WO2020143090A1 - Image acquisition method, apparatus and device based on multiple cameras - Google Patents

Abstract

Disclosed are an image acquisition method, apparatus and device based on multiple cameras. The image acquisition method based on multiple cameras comprises: acquiring a first image photographed by a first camera and a second image photographed by a second camera simultaneously with the first camera (S1); obtaining an overlapping region of the first image and the second image via geometrical optics (S2); removing the overlapping region from the first image to obtain a standby image after removal of the overlapping region (S3); and splicing the standby image and the second image (S4). Therefore, the technical effects of saving on calculation power and accelerating the splicing speed are achieved.

Description

Multi-camera-based image acquisition method, device and equipment Technical field

The invention relates to the field of imaging, in particular to an image acquisition method, device and equipment based on multiple cameras.

Background technique

It is a trend for mobile phones to integrate multiple cameras, which can expand the shooting area. For multi-camera or multi-camera imaging, first acquire the image taken by each camera, and then stitch the image taken by each camera to obtain the final image with a wider shooting area. The multi-camera imaging stitching and synthesis technology in the prior art generally uses a pixel-level comparison algorithm based on each camera of different cameras, which is computationally intensive and difficult to use. Therefore, the prior art lacks a solution for quickly calculating overlapping areas and quickly stitching images to obtain the final multi-camera imaging.

technical problem

The main object of the present invention is to provide an image acquisition method, device and equipment based on multiple cameras, which can remove overlapping regions only by the geometric optics method, thereby increasing the speed of the stitching process.

Technical solution

The invention provides an image acquisition method based on multiple cameras, including:

Acquiring the first image captured by the first camera and the second image captured by the second camera simultaneously with the first camera;

Obtain the overlapping area of the first image and the second image via geometric optics;

Removing the overlapping area in the first image to obtain a backup image after removing the overlapping area;

Join the backup image and the second image.

This application provides an image acquisition device based on multiple cameras, including:

The simultaneous acquisition unit is configured to acquire the first image captured by the first camera and the second image captured by the second camera simultaneously with the first camera;

An overlapping area acquisition unit, configured to obtain an overlapping area of the first image and the second image via geometric optics;

A backup image generating unit, configured to remove the overlapping area in the first image to obtain a backup image after removing the overlapping area;

A stitching unit is used to stitch the backup image and the second image.

The present application provides an apparatus, which includes a processor, a memory, and a computer program stored on the memory and executable on the processor, and the processor implements the computer program as described in any one of the foregoing The described image acquisition method based on multiple cameras.

Beneficial effect

Compared with the prior art, the present invention has the beneficial effect that, according to the multi-camera-based image acquisition method, device and equipment provided by the present invention, the overlapping area in the images captured by different cameras is calculated by geometric optics and before the stitching process , Delete the overlapping area in the image formed by the first camera, thereby reducing the stitching operation of each pixel in the overlapping area when stitching multiple images, that is to say, it is not necessary to use the pixel level of each image frame. The comparison algorithm plays a technical effect of saving splicing calculation power and accelerating splicing speed.

BRIEF DESCRIPTION

FIG. 1 is a schematic flowchart of an image acquisition method based on multiple cameras according to an embodiment of the present application;

2 is a schematic block diagram of a structure of an image acquisition device based on multiple cameras according to an embodiment of the present application;

3 is a structural block diagram of a storage medium according to an embodiment of the application;

4 is a structural block diagram of a device according to an embodiment of the application;

5-7 are schematic diagrams of the principle of the image acquisition method based on multiple cameras of this application;

Figures a and b are schematic diagrams of the auxiliary lines made when calculating the coordinate values of point A ₁ and point B _{1 in} Figure 6;

FIG. c is a schematic diagram of the auxiliary line made when calculating the coordinate value of point B ₂ in FIG. 7 of the present application.

The reference signs are as follows:

A2 is the first camera, A1 is the second camera, f is the focus, A is the point that can be imaged in the first camera and the second camera at the same time, line l1 is the connection between the lower end of the first camera and the focus, line l2 is the second The upper end of the camera is connected to the focus.

The objectives, functional features and advantages of the present invention will be further described in conjunction with the embodiments and with reference to the drawings.

Best Mode of the Invention

It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

As shown in FIG. 1, an embodiment of an image acquisition method based on multiple cameras includes:

S1. Acquire the first image captured by the first camera and the second image captured by the second camera taken simultaneously with the first camera;

S2. Obtain an overlapping area of the first image and the second image via geometric optics;

S3. Remove the overlapping area in the first image to obtain a backup image after removing the overlapping area;

S4. Splice the backup image with the second image.

Wherein, the multi-camera means that the number of cameras is two or more than two.

