CN105787920A - Dome screen demarcating method, demarcating system and control device - Google Patents

Abstract

The embodiments of the invention provide a dome screen demarcating method, a demarcating system and a control device. The method includes the following steps: constructing in advance a mapping sphere model W of a sphere camera, and acquiring a position T of the sphere camera in a dome screen space; determining a coordinate X of a sampling point of a demarcating image which is projected by a first projector on the sphere camera, in accordance with the mapping sphere model W and the position T of the sphere camera in the dome screen, acquiring a position coordinate Z of the coordinate X of the sampling point in the sphere screen space; in accordance with the coordinate V of the first projector and the coordinate Z of the coordinate X of the sampling point in the sphere screen space, constructing a mathematics conversion model U1 of the demarcating image projected by the first projector to a dome screen image; using the aforementioned method, constructing mathematics conversion models U2......Un of demarcating images output by other projectors to the dome screen images, in which n is the number of the projectors; in accordance with the mathematics conversion models U1......Un, generating the complete dome screen image.

Description

Ball curtain scaling method, calibration system and control equipment

Technical field

The present invention relates to image processing field, particularly relate to a kind of ball curtain scaling method, calibration system and control equipment.

Background technology

The size of current ball curtain demonstration Play System comprises the size from small size (diameter 0.5m-3.0m) to each type of large scale (more than diameter 5m), small size ball curtain Play System is general due to drop shadow effect, so being suitable as advertisement putting, or the occasion as decoration uses, usually it is placed on outdoor viewing；And the immersive effects of large scale ball curtain Play System projection is good and have stronger third dimension, it is suitable as under the occasion of the high requests such as extraordinary large-scale movie theatre, virtual reality device and uses.

In the prior art, general small size ball curtain Play System uses separate unit scialyscope to be realized by fish eye lens, even if using the scialyscope of high resolution and high luminance, does not also reach the resolution of movie theatre rank requirement and the effect of color.Although using high-end scialyscope can reach the effect above very easily, but the rising of cost can be caused.Therefore large-sized ball curtain demonstration Play System realizes typically via the splicing fusion of multiple stage scialyscope, to realize the effect of the movie theatre rank of high-resolution, high brightness.But this has higher requirement to the aspects such as light path design, site operation, later stage video editing, therefore in the prior art, using multiple stage scialyscope to realize large scale ball curtain Play System, there are the following problems:

1) needing projected picture is manually spliced, therefore construction work working strength is big, and the time cycle is long, poor by manual operation precision especially；

2) large scale ball curtain demonstration Play System is after running after a while, and scialyscope constantly shifts and causes splicing effect to be deteriorated, it is necessary to re-calibrating, therefore later maintenance cost is bigger；

3) owing to the projection image deformation comparison of scialyscope is serious, and manually splice the projected picture needing comparison regular, so unnecessary view field can be cropped in the middle of ball curtain splices, affect the pixel utilization rate of scialyscope, light path design is required higher simultaneously, add and realize cost.

Summary of the invention

The invention provides a kind of ball curtain scaling method, calibration system and control equipment, the transformation model of demarcation picture to ball curtain by building scialyscope, the picture of demarcating of scialyscope is generated complete ball curtain picture.

Embodiments provide a kind of ball curtain scaling method, including:

The mapped sphere model W of S1, in advance structure spheroid video camera, and obtain described spheroid video camera position T in ball curtain space；

S2, determine coordinate X, the position T in ball curtain according to mapped sphere model W and described spheroid video camera of the uncalibrated image sampled point that the first scialyscope is projected on described spherical camera, obtain the coordinate X of the described sampled point position coordinates Z in ball curtain space；

S3, build the uncalibrated image of described first scialyscope projection output according to the coordinate V of described first scialyscope and the coordinate X of described sampled point position coordinates Z in ball curtain space to the mathematics transformation model U1 of ball curtain image；Using preceding method, the uncalibrated image building the output of other scialyscopes is the number of scialyscope to mathematics transformation model U2 ... the Un, described n of ball curtain image；

S4, according to described mathematics transformation model U1 ... Un generates complete ball curtain image.

Preferably, the expression formula of described mapped sphere model W is:

$W\left(\begin{array}{cccc}{\mathrm{\ω}}_{11}& {\mathrm{\ω}}_{12}& \·\·\·& {\mathrm{\ω}}_{1n}\\ {\mathrm{\ω}}_{21}& {\mathrm{\ω}}_{21}& \·\·\·& {\mathrm{\ω}}_{2n}\\ \·\·\·& \·\·\·& \·\·\·& \·\·\·\\ {\mathrm{\ω}}_{m1}& {\mathrm{\ω}}_{m2}& \·\·\·& {\mathrm{\ω}}_{\mathrm{mn}}\end{array}\right);$

Wherein: ω 11 ... ω m1 represents the transformation parameter to spheroidal coordinate of all sampled points on first video camera, ω 1n ... ω mn represents the transformation parameter to spheroidal coordinate of all sampled points on the n-th video camera.

Preferably, described acquisition spheroid video camera position T in ball curtain is:

$T\left(\begin{array}{c}{T}_1\\ T_2\\ T_3\end{array}\right);$

Wherein, described T represents described spherical camera system three-dimensional coordinate in ball curtain, and the coordinate figure of its each dimension is (T1, T2, T3).

Preferably, described according to mapped sphere model W and described spheroid video camera the position T in ball curtain, obtain the coordinate X of the described sampled point position coordinates Z in ball curtain space, its computing formula is:

$Z_1(\mathrm{\β},\mathrm{\θ})=W\left(\begin{array}{cccc}{\mathrm{\ω}}_{11}& {\mathrm{\ω}}_{12}& \·\·\·& {\mathrm{\ω}}_{1n}\\ {\mathrm{\ω}}_{21}& {\mathrm{\ω}}_{21}& \·\·\·& {\mathrm{\ω}}_{2n}\\ \·\·\·& \·\·\·& \·\·\·& \·\·\·\\ {\mathrm{\ω}}_{m1}& {\mathrm{\ω}}_{m2}& \·\·\·& {\mathrm{\ω}}_{\mathrm{mn}}\end{array}\right)\×\left(\begin{array}{c}{X}_{11}\\ X_{12}\\ \·\·\·\\ X_{1m}\end{array}\right)\×T\left(\begin{array}{c}{T}_1\\ T_2\\ T_3\end{array}\right)$ (formula two)；

Wherein: ω 11 ... ω m1 represents the transformation parameter to spheroidal coordinate of all sampled points on first video camera, ω 1n ... ω mn represents the transformation parameter to spheroidal coordinate of all sampled points on the n-th video camera；Described T represents described spherical camera system three-dimensional coordinate in ball curtain, and the coordinate figure of its each dimension is (T1, T2, T3)；X_1mIt it is the coordinate of first sampled point that spherical shooting system m-th camera acquisition arrives.

