CN105741233B - Video image spherical surface splicing method and system - Google Patents
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Abstract
The invention provides a spherical splicing method and a spherical splicing system for video images, wherein the system comprises a calibration module for calibrating each parameter in a camera, a region correction module for correcting each position in a set region, a full-image adjustment module for adjusting each position in each path of video image, a cutting module for cutting each path of video image, a rotary zooming module for rotating and zooming each path of video image and a display module for displaying on a spherical model; the method for realizing the spherical surface splicing is simple, the computer requirement configuration is low, each path of video image is independently processed without mutual interference, the processing speed is high, high real-time performance can be still obtained under the condition of splicing of multiple paths of high-resolution cameras, the method can be applied to the splicing of real-time videos, each path of image is projected to a spherical surface model to be displayed by combining an OpenGL graphic program interface, and a good display effect is achieved; meanwhile, the method is suitable for splicing the wide-angle camera, the blind spot area is small, and the practicability is high.
Description
Technical Field
The invention mainly relates to the field of image processing, in particular to a video image spherical surface splicing method and system.
Background
The spherical surface splicing is to splice images shot by a plurality of cameras at different angles into a spherical surface panoramic image, and the prior spherical surface splicing algorithms are complex, each path of video image cannot be processed independently, the mutual interference is large, the real-time performance is poor, the processing speed is low, the requirement on computer configuration is high, the blind spot area is large, and the like.
Disclosure of Invention
The invention aims to solve the technical problem of providing a video image spherical surface splicing method and a video image spherical surface splicing system, wherein the realized spherical surface splicing method is simple, each path of image is respectively corrected, cut and scaled by using a Graphic Processing Unit (GPU), the computer requirement configuration is lower, each path of video image is independently processed without mutual interference, the processing speed is high, and higher real-time performance can be still obtained under the condition of splicing of multiple paths of cameras with high resolution.
The technical scheme for solving the technical problems is as follows: a spherical splicing method of video images comprises the following steps:
step S1: calibrating parameters in the camera, wherein the parameters comprise an imaging center, radial distortion and tangential distortion;
step S2: selecting an area with the size of M multiplied by n pixels on a video image of a camera, and correcting and calculating each position in the M multiplied by n pixel area according to each calibrated parameter, thereby obtaining a position relation matrix M before and after correction of each position in the M multiplied by n pixel aream×nWherein m and n are the length and width of the pixel region;
step S3: according to the position relation matrix Mm×nAdjusting each position on the video image in a Graphic Processing Unit (GPU), and adjusting each position of each path of video image respectively to obtain each path of new video image;
step S4: respectively cutting each path of new video image according to a cutting formula;
step S5: rotating and zooming each path of cut new video image through a GPU;
step S6: and projecting each path of new video image after rotation and scaling processing to a cube model, and converting the cube model to a spherical model for displaying.
The invention has the beneficial effects that: the realized spherical surface splicing method is simple, the GPU is used for respectively correcting, cutting and zooming each path of image, the computer requirement configuration is lower, each path of video image is independently processed without mutual interference, the processing speed is high, higher real-time performance can be still obtained under the condition of multi-path high-resolution camera splicing, the method can be applied to real-time video splicing, each path of image is projected to a spherical surface model to be displayed by combining an OpenGL graphic program interface, and a better display effect is achieved; meanwhile, the method is suitable for splicing the wide-angle camera, the blind spot area is small, and the practicability is high.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the implementation of step S2 is selecting an m × n pixel region on the video image of the camera, and performing correction calculation according to each position of the m × n pixel region corrected by the calibrated parameters, where the specific method is as follows: the coordinate of the imaging center is marked as (c)x,cy)，k1、k2、k3For radial distortion, p1、p2For tangential distortion, the position coordinate of one pixel point in the region of m × n pixels is (x)d,yd) The corrected position coordinate of the pixel point is (x)p,yp) Using the formula
A corrective calculation is performed in which, among other things,thereby obtaining a positional relationship matrix M before and after correction for each position in the M × n pixel regionm×n。
The beneficial effect of adopting the further scheme is that: and obtaining a position relation matrix before and after correction of a certain pixel region, and carrying out position adjustment on the whole video image through the position relation matrix, so that the accuracy of video image adjustment is greatly improved.
