CN106023070A - Real-time panoramic splicing method and device - Google Patents
Real-time panoramic splicing method and device Download PDFInfo
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- CN106023070A CN106023070A CN201610417580.3A CN201610417580A CN106023070A CN 106023070 A CN106023070 A CN 106023070A CN 201610417580 A CN201610417580 A CN 201610417580A CN 106023070 A CN106023070 A CN 106023070A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/04—Context-preserving transformations, e.g. by using an importance map
- G06T3/047—Fisheye or wide-angle transformations
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
- G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
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Abstract
The invention provides a real-time panoramic splicing method. The method includes the following steps that: the mapping parameters and field angles of a plurality of fisheye lenses are obtained; a fitting mapping curve is obtained according to the mapping parameters of the fisheye lenses; the center coordinates and radiuses of a first fisheye circle and a second fisheye circle of a fisheye image are obtained; a first spherical model and a second spherical model used for a fisheye image correction image are created; points in the first fisheye circle and the second fisheye circle are mapped onto the corresponding first spherical model and second spherical model of the correction image, and the first spherical model and the second spherical model are fused into a 360-degree spherical model; and each decoded image is rendered onto the 360-degree spherical model, so that a panoramic video can be watched in real time. The invention also provides a real-time panoramic splicing device. The method and the device of the invention have the advantage that real-time processing is carried out on a video captured by two fisheye lenses so that videos can be watched with a 360-degree angle of view in real time.
Description
Technical field
The present invention relates to a kind of panorama mosaic method and device, in particular to a kind of real time panoramic joining method and
Device.
Background technology
Fish eye lens is a kind of bugeye lens, and general definition is the camera lens the most referred to as flake that visual angle reaches 180 degree
Camera lens.Panoramic picture refers to utilize specialty panoramic picture tools (such as panatools) to using fish eye lens shooting
The image of picture carry out being spliced to form 360 degree.
Fig. 1 shows panorama picture of fisheye lens schematic diagram.As it is shown in figure 1, incident ray is ultimately imaged after camera lens reflects
On film, wherein the light through optical axis will not occur to reflect direct imaging at the center of image, and is θ's for angle of incidence
Incident ray, without occurring refraction to be then imaged on film along dotted line, the distance at its distance film center is rRef, rRef=
F × tan (θ), f are the distance between lens focus and film.Practical situation is, incident angle is that the incident ray of θ is through thoroughly
Mirror can reflect, and the light after refraction is mapped on film, and it is r with the distance at film centerReal, rRealAnd the pass between θ
System uses function rReal=F (θ) represents, this function is referred to as the mapping curve of camera lens.The mapping parameters of camera lens can be obtained by producer
?.
Table 1 is certain the fish-eye a part of mapping parameters directly obtained from camera lens manufacturer.
Table 1: camera lens mapping parameters table
Table 1 only gives the mapping parameters of a part of incident angle, and complete mapping parameters table comprises scope and isAt interval of the mapping parameters of the incident angle of 0.5 degree, fov is the angle of visual field of camera lens.Draw according to mapping parameters table
Scatterplot, and obtain a matched curve by the method for linear regression.As table 1 obtains matched curve it is:
rReal=F (θ)=1.0 × 10-9θ4-6.0×10-7θ3+8.5×10-6θ2+ 0.0183 θ+0.0007 (formula 1)
The result that matching curve out is calculated and actual result contrast, obtain error:
Error=(rReal matching-rReal)/rReal× 100% (formula 2)
The matched curve error obtained is within 0.5%.Of course, it is possible to obtain error more by increasing order of a polynomial
Little matched curve.
Need a kind of joining method and device in real time, for the video utilizing double fish eye lens shooting is located in real time
Reason, in order to present video with 360 degree of visual angles.
Summary of the invention
An embodiment of the invention provides a kind of real time panoramic joining method, and wherein, described method includes following
Step:
Step 1: obtain multiple fish-eye mapping parameters and the angle of view；
Step 2: obtain matching mapping curve according to fish-eye mapping parameters；
Step 3: obtain central coordinate of circle and radius that in fish-eye image, the first flake circle is round with the second flake；
Step 4: create the first Sphere Measurement Model and the second Sphere Measurement Model correcting figure for fish-eye image；
Step 5: based on the angle of view, matching mapping curve, the central coordinate of circle of flake circle and radius by the first flake circle
It is mapped on corresponding first Sphere Measurement Model and second Sphere Measurement Model of rectification figure with the point in the second flake circle so that the second ball
Surface model revolves turnback about the z axis, and makes the first Sphere Measurement Model and the second Sphere Measurement Model merge the Sphere Measurement Model forming 360 degree；
And
Step 6: after decoding video by using Video Decoder, each width picture is plotted on the Sphere Measurement Model of 360 degree,
To watch panoramic video in real time.
The real time panoramic joining method that said one embodiment according to the present invention provides, wherein in above-mentioned steps 1,
Fish eye lens mapping parameters and the angle of view are obtained by fish eye lens supplier.