Preferably, described method also includes: map the coordinate of described scialyscope position coordinates Z in ball curtain space according to the coordinate V of described scialyscope:

$Z_1(\mathrm{\β},\mathrm{\θ})=U\left(\begin{array}{cccc}{\mathrm{\μ}}_{11}& {\mathrm{\μ}}_{12}& \·\·\·& {\mathrm{\μ}}_{1n}\\ {\mathrm{\μ}}_{21}& {\mathrm{\μ}}_{22}& \·\·\·& {\mathrm{\μ}}_{2n}\\ \·\·\·& \·\·\·& \·\·\·& \·\·\·\\ {\mathrm{\μ}}_{m1}& {\mathrm{\μ}}_{m2}& \·\·\·& {\mathrm{\μ}}_{\mathrm{mn}}\end{array}\right)\×\left(\begin{array}{c}{V}_{11}\\ V_{12}\\ \·\·\·\\ V_{1m}\end{array}\right)$ (formula two)；

Wherein, described U is the scialyscope coordinate mathematics transformation model to ball curtain image coordinate, and V1m represents the coordinate of first sampled point of m-th scialyscope.

Preferably, calculating the uncalibrated image mathematics transformation model U to ball curtain image of described first scialyscope projection output according to described formula one and formula two, wherein the expression formula of U is as follows:

$U\left(\begin{array}{cccc}{\mathrm{\μ}}_{11}& {\mathrm{\μ}}_{12}& \·\·\·& {\mathrm{\μ}}_{1n}\\ {\mathrm{\μ}}_{21}& {\mathrm{\μ}}_{22}& \·\·\·& {\mathrm{\μ}}_{2n}\\ \·\·\·& \·\·\·& \·\·\·& \·\·\·\\ {\mathrm{\μ}}_{m1}& {\mathrm{\μ}}_{m2}& \·\·\·& {\mathrm{\μ}}_{\mathrm{mn}}\end{array}\right).$

Preferably, obtain at least two scialyscopes and be projected in the overlapping region on ball curtain the fusion parameters F (Z of each scialyscope of overlapping region calculating according to described at least two scialyscopes₁Z₂Z₃…)。

Preferably, the overlapping region of at least two scialyscopes described in described basis calculates the fusion parameters F (Z of each scialyscope₁Z₂Z₃...) including:

Obtain the set (z of the ball curtain coordinate of at least two scialyscopes₁z₂z₃...), and at least two scialyscopes described in calculating are at the set Z of the overlapping sub-block in ball curtain space；

Obtain set Z (v₁v₂v₃...) center be v_n, and according to each pixel in each overlapping region position to center, described each overlapping region with to the ratio q of each overlapping region marginal position, calculate the fusion value Z of described pixel₁=255*q, and then calculate the fusion parameters F (Z of each overlapping region of described scialyscope₁Z₂Z₃…)。

Preferably, according to described transformation model U and described fusion parameters F (Z₁Z₂Z₃...) generate complete ball curtain image.

The embodiment of the present invention additionally provides a kind of control equipment, including:

Demarcating unit, for spherical camera is demarcated, described spherical camera includes at least two video camera；

Coordinate transformation unit, for determining the coordinate X of uncalibrated image sampled point that the first scialyscope is projected on described spherical camera, the position T in ball curtain according to mapped sphere model W and described spheroid video camera, obtains the coordinate X of the described sampled point position coordinates Z in ball curtain space；

Model construction unit, for building the uncalibrated image mathematics transformation model U1 to ball curtain image of described first scialyscope projection output according to the coordinate V of described first scialyscope and the coordinate X of described sampled point position coordinates Z in ball curtain space；Using preceding method, the uncalibrated image building the output of other scialyscopes is the number of scialyscope to mathematics transformation model U2 ... the Un, described n of ball curtain image；

Image composing unit, is used for according to described mathematics transformation model U1 ... Un generates complete ball curtain image.

Preferably, described control equipment also includes fusion parameters computing unit, for described in obtaining at least scialyscope be projected in the overlapping region of going on ball curtain, and calculate the fusion parameters F (Z of each scialyscope according to the overlapping region of described multiple stage scialyscope₁Z₂Z₃…)。

Preferably, described fusion parameters computing unit is specifically for obtaining the set (z of the ball curtain coordinate of multiple stage scialyscope₁z₂z₃...), and calculate the plurality of scialyscope set Z in the overlapping sub-block in ball curtain space；Obtain set Z (v₁v₂v₃...) center be v_n, and according to the position of each pixel to center with to the ratio q of edges of regions position, calculate the fusion value Z of described pixel₁=255*q, and then calculate the fusion parameters F (Z of each overlapping region of described scialyscope₁Z₂Z₃…)。

Preferably, described image composing unit is specifically for according to described transformation model U and described fusion parameters F (Z₁Z₂Z₃...) generate complete ball curtain image.

The embodiment of the present invention additionally provides a kind of ball curtain calibration system, including at least two scialyscopes, spherical camera, arbitrary forgoing control apparatus.

Preferably, the spherical surface panoramic camera that described spherical shooting is made up of at least two video cameras.

Ball curtain scaling method, calibration system and the control equipment that the embodiment of the present invention provides, has the advantages that

Ball curtain scaling method provided by the present invention, calibration system and control equipment, automatically the demarcation picture position in ball curtain of scialyscope projection is obtained by control equipment, and build the scialyscope demarcation picture mathematics transformation model in ball curtain position, according to described mathematics transformation model, the picture of the projection of described scialyscope is generated complete ball curtain image, whole ball curtain image generation process is automatically performed splicing and the adjustment of image, avoid artificial participation, improve the efficiency of image mosaic；Furthermore it is also possible to consider the fusion parameters of overlapping region in the process of image mosaic so that the splicing effect of image is better, reduce distortion；Before every subsystem is opened, can be carried out correction, improve the long-term operational effect of the stability of large-screen splicing, Reliability Assurance system and reduce the cost of system maintenance.

