CN100594519C - Method for real-time generating reinforced reality surroundings by spherical surface panoramic camera - Google Patents
Method for real-time generating reinforced reality surroundings by spherical surface panoramic camera Download PDFInfo
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Abstract
The present invention provides a method of generating augmented reality surroundings illumination model by a spherical panoramic camera real time, including: (1) placing the spherical panoramic camerain the augmented reality surroundings, placing in the viewport of the virtual worlds, real-time collecting panoramic picture; (2) processing the texture map having optical property aimed at the realworld object after being collected panoramic picture of the step 1; (3) calculating collected panoramagram light intensity value aimed at the virtual world object after being collected the panoramic picture of the step 1, processing illumination model pattern matching, generating virtual world illumination model by the calculation; (4) calculating the illumination model of the augmented reality site under the condition of interactive local impact of the consideration reconstruction model and the virtual object model. The invention real-time generates illumination model in the complex photoenvironment, having advantage of support augmented reality site real time interactive.
Description
Technical field
The invention belongs to the augmented reality field, specifically a kind of computing machine photo realism graphic method of generation in real time that is applied to.
Background technology
Augmented reality system is with virtual world stack or is blended in man-machine interactive system on the real world.Because the object object of systemic effect comprises real-world objects, require the generation sense of reality geometric model that system can be real-time.Illumination model is most important to the generation of photo realism graphic.
Setting up illumination model, mainly is the relevant law according to optical physics, adopts the physical process of computer simulation occurring in nature optical illumination.According to whether considering the light source reflective characteristic of other object outward, illumination model is divided into local illumination model and global illumination model.Wherein, the effect of surrounding environment to object ignored by local illumination model, only considers the radiation response of light source to body surface.The global illumination model is then considered the influence of surrounding environment to the scenery surface.In general, local illumination model is a kind of ideal situation, and gained result and real world have than big difference, are not suitable for using in the augmented reality field, uses the global illumination model to generate photo realism graphic usually.
Light source is the core of illumination model.Can be summed up as pointolite, line source, area source and body light source according to its geometric configuration light source.Wherein, pointolite calculates the simplest, and is the basis that other a few class light sources calculate.
On the basis that light source is determined, set up illumination model.The method of setting up illumination model at present roughly has three classes: a kind of is the mathematical simulation method; A kind of is method according to three-dimensional symbol thing light and shade backstepping illumination model; And a kind of illumination model generation method based on image.
The method that mathematical simulation generates illumination model is the most original illumination model generation method, and extensively is used.Common method comprises Lambet illumination model generation method, Phong illumination model generation method, Witted illumination model generation method, ray tracing method and radiosity method etc. at present.But the method also is not suitable for the complicated and requirement that generate in real time of light source model under the augmented reality environment.Augmented reality system requires physical presence light source in the true environment is registered one by one, uses this method complexity, and workload is big, and limitation is arranged.Show and whenever change an environment, need re-register, but often a lot of owing to influencing system's illumination factor, in fact can't register fully.
Proposition in article " augmented reality system illumination model set up research " such as Zhou Ya a kind of according to registered images in the light and shade situation of mark, utilize the optical illumination Model Calculation method of computer graphics to carry out the method that backstepping is set up illumination model.More effectively solved augmented reality system illumination factor complicated problems, but this method depends on the mark of registered images, and when viewpoint changes, can cause the illumination error, can not satisfy lighting requirement the object of any position and material.
Wang Jun etc. propose a kind of illumination model generation method based on image in article " based on the research and the realization of the illumination model of image ", the any object that is about to the perception of vision institute is regarded light source as, utilize scene around the camera record, and be converted into radiation pattern, panorama sketch and flash ranging figure successively, thereby realize illumination scene.But this method only is fit to the foundation of static scene illumination model to be recovered, and the object of real world can not dynamically move, and does not satisfy the real-time requirement of augmented reality system to man-machine interaction.
Generally speaking, existing scene illumination model generating method exists the problem that the calculation of complex workload is big, be not suitable for calculating in real time under the complex illumination environment, can't supporting the augmented reality system real time human-machine interaction.
