CN109600556A - A kind of high quality precision omnidirectional imaging system and method based on slr camera - Google Patents
A kind of high quality precision omnidirectional imaging system and method based on slr camera Download PDFInfo
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- CN109600556A CN109600556A CN201910123353.3A CN201910123353A CN109600556A CN 109600556 A CN109600556 A CN 109600556A CN 201910123353 A CN201910123353 A CN 201910123353A CN 109600556 A CN109600556 A CN 109600556A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/265—Mixing
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- Stereoscopic And Panoramic Photography (AREA)
- Closed-Circuit Television Systems (AREA)
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Abstract
The invention belongs to technical field of image processing, disclose a kind of high quality precision omnidirectional imaging system and method based on slr camera, provide solution, including data processing end, data conversion end and data collection terminal for the Integrated Development of more slr cameras；Data processing end uses embeded processor, possesses more camera shutter sequence of threads of control, mode switching program, picture downloading program and panoramic mosaic program.The present invention realizes the shutter line traffic control and picture storage integral system of more cameras, the image set of acquisition simultaneously can be processed into panoramic pictures, can not only replace traditional polyphaser picture collection and storage mode, it is undistorted with transmitting, time saving and energy saving, panoramic effect is good, high-efficient, it is at low cost, the advantages of being easy to secondary development, it is more standby to assign accurate geological information to panoramic technique, meet photogrammetric model, meet high quality imaging, the applicable high level need of more scenes.
Description
Technical field
The invention belongs to technical field of image processing more particularly to a kind of high quality precision panorama based on slr camera at
As system and method.
Background technique
Traditional image collecting device realizes the acquisition of image, mobile single lens image collector mostly with single lens
It sets, the image for obtaining each different angle carries out splicing and obtains panoramic picture, and such mode takes time and effort, and extremely unstable.
With advances in technology, there is the panoramic picture image collection system using more camera lenses composition, pass through the circular mode of camera, record
Image within the scope of lower all angles, but the image mosaic technology difficulty after the completion of Image Acquisition is high, precision is poor.
Panorama camera is divided into consumer level panorama camera and bussiness class panorama camera, produces many bats according to different needs
Take the photograph the panorama camera product of excellent effect.Consumer level panorama camera be suitable for personal outdoor sports amusement or news spot, wedding,
It the demands such as takes photo by plane；And bussiness class panorama camera is suitable for clapping power supply or other professional other application scenarios.
The scheme that the panorama camera of early stage mostly uses polyphaser to splice is opposite different using 6 or 6 or more cameras
Direction shooting then it is carried out the work such as to splice.And now the panorama camera of consumer level mostly uses 2-4 fisheye cameras
It is shot, the picture that shooting obtains is corrected and is spliced, to obtain panoramic pictures.Using a small amount of fish eye lens side
The consumer level panorama camera of case has RICOH Theta series, Insta 360 and Insta 360pro on the market at present,
Bublcam, PHIIMAX 3D etc..Although can reduce cost using a small amount of fish eye lens scheme, portability is improved, it is few
The fish eye lens of amount will lead to the picture distortion taken than more serious, and clarity is poor, and the resolution ratio of image is not high.Institute
With the side that in order to cater to certain specific shooting demands, professional other panorama camera is still shot using multiple video cameras
Case, such as Tai Keyi, the series of products under OZO, Ladybug and the Upano of Nokia.
Most of panorama camera is main on the market or the picture or video being filmed are stored into camera, then after
Continuous imported on computer is handled and is checked, real-time is lost.And the price is very expensive for professional other panorama camera, energy
Realize that the panorama camera of the real-time splice program of lower cost is less, such as Ladybug5 panorama camera price is up to 180,000 people
Coin.
On the market generally there are panorama camera can not often accomplish an equalization point, consumer level between price and performance
The general image quality of panorama camera is poor, and file transmission is unstable, has a single function, carries out on its platform secondary for the user
Develop almost impossible, and professional panorama camera is at high price, and ordinary consumer can't afford, and ability of second development has
Limit.
Most of all, panorama camera product on the market is very abundant at present, most of shooting quality is also substantially
It meets the needs of users, still, this demand only stays in panorama browsing aspect.And if panoramic technique is our brings
Only if mostly a kind of result of browse, the limitation of this technology can not also play the advantage of panoramic technique with regard to apparent.