The principle of the present application is introduced here: referring to FIG. 5, the center of the distance between the first camera (lens A2 in the figure below) and the second camera (lens A1 in the figure above) is taken as the origin, and the center of the first camera is The center line of the second camera is the y-axis, and the parallel line passing through the origin between the center of the first camera and the focal length of the first camera is the x-axis, and the z-axis is perpendicular to the y-axis and the x-axis ( (The vertical paper), establish a three-dimensional rectangular coordinate system; the left-side cone formed by the straight line l1 (the connection between the lower end of the first camera and the focal length, ie the imaging boundary) and the straight line l2 (the connection between the upper end of the second camera and the focal length, ie the imaging boundary) The body area is the area that can be imaged by both the first camera and the second camera (that is, point A can be imaged by the first camera and the second camera at the same time). Simply remove the area from the image formed by the first camera and pass the first After the imaging of the camera, the subsequent splicing steps can be performed.

Referring to FIGS. 6 and 7, more specifically, the method of using geometric optics to acquire imaging coordinate points is introduced as follows: AB is the target to be imaged, and AB is the solid area corresponding to the overlapped area of imaging, A(-u1,h1 ) Is the intersection point with the l1 line, B(-u2,-h2) is the intersection point with the l2 line, using geometric optics to calculate the coordinates A ₁ and B ₁ (the imaging point coordinates of the first camera) ), or A ₂ and B ₂ (the coordinates of the imaging point of the second camera), since A ₁ and B ₁ are boundary points/critical points, the coordinates of A ₁ and B ₁ can be obtained to know the imaging A ₁ B ₁ , A ₂ B ₂ is the same, and then A ₁ B ₁ or A ₂ B ₂ can be removed.

Among them, the calculation method of the coordinates of A ₁ \B ₁ \A ₂ \B ₂ combines the imaging principle and similar triangles. It is assumed that the diameter of the camera (that is, the convex lens) is r, the distance between the two cameras is d, and the focal length of the lens is f. The following describes the coordinates of the point A ₁ of the method for finding.

所以有

再推出A ₁的横坐标X _a1，有：

所以：

也就是说，A ₁的坐标为:

同理也可以推出A ₂、B ₁、B ₂，可参见图b、图c，此处不做详细描述。 For point A ₁ , make a straight line parallel to the x-axis through point A, and find the coordinates of point A ₁ by finding s ₁ (as shown in Figure a). The similar triangles are:

So have

Then the abscissa X _{a1 of} A ₁ is derived, which are:

and so:

In other words, the coordinates of A ₁ are:

Similarly, A ₂ , B ₁ , and B ₂ can also be derived, which can be seen in Figures b and c, which will not be described in detail here.

Finally, find the coordinates of A ₁ \B ₁ \A ₂ \B ₂ 4 points as follows:

After acquiring the coordinates of A ₁ \B ₁ \A ₂ \B ₂ 4 points, take the corresponding overlapping area in the picture obtained by the corresponding camera and then perform the stitching operation.

As described in step S1 above, the first image captured by the first camera and the second image captured by the second camera simultaneously with the first camera are acquired. According to this, the first image and the second image captured simultaneously are obtained as a basis for subsequent stitching.

As described in step S2 above, the overlapping area of the first image and the second image is obtained via geometric optics. Any feasible method can be used to obtain the overlapping area of the first image and the second image through geometric optics, for example: establishing a first framing boundary function of the first camera and a second framing boundary function of the second camera, and calculating the first framing The boundary function and the framing boundary intersection curve function of the second framing boundary function; obtain the object distance, and substitute the object distance into the framing boundary intersection curve function to obtain the first intersection curve function; according to the imaging principle, calculate the first An intersection curve function is a first intersection curve imaging function imaged by the first camera, and the area enclosed by the first intersection curve imaging function is the overlapping area of the first image and the second image; the overlapping area is acquired.

As described in step S3 above, the overlapping area is removed from the first image to obtain a backup image after removing the overlapping area. As described above, the overlapping area is the area overlapping the second image in the image acquired by the first camera. Therefore, in order to obtain a suitable image, the overlapping area should be removed in the first image.

As described in step S4 above, the backup image and the second image are spliced. Thereby obtaining the final image. The stitching method may include: based on the backup image, incorporating the second image into the backup image from a first predetermined direction, where the first predetermined direction refers to a direction in which the second camera points to the first camera Or, based on the second image, the backup image is merged into the second image from a second predetermined direction, where the second predetermined direction refers to the direction in which the first camera points to the second camera. Therefore, the original image is stitched and synthesized into the final image, which avoids the process of copying the image data and searching for the stitching path, which is convenient and fast.

In one embodiment, the step S2 of obtaining the overlapping area of the first image and the second image via geometric optics includes:

S201. Establish a first framing boundary function of the first camera and a second framing boundary function of the second camera, and calculate a curve boundary intersection function between the first framing boundary function and the second framing boundary function;

S202: Obtain an object distance, and substitute the object distance into the intersection curve function of the viewfinder boundary to obtain a first intersection curve function;

S203. Calculate the first intersection curve function imaged by the first camera according to the imaging principle. The area enclosed by the first intersection curve function is the overlap of the first image and the second image. area;

S204. Acquire the overlapping area.

