WO2018068612A1

WO2018068612A1 - Panoramic image mapping method, apparatus and device

Info

Publication number: WO2018068612A1
Application number: PCT/CN2017/102303
Authority: WO
Inventors: 宋翼; 谢清鹏; 方华猛
Original assignee: 华为技术有限公司
Priority date: 2016-10-10
Filing date: 2017-09-19
Publication date: 2018-04-19
Also published as: CN107230180B; CN107230180A

Abstract

A panoramic image mapping method. The method comprises: acquiring a frame of a virtual-reality panoramic image, the virtual-reality panoramic image being a spherical image; selecting a circular-ring lines and b circular-ring lines on the spherical image, and using the a circular-ring lines and the b circular-ring lines to divide a spherical surface into c regions, wherein a planes where the a circular-ring lines are respectively located are parallel with each other, and b planes where the b circular-ring lines are respectively located are parallel with each other, and there is a pre-set included angle between a plane where any one of the a circular-ring lines is located and a plane where any one of the b circular-ring lines is located, a and b being integers greater than 1; and mapping images of the c regions to a two-dimensional plane image. The method can divide a spherical image more regularly, thereby enabling the fitting performance to be better when a two-dimensional plane is mapped, avoiding redundant pixels and saving storage space.

Description

一种全景图像的映射方法、装置和设备Method, device and device for mapping panoramic image

技术领域Technical field

本发明涉及通信技术领域，尤其涉及一种全景图像的映射方法、装置和设备。The present invention relates to the field of communications technologies, and in particular, to a method, an apparatus, and a device for mapping a panoramic image.

背景技术Background technique

在现在的视频应用中，VR/360度全景视频正在兴起，这种新的视频应用给人们带来了新的观看方式和视觉体验，同时也带来了新的技术挑战。360度全景视频由多个摄像机对物体进行多角度拍摄，支持多角度播放。其图像信号可以虚拟为一种球面信号，如图1所示，图中左右两侧不同的大框所代表的球面图像信号可以表示不同的视角内容。In today's video applications, VR/360-degree panoramic video is on the rise. This new video application brings new viewing and visual experiences to people, and brings new technical challenges. 360-degree panoramic video is multi-angle shooting of objects by multiple cameras, supporting multi-angle playback. The image signal can be virtualized as a spherical signal. As shown in FIG. 1 , the spherical image signals represented by the large left and right sides of the figure can represent different viewing angle contents.

然而，虚拟的球面图像信号无法直接被人眼所见，因此需要将三维的球面图像信号转换为二维平面图像信号。现有多种方式来对这种全景球面图像进行表述，如经纬图、立方体等表述形式。这些表述形式实际上是将球面图像信号通过某种映射方式映射到二维的图像上来，使其变为人眼所能直观看到的图像信号。However, the virtual spherical image signal cannot be directly seen by the human eye, so it is necessary to convert the three-dimensional spherical image signal into a two-dimensional planar image signal. There are many ways to express such a panoramic spherical image, such as a latitude and longitude diagram, a cube, and the like. These expressions actually map a spherical image signal onto a two-dimensional image by some mapping method, making it an image signal that can be visually seen by the human eye.

在VR应用中，球面信号为360度全景，而人眼的视角范围通常约为120度，人眼视角下看到的有效球面信号约为全景信号的22％。现有的VR终端设备(如VR眼镜)可支持的单视角大约在90°～110°之间，可以获得较好的用户观看体验。In VR applications, the spherical signal is a 360-degree panorama, while the human eye's viewing angle is typically about 120 degrees, and the effective spherical signal seen by the human eye is about 22% of the panoramic signal. Existing VR terminal devices (such as VR glasses) can support a single viewing angle of between 90 ° and 110 °, which can achieve a better user viewing experience.

现有技术提供了一种方法，将球面图像信号映射到六面体。该映射方法可参考图2，该映射方法将球面全景图像信号投射到前(front)、后(back)、左(left)、右(right)、上(top)、下(bottom)这六个等大小的正方形平面上，每个映射面上的球面像素样本在其球面坐标轴x、y、z上的坐标范围内进行均匀采样映射形成六个正方形面，并将这六个按照一定的排布方式拼接为一个2D图像。The prior art provides a method of mapping a spherical image signal to a hexahedron. The mapping method can refer to FIG. 2, and the mapping method projects the spherical panoramic image signal to the front, back, left, right, top, and bottom. On a square plane of equal size, the spherical pixel samples on each mapping surface are uniformly sampled and mapped in the coordinate range on the spherical coordinate axes x, y, and z to form six square faces, and the six are arranged according to a certain row. The cloth pattern is spliced into a 2D image.

由于球面存在曲率，使得这种映射方法投影在每个平面上的均匀程度较低；导致靠***面中心的位置，源球面图像像素插值后获得的像素能够更加逼近原始图像像素，而越往面边界部分平面特性越差，因此将有越来越多的像素需要通过球面像素插值来获得，图像像素与原始图像像素误差增大，图像质量将变差。若要使映射面的边界部分像素值与原始图像像素平均误差减小，则需要将原始图像映射为更多的图像像素，即映射后图像的分辨率增加。占用大量的存储资源。Due to the curvature of the spherical surface, the uniformity of projection of this mapping method on each plane is low; resulting in the position close to the center of the plane, the pixels obtained by pixel interpolation of the source spherical image can be closer to the original image pixels, and the boundary is more The worse the partial plane characteristics, so more and more pixels will need to be obtained by spherical pixel interpolation. The image pixel and original image pixel error will increase, and the image quality will be worse. In order to reduce the pixel value of the boundary portion of the mapping surface from the original image pixel average, it is necessary to map the original image to more image pixels, that is, the resolution of the mapped image is increased. Take up a lot of storage resources.

现有技术提供了另一种方法，将球面图像信号映射到经纬图。该方法将图像球面等效为地理意义上的地球的经纬图，利用均匀分布的经线和均匀分布的纬线对整个球面进行划分，进而将分隔出的球面图像区域对应映射到二维坐标系中，上述二维坐标系的横坐标为经度，纵坐标为纬度，进行均匀的采样映射，获得的二维映射图像如图3所示。The prior art provides another method of mapping a spherical image signal to a warp and latitude map. The method equates the spherical surface of the image into the latitude and longitude map of the earth in a geographical sense, and divides the entire spherical surface by uniformly distributing the warp and the evenly distributed latitude, and then mapping the separated spherical image regions to the two-dimensional coordinate system. The horizontal coordinate of the above two-dimensional coordinate system is longitude and the vertical coordinate is latitude, and uniform sampling mapping is performed, and the obtained two-dimensional mapping image is as shown in FIG. 3 .

由于球面存在曲率，使得均匀的经线和均匀分布的纬线所分隔出来的每一个区域并不均匀，赤道附近的图像区域在二维坐标系上的映射能更真实地表达球面图像内容，但是越高纬度的图像区域平面特性很差，映射后图像失真越严重，南北两极处曲面图像映射失真程度最大；因此在越靠近南北极的地方，原始图像像素将在二维平面中映射为越来越多的冗余图像像素，同样占用大量的存储资源。Because of the curvature of the spherical surface, each region separated by uniform warp and evenly distributed latitude is not uniform, and the mapping of the image region near the equator on the two-dimensional coordinate system can more accurately represent the spherical surface. Image content, but the image area of the higher latitude is poor, and the image distortion after mapping is more serious. The distortion of the surface image at the north and south poles is the most distorted; therefore, the closer to the north and south poles, the original image pixels will be in the two-dimensional plane. Mapping to more and more redundant image pixels also takes up a lot of storage resources.

发明内容Summary of the invention

有鉴于此，本发明实施例提供了一种虚拟现实全景图像的映射的方法、装置及设备。In view of this, the embodiments of the present invention provide a method, an apparatus, and a device for mapping a virtual reality panoramic image.

第一方面，本发明实施例提供了一种虚拟现实全景图像的映射的方法，该方法包括：获取一帧虚拟现实全景图像，所述虚拟现实全景图像为球面图；在所述球面图上选取a条圆环线和b条圆环线，并利用所述a条圆环线和b条圆环线将球面划分为c个区域；其中，所述a条圆环线分别所在的a个平面互相平行，且所述b条圆环线分别所在的b个平面互相平行，所述a条圆环线中的任一环线所在平面与所述b条圆环线中的任一环线所在平面具有预设夹角，所述a、b为大于1的整数；将所述c个区域的图像映射为二维平面图像。In a first aspect, an embodiment of the present invention provides a method for mapping a virtual reality panoramic image, the method comprising: acquiring a frame of a virtual reality panoramic image, wherein the virtual reality panoramic image is a spherical image; and selecting on the spherical image a ring line and a b line line, and dividing the spherical surface into c areas by using the a ring line and the b line line; wherein the a plane of the a ring line respectively Parallel to each other, and the b planes in which the b circular lines are respectively located are parallel to each other, and the plane of any one of the a circular lines and the plane of any of the b circular lines have a preset angle, the a, b being an integer greater than 1; mapping the images of the c regions into a two-dimensional planar image.

该技术方案可以由收发器和处理器完成。This technical solution can be completed by a transceiver and a processor.

根据本发明实施例提供的一种全景图像的映射方法，通过选取互相平行的圆环对全景球面图进行划分，能够将球面图划分地更加均匀，使得球表面被划分后的各个球面区域的具有更好的平面特性，因此在映射时不再需要冗余的像素，节约存储资源，且划分后的各球面区域的面积更加近似，映射到相同的二维平面上的精度偏差更小。According to the mapping method of the panoramic image provided by the embodiment of the present invention, by dividing the panoramic spherical surface by selecting mutually parallel circular rings, the spherical surface image can be more uniformly divided, so that the spherical surface is divided into spherical regions. Better planar characteristics, so no redundant pixels are needed in the mapping, saving storage resources, and the area of each spherical area after division is more similar, and the precision deviation mapped to the same two-dimensional plane is smaller.

第二方面，本发明实施例提供了一种虚拟现实全景图像的映射的装置，该装置包括：获取模块，用于获取一帧虚拟现实全景图像，所述虚拟现实全景图像为球面图；划分模块，用于在所述球面图上选取a条圆环线和b条圆环线，并利用所述a条圆环线和b条圆环线将球面划分为c个区域；其中，所述a条圆环线分别所在的a个平面互相平行，且所述b条圆环线分别所在的b个平面互相平行，所述a条圆环线中的任一环线所在平面与所述b条圆环线中的任一环线所在平面具有预设夹角，所述a、b为大于1的整数；映射模块，用于将所述c个区域的图像映射为二维平面图像。In a second aspect, an embodiment of the present invention provides an apparatus for mapping a virtual reality panoramic image, where the apparatus includes: an acquiring module, configured to acquire a frame of a virtual reality panoramic image, the virtual reality panoramic image is a spherical image; and a dividing module For selecting a ring line and a b line line on the spherical surface, and dividing the spherical surface into c areas by using the a ring line and the b line line; wherein the a The planes in which the strip lines are respectively located are parallel to each other, and the b planes in which the b ring lines are respectively located are parallel to each other, and the plane of any one of the a ring lines and the b circle The plane of any of the loop lines has a preset angle, the a, b are integers greater than 1, and the mapping module is configured to map the images of the c regions into a two-dimensional plane image.