Further, the specific method for implementing step S3 is as follows: setting the position of a pixel point in a video image as (x)d,yd) The pixel value of the pixel point is
According to the position relation matrix Mm×nTo obtain (x)d,yd) Has a correction position of (x)p,yp) And stores the pixel value to the corresponding position (x) of the adjusted video imagep,yp) Thereby obtaining (x) in the new video imagep,yp) Pixel value of a location
Adjusting each path of video image respectively to obtain each path of new video image; wherein the value range of R, G, B is 0-255.
The beneficial effect of adopting the further scheme is that: each path of video image is adjusted through the position relation matrix, each path of video image can be processed independently and is not interfered with each other, and each path of video image can be adjusted quickly and is high in adjustment accuracy.
Further, the specific method for implementing step S4 is as follows: let the ith video image clipping position be (x)0,y0)iSrc (x, y) is the pixel in the new video image, dst (x, y) is the pixel after clipping of the new video image, according to the clipping formula
And respectively cutting each path of new video image, wherein w is the width of the cutting area, and h is the height of the cutting area.
The beneficial effect of adopting the further scheme is that: can automatically and quickly cut out all the required new video images.
Further, the specific method for implementing step S5 is as follows: loading each new video image after cutting into a graphic processor GPU, and utilizing a rotation scaling matrix in the graphic processor GPU
And rotation scaling formula
[xr,yr]＝[xs,ys,1]RT
Performing a rotation and scaling process, wherein (x)s,ys) As a source image position, (x)r,yr) To rotate the post-zoom position, λiFor scaling, T is the rotation rank of the rotation scaling matrix, and α is the angle of rotation of the new video image.
The beneficial effect of adopting the further scheme is that: and rotating and zooming each path of video image, thereby being beneficial to spherical surface splicing of later-stage video images.
Another technical solution of the present invention for solving the above technical problems is as follows: a spherical surface splicing system of video images comprises a calibration module, a region correction module, a full image adjustment module, a cutting module, a rotary zooming module and a display module;
the calibration module is used for calibrating each parameter in the camera, and each parameter comprises an imaging center, radial distortion and tangential distortion;
the area correction module is used for selecting an area with the size of M multiplied by n pixels on a video image of the camera and carrying out correction calculation on each position in the M multiplied by n pixel area according to each calibrated parameter so as to obtain a position relation matrix M before and after correction of each position in the M multiplied by n pixel aream×nWherein m and n are the length and width of the pixel region;
the whole graph adjusting module is used for adjusting the whole graph according to the position relation matrix Mm×nAdjusting each position on the video image in a Graphic Processing Unit (GPU), and adjusting each position in each path of video image respectively to obtain each path of new video image;
the cutting module is used for cutting each path of new video image according to a cutting formula;
the rotary zooming module is used for rotating and zooming each path of cut new video image through a GPU (graphics processing unit), and can rotate and zoom for multiple times according to needs;
and the display module is used for projecting each path of new video image after rotation and zoom processing to the cube model and then converting the cube model into the spherical model for display. And determining the sequence of each path of video image according to the direction of the real shooting scene, respectively projecting each path of new video image after rotation and scaling processing to each region of the cube model after expansion by a display module, and converting the cube model into a spherical model through a graphical program interface OpenGL to display each path of new video image.
The device also comprises a storage module used for storing the cutting position, width, height, scaling and rotation angle of each path of video image after adjustment, and the parameters are directly used when next splicing is carried out.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, in the area correction module, an area with a size of m × n pixels is selected from a video image of the camera, and correction calculation is performed on each position of the m × n pixel area according to each calibrated parameter: the coordinate of the imaging center is marked as (c)x,cy)，k1、k2、k3For radial distortion, p1、p2For tangential distortion, the position coordinate of one pixel point in the region of m × n pixels is (x)d,yd) The corrected position coordinate of the pixel point is (x)p,yp) Using the formula
A corrective calculation is performed in which, among other things,
thereby obtaining a positional relationship matrix M before and after correction for each position in the M × n pixel regionm×n。
The beneficial effect of adopting the further scheme is that: and obtaining a position relation matrix before and after correction of a certain pixel region, and carrying out position adjustment on the whole video image through the position relation matrix, so that the accuracy of video image adjustment is greatly improved.