As described above, it is achieved that the overlapping area of the first image and the second image is obtained via geometric optics. In this embodiment, preferably, the parameters of the first camera and the second camera are the same, and the viewing range may be a cone range. It is understandable that the shape of the "cone" is only an implementation example, not Constitute the limitations of this solution in other possible embodiments. The camera framing has a range and cannot be shot 360 degrees without a dead angle. Therefore, the range that the camera can shoot can be expressed by the range circled by the three-dimensional function, and the boundary of the range that the camera can shoot is called the framing boundary function. Further, the parameters of the first camera and the second camera may also be different, and the viewfinder range may be any feasible range. Therefore, the intersection area of the two cones is the overlapping viewfinder area, the boundary curve of the overlapping viewfinder area is the viewfinder intersection curve, and the function of this curve is the viewfinder intersection curve function. The specific calculation method can calculate the intersection curve function of the framing boundary through the method of analytical geometry. Obtain the object distance, and substitute the object distance into the view boundary intersection curve function to obtain the first intersection curve function. Among them, the object distance refers to the distance between the vertical plane of the object to be photographed and the vertical plane of the multi-camera, which can be set by the user to operate, such as manually inputting the parameter of the object distance, or the user selects the object to The object distance is calculated by the multi-camera distance measurement principle. The principle of multi-camera distance measurement is an existing technology and will not be repeated here. The first intersection curve function is a function of the intersection curve of the view boundary intersection curve function and the vertical plane where the object corresponding to the object distance is located (that is, the vertical plane where the subject is located), which is a two-dimensional closed curve, The aforementioned intersection boundary curve function of the viewfinder is a function of three-dimensional space. According to the imaging principle, the first intersection curve imaging function of the first intersection curve function imaged by the first camera is calculated, and the area enclosed by the first intersection curve imaging function is the overlapping area on the imaging side. Based on the imaging principle, under the premise that the camera parameters are known, the image formed by the photographed object is certain. According to this, the first intersection curve imaging function that is imaged by the first camera with the first intersection curve function can be obtained. Among them, the calculation method adopts the method of analytic geometry, which will not be described in detail.

In one embodiment, the framing ranges of the first camera and the second camera are both conical, and the first framing boundary function of the first camera and the second framing boundary function of the second camera are calculated. The step S201 of the intersection curve function of the first framing boundary function and the framing boundary of the second framing boundary function includes:

S2011. Taking the center of the distance between the first camera and the second camera as the origin, taking the line connecting the center of the first camera and the center of the second camera as the y-axis, making the straight line on the z-axis parallel to the center of the first camera and the first The line of the focal point of the camera, the x axis is set perpendicular to the y axis and the z axis, and a three-dimensional rectangular coordinate system is established;

S2012. Establish a first framing boundary function of the first camera: F1=k ² (x ² +(y+d/2+r/2) ² )-(z+f) ² =0,k≠0,z<=-f; establish the second viewfinder boundary function of the second camera: F2=k ² (x ² +(yd/2-r/2) ² )-(z+f) ² =0,k≠0,z< =-f, where d is the distance between the first camera and the second camera, r is the diameter of the first camera and the second camera, f is the focal length of the first camera and the second camera, k ² = f ² /(r/ 2) ² ;

S2013. Calculate the intersection curve function F3 of the framing boundary of the first framing boundary function and the second framing boundary function: when y>0, F3=k ² (x ² +(y+d/2+r/2) ² ) -(z+f) ² = 0, k≠0, z<=-f; when y<=0, F3=k ² (x ² +(yd/2-r/2) ² )-(z+ f) ² = 0, k≠0, z<=-f.

As described above, the intersection curve function of the framing boundary of the first camera and the second camera is calculated. It is worth mentioning that the three-dimensional coordinate system is different from the dimensional directions defined by the coordinate system described and illustrated in FIG. 5, Different coordinate systems are only for the content described, and do not cause conflicts.

Specifically, the standard cone boundary curve equation is z ² =k ² (x ² +y ² ). In the three-dimensional coordinate system established in this embodiment, the first framing boundary function can be obtained: F1=k ² (x ² +(y+d/2+r/2) ² )-(z+f) ² =0, (k≠0), z<=-f; establish the second view boundary function of the second camera: F2=k ² (x ² +(yd/2-r/2) ² )-(z+f) ² =0, (k≠0), z<=-f, where d is the distance between the first camera and the second camera , r is the diameter of the first camera and the second camera, f is the focal length of the first camera and the second camera, k ² = f ² /(r/2) ² . Thus, the intersection trajectory of the first framing boundary function F1 and the second framing boundary function F2 is obtained, that is, the framing boundary intersection curve function F3: when y>0, F3=k ² (x ² +(y+d/2+r/ 2) ² )-(z+f) ² =0, (k≠0), z<=-f; when y<=0, F3=k ² (x ² +(yd/2-r/2) ² )-(z+f) ² =0, (k≠0), z<=-f. Further, the framing range of the present application may not be conical. At this time, the parameter r is set to different values according to the framing range, so that it can be applied to various lenses.