The real time panoramic joining method that said one embodiment according to the present invention provides, the most in step 2 above,
Obtaining matching mapping curve according to camera lens mapping parameters refers to utilize mapping parameters to combine formula 1:
rReal=F (θ)=1.0 × 10-9θ4-6.0×10-7θ3+8.5×10-6θ2+ 0.0183 θ+0.0007 obtains matching and reflects
Penetrating curve, wherein θ is angle of incidence, rRealAfter lens reflect, it is mapped in film and film for the incident ray that angle is θ
The distance at center.
The real time panoramic joining method that said one embodiment according to the present invention provides, wherein in above-mentioned steps 3,
Fish-eye image includes the first flake circle and the second flake circle, and the radius of the first flake circle is R, and the central coordinate of circle of the first flake circle is
(x0, y0), the radius of the second flake circle is R1, the central coordinate of circle of the second flake circle is (x1, y1)。
The real time panoramic joining method that said one embodiment according to the present invention provides, wherein in above-mentioned steps 5,
The point that fish-eye image is corrected during the first Sphere Measurement Model of figure and the second Sphere Measurement Model are justified with the first flake circle and the second flake is corresponding.
The real time panoramic joining method that said one embodiment according to the present invention provides, wherein above-mentioned steps 5 is also wrapped
Include following steps:
Step 5a: (x, y z) obtain incidence angle θ and the size of deviation angle φ by the some p on Sphere Measurement Model；
Step 5b: obtain radius radius based on incident angle, angle of view degree, the radius of flake circle；And
Step 5c: width W based on radius radius, deviation angle φ, flake central coordinate of circle and original fish-eye image and height H
Obtain some p on Sphere Measurement Model (x, y, z) corresponding texture coordinate (u, v).
The real time panoramic joining method that said one embodiment according to the present invention provides, wherein in above-mentioned steps 5a
In, by Sphere Measurement Model some p (x, y, z) according to formula 3:Formula
4:(y x) obtains incidence angle θ and the size of deviation angle φ to formula 5: Φ=a tan 2.
The real time panoramic joining method that said one embodiment according to the present invention provides, wherein in above-mentioned steps 5b
In, obtain intermediate variable radius based on formula 6:radius=R × F (θ)/F (fov/2) and fov.
The real time panoramic joining method that said one embodiment according to the present invention provides, wherein in above-mentioned steps 5c
In, width W based on radius radius, deviation angle φ, flake central coordinate of circle and original fish-eye image and height H, formula 7:u=
(radius×cos(Φ)+x0)/W and formula 8:v=(radius × sin (Φ)+y0)/H obtain some p on Sphere Measurement Model (x,
Y, and z) corresponding texture coordinate (u, v).
Another embodiment of the invention provides a kind of real time panoramic splicing apparatus, and wherein, described device includes:
First data acquisition module, is used for obtaining fish eye lens mapping parameters and the angle of view；
Mapping curve fitting module, for obtaining matching mapping curve according to camera lens mapping parameters；
Second data acquisition module, obtains central coordinate of circle and radius that in fish-eye image, the first flake circle is round with the second flake；
Model creation module, for creating the first Sphere Measurement Model and the second Sphere Measurement Model correcting figure for fish-eye image；
Mapping block: based on the angle of view, matching mapping curve, the central coordinate of circle of flake circle and radius by the first flake
Point in circle and the second flake circle is mapped on corresponding first Sphere Measurement Model and second Sphere Measurement Model of rectification figure so that second
Sphere Measurement Model revolves turnback about the z axis, and makes the first Sphere Measurement Model and the second Sphere Measurement Model merge the sphere mould forming 360 degree
Type；And
Drafting module: for the ball that Video Decoder each width picture decoded to video will be used to be plotted to 360 degree
On surface model, in order to watch panoramic video in real time.
Another embodiment of the invention provide real time panoramic splicing apparatus, wherein, fish eye lens mapping parameters and
The angle of view is obtained by fish eye lens supplier.
The real time panoramic splicing apparatus that another embodiment of the invention provides, wherein, obtains according to camera lens mapping parameters
Taking matching mapping curve refers to utilize mapping parameters to combine formula 1:
rReal=F (θ)=1.0 × 10-9θ4-6.0×10-7θ3+8.5×10-6θ2+ 0.0183 θ+0.0007 obtains matching and reflects
Penetrating curve, wherein θ is angle of incidence, rRealAfter lens reflect, it is mapped in film and film for the incident ray that angle is θ
The distance at center.
The real time panoramic splicing apparatus that another embodiment of the invention provides, wherein, fish-eye image includes the first flake
Circle and the second flake circle, the radius of the first flake circle is R, and the center of circle of the first flake circle is (x0, y0), the radius of the second flake circle
For R1, the center of circle of the second flake circle is (x1, y1)。
The real time panoramic splicing apparatus that another embodiment of the invention provides, wherein, fish-eye image corrects the first of figure
Point during Sphere Measurement Model and the second Sphere Measurement Model and the first flake circle and the second flake are justified is corresponding.