Further, in the whole-picture adjusting module, the position of a pixel point in the video image is set to (x)d,yd) The pixel value of the pixel point is
According to the position relation matrix Mm×nTo obtain (x)d,yd) Has a correction position of (x)p,yp) And stores the pixel value to the corresponding position (x) of the adjusted video imagep,yp) Thereby obtaining (x) in the new video imagep,yp) Pixel value of a location
Adjusting each path of video image respectively to obtain each path of new video image; wherein the value range of R, G, B is 0-255.
The beneficial effect of adopting the further scheme is that: each path of video image is adjusted through the position relation matrix, each path of video image can be processed independently and is not interfered with each other, and each path of video image can be adjusted quickly and is high in adjustment accuracy.
Furthermore, in the clipping module, the clipping position of the ith video image is set to (x)0,y0)iSrc (x, y) is the pixel in the new video image, dst (x, y) is the pixel after clipping of the new video image, according to the clipping formula
And respectively cutting each path of new video image, wherein w is the width of the cutting area, and h is the height of the cutting area.
The beneficial effect of adopting the further scheme is that: can automatically and quickly cut out all the required new video images.
Furthermore, in the rotation and scaling module, each path of cut new video image is loaded into a graphic processor GPU, and a rotation and scaling matrix is utilized in the graphic processor GPU
And rotation scaling formula
[xr,yr]＝[xs,ys,1]RT
Performing a rotation and scaling process, wherein (x)s,ys) As a source image position, (x)r,yr) To rotate the post-zoom position, λiFor scaling, T is the rotation rank of the rotation scaling matrix, and α is the angle of rotation of the new video image.
The beneficial effect of adopting the further scheme is that: and rotating and zooming each path of video image, thereby being beneficial to spherical surface splicing of later-stage video images.
Drawings
FIG. 1 is a flow chart of the method of the spherical surface splicing method of the present invention.
FIG. 2 is an expanded schematic view of the faces of the cube model of the present invention;
fig. 3 is a block diagram of a spherical splicing system according to the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, a spherical surface stitching method for video images includes the following steps:
step S1: calibrating parameters in the camera, wherein the parameters comprise an imaging center, radial distortion and tangential distortion;
step S2: selecting an area with the size of M multiplied by n pixels on a video image of a camera, and correcting and calculating each position in the M multiplied by n pixel area according to each calibrated parameter, thereby obtaining a position relation matrix M before and after correction of each position in the M multiplied by n pixel aream×nWherein m and n are the length and width of the pixel region；
Step S3: according to the position relation matrix Mm×nAdjusting each position on the video image in a Graphic Processing Unit (GPU), and adjusting each position of each path of video image respectively to obtain each path of new video image;
step S4: respectively cutting each path of new video image according to a cutting formula;
step S5: rotating and zooming each path of cut new video image through a GPU;
step S6: and projecting each path of new video image after rotation and scaling processing to a cube model, and converting the cube model to a spherical model for displaying.
Step S2 is implemented by selecting an m × n pixel region on the video image of the camera, and performing correction calculation according to each position of the m × n pixel region corrected by the calibrated parameters, where the specific method is as follows: the coordinate of the imaging center is marked as (c)x,cy)，k1、k2、k3For radial distortion, p1、p2For tangential distortion, the position coordinate of one pixel point in the region of m × n pixels is (x)d,yd) The corrected position coordinate of the pixel point is (x)p,yp) Using the formula
A corrective calculation is performed in which, among other things,thereby obtaining a positional relationship matrix M before and after correction for each position in the M × n pixel regionm×n。
The specific method for implementing step S3 is as follows: setting the position of a pixel point in a video image as (x)d,yd) The pixel value of the pixel point is
According to the position relation matrix Mm×nTo obtain (x)d,yd) Has a correction position of (x)p,yp) And stores the pixel value to the corresponding position (x) of the adjusted video imagep,yp) Thereby obtaining (x) in the new video imagep,yp) Pixel value of a location
Adjusting each path of video image respectively to obtain each path of new video image; wherein the value range of R, G, B is 0-255.
