CN104618648B - A kind of panoramic video splicing system and joining method - Google Patents
A kind of panoramic video splicing system and joining method Download PDFInfo
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Abstract
The present invention relates to a kind of panoramic video splicing systems, including the panoramic camera being arranged in imaging area, panoramic camera includes the sub- camera of multiple interconnections, further includes for obtaining the video acquiring module of initial full-view video image from panoramic camera in real time, carrying out the mobile module for moving processing, the image mosaic processing module for carrying out splicing to full-view video image for the video image to sub- camera；The invention further relates to a kind of panoramic video joining methods；The present invention directly carries out mobile splicing fusion by this splicing system to two adjacent video images, the overlapping region on the adjacent video image boundary of adjusting control, smooth blend processing is carried out to the overlapping region, it solves the problems, such as that video is shown when several video images are spliced into full-view video image real-time difference and stability are bad, and reduces video-splicing fusion required time caused by the reasons such as the complexity that imaging environment is changeable, need to carry out splicing fusion by merging algorithm for images.
Description
Technical field
The present invention relates to technical field of video processing more particularly to a kind of panoramic video splicing systems and joining method.
Background technology
Video-splicing technology refer to by several camera acquisitions to video image be spliced to form a width panoramic picture
Technology, currently used video-splicing technology are based on the coincidence part found out in merging algorithm for images in adjacent video image mostly
Point conversion splicing is carried out, but the shadow of the factors such as such methods are changed by shooting scene, the difference of shooting angle and stitching algorithm
It rings, especially when there is the object of movement in video image, the stabilization of video image difficult to realize is spliced in real time.
Invention content
Technical problem to be solved by the invention is to provide a kind of panoramic video splicing system and joining methods, directly to phase
Two adjacent video images carry out mobile splicing fusion, and the overlapping region on the adjacent video image boundary of adjusting control is heavy to this
Folded region carries out smooth blend processing, solve video when several video images are spliced into full-view video image show it is real-time
Property difference and the bad problem of stability.
The technical solution that the present invention solves above-mentioned technical problem is as follows：A kind of panoramic video splicing system, including setting exist
Panoramic camera in imaging area, the panoramic camera include the sub- camera of multiple interconnections, further include video acquisition
Module, mobile module, image mosaic processing module and image display；
The video acquiring module, for obtaining initial full-view video image from panoramic camera in real time；
The mobile module, for deciding whether that the video image to sub- camera carries out mobile processing as needed, if
Initial full-view video image, then be sent in described image splicing module by the video image of mobile a certain sub- camera
Initial full-view video image is sent to described image and shows mould by reason if do not moved to the video image of sub- camera
It is shown in block；
Described image splicing module, for determining panoramic video according to amount of movement of the sub- camera in video image
The height and width of image, and to overlapping video image region and non-overlapping video image region YUV colors coded data into
Row handles to realize image mosaic, and full-view video image is sent to described image display module by treated；
Described image display module, for showing initial full-view video image or display through described image splicing mould
Block treated full-view video image.
The beneficial effects of the invention are as follows：By this splicing system and joining method directly to two adjacent video images into
The mobile splicing fusion of row, the overlapping region on the adjacent video image boundary of adjusting control carries out smooth blend to the overlapping region
Processing, it is bad to solve video is shown when several video images are spliced into full-view video image real-time difference and stability
Problem, and reduce imaging environment is changeable, the reasons such as complexity of splicing fusion need to be carried out by merging algorithm for images caused by
The time required to video-splicing fusion.
Based on the above technical solution, the present invention can also be improved as follows.