Accompanying drawing explanation

In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below the accompanying drawing that embodiment or description of the prior art collect required use is briefly described, apparently, drawings discussed below is only some embodiments of the present invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.

Fig. 1 is the first pass figure of the ball curtain scaling method that the embodiment of the present invention provides；

Fig. 2 is the second flow chart of the ball curtain scaling method that the embodiment of the present invention provides；

Fig. 3 is the 3rd flow chart of the ball curtain scaling method that the embodiment of the present invention provides；

Fig. 4 is the schematic diagram of the ball curtain calibration system that the embodiment of the present invention provides；

Fig. 5 is the first structural representation controlling equipment that the embodiment of the present invention provides.

Detailed description of the invention

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is a part of embodiment of the present invention, rather than whole embodiments.Based on embodiments of the invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.

Embodiment one:

The ball curtain scaling method that the embodiment of the present invention provides, it is applied in ball curtain Play System, this ball curtain Play System includes multiple stage scialyscope, spherical camera, ball curtain and control equipment, the spherical surface panoramic camera that wherein spherical camera is made up of multiple cameras, demarcation picture is projected to spherical camera by multiple stage scialyscope, the demarcation picture collected is transmitted to control equipment and processes by spherical camera, and the image after being disposed directly is incident upon on ball curtain.

As it is shown in figure 1, the ball curtain scaling method that the embodiment of the present invention provides, including:

The mapped sphere model W of S1, in advance structure spheroid video camera, and take the position T obtaining described spheroid video camera in ball curtain；

S2, determine coordinate X, the position T in ball curtain according to mapped sphere model W and described spheroid video camera of the uncalibrated image sampled point that the first scialyscope is projected on described spherical camera, obtain the coordinate X of the described sampled point position coordinates Z in ball curtain space；

S3, according to the coordinate of described first scialyscope and the coordinate X of described sampled point, the position coordinates Z in ball curtain space builds the uncalibrated image of the first scialyscope projection output to the mathematics transformation model U1 of ball curtain image；Adopting identical method simultaneously, build uncalibrated image mathematics transformation model U2 ... the Un to ball curtain image of other scialyscopes output, wherein n is the number of scialyscope in ball curtain system；

S4, according to described mathematics transformation model U1 ... Un generates complete ball curtain image.

In embodiments of the present invention, described mapped sphere model W is that in described spheroid video camera, the origin coordinate system transform of the pixel of any one video camera is the coordinate system centered by described spheroid video camera, described spheroid video camera is made up of multiple video cameras, concrete multiple video cameras are distributed on same spheroid, and the expression way of described W is:

$W\left(\begin{array}{cccc}{\mathrm{\ω}}_{11}& {\mathrm{\ω}}_{12}& \·\·\·& {\mathrm{\ω}}_{1n}\\ {\mathrm{\ω}}_{21}& {\mathrm{\ω}}_{21}& \·\·\·& {\mathrm{\ω}}_{2n}\\ \·\·\·& \·\·\·& \·\·\·& \·\·\·\\ {\mathrm{\ω}}_{m1}& {\mathrm{\ω}}_{m2}& \·\·\·& {\mathrm{\ω}}_{\mathrm{mn}}\end{array}\right)$

Wherein, W refers to a matrix, is a mapping from any camera pixel coordinate sampled point of spherical camera system to spheroidal coordinate, is a matching mathematical model out, ω_XnRepresent that the sampled point (x-th sampled point) of any pixel on the n-th video camera is to the transformation of coordinates parameter in the coordinate system centered by spheroid video camera, such as ω 11 ... ω m1 represents the transformation parameter to spheroidal coordinate of all sampled points (the 1st arrives m-th sampled point) on first video camera.

In embodiments of the present invention, the expression way of spheroid video camera position T in ball curtain is:

$T\left(\begin{array}{c}{T}_1\\ T_2\\ T_3\end{array}\right)$

Wherein: T represents spherical camera system three-dimensional coordinate in ball curtain, the coordinate figure of its each dimension is (T1, T2, T3).

In embodiments of the present invention, the position T in ball curtain according to mapped sphere model W and described spheroid video camera, obtain the coordinate X of the described sampled point position coordinates Z in ball curtain space, including:

$Z_1(\mathrm{\β},\mathrm{\θ})=W\left(\begin{array}{cccc}{\mathrm{\ω}}_{11}& {\mathrm{\ω}}_{12}& \·\·\·& {\mathrm{\ω}}_{1n}\\ {\mathrm{\ω}}_{21}& {\mathrm{\ω}}_{21}& \·\·\·& {\mathrm{\ω}}_{2n}\\ \·\·\·& \·\·\·& \·\·\·& \·\·\·\\ {\mathrm{\ω}}_{m1}& {\mathrm{\ω}}_{m2}& \·\·\·& {\mathrm{\ω}}_{\mathrm{mn}}\end{array}\right)\×\left(\begin{array}{c}{X}_{11}\\ X_{12}\\ \·\·\·\\ X_{1m}\end{array}\right)\×T\left(\begin{array}{c}{T}_1\\ T_2\\ T_3\end{array}\right)$ (formula one)

Wherein: W refers to whole matrix, namely any camera pixel coordinate sampled point of spherical camera system is to a mapping of spheroidal coordinate, is a matching mathematical model out, X_1mBeing the pixel coordinate of first sampled point that spherical shooting system m-th camera acquisition arrives, T is integral spherical camera chain locus in ball curtain, and (T1, T2, T3) is spherical camera system three-dimensional coordinate in ball curtain, Z₁(β, θ): be the spheroidal coordinate corresponding to first sampled point.

By formula (one), can by all of camera acquisition to the pixel Coordinate Conversion of uncalibrated image be the coordinate in ball curtain.

In embodiments of the present invention, if the coordinate points by each scialyscope is set to V, then can also obtain the ball curtain coordinate position Z of each scialyscope according to formula two₁(β, θ):, it may be assumed that

$Z_1(\mathrm{\β},\mathrm{\θ})=U\left(\begin{array}{cccc}{\mathrm{\μ}}_{11}& {\mathrm{\μ}}_{12}& \·\·\·& {\mathrm{\μ}}_{1n}\\ {\mathrm{\μ}}_{21}& {\mathrm{\μ}}_{22}& \·\·\·& {\mathrm{\μ}}_{2n}\\ \·\·\·& \·\·\·& \·\·\·& \·\·\·\\ {\mathrm{\μ}}_{m1}& {\mathrm{\μ}}_{m2}& \·\·\·& {\mathrm{\μ}}_{\mathrm{mn}}\end{array}\right)\×\left(\begin{array}{c}{V}_{11}\\ V_{12}\\ \·\·\·\\ V_{1m}\end{array}\right)$ (formula two)

Wherein, U is the scialyscope coordinate mathematics transformation model to ball curtain image coordinate, and V1m represents the coordinate of first sampled point of m-th scialyscope.