Summary of the invention
The technical matters that the present invention solves is: overcome the existing illumination model method that generates and exist calculation of complex, shortcoming that can not real-time generating reinforced reality scene illumination model, a kind of method of using the panoramic camera real-time generating reinforced reality surroundings is provided, supports the augmented reality system real time human-machine interaction.
The present invention proposes a kind of method of using the panoramic camera real-time generating reinforced reality surroundings, may further comprise the steps:
(1) spherical surface panoramic camera is placed the augmented reality environment, the position places the observation viewpoint of virtual world, in real time capturing panoramic view image;
(2) behind step (1) capturing panoramic view image,, its three-dimensional reconstruction model is had the texture mapping of light attribute at real-world objects;
(3) behind step (1) capturing panoramic view image, at virtual world object, calculate the panorama sketch light intensity value that collects, carry out the illumination model pattern match, generate the virtual world illumination model by calculating;
(4) take all factors into consideration under the mutual local influence situation of reconstruction model and virtual objects model, calculate the illumination model of augmented reality scene.
The invention has the beneficial effects as follows:
(1) the present invention overcomes the shortcoming that prior art is used the static collection of camera scene image information calculations illumination model, can realize real-time generating reinforced reality surroundings, for augmented reality environment Real-time and Dynamic provides the illumination support alternately.
(2) the inventive method is divided into virtual objects and real-world objects various computing mode with the calculating of illumination model, and is comparatively simple with respect to existing illumination model mathematic calculation.Prior art is often supposed augmented reality virtual world illumination model parameter, require the iteration adjustment according to vision then, and the present invention carries out reverse computational analysis from the panoramic picture of real scene, generate virtual illumination model on this basis, improved the degree true to nature that the augmented reality virtual world is played up.
(3) in the present invention, when carrying out the light source mode coupling, remove pointolite pattern, lamp pattern etc., definition illumination mode that can be artificial to adapt to different complicated scene environment, has extendability preferably.
Description of drawings
Fig. 1 is panoramic camera of the present invention and augmented reality scene environment graph of a relation;
Fig. 2 is that panorama sketch real-time generating reinforced reality of the present invention is looked after the model method process flow diagram;
Fig. 3 is a panorama sketch coordinate world coordinate system coordinate conversion synoptic diagram of the present invention.
Embodiment
Step 1 as shown in Figure 1, the augmented reality environment scene is a cubic space, people or other object are finished with the virtual objects of augmented reality in cubic space alternately.Place virtual world to observe the position of viewpoint a panoramic camera, carry out the panoramic video collection.
Step 2 provides as shown in Figure 2 by analyzing the process flow diagram that panorama sketch generates illumination model.The method that the present invention proposes comprises six steps, is respectively: the texture mapping of panoramic picture collection, three-dimensional reconstruction model, calculating panorama sketch light intensity value, light source mode are mated, are calculated light source position and input virtual objects model parameter, calculate illumination model.
The collection of step 2.1 panoramic picture.Use places the spherical surface panoramic camera of virtual scene viewpoint to gather panoramic video.
Step 2.2 contains the texture mapping of illumination information as on the content basis as described in the step 2.1 to the three-dimensional reconstruction model of real world in the augmented reality scene.Augmented reality virtual world object model is divided into two classes, and a class is the virtual objects model, and another kind of is the three-dimensional reconstruction model of real world.Determine its illumination feature for the employing of three-dimensional reconstruction model from the mode of panoramic video stream intercepting texture image and pinup picture.At first the real object in the augmented reality scene is carried out background segment, get foreground image, and the Pixel Information in the panorama sketch is mapped to virtual world reconstruction model surface.
Common virtual world coordinate system is the 3 D stereo coordinate system, but the panoramic picture of panoramic camera collection is based on spherical coordinate, need be in the virtual world coordinate system with the coordinate conversion of panoramic picture.