Further, described image splicing module includes concatenation unit, data processing unit and storage unit；
The concatenation unit, the height for obtaining the height of initial full-view video image, the video image of single sub- camera
Degree and width and sub- camera in video image vertically and horizontally on amount of movement, according to the video image of sub- camera
Height and width and amount of movement moved after full-view video image height and width, and according to the panoramic video after movement
Image determines the coordinate of the source location set of each sub- camera；
The data processing unit, for obtain it is mobile after full-view video image panorama YUV colors coded data and
The YUV color coded datas of video image region are overlapped, are sent to storage unit together, then video image region will be overlapped
In YUV color coded data smoothing processings to panorama YUV color coded datas, and sat according to the source location set of each sub- camera
Mark transits directly to the YUV color coded datas of non-overlapping video image region in panorama YUV color coded datas, and will place
Full-view video image after reason is sent in described image display module and shows；
The storage unit is compiled for storing panorama YUV colors coded data and being overlapped the YUV colors of video image region
Code data.
Further, described to compile the YUV color coded data smoothing processings for being overlapped video image region to panorama YUV colors
Concrete methods of realizing in code data is to be weighted using formula smooth：
Y=Y1*(1-d)+Y2* d,
Wherein, Y1And Y2It is the value of the video image YUV color coded datas of adjacent sub- camera respectively, Y is to acquire overlapping
The value of rear video image YUV color coded datas, d is weights.
Further, the YUV color coded datas of the non-overlapping video image region transit directly to panorama YUV colors volume
Concrete methods of realizing in code data is that the YUV color coded datas of non-overlapping video image region are copied directly to panorama
Transition processing is carried out in YUV color coded datas.
Another technical solution that the present invention solves above-mentioned technical problem is as follows：A kind of panoramic video joining method, including such as
Lower step：
Step A：Initial full-view video image is obtained from panoramic camera in real time；
Step B：Decide whether to carry out mobile processing to the video image of sub- camera as needed, if mobile a certain sub- phase
The video image of machine then continues to carry out splicing to initial full-view video image, and executes step C, if not to sub- camera
Video image moved, then send initial full-view video image, and execute step D；
Step C：The height and width of full-view video image, and counterweight are determined according to the amount of movement of sub- camera video image
The YUV color coded datas of folded video image region and non-overlapping video image region are handled to realize image mosaic, and
Treated full-view video image is sent, and executes step E；
Step D：Show initial full-view video image；
Step E：The full-view video image of display after treatment.
Based on the above technical solution, the present invention can also be improved as follows.
Further, step C image mosaics processing module to full-view video image handled the specific steps are,
Step C1：Obtain the height of initial full-view video image, the height of the video image of single sub- camera and width with
And sub- camera in video image vertically and horizontally on amount of movement；
Step C2：According to the height of the video image of sub- camera and width and sub- camera in video image vertically and horizontally
Amount of movement on direction moved after full-view video image height and width；
Step C3：The source location set of each sub- camera is determined according to the height of the full-view video image after movement and width
Coordinate；
Step C4：The panorama YUV colors coded data of full-view video image and overlapping video image area after acquisition is mobile
The YUV color coded datas in domain；
Step C5：The YUV color coded data smoothing processings of video image region will be overlapped to panorama YUV color coded numbers
In；
Step C6：According to the coordinate of the source location set of the step C3 each sub- camera determined, by non-overlapping video image
The YUV color coded datas in region transit directly in panorama YUV color coded datas, the panoramic video figure that obtains that treated
Picture.
Further, described to compile the YUV color coded data smoothing processings for being overlapped video image region to panorama YUV colors
Concrete methods of realizing in code data is to be weighted using formula smooth：
Y=Y1*(1-d)+Y2* d,
Wherein, Y1And Y2It is the value of the video image YUV color coded datas of adjacent sub- camera respectively, Y is to acquire overlapping
The value of rear video image YUV color coded datas, d is weights.
Further, the YUV color coded datas of the non-overlapping video image region transit directly to panorama YUV colors volume
Concrete methods of realizing in code data is that the YUV color coded datas of non-overlapping video image region are copied directly to panorama
Transition processing is carried out in YUV color coded datas.
Description of the drawings
Fig. 1 is the module frame chart of panoramic video splicing system of the present invention；
Fig. 2 is the method flow diagram of panoramic video joining method embodiment of the present invention.