Therefore, excavating new usage scenario for panoramic technique is one of our emphasis.After extensive and in-depth study, it has been found that
The application range for increasing the panoramic technique of accurate geological information is undoubtedly widened significantly, can be at augmented reality (AR), virtually
Real (VR), indoor three-dimensional modeling, engineering survey, automatic Pilot, target identification, the multiple fields such as path planning are played the part of in addition to clear
The role look at except function.
Therefore, assigning accurate geological information to panoramic technique is one of the core embodied in our this patent.This
In the case of, the image quality of our panoramic pictures just has very high requirement, strictly to meet photogrammetric model, want simultaneously
Has a high quality imaging, a series of speciality such as more scenes are applicable in.From this angle analysis, mainstream panoramic imagery system currently on the market
System cannot meet our high level need.Thus, by research learning extensively and profoundly, we plan using single-lens reflex camera
Camera is as image collection sensor, rather than common camera.The matter of full-view image can be farthest improved in this way
Amount, and more open exploitation environment is provided.There is no this solution party that can satisfy polyphaser synchronously control on the market now
Case.
In conclusion problem of the existing technology is:
(1) in the prior art, panorama camera can not accomplish an equalization point between price and performance；
(2) consumer level camera is although at low cost, good portability, but a small amount of fish eye lens will lead to the picture taken
Distortion is than more serious, and clarity is poor, and the resolution ratio of image is not high, and secondary development is almost impossible；
(3) although professional camera can solve picture distortion to a certain extent, pixel difference, resolution ratio is not high to be asked
Topic, but due to its high price, be limited so that it is promoted, and its ability of second development is limited.
(4) function is mostly single panorama browsing, is a lack of the panoramic technique of accurate geological information, application field office
Limit；
It solves the difficulty of above-mentioned technical problem: how to select camera mould group, fish eye lens, control circuit and main control electricity
Brain designs corresponding system and optimum organization, under the minimum target of cost, so that imaging effect is good, is embodied in image and rectifys
Just distortion is few afterwards, and high pixel resolution, panoramic mosaic effect is good, and ability of second development is promoted, and how to increase accurate geometry letter
Breath is so that more scenes are applicable in.
Solve the meaning of above-mentioned technical problem: preferable, high resolution in the distortion, pixel for guaranteeing picture minimum
Under the premise of, increase API, the interfaces such as SDK and Hardware I/O provide the ability of second development of raising system, reduce this to the greatest extent specially
The cost of industry panorama camera promotes professional panorama camera intersecting professional domain so that the popularization of professional panorama becomes easy
In conjunction with development, and the application range for increasing the panoramic technique of accurate geological information is undoubtedly widened significantly, can be existing in enhancing
Real (AR), virtual reality (VR), indoor three-dimensional modeling, engineering survey, automatic Pilot, target identification, multiple necks such as path planning
Play the part of the role other than browsing function in domain.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of high quality precision panorama based on slr camera at
As system and method.
The invention is realized in this way a kind of high quality precision omnidirectional imaging system based on slr camera, including data
Processing end, data conversion end and data collection terminal.Data processing end uses embeded processor, possesses more camera shutters of control
Sequence of threads, mode switching program, picture downloading program and panoramic mosaic program.Data conversion end include and embeded processor into
The cable release control circuit board of row serial communication, control phase unit acquire image data；Including usb hub, at present
Carry and store the image data of more cameras of phase unit.Data collection terminal is the phase unit comprising six cameras, passes through shutter
The control of line carries out the acquisition of image data.
Further, the data processing end includes embeded processor and its logic and embeded processor for running program
With the interface setting at data conversion end.
Further, the logic of the embedded operation program includes more camera shutter sequence of threads, pattern switchings of control
Program, picture downloading program and panoramic mosaic program.
Further, the data conversion end includes the cable release control circuit board that serial communication is carried out with embeded processor
And usb hub.
Further, the cable release control circuit board is by controlling the acquisition of phase unit with the serial communication of embeded processor
Image data, the usb hub are downloaded the image data of more cameras and are stored in embedded simultaneously after pattern switching
In processor.
Further, the data collection terminal includes the phase unit comprising six cameras, passes through the control of cable release circuit board
System carries out the acquisition of image data.
Further, the cable release control circuit board is connected by cable release with earpiece holes real with more cameras of phase unit
Now control is taken pictures, and is connected with embeded processor by USB and is realized serial communication, the implementation pattern that is connected with usb hub switching.