In one embodiment, in the step S202 of obtaining the object distance and substituting the object distance into the intersection curve function of the viewfinder boundary to obtain the first intersection curve function, the obtaining object distance includes:

S2021. Acquire a temporary image through the first camera, and receive a shooting object selected by the user in the temporary image;

S2022. Turn on the second camera and use the multi-camera distance measurement principle to obtain the distance between the shooting object and the plane where the first camera and the second camera are located, and set the distance to the object distance.

As described above, the first intersection curve function is obtained. The first camera is turned on first, and the user can select the subject of interest in the temporary image acquired by the first camera, and set the object distance accordingly, or the target subject can be obtained through specific settings, such as in the first camera Within the range of the camera to extract the subject located in a special area to meet different needs. Among them, the method of obtaining the object distance is to use the multi-camera distance measuring principle.

In an embodiment, before the step S4 of splicing the backup image and the second image, it includes:

S31. Compare the first pixel of the backup image with the second pixel of the second image;

S32. Delete the first pixel that is the same as the second pixel in the backup image, so as to obtain a backup image for stitching.

As described in the above steps, the overlapping content is further deleted. Since the previous step has deleted an overlapping area determined by the object distance value before stitching the image, the remaining overlapping content is not much. On this basis, the overlapping pixels are further deleted, thereby further improving the quality of the image. In addition, since there are not many overlapping contents left, there are not many pixels to be deleted in this embodiment, which can greatly reduce the demand for computing power.

In addition, the reason for the occurrence of duplicate pixels is introduced here: In this embodiment, the viewfinder range of the camera is continuously extended toward the object side in a tapered shape, so the overlapping part of the viewfinder range of the two cameras is also continuously extended Expansion, the overlapping area obtained before in this embodiment refers to the overlapping area of the part determined according to an object distance value in the overlapping portion extending toward the object side, that is, when the value is greater than the object distance value Objects in the extended space of the camera still exist. Some objects still appear in the viewing range of the two cameras at the same time. Therefore, in this embodiment, after deleting the overlapping area within an object distance, some objects larger than the object distance are still in the captured image. There will be some overlap, so duplicate pixels appear.

In an embodiment, the image acquisition method based on multiple cameras includes:

ST1. Acquire multiple preliminary images simultaneously shot by multiple cameras, wherein the cameras have n in total, and n is greater than or equal to 3;

ST2. Via geometric optics, obtain A12, A13, ..., A1n, A23, A24, ..., A2n, Am(m+1), Am(m+2),..., Amn overlapping area, n is greater than m, the Amn Refers to the overlapping area of the mth camera and the nth camera;

ST3. Remove the A12, A13, ..., A1n, A23, A24, ..., A2n, Am(m+1), Am(m+2), ..., Amn overlapping regions in the plurality of preliminary images;

ST4. Splicing to remove the plurality of preliminary images of the overlapping area.

As described in steps ST1-ST4 above, image acquisition based on multiple cameras is achieved. Since the foregoing method has acquired image acquisition of multiple cameras, according to this, image acquisition based on multiple cameras can be achieved.

Among them, since Amo (where o is greater than m and less than or equal to n) is the overlapping area of the image captured by the mth camera with the image captured by the oth camera, and the overlapping area should be removed, so that the mth camera There is no overlapping area between the captured image and the image captured by the o-th camera. According to this, all overlapping regions can be removed and then stitched to obtain the final non-overlapping image. The first camera and the second camera in the foregoing embodiments are any two of the multiple cameras in this embodiment, and the first image and the second image are any of the preliminary images in the embodiment. Two.

Referring to FIG. 2, an embodiment of an image acquisition device based on multiple cameras includes:

The simultaneous obtaining unit 1 is configured to obtain the first image captured by the first camera and the second image captured by the second camera simultaneously with the first camera;

The overlapping area acquisition unit 2 is used to obtain the overlapping area of the first image and the second image via geometric optics;

The backup image generating unit 3 is configured to remove the overlapping area in the first image to obtain a backup image after removing the overlapping area;

The stitching unit 4 is used for stitching the backup image and the second image.

As described in the above unit 1, the first image captured by the first camera and the second image captured by the second camera simultaneously with the first camera are acquired. According to this, the first image and the second image captured simultaneously are obtained as a basis for subsequent stitching.

As described in the above unit 2, the overlapping area of the first image and the second image is obtained via geometric optics. Any feasible method can be used to obtain the overlapping area of the first image and the second image through geometric optics, for example: establishing a first framing boundary function of the first camera and a second framing boundary function of the second camera, and calculating the first framing The boundary function and the framing boundary intersection curve function of the second framing boundary function; obtain the object distance, and substitute the object distance into the framing boundary intersection curve function to obtain the first intersection curve function; according to the imaging principle, calculate the first An intersection curve function is a first intersection curve imaging function imaged by the first camera, and the area enclosed by the first intersection curve imaging function is the overlapping area of the first image and the second image; the overlapping area is acquired.