The real time panoramic splicing apparatus that another embodiment of the invention provides, wherein, mapping block includes following turn
Change module:
First conversion module, for via the some p on Sphere Measurement Model, (x, y z) obtain the big of incidence angle θ and deviation angle φ
Little；
Second conversion module, for obtaining radius based on incident angle, angle of view degree, the radius of flake circle
radius；And
3rd conversion module, for based on radius radius, deviation angle φ, flake central coordinate of circle and the width of original fish-eye image
Degree W and height H obtain some p on Sphere Measurement Model (x, y, z) corresponding texture coordinate (u, v).
The real time panoramic splicing apparatus that another embodiment of the invention provides, wherein, the first conversion module is via ball
Point p on surface model (x, y, z) and according to formula 3:Public
Formula 4:(y x) obtains incidence angle θ and the size of deviation angle φ to formula 5: Φ=a tan 2.
The real time panoramic splicing apparatus that another embodiment of the invention provides, wherein, the second conversion module is based on public affairs
Formula 6:radius=R × F (θ)/F (fov/2) and fov obtains intermediate variable radius.
The real time panoramic splicing apparatus that another embodiment of the invention provides, wherein, the 3rd conversion module is based on half
The width W and height H formula 7:u=(radius × cos of footpath radius, deviation angle φ, flake central coordinate of circle and original fish-eye image
(Φ)+x0)/W and formula 8:v=(radius × sin (Φ)+y0)/H obtains some p (x, y, z) corresponding stricture of vagina on Sphere Measurement Model
Reason coordinate (u, v).
The advantage of methods and apparatus of the present invention is: for locating the video utilizing double fish eye lens shooting in real time
Reason, in order in real time with 360 degree of visual angle viewing videos.
Accompanying drawing explanation
Referring to the drawings, the disclosure will be easier to understand.Skilled addressee readily understands that: this
A little accompanying drawings are used only for illustrating technical scheme, and are not intended to be construed as limiting protection scope of the present invention.
In figure:
Fig. 1 shows panorama picture of fisheye lens schematic diagram.
Fig. 2 shows the original fish-eye image shot by double fish eye lenses.
Fig. 3 shows that the original fish-eye image to fish eye lens shooting according to one embodiment of the present invention carries out the most complete
The flow chart of the method for scape splicing.
Fig. 4 shows the deviation angle on fish-eye image, radius R and radius radius.
Fig. 5 show 1 p in three dimensions (x, y, z), incidence angle θ and deviation angle φ.
Fig. 6 schematically shows the schematic block diagram of real time panoramic splicing apparatus according to an embodiment of the invention.
The image to fish eye lens shooting that Fig. 7 schematically shows according to another embodiment of the present invention carries out reality
Time panoramic mosaic the schematic block diagram of system.
Fig. 8 schematically shows the real time panoramic splice program product according to embodiment of the present invention.
In the accompanying drawings, identical or corresponding label represents identical or corresponding part.
Detailed description of the invention
Fig. 1-8 following description describe the optional embodiment of the present invention how to implement with teaching those skilled in the art and
Reproduce the present invention.In order to instruct technical solution of the present invention, simplify or eliminated some conventional aspects.Those skilled in the art should
This understanding is derived from the modification of these embodiments or replaces and will fall within the scope of the present invention.Those skilled in the art should understand that
Following characteristics can combine to be formed multiple modification of the present invention in every way.Thus, the invention is not limited in following can
Select embodiment, and only limited by claim and their equivalent.
Unity and coherence in writing coordinate refers to the plane coordinates on the textured pattern of two dimension in the present invention, and horizontal direction is U, Vertical Square
To for V.Drawing 3 D graphics when, each point on threedimensional model all defines a texture coordinate, is mapped to two
Some point on dimension texture plane, thus can be attached to the textured pattern of two dimension on the model of three-dimensional.Transparent fusion is
The method referring to by color mixture, two images are obtained an image.Transparent fusion will pass through transparent channel by two images
Being mixed to get a figure, the method for transparent fusion is well known in the art, and is described again here.
Illustrate that the image to fish eye lens shooting according to one embodiment of the present invention is rectified below in conjunction with Fig. 2 to Fig. 5
Positive method.Fig. 2 shows the original fish-eye image obtained by double fish eye lenses.Fig. 3 shows according to the present invention one enforcement
The flow chart of the method for the image flame detection to fish eye lens shooting of mode.Fig. 4 shows the deviation angle on fish-eye image, radius
R and radius radius.Fig. 5 show 1 p in three dimensions (x, y, z), incidence angle θ and deviation angle φ.Such as Fig. 2 extremely
Shown in Fig. 5, the step to the method for the image flame detection of fish eye lens shooting according to one embodiment of the present invention is as follows:
Step 100: the real time panoramic joining method of one embodiment of the present invention starts；
Step 110: obtain multiple fish-eye mapping parameters and the angle of view；
Step 120: obtain matching mapping curve according to fish-eye mapping parameters；
Step 130: obtain central coordinate of circle and radius that in fish-eye image, the first flake circle is round with the second flake；
Step 140: create the first Sphere Measurement Model and the second Sphere Measurement Model correcting figure for fish-eye image；
Step 150: based on the angle of view, matching mapping curve, the central coordinate of circle of flake circle and radius by the first flake
Point in circle and the second flake circle is mapped on corresponding first Sphere Measurement Model and second Sphere Measurement Model of rectification figure so that second
Sphere Measurement Model revolves turnback about the z axis, and makes the first Sphere Measurement Model and the second Sphere Measurement Model merge the sphere mould forming 360 degree
Type；
Step 160: after decoding video by using Video Decoder, each width picture is plotted to the Sphere Measurement Model of 360 degree
On, in order to watch panoramic video in real time；And
Step 170: the real time panoramic joining method of one embodiment of the present invention terminates.