根据本发明实施例提供的一种全景图像的映射装置，划分模块选取互相平行的圆环对获取模块获取到的全景球面图进行划分，能够将球面图划分地更加均匀，使得球表面被划分后的各个球面区域的具有更好的平面特性，因此映射模块在映射时不再需要冗余的像素，节约存储资源，且划分后的各球面区域的面积更加近似，映射模块将其映射到相同的二维平面上的精度偏差更小。According to an embodiment of the present invention, a mapping device for a panoramic image is provided, and the dividing module selects mutually parallel rings to divide the panoramic spherical image acquired by the acquiring module, and can divide the spherical surface into a more uniform manner, so that the spherical surface is divided. Each spherical area has better planar characteristics, so the mapping module no longer needs redundant pixels when mapping, saving storage resources, and the area of each divided spherical area is more similar, and the mapping module maps it to the same The accuracy deviation on the two-dimensional plane is smaller.

根据第一方面或第二方面，在一个可能的设计中，若所述球面图的参考坐标系为三维正交直角坐标系，其中，所述三维正交直角坐标系包括互相垂直的x轴、y轴、z轴，所述三维正交直角坐标系的原点对应于所述球面图的球心；则所述在所述球面图上选取a条圆环线和b条圆环线包括：选取a条圆环线，所述a条圆环线中的任一环线所在平面与所述y轴垂直；选取b条圆环线，所述b条圆环线中的任一环线所在平面与所述x轴垂直。According to the first aspect or the second aspect, in a possible design, if the reference coordinate system of the spherical image is a three-dimensional orthogonal rectangular coordinate system, wherein the three-dimensional orthogonal rectangular coordinate system includes mutually perpendicular x-axis, a y-axis and a z-axis, wherein an origin of the three-dimensional orthogonal Cartesian coordinate system corresponds to a spherical center of the spherical image; and the selecting a circular ring line and the b circular line on the spherical surface includes: selecting a ring line, the plane of any one of the a ring lines is perpendicular to the y axis; b lines are selected, and any of the b lines The plane of a loop is perpendicular to the x-axis.

其中，所述三维正交直角坐标系的原点一般与用户的视点的起始位置对应。为球面图确定参考坐标系，有利于位置的计算和确定。正交直角坐标系是运算最简单的一种坐标系；且当a条圆环线和b条圆环线彼此垂直时，会使后续划分得到的区域更加图形规则，面积更加近似。该技术方案可以由处理器执行。The origin of the three-dimensional orthogonal Cartesian coordinate system generally corresponds to the starting position of the user's viewpoint. Determining the reference coordinate system for the spherical map facilitates the calculation and determination of the position. The orthogonal Cartesian coordinate system is the simplest coordinate system; and when the a circular line and the b circular line are perpendicular to each other, the area obtained by the subsequent division is more graphically regular and the area is more similar. This technical solution can be executed by a processor.

根据第一方面或第二方面，在一个可能的设计中，若将所述y轴作为参考地轴，所述选取a条圆环线包括：选取具有等纬度差为α1的a条圆环线，其中α1为预设值。According to the first aspect or the second aspect, in a possible design, if the y-axis is used as a reference ground axis, the selecting a ring line comprises: selecting a ring line having an equal latitude difference of α1, Where α1 is the preset value.

其中，具有等纬度差的纬线能够使得a条纬线之间的视角间隔相等，这些纬线之间划分的球面的大小也更加规则。该技术方案可以由处理器执行。Among them, the weft having the equal latitude difference can make the viewing angles between the a wefts equal, and the size of the spherical surface divided between the wefts is also more regular. This technical solution can be executed by a processor.

根据第一方面或第二方面，在一个可能的设计中，若将所述x轴作为参考地轴，所述选取a条圆环线包括：选取具有等纬度差为α2的b条圆环线，其中α2为预设值。According to the first aspect or the second aspect, in a possible design, if the x-axis is used as a reference ground axis, the selecting a circular line includes: selecting b circular lines having equal latitude difference α2, Where α2 is the preset value.

其中，具有等纬度差的纬线能够使得b条纬线之间的视角间隔相等，这些纬线之间划分的球面的大小也更加规则。该技术方案可以由处理器执行。Among them, the weft having the equal latitude difference can make the viewing angles between the b latitudes equal, and the size of the spherical surface divided between the latitudes is also more regular. This technical solution can be executed by a processor.

根据第一方面或第二方面，在一个可能的设计中，α1＝α2。According to the first or second aspect, in one possible design, α1 = α2.

使得a条纬线视角间隔相等且b条纬线之间的视角间隔相等，这些纬线之间划分的球面的大小也更加规则，尤其更加接近正方形。该技术方案可以由处理器执行。The distance between the viewing angles of the a weft lines is equal and the viewing angles between the b and the weft lines are equal, and the size of the spherical surface divided between the weft lines is also more regular, especially closer to a square. This technical solution can be executed by a processor.

根据第一方面或第二方面，在一个可能的设计中，α1、α2均小于等于60°，且能被120°整除。According to the first or second aspect, in one possible design, both α1 and α2 are less than or equal to 60° and can be divisible by 120°.

其中，人眼的视角范围通常为120°×120°；小于60°是为了能够找到2条以上纬线对球面进行划分，因此能够被120°整除的角度作为等纬度差，会使图像在后续的传输过程中拟合用户的视角范围。该技术方案可以由处理器执行。Among them, the angle of view of the human eye is usually 120°×120°; less than 60° is to be able to find more than two wefts to divide the spherical surface, so the angle that can be divisible by 120° is used as the equal latitude difference, which will make the image follow. Fits the user's perspective range during transmission. This technical solution can be executed by a processor.

根据第一方面或第二方面，在一个可能的设计中，a、b、α1和α2满足如下关系：According to the first aspect or the second aspect, in one possible design, a, b, α1 and α2 satisfy the following relationship:

180°＝a×α1+2α10，其中α10小于等于α1，180°=a×α1+2α10, where α10 is less than or equal to α1,

α10＝90°-a条纬线中南/北纬线的最高纬度角；1010=90°-a the highest latitude angle of the south/north latitude line of the latitude line;

180°＝b×α2+2α20，其中α20小于等于α2，180°=b×α2+2α20, where α20 is less than or equal to α2,

α20＝90°-b条纬线中南/北纬线的最高纬度角。2020=90°-b The highest latitude angle of the south/north latitude line of the latitude line.

这样使得球面的大部分面积被规则地划分；其中，a和b的值越大，表明对球面图划分地更加精细。该技术方案可以由处理器执行。This allows most of the area of the sphere to be regularly divided; where the greater the values of a and b, the more detailed the division of the spherical map. This technical solution can be executed by a processor.

根据第一方面或第二方面，在一个可能的设计中，在所述在所述球面图上选取a条圆环线和b条圆环线，并利用所述a条圆环线和b条圆环线将球面划分为c个区域之后，所述方法还包括：在所述球面图上再选取d条圆环线，所述d条圆环线中的任一环线所在平面与所述z轴垂直；并将所述c个区域分为c’个区域；其中，d为大于0的整数；所述将所述c个区域的图像映射为二维平面图像具体为：将所述c’个区域的图像映射为二维平面图像。According to the first aspect or the second aspect, in one possible design, a ring line and a b ring line are selected on the spherical view, and the a ring line and the b line are utilized. After the ring line divides the spherical surface into c regions, the method further includes: selecting d circular lines on the spherical surface, and the plane of any one of the d circular lines and the z The axis is vertical; and the c regions are divided into c' regions; wherein d is an integer greater than 0; and the mapping the images of the c regions into a two-dimensional planar image is: The images of the regions are mapped to a two-dimensional planar image.

采用该技术方案，可以使得球面的大部分面积被近似等分。该技术方案可以由处理器执行。With this technical solution, most of the area of the spherical surface can be approximated equally. The technical solution can Executed by the processor.

根据第一方面或第二方面，在一个可能的设计中，当d＝1时，在所述球面图上再选取d条圆环线包括：以所述z轴为地轴，选取所述球面图的赤道。According to the first aspect or the second aspect, in a possible design, when d=1, selecting d more circular lines on the spherical image includes: selecting the spherical surface with the z axis as the ground axis Equator.

采用该技术方案，可以使得球面的大部分面积被近似等分并且划分方式简单。该技术方案可以由处理器执行。With this technical solution, most of the area of the spherical surface can be approximately equally divided and the division manner is simple. This technical solution can be executed by a processor.

根据第一方面或第二方面，在一个可能的设计中，当d>1时，若将所述y轴作为参考地轴，所述在所述球面图上再选取d条圆环线包括：选取具有等纬度差为α3的d条圆环线，其中α3为预设值。According to the first aspect or the second aspect, in a possible design, when d>1, if the y-axis is used as a reference ground axis, the selecting the d-ring lines on the spherical image includes: selecting There are d circular lines with equal latitude difference α3, wherein α3 is a preset value.

采用该技术方案，可以使得球面的大部分面积被近似等分并且划分地更加精细，使得每一块被划分的区域在映射时都能更加贴近源图像的特征。该技术方案可以由处理器执行。With this technical solution, most of the area of the spherical surface can be approximated and divided more finely, so that each divided area can be closer to the characteristics of the source image when mapped. This technical solution can be executed by a processor.

根据第一方面或第二方面，在一个可能的设计中，α3＝α1，或者α3＝α2。According to the first or second aspect, in one possible design, α3 = α1, or α3 = α2.

根据第一方面或第二方面，在一个可能的设计中，在所述在所述球面图上选取a条圆环线和b条圆环线，并利用所述a条圆环线和b条圆环线将球面划分为c个区域之后，所述方法还包括：以所述z轴为地轴，在所述球面图的赤道上选取d’条不连续的分段圆弧；并将所述c个区域分为c’个区域；其中，所述赤道经过所述c个区域中的c0个区域，所述d’条不连续的分段圆弧将所述c0个区域中超过预设面积的区域进行划分，使得所述超过预设面积的区域被划分成小于所述预设面积的区域，d’为大于1的整数；所述将所述c个区域的图像映射为二维平面图像具体为：将所述c’个区域的图像映射为二维平面图像。According to the first aspect or the second aspect, in one possible design, a ring line and a b ring line are selected on the spherical view, and the a ring line and the b line are utilized. After the ring line divides the spherical surface into c regions, the method further includes: selecting d′ strip discontinuous arcs on the equator of the spherical image with the z axis as the ground axis; The c regions are divided into c' regions; wherein the equator passes through c0 regions in the c regions, and the d' strip discontinuous segment arcs exceeds a preset area in the c0 regions The area is divided such that the area exceeding the preset area is divided into areas smaller than the preset area, d' is an integer greater than 1; and the image of the c areas is mapped to a two-dimensional plane image Specifically, the image of the c′ regions is mapped into a two-dimensional planar image.

根据第一方面或第二方面，在一个可能的设计中，在所述将所述c个区域的图像映射为二维平面图像之后，所述方法还包括：将所述二维平面图像拼接为可编码图像，对所述可编码图像进行编码。According to the first aspect or the second aspect, in a possible design, after the mapping the images of the c regions into a two-dimensional planar image, the method further comprises: stitching the two-dimensional planar image into An image can be encoded to encode the codeable image.

该编码技术是为了方便后续根据用户视角的变化进行视频内容的传输。该技术方案可以由处理器、编码器或编码模块执行。The coding technique is to facilitate subsequent transmission of video content according to changes in the user's perspective. This technical solution can be performed by a processor, an encoder or an encoding module.

根据第三方面，一种全景图像映射的设备，设备包括：存储器、处理器、收发器；它们通过总线彼此连接通信；存储器存储程序指令，收发器由处理器进行控制，处理器调用存储器中的程序指令，可以执行上述任意一种可能的实现方式。According to a third aspect, a device for panoramic image mapping, the device comprising: a memory, a processor, a transceiver; they are connected to each other via a bus; the memory stores program instructions, the transceiver is controlled by the processor, and the processor calls the memory Program instructions that can perform any of the possible implementations described above.

