CN109274951B - Depth calculation method and device - Google Patents
Depth calculation method and device Download PDFInfo
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- CN109274951B CN109274951B CN201710571870.8A CN201710571870A CN109274951B CN 109274951 B CN109274951 B CN 109274951B CN 201710571870 A CN201710571870 A CN 201710571870A CN 109274951 B CN109274951 B CN 109274951B
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Abstract
A depth calculation method comprising the steps of: receiving a first time sequence image information group (including first visual angle image information and second visual angle image information) in the dual-visual angle image; establishing a first diamond-shaped area by taking a first pixel point in the first visual angle image as a central point; calculating the sum of pixel values of pixel points in the first diamond-shaped area; establishing a pixel area in the second visual angle image according to the preset depth hierarchy and the first pixel points, and respectively establishing a second diamond area by taking each pixel point in the pixel area as a central point; calculating the sum of pixel values of pixel points in each second diamond-shaped area; and comparing the pixel value sum in the first diamond-shaped area with the pixel value sum in each second diamond-shaped area respectively to calculate the first time sequence image depth information. The invention also provides a depth calculation setting. The depth calculation method and the depth calculation device have the advantages of low operation complexity, high calculation speed and good depth calculation accuracy.
Description
Technical Field
The present invention relates to the field of image depth calculation technologies, and in particular, to a depth calculation method and device using a Stereo Matching (Stereo Matching) technology.
Background
In the modern times of the technology development, the stereoscopic image multimedia system is gradually regarded by the industry. In the application of stereoscopic images, the dual-view image matching processing technique is the most commonly used stereoscopic image processing technique in the industry at present. In the prior art, the dual-view image comparison technique first calculates an image depth distribution map according to a dual-view image, and the dual-view image comparison technique has a problem of high calculation complexity. Therefore, how to design a depth calculation method with low calculation complexity for dual-view image matching is one of the continuously-oriented directions in the industry.
Disclosure of Invention
In view of the above, it is desirable to provide a depth calculation method and apparatus thereof, which have a small computation amount and a high calculation speed.
An embodiment of the present invention provides a depth calculation method, including: receiving a first time sequence image information group in the dual-view image, wherein the first time sequence image information group comprises first view image information and second view image information; establishing a first diamond-shaped area by taking a first pixel point in the first visual angle image as a central point; calculating the sum of pixel values of pixel points in the first diamond-shaped area; establishing a pixel area in the second visual angle image according to a preset depth hierarchy and the first pixel points, wherein the pixel area comprises a plurality of second pixel points, and establishing a second diamond area by taking each second pixel point as a central point; calculating the sum of pixel values of pixel points in each second diamond-shaped area; comparing the pixel value sum in the first diamond-shaped area with the pixel value sum in each second diamond-shaped area respectively to calculate first time sequence image depth information; the first diamond-shaped area and the second diamond-shaped area are the same in size and shape.
An embodiment of the present invention provides a depth calculation apparatus for performing depth calculation on a dual-view image. The depth calculation device includes: a memory; at least one processor; and one or more modules stored in the memory and executed by the at least one processor. The one or more modules include: a receiving module, configured to receive a first time-series image information group in the dual-view image, where the first time-series image information group includes first view image information and second view image information; the first establishing module is used for establishing a first diamond-shaped area by taking a first pixel point in the first visual angle image as a central point; the first calculation module is used for calculating the sum of pixel values of pixel points in the first diamond-shaped area; the second establishing module is used for establishing a pixel area in the second visual angle image according to a preset depth hierarchy and the first pixel points, wherein the pixel area comprises a plurality of second pixel points, and a second diamond area is respectively established by taking each second pixel point as a central point; the second calculation module is used for calculating the sum of pixel values of the pixel points in each second diamond-shaped area; the depth calculation module is used for comparing the pixel value sum in the first diamond-shaped area with the pixel value sum in each second diamond-shaped area respectively so as to calculate first time sequence image depth information; the first diamond-shaped area and the second diamond-shaped area are the same in size and shape.
