CN106815870A - The method and system of panorama camera device is demarcated in a kind of machine - Google Patents
The method and system of panorama camera device is demarcated in a kind of machine Download PDFInfo
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- CN106815870A CN106815870A CN201611168874.3A CN201611168874A CN106815870A CN 106815870 A CN106815870 A CN 106815870A CN 201611168874 A CN201611168874 A CN 201611168874A CN 106815870 A CN106815870 A CN 106815870A
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Abstract
Method and system of the present invention including demarcation panorama camera device in a kind of machine, for realizing：Starting state is identified, and corresponding pattern is carried out according to starting state；Panorama camera device shoots according to current camera configuration mode and demarcates picture；Center origin parameter is confirmed by the visual angle FOV and picture coefficient of camera, and panorama camera device is entered calibrating parameters computation schema；By calibrating parameters computation schema and the calibrated multinomial coefficient of centre dot parameter acquiring, enter line parameter using script file and store, and；Transfer script file and obtain calibrating parameters, according to the use pattern that user needs, the multi-medium data that panorama camera device is recorded is changed.Beneficial effects of the present invention are：In process of production, improve the production efficiency of product；In product operation, it is to avoid in use, the camera lens for occurring blocks the problem serious with camera lens black surround to product.
Description
Technical field
A kind of method and system the present invention relates to demarcate panorama camera device in machine, belongs to computer realm.
Background technology
With the development of the consumer electronics industry, it is desirable to preferably sharing the enjoyment of oneself and wishing consumption electricity
Son can bring oneself more preferable experience, and therefore panorama 360 ° of motions DV and panorama, 360 ° of drive recorders are also born.But mesh
360 ° of motion 360 ° of drive recorders of DV and panorama of preceding panorama are still present deficiency.Shown in following 1-2：
（1）Product in use, because extraneous factor causes camera lens deviation occur, so occur 360 ° of motion DV of panorama and
The Product Experience of 360 ° of drive recorders of panorama is bad, or even return of goods phenomenon occurs；
（2）In process of producing product, it is the demarcation that is carried out according to specific camera head to be demarcated due to camera lens, also due to 360 ° of panorama
The individual difference of camera lens, causes the production yield of 360 ° of Related products of panorama not high, extends the time of product turnout, is unfavorable for
The quick production of product.
The shortcoming that prior art is present is as follows：
The related product of 360 ° of shootings of prior art panorama in process of production, is first clapped according to several specific picture pick-up devices
Calibration photos are taken the photograph, is demarcated according to these calibration photos before manufacture, the calibrating parameters that formation has been shaped.Then in production
During, according to this calibrating parameters carry out the camera lens that production cannot effectively solve to occur during use with a batch of product inclined
In difference and production process, the production yield of product problem not high.
Visual angle FOV：Refer to scope that camera lens can be covered, (object would not be received in camera lens more than this angle), one
Individual camera lens can cover many scenery on a large scale, generally be represented with angle, and this angle is just the visual angle FOV of camera lens.
The content of the invention
In view of the shortcomings of the prior art, we can effectively solve prior art arrangement and deposit by the way of being demarcated in machine
Deficiency.
Technical scheme includes a kind of method that panorama camera device is demarcated in machine, it is characterised in that the method
Including：A. panorama camera device is started, and starting state to panorama camera device is identified, and according to starting shape
State carries out corresponding pattern；B. the image pickup mode of panorama camera device is enabled, panorama camera device is configured according to current camera
Pattern shoots demarcates picture, and enters camera calibration parameter mode；C. the camera parameter calibration for being entered based on the step B
Pattern confirms center origin parameter by the visual angle FOV and picture coefficient of camera, and panorama camera device is entered demarcation ginseng
Number computation schema；D. the calibrating parameters computation schema and centre dot parameter acquiring for being entered based on the step C are calibrated
Multinomial coefficient, and multinomial coefficient, center origin parameter, visual angle FOV are stored using script file, and, enter
The normal use pattern of system；E. the normal use pattern for being entered based on the step D, is transferred script file and obtains calibrating parameters,
According to the use pattern that user needs, the multi-medium data that panorama camera device is recorded is changed.
Method according to panorama camera device is demarcated in described machine, the method also includes：If panorama camera device makes
Occur Parameters variation during, then forced resetting pattern is provided, for being re-scaled to lens parameters.
Method according to panorama camera device is demarcated in described machine, described step A also includes：
Panorama camera device is carried out starting state identification include obtain starting log file, be confirmed whether be for the first time startup or
Person's system forced resetting pattern, if system is not to start for the first time and without resetting, be directly entered normal operation mode.