The specific method for implementing step S4 is as follows: let the ith video image clipping position be (x)0,y0)iSrc (x, y) is the pixel in the new video image, dst (x, y) is the pixel after clipping of the new video image, according to the clipping formula
And respectively cutting each path of new video image, wherein w is the width of the cutting area, and h is the height of the cutting area.
The specific method for implementing step S5 is as follows: loading each new video image after cutting into a graphic processor GPU, and utilizing a rotation scaling matrix in the graphic processor GPU
And rotation scaling formula
[xr,yr]＝[xs,ys,1]RT
Performing a rotation and scaling process, wherein (x)s,ys) As a source image position, (x)r,yr) To rotate the post-zoom position, λiFor scaling, T is the rotation rank of the rotation scaling matrix, and α is the angle of rotation of the new video image.
As shown in fig. 2, a spherical surface stitching system for video images comprises a calibration module, an area correction module, a whole image adjustment module, a clipping module, a rotation scaling module and a display module;
the calibration module is used for calibrating each parameter in the camera, and each parameter comprises an imaging center, radial distortion and tangential distortion;
the area correction module is used for selecting an area with the size of M multiplied by n pixels on a video image of the camera and carrying out correction calculation on each position in the M multiplied by n pixel area according to each calibrated parameter so as to obtain a position relation matrix M before and after correction of each position in the M multiplied by n pixel aream×nWherein m and n are the length and width of the pixel region;
the whole graph adjusting module is used for adjusting the whole graph according to the position relation matrix Mm×nAdjusting each position on the video image in a Graphic Processing Unit (GPU), and adjusting each position in each path of video image respectively to obtain each path of new video image;
the cutting module is used for cutting each path of new video image according to a cutting formula;
the rotary zooming module is used for rotating and zooming each path of cut new video image through a GPU (graphics processing unit), and can rotate and zoom for multiple times according to needs;
the display module is used for projecting each path of new video image after rotation and zoom processing onto the cube model and then converting the cube model into the spherical model for display; and determining the sequence of each path of video image according to the direction of the real shooting scene, and projecting the video image to the spherical model for display by using a graphical program interface OpenGL. Specifically, as shown in fig. 3, the front, rear, left, right, upper and lower surfaces of the cube model are expanded, the order of each path of video image is determined according to the real shooting scene direction, each path of new video image is projected onto the area of each surface, and then the cube model is converted into a spherical model through the graphics program interface OpenGL to display each path of new video image.
The device also comprises a storage module used for storing the cutting position, width, height, scaling and rotation angle of each path of video image after adjustment, and the parameters are directly used when next splicing is carried out.
In the area correction module, an m × n pixel area is selected from a video image of a camera, and correction calculation is performed on each position of the m × n pixel area according to calibrated parameters: the coordinate of the imaging center is marked as (c)x,cy)，k1、k2、k3For radial distortion, p1、p2For tangential distortion, the position coordinate of one pixel point in the region of m × n pixels is (x)d,yd) The corrected position coordinate of the pixel point is (x)p,yp) Using the formula
A corrective calculation is performed in which, among other things,
thereby obtaining a positional relationship matrix M before and after correction for each position in the M × n pixel regionm×n。
In the full-image adjusting module, the position of one pixel point in the video image is set as (x)d,yd) The pixel value of the pixel point is
According to the position relation matrix Mm×nTo obtain (x)d,yd) Has a correction position of (x)p,yp) And stores the pixel value to the corresponding position (x) of the adjusted video imagep,yp) Thereby obtaining (x) in the new video imagep,yp) Pixel value of a location
Adjusting each path of video image respectively to obtain each path of new video image; wherein the value range of R, G, B is 0-255.