In above-mentioned steps 110, fish eye lens mapping parameters and the angle of view can be obtained by fish eye lens supplier
?.
In above-mentioned steps 120, obtain matching mapping curve according to camera lens mapping parameters and refer to utilize mapping parameters to combine
Formula 1:
rReal=F (θ)=1.0 × 10-9θ4-6.0×10-7θ3+8.5×10-6θ2+ 0.0183 θ+0.0007 obtains matching and reflects
Penetrating curve, wherein θ is angle of incidence, rRealAfter lens reflect, it is mapped in film and film for the incident ray that angle is θ
The distance at center.
In above-mentioned steps 130, as in figure 2 it is shown, fish-eye image includes the first flake circle and the second flake circle, the first flake circle
Radius be R, first flake circle the center of circle be (x0, y0), the radius of the second flake circle is R1, the center of circle of the second flake circle is
(x1, y1)。
In above-mentioned steps 140 and 150, the first Sphere Measurement Model of fish-eye image rectification figure and the second Sphere Measurement Model and the first fish
Eye circle is corresponding with the point in the second flake circle so that the second Sphere Measurement Model revolves turnback about the z axis, and makes the first sphere mould
Type and the second Sphere Measurement Model merge, and form the Sphere Measurement Model of 360 degree.
In step 150, on Sphere Measurement Model some p (x, y, z), its texture coordinate be (u, v), the first fish eye lens
It is fov with the second fish-eye angle of visual field.
Φ=a tan 2 (y, x) formula 5
Radius=R × F (θ)/F (fov/2) formula 6
U=(radius × cos (Φ)+x0)/W formula 7
V=(radius × sin (Φ)+y0)/H formula 8
Refer to being used for correcting the respective point being a little mapped in corresponding fish-eye image on the corresponding Sphere Measurement Model of figure:
1) by the some p on Sphere Measurement Model, (x, y z) obtain incidence angle θ and the size of deviation angle φ based on formula 3-5；
2) radius radius is obtained based on incident angle, angle of view degree, the radius of flake circle and formula 1 and 6,
Radius is the intermediate variable in mapping process；
3) width W based on radius radius, deviation angle φ, flake central coordinate of circle and original fish-eye image and height H obtains
Point p on Sphere Measurement Model (x, y, and z) corresponding texture coordinate (u, v).
In above-mentioned steps 150, when the first Sphere Measurement Model and the second Sphere Measurement Model merge the Sphere Measurement Model forming 360 degree,
After making the second Sphere Measurement Model rotation turnback, Sphere Measurement Model is needed to rotate, around Y, X and Z axis, the angle set, and at two
Part picture overlapping when Sphere Measurement Model merges needs the method using transparent fusion, and wherein the angle of this setting is carried by manufacturer
Supply.Rotating, around Y, X and Z axis, the angle set for Sphere Measurement Model, this is physical error (the such as flake due to camera internal
Not parallel or film inclination etc. between camera lens and film) cause.The part picture overlapping when two Sphere Measurement Models merge
The method needing to use transparent fusion, this is due to the fish-eye angle of visual field typically between 180-240 degree, two sphere moulds
Type needs to be got rid of the impact of intersection by transparent fusion when merging.
Exemplary means
The original flake to fish eye lens shooting according to one embodiment of the present invention is elaborated above in association with accompanying drawing 2-5
Figure carries out the method for real time panoramic splicing.Below in conjunction with Fig. 6 describe according to one embodiment of the present invention to fish eye lens
The original fish-eye image of shooting carries out the device of real time panoramic splicing.Fig. 6 schematically shows according to one embodiment of the invention
The schematic block diagram of real time panoramic splicing apparatus.Wherein said device includes:
Another embodiment of the invention provides a kind of real time panoramic splicing apparatus, and wherein, described device includes:
First data acquisition module 1, is used for obtaining fish eye lens mapping parameters and the angle of view；
Mapping curve fitting module 2, for obtaining matching mapping curve according to camera lens mapping parameters；
Second data acquisition module 3, obtains central coordinate of circle and radius that in fish-eye image, the first flake circle is round with the second flake；
Model creation module 4, for creating the first Sphere Measurement Model and the second Sphere Measurement Model correcting figure for fish-eye image；
Mapping block 5: based on the angle of view, matching mapping curve, the central coordinate of circle of flake circle and radius by the first fish
Point in eye circle and the second flake circle is mapped on corresponding first Sphere Measurement Model and second Sphere Measurement Model of rectification figure so that the
Two Sphere Measurement Models revolve turnback about the z axis, and make the first Sphere Measurement Model and the second Sphere Measurement Model merge the sphere forming 360 degree
Model；And
Drafting module 6: for the ball that Video Decoder each width picture decoded to video will be used to be plotted to 360 degree
On surface model, in order to watch panoramic video in real time.