Method according to panorama camera device is demarcated in described machine, described step B also includes：According to regarding for camera
The pixel order scanning long and wide of angle FOV, picture, obtains the edge pixel of photograph, boundary profile is extracted, further according to triangle letter
Number, obtains centre dot parameter, and enter calibrating parameters computation schema.
Method according to panorama camera device is demarcated in described machine, described step C also includes：During calibration mode is obtained
After heart round dot parameter, the Taylor polynomial conversion according to trigonometric function obtains calibrated multinomial coefficient, and by after calculating
Coefficient, centre dot, camera lens visual angle FOV save as calibrated script file, into the normal use pattern of system
Method according to panorama camera device is demarcated in described machine, described step D also includes：In the normal use pattern of system
In, according to calibrated script file, obtain calibrating parameters, there is provided User Defined selection mode is filled to corresponding panoramic shooting
The multi-medium data for putting recording carries out corresponding conversion.
Technical scheme also includes the system that panorama camera device is demarcated in a kind of machine, it is characterised in that this is
System includes：
Start identification module, for starting to panorama camera device, and starting state to panorama camera device is known
Not, and according to starting state corresponding pattern is carried out；Camera parameter calibration module, the shooting for enabling panorama camera device
Pattern, panorama camera device shoots according to current camera configuration mode demarcates picture, and enters camera calibration parameter mode；
Calibrating parameters computing module, the camera parameter calibration pattern for being entered based on the camera parameter calibration module passes through to take the photograph
As the visual angle FOV and picture coefficient of head confirm center origin parameter, and panorama camera device is set to enter calibrating parameters computation schema；
Calibrating parameters memory module, for the calibrating parameters computation schema and center circle that are entered based on the calibrating parameters computing module
The point calibrated multinomial coefficient of parameter acquiring, and multinomial coefficient, center origin parameter, visual angle FOV are used into script file
Stored, and, into the normal use pattern of system；Self-defined modular converter, for storing mould based on the calibrating parameters
The normal use pattern that block enters, transfers script file and obtains calibrating parameters, according to the use pattern that user needs, panorama is taken the photograph
As the multi-medium data that device is recorded is changed.
Beneficial effects of the present invention are：
（1）In process of production, parameter calibration is carried out not according to 360 ° of cameras of specific panorama, but according to different camera lenses
Difference, in equipment add lens parameters calibration process, each camera lens is demarcated respectively, evaded because camera lens exists
Difference in production process causes calibrating parameters different, the product yield for occurring problem not high, improves the production of product
Efficiency.
（2）In product operation, due to the interference of extraneous factor, such as camera skew, can enable caused by colliding
Re-scale mode, demarcate the lens parameters of 360 ° of panorama, it is to avoid 360 ° of products of panorama in use, the camera lens of appearance
Block the problem serious with camera lens black surround.
Brief description of the drawings
Fig. 1 show the overview flow chart according to embodiment of the present invention.
Specific embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, below in conjunction with the accompanying drawings with specific embodiment pair
The present invention is described in detail.The method and system that panorama camera device is demarcated in a kind of machine of the invention is applied to panoramic shooting
Demarcated in the machine of device.
Fig. 1 show the overview flow chart according to embodiment of the present invention.Its is specific as follows（1）-（5）It is shown
（1）360 ° of drive recorders of panorama start, and judge whether equipment is to start for the first time.If starting or being for the first time
System forced resetting pattern, into camera calibration flow；If system does not reset, and is not to start for the first time, into just
Regular operation mode；
（2）Calibration photos pattern is shot into camera, equipment shoots calibration photos according to current camera configuration mode, enters
Camera calibration parameter mode；
（3）In camera calibration pattern, the visual angle fov and picture according to camera are long（width）It is suitable with (height) pixel wide
Sequence is scanned, and obtains the edge pixel of photograph, extracts boundary profile, according to trigonometric function, centre dot parameter is obtained, into demarcation
Parameter computation schema；
（4）After calibration mode obtains centre dot parameter, the Taylor polynomial conversion according to trigonometric function is obtained calibrated
Multinomial coefficient, and by the coefficient after calculating, centre dot, camera lens visual angle fov saves as calibrated script file, into system
Unite normal use pattern；
（5）In the normal use pattern of system, according to calibrated script file, calibrating parameters are obtained, needed according to user
Use pattern, such as flake, panorama, the selection of VR patterns are changed to each video and picture, meet the product of user
Experience.
Technical side of the invention further comprises：
If in use, because extraneous factor causes camera lens, some offset, in the case of without camera lens is damaged, user
Forced resetting pattern can be started, re-scaling for lens parameters is carried out.