In embodiments of the present invention, the uncalibrated image coordinate of described structure the first scialyscope projection output, to the mathematics transformation model U of ball curtain image coordinate, by formula () and formula (two) join operation, can try to achieve matrix U,

$U\left(\begin{array}{cccc}{\mathrm{\μ}}_{11}& {\mathrm{\μ}}_{12}& \·\·\·& {\mathrm{\μ}}_{1n}\\ {\mathrm{\μ}}_{21}& {\mathrm{\μ}}_{22}& \·\·\·& {\mathrm{\μ}}_{2n}\\ \·\·\·& \·\·\·& \·\·\·& \·\·\·\\ {\mathrm{\μ}}_{m1}& {\mathrm{\μ}}_{m2}& \·\·\·& {\mathrm{\μ}}_{\mathrm{mn}}\end{array}\right).$

It should be understood that V represents the coordinate that scialyscope is current, as V1m represents the m-th scialyscope coordinate at first sampled point namely the coordinate of m platform scialyscope itself, and X_1mThen represent the pixel coordinate of first sampled point that m platform camera acquisition arrives namely the coordinate of m platform video camera itself.

In embodiments of the present invention, it is possible to obtain the overlapping region of multiple stage scialyscope the fusion parameters F (Z of each scialyscope of overlapping region calculating according to multiple stage scialyscope₁Z₂Z₃...), including:

A1, by calculating the ball curtain locus of each scialyscope, and then obtain the ball curtain coordinate set (z of the uncalibrated image of all scialyscopes₁z₂z₃...), and determine the uncalibrated image set Z in the overlapping sub-block in ball curtain space of multiple scialyscope；

Wherein, ball curtain set according to First scialyscope, and the ball curtain coordinate set of second scialyscope, the overlapping region obtaining First scialyscope and second scialyscope can be solved, set Z1 can be labeled as, overlapping region Z2, the Z3 between other neighboring projectors can also be marked equally ... Zn.

A2, determine overlapping region Z (v₁v₂v₃...) center be v_n, according to pixel each in each overlapping region to this center, overlapping region v_nWith the ratio q to this edges of regions position, overlapping region, obtain the fusion value Z of this pixel₁=255*q；

Concrete, for overlapping region Z1, determine the center Vn of this overlapping region, calculate in the Z1 of overlapping region each pixel to center Vn and the ratio q arriving edges of regions position, wherein each pixel is to the value only one of which of distance arriving center Vn, and the value arriving edges of regions position has N number of, then the ratio q of each pixel includes q11, q12 ..., q1N.Then in overlapping region, its q value of m-th pixel is qM1, qM2 ..., qMN, namely in overlapping region, the q value of each pixel is a matrix.

Owing to each pixel brightness value is 0-255, therefore be may decide that brightness value and the fusion value Z of each pixel by position proportional parameter q₁=255*q；

It should be noted that the marginal position of overlapping region is the spherical coordinate value corresponding to the edge pixel point of overlapping region, on ball curtain, the distance of two pixels is the camber line distance between 2.

A3, obtain the fusion parameters F (Z of each overlapping region of scialyscope₁Z₂Z₃…)。

It should be noted that the fusion value Z of each pixel in each overlapping region can be got according to above-mentioned formula, and then obtain the fusion parameters F (Z of each overlapping region₁Z₂Z₃…)。

In embodiments of the present invention, graph rendering computer is according to described transformation model U1 ... Un and described fusion parameters F (Z₁Z₂Z₃...) generate complete ball curtain image.

Embodiment two:

As in figure 2 it is shown, the ball curtain scaling method that the embodiment of the present invention provides, including:

201, in advance spherical camera is demarcated；

In embodiments of the present invention, spherical camera is by substep a kind of special panoramic camera of multiple stage wide angle cameras composition on a spheroid, can the covering horizontal 360-degree at visual angle entirely, look up 270 degree of visual angles, each camera interior and exterior parameter can be predicted in advance by computer multi-vision visual scaling method, such as internal reference matrix parameter W, location parameter T, and towards parameter D.Coordinate unification by the location parameter T of multiple video cameras and towards parameter D is transformed into and obtains parameter LT, LD in the coordinate system L that the center of panoramic camera system is zero again；Tri-parameter matrixizations of W, LT, LD can be obtained the mapping matrix LW of each video camera, so can obtain the position LA in the coordinate system L of correspondence for any pixel A in each camera review.So by the demarcation to spherical camera, all being projected in the coordinate system centered by spherical camera system by pixel any on all video cameras, the computing formula setting up spherical camera mapped sphere mathematical model W, W is:

$W\left(\begin{array}{cccc}{\mathrm{\ω}}_{11}& {\mathrm{\ω}}_{12}& \·\·\·& {\mathrm{\ω}}_{1n}\\ {\mathrm{\ω}}_{21}& {\mathrm{\ω}}_{21}& \·\·\·& {\mathrm{\ω}}_{2n}\\ \·\·\·& \·\·\·& \·\·\·& \·\·\·\\ {\mathrm{\ω}}_{m1}& {\mathrm{\ω}}_{m2}& \·\·\·& {\mathrm{\ω}}_{\mathrm{mn}}\end{array}\right);$

Wherein: W refers to a matrix, it is a mapping from any camera pixel coordinate sampled point of spherical camera system to spheroidal coordinate, is a matching mathematical model out, ω_XnRepresent that the sampled point (x-th sampled point) of any pixel on the n-th video camera is to the transformation of coordinates parameter in the coordinate system centered by spheroid video camera, such as ω 11 ... ω m1 represents the transformation parameter to spheroidal coordinate of all sampled points (the 1st arrives m-th sampled point) on first video camera.

In embodiments of the present invention, the panoramic camera system demarcated is called spherical camera.