Compared with the prior art, the depth calculation method and the depth calculation device have the advantages of low operation complexity, high calculation speed and high depth calculation accuracy.
Drawings
Fig. 1 is an operation environment diagram of a depth calculating device according to an embodiment of the present invention.
Fig. 2 is a functional block diagram of a depth calculating apparatus according to an embodiment of the present invention.
Fig. 3A is a schematic diagram of establishing a diamond-shaped region in a first perspective image with a pixel point as a center point according to an embodiment of the present invention.
Fig. 3B is a schematic diagram of establishing a diamond-shaped area in a second perspective image by using a pixel point as a center point according to an embodiment of the present invention.
Fig. 4 is a functional block diagram of a depth calculating apparatus according to another embodiment of the present invention.
FIG. 5 is a flowchart illustrating the steps of a depth calculation method according to an embodiment of the present invention.
FIG. 6 is a flow chart of steps of a depth calculation method according to another embodiment of the present invention.
Description of the main elements
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
Referring to fig. 1-2, in one embodiment, a depth calculating apparatus 100 is used for performing depth information calculation on an input dual-view image 200(Binocular Video). The input dual view video 200 includes a plurality of dual view image information sets. The plurality of dual-view image information sets may correspond to respective time sequences, each dual-view image information set including two sets of image information corresponding to different views.
For example, the first time-series image information set (related information included in the first time-series image) corresponding to the first time series in the input dual-view image 200 includes first view image information V1_ t1 and second view image information V2_ t 1. The second time-series image information group (related information included in the second time-series image) corresponding to the second time series in the input dual-view image 200 includes first view image information V1_ t2 and second view image information V2_ t 2. The first perspective image information V1_ t1 and V1_ t2 can be left-eye perspective image information of a first time sequence and a second time sequence, respectively; the second perspective image information V2_ t1 and V2_ t2 may be right-eye perspective image information of the first time sequence and the second time sequence, respectively. The first timing and the second timing may be time points adjacent to each other.
The depth calculation device 100 comprises a memory 10 and at least one processor 20. Memory 10 stores one or more modules that are executed by at least one processor 20. The one or more modules are programmed code and may be executed by the processor 20 to perform the functions provided by the present invention.
The one or more modules may include a receiving module 11, a first establishing module 12, a first calculating module 13, a second establishing module 14, a second calculating module 15, and a depth calculating module 16. The modules referred to in the present invention may be program segments for performing a specific function.
The receiving module 11 receives the first time-sequence image information set in the input dual-view image 200. The first timing picture information group includes first view picture information V1_ t1 and second view picture information V2_ t 1. The first perspective image I1_ t1 and the second perspective image I2_ t1 both include a plurality of pixels, and each pixel can be represented by an XY coordinate point. The lower left-hand pixel point of the first perspective image I1_ t1 and the second perspective image I2_ t1 can be defined as the origin of XY coordinates. Further, the first view image information V1_ t1 may include coordinate information of each pixel point in the first view image I1_ t1, and the second view image information V2_ t1 may include coordinate information of each pixel point in the second view image I2_ t 1.
In one embodiment, the image transmission is performed by image compression, so as to increase the transmission speed. The receiving module 11 may implement a decompression operation on the input dual-view image 200 through a decompressor, so as to obtain a first time sequence image information set corresponding to a first time sequence in the original uncompressed dual-view image 200.
Referring to fig. 3A and 3B, the first establishing module 12 establishes a first diamond-shaped region RA1 (as shown in fig. 3) with the first pixel point P1 in the first perspective image I1_ t1 as a center point. In the present embodiment, the coordinates of the first pixel point P1 are exemplified by (400, 200). The resolutions of the first perspective image I1_ t1 and the second perspective image I2_ t1 are illustrated by 1024 × 768 as an example.
In one embodiment, the lengths of the two diagonal lines of the first diamond-shaped area RA1 are equal, and the length of the diagonal line is preferably 100 pixel points. That is, the first diamond region RA1 includes 5000 pixels ([100 × 100]/2 ═ 5000).