In attached drawing, the names of the parts represented by the respective symbols are as follows：
1, video acquiring module, 2, mobile module, 3, image mosaic processing module, 4, image display, 5, panorama takes the photograph
Camera, 301, concatenation unit, 302, data processing unit, 303, storage unit.
Specific implementation mode
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
As shown in Figure 1, a kind of panoramic video splicing system, including the panoramic camera 5 that is arranged in imaging area, it is described
Panoramic camera 5 includes the sub- camera of multiple interconnections, further includes video acquiring module 1, mobile module 2, at image mosaic
Manage module 3 and image display 4；
The video acquiring module 1, for obtaining initial full-view video image from panoramic camera 5 in real time；
The mobile module 2, for deciding whether that the video image to sub- camera carries out mobile processing as needed, if
Initial full-view video image, then be sent in described image splicing module 3 by the video image of mobile a certain sub- camera
Initial full-view video image is sent to described image and shows mould by reason if do not moved to the video image of sub- camera
It is shown in block 4；
Described image splicing module 3, for determining aphorama according to amount of movement of the sub- camera in video image
The height and width of frequency image, and the YUV color coded datas to being overlapped video image region and non-overlapping video image region
It is handled to realize image mosaic, and full-view video image is sent to described image display module 4 by treated；
Described image display module 4, for showing initial full-view video image or display through described image splicing
Treated the full-view video image of module 3.
Described image splicing module 3 includes concatenation unit 301, data processing unit 302 and storage unit 303；
The concatenation unit 301, for obtaining the height of initial full-view video image, the video image of single sub- camera
Height and width and sub- camera in video image vertically and horizontally on amount of movement, according to the video image of sub- camera
Height and width and amount of movement moved after full-view video image height and width, and according to the aphorama after movement
Frequency image determines the coordinate of the source location set of each sub- camera；
The data processing unit 302, for obtain it is mobile after full-view video image panorama YUV colors coded data with
And the YUV color coded datas of overlapping video image region, it is sent to storage unit 303 together, then will overlapping video image area
In the YUV color coded data smoothing processings in domain to panorama YUV color coded datas, and according to the initial position of each sub- camera
Point coordinates transits directly to the YUV color coded datas of non-overlapping video image region in panorama YUV color coded datas, and
It will treated that full-view video image is sent in described image display module 4 shows；
The storage unit 303, for storing panorama YUV colors coded data and being overlapped the YUV face of video image region
Color coded data.
The YUV color coded data smoothing processings of video image region of being overlapped are to panorama YUV color coded datas
In concrete methods of realizing be to be weighted using formula smooth：
Y=Y1*(1-d)+Y2* d,
Wherein, Y1And Y2It is the value of the video image YUV color coded datas of adjacent sub- camera respectively, Y is to acquire overlapping
The value of rear video image YUV color coded datas, d is weights.
The YUV color coded datas of the non-overlapping video image region transit directly to panorama YUV color coded datas
In concrete methods of realizing be that the YUV color coded datas of non-overlapping video image region are copied directly to panorama YUV colors
Transition processing is carried out in coded data.
As shown in Fig. 2, a kind of panoramic video joining method, includes the following steps：
Step S1：Initial full-view video image is obtained from panoramic camera in real time；
Step S2：Decide whether to carry out mobile processing to the video image of sub- camera as needed, if mobile a certain son
The video image of camera then continues to carry out splicing to initial full-view video image, and executes step S3, if non-antithetical phrase phase
The video image of machine is moved, then sends initial full-view video image, and executes step S9；
Step S3：Obtain the height of initial full-view video image, the height of the video image of single sub- camera and width with
And sub- camera in video image vertically and horizontally on amount of movement；
Step S4：According to the height of the video image of sub- camera and width and sub- camera in video image vertically and horizontally
Amount of movement on direction moved after full-view video image height and width；
Step S5：The source location set of each sub- camera is determined according to the height of the full-view video image after movement and width
Coordinate；
Step S6：The panorama YUV colors coded data of full-view video image and overlapping video image area after acquisition is mobile
The YUV color coded datas in domain；
Step S7：The YUV color coded data smoothing processings of video image region will be overlapped to panorama YUV color coded numbers
In；
Step S8：According to the coordinate of the source location set of the step S5 each sub- camera determined, by non-overlapping video image
The YUV color coded datas in region transit directly in panorama YUV color coded datas, the panoramic video figure that obtains that treated
Picture, and treated full-view video image is sent, and execute step S10；
Step S9：Show initial full-view video image；
Step S10：The full-view video image of display after treatment.