Further, described more camera shutter release cable programs of control include the logical program that each camera is arrived in control, described
Mode switching program includes picture collection mode and picture downloading mode, and the picture downloading program includes automatic processing stream
Journey, the panoramic pictures program include the splicing rationalized to the pictures after downloading.
Further, the phase unit of six cameras includes the structure of a bracket and six identical cameras.
Another object of the present invention is to provide a kind of polyphaser shutter line traffic control and the integrated panoramic pictures of storage
Generation method includes:
(1) camera is in photographing mode under original state, connects processor and shutter line control circuit by USB data line
Plate connects synchro-shutter line control circuit plate and camera by cable release, realizes that control camera is synchronous using serial communication mode
It takes pictures.Therefore cable release control circuit board can be taken pictures simultaneously by six cameras of shutter line traffic control.
(2) instruction ion is sent to cable release control circuit board by embeded processor, controls the supply lines of usb hub
Access, and then control camera and be switched to memory module, the camera of operation photograph downloading six cameras of process control from photographing mode
Data downloading.
(3) embeded processor sends instruction ioff to cable release control circuit board, and cable release control circuit board controls USB
The supply lines open circuit of hub, camera switch back into photographing mode from memory module.
(4) panoramic mosaic program is located in embeded processor, inputs the six flake pictures clapped for synchronization, output
For Zhang Quanjing figure, panoramic mosaic program will splice to obtain panorama sketch after the photograph sequence integration of downloading using panoramic mosaic algorithm
Piece.Before this, the intrinsic parameter and elements of exterior orientation for obtaining camera are tested by camera calibration.
(5) intrinsic parameter and elements of exterior orientation of combining camera, extracts accurate geological information, provides for panoramic technique new
Usage scenario.
Realize that the polyphaser shutter line traffic control and storage are integrated another object of the present invention is to provide a kind of
The computer program of panoramic pictures generation method.
Realize that the polyphaser shutter line traffic control and storage are integrated another object of the present invention is to provide a kind of
The information data processing terminal of panoramic pictures generation method.
Another object of the present invention is to provide a kind of computer readable storage mediums, including instruction, when it is in computer
When upper operation, so that computer executes the polyphaser shutter line traffic control and the integrated panoramic pictures generation side of storage
Method.
In conclusion advantages of the present invention and good effect are as follows:
(1) imaging model of the single camera of the system is tighter, and the quality of image is more compared to popular full-view camera
It is high；
(2) the CMOS chip pixel number that the camera uses is higher, and size is bigger, and sensitive volume is wider；Meanwhile the mirror of collocation
Head is also high-accuracy optical lens, and FOV is up to 180 °, mutual image overlap Du Genggao；
(3) file transmission is undistorted, is downloaded in embeded processor by usb hub, high-efficient；
(4) it under the minimum target of cost, so that imaging effect is good, distorts less after being embodied in image flame detection, pixel
High resolution, panoramic mosaic effect are good；
(5) stitching algorithm that the system uses is tighter.Each camera individually carries out the calibration of elements of interior orientation, camera
The calibration (determining camera in the relative positional relationship of object space) of elements of exterior orientation has also all been carried out between any two.Therefore, it spells
It is more accurate for images match to connect algorithm, error may be significantly smaller；
(6) system can be developed jointly, energy by circuit board and other kinds of sensor (such as IMU, GPS etc.)
Enough competent operative scenario is more；
(7) guarantee the distortion of picture minimum, pixel preferably, high resolution under the premise of, increase API, SDK and
The interfaces such as Hardware I/O improve the ability of second development of system, the cost of this professional panorama camera are reduced to the greatest extent, so that specially
The popularization of industry panorama becomes easy, and promotes professional panorama camera in the combination and development for intersecting professional domain；
(8) system combination laser SLAM technology can assign strict geological information for panoramic pictures, for indoor outer space
Between in high precision modeling provide effective solution, and efficiency is greatly improved relative to artificial modeling.(1) in Fig. 8~
(6) be respectively single camera intake photo schematic diagram, Fig. 9 is panoramic pictures to be spelled using (1) in Fig. 8~(6) camera
The panoramic pictures connect, pixel are up to hundred million pixel present invention and are up to hundred million pictures using the photograph pixel of single camera intake
Element.
Following table is benefit analysis table:
Detailed description of the invention
Fig. 1 is assembly logical construction schematic diagram provided in an embodiment of the present invention.
Fig. 2 is embeded processor programmed logic schematic diagram provided in an embodiment of the present invention.
Fig. 3 is cable release control circuit board PCB figure provided in an embodiment of the present invention.
