置10的相机100与光路变换元件200以及框架300的几何原理图。获取全景图像的装置10包括多个相机100和多个反射镜，多个反射镜在柱形框架300的截面为圆形的平面内。每个相机100均可拍摄与柱形框架300垂直的景物，当景物的光从反射镜发射进入镜头101后，可以通过光心A，当柱形框架300的轴线与多个反射镜在柱形框架300的截面的交点D与虚拟光心B重合时，光心A出的像与所述交点D处的像大小一致，如此，只要保证光心A至C点的光程(空气中的折射率可以近似等于真空的折射率)等于C点到交点D的距离，即可实现多个相机100的虚拟光心B相交于交点D。
需要提到的是，只要保证光心A至C点的光程等于C点到交点D的距离即可，可以通过改变光路变换元件200的结构组成可以实现光心A至C点的几何距离的改变，例如，在光心A至C点之间设置多个棱镜、反射镜等。另外，每一个相机100在全景图像的拼接方向的视场角之和应当大于360度，使多个所述相机的图像之间具有预设的图像拼接重叠区，，使之覆盖全空间。如此才能拍摄完整的环形全景图像的同时，保证每个相机100拍摄的图像之间方便拼接。其中，设所述相机100的成像幅面为矩形，矩形短边形成的视场角是最小视场角。
如此，解决了多个相机100在安装时无法使光心A共同处于交点D的问题。通过多台相机100构象光线的光路改变，使多台相机100具有不同的空间安装位置，但每台相机100的虚拟光心B具有相同的空间点位置。这样，既实现了多台相机100对全景空间视场成像的实时、同步、快速，并且也保证了相邻相片重叠区里的相同目标形成的构象光线都是一样的。相邻相片对于场景中远近不同的目标没有投影差，后期不仅可以取消投影变换的处理环节，而且能够快速拼接成完美的全景图像。本实施例尤其适用于动态场景及实时性要求高的场景，由于多个相机100同时进行拍摄，可以满足上述场景。另外，镜头101与光路变换元件200之间可以增加其他光学元件，如棱镜、反射镜，以达到镜头101与光路变换元件200之间的光程不变的情况下，减小镜头101与光路变换元件200之间的几何距离，节省安装空间。
第二实施例
请参考图6，是本申请第二实施例提供的获取全景图像的装置10的结构示意图。本实施例中，所述框架300的形状为球体，球体框架300外表面设置有多个相机100和多个光路变换元件200，图中仅示出了部分相机100及光路变换元件200，优选的，获取全景图像的装置10中的相机100与光路变换元件200的个数一致。
本实施例中的获取全景图像的装置10的原理与第一实施例的原理基本相同，其中，所述镜头101的光心A与光路变换元件200的光程，等于光路变换元件200与球心的距离，以保证多个相机100的虚拟光心B均相交于球心，便于多个相机100拍摄的图像在拼接时，不产生错位和重影。换句话说，每个相机100的主光轴与光路变换元件200的反光面的交点为镜头光心投影点，镜头光心投影点与镜头光心的距离大致等于镜头光心投影点到球心的距离。这样可以使得每个相机100的虚拟光心B能够重合于同一个点。
需要提到的是，每个相机100的视场角换算为对应的球面度后，其总和应当大于4π球面度，使之覆盖全空间。球体表面的相机100个数依据每个相机100的视场角而定，若相机100的视场角越大，则需要分布的相机100个数越少，若相机100的视场角越小，则需要分布的相机100个数越多。当相机100的数量以及相机100的视场角满足条件后，还需要考虑相机100及光路变换元件200的摆放位置和间隔，使所有相机的视场角叠加后能够覆盖球体周围的空间。当然，镜头101与光路变换元件200之间可以增加其他光学元件，如棱镜、反射镜，以达到镜头101与光路变换元件200之间的光程不变的情况下，减小镜头101与光路变换元件200之间的几何距离，节省安装空间。
第三实施例
请参考图7，是本申请第三实施例提供的获取全景图像的装置10的结构示意图。本申请实施例还提供一种获取全景图像的装置10，包括一个相机100及旋转装置(图中未示出)，所述相机100安装于所述旋转装置，所述旋转装置被配置成带动所述相机100以围绕所述相机100的镜头101光心A旋转。
在获取全景图像中，有两种方式利用单相机100获取全景图，分别为一维旋转和二维旋转。以光心A为原点建立X、Y、Z三维坐标系。一维旋转方式为，将相机100安装在旋转装置上后，旋转装置带动相机100转动，其转动的轴心线与Y轴重合，如此，相机100可以拍摄垂直于Y轴方向的全景图，在拍摄过程中，在一段时间段内，完成大于或等于360度的旋转，在时间段内的不同时刻拍摄有多张图片，由于每张图片在拍摄时具有相同的光心A，每张图片在拼接时，不会产生错位，便于拼接，且拼接的图像完整。
二维旋转方式为，旋转装置包括两个转动轴，保证两个转动轴与Y轴和Z轴重合，即保证相机100在两个维度旋转时，均保证旋转的轴过光心A，如此不同时刻的拍摄的图片在拼接时，不会产生错位。本实施例的获取全景图像的装置10尤其适用于变化小的拍摄场景，如静态场景等。