The YUV color coded data smoothing processings of video image region of being overlapped are to panorama YUV color coded datas
In concrete methods of realizing be to be weighted using formula smooth：
Y=Y1*(1-d)+Y2* d,
Wherein, Y1And Y2It is the value of the video image YUV color coded datas of adjacent sub- camera respectively, Y is to acquire overlapping
The value of rear video image YUV color coded datas, d is weights.
The YUV color coded datas of the non-overlapping video image region transit directly to panorama YUV color coded datas
In concrete methods of realizing be that the YUV color coded datas of non-overlapping video image region are copied directly to panorama YUV colors
Transition processing is carried out in coded data.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (7)
1. a kind of panoramic video splicing system, including the panoramic camera (5) that is arranged in imaging area, the panoramic camera
(5) include multiple interconnections sub- camera, which is characterized in that further include video acquiring module (1), mobile module (2), image
Splicing module (3) and image display (4)；
The video acquiring module (1), for obtaining initial full-view video image from panoramic camera (5) in real time；
The mobile module (2), for deciding whether that the video image to sub- camera carries out mobile processing as needed, if moved
The video image of a certain sub- camera is moved, then initial full-view video image is sent to place in described image splicing module (3)
Initial full-view video image is sent to described image and shows mould by reason if do not moved to the video image of sub- camera
Display in block (4)；
Described image splicing module (3), for determining panoramic video according to amount of movement of the sub- camera in video image
The height and width of image, and to overlapping video image region and non-overlapping video image region YUV colors coded data into
Row handles to realize image mosaic, and full-view video image is sent to described image display module (4) by treated；The figure
Picture splicing module (3) includes concatenation unit (301) and data processing unit (302), and the concatenation unit (301) is for obtaining
Take the height of initial full-view video image, the height of the video image of single sub- camera and width and sub- camera in video image
In vertically and horizontally on amount of movement, after being moved according to the height of the video image of sub- camera and width and amount of movement
Full-view video image height and width, and determine according to the full-view video image after movement the initial position of each sub- camera
The coordinate of point；The data processing unit (302), for obtain it is mobile after full-view video image panorama YUV color coded numbers
According to this and overlapping video image region YUV color coded datas, be sent to storage unit (303) together, then video will be overlapped
In the YUV color coded data smoothing processings of image-region to panorama YUV color coded datas, and according to of each sub- camera
The YUV color coded datas of non-overlapping video image region are transitted directly to panorama YUV color coded numbers by beginning position point coordinates
Full-view video image is sent to display in described image display module (4) in, and by treated；
Described image display module (4), for showing initial full-view video image or display through described image splicing mould
Block (3) treated full-view video image.
2. panoramic video splicing system according to claim 1, which is characterized in that described image splicing module (3)
Further include storage unit (303)；
The storage unit (303), for storing panorama YUV colors coded data and being overlapped the YUV colors of video image region
Coded data.
3. panoramic video splicing system according to claim 1 or 2, which is characterized in that described to be overlapped video image area
The YUV color coded data smoothing processings in domain are to the concrete methods of realizing in panorama YUV color coded datas, using formula plus
Power is smooth：
Y=Y1*(1-d)+Y2* d,
Wherein, Y1And Y2It is the value of the video image YUV color coded datas of adjacent sub- camera respectively, Y is to acquire overlapping backsight
The value of frequency image YUV color coded datas, d is weights.
4. panoramic video splicing system according to claim 1 or 2, which is characterized in that the non-overlapping video image area
The concrete methods of realizing that the YUV color coded datas in domain transit directly in panorama YUV color coded datas is to be regarded non-overlapping
The YUV color coded datas of frequency image-region are copied directly to carry out transition processing in panorama YUV color coded datas.