第四方面，本发明实施例提供了一种编码器、移动终端或服务器，该编码器、移动终端或服务器具有实现上述方法中对应的功能。该功能可以通过硬件实现，也可以通过硬件执行相应的软件实现。该硬件或软件包括一个或多个与上述功能相对应的模块。In a fourth aspect, an embodiment of the present invention provides an encoder, a mobile terminal, or a server, where the encoder, the mobile terminal, or the server has a corresponding function in the foregoing method. This function can be implemented in hardware or in hardware by executing the corresponding software. The hardware or software includes one or more modules corresponding to the functions described above.

第五方面，本发明实施例提供了一种计算机存储介质，用于储存上述操作中所用的计算机软件指令，其包含用于执行上述方面所设计的程序。In a fifth aspect, an embodiment of the present invention provides a computer storage medium for storing the foregoing operations. Computer software instructions for use in the execution of the programs designed to perform the above aspects.

应理解，对于上述任何一种可能的设计中的技术方案，在不违背自然规律的前提下，可以进行方案之间的组合。It should be understood that for any of the above-mentioned possible design solutions, the combination between the solutions can be performed without departing from the natural laws.

附图说明DRAWINGS

图1为本发明实施例中一种球面图像信号示意图；1 is a schematic diagram of a spherical image signal according to an embodiment of the present invention;

图2为本发明实施例中一种球面信号映射到六面体的示意图；2 is a schematic diagram of mapping a spherical signal to a hexahedron according to an embodiment of the present invention;

图3为本发明实施例中一种球面信号映射到经纬图的示意图；3 is a schematic diagram of mapping a spherical signal to a latitude and longitude map according to an embodiment of the present invention;

图4为本发明实施例中一种全景视频的传输技术框架图；4 is a schematic diagram of a transmission technology of a panoramic video according to an embodiment of the present invention;

图5为本发明实施例中一种全景图像的映射设备的结构示意图；FIG. 5 is a schematic structural diagram of a mapping device for a panoramic image according to an embodiment of the present invention; FIG.

图6为本发明实施例中一种全景图像的映射方法流程图；FIG. 6 is a flowchart of a method for mapping a panoramic image according to an embodiment of the present invention;

图7为本发明实施例中一种全景图像的三维正交直角坐标系示意图；FIG. 7 is a schematic diagram of a three-dimensional orthogonal rectangular coordinate system of a panoramic image according to an embodiment of the present invention; FIG.

图8为本发明实施例中一种球面坐标映射到平面坐标的示意图；FIG. 8 is a schematic diagram of a spherical coordinate mapping to a plane coordinate according to an embodiment of the present invention; FIG.

图9为本发明实施例中一种球面分割的示意图；FIG. 9 is a schematic diagram of a spherical surface division according to an embodiment of the present invention; FIG.

图10为本发明实施例中一种球面分割的示意图；FIG. 10 is a schematic diagram of a spherical surface division according to an embodiment of the present invention; FIG.

图11a为本发明实施例中一种球面分割的示意图；11a is a schematic diagram of a spherical surface division according to an embodiment of the present invention;

图11b为本发明实施例中一种球面分割后的正视图、背面图和俯视图；FIG. 11b is a front view, a rear view, and a top view of a spherical surface according to an embodiment of the present invention; FIG.

图12a为本发明实施例中一种球面分割的示意图；12a is a schematic diagram of a spherical surface division according to an embodiment of the present invention;

图12b为本发明实施例中一种球面分割后的正视图、背面图和俯视图；12b is a front view, a rear view, and a top view of a spherical surface after being separated according to an embodiment of the present invention;

图13为本发明实施例中一种球面分割的示意图；FIG. 13 is a schematic diagram of a spherical surface division according to an embodiment of the present invention; FIG.

图14为本发明实施例中一种球面分割的示意图；FIG. 14 is a schematic diagram of a spherical surface division according to an embodiment of the present invention; FIG.

图15为本发明实施例中一种映射后的二维图形的拼接示意图；FIG. 15 is a schematic diagram of splicing a two-dimensional graphic after mapping according to an embodiment of the present invention; FIG.

图16为本发明实施例中一种全景图像的映射装置。FIG. 16 is a schematic diagram of a panoramic image mapping apparatus according to an embodiment of the present invention.

具体实施方式detailed description

本发明实施例提供了一种全景图像的映射方法、装置及设备。Embodiments of the present invention provide a method, an apparatus, and a device for mapping a panoramic image.

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分优选实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of preferred embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

应理解，申请文件中所出现的诸如“第一”、“第二”、“预设”“目标”之类的限定词汇，仅仅是用来方便清楚的描述，用来区别泛指，并非限定次序，也并非是专有词汇。It should be understood that the limited words such as "first", "second", "preset" and "target" appearing in the application documents are only used to facilitate the clear description, to distinguish the general term, not to limit Order is not a proprietary vocabulary.

360度全景VR视频的传输技术，涉及到视频的映射、编码和传输。传输技术框架如图4所示。具体包括：获取到全景图像视频，原始的VR全景视频由VR全景球面图像序列组成，每一个视频帧都是一帧全景图像；但这样的视频并不适用于编码传输。因此，一种普遍的方法是将全景视频中的每一帧球面图像转换为可以适用于当前视频编码标准进行编码并传输的图像信号格式(方形图像)，这个过程可称为球面图像表述，即将每一帧全景图像从球面图像映射为二维图像。对二维图像进行球编码并将编码后的码流传输到解码端。解码端对码流进行球解码，对解码后的图像进行渲染显示。The 360-degree panoramic VR video transmission technology involves the mapping, encoding and transmission of video. The transmission technology framework is shown in Figure 4. Specifically, the method includes: acquiring a panoramic image video, the original VR panoramic video is composed of a VR panoramic spherical image sequence, and each video frame is a one-frame panoramic image; but such video is not suitable for encoding transmission. Therefore, a common method is to convert each frame of the panoramic image into an image signal format (square image) that can be encoded and transmitted for the current video coding standard. The process may be referred to as a spherical image representation, ie, mapping each frame of the panoramic image from a spherical image to a two-dimensional image. The two-dimensional image is spherically encoded and the encoded code stream is transmitted to the decoding end. The decoding end performs ball decoding on the code stream, and performs rendering display on the decoded image.

本发明实施例是针对全景球面信号进行表述的一种映射方法，可在VR全景视频应用场景中广泛使用。The embodiment of the invention is a mapping method for expressing a panoramic spherical signal, which can be widely used in a VR panoramic video application scenario.

本发明实施例中，实现全景图像的映射的设备，可以是一个智能终端，也可以是一个服务器；请参阅图5，图5为一种映射设备的结构示意图；该设备10至少包含了：In the embodiment of the present invention, the device for mapping the panoramic image may be an intelligent terminal or a server. Referring to FIG. 5, FIG. 5 is a schematic structural diagram of a mapping device. The device 10 includes at least:

收发器11，用于接收和发送信号，包括媒体流，如图像信号、音频信号和视频信号。The transceiver 11 is configured to receive and transmit signals, including media streams, such as image signals, audio signals, and video signals.

存储器12，用于存储程序和各种数据，主要存储操作***、应用和功能指令等软件单元、或者他们的子集、或者他们的扩展集。还可以包括非易失性随机存取存储器，向处理器13提供包括管理计算处理设备中的硬件、软件及数据资源，支持控制软件和应用；The memory 12 is used to store programs and various data, and mainly stores software units such as operating systems, applications, and function instructions, or a subset thereof, or an extended set thereof. A non-volatile random access memory may also be included, providing hardware, software, and data resources in the management computing processing device to the processor 13, supporting the control software and applications;

处理器13，用于产生相应的操作控制信号，发给计算处理设备相应的部件，读取以及处理软件中的数据，尤其是读取和处理存储器12中的数据和程序，以使其中的各个功能模块执行相应的功能，从而控制相应的部件按指令的要求进行动作。因此处理器13可以调用存储器12中的部分程序指令对收发器进行控制；The processor 13 is configured to generate a corresponding operation control signal, send the corresponding component to the computing processing device, read and process the data in the software, and in particular, read and process the data and the program in the memory 12 to make each of the components The function module performs the corresponding function, thereby controlling the corresponding component to act according to the requirements of the instruction. Therefore, the processor 13 can call a part of the program instructions in the memory 12 to control the transceiver;

总线14，上述硬件单元11-13可以通过总线14电气连接进行通信。The bus 14, the hardware units 11-13 described above can be electrically connected via the bus 14 for communication.

在具体实现过程中，若设备是移动终端，还可以包含天线***15，用于收发无线通信信号实现与移动通信网络的无线通信；移动通信网络包括以下的一种或多种：GSM网络、CDMA网络、3G网络、FDMA、TDMA、PDC、TACS、AMPS、WCDMA、TDSCDMA、WIFI以及LTE网络。此外，移动终端还可以包含Wifi连接模块、显示屏、音频组件等其他硬件结构。In a specific implementation process, if the device is a mobile terminal, the antenna system 15 may be further included for transmitting and receiving wireless communication signals to implement wireless communication with the mobile communication network; the mobile communication network includes one or more of the following: GSM network, CDMA Network, 3G network, FDMA, TDMA, PDC, TACS, AMPS, WCDMA, TDSCDMA, WIFI and LTE networks. In addition, the mobile terminal may also include other hardware structures such as a Wifi connection module, a display screen, an audio component, and the like.

请参阅图6，一种全景图像的映射方法，具体实现方式如下所示：Please refer to FIG. 6 , a method for mapping a panoramic image, and the specific implementation manner is as follows:

S1：获取一帧虚拟现实全景图像，所述虚拟现实全景图像为球面图。S1: Acquire a frame of a virtual reality panoramic image, and the virtual reality panoramic image is a spherical image.

具体实现过程中，可以通过获取全景视频，该全景视频中包含N帧全景图像，每一帧全景图像都是一个半径为r的球面图；还可以通过全景相机拍照获得全景图像；还可以通过调用本地存储的数据获取全景图像。In the specific implementation process, the panoramic video can be obtained, and the panoramic video includes N frames of panoramic images, each of which is a spherical image with a radius r; a panoramic image can also be obtained by taking a panoramic camera; Locally stored data captures panoramic images.

通常，球面图的球心通常对应于用户的视点的起始位置。Typically, the center of the sphere's sphere generally corresponds to the starting position of the user's viewpoint.

S2：在所述球面图上选取a条圆环线和b条圆环线，并利用所述a条圆环线和b条圆环线将球面划分为c个区域；其中，所述a条圆环线分别所在的a个平面互相平行，且所述b条圆环线分别所在的b个平面互相平行，所述a条圆环线中的任一环线所在平面与所述b条圆环线中的任一环线所在平面具有预设夹角，所述a、b为大于1的整数。S2: selecting a ring line and a b line line on the spherical surface, and dividing the spherical surface into c areas by using the a ring line and the b line line; wherein the a strip The planes in which the ring lines are respectively located are parallel to each other, and the b planes in which the b ring lines are respectively located are parallel to each other, and the plane of any one of the a ring lines and the b ring The plane of any of the loops in the line has a preset angle, and a and b are integers greater than one.