Fig. 4 is usb hub structural schematic diagram provided in an embodiment of the present invention.
Fig. 5 is camera structure schematic diagram provided in an embodiment of the present invention.
Fig. 6 is phase unit displacement structure schematic diagram provided in an embodiment of the present invention.
Fig. 7 is phase unit displacement structure finished figure provided in an embodiment of the present invention.
Fig. 8 is the photo schematic diagram provided in an embodiment of the present invention for being utilized respectively the intake of 6 single cameras.
Fig. 9 is the panoramic pictures figure that 6 cameras provided in an embodiment of the present invention using in Fig. 8 are spliced.
Embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
Panorama camera product at present on the market is very abundant, and most of shooting quality also substantially meets the need of user
It asks, still, this demand only stays in panorama browsing aspect.And if panoramic technique is only mostly a kind of for our brings
If result of browse, the limitation of this technology can not also play the advantage of panoramic technique with regard to apparent.It therefore, is panorama
It is one of our emphasis that technology, which excavates new usage scenario,.After extensive and in-depth study, it has been found that increase accurate
The application range of panoramic technique of geological information undoubtedly widen significantly, can be in augmented reality (AR), virtual reality (VR), room
Interior three-dimensional modeling, engineering survey, automatic Pilot, target identification, the multiple fields such as path planning are played the part of other than browsing function
Role.
Therefore, assigning accurate geological information to panoramic technique is one of the core embodied in our this patent.This
In the case of, the image quality of our panoramic pictures just has very high requirement, strictly to meet photogrammetric model, want simultaneously
Has a high quality imaging, a series of speciality such as more scenes are applicable in.From this angle analysis, mainstream panoramic imagery system currently on the market
System cannot meet our high level need.
In order to solve the above technical problems, below with reference to concrete scheme, the present invention will be described in detail.
It is provided in an embodiment of the present invention to be used for the high quality precision omnidirectional imaging system based on slr camera, including at data
Manage end, data conversion end and data collection terminal.As shown in Figure 1, data processing end uses embeded processor, it is more to possess control
Platform camera shutter sequence of threads, mode switching program, picture downloading program and panoramic mosaic program.Data conversion end includes and insertion
Formula processor carries out the cable release control circuit board of serial communication, and control phase unit acquires image data；Including USB set line
The image data of more cameras of phase unit is downloaded and stored simultaneously to device.Data collection terminal is the phase unit comprising six cameras,
Its acquisition that image data is carried out by the control of cable release.
As shown in Fig. 2, hardware configuration needed for the embedded software is, embeded processor is connected by USB data line
Usb hub and cable release control circuit board are connect, usb hub connects six cameras, shutter line traffic control electricity by USB data line
Road plate connects six cameras by cable release.The Subroutine dividing of the embedded software is the synchronous spectrum assignment of polyphaser
Program, photograph downloading program, mode switching program and panoramic mosaic program.
The synchronous spectrum assignment program of polyphaser is located in cable release control circuit board and embeded processor, passes through USB number
Processor and cable release control circuit board are connected according to line, synchro-shutter line control circuit plate and camera are connected by cable release, made
Control camera synchronous photo taking is realized with serial communication mode, and the realization logic of program is to be sent and instructed by embeded processor
Itrigger triggers camera and takes pictures to cable release control circuit board.
Photograph downloading program is located in embeded processor, controls six cameras by USB data line and usb hub
Camera data downloading.
Mode switching program is located in embeded processor, which is characterized in that camera is under open state in mould of taking pictures
Formula or memory module, the synchronous spectrum assignment program of polyphaser control the synchronous photo taking of six cameras under photographing mode, under photograph
Carry the downloading that program controls camera data in storage mode, the realization logic of mode switching program are as follows: (1) by embedded processing
Device sends instruction ion and arrives cable release control circuit board, controls the supply lines access of usb hub, and then control camera is from taking pictures
Pattern switching is memory module；(2) instruction ioff is sent to cable release control circuit board by embeded processor, controls USB set
The supply lines open circuit of line device, and then control camera and be switched to photographing mode from memory module.