在其他具体实施方式中，所述相机100的个数还可以为多个，相比于一个相机100进行旋转，可以减小旋转角度，提高全景成像的实时性。例如，当相机100的个数为3个，每一个相机100的视场角为60度时，可以将三个相机100相邻设置，此时，拍摄全景图时，获取全景图像的装置10需要至少旋转180度；也可以将三个相机100相互间隔设置，此时，拍摄全景图时，获取全景图像的装置10只需要至少旋转60度，所转动的 角度小。
第四实施例
请参考图8，是本申请第四实施例提供的获取全景图像的装置的组装方法的流程图。本实施例的组装方法应用于对第一实施例和第二实施例的获取全景图像的装置10。所述方法包括：
S101，计算相机100的有效视场角。
设所述相机100的成像幅面为矩形，在全景图像的拼接方向的视场角减去预设重叠区域的视场角后，得到每个所述相机100的有效视场角。例如，若柱状结构下，把矩形的长边对应环绕成像拼接为全景图时，利用单个相机100的长边的视场角减去预设重叠区域的视场角后，得到每个所述相机100的有效视场角；把矩形的短边对应环绕成像拼接为全景图时，利用单个相机100的短边的视场角减去预设重叠区域的视场角后，得到每个所述相机100的有效视场角。在球形结构下，利用单个相机100的短边的视场角减去预设重叠区域的视场角后，得到每个所述相机100的有效视场角。
其中，在所述步骤S101之前还包括选取相机100。按照全景相机100的成像指标，确定一个像素的角分辨率。被选型相机100的像素的数量乘以一个像素的角分辨率，就确定了被选相机100的视场角大小，然后可以选取符合要求的相机100和匹配的镜头101。
S102，确定需要的所述相机100的个数。
依据框架300的形状，确定需要的所述相机100的个数。若所述框架300为圆柱体或棱柱，即需要进行环形全景图时，则需要的所述相机100的个数为360度除以每个所述相机100的有效视场角；若所述框架300为球体，将所述相机100的有效视场角换算为对应的球面度，则需要的所述相机100的个数为4π球面度除以每个所述相机100的有效视场角对应的球面度。优选的，在球坐标系里，分别满足对3维空间的全覆盖要求。需要提到的是，若所得相机个数为非整数时，应采用收尾法，使相机个数为整数并且大于计算值。
S103，确定所述框架300的大小。
根据相机100的安装的几何尺寸，确定对应的框架300的直径大小，保证相机100 及其附件有足够的安装空间。
S104，安装光路变换元件200及所述相机100。
每一个相机100的成像光路上，设置一个光路变换元件200，使相机100的光心A实际空间位置与虚拟光心B位置在几何空间上分离。保证多个相机100具有同一个虚拟光心B，解决了多相机100镜头101光心A无法处于同一个空间点的问题。优选的，光路变换元件200为一个反光镜，方便简单。
通过上述步骤，可以制造出能够实时拍摄360度环形全景或实时拍摄全方位立体全景图的获取全景图像的装置10。
综上所述，本申请实施例提供的获取全景图像的装置包括多个相机，多个相机同时进行拍摄，通过转移相机的光心，使每个相机的光心对应的虚拟光心交汇至同一点，在实时全景拍摄时，获取的多幅图像具有同一光心，不易产生错位，直接减少了全景图像镶嵌处理的工作量和时间。另一实施例的获取全景图像的装置采用单个相机，使单个相机绕光心进行一维或二维的旋转，以拍摄360度环形全景图或全方位立体全景图，不同时刻拍摄的图像在拍摄时具有同一光心，不同时刻拍摄的图片在拼接时不易产生错位。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。
在本申请的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，或者是该发明产品使用时惯常摆放的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”、“第三”等仅用于区分描述，而不能理解为指示或暗示相对重要性。
此外，术语“水平”、“竖直”、“悬垂”等术语并不表示要求部件绝对水平或悬垂，而是可以稍微倾斜。如“水平”仅仅是指其方向相对“竖直”而言更加水平，并不是表示该结构一定要完全水平，而是可以稍微倾斜。
在本申请的描述中，还需要说明的是，除非另有明确的规定和限定，术语“设置”、“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
以上所述仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。
工业实用性
本申请实施例提供的获取全景图像的装置包括多个相机，多个相机同时进行拍摄，通过转移相机的光心，使每个相机的光心对应的虚拟光心交汇至同一点，在实时全景拍摄时，获取的多幅图像具有同一光心，不易产生错位，直接减少了全景图像镶嵌处理的工作量和时间。另一实施例的获取全景图像的装置采用单个相机，使单个相机绕镜头光心进行一维或二维的旋转，以拍摄360度环形全景图或全方位立体全景图，不同时刻拍摄的图像在拍摄时具有同一虚拟光心，不同时刻拍摄的图片在拼接时不易产生错位。这种获取全景图像的装置及其组装方法可以在工业上实现和实施。

