CN105809701B - Panoramic video posture scaling method - Google Patents
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Abstract
The invention discloses panoramic video posture scaling methods.Including obtaining the spherical image of full-view video image generation and showing, obtain initial state information, targeted attitude information, set targeted attitude accurate location, using in the most vertex of panorama spherical shape picture or minimum point and photographed scene just on or below position as setting Target Acquisition attitude angle information and record the angle of deviation；Current pose angle is corrected by the angle of deviation obtained to real time panoramic spherical shape image, and is shown.The present invention obtains equipment when installing and using without considering that its installation site and posture accessible can use for panoramic picture, and it is not necessarily to additional attitude transducer, economic, efficient, quick posture calibration may be implemented, the panoramic picture of different installation sites to obtain equipment to be shown with correct posture visual angle, especially the panoramic picture monitoring of protection and monitor field have it is better it is visual, interface is more friendly, stronger applicability.
Description
Technical field
The invention belongs to technical field of video monitoring, especially belong to panoramic video auxiliary browser technology field, in particular to
Panoramic video posture scaling method, specific to panoramic video browse initialization posture calibration, be to 360 ° of visual angles of level,
The browsing of vertical 360 ° of visual angle panoramas (720 ° of panoramas) video causes image angle deviation when playing due to shooting angle
Alignment technique.
Background technique
In technical field of video monitoring, such as in security protection video monitoring trade, in order to realize to 720 ° around monitoring point
The panorama at no dead angle is monitored, and a kind of effective way is using 720 ° of panoramic video monitoring devices, this seed type
Monitoring device be panorama acquisition scheme using integral type, it is effective complete to carry out 720 ° of visuals field in real time, synchronous, indifference
Monitoring.And the panoramic apparatus of this type is due to being to 720 ° of indiscriminate monitoring around at monitoring point, the installation site of equipment
The panoramic picture Imaging formed to acquisition image is very big, the video image obtained by equipment installation condition and position when viewing
Setting angular deviation will affect viewing effect.In Practical Project practice, the mode of installation gyroscope is generallyd use to obtain panorama
Posture position, but since common overall view monitoring camera is fixed position installation, the posture information that gyroscope obtains is often
It is used only for after being obtained when camera installation initialization, subsequent operation work can remain identical calibration posture position
It sets, does not use substantially, therefore increase equipment cost by the way of installation gyroscope calibration, be unfavorable for application.
Summary of the invention
There is distortion and since camera installation offset causes browsing orientation unknown to overcome when 720 ° of panoramic picture browsings
True drawback, and preferably realize overall view monitoring, the invention discloses a kind of panoramic videos to assist browser technology, for panorama
Video tour initializes posture calibration, the present invention by setting initialization posture calibrating procedure, can it is more simple, economical and
It is accurate to realize posture calibration.
The invention is realized by the following technical scheme:
Panoramic video posture scaling method, it is characterised in that the following steps are included:
Step S10, it obtains full-view video image and generates panorama spherical shape image and shown, obtain initial state information,
The attitude angle information that spherical shape is shown when the initial state information refers into calibration mode；
Step S20, targeted attitude information is obtained, the accurate location of targeted attitude is set；Set panorama spherical shape picture most
Vertex or lowest point are consistent with surface in the scene that actual scene video camera is shot or following position directly as setting mesh
Direction is marked, the attitude angle information that the targeted attitude spherical shape is shown is obtained；
Step S30, targeted attitude and the initial attitude angle of deviation are obtained and is recorded；
Step S40, current pose angle is corrected using the angle of deviation that step S30 is obtained to real time panoramic spherical shape image, and
It is shown, the amendment of attitude angle is to subtract the angle of deviation with current real-time pictures attitude angle to obtain.
The initial state information of the acquisition is the folder between the attitude angle that calibration mode is shown and world standard coordinate system
Angle；The targeted attitude information of the acquisition is between the setting targeted attitude position attitude angle shown and world standard coordinate system
Angle.
The step S40 panorama spherical shape image shown be by by every frame image show when attitude angle subtract deviation
The image that angle obtains posture position is shown.
Above-mentioned acquisition full-view video image simultaneously generates panorama spherical shape image and includes:
Obtain 720 ° of panoramic pictures；Virtual three-dimensional spherical shape scene is constructed, 720 ° of panoramic pictures of setting to spherical scene are passed through
Mapping relations, thus by image mapping and image interpolation obtain full-view stereo spherical shape image；By full-view stereo spherical shape image
The panorama spherical shape image that screen is shown is obtained by perspective projection transformation.
720 ° of panoramic pictures of above-mentioned acquisition are obtained by the panoramic picture image collection system of single image sensor.