在一种实现方式中，以通过上述球心且垂直于a条圆环线中任一条圆环线所在平面的直线作为第一参考地轴，称为第一参考状态，第一参考地轴可以为竖直方向。在第一参考状态下，选取的a条圆环线中的每一条都可以看做是一条纬线，它们都具有预设纬度角，若a1和a2为a条纬线中两条纬线，a1与a2的纬度角决定了用户在观察a1与a2的中间区域时在第一参考地轴方向上的视角范围。具体地，可以选取等纬度差的a条纬线，等纬度差为α1，其中α1为预设值；也可以相对于第一参考状态下该球面中的赤道平面对称分布；如可以用四条纬线来划分，第一参考状态下四条纬线的纬度角分别为-60度，-20度，20度，60度。更具体地，选取关于赤道对称的a条纬线还可以满足如下关系：In one implementation, a straight line passing through the center of the sphere and perpendicular to a plane of any one of the a circular line is used as the first reference ground, which is referred to as a first reference state, and the first reference ground may be vertical. Straight direction. In the first reference state, each of the selected a circle lines can be regarded as a latitude line, and both have a preset latitude angle. If a1 and a2 are two latitude lines in a latitude, a1 and a2 Latitude angle The range of the angle of view in the direction of the first reference axis when the user observes the intermediate portion of a1 and a2. Specifically, a latitude line with equal latitude difference may be selected, and the latitude difference is α1, wherein α1 is a preset value; or may be symmetrically distributed with respect to the equatorial plane in the spherical surface in the first reference state; for example, four latitude lines may be used. Dividing, the latitude angles of the four latitude lines in the first reference state are -60 degrees, -20 degrees, 20 degrees, and 60 degrees, respectively. More specifically, selecting a latitude line about the equator symmetry can also satisfy the following relationship:

α10＝90°-a条纬线中南/北纬线的最高纬度角。Α10=90°-a The highest latitude angle of the south/north latitude line of the latitude line.

在一种实现方式中，以通过上述球心且垂直于b条圆环线中任一条圆环线所在平面的直线作为第二参考地轴，称为第二参考状态，第二参考地轴可以为水平方向。在第二参考状态下，选取的b条圆环线中的每一条都可以看做是一条纬线，它们都具有预设纬度角，若b1和b2为b条纬线中两条纬线，b1与b2的纬度角决定了用户在观察b1与b2的中间区域时在第二参考地轴方向上的视角范围。具体地，可以选取等纬度差的b条纬线，等纬度差为α2，其中α2为预设值；也可以相对于第二参考状态下该球面中的赤道平面对称分布；如可以用四条纬线来划分，第二参考状态下四条纬线的纬度角分别为-60度，-20度，20度，60度。更具体地，选取关于赤道对称的a条纬线还可以满足如下关系：In one implementation, a straight line passing through the center of the sphere and perpendicular to the plane of any one of the b circular lines is used as the second reference ground axis, which is referred to as a second reference state, and the second reference ground axis may be horizontal. direction. In the second reference state, each of the selected b circular lines can be regarded as a latitude, which all have a preset latitude angle, if b1 and b2 are two latitudes of b latitudes, b1 and b2 The latitude angle determines the range of viewing angles in the direction of the second reference axis when the user observes the intermediate regions of b1 and b2. Specifically, b latitudes of equal latitude difference may be selected, and the latitude difference is α2, wherein α2 is a preset value; or may be symmetrically distributed with respect to the equatorial plane in the spherical surface in the second reference state; for example, four latitude lines may be used According to the division, the latitude angles of the four latitude lines in the second reference state are -60 degrees, -20 degrees, 20 degrees, and 60 degrees, respectively. More specifically, selecting a latitude line about the equator symmetry can also satisfy the following relationship:

如图7所示，以球面图的球心为原点建立三维正交直角坐标系，坐标系包括x轴、y轴、和z轴。第一参考地轴可以为y轴，第二参考地轴可以为x轴。其中，三维直角坐标系并没有严格地限定位置，通常情况下，x轴正方向为水平向右，y轴正方向为竖直向上，z轴正方向为水平向外。As shown in FIG. 7, a three-dimensional orthogonal rectangular coordinate system is established with the spherical center of the spherical image as an origin, and the coordinate system includes an x-axis, a y-axis, and a z-axis. The first reference ground axis may be the y-axis and the second reference ground axis may be the x-axis. Wherein, the three-dimensional Cartesian coordinate system does not strictly define the position. Generally, the positive direction of the x-axis is horizontal to the right, the positive direction of the y-axis is vertical upward, and the positive direction of the z-axis is horizontal outward.

由于人的视角范围约为120°×120°，为了更好地拟合人眼范围内的视频内容切换，在第一参考状态下或第二参考状态下，α1、α2均小于等于60°，且能被120°整除。如可以采用等差为30°、40°、20°或10°纬线对球面进行划分。Since the angle of view of the human is about 120°×120°, in order to better fit the video content switching in the range of the human eye, α1 and α2 are less than or equal to 60° in the first reference state or the second reference state. And can be divisible by 120 °. For example, the spherical surface can be divided by a weft with an equal difference of 30°, 40°, 20° or 10°.

为了得到更加均匀的划分，选取a条纬线和b条纬线时，可以使α1＝α2，或使α1、α2尽量接近相等。In order to obtain a more uniform division, when a latitude line and b latitude lines are selected, α1=α2 may be made, or α1 and α2 may be made as close as possible.

相比于现有技术，这种新颖的划分方式能够将球面图分隔成为更加均匀的区域，映射到二维图像时失真更小。Compared to the prior art, this novel division can separate the spherical map into a more uniform area, and the distortion is smaller when mapped to a two-dimensional image.

S3：将所述c个区域的图像映射为二维平面图像。S3: Mapping the images of the c regions into a two-dimensional planar image.

常用的映射方式包括：将得到的c个区域映射到c个等大的二维正方形中，形成c个二维正方形图像。一种映射方法如图8所示。A commonly used mapping method includes mapping the obtained c regions into c equal-sized two-dimensional squares to form c two-dimensional square images. A mapping method is shown in Figure 8.

该图中，目标点在球面图中对应的球面坐标为(x0,y0,z0)，O为球心(坐标原点)；(x1,y1)为上述任一点在正方形映射面上的图像坐标，O’为的正方形参考坐标系的坐标原点。则映射关系可以用如下计算式获得： In the figure, the corresponding spherical coordinates of the target point in the spherical map are (x0, y0, z0), O is the spherical center (coordinate origin); (x1, y1) is the image coordinate of any of the above points on the square mapping surface, O' is the coordinate origin of the square reference coordinate system. Then the mapping relationship can be obtained by the following calculation formula:

其中Fw和Fh分别为正方形映射面的宽度和高度。x_min为目标点所在划分区域在x轴上的坐标最小值，x_range为目标点所在划分区的x坐标值的取值范围；y_min为目标点所在划分区域在y轴上的坐标最小值，y_range为目标点所在划分区域的y坐标值的取值范围。r为球面半径，通常，可以取半径r＝1，球面上x与y坐标取值可以在区间[-1,1]内。Where Fw and Fh are the width and height of the square mapping plane, respectively. X_min is the coordinate minimum value of the divided area of the target point on the x-axis, x_range is the value range of the x coordinate value of the divided area where the target point is located; y_min is the minimum coordinate of the divided area of the target point on the y-axis, and y_range is The range of values of the y-coordinate value of the divided area where the target point is located. r is the spherical radius. Generally, the radius r=1 can be taken. The x and y coordinates on the spherical surface can be in the interval [-1, 1].

此外，还可以将划分后的c个区域一一映射为长方形平面或者其他二维图形平面，不同形状平面的映射仅在于坐标系的映射方法不同，不同坐标系之间的对应属于成熟的现有技术。另外，对于映射后的多个平面图形可以有不同方式的拼接，其组合方式的多种变形也属于现有技术。本发明不做过多赘述。In addition, the divided c regions can be mapped one by one into a rectangular plane or other two-dimensional graphics plane. The mapping of different shape planes is only in the mapping method of the coordinate system, and the correspondence between different coordinate systems belongs to the mature existing technology. In addition, there may be different ways of splicing a plurality of mapped planar graphics, and various modifications of the combined manners also belong to the prior art. The present invention is not described too much.

映射后的二维图像可以存储于本地，可以进行呈现，也可以进行后续的拼接和编码。The mapped two-dimensional image can be stored locally, can be rendered, and can be subsequently stitched and encoded.

采用上述S1和S2实际是用两组纬度线将球面图进行了划分，在具体实现过程中，还可以在对划分后的图像上进行进一步的更精细的划分。The above S1 and S2 are actually used to divide the spherical map by two sets of latitude lines. In the specific implementation process, further finer division can be performed on the divided images.

例如，在执行了S2之后，执行S3之前，还可以执行S4。For example, after S2 is executed, S4 may be executed before S3 is executed.

S4：在球面图上再选取d条圆环线，所述d条圆环线分别所在的d个平面互相平行；d条圆环线中的任一环线所在平面与a条圆环线中的任一环线所在平面相交，且d条圆环线中的任一环线所在平面与b条圆环线中的任一环线所在平面相交。新选择的d条圆环线将此前已经划分出的c个区域分为c’个区域，其中d为大于0的整数。S4: Selecting d circular lines on the spherical surface, wherein the d planes respectively of the d circular lines are parallel to each other; the plane of any one of the d circular lines is in the plane of the a circular line The planes of any of the loop lines intersect, and the plane of any one of the d loop lines intersects the plane of any of the b loop lines. The newly selected d-ring line divides the c areas that have been previously divided into c' areas, where d is an integer greater than zero.

在一种实现方式中，若第一参考地轴可以为y轴，第二参考地轴可以为x轴，则以通过上述球心且垂直于d条圆环线中任一条圆环线所在平面的直线作为第三参考地轴，称为第三参考状态，第三参考地轴可以为水平向外，即z轴。在第三参考状态下，选取的d条圆环线中的每一条都可以看做是一条纬线，它们都具有预设纬度角，若d1和d2为d条纬线中两条纬线，d1与d2的纬度角决定了用户在观察d1与d2的中间区域时在第三参考地轴方向上的视角范围。具体地，可以选取等纬度差da条纬线，等纬度差为α3，其中α3为预设值；也可以相对于第三参考状态下该球面中的赤道平面对称分布；如可以用四条纬线来划分，第三参考状态下四条纬线的纬度角分别为-60度，-20度，20度，60度。更具体地，选取关于赤道对称的a条纬线还可以满足如下关系：In one implementation, if the first reference ground axis can be the y-axis and the second reference ground axis can be the x-axis, then the line passing through the center of the sphere and perpendicular to the plane of any one of the d circular lines As the third reference ground axis, referred to as a third reference state, the third reference ground axis may be horizontally outward, ie, the z-axis. In the third reference state, each of the selected d circular lines can be regarded as a latitude, which all have a preset latitude angle, if d1 and d2 are two latitudes in the d latitude, d1 and d2 The latitude angle determines the range of viewing angles in the third reference axis direction when the user observes the intermediate portion of d1 and d2. Specifically, an equal latitude difference da latitude may be selected, and the latitude difference is α3, wherein α3 is a preset value; or may be symmetrically distributed with respect to the equatorial plane in the spherical surface in the third reference state; for example, four latitude lines may be used to divide The latitude angles of the four latitude lines in the third reference state are -60 degrees, -20 degrees, 20 degrees, and 60 degrees, respectively. More specifically, selecting a latitude line about the equator symmetry can also satisfy the following relationship:

180°＝d×α3+2α30，其中α30小于等于α3，180°=d×α3+2α30, where α30 is less than or equal to α3,

α30＝90°-d条纬线中南/北纬线的最高纬度角。Α30=90°-d The highest latitude angle of the south/north latitude line of the latitude line.