As shown in Figure 3, panoramic camera and scene space relation according to Fig. 1 provide panoramic picture coordinate conversion formula.If the coordinate of panoramic picture be (u, v), solid space length of side length is d, the formula that is transformed into coordinate under the world coordinate system (x ', y ', z ') is as follows:
Step 2.3 is calculated and is collected the panorama sketch light intensity value as on the content basis as described in the step 2.1.If the panorama map reference is that (u, v), the rgb value of corresponding pixel points is respectively: N
R, N
G, N
B, use RGB conversion HIS formula, calculate the light intensity value of corresponding point, formula is:
N
I＝N
R+N
G+N
B
Step 2.4 is carried out the light source mode coupling as on the content basis as described in the step 2.3.So-called light source mode, the i.e. number of light source and position distribution rule.At first the panorama plot of light intensity is filtered, and remove noise spot, obtain the panorama sketch light source mode according to certain light intensity threshold values (such as N=220).If have only a pointolite, judge that promptly environment is the single-point light source mode; If the some spots light source is arranged, and the comparatively dispersion that distributes each other, judge that then environment is the multiple spot light source mode; If a large amount of pointolites is arranged, and be evenly distributed, judge that then environment is the lamp pattern; In addition, for special photoenvironment, can manually formulate its light source mode.
Step 2.5 is calculated the position of light source in virtual world, coupling back as on the content basis as described in the step 2.4, and input virtual objects model parameter.For the virtual objects model in the augmented reality virtual world, adopt Phong illumination model computing method.Promptly at first calculate the coordinate position of light source at virtual world according to step 2, and the parameter of input virtual objects model, comprise the diffuse-reflection factor of object, the diffuse-reflection factor of object surface and the specularity factor of object to surround lighting.Substitution Phong illumination model computing formula:
Wherein, M is the total number of pointolite in the scene; I is illumination surface point (x, the light intensity of y) locating; I
aBe incident surround lighting light intensity, i.e. the average intensity value of the whole pixels of panorama sketch; I
Ni, f
i(d) be incident light light intensity and the intensity of light source decay factor that i pointolite sends; k
aBe the diffuse-reflection factor of model surface to surround lighting; k
dIt is the diffuse-reflection factor of model surface; k
sIt is the specularity factor of model surface; N is the DE Specular Lighting index; L
iBe i pointolite transmit direction vector of unit length; N is that (x y) locates the surface unit normal vector to point; H
iBe the unit normal vector that incident light is reflexed to the ideal mirror of observer's direction,
V is observer's sight line vector of unit length.
Step 2.6 is calculated the virtual world illumination model as on the content basis as described in step 2.2 and the step 2.5.Consider the interaction of three-dimensional reconstruction model and virtual objects model, adopt ray tracing method, the light reflection case when calculating the blocking mutually of reconstruction model and virtual objects model, computing formula is as follows:
R＝L-2N(N·L)
Wherein, R is the reflection ray vector of unit length; L is the incident ray direction vector; N is the surface unit normal vector, and R, L, and the N coplane realizes that by ray tracing method scene blanking and shade generate, and finally finishes the calculating of the illumination model of whole augmented reality virtual world, computing formula is:
Wherein, I (x, y) expression point (x, y) light intensity value of calculating gained; k
aBe the diffuse-reflection factor of model surface to surround lighting; k
dIt is the diffuse-reflection factor of model surface; k
sIt is the specularity factor of model surface; N is the DE Specular Lighting index; f
i(d) be the intensity of light source decay factor that i pointolite sends light; N
R, N
G, N
BThe rgb value of expression picture element; L
iBe i pointolite transmit direction vector of unit length; N is that (x y) locates the surface unit normal vector to point; V is observer's sight line vector of unit length; T is all pixel summations; M is the illumination summation of counting, and the method by aforesaid illumination model pattern match obtains.
It should be noted that at last; the above only is a preferred implementation of the present invention; should be understood that; for those skilled in the art; utilize under the principle prerequisite of real-time generating reinforced reality surroundings by spherical surface panoramic camera not breaking away from the present invention; can also make some improvement or be equal to replacement, these improvement and be equal to replacement and also should be considered as protection scope of the present invention.