Panoramic mosaic program is located in embeded processor, inputs the six flake pictures clapped for synchronization, exports and be
One Zhang Quanjing figure tests the intrinsic parameter and elements of exterior orientation for obtaining camera by camera calibration before this.Image mosaic is realized
Logic are as follows: (1) corrected six flake pictures by its intrinsic parameter；(2) by camera elements of exterior orientation, six are had corrected that
Good picture projection is on spherical surface；(3) camera exposure compensates, and by gain compensation, the brightness of picture is tuned into almost the same；
(4) splicing line is found, the line that method finds the lap minimum energy of two images, as cut-off rule are cut by figure；(5)
Two images are carried out pyramid fusion around cut-off rule, retain the detailed information of each frequency range, make cut-off rule by image co-registration
Surrounding transition is natural；(6) panoramic picture mends " hole in the ground ", since some camera of bottom is clapped less than panorama has one when browsing
Part cavity, passes through the image information filling cavity at front and back station；
The operating procedure of the embedded software are as follows:
(a) embeded processor sends instruction itrigger to cable release control circuit board, and camera is under original state
Photographing mode, therefore cable release control circuit board can be taken pictures simultaneously by six cameras of shutter line traffic control.
(b) embeded processor sends instruction ion to cable release control circuit board, and cable release control circuit board controls USB
The supply lines access of hub, camera are switched to memory module from photographing mode.
(c) embeded processor operation photograph downloads program, and photograph is downloaded to embedded processing from six cameras by program
On device.
(d) embeded processor sends instruction ioff to cable release control circuit board, and cable release control circuit board controls USB
The supply lines open circuit of hub, camera switch back into photographing mode from memory module.
(e) embeded processor runs panoramic mosaic program, will be calculated after the photograph sequence integration of downloading using panoramic mosaic
Method splices to obtain panoramic pictures.
As shown in figure 3, cable release control circuit board and embeded processor carry out serial communication, pass through on PCB with camera
Six headset bases carry out control camera function.There are two switch, one of switch controls for the assembly of cable release control circuit board
The caching electricity of cable release processed discharges, and needs to reset time switch after each system boot, another switch control usb hub
On-off switches photographing mode and memory module.
As shown in figure 4, usb hub, which is mainly responsible for, obtains picture data captured by phase unit, due to the six of phase unit
The relative position of platform camera is fixed and invariable, and takes RAM card to obtain image data by artificial mode infeasible.The present invention
Usb hub after acquiring end of data, the data line of six cameras is integrated in one, embeded processor end is passed through
Six cameras in phase unit can be converted into USB access mode simultaneously by program.Embeded processor is grown up to be a useful person company by USB set
Connect the data that all cameras in phase unit were accessed, deleted all cameras in phase unit.Therefore usb hub solves phase
The problem of unit camera data access movability camera relative position.
As shown in figure 5, the structure of single camera is as schemed.There is camera HDMI, AVOUT/DIGITAL and REMOTE/MIC to connect
Mouthful.Wherein AVOUT mouthfuls are cable release input port, the AVOUT mouth of one end connection camera of cable release, other end connection cable release
The earphone jack of control panel PCB.Wherein REMOTR/MIC is power port, six cameras we with output be 12V source of stable pressure into
The unified power supply of row.Camera internal also includes setting operation, including screening-mode, camera lens setting, shutter line traffic control etc..It is taking pictures
Under mode, camera is taken pictures by the AVOUT mouth short circuit that cable release connects, and photograph is stored automatically in camera internal SD card, works as system
When mode is switched to memory module, SD card is mounted on embeded processor, and the photo in SD card can be downloaded to insertion
In the storage unit of formula processor.
As shown in fig. 6, five fisheye cameras provided in an embodiment of the present invention are placed in pentagonal each edge, ensure that
Radiate the maximum visual angle of peripheral direction；One camera is placed on pentagonal top surface, ensure that scanning circumstance next top
Photo acquisition, to build the panoramic pictures without dead angle.The structure of camera is the quantity in camera, the parameter of wide-angle lens,
The result optimized under the multiple parameter such as the setting that camera internal is taken pictures.
Below with reference to cable release control circuit board BOM (Bill of Material) table to high quality essence provided by the invention
Close omnidirectional imaging system is further described.
In the present invention, phase unit displacement structure finished product such as Fig. 7.(a) is front view in figure；It (b) is top view；It (c) is side
View.
Present invention combination laser SLAM technology can assign strict geological information for panoramic pictures, be that indoor and outdoor spaces are high
Accuracy modeling provides effective solution, and efficiency is greatly improved relative to artificial modeling.(1)~(6) point in Fig. 8
It is not the photo schematic diagram of single camera intake, Fig. 9 is that panoramic pictures are complete to be spliced using (1) in Fig. 8~(6) camera
Scape picture, pixel are up to hundred million pixel present invention and are up to hundred million pixels using the photograph pixel of single camera intake.