Technical scheme can also be applied to such as monocular cam, be demarcated in the machine of binocular camera.
The above, simply presently preferred embodiments of the present invention, the invention is not limited in above-mentioned implementation method, as long as
It reaches technique effect of the invention with identical means, should all belong to protection scope of the present invention.In protection model of the invention
Its technical scheme and/or implementation method can have a variety of modifications and variations in enclosing.
Claims (7)
1. a kind of method that panorama camera device is demarcated in machine, it is characterised in that the method includes：
A. panorama camera device is started, and starting state to panorama camera device is identified, and according to starting shape
State carries out corresponding pattern；
B. the image pickup mode of panorama camera device is enabled, panorama camera device shoots calibration maps according to current camera configuration mode
Piece, and enter camera calibration parameter mode；
C. confirmed by the visual angle FOV and picture coefficient of camera based on the camera parameter calibration pattern that the step B enters
Center origin parameter, and panorama camera device is entered calibrating parameters computation schema；
D. the calibrating parameters computation schema and the calibrated system of polynomials of centre dot parameter acquiring for being entered based on the step C
Number, and multinomial coefficient, center origin parameter, visual angle FOV are stored using script file, and normally used into system
Pattern；
E. the normal use pattern for being entered based on the step D, is transferred script file and obtains calibrating parameters, is needed according to user
Use pattern, changes to the multi-medium data that panorama camera device is recorded.
2. the method that panorama camera device is demarcated in machine according to claim 1, it is characterised in that the method also includes：
If Parameters variation occurs in use in panorama camera device, forced resetting pattern is provided, for lens parameters
Re-scaled.
3. the method that panorama camera device is demarcated in machine according to claim 1, it is characterised in that described step A is also
Including：
Panorama camera device is carried out starting state identification include obtain starting log file, be confirmed whether be for the first time startup or
Person's system forced resetting pattern, if system is not to start for the first time and without resetting, be directly entered normal operation mode.
4. the method that panorama camera device is demarcated in machine according to claim 1, it is characterised in that described step C is also
Including：
The pixel order scanning long and wide of visual angle FOV according to camera, picture, obtains the edge pixel of photograph, extracts border wheel
Exterior feature, further according to trigonometric function, obtains centre dot parameter, and enter calibrating parameters computation schema.
5. the method that panorama camera device is demarcated in machine according to claim 1, it is characterised in that described step D is also
Including：
After calibration mode obtains centre dot parameter, the Taylor polynomial conversion according to trigonometric function is obtained calibrated multinomial
Formula coefficient, and by the coefficient after calculating, centre dot, camera lens visual angle FOV saves as calibrated script file, into system just
Normal use pattern.
6. the method that panorama camera device is demarcated in machine according to claim 1, it is characterised in that described step E is also
Including：
In the normal use pattern of system, according to calibrated script file, calibrating parameters are obtained, there is provided User Defined is selected
Pattern carries out corresponding conversion to the multi-medium data that corresponding panorama camera device is recorded.
7. the system that panorama camera device is demarcated in a kind of machine, it is characterised in that the system includes：
Start identification module, for starting to panorama camera device, and starting state to panorama camera device is known
Not, and according to starting state corresponding pattern is carried out；
Camera parameter calibration module, the image pickup mode for enabling panorama camera device, panorama camera device is according to when proactive
Picture is demarcated as head configuration mode shoots, and enters camera calibration parameter mode；
Calibrating parameters computing module, the camera parameter calibration pattern for being entered based on the camera parameter calibration module is led to
The visual angle FOV and picture coefficient for crossing camera confirm center origin parameter, and panorama camera device is calculated into calibrating parameters
Pattern；
Calibrating parameters memory module, for the calibrating parameters computation schema that is entered based on the calibrating parameters computing module and in
The calibrated multinomial coefficient of heart round dot parameter acquiring, and multinomial coefficient, center origin parameter, visual angle FOV are used into script
File is stored, and, into the normal use pattern of system；
Self-defined modular converter, for the normal use pattern entered based on the calibrating parameters memory module, transfers script text
Part obtains calibrating parameters, according to the use pattern that user needs, the multi-medium data that panorama camera device is recorded is changed.
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| CN201611168874.3A CN106815870B (en) | 2016-12-16 | 2016-12-16 | Method and system for internally calibrating panoramic camera |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107825436A (en) * | 2017-11-28 | 2018-03-23 | 北京科技大学 | A kind of intelligent lacquer painting nursing robot and its method for lacquer painting nursing |
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