The first calculating module 13 is configured to calculate a sum of pixel values of pixel points in the first diamond area RA 1. Since the first diamond-shaped area RA1 includes 5000 pixels, the first calculation module 13 is preferably configured to calculate the sum of the pixel values of the 5000 pixels. Specifically, the first calculating module 13 may obtain a sum of pixel values by adding the pixel values of 5000 pixels.
The second establishing module 14 establishes a pixel region in the second perspective image I2_ t1 according to the preset depth level and the first pixel P1, where the pixel region includes a plurality of second pixels P2, and establishes a second diamond region RA2 (as shown in fig. 3) with each second pixel P2 as a center point.
For example, the preset depth level is 256 levels (which may be set according to actual requirements), the coordinates of the first pixel point P1 compared with the second perspective image I2_ t1 are also (400, 200), and the range of the pixel coordinate points included in the pixel region established by the second establishing module 14 is [400-256/2, 200] - [400+256/2, 200 ]. That is, the coordinates of the plurality of second pixels P2(256 second pixels) are (272, 200), (273, 200), (274, 200) … (527, 200), (528, 200), respectively. The second establishing module 14 then establishes 256 second diamond-shaped areas RA2 with 256 second pixels P2 as central points, respectively. The first diamond area RA1 and the second diamond area RA2 have the same size and shape. Each second diamond-shaped area RA2 also includes 5000 pixels.
The second calculating module 15 is configured to calculate a sum of pixel values of the pixels in each of the second diamond regions RA2, and the calculating method is the same as that of the first calculating module 13. The second calculation module 15 can obtain 256 sets of pixel value sums after the calculation is completed.
The depth calculation module 16 is configured to compare the sum of pixel values in the first diamond-shaped region RA1 with the sum of pixel values in each second diamond-shaped region RA2, respectively, to calculate the first timing image depth information. Specifically, the depth calculation module 16 compares the sum of the pixel values in the first diamond-shaped region RA1 with the sum of the pixel values in the 256 sets of second diamond-shaped regions RA2, finds the second diamond-shaped region RA2 with the smallest difference from the sum of the pixel values in the first diamond-shaped region RA1, and then calculates the first timing image depth information according to the finding result.
For example, the depth calculation module 16 compares the sum of the pixel values of the second diamond-shaped region RA2 corresponding to the pixel points (315, 200) in the second perspective image I2_ t1 with the sum of the pixel values in the first diamond-shaped region RA1 to obtain that the sum is closest, and the depth information of the first pixel point P1(400, 200) is 315-272-43, where the unit is the distance between the pixel points, that is, the depth information of the first pixel point P1(400, 200) of the first time sequence image is equal to the length of 43 pixel points.
It should be noted that the first establishing module 12 of the present invention further establishes a diamond-shaped region with the remaining pixels in the first perspective image I1_ t1 as the center points, so as to calculate the depth information of the remaining pixels of the first time sequence image according to the above-described modules, and can summarize the depth information of the first time sequence image.
In an embodiment, in order to further increase the operation speed, the first calculation module 13 and the second calculation module 15 may respectively calculate the sum of pixel values of the pixels spaced apart in the first diamond-shaped area RA1 and the second diamond-shaped area RA2 by using a dot-spacing value-taking method. For example, the pixel numbers are 1, 2, 3, 4, 5, and 6 …, and only the pixels of 1, 3, and 5 … (or 2, 4, and 6 …) are collected during the calculation to perform the summation calculation, so that only the sum of the pixel values of 2500 pixels among 5000 pixels needs to be calculated, the number of the summed pixels is reduced, the calculation speed is increased, and the accuracy of the depth information calculation is not affected.
Referring to fig. 4, in an embodiment, the difference from fig. 2 is that the depth calculating apparatus 100 further includes a motion vector obtaining module 17. The receiving module 11 is further configured to receive a second time sequence image information group in the dual view image 200, the motion vector obtaining module 17 is configured to find motion vector information of the second time sequence image information group relative to the first time sequence image information group, and the depth calculating module 16 is further configured to calculate second time sequence image depth information according to the motion vector information and the first time sequence image depth information.