Cable release control circuit board BOM (Bill of Material) table provided by the invention are as follows:
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of high quality precision omnidirectional imaging system based on slr camera, which is characterized in that described based on slr camera
High quality precision omnidirectional imaging system includes:
Data processing end, using embeded processor, by controlling more camera shutter sequence of threads, mode switching program, pictures
It downloads program and panoramic mosaic program carries out the processing of image data；
Data conversion end, by carrying out the cable release control circuit board of serial communication with embeded processor, for controlling camera
Group acquisition image data；The image data of more cameras of phase unit is downloaded and stored by usb hub；
Data collection terminal controls the acquisition of image data by the cable release of the phase unit of six cameras.
2. the high quality precision omnidirectional imaging system based on slr camera as described in claim 1, which is characterized in that at data
Reason end includes the interface with data conversion end.
3. the high quality precision omnidirectional imaging system based on slr camera as described in claim 1, which is characterized in that cable release
Control circuit board acquires image data by controlling phase unit with the serial communication of embeded processor；Usb hub is in mode
It downloads the image data of more cameras simultaneously after switching and is stored in embeded processor.
4. the high quality precision omnidirectional imaging system based on slr camera as described in claim 1, which is characterized in that cable release
Control circuit board is connected by cable release with earpiece holes with more cameras of phase unit realizes that control is taken pictures, with embeded processor
It is connected by USB and realizes serial communication, the implementation pattern that is connected with usb hub switching.
5. the high quality precision omnidirectional imaging system based on slr camera as described in claim 1, which is characterized in that controlled
More camera shutter release cable programs include the logical program that each camera is arrived in control, and the mode switching program includes picture collection
Mode and picture downloading mode；It includes automated process flow that picture, which downloads program, and the panoramic pictures program includes to downloading
The splicing that pictures afterwards are rationalized.
6. the high quality precision omnidirectional imaging system based on slr camera as described in claim 1, which is characterized in that six phases
The phase unit of machine includes a bracket and six rack-mount identical cameras.
7. a kind of polyphaser shutter line traffic control of the high quality precision omnidirectional imaging system based on slr camera as described in claim 1
Make and store integrated panoramic pictures generation method, which is characterized in that the polyphaser shutter line traffic control and storage one
The panoramic pictures generation method of body includes:
(1) camera is in photographing mode under original state, connects processor and cable release control circuit board by USB data line,
Synchro-shutter line control circuit plate and camera are connected by cable release, controls camera synchronous photo taking using serial communication mode；Fastly
Door line control circuit plate is taken pictures simultaneously by six cameras of shutter line traffic control；
(2) instruction ion is sent to cable release control circuit board by embeded processor, controls the supply lines access of usb hub,
Control camera is switched to memory module, the camera data downloading of operation photograph downloading six cameras of process control from photographing mode；
(3) embeded processor sends instruction ioff to cable release control circuit board, and cable release control circuit board controls USB set line
The supply lines open circuit of device, camera switch back into photographing mode from memory module；
(4) panoramic mosaic program is located in embeded processor, inputs the six flake pictures clapped for synchronization, exporting is one
Zhang Quanjing's figure, panoramic mosaic program will splice to obtain panoramic pictures after the photograph sequence integration of downloading using panoramic mosaic algorithm；
(5) intrinsic parameter and elements of exterior orientation of combining camera, extracts accurate geological information.
8. a kind of realize polyphaser shutter line traffic control as claimed in claim 7 and the integrated panoramic pictures generation method of storage
Computer program.
9. a kind of realize polyphaser shutter line traffic control as claimed in claim 7 and the integrated panoramic pictures generation method of storage
Information data processing terminal.
10. a kind of computer readable storage medium, including instruction, when run on a computer, so that computer executes such as
Polyphaser shutter line traffic control as claimed in claim 7 and the integrated panoramic pictures generation method of storage.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111145269A (en) * | 2019-12-27 | 2020-05-12 | 武汉大学 | Calibration method for external orientation elements of fisheye camera and single-line laser radar |
| CN111275750A (en) * | 2020-01-19 | 2020-06-12 | 武汉大学 | Indoor space panoramic image generation method based on multi-sensor fusion |
| CN112672043A (en) * | 2020-12-17 | 2021-04-16 | 聂鸿宇 | High-quality precise panoramic imaging method and system based on single lens reflex |
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