当d＝1时，可以直接选取第三参考状态下时的赤道作为分割线。When d=1, the equator in the third reference state can be directly selected as the dividing line.

当d大于1时，可以令α3＝α1，或者α3＝α2 When d is greater than 1, you can make α3=α1, or α3=α2

此后对应的执行S3具体为：将所述c’个区域的图像映射为二维平面图像。The corresponding execution S3 thereafter is specifically: mapping the images of the c' regions into a two-dimensional planar image.

例如，在执行了S2之后，执行S3之前，还可以执行S5。For example, after S2 is executed, S5 may also be executed before S3 is executed.

S5：在球面图上选择出目标圆环，目标圆环所在平面与所述a条圆环线中的任一环线所在平面相交且满足预设夹角，目标圆环所在平面与所述b条圆环线中的任一环线所在平面相交且满足预设夹角，在目标圆环与上选取d’条不连续的分段圆弧；并将所述c个区域分为c’个区域；其中，目标圆环经过所述c个区域中的c0个区域，d’条不连续的分段圆弧将c0个区域中超过预设面积的区域进行划分，使得超过预设面积的区域被划分成小于预设面积的区域，d’为大于1的整数。具体地，目标圆环可以为第三参考状态下的赤道。S5: Selecting a target ring on the spherical surface, the plane of the target ring intersects with the plane of any one of the a ring lines and meets a preset angle, and the plane of the target ring and the b The planes of any of the loop lines intersect and satisfy a preset angle, and the d' strip discontinuous segment arcs are selected on the target ring and the c regions are divided into c' regions; Wherein, the target ring passes through c0 regions in the c regions, and the d' strip discontinuous segment arc divides the region of the c0 regions that exceeds the preset area, so that the region exceeding the preset area is divided. In an area smaller than the preset area, d' is an integer greater than 1. Specifically, the target ring may be an equator in the third reference state.

关于本发明的具体实现，可以参照如下示例。Regarding the specific implementation of the present invention, the following examples can be referred to.

示例1Example 1

给出一种“60°×60°”型的球面划分映射方式。球面的参考坐标系为三维正交坐标系，包括x、y、z轴。A "60° x 60°" type of spherical division mapping is given. The reference coordinate system of the spherical surface is a three-dimensional orthogonal coordinate system including x, y, and z axes.

“60°×60°”型该球面划分的示意图如图9所示：A schematic diagram of the spherical division of the "60° x 60°" type is shown in Figure 9:

该方案对球面的划分步骤如下：The steps for dividing the sphere into the scheme are as follows:

1.1、在第一种参考状态下，即以y轴作为地轴，上半球对应北纬，下半球对应南纬，在球面上找到南纬30°与北纬30°纬度线，选取该两纬度线作为分割线，将圆球分为三部分，即“顶部”、“水平环”与“底部”。在本申请中，为了描述方便，附图中的北纬对应的纬度为+，南纬对应的纬度为-；以下示例均适用。1.1. In the first reference state, that is, the y-axis is used as the ground axis, the upper hemisphere corresponds to the north latitude, the lower hemisphere corresponds to the south latitude, and the south latitude 30° and the north latitude 30° latitude line are found on the spherical surface, and the two latitude lines are selected as the division. Line, the ball is divided into three parts, namely "top", "horizontal ring" and "bottom". In the present application, for convenience of description, the latitude corresponding to the north latitude in the drawing is +, and the latitude corresponding to the south latitude is -; the following examples are applicable.

1.2、在第二种参考状态下(可视为将第一种参考状态下的球体向右转90°)，即以x轴为地轴，左半球对应南纬，右半球对应北纬，在球面上找到南纬30°与北纬30°的纬度线，选取该两纬度线作为分割线，将圆球分为三部分，即“左部”、“竖直环”与“右部”。1.2. In the second reference state (can be regarded as turning the sphere in the first reference state to the right by 90°), that is, the x-axis is the ground axis, the left hemisphere corresponds to the south latitude, and the right hemisphere corresponds to the north latitude, on the spherical surface. Find the latitude line of 30° south latitude and 30° north latitude. Select the two latitude lines as the dividing line and divide the ball into three parts, namely “left part”, “vertical ring” and “right part”.

1.3、上述4条分割线将整个球体共划分为10个球面区域；将这10个球面区域图像分别映射到10个等大的正方形平面。1.3. The above four dividing lines divide the entire sphere into 10 spherical areas; the 10 spherical area images are respectively mapped to 10 equal square planes.

示例2Example 2

给出一种“60°×60°×90°”型的球面划分映射方式。球面的参考坐标系为三维正交坐标系，包括x、y、z轴。A "60° x 60° x 90°" type of spherical division mapping is given. The reference coordinate system of the spherical surface is a three-dimensional orthogonal coordinate system including x, y, and z axes.

“60°×60°×90°”型该球面划分的示意图如图10所示：A schematic diagram of the spherical division of "60° x 60° x 90°" type is shown in Fig. 10:

2.1、在第一种参考状态下，即以y轴作为地轴，上半球对应北纬，下半球对应南纬，在球面上找到南纬30°与北纬30°纬度线，选取该两纬度线作为分割线，将圆球分为三部分，即“顶部”、“水平环”与“底部”。2.1. In the first reference state, that is, the y-axis is used as the ground axis, the upper hemisphere corresponds to the north latitude, the lower hemisphere corresponds to the south latitude, and the south latitude 30° and the north latitude 30° latitude line are found on the spherical surface, and the two latitude lines are selected as the division. Line, the ball is divided into three parts, namely "top", "horizontal ring" and "bottom".

2.2、在第二种参考状态下(可视为将第一种参考状态下的球体向右转90°)，即以x轴为地轴，左半球对应南纬，右半球对应北纬，在球面上找到南纬30°与北纬30°的纬度线，选取该两纬度线作为分割线，将圆球分为三部分，即“左部”、 “竖直环”与“右部”。2.2. In the second reference state (can be regarded as turning the sphere in the first reference state to the right by 90°), that is, the x-axis is the ground axis, the left hemisphere corresponds to the south latitude, and the right hemisphere corresponds to the north latitude, on the spherical surface. Find the latitude line of 30° south latitude and 30° north latitude, and select the two latitude lines as the dividing line to divide the ball into three parts, namely “left part”, "Vertical ring" and "Right".

2.3、在第三种参考状态下，即以z轴为地轴时，选取球面的赤道作为第五条分割线；2.3. In the third reference state, that is, when the z-axis is the ground axis, the equator of the spherical surface is selected as the fifth dividing line;

2.4、上述共5条分割线将整个球体共划分为18个球面区域；将这18个球面区域图像分别映射到18个等大的正方形平面。2.4. The above five dividing lines divide the entire sphere into 18 spherical areas; the 18 spherical area images are respectively mapped to 18 equal square planes.

示例3Example 3

“60°×60°×90°”型该球面划分的示意图如图11a所示：A schematic diagram of the "60° x 60° x 90°" type of spherical division is shown in Figure 11a:

3.1、在第一种参考状态下，即以y轴作为地轴，上半球对应北纬，下半球对应南纬，在球面上找到南纬30°与北纬30°纬度线，选取该两纬度线作为分割线，将圆球分为三部分，即“顶部”、“水平环”与“底部”。3.1. In the first reference state, that is, the y-axis is used as the ground axis, the upper hemisphere corresponds to the north latitude, the lower hemisphere corresponds to the south latitude, and the south latitude 30° and the north latitude 30° latitude line are found on the spherical surface, and the two latitude lines are selected as the division. Line, the ball is divided into three parts, namely "top", "horizontal ring" and "bottom".

3.2、在第二种参考状态下(可视为将第一种参考状态下的球体向右转90°)，即以x轴为地轴，左半球对应南纬，右半球对应北纬，在球面上找到南纬30°与北纬30°的纬度线，选取该两纬度线作为分割线，将圆球分为三部分，即“左部”、“竖直环”与“右部”。3.2. In the second reference state (can be regarded as turning the sphere in the first reference state to the right by 90°), that is, the x-axis is the ground axis, the left hemisphere corresponds to the south latitude, and the right hemisphere corresponds to the north latitude, on the spherical surface. Find the latitude line of 30° south latitude and 30° north latitude. Select the two latitude lines as the dividing line and divide the ball into three parts, namely “left part”, “vertical ring” and “right part”.

3.3、在第三种参考状态下，即以z轴为地轴时，沿球面的赤道选取4条分段圆弧进行分割，如图11b所示分割后的正面图、背面图和俯视图，仅对面积较大的区域进行分割得到新的2、3；5、6；7、8；9、10。对于面积较小的区域11、12、13、14保持不进行分割；其中面积的相对大小是与预设阈值相比较得出的。3.3. In the third reference state, that is, when the z-axis is the ground axis, four segmented arcs are selected along the equator of the spherical surface for segmentation, as shown in Fig. 11b, the front view, the rear view and the top view are divided, only The larger area is divided to obtain new 2, 3; 5, 6; 7, 8; 9, 10. The

areas

11 , 12 , 13 , and 14 that are smaller in area remain undivided; wherein the relative sizes of the areas are compared with preset thresholds.

3.4、上述共8条分割线将整个球体共划分为14个球面区域。将这14个球面区域图像分别映射到14个等大的正方形平面。3.4. The above eight dividing lines divide the entire sphere into 14 spherical areas. The 14 spherical area images are respectively mapped to 14 equal square planes.

示例4Example 4

给出一种“60°×60°×47.9°”型的球面划分映射方式。球面的参考坐标系为三维正交坐标系，包括x、y、z轴。A spherical division mapping method of "60° × 60 ° × 47.9 °" type is given. The reference coordinate system of the spherical surface is a three-dimensional orthogonal coordinate system including x, y, and z axes.

“60°×60°×47.9°”型该球面划分的示意图如图12a所示：A schematic diagram of the spherical division of "60° x 60° x 47.9°" type is shown in Figure 12a:

4.1、在第一种参考状态下，即以y轴作为地轴，上半球对应北纬，下半球对应南纬，在球面上找到南纬30°与北纬30°纬度线，选取该两纬度线作为分割线，将圆球分为三部分，即“顶部”、“水平环”与“底部”。4.1. In the first reference state, the y-axis is used as the ground axis, the upper hemisphere corresponds to the north latitude, the lower hemisphere corresponds to the south latitude, and the south latitude 30° and the north latitude 30° latitude line are found on the spherical surface, and the two latitude lines are selected as the division. Line, the ball is divided into three parts, namely "top", "horizontal ring" and "bottom".

4.2、在第二种参考状态下(可视为将第一种参考状态下的球体向右转90°)，即以x轴为地轴，左半球对应南纬，右半球对应北纬，在球面上找到南纬30°与北纬30°的纬度线，选取该两纬度线作为分割线，将圆球分为三部分，即“左部”、“竖直环”与“右部”。4.2. In the second reference state (can be regarded as turning the sphere in the first reference state to the right by 90°), that is, the x-axis is the ground axis, the left hemisphere corresponds to the south latitude, and the right hemisphere corresponds to the north latitude, on the spherical surface. Find the latitude line of 30° south latitude and 30° north latitude. Select the two latitude lines as the dividing line and divide the ball into three parts, namely “left part”, “vertical ring” and “right part”.