Above-mentioned building virtual three-dimensional spherical shape scene is: by 720 ° of panoramic picture midpoint P1(x1,y1,z1) pass through following calculating
Formula (1) is mapped to P in full-view stereo spherical shape image spheroidal coordinate system1' (lon, lat) realization:
It is above-mentioned that by full-view stereo spherical shape image, by perspective projection transformation, to obtain the panorama spherical chart that screen is shown seem logical
Cross projection matrix progress；Projection matrix is defined as: view frustums are projected as setting cube, for from any view frustums point
P (x, y, z) projects to point a P'(x', y', z' in observation body) it is obtained by following calculating formula (2):
P'=MP formula (2)；
Wherein, M is obtained by following calculating formula (3):
F, N is the distance in antimetropia section；L, R is perspective plane right boundary coordinate；T, B is perspective plane up-and-down boundary seat
Mark.
When demarcating from initial position, it only can need to record angle α, the β between current angles of display and conventional coordinates,
For C point in highest point in vertex A in conventional coordinates and actual scene, there are angle αs, β.It can be by aobvious in every frame image
Attitude angle subtracts migration included angle α, β and obtains that the image of posture position is specified to show when showing.α is the ball in spheroidal coordinate system
The angle component of spherical surface angle in the direction of the x axis between two o'clock on face；β is the ball between two o'clock on spherical surface in spheroidal coordinate system
The angle component of face angle in the y-axis direction.
The angle of deviation in program can be carried out in fact by design slider bar by obtaining targeted attitude and the initial attitude angle of deviation
When controllable input change.
Deviation can also be changed by input equipment and man-machine interactively mode by obtaining targeted attitude and the initial attitude angle of deviation
Angle.
The present invention, which obtains targeted attitude and the initial attitude angle of deviation, can also use image processing techniques, to the mark in picture
Fixed point carries out automatic identification；It include to fix 2 × 2 chessboards at minimum point immediately below panoramic video acquisition equipment in actual scene
Lattice extract angle point in chessboard table images by Harris Corner Detection, confirm chess by 5 angle point relative positional relationships
Disk lattice obtain calibration point position, then calculate coordinate position of the calibration point in panorama spherical shape image, determination deviation by projection relation
Angle.
The invention has the advantages that obtaining equipment when installing and using without considering its installation site for panoramic picture
And posture accessible can use, and without additional such as gyroscope attitude transducer.It may be implemented economical, efficient, fast
The posture calibration of speed is enabled the panoramic picture of different installation sites to obtain equipment and is shown with correct posture visual angle,
Especially the panoramic picture monitoring of protection and monitor field have it is better it is visual, interface is more friendly, stronger applicability.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples；
Fig. 1 is the schematic diagram for being shown as stereoscopic full views of panoramic picture；
Fig. 2 is display schematic diagram in panorama spherical shape picture screen；
Fig. 3 is opposite with world standard grid deviation angle schematic diagram；
Fig. 4 is the implementation steps of the invention flow chart；
Fig. 5 is manual-alignment calibration point operation chart；
Fig. 6 is calibration point image；
Fig. 7 is that view frustums correspondence diagram is projected on spherical panorama；
Fig. 8 is perspective projection view frustums schematic diagram；
Fig. 9 is minimum identification point and its panorama spherical seat schematic diagram.
Specific embodiment
The present invention is specifically described below by embodiment, embodiment is served only for carrying out the present invention further
Illustrate, should not be understood as limiting the scope of the invention, those skilled in the art's content according to the present invention is made
Some nonessential modifications and adaptations also belong to the scope of protection of the invention.
In conjunction with Fig. 1 to Fig. 9.
As shown in figure 4, panoramic video posture scaling method, comprising the following steps:
Step S10, it obtains full-view video image and generates panorama spherical shape image and shown, obtain initial state information,
The attitude angle information that spherical shape is shown when the initial state information refers into calibration mode；
Step S20, targeted attitude information is obtained, the accurate location of targeted attitude is set；Set panorama spherical shape picture most
Vertex or lowest point are consistent with surface in the scene that actual scene video camera is shot or following position directly as setting mesh
Direction is marked, the attitude angle information that the targeted attitude spherical shape is shown is obtained；
Step S30, targeted attitude and the initial attitude angle of deviation are obtained and is recorded；
Step S40, current pose angle is corrected using the angle of deviation that step S30 is obtained to real time panoramic spherical shape image, and
It is shown, the amendment of attitude angle is to subtract the angle of deviation with current real-time pictures attitude angle to obtain.