As described in the above unit 3, the overlapping area is removed from the first image to obtain a backup image after removing the overlapping area. As described above, the overlapping area is the area overlapping the second image in the image acquired by the first camera. Therefore, in order to obtain a suitable image, the overlapping area should be removed in the first image.

As described in the above unit 4, the backup image and the second image are spliced. Thereby obtaining the final image. Among them, preferably, the stitching unit 4 includes: a first stitching subunit for incorporating a second image from the first predetermined direction into the backup image based on the backup image, where the first predetermined direction refers to the second The camera points in the direction of the first camera; or, the second splicing subunit is used to merge the backup image from the second predetermined direction into the second image based on the second image, where the second predetermined direction refers to the first camera Point in the direction of the second camera. Therefore, the original image is stitched and synthesized into the final image, which avoids the process of copying the image data and searching for the stitching path, which is convenient and fast.

In an embodiment, the overlapping area acquisition unit 2 includes:

The framing boundary intersection curve function calculation subunit is used to establish the first framing boundary function of the first camera and the second framing boundary function of the second camera, and calculate the relationship between the first framing boundary function and the second framing boundary function Intersecting curve function of viewfinder boundary;

The first intersection curve function calculation subunit is used to obtain the object distance, and substitute the object distance into the view boundary intersection curve function to obtain the first intersection curve function;

The overlapping area calculation subunit is used for calculating the first intersection curve imaging function of the first intersection curve function imaged by the first camera according to the imaging principle, and the area enclosed by the first intersection curve imaging function is the first image The overlapping area with the second image;

The overlapping area acquisition subunit is used to acquire the overlapping area.

As described above, it is achieved that the overlapping area of the first image and the second image is obtained via geometric optics. In this embodiment, preferably, the parameters of the first camera and the second camera are the same, and the viewing range may be a cone range. It can be understood that the "cone" is only an implementation example and does not constitute Limitations of this solution in other possible embodiments. Further, the parameters of the first camera and the second camera are different, and the viewing range may be any feasible range. Therefore, the intersection area of the two cones is the overlapping viewfinder area, the boundary curve of the overlapping viewfinder area is the viewfinder intersection curve, and the function of this curve is the viewfinder intersection curve function. The specific calculation method can calculate the intersection curve function of the framing boundary through the method of analytical geometry. Obtain the object distance, and substitute the object distance into the view boundary intersection curve function to obtain the first intersection curve function. Among them, the object distance refers to the distance between the vertical plane of the object to be photographed and the vertical plane of the multi-camera, which can be set by the user to operate, such as manually inputting the parameter of the object distance, or the user selects the object to The object distance is calculated by the multi-camera distance measurement principle. The principle of multi-camera distance measurement is an existing technology and will not be repeated here. The first intersection curve function is a function of the intersection curve of the view boundary intersection curve function and the vertical plane in which the object corresponding to the object distance is located (that is, the vertical plane in which the subject is located) is a two-dimensional closed curve, The aforementioned intersection boundary curve function of the viewfinder is a function of three-dimensional space. According to the imaging principle, the first intersection curve imaging function of the first intersection curve function imaged by the first camera is calculated, and the area enclosed by the first intersection curve imaging function is the overlapping area on the imaging side. Based on the imaging principle, under the premise that the camera parameters are known, the image formed by the photographed object is certain. According to this, the first intersection curve imaging function that is imaged by the first camera with the first intersection curve function can be obtained. Among them, the calculation method adopts the method of analytic geometry, which will not be described in detail.

In one embodiment, the framing ranges of the first camera and the second camera are both cone-shaped, and the sub-unit for calculating the intersection curve function of the framing boundary includes:

The three-dimensional Cartesian coordinate system building module is used to take the center of the distance between the first camera and the second camera as the origin, take the line connecting the center of the first camera and the center of the second camera as the y-axis, and make the straight line of the z-axis parallel to the Connecting the center of a camera to the focus of the first camera, setting the x-axis perpendicular to the y-axis and z-axis, and establishing a three-dimensional rectangular coordinate system;

The framing boundary function building module is used to establish the first framing boundary function of the first camera: F1=k ² (x ² +(y+d/2+r/2) ² )-(z+f) ² =0, k≠0, z<=-f; establish the second viewfinder boundary function of the second camera: F2=k ² (x ² +(yd/2-r/2) ² )-(z+f) ² =0, k≠0, z<=-f, where d is the distance between the first camera and the second camera, r is the diameter of the first camera and the second camera, f is the focal length of the first camera and the second camera, k ² = f ² /(r/2) ² ;

The framing boundary intersection curve function calculation module is used to calculate the framing boundary intersection curve function F3 of the first framing boundary function and the second framing boundary function: when y>0, F3=k ² (x ² +(y+d/ 2+r/2) ² )-(z+f) ² = 0, k≠0, z<=-f; when y<=0, F3=k ² (x ² +(yd/2-r/ 2) ² )-(z+f) ² = 0, k≠0, z<=-f.