5. a kind of panoramic video joining method, which is characterized in that include the following steps：
Step A：Initial full-view video image is obtained from panoramic camera in real time；
Step B：Decide whether to carry out mobile processing to the video image of sub- camera as needed, if mobile a certain sub- camera
Video image then continues to carry out splicing to initial full-view video image, and executes step C, if do not regarded to sub- camera
Frequency image is moved, then sends initial full-view video image, and executes step D；
Step C：The height and width of full-view video image are determined according to the amount of movement of sub- camera video image, and overlapping is regarded
The YUV color coded datas of frequency image-region and non-overlapping video image region are handled to realize image mosaic, and are sent
Treated full-view video image, and execute step E；
Step D：Show initial full-view video image；
Step E：The full-view video image of display after treatment；
The step C includes：
Step C1：Obtain the height of initial full-view video image, the height of the video image of single sub- camera and width and son
Camera in video image vertically and horizontally on amount of movement；
Step C2：According to the height of the video image of sub- camera and width and sub- camera in video image vertically and horizontally
On amount of movement moved after full-view video image height and width；
Step C3：The seat of the source location set of each sub- camera is determined according to the height of the full-view video image after movement and width
Mark；
Step C4：It obtains the panorama YUV colors coded data of full-view video image after moving and is overlapped video image region
YUV color coded datas；
Step C5：The YUV color coded data smoothing processings of video image region will be overlapped to panorama YUV color coded datas
In；
Step C6：According to the coordinate of the source location set of the step C3 each sub- camera determined, by non-overlapping video image region
YUV color coded datas transit directly in panorama YUV color coded datas, the full-view video image that obtains that treated.
6. panoramic video joining method according to claim 5, which is characterized in that described to be overlapped video image region
YUV color coded data smoothing processings are to be weighted using formula flat to the concrete methods of realizing in panorama YUV color coded datas
It is sliding：
Y=Y1*(1-d)+Y2* d,
Wherein, Y1And Y2It is the value of the video image YUV color coded datas of adjacent sub- camera respectively, Y is to acquire overlapping backsight
The value of frequency image YUV color coded datas, d is weights.
7. panoramic video joining method according to claim 5, which is characterized in that the non-overlapping video image region
The concrete methods of realizing that YUV color coded datas transit directly in panorama YUV color coded datas is, by non-overlapping video figure
As the YUV color coded datas in region are copied directly to carry out transition processing in panorama YUV color coded datas.
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| CN105915850A (en) * | 2016-05-06 | 2016-08-31 | 安徽伟合电子科技有限公司 | Video playing system based on image stitching |
| CN106331435B (en) * | 2016-08-22 | 2019-12-06 | 北京小鸟科技股份有限公司 | method for realizing image special effect display in real time |
| CN106303554A (en) * | 2016-09-07 | 2017-01-04 | 四川天辰智创科技有限公司 | A kind of video living transmission system and method |
| CN106454256B (en) * | 2016-11-03 | 2019-09-13 | 贵阳朗玛信息技术股份有限公司 | A kind of real-time joining method of more videos and device |
| US10957047B2 (en) * | 2017-02-15 | 2021-03-23 | Panasonic Intellectual Property Management Co., Ltd. | Image processing device and image processing method |
| CN107277365B (en) * | 2017-07-24 | 2020-12-15 | Tcl移动通信科技（宁波）有限公司 | Panoramic image shooting method, storage device and mobile terminal |
| CN107516335A (en) * | 2017-08-14 | 2017-12-26 | 歌尔股份有限公司 | The method for rendering graph and device of virtual reality |
| CN109996072B (en) * | 2018-01-03 | 2021-10-15 | 华为技术有限公司 | Video image processing method and device |
| CN111970481A (en) * | 2020-07-07 | 2020-11-20 | 深圳英飞拓智能技术有限公司 | Ultrahigh-definition decoding and splicing video method and system based on 5G transmission |
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