Another embodiment of the invention provide real time panoramic splicing apparatus, wherein, fish eye lens mapping parameters and
The angle of view is obtained by fish eye lens supplier.
The real time panoramic splicing apparatus that another embodiment of the invention provides, wherein, obtains according to camera lens mapping parameters
Taking matching mapping curve refers to utilize mapping parameters to combine formula 1:
rReal=F (θ)=1.0 × 10-9θ4-6.0×10-7θ3+8.5×10-6θ2+ 0.0183 θ+0.0007 obtains matching and reflects
Penetrating curve, wherein θ is angle of incidence, rRealAfter lens reflect, it is mapped in film and film for the incident ray that angle is θ
The distance at center.
The real time panoramic splicing apparatus that another embodiment of the invention provides, wherein, fish-eye image includes the first flake
Circle and the second flake circle, the radius of the first flake circle is R, and the center of circle of the first flake circle is (x0, y0), the radius of the second flake circle
For R1, the center of circle of the second flake circle is (x1, y1)。
The real time panoramic splicing apparatus that another embodiment of the invention provides, wherein, fish-eye image corrects the first of figure
Point during Sphere Measurement Model and the second Sphere Measurement Model and the first flake circle and the second flake are justified is corresponding.
The real time panoramic splicing apparatus that another embodiment of the invention provides, wherein, mapping block includes following turn
Change module:
First conversion module, for via the some p on Sphere Measurement Model, (x, y z) obtain the big of incidence angle θ and deviation angle φ
Little；
Second conversion module, for obtaining radius based on incident angle, angle of view degree, the radius of flake circle
radius；And
3rd conversion module, for based on radius radius, deviation angle φ, flake central coordinate of circle and the width of original fish-eye image
Degree W and height H obtain some p on Sphere Measurement Model (x, y, z) corresponding texture coordinate (u, v).
The real time panoramic splicing apparatus that another embodiment of the invention provides, wherein, the first conversion module is via ball
Point p on surface model (x, y, z) and according to formula 3:Public
Formula 4:(y x) obtains incidence angle θ and the size of deviation angle φ to formula 5: Φ=a tan 2.
The real time panoramic splicing apparatus that another embodiment of the invention provides, wherein, the second conversion module is based on public affairs
Formula 6:radius=R × F (θ)/F (fov/2) and fov obtains intermediate variable radius.
The real time panoramic splicing apparatus that another embodiment of the invention provides, wherein, the 3rd conversion module is based on half
The width W of footpath radius, deviation angle φ, flake central coordinate of circle and original fish-eye image and height H, formula 7:u=(radius ×
cos(Φ)+x0)/W and formula 8:v=(radius × sin (Φ)+y0)/H obtain some p on Sphere Measurement Model (x, y, z) corresponding
Texture coordinate (u, v).
The advantage of methods and apparatus of the present invention is: for locating the video utilizing double fish eye lens shooting in real time
Reason, in order in real time with 360 degree of visual angle viewing videos.
Exemplary means
After the method and apparatus describing exemplary embodiment of the invention, it follows that introduce according to the present invention's
The device of the image flame detection to fish eye lens shooting of another exemplary embodiment.
Person of ordinary skill in the field it is understood that various aspects of the invention can be implemented as system, method or
Program product.Therefore, various aspects of the invention can be to be implemented as following form, it may be assumed that hardware embodiment, complete completely
Full Software Implementation (including firmware, microcode etc.), or the embodiment that hardware and software aspect combines, can unite here
It is referred to as " circuit ", " module " or " system ".
In the embodiment that some are possible, the device to the image flame detection of fish eye lens shooting according to the present invention is permissible
At least include at least one processing unit and at least one memory element.Wherein, described memory element has program stored therein generation
Code, when described program code is performed by described processing unit so that it is above-mentioned " exemplary that described processing unit performs this specification
Method " method subscribing to message in instant communication software according to the various illustrative embodiments of the present invention described in part
In step.Such as, described processing unit can perform step 110 as shown in Figure 4: obtains multiple fish-eye mapping
Parameter and the angle of view；Step 120: obtain matching mapping curve according to fish-eye mapping parameters；Step 130: obtain
The round central coordinate of circle round with the second flake of first flake and radius in fish-eye image；Step 140: create and correct figure for fish-eye image
First Sphere Measurement Model and the second Sphere Measurement Model；Step 150: sit based on the angle of view, matching mapping curve, the center of circle of flake circle
Point in first flake circle and the second flake circle is mapped to corresponding first Sphere Measurement Model and second of rectification figure by mark and radius
On Sphere Measurement Model so that the second Sphere Measurement Model revolves turnback about the z axis, and the first Sphere Measurement Model and the second Sphere Measurement Model are melted
Close the Sphere Measurement Model forming 360 degree；Step 160: after use Video Decoder being decoded video, each width picture is plotted to 360
On the Sphere Measurement Model of degree, in order to watch panoramic video in real time.