In the cutting module, the cutting position of the ith path of video image is set as (x)0,y0)i，src(xY) is the pixel in the new video image, dst (x, y) is the pixel after clipping of the new video image, according to the clipping formula
And respectively cutting each path of new video image, wherein w is the width of the cutting area, and h is the height of the cutting area.
In the rotary zooming module, each path of cut new video image is loaded into a graphic processor GPU, and a rotary zooming matrix is utilized in the graphic processor GPU
And rotation scaling formula
[xr,yr]＝[xs,ys,1]RT
Performing a rotation and scaling process, wherein (x)s,ys) As a source image position, (x)r,yr) To rotate the post-zoom position, λiFor scaling, T is the rotation rank of the rotation scaling matrix, and α is the angle of rotation of the new video image.
The realized spherical surface splicing method is simple, the GPU is used for respectively correcting, cutting and zooming each path of image, the computer requirement configuration is lower, each path of video image is independently processed without mutual interference, the processing speed is high, higher real-time performance can be still obtained under the condition of multi-path high-resolution camera splicing, the method can be applied to real-time video splicing, each path of image is projected to a spherical surface model to be displayed by combining an OpenGL graphic program interface, and a better display effect is achieved; meanwhile, the method is suitable for splicing the wide-angle camera, the blind spot area is small, and the practicability is high.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (6)
1. A spherical surface splicing method for video images is characterized by comprising the following steps:
step S1: calibrating parameters in the camera, wherein the parameters comprise an imaging center, radial distortion and tangential distortion;
step S2: selecting an area with the size of M multiplied by n pixels on a video image of a camera, and correcting and calculating each position in the M multiplied by n pixel area according to each calibrated parameter, thereby obtaining a position relation matrix M before and after correction of each position in the M multiplied by n pixel aream×nWherein m and n are the length and width of the pixel region; step S2 is implemented by selecting an m × n pixel region on the video image of the camera, and performing correction calculation on each position of the m × n pixel region according to each calibrated parameter, where the specific method is as follows: the coordinate of the imaging center is marked as (c)x,cy)，k1、k2、k3For radial distortion, p1、p2For tangential distortion, the position coordinate of one pixel point in the region of m × n pixels is (x)d,yd) The corrected position coordinate of the pixel point is (x)p,yp) Using the formula
A corrective calculation is performed in which, among other things,
thereby obtaining a positional relationship matrix M before and after correction for each position in the M × n pixel regionm×n；
Step S3: according to the position relation matrix Mm×nAdjusting each position on the video image in a Graphic Processing Unit (GPU), and adjusting each position of each path of video image respectively to obtain each path of new video image;
step S4: respectively cutting each path of new video image according to a cutting formula;
step S5: rotating and zooming each path of cut new video image through a GPU; the specific method for implementing step S5 is as follows: loading each new video image after cutting into a graphic processor GPU, and utilizing a rotation scaling matrix in the graphic processor GPU
And rotation scaling formula
[xr,yr]＝[xs,ys,1]RT
Performing a rotation and scaling process, wherein (x)s,ys) As a source image position, (x)r,yr) To rotate the post-zoom position, λiFor scaling, T is the rotation rank of the rotation scaling matrix, α is the angle of rotation of the new video image, cx、cyImaging center coordinates;
step S6: and projecting each path of new video image after rotation and scaling processing to a cube model, and converting the cube model to a spherical model for displaying.
2. The spherical splicing method for the video images according to claim 1, wherein the specific method for implementing the step S3 is as follows: setting the position of a pixel point in a video image as (x)d,yd) The pixel value of the pixel point is
According to the position relation matrix Mm×nTo obtain (x)d,yd) Has a correction position of (x)p,yp) And stores the pixel value to the corresponding position (x) of the adjusted video imagep,yp) Thereby obtaining (x) in the new video imagep,yp) Pixel value of a location
And respectively adjusting each path of video image to obtain each path of new imageA video image; wherein the value range of R, G, B is 0-255.