Claims (5)
1, a kind of method with real-time generating reinforced reality surroundings by spherical surface panoramic camera is characterized in that comprising:
(1) spherical surface panoramic camera is placed the augmented reality environment, the position places the observation viewpoint of virtual world, in real time capturing panoramic view image;
(2) behind step (1) capturing panoramic view image, at real-world objects, the texture mapping that its three-dimensional reconstruction model is had the light attribute, the method of the described texture mapping that the three-dimensional reconstruction model is had a light attribute is as follows: at first the real object in the augmented reality scene is carried out background segment, extract foreground image, and be the virtual world coordinate system the coordinate conversion of panoramic picture;
(3) behind step (1) capturing panoramic view image, at virtual world object, calculate the panorama sketch light intensity value that collects, carry out the illumination model pattern match, generate the virtual world illumination model by calculating;
(4) take all factors into consideration under the mutual local influence situation of reconstruction model and virtual objects model, calculate the illumination model of augmented reality scene, the method for the illumination model of described calculating augmented reality scene is:
(4.1) adopt ray tracing method, the light reflection case when calculating the blocking mutually of reconstruction model and virtual objects model, computing formula is as follows:
R＝L-2N(N·L)
Wherein, R is that reflection ray vector of unit length, L are that incident ray direction vector, N are the surface unit normal vectors, and R, L, N coplane;
(4.2) realize that by ray tracing method scene blanking and shade generate, finally finish the calculating of the illumination model of whole augmented reality virtual world, computing formula is:
Wherein, I (x, y) expression point (x, y) light intensity value of calculating gained; k
aBe the diffuse-reflection factor of model surface to surround lighting; k
bIt is the diffuse-reflection factor of model surface; k
sIt is the specularity factor of model surface; N is the DE Specular Lighting index; f
i(d) be the intensity of light source decay factor that i pointolite sends light; N
R, N
G, N
BThe rgb value of expression picture element; L
iBe i pointolite transmit direction vector of unit length; N is that (x y) locates the surface unit normal vector to point; V is observer's sight line vector of unit length; T is all pixel summations; M is the illumination summation of counting, and the method by the illumination model pattern match obtains.
2, the method with real-time generating reinforced reality surroundings by spherical surface panoramic camera according to claim 1, it is characterized in that: described step (2) is that the formula of virtual world coordinate system is with the coordinate conversion of panoramic picture: the coordinate of establishing panoramic picture is (u, v), solid space length of side length is d, be transformed into coordinate under the world coordinate system (x ', y ', z ') formula is as follows:
3, the method with real-time generating reinforced reality surroundings by spherical surface panoramic camera according to claim 1, it is characterized in that: the panorama sketch light intensity value is calculated as follows in the described step (3):
If the coordinate of panorama sketch is that (u, v), the red R of corresponding pixel points, green G, blue B value are respectively: N
R, N
G, N
B, use RGB conversion HIS formula, calculate the light intensity value of corresponding point, formula is:
N
I＝N
R+I
G+N
B。
4, the method with real-time generating reinforced reality surroundings by spherical surface panoramic camera according to claim 1, it is characterized in that: the method for carrying out the illumination model pattern match in the described step (3) is:
(3.1) at first the panorama plot of light intensity is filtered, and remove noise spot, obtain the panorama sketch light source mode according to certain light intensity threshold values;
(3.2) light source mode is divided into single-point light source mode, multiple spot light source mode, lamp pattern and self-defined light source mode,, judges that promptly environment is the single-point light source mode if promptly have only a pointolite; If the some spots light source is arranged, and the comparatively dispersion that distributes each other, judge that then environment is the multiple spot light source mode; If a large amount of pointolites is arranged, and be evenly distributed, judge that then environment is the lamp pattern; For special photoenvironment, can manually formulate its light source mode.
5, the method with real-time generating reinforced reality surroundings by spherical surface panoramic camera according to claim 1 is characterized in that: calculating the formula that generates the virtual world illumination model in the described step (3) is:
Wherein: M is the total number of pointolite in the scene; I is illumination surface point (x, the light intensity of y) locating; I
aBe incident surround lighting light intensity, i.e. the average intensity value of the whole pixels of panorama sketch; I
Ni, f
i(d) be incident light light intensity and the intensity of light source decay factor that i pointolite sends; k
aBe the diffuse-reflection factor of model surface to surround lighting; k
dIt is the diffuse-reflection factor of model surface; k
sIt is the specularity factor of model surface; N is the DE Specular Lighting index; L
iBe i pointolite transmit direction vector of unit length; N is that (x y) locates the surface unit normal vector to point; H
iBe the unit normal vector that incident light is reflexed to the ideal mirror of observer's direction,
V is observer's sight line vector of unit length.
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