As shown in Figure 1, Figure 2, Figure 3 shows, the initial state information of acquisition is the attitude angle and world standard that calibration mode is shown
Angle between coordinate system；The targeted attitude information of acquisition is to set the attitude angle and world standard seat that targeted attitude position is shown
Angle between mark system.
The attitude angle that step S40 panorama spherical shape image is shown when being by showing every frame image subtracts the angle of deviation and obtains
Image to posture position is shown.
Virtual three-dimensional spherical shape scene is constructed, by 720 ° of panoramic pictures of setting to the mapping relations of spherical scene, thus logical
It crosses image mapping and image interpolation obtains full-view stereo spherical shape image；Full-view stereo spherical shape image is obtained by perspective projection transformation
The image shown to screen.
It obtains full-view video image and generates panorama spherical shape image and include:
By 720 ° of panoramic picture midpoint P1(x1,y1,z1) full-view stereo spherical shape image is mapped to by following calculating formula (1)
P in spheroidal coordinate system1' (lon, lat) realization:
By full-view stereo spherical shape image by perspective projection transformation obtain the image that screen is shown be by projection matrix into
Capable；Projection matrix is defined as: view frustums are projected as setting cube, for projecting from any view frustums point P (x, y, z)
The one point P'(x', y', z' into observation body) it is obtained by following calculating formula (2):
P'=MP formula (2)；
Wherein, M is obtained by following calculating formula (3):
F, N is the distance in antimetropia section；L, R is perspective plane right boundary coordinate；T, B is perspective plane up-and-down boundary seat
Mark.
720 ° of panoramic pictures of above-mentioned acquisition are obtained by the panoramic picture image collection system of single image sensor.Single figure
As multi-sensor panoramic image capturing system discloses in Chinese patent 2015106005041.
When being demarcated from initial position, it is only necessary to record angle α, β such as Fig. 3 between current angles of display and conventional coordinates
Shown, for C point in highest point in vertex A in figure acceptance of the bid conventional coordinates and actual scene, there are angle αs, β.Can by
Attitude angle subtracts migration included angle α, β and obtains that the image of posture position is specified to show when every frame image is shown.As shown, α
For in spheroidal coordinate system, the angle component of spherical surface angle in the direction of the x axis between two o'clock on spherical surface；β is in spheroidal coordinate system
In, the angle component of spherical surface angle in the y-axis direction between two o'clock on spherical surface.
Embodiment 1
Panoramic video posture scaling method is realized by slider bar control technology
Slider bar control input deviation angle, which is utilized in program user interactive interface, designs one group of slider bar, two of them
Slider bar corresponds to the angle of deviation two components α, β.In practical applications by changing the data of slider bar, the appearance of panorama spherical shape picture
State also changes correspondingly.Specifically when changing the slide position of slider bar, current slider bar all corresponds to an input value, to complete
Scape spherical shape picture attitude angle subtracts corresponding slider bar attitude misalignment value, by the panorama observation to display, slides when changing
When object direction is consistent with actual object inclined direction in position picture, then respective value is posture mark on corresponding slider bar
Surely the angle of deviation exported.
Embodiment 2
Change the angle of deviation by input equipment and man-machine interactively mode and realizes panoramic video posture scaling method
When changing spherical picture attitude angle by man-machine interactively by input equipment (such as mouse, touch screen), according to
Input equipment screen coordinate changes information (xd, yd) and real world devices Pixel Dimensions (WS,HS) and eye coordinates Ze, be converted to ball
Body rotational angle (rotating just for x-axis and y-axis) is shown by dragging picture to image front, wherein dragging picture for picture
Angle change are as follows:
Wherein, Ze indicates that coordinate value in the z-axis under point of observation view frustums coordinate system, R indicate panorama ball in this coordinate system
The radius of shape image.
Paste indicia patterns shown in fig. 6 immediately below the spatial vertical of video camera at minimum point first in actual scene,
Gridiron pattern size specification is 20cm*20cm, and wherein calibration point is gridiron pattern central point.Affixed points are apart from 1~1.5m of camera.
Secondly practical operation makes a check mark a little between being in the display, manually drags in image frame calibration point to the interposition of display
It sets, as shown in Figure 5.Finally calculate deviation angle formula at this time are as follows:
Embodiment 3
By using image processing techniques, automatic identification is carried out to calibration point and realizes panoramic video posture scaling method
Artificial the drawbacks of participating in is needed for the mode of manual-alignment calibration point, used here as image processing techniques, for
The minimum calibration point in space in picture carries out automatic identification.Calibration maps are that size shown in Fig. 6 is 2*2 gridiron pattern, wherein intermediate point C
For calibration point.Being identified by tessellated identification and realize for calibration point.