Claims (18)

  1. 一种获取全景图像的装置，其特征在于，包括多个相机、多个光路变换元件及框架，多个所述相机和多个所述光路变换元件均设置于所述框架侧壁，每个所述相机的镜头光心到对应的所述光路变换元件的光程等于所述光路变换元件至所述框架的几何中心或轴线的距离。
  2. 根据权利要求1所述的获取全景图像的装置，其特征在于，所述框架的形状为棱柱或圆柱体，多个所述相机均匀的分布于所述框架的侧壁，每个所述相机的镜头光心到对应的所述光路变换元件的光程等于所述光路变换元件至所述框架的轴线的距离。
  3. 根据权利要求1或2所述的获取全景图像的装置，其特征在于，多个所述光路变换元件大致位于垂直于所述框架的轴线的截面内。
  4. 根据权利要求1至3任意一项所述的获取全景图像的装置，其特征在于，多个所述相机的每一个所述相机在全景图像的拼接方向的视场角之和大于360度，使多个所述相机的图像之间具有预设的图像拼接重叠区，使之覆盖全空间。
  5. 根据权利要求1至4任意一项所述的获取全景图像的装置，其特征在于，多个所述相机环绕同一个中心线布置，且多个所述相机的主光轴大致与同一个中心线平行。
  6. 根据权利要求1至5任意一项所述的获取全景图像的装置，其特征在于，各个所述相机的镜头光心大致位于所述框架的同一个圆周上。
  7. 根据权利要求1至6任意一项所述的获取全景图像的装置，其特征在于，一个相机和一个光路变换元件组成一个组合，属于同一个组合的光路变换元件设置在对应的相机的主光轴上。
  8. 根据权利要求1至7任意一项所述的获取全景图像的装置，其特征在于，定义相机的主光轴与框架的中心线限定的面为参考面，每个相机所对应的参考面与光路变换元件的反光面大致垂直。
  9. 根据权利要求1至8任意一项所述的获取全景图像的装置，其特征在于，所述相机的主光轴与属于同一个组合的光路变换元件的反光面的线面夹角为40-50°。
  10. 根据权利要求1至9任意一项所述的获取全景图像的装置，其特征在于，每个 所述相机的主光轴与光路变换元件的反光面的交点为镜头光心投影点，镜头光心投影点与镜头光心的距离大致等于镜头光心投影点到中心线的垂直距离。
  11. 根据权利要求1至4任意一项所述的获取全景图像的装置，其特征在于，所述框架的形状为球体，多个所述相机及其配套的光路变换元件均匀的分布于所述框架的侧壁，每个所述相机的镜头光心到对应的所述光路变换元件的光程等于所述光路变换元件至所述框架的球心的距离。
  12. 根据权利要求11所述的获取全景图像的装置，其特征在于，所述框架的形状为球体，所述框架外表面设置有多个相机和多个光路变换元件；
    每个所述相机的主光轴与光路变换元件的反光面的交点为镜头光心投影点，镜头光心投影点与镜头光心的距离等于镜头光心投影点到球心的垂直距离。
  13. 根据权利要求11或12所述的获取全景图像的装置，其特征在于，多个所述相机的每一个所述相机的视场角对应的球面度之和大于4π弧度，使之覆盖全空间。
  14. 根据权利要求1至13任意一项所述的获取全景图像的装置，其特征在于，所述光路变换元件为反射镜或棱镜或多种光学部件的组合中的至少一种。
  15. 一种获取全景图像的装置，其特征在于，包括多个相机、多个光路变换元件及框架，多个所述相机和多个所述光路变换元件均设置于所述框架侧壁，多个所述相机的虚拟光心重合于同一点。
  16. 一种获取全景图像的装置，其特征在于，包括至少一个相机及旋转装置，至少一个所述相机安装于所述旋转装置，所述旋转装置被配置成带动至少一个所述相机以围绕所述相机的镜头光心旋转。
  17. 一种获取全景图像的装置的组装方法，应用于权利要求1-15任一项所述的获取全景图像的装置，其特征在于，所述方法包括：
    计算相机的有效视场角；
    依据框架的形状及所述相机的有效视场角，确定需要的所述相机的个数；
    依据所述相机的个数及安装所需的尺寸，确定所述框架的大小；
    安装光路变换元件及所述相机，使每个所述相机的镜头光心到对应的所述光路变换元件的光程等于所述光路变换元件至所述框架的几何中心或轴线的距离。
  18. 根据权利要求17所述的获取全景图像的装置的组装方法，其特征在于，计算所述相机的有效视场角包括：
    设所述相机的成像幅面为矩形，利用在全景图像的拼接方向的视场角减去预设重叠区域的视场角后，得到每个所述相机的有效视场角；
    依据框架的形状及所述相机的有效视场角，确定需要的所述相机的个数包括：若所述框架为圆柱体，则需要的所述相机的个数为360度除以每个所述相机的有效视场角；若所述框架为球体，将所述相机的有效视场角换算为对应的球面度，则需要的所述相机的个数为4π球面度除以每个所述相机的有效视场角对应的球面度，在球坐标系里，分别满足对3维空间的全覆盖要求。
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