202, the demarcation picture of the first scialyscope is gathered；

Controlling computer and send commands to the first scialyscope, the first projector goes out to demarcate picture (this demarcation picture can be made up of) the round dot of multiple gray scales or special color labelling.Then certain video camera of spherical camera can collect the first scialyscope and demarcate the image of picture, and choose multiple sampled point, the image adopting the method binaryzation based on gray threshold or color segmentation to collect, then may determine that the pixel center position X of multiple sampled point₁(x_i,y_i)。

203, the locus of the ball curtain at ball curtain video camera place is determined；

Generally the position of spherical camera is at the centre of sphere of ball curtain, but by the method that spatial alternation translates, can in office what is the need for the position wanted in the position of globular projection machine, this also increases the motility of enforcement and convenience, and this parameter is the outer parameter of spherical camera:

$T\left(\begin{array}{c}{T}_1\\ T_2\\ T_3\end{array}\right);$

Wherein: T represents spherical camera system three-dimensional coordinate in ball curtain, the coordinate figure of its each dimension is (T1, T2, T3).

204, the coordinate demarcating picture samples point position coordinates in ball curtain space is obtained.

The coordinate demarcating picture samples point is X₁(x_i,y_i), the position coordinates in ball curtain space is Z₁(β, θ), its concrete conversion formula is:

$Z_1(\mathrm{\β},\mathrm{\θ})=W\left(\begin{array}{cccc}{\mathrm{\ω}}_{11}& {\mathrm{\ω}}_{12}& \·\·\·& {\mathrm{\ω}}_{1n}\\ {\mathrm{\ω}}_{21}& {\mathrm{\ω}}_{21}& \·\·\·& {\mathrm{\ω}}_{2n}\\ \·\·\·& \·\·\·& \·\·\·& \·\·\·\\ {\mathrm{\ω}}_{m1}& {\mathrm{\ω}}_{m2}& \·\·\·& {\mathrm{\ω}}_{\mathrm{mn}}\end{array}\right)\×\left(\begin{array}{c}{X}_{11}\\ X_{12}\\ \·\·\·\\ X_{1m}\end{array}\right)\×T\left(\begin{array}{c}{T}_1\\ T_2\\ T_3\end{array}\right)$ (formula one)；

Wherein: W refers to whole matrix, namely any camera pixel coordinate sampled point of spherical camera system is to a mapping of spheroidal coordinate, is a matching mathematical model out, X_1mBeing the pixel coordinate of first sampled point that spherical shooting system m-th camera acquisition arrives, T is integral spherical camera chain locus in ball curtain, and (T1, T2, T3) is spherical camera system three-dimensional coordinate in ball curtain, Z₁(β, θ): be the spheroidal coordinate corresponding to first sampled point.

By formula (one), can by all of camera acquisition to the pixel Coordinate Conversion of uncalibrated image be the coordinate in ball curtain.

205, scialyscope coordinate position coordinates in ball curtain space is obtained.

$Z_1(\mathrm{\β},\mathrm{\θ})=U\left(\begin{array}{cccc}{\mathrm{\μ}}_{11}& {\mathrm{\μ}}_{12}& \·\·\·& {\mathrm{\μ}}_{1n}\\ {\mathrm{\μ}}_{21}& {\mathrm{\μ}}_{22}& \·\·\·& {\mathrm{\μ}}_{2n}\\ \·\·\·& \·\·\·& \·\·\·& \·\·\·\\ {\mathrm{\μ}}_{m1}& {\mathrm{\μ}}_{m2}& \·\·\·& {\mathrm{\μ}}_{\mathrm{mn}}\end{array}\right)\×\left(\begin{array}{c}{V}_{11}\\ V_{12}\\ \·\·\·\\ V_{1m}\end{array}\right)$ (formula two)

Wherein, U is the scialyscope coordinate mathematics transformation model to ball curtain image coordinate, and V1m represents the coordinate of first sampled point of m-th scialyscope.

206, the demarcation picture mapping model U1 to ball curtain space of the first scialyscope is built according to formula one and formula two.

By the method for nonlinear fitting, set up the scialyscope all pixels coordinate smooth optimization mapping model to ball curtain space:

$U\left(\begin{array}{cccc}{\mathrm{\μ}}_{11}& {\mathrm{\μ}}_{12}& \·\·\·& {\mathrm{\μ}}_{1n}\\ {\mathrm{\μ}}_{21}& {\mathrm{\μ}}_{22}& \·\·\·& {\mathrm{\μ}}_{2n}\\ \·\·\·& \·\·\·& \·\·\·& \·\·\·\\ {\mathrm{\μ}}_{m1}& {\mathrm{\μ}}_{m2}& \·\·\·& {\mathrm{\μ}}_{\mathrm{mn}}\end{array}\right).$

207, repeating step 201 to 206, that sets up each scialyscope demarcates the picture mapping model to ball curtain space, and U2, U3 ..., Un, n are the number of scialyscope.

208, overlapping region is utilized to calculate the fusion parameters F (Z of each scialyscope₁Z₂Z₃...), by calculating the ball curtain locus of each scialyscope, it is possible to obtain the set (z of the ball curtain coordinate of all scialyscopes₁z₂z₃…)；By the multinomial equation of Mathematical, it is possible to solve the set in the overlapping sub-block in ball curtain space of multiple scialyscope.It is a more complicated erose aggregation Z, for irregular area Z (v₁v₂v₃...), trying to achieve center is v_n, then according to the position of each pixel to center and the ratio q arriving edges of regions position, it is possible to try to achieve the fusion value Z of this pixel₁Therefore=255*q, even if can arrive the fusion parameters F (Z of each overlapping region of scialyscope₁Z₂Z₃…)。

209, graph rendering computer generates complete ball curtain image.

By coordinate mapping model U, rendering objects is carried out geometry deformation, and in conjunction with fusion parameters F, it is possible to the projects images of multiple scialyscopes is spliced and is fused into a complete ball curtain or ball curtain picture, namely complete the ball curtain of multiple scialyscope, the demarcation of ball curtain.

The ball curtain scaling method that the embodiment of the present invention provides, in whole calibration process, control computer by sending commands to different scialyscopes, projector is allowed to go out to demarcate picture, and by the demarcation picture of ball-shaped camera acquired projections machine, whole process has accomplished artificially not participate in, it is achieved that Automated condtrol and process.

Embodiment three

As it is shown on figure 3, the ball curtain that the embodiment of the present invention provides is demarcated and violated the law, being applied in the implementation process that certain large-scale astronomical movie theatre is concrete, adopt 5 scialyscopes (1024*768 resolution) to splice a spherical screen, the calibration process of the present invention is as follows:

301, spherical camera is demarcated in advance.