Referring to Fig. 7, the image flame detection to fish eye lens shooting according to the embodiment of the invention is described
Device 10.The device 10 of the image flame detection to fish eye lens shooting that Fig. 7 shows is only an example, should be unreal to the present invention
Function and the range of executing example bring any restriction.
As it is shown in fig. 7, the device 10 of the image flame detection of fish eye lens shooting is showed with the form of universal computing device.Right
The assembly of the device 10 of the image flame detection of fish eye lens shooting can include but not limited to: at least one processing unit 16 above-mentioned,
At least one memory element 28 above-mentioned, the bus 18 of connection different system assembly (including memory element 28 and processing unit 16).
Bus 18 represents one or more in a few class bus structures, including memory bus or Memory Controller,
Peripheral bus, AGP, processor or use any bus-structured local bus in multiple bus structures.
Memory element 28 can include the computer-readable recording medium of form of volatile memory, such as random access memory (RAM)
30 and/or cache memory 32, it is also possible to read only memory (ROM) 34 further.
Memory element 28 can also include the program/utility 40 with one group of (at least one) program module 42, this
The program module 42 of sample includes but not limited to: operating system, one or more application program, other program module and program
Data, potentially include the realization of network environment in each or certain combination in these examples.
Can also be with one or more external equipment 14 (such as keys to the device 10 of the image flame detection of fish eye lens shooting
Dish, sensing equipment, bluetooth equipment etc.) communication, also can with one or more enable a user to this to fish eye lens shooting
The equipment communication that the device 10 of image flame detection is mutual, and/or with make this device 10 to the image flame detection of fish eye lens shooting
Can communicate with any equipment (such as router, modem etc.) that other calculating equipment one or more communicate.
This communication can be passed through input/output (I/O) interface 22 and carry out.Further, the device to the image flame detection that fish eye lens shoots
10 can also be by network adapter 20 and one or more network (such as LAN (LAN), wide area network (WAN) and/or public affairs
Common network network, such as the Internet) communication.As it can be seen, network adapter 20 is by bus 18 and the image to fish eye lens shooting
Other module communication of the device 10 corrected.It should be understood that although not shown in, can be in conjunction with the figure that fish eye lens is shot
Device 10 as correcting uses other hardware and/or software module, includes but not limited to: at microcode, device driver, redundancy
Reason unit, external disk drive array, RAID system, tape drive and data backup storage system etc..
Exemplary process product
In the embodiment that some are possible, various aspects of the invention are also implemented as the form of a kind of program product
(as shown in Figure 6), it includes program code, and when described program product runs on the terminal device, described program code is used for
Make described terminal unit perform described in this specification above-mentioned " illustrative methods " part according to the various exemplary reality of the present invention
Executing the step in the method subscribing to message in instant communication software of mode, such as, described terminal unit can perform such as Fig. 4
Shown in step 110: obtain multiple fish-eye mapping parameters and the angle of view；Step 120: according to fish-eye
Mapping parameters obtains matching mapping curve；Step 130: obtain the first flake circle and the central coordinate of circle of the second flake circle in fish-eye image
And radius；Step 140: create the first Sphere Measurement Model and the second Sphere Measurement Model correcting figure for fish-eye image；Step 150: based on
The central coordinate of circle of the angle of view, matching mapping curve, flake circle and radius are by the point in the first flake circle and the second flake circle
It is mapped on corresponding first Sphere Measurement Model and second Sphere Measurement Model of rectification figure so that the second Sphere Measurement Model rotates 180 about the z axis
Degree, and make the first Sphere Measurement Model and the second Sphere Measurement Model merge the Sphere Measurement Model forming 360 degree；Step 160: video will be used
After video is decoded by decoder, each width picture is plotted on the Sphere Measurement Model of 360 degree, in order to watch panoramic video in real time.
Described program product can use the combination in any of one or more computer-readable recording medium.Computer-readable recording medium can be readable letter
Number medium or readable storage medium storing program for executing.Readable storage medium storing program for executing such as can be but not limited to electricity, magnetic, optical, electromagnetic, red
Outside line or the system of quasiconductor, device or device, or above combination.The more specifically example of readable storage medium storing program for executing
(non exhaustive list) including: has the electrical connection of one or more wire, portable disc, hard disk, random access memory
(RAM), read only memory (ROM), erasable type programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc are only
Read memorizer (CD-ROM), light storage device, magnetic memory device or the combination of above-mentioned any appropriate.