As described above, the curve function of the intersection of the framing boundaries of the first camera and the second camera is calculated. Specifically, the standard cone boundary curve equation is z ² =k ² (x ² +y ² ). In the three-dimensional coordinate system established in this embodiment, the first framing boundary function can be obtained: F1=k ² (x ² +(y+d/2+r/2) ² )-(z+f) ² = 0, (k≠0), z<=-f; establish the second view boundary function of the second camera: F2=k ² (x ² +(yd/2-r/2) ² )-(z+f) ² =0, (k≠0), z<=-f, where d is the distance between the first camera and the second camera , r is the diameter of the first camera and the second camera, f is the focal length of the first camera and the second camera, k ² = f ² /(r/2) ² . Thus, the intersection trajectory of the first framing boundary function F1 and the second framing boundary function F2 is obtained, that is, the framing boundary intersection curve function F3: when y>0, F3=k ² (x ² +(y+d/2+r/ 2) ² )-(z+f) ² =0, (k≠0), z<=-f; when y<=0, F3=k ² (x ² +(yd/2-r/2) ² )-(z+f) ² =0, (k≠0), z<=-f.

In an embodiment, the first intersection curve function calculation subunit includes:

A subject receiving module, configured to acquire a temporary image through the first camera, and receive a subject selected by the user in the temporary image;

The object distance setting module is used to turn on the second camera, use the principle of multi-camera distance measurement to obtain the distance between the shooting object and the plane where the first camera and the second camera are located, and set the distance to the object distance.

As described above, the first intersection curve function is obtained. The first camera is turned on first, and the user can select the subject of interest in the temporary image acquired by the first camera, and set the object distance accordingly, or the target subject can be obtained through specific settings, such as in the first camera Within the range of the camera to extract the subject located in a special area to meet different needs. Among them, the method of obtaining the object distance is to use the multi-camera distance measuring principle.

In one embodiment, the device includes:

A comparison unit for comparing the first pixel of the backup image with the second pixel of the second image;

The pixel deletion unit is configured to delete the first pixel that is the same as the second pixel in the backup image, so as to obtain a backup image for stitching.

As described above, further deletion of overlapping content is achieved. Since the previous steps have deleted the overlapping area before stitching the image, there is not much remaining overlapping content. On this basis, the overlapping pixels are further deleted, thereby further improving the quality of the image. In addition, since there are not many overlapping contents left, there are not many pixels to be deleted in this embodiment, which can greatly reduce the demand for computing power. In addition, the reason for the occurrence of duplicate pixels is introduced here: Since this embodiment deletes the overlapping area within the object distance, there will still be some overlap of the captured images larger than the object distance, so duplicate pixels appear.

In an embodiment, the device includes:

A plurality of preliminary image acquisition units, configured to acquire a plurality of preliminary images simultaneously shot by a plurality of cameras, wherein the cameras have n in total, and n is equal to or greater than 3;

Multiple overlapping area acquisition units for acquiring A12, A13, ..., A1n, A23, A24, ..., A2n, Am(m+1), Am(m+2), ..., Amn overlapping areas via geometric optics, n is greater than m, the Amn refers to the overlapping area of the mth camera and the nth camera;

Multiple overlapping area removal units for removing the A12, A13, ..., A1n, A23, A24, ..., A2n, Am(m+1), Am(m+2), in the multiple preliminary images …, Amn overlapping area;

The preliminary image splicing unit is used for splicing the plurality of preliminary images to remove overlapping regions, as described above, to achieve image acquisition based on multiple cameras. Since the foregoing method has acquired image acquisition of multiple cameras, according to this, image acquisition based on multiple cameras can be achieved.

Among them, since Amo (where o is greater than m and less than or equal to n) is the overlapping area of the image captured by the mth camera with the image captured by the oth camera, and the overlapping area should be removed, so that the mth camera There is no overlapping area between the captured image and the image captured by the o-th camera. According to this, all overlapping regions can be removed and then stitched to obtain the final non-overlapping image. Wherein, the first camera and the second camera in the foregoing embodiments are any two of the multiple cameras in this embodiment, and the first image and the second image are any two of the multiple preliminary images in this embodiment. Pcs.

According to the multi-camera-based image acquisition device provided by the present invention, the overlapping area in the images captured by different cameras is calculated by geometric optics, and before the stitching process, the overlapping area is deleted from the image formed by the first camera, thereby starting The technical effect of saving splicing calculation power and accelerating splicing speed.

With reference to FIG. 3, the present application also provides a storage medium 10 that stores a computer program 20, which when run on a computer, causes the computer to execute the multi-camera-based image acquisition method described in the above embodiment Or, when the processor executes the computer program, an image acquisition method based on multiple cameras as described in the above embodiment is implemented.