Video camera in the embodiment of the present invention adopts high-resolution ccd video camera, if resolution is the video camera of 6000*4000pixel, it adopts the camera lens of 8MM wide-angle, use desirable sphere model the image coordinate of video camera to be projected on desirable spheroidal coordinate, obtain the intrinsic parameter W of spherical camera.Any coordinate points on video camera can be transformed to only one coordinate points on spheroid by intrinsic parameter W.Determine the spherical camera sphere space position T at ball curtain simultaneously, owing to being desirable sphere model, 4 times of corresponding spheroid girths of spherical shooting machine width, this is the place that spherical camera resolution is minimum, so the angular resolution of spherical camera is 30 degree/16000.

302, controlling computer and send the order of labeling projection machine 1 to image rendering computer, image rendering computer exports the image with uncalibrated image in scialyscope 1.

303, the employing point x position Z in ball curtain space that Computer calculates in scialyscope 1 is controlled.

Control computer and gather the uncalibrated image of scialyscope 1 in all spherical cameras by HDMI capture card, by graphics process and recognition function, sample the relevant position in spherical camera image of the equally distributed multiple points in scialyscope 1, again through parameter W and T, calculate the employing point x position Z in ball curtain space in scialyscope 1.

304, control computer and build the conversion mathematical model U1 between the image coordinate X to the coordinate Z in ball curtain space of scialyscope 1.

Utilize non-linear fitting method, control Computer and calculate the conversion mathematical model U1 between the image coordinate X of scialyscope 1 to the coordinate Z in ball curtain space.

305, it is repeated in step 302 to 304, controls computer and can respectively obtain conversion mathematical model U1, U2, U3, U4, the U5 of five scialyscopes.In real process, the calibration process of each scialyscope is about 5 seconds, and total nominal time of five scialyscopes is about 30 seconds.

306, control computer and calculate the integration region parameter F1 of five scialyscopes, F2, F3, F4, F5 successively；

Owing to we adopt 5 scialyscopes, the imaging of the diameter surrounding of 4 scialyscope correspondence balls, the imaging at a scialyscope correspondence zenith place, so minimum splicing precision is 1024*4/16000=0.256 pixel precision.Control computer and can be obtained five scialyscopes overlapping region M (Z1 on ball curtain by five projection transform model U1, U2, U3, U4, U5, Z2, Z3, Z4, Z5), the integration region parameter F1 of five scialyscopes, F2, F3, F4, F5 are calculated successively.

307, control computer and will obtain five scialyscopes transformation model U1, U2, U3, U4, U5, and scialyscope fusion parameters F1, F2, F3, F4, F5 are sent in image rendering computer.

308, graph rendering computer generates complete ball curtain picture.

Graph rendering computer utilizes scialyscope transformation model U1, U2, U3, U4, U5, the display image of each scialyscope of real-time transform, can generate a complete ball curtain splicing merge picture then in conjunction with the fusion parameters F1 of scialyscope, F2, F3, F4, F5.

Embodiment four

The control equipment that the embodiment of the present invention provides, including:

Demarcating unit 401, for spherical camera is demarcated, described spherical camera includes at least two video camera；

Coordinate transformation unit 402, for determining the coordinate X of uncalibrated image sampled point that the first scialyscope is projected on described spherical camera, the position T in ball curtain according to mapped sphere model W and described spheroid video camera, obtains the coordinate X of the described sampled point position coordinates Z in ball curtain space；

Model construction unit 403, for building the uncalibrated image mathematics transformation model U1 to ball curtain image of described first scialyscope projection output according to the coordinate V of described first scialyscope and the coordinate X of described sampled point position coordinates Z in ball curtain space；Using preceding method, the uncalibrated image building the output of other scialyscopes is the number of scialyscope to mathematics transformation model U2 ... the Un, described n of ball curtain image；

Image composing unit 404, is used for according to described mathematics transformation model U1 ... Un generates complete ball curtain image.

The control equipment that the embodiment of the present invention provides, also includes:

Fusion parameters computing unit, for described in obtaining at least scialyscope be projected in the overlapping region of going on ball curtain, and calculate the fusion parameters F (Z of each scialyscope according to the overlapping region of described multiple stage scialyscope₁Z₂Z₃…)。

The control equipment that the embodiment of the present invention provides, described fusion parameters computing unit is specifically for obtaining the set (z of the ball curtain coordinate of multiple stage scialyscope₁z₂z₃...), and calculate the plurality of scialyscope set Z in the overlapping sub-block in ball curtain space；Obtain set Z (v₁v₂v₃...) center be v_n, and according to the position of each pixel to center with to the ratio q of edges of regions position, calculate the fusion value Z of described pixel₁=255*q, and then calculate the fusion parameters F (Z of each overlapping region of described scialyscope₁Z₂Z₃…)。

The control equipment that the embodiment of the present invention provides, described image composing unit is specifically for according to described transformation model U and described fusion parameters F (Z₁Z₂Z₃...) generate complete ball curtain image.

The control equipment that the embodiment of the present invention provides can include controlling computer and image rendering computer, wherein in control equipment, at least one function in the demarcation of spherical camera, the Coordinate Conversion of uncalibrated image, uncalibrated image and the transformation model of football fan's image and the calculating of fusion parameters can being completed by controlling computer, the synthesis of ball curtain image can be completed by rendering computers.

The control equipment that the embodiment of the present invention provides, the function wherein controlling computer and image rendering computer can be integrated on an equipment, it is also possible to is disposed on two or multiple devices.

Embodiment five

As it is shown in figure 5, embodiments provide a kind of ball curtain calibration system, including at least two scialyscopes 503, spherical camera 501, control equipment 502 and ball curtain 504.Wherein control equipment as implemented the description in four, do not repeat them here.

Should be appreciated that, the control equipment provided in the embodiment of the present invention four, and the ball curtain calibration system provided in embodiment five is completely corresponding with the ball curtain scaling method described in embodiment one to three, the description that the part not described in embodiment four and embodiment five is referred in embodiment one to three, does not repeat at this.

Should be appreciated that, in various embodiments of the present invention, in above-mentioned each process, the size of sequence number is not meant to the priority of execution sequence, and the execution sequence of each process should be determined with its function and internal logic, and the implementation process of the embodiment of the present invention should not constituted any restriction.