4.3、在第三种参考状态下，即以z轴为地轴时，前半球对应北纬，后半球对应南纬，在球面上找到南纬47.9°与北纬47.9°纬度线、赤道，选取该三条纬度线作为分割线，将圆球分为三部分，即“前部”、“中间环”与“后部”。4.3. In the third reference state, that is, when the z-axis is the ground axis, the first hemisphere corresponds to the north latitude, the rear hemisphere corresponds to the south latitude, and the south latitude 47.9° and the north latitude 47.9° latitude line and the equator are found on the spherical surface, and the three latitudes are selected. As a dividing line, the line divides the ball into three parts, namely “front”, “intermediate ring” and “rear”.

4.4、上述共9条分割线将整个球体共划分为26个球面区域，如图11b所示分割后的正面图、背面图和俯视图。将这26个球面区域图像分别映射到26个等大的正方形平面。4.4. The above nine dividing lines divide the entire sphere into 26 spherical areas, as shown in Fig. 11b, which are divided into a front view, a rear view and a top view. The 26 spherical area images are mapped to 26 equal square planes, respectively.

示例5Example 5

给出一种“30°×30°×90°”型的球面划分映射方式。球面的参考坐标系为三维正交坐标系，包括x、y、z轴。A "30° x 30° x 90°" type of spherical division mapping is given. The reference coordinate system of the spherical surface is a three-dimensional orthogonal coordinate system including x, y, and z axes.

“30°×30°×90°”型该球面划分的示意图13所示：Figure 13 of the "30° x 30° x 90°" type of spherical division is shown:

5.1、在第一种参考状态下，即以y轴作为地轴，上半球对应北纬，下半球对应南纬，在球面上找到南纬30°、南纬60°、北纬30°、北纬60°以及赤道，选取该5条纬度线作为分割线，将圆球从上到下分为6部分。5.1. In the first reference state, the y-axis is used as the ground axis, the upper hemisphere corresponds to the north latitude, the lower hemisphere corresponds to the south latitude, and the south latitude is 30°, the south latitude is 60°, the north latitude is 30°, the north latitude is 60°, and At the equator, the five latitude lines are selected as the dividing line, and the ball is divided into six parts from top to bottom.

5.2、在第二种参考状态下(可视为将第一种参考状态下的球体向右转90°)，即以x轴为地轴，左半球对应南纬，右半球对应北纬，在球面上找到南纬30°、南纬60°、北纬30°、北纬60°以及赤道，选取该5条纬度线作为分割线，将圆球从左到右分为6部分。5.2. In the second reference state (can be regarded as turning the sphere in the first reference state to the right by 90°), that is, the x-axis is the ground axis, the left hemisphere corresponds to the south latitude, and the right hemisphere corresponds to the north latitude, on the spherical surface. Find 30 degrees south latitude, 60 degrees south latitude, 30 degrees north latitude, 60 degrees north latitude and equator. Select the five latitude lines as the dividing line and divide the ball from left to right into six parts.

5.3、在第三种参考状态下，即以z轴为地轴时，前半球对应北纬，后半球对应南纬，在球面上找到赤道，选取赤道作为分割线。5.3. In the third reference state, that is, when the z-axis is the ground axis, the first hemisphere corresponds to the north latitude, the rear hemisphere corresponds to the south latitude, the equator is found on the spherical surface, and the equator is selected as the dividing line.

5.4、上述共11条分割线将整个球体共划分为48个球面区域。将这48个球面区域图像分别映射到48个等大的正方形平面。5.4. The above 11 dividing lines divide the entire sphere into 48 spherical areas. The 48 spherical area images are mapped to 48 equal square planes, respectively.

示例6Example 6

给出一种“30°×60°×90°”型的球面划分映射方式。球面的参考坐标系为三维正交坐标系，包括x、y、z轴。A "30° x 60° x 90°" type of spherical division mapping is given. The reference coordinate system of the spherical surface is a three-dimensional orthogonal coordinate system including x, y, and z axes.

“30°×60°×90°”型该球面划分的示意图如图14所示：A schematic diagram of the spherical division of the "30° x 60° x 90°" type is shown in Figure 14:

6.1、在第一种参考状态下，即以y轴作为地轴，上半球对应北纬，下半球对应南纬，在球面上找到南纬30°、南纬60°、北纬30°、北纬60°以及赤道，选取该5条纬度线作为分割线，将圆球从上到下分为6部分。6.1. In the first reference state, that is, the y-axis is used as the ground axis, the upper hemisphere corresponds to the north latitude, the lower hemisphere corresponds to the south latitude, and the south latitude is 30°, the south latitude is 60°, the north latitude is 30°, the north latitude is 60°, and At the equator, the five latitude lines are selected as the dividing line, and the ball is divided into six parts from top to bottom.

6.2、在第二种参考状态下(可视为将第一种参考状态下的球体向右转90°)，即以x轴为地轴，左半球对应南纬，右半球对应北纬，在球面上找到南纬30°、北纬30°，选取这2条纬度线作为分割线，将圆球从左到右分为3部分。6.2. In the second reference state (can be regarded as turning the sphere in the first reference state to the right by 90°), that is, the x-axis is the ground axis, the left hemisphere corresponds to the south latitude, and the right hemisphere corresponds to the north latitude, on the spherical surface. Find 30° south latitude and 30° north latitude. Select these two latitude lines as the dividing line and divide the ball into three parts from left to right.

6.3、在第三种参考状态下，即以z轴为地轴时，前半球对应北纬，后半球对应南纬，在球面上找到赤道，选取赤道作为分割线。6.3. In the third reference state, that is, when the z-axis is the ground axis, the first hemisphere corresponds to the north latitude, the rear hemisphere corresponds to the south latitude, the equator is found on the spherical surface, and the equator is selected as the dividing line.

6.4、上述共8条分割线将整个球体共划分为28个球面区域。将这28个球面区域图像分别映射到28个等大的正方形平面。6.4. The above eight dividing lines divide the entire sphere into 28 spherical areas. The 28 spherical area images are mapped to 28 equal square planes, respectively.

在上述示例中使用60°是因为考虑到人眼视角范围在120°左右，因此选择能被该视角范围整除的度数，从而在将球面分片映射后，能通过不同映射面的组合来很好地获取人眼范围内的视频内容。类似地，还可以使用10°、20°、30°、40°等其他能被120°整除的度数将球面进行划分，所采用的划分度数越小，球面划分的精度越精细，划分后的图像所承载的视角信息也越精细。60° is used in the above example because it is considered that the human eye has a viewing angle range of about 120°, so choose A degree that can be divisible by the range of viewing angles, so that after the spherical slices are mapped, the video content within the range of the human eye can be well obtained through the combination of different mapping faces. Similarly, it is also possible to divide the spherical surface by using other degrees that can be divisible by 120° such as 10°, 20°, 30°, 40°, etc., the smaller the division degree used, the finer the precision of the spherical division, and the divided image. The finer the perspective information carried.

在上述示例中，若终端显示设备所支持的人眼视角范围为其他度数，如110°、100°等，其同样可以通过能被这些度数整除的角度来对球面进行划分，这些分块方式与上述示例类似，仅仅在于角度的具体计算差别，所遵照的发明思路没有改变，因此不再详细赘述。In the above example, if the range of human eye angle supported by the terminal display device is other degrees, such as 110°, 100°, etc., the spherical surface can also be divided by an angle that can be divisible by these degrees. The above examples are similar, only the specific calculation differences of the angles, and the inventive ideas that have been followed have not changed, and therefore will not be described in detail.

因此不难理解，上述示例中，无论哪一种参考状态下，分割线可以是完整的圆环，也可以是不完整的弧线；分割线的数量也不应被限制；即分割线的多少以及每一条分割线的纬度都可以灵活设定。如：第一种参考状态分割线对应的纬度与第二种参考状态分割线对应的纬度可以相同，也可以不同；如：第二种参考状态下的几个分割线可以相对于赤道对称，也可以相对于赤道不对称；如：第一种参考状态几条分割线可以等纬度差分布，也可以不同等纬度差分布；如：第二种参考状态分割线个数可以与第一种参考状态分割线个数相同或不同。分割的目的在于能够将球面图像划分为一定数量的图像面积大小近似的图像区域，使得每一个划分后的图像区域在映射到二维平面时的失真率降低，避免冗余的像素表达，节约存储资源。Therefore, it is not difficult to understand that in the above example, in any reference state, the dividing line may be a complete ring or an incomplete arc; the number of dividing lines should not be limited; that is, the number of dividing lines And the latitude of each dividing line can be flexibly set. For example, the latitude corresponding to the first reference state dividing line and the latitude corresponding to the second reference state dividing line may be the same or different; for example, several dividing lines in the second reference state may be symmetric with respect to the equator, It can be asymmetric with respect to the equator; for example, the first reference state, several dividing lines can be equal to the latitude difference distribution, or can be distributed with different latitude differences; for example, the second reference state dividing line number can be compared with the first reference state The number of dividing lines is the same or different. The purpose of segmentation is to divide the spherical image into a certain number of image regions with approximate image size, so that the distortion rate of each divided image region when mapping to the two-dimensional plane is reduced, avoiding redundant pixel expression and saving storage. Resources.

对于映射后的图像，一个重要的应用就是编码，编码后传输***可以将已编码的虚拟现实VR全景视频进行传输到VR终端中，VR终端将已编码的虚拟现实VR全景视频解码并呈现给用户；VR终端获取用户观看已解码的所述虚拟现实VR全景视频的当前视角范围；传输***在即将传输的一帧全景图像中选择出满足所述当前视角范围的目标区域；目标区域包括上述c个区域中的至少一个区域；将所述目标区域对应的已编码图像进行传输。For the mapped image, an important application is coding. The encoded transmission system can transmit the encoded virtual reality VR panoramic video to the VR terminal, and the VR terminal decodes and presents the encoded virtual reality VR panoramic video to the user. The VR terminal acquires a current viewing angle range of the virtual reality VR panoramic video that the user views the decoding; the transmission system selects a target area that satisfies the current viewing angle range in a panoramic image to be transmitted; the target area includes the above c At least one area in the area; transmitting the encoded image corresponding to the target area.

下面以上述示例三为例，论述映射后的编码和传输应用。The following example 3 is taken as an example to discuss the coding and transmission applications after mapping.

按照示例三分割映射后，不同映射面对应的视角范围如下表所示：According to the example three-partition mapping, the range of viewing angles corresponding to different mapping faces is as follows:

面编号Face number	水平视角Horizontal viewing angle	垂直视角 Vertical viewing angle
1、41, 4	60°60°	60°60°
2、3、5、62, 3, 5, 6	55°～60°55°～60°	60°60°
7、8、9、107, 8, 9, 10	60°60°	55°～60°55°～60°
11、12、13、1411, 12, 13, 14	<110°<110°	<30°<30°

参照图12a，面1、4视角范围为60°×60°，“水平环”与“垂直环”内其他8个面(2、3、5、6、7、8、9、10)视角范围约为60°×60°，面11、12、13、14视角约为110°×30°。Referring to Fig. 12a, the viewing angles of the

faces

1 and 4 are 60° × 60°, and the viewing angle ranges of the other 8 faces (2, 3, 5, 6, 7, 8, 9, 10) in the "horizontal ring" and the "vertical ring". About 60° × 60°, the viewing angles of the

faces

11, 12, 13, and 14 are about 110° × 30°.

针对这14个映射后的二维正方形图像进行拼接，拼接方式和形态不做限定，如图15所示的拼接图的任意一种都是可以的。For the 14 mapped two-dimensional square images, the splicing method and form are not limited. Any of the mosaics shown in Fig. 15 is possible.

对于拼接后的图像，可采取的编码策略包括如下任意一种：For the stitched image, the coding strategy that can be adopted includes any of the following:

1.图像序列整块编码。1. Image sequence block coding.

