CN110930299A - Circular fisheye video display scheme based on hemisphere expansion - Google Patents
Circular fisheye video display scheme based on hemisphere expansion Download PDFInfo
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- 238000009877 rendering Methods 0.000 claims abstract description 8
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- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/08—Projecting images onto non-planar surfaces, e.g. geodetic screens
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Abstract
The invention discloses a round fisheye video display scheme based on hemisphere expansion, which comprises the following steps of; step one, taking a fisheye video original picture; step two, obtaining fisheye video distortion parameters; step three, performing tangential distortion correction on the video area pixel by pixel; step four, carrying out radial distortion correction on the video area pixel by pixel; step five, performing spherical surface mapping on the circular texture; mapping a hemisphere onto a cylinder, wherein P0 is mapped into Q0, Q01 and Q02.. the. of the cylinder, P1 is mapped into Q1, and P2 is mapped into Q2; and step seven, rendering the result to a screen. The method adopts rectangular rendering, and has the principle that a fisheye image transmitted by a video is subjected to distortion correction pixel by pixel, then a 2D plane video is mapped on a 3D hemispherical surface in a vertex mapping mode, then the characteristic points and the expanded rectangular images are mapped one by one based on spherical expansion, so that the video is mapped on a surrounding cylinder and projected on a screen to obtain a final rendering result.
Description
Technical Field
The invention relates to the technical field of image video processing, in particular to a circular fisheye video display scheme based on hemisphere expansion.
Background
The fisheye video is a video shot by an ultra-wide-angle camera with an angle of view of 180 degrees, so that the content of picture representation is rich, and the fisheye video has strong visual impact. The fisheye video has an ultra-large visual angle, so that the fisheye video is widely applied to the fields of scene monitoring, satellite positioning, robot navigation, micro intelligent systems, engineering measurement and the like, and has a wide prospect;
because of having an ultra-large viewing angle, the fisheye video distortion is severe. Because the video content is circular, the display angle and detail display are greatly different from those of the common rectangular video, and the viewing habit of normal people is not met.
Disclosure of Invention
The invention aims to provide a round fisheye video display scheme based on hemispherical expansion, and the round fisheye video display scheme is used for solving the problems that in the prior art, details of a round fisheye video are not displayed sufficiently, and the visual angle of an image shot by a fisheye camera is peculiar and does not accord with the observation habit of normal people.
In order to achieve the purpose, the invention provides the following technical scheme: a round fisheye video display scheme based on hemisphere expansion comprises the following steps;
step one, taking a fisheye video original picture;
step two, obtaining fisheye video distortion parameters;
step three, performing tangential distortion correction on the video area pixel by pixel, wherein the formula is as follows:
step four, carrying out radial distortion correction on the video area pixel by pixel, wherein the formula is as follows:
step five, performing spherical surface mapping on the circular texture, wherein the mapping formula is as follows:
step six, mapping a hemisphere onto a cylinder, mapping P0 to Q0, Q01 and Q02.. the. so, mapping P1 to Q1 and mapping P2 to Q2, wherein the mapping formula is as follows:
and step seven, rendering the result to a screen.
Preferably, in the second step, the number of the parameters is 8, which are obtained from factory calibration of a camera manufacturer, and the parameters are p1, p2, p1, k2, k3, k4, k5 and k 6.
Preferably, in the fourth step, a three-dimensional coordinate system is established for the corrected picture with the center of circle as the origin o.
Preferably, in step six, when mapping the vertex, x and y are both 0, special processing is performed, and the vertex is mapped to each point on the uppermost side of the rectangle.
The invention provides a round fisheye video display scheme based on hemisphere expansion, which has the beneficial effects that:
1. the method is different from a commonly adopted hemisphere mapping scheme, but adopts rectangular rendering, and has the principle that a fisheye image transmitted by a video is subjected to distortion correction pixel by pixel, then a 2D plane video is mapped on a 3D hemisphere surface in a vertex mapping mode, and then the characteristic points and the expanded rectangular graphs are mapped one by one based on spherical expansion, so that the video is mapped on a surrounding cylinder and projected on a screen to obtain a final rendering result, the picture detail display is more sufficient, the video observation angle is more natural, and the method has higher practicability.
Drawings
FIG. 1 is an original view of a fisheye video of the present invention;
FIG. 2 is a schematic diagram of spherical mapping of circular textures in accordance with the present invention;
fig. 3 is a schematic illustration of the mapping of a hemisphere onto a cylinder of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides a technical solution: a round fisheye video display scheme based on hemisphere expansion comprises the following steps;
step one, taking a fisheye video original picture;
as shown in fig. 1, the circle region represents an actual video region, and the rest is a background, which is an invalid region;
step two, obtaining fisheye video distortion parameters, wherein the parameters are obtained by factory calibration of camera manufacturers, and the parameters are 8, namely p1, p2, p1, k2, k3, k4, k5 and k 6;
step three, performing tangential distortion correction on the video area pixel by pixel, wherein the formula is as follows:
step four, carrying out radial distortion correction on the video area pixel by pixel, wherein the formula is as follows:
establishing a three-dimensional coordinate system for the corrected picture by taking the circle center as an original point o;
step five, performing spherical surface mapping on the circular texture, as shown in fig. 2, a point P0 on the circle is mapped to a point Q0 on the spherical surface, and the mapping formula is as follows:
step six, mapping a hemisphere onto a cylinder as shown in fig. 3, wherein P0 is mapped into Q0, Q01 and Q02.
When mapping the vertex, x and y are both 0, special processing is needed, and the vertex is mapped to each point at the uppermost side of the rectangle;
and step seven, rendering the result to a screen.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. A circular fisheye video display scheme based on hemisphere expansion is characterized in that: comprises the following steps;
step one, taking a fisheye video original picture;
step two, obtaining fisheye video distortion parameters;
step three, performing tangential distortion correction on the video area pixel by pixel, wherein the formula is as follows:
step four, carrying out radial distortion correction on the video area pixel by pixel, wherein the formula is as follows:
step five, performing spherical surface mapping on the circular texture, wherein the mapping formula is as follows:
step six, mapping a hemisphere onto a cylinder, mapping P0 to Q0, Q01 and Q02.. the. so, mapping P1 to Q1 and mapping P2 to Q2, wherein the mapping formula is as follows:
and step seven, rendering the result to a screen.
2. The circular fisheye video display scheme based on hemisphere stretching of claim 1, wherein: in the second step, the parameters are obtained by factory calibration of camera manufacturers, and the total number of the parameters is 8, namely p1, p2, p1, k2, k3, k4, k5 and k 6.
3. The circular fisheye video display scheme based on hemisphere stretching of claim 1, wherein: and in the fourth step, establishing a three-dimensional coordinate system for the corrected picture by taking the circle center as an origin o.
4. The circular fisheye video display scheme based on hemisphere stretching of claim 1, wherein: in the sixth step, when mapping the vertex, x and y are both 0, special processing is needed, and the vertex is mapped to each point at the uppermost side of the rectangle.
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