It addition, the terms " system " and " network " are often used interchangeably in this article.The terms "and/or", is only a kind of incidence relation describing affiliated partner, and expression can exist three kinds of relations, for instance, A and/or B, it is possible to represent: individualism A, there is A and B, individualism B these three situation simultaneously.It addition, character "/" herein, typically represent forward-backward correlation to as if the relation of a kind of "or".

Those of ordinary skill in the art it can be appreciated that, the unit of each example described in conjunction with the embodiments described herein and algorithm steps, can with electronic hardware, computer software or the two be implemented in combination in, in order to clearly demonstrate the interchangeability of hardware and software, generally describe composition and the step of each example in the above description according to function.Or actually these functions perform with hardware software mode, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel specifically can should be used for using different methods to realize described function to each, but this realization is it is not considered that beyond the scope of this invention.

Those skilled in the art is it is apparent that arrive, for convenience of description and succinctly, and the specific works process of the system of foregoing description, device and unit, it is possible to reference to the corresponding process in preceding method embodiment, do not repeat them here.

In several embodiments provided herein, it should be understood that disclosed system, apparatus and method, it is possible to realize in other way.Such as, device embodiment described above is merely schematic, the such as division of described unit, it is only that a kind of logic function divides, actual can have other dividing mode when realizing, such as multiple unit or assembly can in conjunction with or a system can be inherited, or some features can be ignored, or does not perform.It addition, shown or discussed coupling each other or direct-coupling or communication connection can be through INDIRECT COUPLING or the communication connection of some interfaces, device or unit, it is also possible to be electric, machinery or other form connect.

The described unit illustrated as separating component can be or can not be physically separate, and the parts shown as unit can be or may not be physical location, namely may be located at a place, or can also be distributed on multiple NE.Some or all of unit therein can be selected according to the actual needs to realize the purpose of embodiment of the present invention scheme.

It addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it is also possible to be that unit is individually physically present, it is also possible to be that two or more unit are integrated in a unit.Namely above-mentioned integrated unit can adopt the form of hardware to realize, it would however also be possible to employ the form of SFU software functional unit realizes.

Through the above description of the embodiments, those skilled in the art is it can be understood that can realize with hardware to the present invention, or software realizes, or their compound mode realizes.When implemented in software, it is possible to see that above-mentioned functions is stored in computer-readable medium or is transmitted as the one or more instructions on computer-readable medium or code.Computer-readable medium includes computer-readable storage medium and communication media, and wherein communication media includes being easy to any medium of transmission computer program from a place to another place.Storage medium can be any medium that computer can access.As example but be not limited to: computer-readable medium can include RAM, ROM, EEPROM, CD-ROM or other optical disc storage, magnetic disk media or other magnetic storage apparatus or can be used in carrying or store the desired program code with instruction or data structure form can by any other medium of computer access.In addition, any connection can be suitable become computer-readable medium, such as, if software be use coaxial cable, optical fiber cable, twisted-pair feeder, Digital Subscriber Line (SDL) or such as infrared ray, radio and microwave etc wireless technology include affiliated medium fixing in.Dish as used in the present invention (Disk) and dish (Disc) include compression laser disc (CD), laser dish, laser disc, Digital Versatile Disc (DVD), floppy disk and Blu-ray Disc, the duplication data of the usual magnetic of its mid-game, dish then carrys out the duplication data of optics with laser.Above combination above should also be as including within the protection domain of computer-readable medium.

In a word, the foregoing is only the preferred embodiment of technical solution of the present invention, be not intended to limit protection scope of the present invention.All within the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc., should be included within protection scope of the present invention.

Claims (15)

1. a ball curtain scaling method, it is characterised in that including:

The mapped sphere model W of S1, in advance structure spheroid video camera, and obtain described spheroid video camera position T in ball curtain space；

S2, determine coordinate X, the position T in ball curtain according to mapped sphere model W and described spheroid video camera of the uncalibrated image sampled point that the first scialyscope is projected on described spherical camera, obtain the coordinate X of the described sampled point position coordinates Z in ball curtain space；

S3, build the uncalibrated image of described first scialyscope projection output according to the coordinate V of described first scialyscope and the coordinate X of described sampled point position coordinates Z in ball curtain space to the mathematics transformation model U1 of ball curtain image；Using preceding method, the uncalibrated image building the output of other scialyscopes is the number of scialyscope to mathematics transformation model U2 ... the Un, described n of ball curtain image；

S4, according to described mathematics transformation model U1 ... Un generates complete ball curtain image.

2. ball curtain demarcation side according to claim 1, it is characterised in that the expression formula of described mapped sphere model W is:

$W\left(\begin{array}{cccc}{\mathrm{\ω}}_{11}& {\mathrm{\ω}}_{12}& \·\·\·& {\mathrm{\ω}}_{1n}\\ {\mathrm{\ω}}_{21}& {\mathrm{\ω}}_{21}& \·\·\·& {\mathrm{\ω}}_{2n}\\ \·\·\·& \·\·\·& \·\·\·& \·\·\·\\ {\mathrm{\ω}}_{m1}& {\mathrm{\ω}}_{m2}& \·\·\·& {\mathrm{\ω}}_{\mathrm{mn}}\end{array}\right);$

Wherein: ω 11 ... ω m1 represents the transformation parameter to spheroidal coordinate of all sampled points on first video camera, ω 1n ... ω mn represents the transformation parameter to spheroidal coordinate of all sampled points on the n-th video camera.

3. ball curtain scaling method according to claim 1, it is characterised in that described acquisition spheroid video camera position T in ball curtain is:

$T\left(\begin{array}{c}{T}_1\\ T_2\\ T_3\end{array}\right);$

Wherein, described T represents described spherical camera system three-dimensional coordinate in ball curtain, and the coordinate figure of its each dimension is (T1, T2, T3).