编码端将已完成映射拼接的14块子图像作为整体图像进行编码。The encoding side encodes 14 sub-images that have been mapped and stitched as an overall image.

2.图像序列分块编码。2. Image sequence block coding.

编码端将拼接后的图像，分成n个子图像块，n为预设数量，对n个子图像块进行编码。The encoding end divides the stitched image into n sub-image blocks, n is a preset number, and encodes n sub-image blocks.

3.图像分Tile编码。3. The image is divided into Tile code.

H.265/HEVC标准中支持分Tile编码模式，编码端可将拼接后的图像进行分Tile编码，如分成n个子Tile，对每一子Tile进行编码。In the H.265/HEVC standard, the Tile encoding mode is supported. The encoding end can perform the Tile encoding on the spliced image. For example, it is divided into n sub-tiles to encode each sub-tile.

上述编码方式属于现有技术，本发明实施例中不进行详细说明。The foregoing coding mode belongs to the prior art, and is not described in detail in the embodiments of the present invention.

对于设备10，处理器13通过调用存储器12存储的程序或指令，以执行上述方法实施例中所提到的方法以及等同方法。For the device 10, the processor 13 executes the program or instructions stored in the memory 12 to execute the methods and equivalent methods mentioned in the above method embodiments.

通过本发明提供的方法实施例，通过选取互相平行的圆环对全景球面图进行划分，能够将球面图划分地更加均匀，使得球表面被划分后的各个球面区域的具有更好的平面特性，因此在映射时不再需要冗余的像素，节约存储资源，且划分后的各球面区域的面积更加近似，映射到相同的二维平面上的精度偏差更小。According to the method embodiment provided by the present invention, by dividing the panoramic spherical surface by selecting mutually parallel circular rings, the spherical surface image can be more uniformly divided, so that the spherical surface of the spherical surface has better planar characteristics after being divided. Therefore, redundant pixels are no longer needed in the mapping, saving storage resources, and the area of each spherical area after division is more similar, and the precision deviation mapped to the same two-dimensional plane is smaller.

请参阅图16，图16为本发明实施例中一种全景图像的映射装置，该装置可以是一个编码设备、智能终端、或者服务器。该装置200包括：Referring to FIG. 16, FIG. 16 is a schematic diagram of a panoramic image mapping apparatus according to an embodiment of the present invention. The apparatus may be an encoding device, an intelligent terminal, or a server. The device 200 includes:

获取模块201，用于获取一帧虚拟现实全景图像，所述虚拟现实全景图像为球面图。该获取模块可以由处理器实现，可以调用本地存储器或云端服务器中的数据，或者通过收发器来接收视频信号。The obtaining module 201 is configured to acquire a frame of a virtual reality panoramic image, where the virtual reality panoramic image is a spherical image. The acquisition module can be implemented by a processor, can call data in a local memory or a cloud server, or receive a video signal through a transceiver.

划分模块202，用于在所述球面图上选取a条圆环线和b条圆环线，并利用所述a条圆环线和b条圆环线将球面划分为c个区域；其中，所述a条圆环线分别所在的a个平面互相平行，且所述b条圆环线分别所在的b个平面互相平行，所述a条圆环线中的任一环线所在平面与所述b条圆环线中的任一环线所在平面具有预设夹角，所述a、b为大于1的整数。该划分模块可由处理器实现，进行坐标和角度运算。映射模块203，用于将所述c个区域的图像映射为二维平面图像。该映射模块可在处理器中实现。a dividing module 202, configured to select a ring line and a b line line on the spherical surface, and divide the spherical surface into c areas by using the a ring line and the b line line; wherein a plane in which the a circular line is respectively parallel to each other, and b planes in which the b circular lines are respectively located are parallel to each other, and a plane of any one of the a circular lines and the plane The plane of any of the b loop lines has a preset angle, and the a and b are integers greater than 1. The partitioning module can be implemented by a processor to perform coordinate and angle operations. The mapping module 203 is configured to map the images of the c regions into a two-dimensional planar image. The mapping module can be implemented in a processor.

在具体实现过程中，获取模块201具体用于执行S1中所提到的方法以及可以等同替换的方法；划分模块202具体用于执行S2、S4和/或S5中所提到的方法以及可以等同替换的方法；映射模块203具体用于执行S3中所提到的方法以及可以等同替换的方法。另外，该装置200还可以包含编码模块204，用于将所述映射单元映射得到的二维平面图像拼接为可编码图像，对所述可编码图像进行拼接和编码；如上述实施例中的三种编码策略等。其中，上述具体的方法实施例以及实施例中的解释和表述也适用于装置中的方法执行。该装置能够执行如示例1-示例6中的任意一种实施方式。In a specific implementation process, the obtaining module 201 is specifically configured to perform the method mentioned in S1 and the method that can be replaced equally; the dividing module 202 is specifically configured to execute the method mentioned in S2, S4, and/or S5 and may be equivalent An alternative method; the mapping module 203 is specifically configured to perform the method mentioned in S3 and the method that can be replaced equally. In addition, the apparatus 200 may further include an encoding module 204, configured to splicing the two-dimensional planar image obtained by mapping the mapping unit into a codeable image, and splicing and encoding the codeable image; Kind of coding strategy, etc. The above specific method embodiments and the explanations and expressions in the embodiments are also applicable to the method execution in the device. The apparatus is capable of performing any of the embodiments as in Example 1 - Example 6.

根据本发明实施例提供的一种全景图像的映射装置，划分模块选取互相平行的圆环对获取模块获取到的全景球面图进行划分，能够将球面图划分地更加均匀，使得球表面被划分后的各个球面区域的具有更好的平面特性，因此映射模块在映射时不再需要冗余的像素，节约存储资源，且划分后的各球面区域的面积更加近似，映射模块将其映射到相同的二维平面上的精度偏差更小。According to an embodiment of the present invention, a mapping device for a panoramic image is selected, and the dividing modules are selected to be parallel to each other. The circle divides the panoramic spherical image acquired by the acquisition module, and can divide the spherical surface more uniformly, so that the spherical surface of the spherical surface has better planar characteristics, so the mapping module is no longer mapped. Redundant pixels are needed to save storage resources, and the area of each spherical area after division is more similar, and the mapping module maps it to the same two-dimensional plane with less precision deviation.

本领域普通技术人员可知，上述方法中的全部或部分步骤可以通过程序指令相关的硬件完成，该程序可以存储于一计算机可读存储介质中。通过以上的实施方式的描述，所属领域的技术人员可以清楚地了解到本发明可以用硬件实现，或固件实现，或它们的组合方式来实现。It will be apparent to those skilled in the art that all or part of the above steps may be performed by hardware associated with program instructions, which may be stored in a computer readable storage medium. Through the description of the above embodiments, those skilled in the art can clearly understand that the present invention can be implemented in hardware, firmware implementation, or a combination thereof.

以上实施例仅为本发明技术方案的较佳实施例而已，并非用于限定本发明的保护范围。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围。 The above embodiments are merely preferred embodiments of the technical solutions of the present invention, and are not intended to limit the scope of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and scope of the invention are intended to be included within the scope of the invention.

Claims

一种虚拟现实全景图像的映射方法，其特征在于，所述方法包括：A method for mapping a virtual reality panoramic image, the method comprising:

获取一帧虚拟现实全景图像，所述虚拟现实全景图像为球面图；Obtaining a frame of a virtual reality panoramic image, wherein the virtual reality panoramic image is a spherical image;

在所述球面图上选取a条圆环线和b条圆环线，并利用所述a条圆环线和b条圆环线将球面划分为c个区域；其中，所述a条圆环线分别所在的a个平面互相平行，且所述b条圆环线分别所在的b个平面互相平行，所述a条圆环线中的任一环线所在平面与所述b条圆环线中的任一环线所在平面具有预设夹角，所述a、b为大于1的整数；Selecting a ring line and a b line line on the spherical surface, and dividing the spherical surface into c areas by using the a ring line and the b line line; wherein the a ring The planes in which the lines are respectively located are parallel to each other, and the planes of the b lines are respectively parallel to each other, and the planes of any one of the a circle lines are in the plane of the line The plane of any loop line has a preset angle, and the a and b are integers greater than one;

将所述c个区域的图像映射为二维平面图像。The images of the c regions are mapped into a two-dimensional planar image.
如权利要求1所述方法，其特征在于，若所述球面图的参考坐标系为三维正交直角坐标系，其中，所述三维正交直角坐标系包括互相垂直的x轴、y轴、z轴，所述三维正交直角坐标系的原点对应于所述球面图的球心；则所述在所述球面图上选取a条圆环线和b条圆环线包括：The method according to claim 1, wherein if the reference coordinate system of the spherical map is a three-dimensional orthogonal rectangular coordinate system, wherein the three-dimensional orthogonal rectangular coordinate system comprises x-axis, y-axis, and z perpendicular to each other An axis, the origin of the three-dimensional orthogonal Cartesian coordinate system corresponds to a spherical center of the spherical image; and the selecting a circular ring line and the b circular line on the spherical image includes:

选取a条圆环线，所述a条圆环线中的任一环线所在平面与所述y轴垂直；Selecting a ring line, wherein a plane of any one of the a ring lines is perpendicular to the y axis;

选取b条圆环线，所述b条圆环线中的任一环线所在平面与所述x轴垂直。The b ring lines are selected, and the plane of any one of the b ring lines is perpendicular to the x-axis.
如权利要求2所述方法，其特征在于，若将所述y轴作为参考地轴，所述选取a条圆环线包括：选取具有等纬度差为α1的a条圆环线，其中α1为预设值。The method according to claim 2, wherein if said y-axis is used as a reference ground axis, said selecting a ring line comprises: selecting a ring line having an equal latitude difference of α1, wherein α1 is a pre- Set the value.
如权利要求3所述方法，其特征在于，若将所述x轴作为参考地轴，所述选取a条圆环线包括：选取具有等纬度差为α2的b条圆环线，其中α2为预设值。The method according to claim 3, wherein if said x-axis is used as a reference ground axis, said selecting a circular line comprises: selecting b circular lines having equal latitude difference α2, wherein α2 is pre- Set the value.
如权利要求4所述方法，其特征在于，α1＝α2。The method of claim 4 wherein α1 = α2.
如权利要求4所述方法，其特征在于，α1、α2均小于等于60°，且能被120°整除。The method of claim 4 wherein both α1 and α2 are less than or equal to 60° and are divisible by 120°.
如权利要求4所述方法，其特征在于，a、b、α1和α2满足如下关系：The method of claim 4 wherein a, b, α1 and α2 satisfy the following relationship:

180°＝a×α1+2α10，其中α10小于等于α1，180°=a×α1+2α10, where α10 is less than or equal to α1,

α10＝90°-a条纬线中纬线的最高纬度角；1010=90°-a the highest latitude angle of the latitude line of the latitude line;

180°＝b×α2+2α20，其中α20小于等于α2，180°=b×α2+2α20, where α20 is less than or equal to α2,

α20＝90°-b条纬线中纬线的最高纬度角。2020=90°-b The highest latitude angle of the latitude line of the latitude line.
如权利要求4所述方法，其特征在于，在所述在所述球面图上选取a条圆环线和b条圆环线，并利用所述a条圆环线和b条圆环线将球面划分为c个区域之后，所述方法还包括：The method according to claim 4, wherein said a circular line and said b circular line are selected on said spherical image, and said a circular line and said b circular line are used After the spherical surface is divided into c regions, the method further includes:

在所述球面图上再选取d条圆环线，所述d条圆环线中的任一环线所在平面与所述z轴垂直；并将所述c个区域分为c’个区域；其中，d为大于0的整数；And selecting d circular lines on the spherical surface, wherein a plane of any one of the d circular lines is perpendicular to the z axis; and dividing the c areas into c' areas; , d is an integer greater than 0;

所述将所述c个区域的图像映射为二维平面图像具体为：The mapping the images of the c regions into a two-dimensional planar image is specifically:

将所述c’个区域的图像映射为二维平面图像。The images of the c' regions are mapped to a two-dimensional planar image.
如权利要求8所述方法，其特征在于，当d＝1时，在所述球面图上再选取d条圆环线包括：以所述z轴为地轴，选取所述球面图的赤道。The method of claim 8 wherein, when d=1, selecting d more circular lines on the spherical map comprises: selecting the equator of the spherical image with the z-axis as the ground axis.
如权利要求8所述方法，其特征在于，当d>1时，若将所述y轴作为参考地轴，所述在所述球面图上再选取d条圆环线包括：选取具有等纬度差为α3的d条圆环线，其中α3为预设值。 The method according to claim 8, wherein when d>1, if the y-axis is used as a reference ground axis, the selecting the d-ring lines on the spherical image comprises: selecting an equal latitude difference It is a d circle line of α3, where α3 is a preset value.
如权利要求10所述方法，其特征在于，α3＝α1，或者α3＝α2。The method of claim 10 wherein α3 = α1 or α3 = α2.
如权利要求4所述方法，其特征在于，在所述在所述球面图上选取a条圆环线和b条圆环线，并利用所述a条圆环线和b条圆环线将球面划分为c个区域之后，所述方法还包括：The method according to claim 4, wherein said a circular line and said b circular line are selected on said spherical image, and said a circular line and said b circular line are used After the spherical surface is divided into c regions, the method further includes:

以所述z轴为地轴，在所述球面图的赤道上选取d’条不连续的分段圆弧；并将所述c个区域分为c’个区域；其中，所述赤道经过所述c个区域中的c0个区域，所述d’条不连续的分段圆弧将所述c0个区域中超过预设面积的区域进行划分，使得所述超过预设面积的区域被划分成小于所述预设面积的区域，d’为大于1的整数；所述将所述c个区域的图像映射为二维平面图像具体为：Taking the z-axis as the ground axis, selecting d' discontinuous segmental arcs on the equator of the spherical image; and dividing the c regions into c' regions; wherein the equator passes through the The c0 regions in the c regions, the d' strip discontinuous segment arcs divide the regions of the c0 regions that exceed the preset area, so that the regions exceeding the preset area are divided into smaller The region of the preset area, d′ is an integer greater than 1; and mapping the image of the c regions into a two-dimensional planar image is specifically:

将所述c’个区域的图像映射为二维平面图像。The images of the c' regions are mapped to a two-dimensional planar image.
如权利要求1-12任一项所述方法，其特征在于，在所述将所述c个区域的图像映射为二维平面图像之后，所述方法还包括：The method according to any one of claims 1 to 12, wherein after the mapping the images of the c regions into a two-dimensional planar image, the method further comprises:

将所述二维平面图像拼接为可编码图像，Splicing the two-dimensional planar image into a codeable image,

对所述可编码图像进行编码。The codeable image is encoded.
一种虚拟现实全景图像的映射装置，其特征在于，所述装置包括：A mapping device for a virtual reality panoramic image, the device comprising:

获取模块，用于获取一帧虚拟现实全景图像，所述虚拟现实全景图像为球面图；划分模块，用于在所述球面图上选取a条圆环线和b条圆环线，并利用所述a条圆环线和b条圆环线将球面划分为c个区域；其中，所述a条圆环线分别所在的a个平面互相平行，且所述b条圆环线分别所在的b个平面互相平行，所述a条圆环线中的任一环线所在平面与所述b条圆环线中的任一环线所在平面具有预设夹角，所述a、b为大于1的整数；An acquisition module, configured to acquire a frame of a virtual reality panoramic image, the virtual reality panoramic image is a spherical image; a dividing module, configured to select a circular ring line and a b circular line on the spherical surface, and utilize the The a circle line and the b line line divide the spherical surface into c areas; wherein the a planes where the a circle lines are respectively located are parallel to each other, and the b line lines respectively belong to the b The planes are parallel to each other, and a plane of any one of the a loop lines has a predetermined angle with a plane of any one of the b loop lines, and the a and b are integers greater than 1. ;

映射模块，用于将所述c个区域的图像映射为二维平面图像。And a mapping module, configured to map the images of the c regions into a two-dimensional planar image.
如权利要求14所述装置，其特征在于，若所述球面图的参考坐标系为三维正交直角坐标系，其中，所述三维正交直角坐标系包括互相垂直的x轴、y轴、z轴，所述三维正交直角坐标系的原点对应于所述球面图的球心；则所述划分模块具体用于：The apparatus according to claim 14, wherein if said reference coordinate system of said spherical image is a three-dimensional orthogonal rectangular coordinate system, wherein said three-dimensional orthogonal rectangular coordinate system comprises x-axis, y-axis, and z perpendicular to each other An axis, the origin of the three-dimensional orthogonal Cartesian coordinate system corresponds to a center of the spherical surface; and the dividing module is specifically configured to:

选取a条圆环线，所述a条圆环线中的任一环线所在平面与所述y轴垂直；Selecting a ring line, wherein a plane of any one of the a ring lines is perpendicular to the y axis;

选取b条圆环线，所述b条圆环线中的任一环线所在平面与所述x轴垂直。The b ring lines are selected, and the plane of any one of the b ring lines is perpendicular to the x-axis.
如权利要求15所述装置，其特征在于，若将所述y轴作为参考地轴，所述划分模块具体用于：选取具有等纬度差为α1的a条圆环线，其中α1为预设值。The device according to claim 15, wherein if the y-axis is used as a reference ground axis, the dividing module is specifically configured to: select a ring line having an equal latitude difference of α1, wherein α1 is a preset value. .
如权利要求16所述装置，其特征在于，若将所述x轴作为参考地轴，所述划分模块具体用于：选取具有等纬度差为α2的b条圆环线，其中α2为预设值。The device according to claim 16, wherein if the x-axis is used as a reference ground axis, the dividing module is specifically configured to: select b circular lines having equal latitude difference α2, wherein α2 is a preset value .
如权利要求17所述装置，其特征在于，α1＝α2。The device of claim 17 wherein α1 = α2.
如权利要求17所述装置，其特征在于，α1、α2均小于等于60°，且能被120°整除。The apparatus according to claim 17, wherein both α1 and α2 are less than or equal to 60° and are divisible by 120°.
如权利要求17所述装置，其特征在于，a、b、α1和α2满足如下关系：The apparatus according to claim 17, wherein a, b, α1 and α2 satisfy the following relationship:

180°＝a×α1+2α10，其中α10小于等于α1，180°=a×α1+2α10, where α10 is less than or equal to α1,

α10＝90°-a条纬线中纬线的最高纬度角；1010=90°-a the highest latitude angle of the latitude line of the latitude line;

180°＝b×α2+2α20，其中α20小于等于α2， 180°=b×α2+2α20, where α20 is less than or equal to α2,

α20＝90°-b条纬线中纬线的最高纬度角。2020=90°-b The highest latitude angle of the latitude line of the latitude line.
如权利要求17所述装置，其特征在于，在所述划分模块在所述球面图上选取a条圆环线和b条圆环线，并利用所述a条圆环线和b条圆环线将球面划分为c个区域之后，所述划分模块还具体用于：The apparatus according to claim 17, wherein said dividing module selects a circular ring line and a b circular line on said spherical surface, and utilizes said a circular ring line and b circular rings After the line divides the spherical surface into c regions, the dividing module is further specifically used for:

在所述球面图上再选取d条圆环线，所述d条圆环线中的任一环线所在平面与所述z轴垂直；并将所述c个区域分为c’个区域；其中，d为大于0的整数；And selecting d circular lines on the spherical surface, wherein a plane of any one of the d circular lines is perpendicular to the z axis; and dividing the c areas into c' areas; , d is an integer greater than 0;

所述映射模块具体用于：The mapping module is specifically configured to:

将所述c’个区域的图像映射为二维平面图像。The images of the c' regions are mapped to a two-dimensional planar image.
如权利要求21所述装置，其特征在于，当d＝1时，所述划分模块具体用于：以所述z轴为地轴，选取所述球面图的赤道。The device according to claim 21, wherein, when d=1, the dividing module is specifically configured to: select the equator of the spherical image with the z-axis as the ground axis.
如权利要求21所述装置，其特征在于，当d>1时，若将所述y轴作为参考地轴，所述划分模块具体用于：选取具有等纬度差为α3的d条圆环线，其中α3为预设值。The device according to claim 21, wherein when d>1, if the y-axis is used as a reference ground axis, the dividing module is specifically configured to: select d circular lines having equal latitude difference α3, Where α3 is the preset value.
如权利要求23所述装置，其特征在于，α3＝α1，或者α3＝α2。The device according to claim 23, wherein α3 = α1, or α3 = α2.
如权利要求17所述装置，其特征在于，所述划分模块在所述在球面图上选取a条圆环线和b条圆环线，并利用所述a条圆环线和b条圆环线将球面划分为c个区域之后，所述划分模块还具体用于：The apparatus according to claim 17, wherein said dividing module selects a ring line and a b line line on said spherical image, and utilizes said a ring line and b ring After the line divides the spherical surface into c regions, the dividing module is further specifically used for:

以所述z轴为地轴，在所述球面图的赤道上选取d’条不连续的分段圆弧；并将所述c个区域分为c’个区域；其中，所述赤道经过所述c个区域中的c0个区域，所述d’条不连续的分段圆弧将所述c0个区域中超过预设面积的区域进行划分，使得所述超过预设面积的区域被划分成小于所述预设面积的区域，d’为大于1的整数；所述映射模块具体用于：Taking the z-axis as the ground axis, selecting d' discontinuous segmental arcs on the equator of the spherical image; and dividing the c regions into c' regions; wherein the equator passes through the The c0 regions in the c regions, the d' strip discontinuous segment arcs divide the regions of the c0 regions that exceed the preset area, so that the regions exceeding the preset area are divided into smaller The area of the preset area, d′ is an integer greater than 1; the mapping module is specifically configured to:

将所述c’个区域的图像映射为二维平面图像。The images of the c' regions are mapped to a two-dimensional planar image.
如权利要求13-25任一项所述装置，其特征在于，所述装置还包括编码模块，所述编码模块具体用于：The device according to any one of claims 13 to 25, wherein the device further comprises an encoding module, and the encoding module is specifically configured to:

将所述映射单元映射得到的二维平面图像拼接为可编码图像，Splicing the two-dimensional planar image obtained by mapping the mapping unit into an image that can be encoded,

对所述可编码图像进行编码。The codeable image is encoded.
一种虚拟现实全景图像的映射设备，其特征在于，所述映射设备包括存储器、处理器、收发器和总线，所述存储器、所述处理器、所述收发器通过所述总线连接通信，所述收发器在所述处理器的控制下收发信号；所述存储器中存储有程序和指令，所述处理器调用所述程序和指令，用于执行如权利要求1-13任一项所述方法。 A mapping device for a virtual reality panoramic image, wherein the mapping device comprises a memory, a processor, a transceiver, and a bus, wherein the memory, the processor, and the transceiver are connected by using the bus connection. The transceiver transmits and receives signals under the control of the processor; the memory stores programs and instructions, and the processor invokes the programs and instructions for performing the method of any one of claims 1-13 .