In an embodiment, the motion vector obtaining module 17 may include an average filter, and performs an image processing operation on the motion vector information. Since the first time sequence and the second time sequence are adjacent time sequence points, the input dual-view image 200 has a depth distribution pattern with a linear variation characteristic in the first time sequence and the second time sequence, and the depth calculation module 16 can estimate the depth information of the image in the second time sequence according to the depth information of the image in the first time sequence and the motion vector information. In the present invention, the image depth information corresponding to other time sequences of the input dual-view image 200 can also be obtained in the same manner, and will not be described herein again.
FIG. 5 is a flowchart of a depth calculation method according to an embodiment of the present invention. The method may be used in the depth calculation apparatus 100 shown in fig. 2 or fig. 4.
In step S500, the receiving module 11 receives a first timing image information set of the input dual-view video 200, wherein the first timing image information set includes first view image information V1_ t1 and second view image information V2_ t 1.
In step S502, the first establishing module 12 establishes a first diamond-shaped region RA1 with the first pixel point P1 in the first perspective image I1_ t1 as a center point.
In step S504, the first calculating module 13 calculates the sum of pixel values of the pixels in the first diamond area RA 1.
In step S506, the second establishing module 14 establishes a pixel region in the second perspective image I2_ t1 according to the preset depth hierarchy and the first pixel P1, where the pixel region includes a plurality of second pixels P2, and the second establishing module 14 further establishes a second diamond region RA2 with each of the second pixels P2 as a center, where the size and shape of the second diamond region RA2 are the same as those of the first diamond region RA 1.
In step S508, the second calculating module 15 calculates the total pixel value of the pixel points in each second diamond area RA 2.
In step S510, the depth calculation module 16 compares the sum of pixel values in the first diamond-shaped area RA1 with the sum of pixel values in each second diamond-shaped area RA2 to calculate the first timing image depth information.
In an embodiment, the first calculating module 13 and the second calculating module 15 may respectively calculate the sum of pixel values of the spaced pixels in the first diamond-shaped area RA1 and the second diamond-shaped area RA2 by using a dot-spacing value-taking method.
In one embodiment, the first diamond-shaped area RA1 and the second diamond-shaped area RA2 are the same in size and shape. Assuming that the predetermined depth level is 256 levels, the second establishing module 14 respectively establishes 256 second diamond-shaped regions RA2 with 256 second pixel points P2 as center points. The depth calculation module 16 compares the sum of the pixel values in the first diamond-shaped area RA1 with the sum of the pixel values in the 256 sets of second diamond-shaped areas RA2, finds the second diamond-shaped area RA2 with the smallest difference with the sum of the pixel values in the first diamond-shaped area RA1, and then calculates the first timing image depth information according to the finding result.
Referring to fig. 6, in an embodiment, the depth calculation method further includes step S512 and step S514. In step S500, the receiving module 11 further receives the second time-series image information group in the input dual-view image 200. In step S512, the motion vector obtaining module 17 finds the motion vector information of the second time-series image information group relative to the first time-series image information group. In step S514, the depth calculation module 16 further calculates second time-series image depth information according to the motion vector information and the first time-series image depth information.
Step S512 may be executed after step S510, or may be executed after step S500.
The depth calculation method and the depth calculation device have the advantages of low operation complexity, high calculation speed and good depth calculation accuracy.
It will be apparent to those skilled in the art that other variations and modifications may be made in accordance with the invention and its spirit and scope in accordance with the practice of the invention disclosed herein.