4. ball curtain scaling method according to claim 1, it is characterised in that described according to mapped sphere model W and described spheroid video camera the position T in ball curtain, obtain the coordinate X of the described sampled point position coordinates Z in ball curtain space, its computing formula is:

$Z_1(\mathrm{\β},\mathrm{\θ})=W\left(\begin{array}{cccc}{\mathrm{\ω}}_{11}& {\mathrm{\ω}}_{12}& \·\·\·& {\mathrm{\ω}}_{1n}\\ {\mathrm{\ω}}_{21}& {\mathrm{\ω}}_{21}& \·\·\·& {\mathrm{\ω}}_{2n}\\ \·\·\·& \·\·\·& \·\·\·& \·\·\·\\ {\mathrm{\ω}}_{m1}& {\mathrm{\ω}}_{m2}& \·\·\·& {\mathrm{\ω}}_{\mathrm{mn}}\end{array}\right)\×\left(\begin{array}{c}{X}_{11}\\ X_{12}\\ \·\·\·\\ X_{1m}\end{array}\right)\×T\left(\begin{array}{c}{T}_1\\ T_2\\ T_3\end{array}\right)$ (formula two)；

Wherein: ω 11 ... ω m1 represents the transformation parameter to spheroidal coordinate of all sampled points on first video camera, ω 1n ... ω mn represents the transformation parameter to spheroidal coordinate of all sampled points on the n-th video camera；Described T represents described spherical camera system three-dimensional coordinate in ball curtain, and the coordinate figure of its each dimension is (T1, T2, T3)；X_1mIt it is the coordinate of first sampled point that spherical shooting system m-th camera acquisition arrives.

5. ball curtain scaling method according to claim 4, it is characterised in that described method also includes: mapping the coordinate of described scialyscope position coordinates Z in ball curtain space according to the coordinate V of described scialyscope, wherein the computing formula of Z is:

$Z_1(\mathrm{\β},\mathrm{\θ})=U\left(\begin{array}{cccc}{\mathrm{\μ}}_{11}& {\mathrm{\μ}}_{12}& \·\·\·& {\mathrm{\μ}}_{1n}\\ {\mathrm{\μ}}_{21}& {\mathrm{\μ}}_{22}& \·\·\·& {\mathrm{\μ}}_{2n}\\ \·\·\·& \·\·\·& \·\·\·& \·\·\·\\ {\mathrm{\μ}}_{m1}& {\mathrm{\μ}}_{m2}& \·\·\·& {\mathrm{\μ}}_{\mathrm{mn}}\end{array}\right)\×\left(\begin{array}{c}{V}_{11}\\ V_{12}\\ \·\·\·\\ V_{1m}\end{array}\right)$ (formula two)；

Wherein, described U is the scialyscope coordinate mathematics transformation model to ball curtain image coordinate, and V1m represents the coordinate of first sampled point of m-th scialyscope.

6. ball curtain scaling method according to claim 5, it is characterised in that described method also includes:

Calculate the uncalibrated image mathematics transformation model U to ball curtain image of described first scialyscope projection output according to described formula one and formula two, wherein the expression formula of U is as follows:

$U\left(\begin{array}{cccc}{\mathrm{\μ}}_{11}& {\mathrm{\μ}}_{12}& \·\·\·& {\mathrm{\μ}}_{1n}\\ {\mathrm{\μ}}_{21}& {\mathrm{\μ}}_{22}& \·\·\·& {\mathrm{\μ}}_{2n}\\ \·\·\·& \·\·\·& \·\·\·& \·\·\·\\ {\mathrm{\μ}}_{m1}& {\mathrm{\μ}}_{m2}& \·\·\·& {\mathrm{\μ}}_{\mathrm{mn}}\end{array}\right).$

7. according to the arbitrary described ball curtain scaling method of claim 1 to 6, it is characterised in that obtain at least two scialyscopes and be projected in the overlapping region on ball curtain the fusion parameters F (Z of each scialyscope of overlapping region calculating according to described at least two scialyscopes₁Z₂Z₃…)。

8. the ball curtain scaling method according to right 7, it is characterised in that the overlapping region of at least two scialyscopes described in described basis calculates the fusion parameters F (Z of each scialyscope₁Z₂Z₃...) including:

Obtain the set (z of the ball curtain coordinate of at least two scialyscopes₁z₂z₃...), and at least two scialyscopes described in calculating are at the set Z of the overlapping sub-block in ball curtain space；

Obtain set Z (v₁v₂v₃...) center be v_n, and according to each pixel in each overlapping region position to center, described each overlapping region with to the ratio q of each overlapping region marginal position, calculate the fusion value Z of described pixel₁=255*q, and then calculate the fusion parameters F (Z of each overlapping region of described scialyscope₁Z₂Z₃…)。

9. the ball curtain scaling method according to right 8, it is characterised in that according to described transformation model U and described fusion parameters F (Z₁Z₂Z₃...) generate complete ball curtain image.

10. one kind controls equipment, it is characterised in that including:

Demarcating unit, for spherical camera is demarcated, described spherical camera includes at least two video camera；

Coordinate transformation unit, for determining the coordinate X of uncalibrated image sampled point that the first scialyscope is projected on described spherical camera, the position T in ball curtain according to mapped sphere model W and described spheroid video camera, obtains the coordinate X of the described sampled point position coordinates Z in ball curtain space；

Model construction unit, for building the uncalibrated image mathematics transformation model U1 to ball curtain image of described first scialyscope projection output according to the coordinate V of described first scialyscope and the coordinate X of described sampled point position coordinates Z in ball curtain space；Using preceding method, the uncalibrated image building the output of other scialyscopes is the number of scialyscope to mathematics transformation model U2 ... the Un, described n of ball curtain image；

Image composing unit, is used for according to described mathematics transformation model U1 ... Un generates complete ball curtain image.

11. control equipment according to claim 10, it is characterised in that described control equipment also includes:

Fusion parameters computing unit, for described in obtaining at least scialyscope be projected in the overlapping region of going on ball curtain, and calculate the fusion parameters F (Z of each scialyscope according to the overlapping region of described multiple stage scialyscope₁Z₂Z₃…)。

12. control equipment according to claim 10, it is characterised in that described fusion parameters computing unit is specifically for obtaining the set (z of the ball curtain coordinate of multiple stage scialyscope₁z₂z₃...), and calculate the plurality of scialyscope set Z in the overlapping sub-block in ball curtain space；Obtain set Z (v₁v₂v₃...) center be v_n, and according to the position of each pixel to center with to the ratio q of edges of regions position, calculate the fusion value Z of described pixel₁=255*q, and then calculate the fusion parameters F (Z of each overlapping region of described scialyscope₁Z₂Z₃…)。

13. control equipment according to claim 12, it is characterised in that described image composing unit is specifically for according to described transformation model U and described fusion parameters F (Z₁Z₂Z₃...) generate complete ball curtain image.

14. a ball curtain calibration system, it is characterised in that include at least two scialyscopes, spherical camera and as arbitrary in claim 10 to 13 as described in control equipment.

15. ball curtain calibration system according to claim 14, it is characterised in that the spherical surface panoramic camera that described spherical shooting is made up of at least two video cameras.