With reference to FIG. 4, the present application also provides a device 30 containing instructions. When the storage medium 10 runs on the device 30, the device 30 causes the device 30 to execute the multi-camera based on the multi-camera described in the above embodiment through the processor 40 provided therein. Image acquisition method, or when the processor executes the computer program, an image acquisition method based on multiple cameras as described in the above embodiment is implemented. The device 30 in this embodiment is a computer device 30.

In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product.

The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, all or part of the processes or functions according to the embodiments of the present application are generated. The computer may be a general-purpose computer, a dedicated computer, a computer network, or other programmable devices. The computer instructions may be stored in a storage medium, or transmitted from one storage medium to another storage medium, for example, the computer instructions may be from a website site, computer, server, or data center via wire (eg, coaxial cable, optical fiber) , Digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) to another website, computer, server or data center. The storage medium may be any available medium that can be stored by a computer or a data storage device such as a server, a data center, etc. integrated with one or more available media. The usable medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, Solid State Disk (SSD)), or the like.

Claims (15)

An image acquisition method based on multiple cameras is characterized by including: Acquiring the first image captured by the first camera and the second image captured by the second camera simultaneously with the first camera; Obtain the overlapping area of the first image and the second image via geometric optics; Removing the overlapping area in the first image to obtain a backup image after removing the overlapping area; Join the backup image and the second image. The multi-camera based image acquisition method according to claim 1, wherein the step of acquiring the overlapping area of the first image and the second image via geometric optics includes: Establishing a first framing boundary function of the first camera and a second framing boundary function of the second camera, and calculating an intersection curve function of the framing boundary of the first framing boundary function and the second framing boundary function; Obtain the object distance, and substitute the object distance into the view boundary intersection curve function to obtain the first intersection curve function; According to the imaging principle, calculate the first intersection curve imaging function of the first intersection curve function imaged by the first camera, and the area enclosed by the first intersection curve imaging function is the overlapping area of the first image and the second image; Obtain the overlapping area. The multi-camera-based image acquisition method according to claim 2, wherein the framing ranges of the first camera and the second camera are both cone-shaped, and the first framing boundary of the first camera is established The step of calculating the intersection curve function of the first framing boundary function and the framing boundary of the second framing boundary function by the function and the second framing boundary function of the second camera includes: Taking the center of the distance between the first camera and the second camera as the origin, and taking the line connecting the center of the first camera and the center of the second camera as the y-axis, the line where the z-axis lies is parallel to the center of the first camera and the first camera Set the three-dimensional rectangular coordinate system by setting the x-axis perpendicular to the y-axis and z-axis for the connection line of the focal point; Establish the first viewfinder boundary function of the first camera: F1=k ² (x ² +(y+d/2+r/2) ² )-(z+f) ² =0,k≠0,z<=- f; establish the second viewfinder boundary function of the second camera: F2=k ² (x ² +(yd/2-r/2) ² )-(z+f) ² =0, k≠0, z<=- f, where d is the distance between the first camera and the second camera, r is the diameter of the first camera and the second camera, f is the focal length of the first camera and the second camera, k ² = f ² /(r/2) ² ; Calculate the intersection curve function F3 of the first framing boundary function and the framing boundary of the second framing boundary function: when y>0, F3=k ² (x ² +(y+d/2+r/2) ² )-( z+f) ² =0, k≠0, z<=-f; when y<=0, F3=k ² (x ² +(yd/2-r/2) ² )-(z+f) ² = 0, k≠0, z<=-f. The multi-camera-based image acquisition method according to claim 2, wherein in the step of acquiring the object distance, the object distance is substituted into the view boundary intersection curve function to obtain the first intersection curve function, The obtaining object distance includes: Acquiring a temporary image through the first camera, and receiving a subject selected by the user in the temporary image; Turn on the second camera and use the multi-camera distance measurement principle to obtain the distance between the shooting object and the plane where the first camera and the second camera are located, and set the distance to the object distance. The image acquisition method based on multiple cameras according to claim 2, wherein before the step of splicing the backup image and the second image, the method includes: Comparing the first pixel of the backup image with the second pixel of the second image; The first pixel that is the same as the second pixel is deleted from the backup image, thereby obtaining a backup image for stitching. The image acquisition method based on multiple cameras according to claim 1, wherein the step of splicing the backup image and the second image includes: Based on the backup image, incorporating the second image into the backup image from a first predetermined direction, where the first predetermined direction refers to a direction in which the second camera points to the first camera; Alternatively, based on the second image, the backup image is merged into the second image from a second predetermined direction, where the second predetermined direction refers to a direction in which the first camera points toward the second camera. The image acquisition method based on multiple cameras according to any one of claims 1 to 6, wherein: Acquire multiple preliminary images simultaneously shot by multiple cameras, wherein the cameras have n in total, and n is greater than or equal to 3; Through