Claims (8)
1. A depth calculation method, characterized by comprising:
receiving a first time sequence image information group in a dual-view image, wherein the first time sequence image information group comprises first view image information and second view image information, the first view image information comprises coordinate information of each pixel point in a first view image, and the second view image information comprises coordinate information of each pixel point in a second view image;
establishing a first diamond-shaped area by taking a first pixel point in the first visual angle image as a central point;
calculating the sum of pixel values of pixel points in the first diamond-shaped area;
establishing a pixel area in the second visual angle image according to a preset depth hierarchy and the first pixel points, wherein the pixel area comprises a plurality of second pixel points, and establishing a second diamond area by taking each second pixel point as a central point;
calculating the sum of pixel values of pixel points in each second diamond-shaped area;
comparing the pixel value sum in the first diamond-shaped area with the pixel value sum in each second diamond-shaped area respectively to calculate first time sequence image depth information;
receiving a second time sequence image information group in the double-view image, and finding out the motion vector information of the second time sequence image information group relative to the first time sequence image information group; and
calculating second time-series image depth information according to the motion vector information and the first time-series image depth information;
the first diamond-shaped area and the second diamond-shaped area are the same in size and shape.
2. The depth calculation method of claim 1, wherein the step of calculating the sum of pixel values of the pixels in the first diamond-shaped region comprises:
and calculating the sum of pixel values of the pixel points at intervals in the first diamond-shaped area by using a separation point value-taking mode.
3. The depth calculation method of claim 2, wherein the step of calculating the sum of pixel values of the pixels in each of the second diamond-shaped regions comprises:
and calculating the sum of pixel values of the pixel points at intervals in each second diamond-shaped area by using a separation point value-taking mode.
4. The depth calculation method of claim 1, wherein the step of comparing the pixel value sums in the first diamond-shaped regions with the pixel value sums in each of the second diamond-shaped regions to calculate the first timing image depth information comprises:
and comparing the pixel value sum in the first diamond-shaped area with the pixel value sum in each second diamond-shaped area respectively to search for the second diamond-shaped area closest to the pixel value sum in the first diamond-shaped area, and calculating the first time sequence image depth information according to the search result.
5. A depth calculation apparatus for performing depth calculation on a dual-view image, the depth calculation apparatus comprising:
a processor; and
a memory adapted to store a plurality of instructions, the instructions adapted to be loaded and executed by the processor:
receiving a first time sequence image information group in the dual-view image, wherein the first time sequence image information group comprises first view image information and second view image information, the first view image information comprises coordinate information of each pixel point in the first view image, and the second view image information comprises coordinate information of each pixel point in the second view image;
establishing a first diamond-shaped area by taking a first pixel point in the first visual angle image as a central point;
calculating the sum of pixel values of pixel points in the first diamond-shaped area;
establishing a pixel area in the second visual angle image according to a preset depth hierarchy and the first pixel points, wherein the pixel area comprises a plurality of second pixel points, and establishing a second diamond area by taking each second pixel point as a central point;
calculating the sum of pixel values of pixel points in each second diamond-shaped area;
comparing the pixel value sum in the first diamond-shaped area with the pixel value sum in each second diamond-shaped area respectively to calculate first time sequence image depth information;
receiving a second time sequence image information group in the double-view image;
finding motion vector information of the second time sequence image information group relative to the first time sequence image information group; and
calculating second time-series image depth information according to the motion vector information and the first time-series image depth information;
the first diamond-shaped area and the second diamond-shaped area are the same in size and shape.
6. The depth calculation apparatus of claim 5, wherein the instructions adapted to be loaded by the processor and to perform calculating a sum of pixel values of pixel points in the first diamond-shaped region comprise:
and calculating the sum of pixel values of the pixel points at intervals in the first diamond-shaped area by using a separation point value-taking mode.
7. The depth calculation apparatus of claim 6, wherein the instructions adapted to be loaded by the processor and executed to calculate a sum of pixel values of pixels in each of the second diamond-shaped regions comprise:
and calculating the sum of pixel values of the pixel points at intervals in each second diamond-shaped area by using a separation point value-taking mode.
8. The depth calculation apparatus of claim 5, wherein the instructions adapted to be loaded and executed by the processor to compare pixel value sums in the first diamond-shaped region to pixel value sums in each of the second diamond-shaped regions, respectively, to calculate the first timing image depth information comprise:
and comparing the pixel value sum in the first diamond-shaped area with the pixel value sum in each second diamond-shaped area respectively to search for the second diamond-shaped area closest to the pixel value sum in the first diamond-shaped area, and calculating the first time sequence image depth information according to the search result.
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