As shown in Figure 8, the program subscribing to message in instant communication software according to the embodiment of the present invention is described
Product 50, it can use portable compact disc read only memory (CD-ROM) and include program code, it is possible to set in terminal
Standby, such as run in PC.But, the program product of the present invention is not limited to this, and in this document, readable storage medium storing program for executing can
To be any tangible medium comprised or store program, this program can be commanded execution system, device or device use or
Person is in connection.
The data signal that readable signal medium can include in a base band or propagate as a carrier wave part, wherein carries
Readable program code.The data signal of this propagation can take various forms, and includes but not limited to that electromagnetism is believed
Number, optical signal or the combination of above-mentioned any appropriate.Readable signal medium can also is that beyond readable storage medium storing program for executing any can
Read medium, this computer-readable recording medium can send, propagate or transmit for being used by instruction execution system, device or device or
Program in connection.
The program code comprised on computer-readable recording medium can include but not limited to any suitable medium transmission
Wireless, wired, optical cable, RF etc., or the combination of above-mentioned any appropriate.
The program for performing present invention operation can be write with the combination in any of one or more programming languages
Code, described programming language includes object oriented program language such as Java, C++ etc., also includes routine
Process type programming language such as " C " language or similar programming language.Program code can be fully user
Perform on calculating equipment, perform the most on a user device, perform as an independent software kit, partly calculate user
Its upper side is divided execution on a remote computing or performs in remote computing device or server completely.Relating to far
Journey calculates in the situation of equipment, and remote computing device can include LAN (LAN) or wide by the network of any kind
Territory net (WAN) is connected to user and calculates equipment, or, it may be connected to external computing device (such as utilizes Internet service
Provider passes through Internet connection).
Although it should be noted that, being referred to device or the son of the image flame detection to fish eye lens shooting in above-detailed
Device, but this division is the most enforceable.It practice, according to the embodiment of the present invention, above-described two
Or the feature of more device and function can embody in one apparatus.Otherwise, the feature of an above-described device and
Function can embody with Further Division for by multiple devices.
Although additionally, describe the operation of the inventive method in the accompanying drawings with particular order, but, this do not require that or
Hint must perform these operations according to this particular order, or having to carry out the most shown operation could realize desired
Result.Additionally or alternatively, it is convenient to omit some step, multiple steps are merged into a step and performs, and/or by one
Step is decomposed into multiple step and performs.
Although describing spirit and principles of the present invention by reference to some detailed description of the invention, it should be appreciated that, this
Invention is not limited to disclosed detailed description of the invention, and the division to each side does not means that the feature in these aspects can not yet
Combination to be benefited, this division merely to statement convenience.It is contemplated that contain claims spirit and
Various amendments included by the range of and equivalent arrangements.
Claims (18)
1. a real time panoramic joining method, wherein, said method comprising the steps of:
Step 1: obtain multiple fish-eye mapping parameters and the angle of view；
Step 2: obtain matching mapping curve according to fish-eye mapping parameters；
Step 3: obtain central coordinate of circle and radius that in fish-eye image, the first flake circle is round with the second flake；
Step 4: create the first Sphere Measurement Model and the second Sphere Measurement Model correcting figure for fish-eye image；
Step 5: based on the angle of view, matching mapping curve, the central coordinate of circle of flake circle and radius by the first flake circle and the
Point in two flake circles is mapped on corresponding first Sphere Measurement Model and second Sphere Measurement Model of rectification figure so that the second sphere mould
Type revolves turnback about the z axis, and makes the first Sphere Measurement Model and the second Sphere Measurement Model merge the Sphere Measurement Model forming 360 degree；And
Step 6: after decoding video by using Video Decoder, each width picture is plotted on the Sphere Measurement Model of 360 degree, in order to
Watch panoramic video in real time.
Real time panoramic joining method the most according to claim 1, wherein, in above-mentioned steps 1, fish eye lens mapping parameters
Obtained by fish eye lens supplier with the angle of view.
Real time panoramic joining method the most according to claim 1, wherein, in step 2 above, according to camera lens mapping parameters
Obtaining matching mapping curve refers to utilize mapping parameters to combine formula 1:
rReal=F (θ)=1.0 × 10-9θ4-6.0×10-7θ3+8.5×10-6θ2+ 0.0183 θ+0.0007 obtains matching and maps song
Line, wherein θ is angle of incidence, rRealAfter lens reflect, film and film center it is mapped in for the incident ray that angle is θ
Distance.
Real time panoramic joining method the most according to claim 1, wherein, in above-mentioned steps 3, fish-eye image includes the first fish
Eye circle and the second flake circle, the radius of the first flake circle is R, and the central coordinate of circle of the first flake circle is (x0, y0), the second flake circle
Radius be R1, the central coordinate of circle of the second flake circle is (x1And y1)。
Real time panoramic joining method the most according to claim 1, wherein, in above-mentioned steps 5, fish-eye image corrects the of figure
Point during one Sphere Measurement Model and the second Sphere Measurement Model and the first flake circle and the second flake are justified is corresponding.
