wherein ix and iy are coordinates of the coordinate point on the first image development image, x and y are coordinates of the first image, and R is the radius of the calibrated fisheye image.

(c) Setting one module of the four imaging lenses as a second imaging lens;

(d) taking out a second image according to the position of the second imaging lens B1, wherein the effective part of the second image is subjected to coordinate transformation and expanded to form a second image expansion diagram;

the coordinate conversion formula is as follows:

y＝R+y1

where ix and iy are coordinates of the coordinate point on the first image development, and x and y are coordinates of the second image.

Wherein the specific content of each pixel in the second image development map can be determined according to the following formula:

the content of the position iy W3 + ix 3 in the expanded view of the second image is the content of x 1R 3+ y1 3 in the second image.

The content of the position iy W3 + ix 3+1 in the expanded view of the second image is the content of x 1R 3+ y1 3+1 in the second image.

The content of the position iy W3 + ix 3+2 in the expanded view of the second image is the content of x 1R 3+ y1 3+2 in the second image.

(e) Setting one module of the four imaging lenses as a third imaging lens;

(f) taking out a third image according to the position of the third imaging lens B2, wherein the effective part of the third image, namely the dotted line, is subjected to coordinate transformation and unfolded to form a third image unfolded image;

the coordinate conversion formula is as follows:

y＝R+y1

where ix and iy are coordinates of the coordinate point on the first image development, and x and y are coordinates of the third image.

(g) Setting one module of the four imaging lenses as a fourth imaging lens;

(h) taking out a fourth image according to the position of the fourth imaging lens B3, wherein the effective part of the fourth image, i.e. the dotted line, is subjected to coordinate transformation and unfolded to form a fourth image unfolded image;

the coordinate conversion formula is as follows:

y＝R+y1

where ix and iy are coordinates of the coordinate point on the first image development, and x and y are coordinates of the fourth image.

(i) And converting the overlapped areas of the first image development image, the second image development image, the third image development image and the fourth image development image at the edge positions, and fusing the edges of the overlapped parts based on SIFT characteristics to form a rectangular panoramic picture with the width of W and the height of H (W: H is 2: 1).

As shown in fig. 1 and 3, the combination position or angle of the fourimaging lenses 10 is not limited to one, and it is not a limitation of the present invention as long as the optical axis is not over-centered and the imaging lenses maintain a fixed angle between the operation angles.

It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention. The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.

Claims

1. A panoramic camera, comprising:

the data processing module is used for receiving and processing the imaging signals from the camera modules, wherein each camera module is electrically connected with the data processing module; and

the camera module is arranged on the bracket, and the imaging lens of the camera module is provided with an optical axis which does not pass through the same point;

and the imaging lenses of every two of the at least four camera modules have a preset position relationship so that the function change of the Z axis on the projection spherical surface and the function change on the projection spherical surface are kept constant.

2. The panoramic camera of claim 1, wherein each of the imaging lenses includes a support unit having a support surface and at least two engagement holes.

3. The panoramic camera of claim 2, wherein said mount includes a connection unit having at least four connection faces, and each of said connection faces has at least two connection holes.

4. The panoramic camera as claimed in claim 3, wherein said bracket includes a plurality of coupling members such that when said supporting surface of said supporting unit of each of said imaging lenses is coupled to said coupling surface of said coupling unit of said bracket, two of said coupling holes of said supporting unit of each of said imaging lenses correspond to two of said coupling holes of each of said coupling surfaces of said coupling unit of said bracket, respectively, and each of said imaging lenses is coupled and fixed to said bracket by simultaneously penetrating each of said coupling holes and each of said coupling holes through a plurality of said coupling members, respectively.

5. The panoramic camera of any of claims 1-4, wherein the angles between the four imaging lenses are maintained at a fixed angle during operation.

6. The panoramic camera of any of claims 1-4, wherein the range of the field of view of each of the imaging lenses is implemented to be 190 degrees to 220 degrees.

7. The panoramic camera of any of claims 1-4, wherein the lens of each of the imaging lenses is implemented with a glass lens.

8. The panoramic camera of claim 6, wherein the lens of each of the imaging lenses is implemented with a glass lens.

9. The panoramic camera of claim 6, wherein the lens of each imaging lens is implemented with a plastic lens.

10. The panoramic camera of any of claims 8-9, wherein each of the imaging lenses comprises a plurality of roughened lenses.

11. The utility model provides a make a video recording module unit for panoramic camera, its characterized in that includes four at least modules of making a video recording, and every module of making a video recording all has an imaging lens, and wherein every module of making a video recording all is set up at this panoramic camera's support, and the imaging lens of this module of making a video recording is set up the optical axis and is not concentric, wherein, every two in the imaging lens of four at least modules of making a video recording module have between the imaging lens of the module of making a video recording and predetermine the position relation so that the function change on Z axle and the projection spheroid on the projection sphere maintains invariable.