Mark point shown in fig. 6, gridiron pattern size are pasted at the underface minimum point of video camera first in actual scene
Specification is 20cm*20cm, and affixed points are apart from 1~1.5m of camera；
Secondly angle point in image is extracted by Harris Corner Detection, due to standard 2*2 X-comers in
5 angle points of " ten " word arrangement confirm gridiron pattern by 5 angle point relative positional relationships, confirm calibration point position (xM,yM)。
Last as shown in Figure 7, Figure 8, display device coordinate is acquired with practical spherical coordinate relationship by following formula:
Spherical equation are as follows: x2+y2+z2=R2；
Viewpoint determines linear equation are as follows:
The solution that simultaneous straight line and spherical equation solution z value are positive obtains C point coordinate C (x in figurec,yc,zc), and then obtain figure
9 midpoint C attitude angles:
And then obtain the angle of deviation at this time:
。
Claims (7)
1. panoramic video posture scaling method, it is characterised in that the following steps are included:
Step S10, it obtains full-view video image and generates panorama spherical shape image and shown, obtain initial state information, it is described
The attitude angle information that spherical shape is shown when initial state information refers into calibration mode, comprising: obtain 720 ° of panoramic pictures；Building
Virtual three-dimensional spherical shape scene, the mapping relations of spherical scene are arrived by 720 ° of panoramic pictures of setting, thus mapped by image and
Image interpolation obtains full-view stereo spherical shape image；Full-view stereo spherical shape image is obtained what screen was shown by perspective projection transformation
Panorama spherical shape image；
Step S20, targeted attitude information is obtained, the accurate location of targeted attitude is set；Set the most vertex of panorama spherical shape picture
Or lowest point is consistent with surface in the scene that actual scene video camera is shot or following position directly as setting target side
To obtaining the attitude angle information that the targeted attitude spherical shape is shown；
Step S30, targeted attitude and the initial attitude angle of deviation are obtained and is recorded；
Step S40, current pose angle is corrected using the angle of deviation that step S30 is obtained to real time panoramic spherical shape image, and gives
It has been shown that, the amendment of attitude angle is to subtract the angle of deviation with current real-time pictures attitude angle to obtain.
2. panoramic video posture scaling method according to claim 1, it is characterised in that: the initial attitude of the acquisition is believed
Breath is the angle between the attitude angle that calibration mode is shown and world standard coordinate system；The targeted attitude information of the acquisition is to set
Angle between the attitude angle that the posture position that sets the goal is shown and world standard coordinate system.
3. panoramic video posture scaling method according to claim 1, it is characterised in that: the step S40 panorama is spherical
The attitude angle that image is shown when being by showing every frame image, which subtracts the angle of deviation and obtains the image of posture position, to be shown.
4. panoramic video posture scaling method according to claim 1 or 2 or 3, it is characterised in that: described to obtain 720 ° entirely
Scape image is obtained by the panoramic picture image collection system of single image sensor.
5. panoramic video posture scaling method according to claim 4, it is characterised in that: the acquisition targeted attitude and just
Beginning attitude misalignment angle is to carry out controllable input in real time to the angle of deviation by slider bar to change.
6. panoramic video posture scaling method according to claim 1 or 2 or 3, it is characterised in that: the acquisition target appearance
State and the initial attitude angle of deviation are to change the angle of deviation by input equipment and man-machine interactively mode.
7. panoramic video posture scaling method according to claim 1 or 2 or 3, it is characterised in that: the acquisition target appearance
State and the initial attitude angle of deviation are to carry out automatic identification to the calibration point in picture using image processing techniques；It is included in reality
Panoramic video obtains and fixes 2 × 2 gridiron patterns at minimum point immediately below equipment in scene, passes through to angle point in chessboard table images
Harris Corner Detection extracts, and confirms gridiron pattern by 5 angle point relative positional relationships, obtains calibration point position, then lead to
It crosses projection relation and calculates coordinate position of the calibration point in panorama spherical shape image, determination deviation angle.
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| CN106569696B (en) * | 2016-11-08 | 2021-04-06 | 影石创新科技股份有限公司 | Method and system for rendering output panoramic image and portable terminal |
| CN106767517B (en) * | 2017-01-18 | 2019-03-01 | 重庆市计量质量检测研究院 | Trailing edge slot pattern automatic acquiring method and acquisition device in a kind of free form surface |
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| CN108235132A (en) * | 2018-03-13 | 2018-06-29 | 哈尔滨市舍科技有限公司 | Panoramic video visual angle regulating method and device based on human eye positioning |
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| CN113393529B (en) * | 2020-03-12 | 2024-05-10 | 浙江宇视科技有限公司 | Method, device, equipment and medium for calibrating camera |
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