3. The spherical splicing method for the video images according to claim 1, wherein the specific method for implementing the step S4 is as follows: let the ith video image clipping position be (x)0,y0)iSrc (x, y) is the pixel in the new video image, dst (x, y) is the pixel after clipping of the new video image, according to the clipping formula
dst(x,y)＝src(x,y)，
And respectively cutting each path of new video image, wherein w is the width of the cutting area, and h is the height of the cutting area.
4. A spherical surface splicing system of video images is characterized by comprising a calibration module, an area correction module, a full image adjusting module, a cutting module, a rotary zooming module and a display module;
the calibration module is used for calibrating each parameter in the camera, and each parameter comprises an imaging center, radial distortion and tangential distortion;
the area correction module is used for selecting an area with the size of M multiplied by n pixels on a video image of the camera and carrying out correction calculation on each position in the M multiplied by n pixel area according to each calibrated parameter so as to obtain a position relation matrix M before and after correction of each position in the M multiplied by n pixel aream×nWherein m and n are the length and width of the pixel region; in the area correction module, an m × n pixel area is selected from a video image of a camera, and correction calculation is performed on each position of the m × n pixel area according to calibrated parameters: the coordinate of the imaging center is marked as (c)x,cy)，k1、k2、k3For radial distortion, p1、p2For tangential distortion, the position coordinate of one pixel point in the region of m × n pixels is (x)d,yd) Corrected position coordinates of the pixel pointIs (x)p,yp) Using the formula
A corrective calculation is performed in which, among other things,
thereby obtaining a positional relationship matrix M before and after correction for each position in the M × n pixel regionm×n；
The whole graph adjusting module is used for adjusting the whole graph according to the position relation matrix Mm×nAdjusting each position on the video image in a Graphic Processing Unit (GPU), and adjusting each position in each path of video image respectively to obtain each path of new video image;
the cutting module is used for cutting each path of new video image according to a cutting formula;
the rotary zooming module is used for rotating and zooming each path of cut new video image through a GPU; specifically, each path of new video image after being cut is loaded into a graphic processor GPU, and a rotation scaling matrix is utilized in the graphic processor GPU
And rotation scaling formula
[xr,yr]＝[xs,ys,1]RT
Performing a rotation and scaling process, wherein (x)s,ys) As a source image position, (x)r,yr) To rotate the post-zoom position, λiFor scaling, T is the rotation rank of the rotation scaling matrix, α is the angle of rotation of the new video image, cx、cyImaging center coordinates;
and the display module is used for projecting each path of new video image after rotation and zoom processing to the cube model and then converting the cube model into the spherical model for display.
5. The spherical surface mosaicing system of claim 4, wherein the full-view adjustment module is configured to set a pixel point of the video image to be (x)d,yd) The pixel value of the pixel point is
According to the position relation matrix Mm×nTo obtain (x)d,yd) Has a correction position of (x)p,yp) And stores the pixel value to the corresponding position (x) of the adjusted video imagep,yp) Thereby obtaining (x) in the new video imagep,yp) Pixel value of a location
Adjusting each path of video image respectively to obtain each path of new video image; wherein the value range of R, G, B is 0-255.
6. The spherical surface stitching system for video images as claimed in claim 4, wherein the cropping module is configured to set the cropping position of the ith video image to (x)0,y0)iSrc (x, y) is the pixel in the new video image, dst (x, y) is the pixel after clipping of the new video image, according to the clipping formula
dst(x,y)＝src(x,y)，
And respectively cutting each path of new video image, wherein w is the width of the cutting area, and h is the height of the cutting area.
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| US10728494B2 (en) | 2017-02-20 | 2020-07-28 | Disney Enterprises, Inc. | Differential transformation of video |
| CN107274455A (en) * | 2017-07-07 | 2017-10-20 | 东北林业大学 | Mix the three-dimensional rebuilding method of panoramic image in vision system |
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