Real time panoramic joining method the most according to claim 1, wherein, above-mentioned steps 5 is further comprising the steps of:
Step 5a: (x, y z) obtain incidence angle θ and the size of deviation angle φ by the some p on Sphere Measurement Model；
Step 5b: obtain radius radius based on incident angle, angle of view degree, the radius of flake circle；And
Step 5c: width W based on radius radius, deviation angle φ, flake central coordinate of circle and original fish-eye image and height H obtains
Point p on Sphere Measurement Model (x, y, and z) corresponding texture coordinate (u, v).
Real time panoramic joining method the most according to claim 6, wherein, in above-mentioned steps 5a, by Sphere Measurement Model
Point p (x, y, z) according to formula 3:
Formula 4:
(y x) obtains incidence angle θ and the size of deviation angle φ to formula 5: Φ=a tan 2.
Real time panoramic joining method the most according to claim 7, wherein, in above-mentioned steps 5b, based on formula 6:
Radius=R × F (θ)/F (fov/2) and fov obtains intermediate variable radius.
Real time panoramic joining method the most according to claim 8, wherein, in above-mentioned steps 5c, based on radius radius,
The width W of deviation angle φ, flake central coordinate of circle and original fish-eye image and height H, formula 7:u=(radius × cos (Φ)+
x0)/W and formula 8:v=(radius × sin (Φ)+y0)/H obtains some p (x, y, z) corresponding texture coordinate on Sphere Measurement Model
(u, v).
10. a real time panoramic splicing apparatus, wherein, described device includes:
First data acquisition module, is used for obtaining fish eye lens mapping parameters and the angle of view；
Mapping curve fitting module, for obtaining matching mapping curve according to camera lens mapping parameters；
Second data acquisition module, obtains central coordinate of circle and radius that in fish-eye image, the first flake circle is round with the second flake；
Model creation module, for creating the first Sphere Measurement Model and the second Sphere Measurement Model correcting figure for fish-eye image；
Mapping block: based on the angle of view, matching mapping curve, flake circle central coordinate of circle and radius by first flake circle and
Point in second flake circle is mapped on corresponding first Sphere Measurement Model and second Sphere Measurement Model of rectification figure so that the second sphere
Model revolves turnback about the z axis, and makes the first Sphere Measurement Model and the second Sphere Measurement Model merge the Sphere Measurement Model forming 360 degree；With
And
Drafting module: for the sphere mould that Video Decoder each width picture decoded to video will be used to be plotted to 360 degree
In type, in order to watch panoramic video in real time.
11. real time panoramic splicing apparatus according to claim 10, wherein, fish eye lens mapping parameters and the angle of view
By fish eye lens, supplier obtains.
12. real time panoramic splicing apparatus according to claim 10, wherein, obtain matching according to camera lens mapping parameters and map
Curve refers to utilize mapping parameters to combine formula 1:
rReal=F (θ)=1.0 × 10-9θ4-6.0×10-7θ3+8.5×10-6θ2+ 0.0183 θ+0.0007 obtains matching and maps song
Line, wherein θ is angle of incidence, rRealAfter lens reflect, film and film center it is mapped in for the incident ray that angle is θ
Distance.
13. real time panoramic splicing apparatus according to claim 10, wherein, fish-eye image includes the first flake circle and the second fish
Eye circle, the radius of the first flake circle is R, and the central coordinate of circle of the first flake circle is (x0, y0), the radius of the second flake circle is R1, the
The central coordinate of circle of two flake circles is (x1, y1)。
14. real time panoramic splicing apparatus according to claim 10, wherein, fish-eye image correct figure the first Sphere Measurement Model and
Point during second Sphere Measurement Model and the first flake circle and the second flake are justified is corresponding.
15. real time panoramic splicing apparatus according to claim 10, wherein, mapping block includes following conversion module:
First conversion module, for via the some p on Sphere Measurement Model, (x, y z) obtain incidence angle θ and the size of deviation angle φ；
Second conversion module, for obtaining radius radius based on incident angle, angle of view degree, the radius of flake circle；With
And
3rd conversion module, for width W based on radius radius, deviation angle φ, flake central coordinate of circle and original fish-eye image
With height H obtain some p on Sphere Measurement Model (x, y, z) corresponding texture coordinate (u, v).
16. real time panoramic splicing apparatus according to claim 15, wherein, the first conversion module is via on Sphere Measurement Model
Point p (x, y, z) and according to formula 3:
Formula 4:Formula 5:
(y x) obtains incidence angle θ and the size of deviation angle φ to Φ=atan2.
17. real time panoramic splicing apparatus according to claim 16, wherein, the second conversion module is based on formula 6:radius
=R × F (θ)/F (fov/2) and fov obtains intermediate variable radius.
18. real time panoramic splicing apparatus according to claim 17, wherein, the 3rd conversion module based on radius radius,
The width W of deviation angle φ, flake central coordinate of circle and original fish-eye image and height H, formula 7:u=(radius × cos (Φ)+
x0)/W and formula 8:v=(radius × sin (Φ)+y0)/H obtains some p (x, y, z) corresponding texture coordinate on Sphere Measurement Model
(u, v).
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