geometric optics, A12, A13, ..., A1n, A23, A24, ..., A2n, Am(m+1), Am(m+2), ..., Amn overlapping area, n is greater than m, the Amn refers to the first The overlapping area of m cameras and nth camera; Remove the A12, A13, ..., A1n, A23, A24, ..., A2n, Am(m+1), Am(m+2), ..., Amn overlapping regions in the plurality of preliminary images; Splicing removes the plurality of preliminary images of overlapping regions. An image acquisition device based on multiple cameras, characterized in that it includes: The simultaneous acquisition unit is configured to acquire the first image captured by the first camera and the second image captured by the second camera simultaneously with the first camera; An overlapping area acquisition unit, configured to obtain an overlapping area of the first image and the second image via geometric optics; A backup image generating unit, configured to remove the overlapping area in the first image to obtain a backup image after removing the overlapping area; A stitching unit is used to stitch the backup image and the second image. The image acquisition device based on multiple cameras according to claim 8, wherein the overlapping area acquisition unit includes: The framing boundary intersection curve function calculation subunit is used to establish the first framing boundary function of the first camera and the second framing boundary function of the second camera, and calculate the relationship between the first framing boundary function and the second framing boundary function Intersecting curve function of viewfinder boundary; The first intersection curve function calculation subunit is used to obtain the object distance, and substitute the object distance into the view boundary intersection curve function to obtain the first intersection curve function; The overlapping area calculation subunit is used for calculating the first intersection curve imaging function of the first intersection curve function imaged by the first camera according to the imaging principle, and the area enclosed by the first intersection curve imaging function is the first image The overlapping area with the second image; The overlapping area acquisition subunit is used to acquire the overlapping area. The image acquisition device based on multi-cameras according to claim 9, wherein the sub-unit for calculating the boundary boundary intersection curve function includes: The three-dimensional Cartesian coordinate system building module is used to take the center of the distance between the first camera and the second camera as the origin, take the line connecting the center of the first camera and the center of the second camera as the y-axis, and make the straight line of the z-axis parallel to the Connecting the center of a camera to the focus of the first camera, setting the x-axis perpendicular to the y-axis and z-axis, and establishing a three-dimensional rectangular coordinate system; The framing boundary function building module is used to establish the first framing boundary function of the first camera: F1=k ² (x ² +(y+d/2+r/2) ² )-(z+f) ² =0, k≠0, z<=-f; establish the second viewfinder boundary function of the second camera: F2=k ² (x ² +(yd/2-r/2) ² )-(z+f) ² =0, k≠0, z<=-f, where d is the distance between the first camera and the second camera, r is the diameter of the first camera and the second camera, f is the focal length of the first camera and the second camera, k ² = f ² /(r/2) ² ; The framing boundary intersection curve function calculation module is used to calculate the framing boundary intersection curve function F3 of the first framing boundary function and the second framing boundary function: when y>0, F3=k ² (x ² +(y+d/ 2+r/2) ² )-(z+f) ² = 0, k≠0, z<=-f; when y<=0, F3=k ² (x ² +(yd/2-r/ 2) ² )-(z+f) ² = 0, k≠0, z<=-f. The multi-camera-based image acquisition device according to claim 9, wherein the first intersection curve function calculation subunit includes: A subject receiving module, configured to acquire a temporary image through the first camera, and receive a subject selected by the user in the temporary image; The object distance setting module is used to turn on the second camera, use the principle of multi-camera distance measurement to obtain the distance between the shooting object and the plane where the first camera and the second camera are located, and set the distance to the object distance. The image acquisition device based on multiple cameras according to claim 9, wherein the device comprises: A comparison unit for comparing the first pixel of the backup image with the second pixel of the second image; The pixel deletion unit is configured to delete the first pixel that is the same as the second pixel in the backup image, so as to obtain a backup image for stitching. The image acquisition device based on multiple cameras according to claim 8, wherein the splicing unit includes: The first splicing subunit is used to merge the second image into the backup image from the first predetermined direction based on the backup image, where the first predetermined direction refers to the second camera pointing to the first camera direction; A second splicing subunit, which is used to merge the backup image into the second image from a second predetermined direction based on the second image, where the second predetermined direction refers to the first camera pointing to the second camera Direction. The image acquisition device based on multiple cameras according to any one of claims 8 to 13, characterized in that it includes: A plurality of preliminary image acquiring units, configured to acquire a plurality of preliminary images simultaneously shot by a plurality of cameras, wherein the cameras have n in total, and n is greater than or equal to 3; Multiple overlapping area acquisition units for acquiring A12, A13, ..., A1n, A23, A24, ..., A2n, Am(m+1), Am(m+2), ..., Amn overlapping areas via geometric optics, n is greater than m, the Amn refers to the overlapping area of the mth camera and the nth camera; Multiple overlapping area removal units for removing the A12, A13, ..., A1n, A23, A24, ..., A2n, Am(m+1), Am(m+2), in the multiple preliminary images …, Amn overlapping area; A preliminary image stitching unit is used to splice the plurality of preliminary images of the overlapping area. An apparatus, characterized in that it includes a processor, a memory, and a computer program stored on the memory and executable on the processor, and the processor implements the computer program as described in claims 1 to 7. An image acquisition method based on multiple cameras as described in any of 7.

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