CN105957048A - 3D panorama display method and system of shooting image through fish eye lens - Google Patents
3D panorama display method and system of shooting image through fish eye lens Download PDFInfo
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- CN105957048A CN105957048A CN201610049506.0A CN201610049506A CN105957048A CN 105957048 A CN105957048 A CN 105957048A CN 201610049506 A CN201610049506 A CN 201610049506A CN 105957048 A CN105957048 A CN 105957048A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T15/00—3D [Three Dimensional] image rendering
- G06T15/04—Texture mapping
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
Abstract
The present invention discloses a 3D panorama display method and system of shooting an image through a fish eye lens. The method comprises the following steps: obtaining the calibration parameters of the fish eye image through calculation of the original fish eye image; building a 3D model; establishing the texture mapping relation between the summit of the 3D model and the original fish eye image; and binding the original fish eye image and obtaining the 3D panorama display image according to the texture mapping relation. The panorama image shot by the fish eye lens is restored to a 3D scene, the calculation is simple, the speed is fast, the timeliness is good, and the image and/or video is smooth.
Description
Technical field
The present invention relates to panorama Display Technique, the 3D panorama especially for fish eye lens shooting image shows
Method and system, be applied to virtual reality, scientific research, entertain, the various fields such as monitoring.
Background technology
Panoramic technique is broadly divided into spliced panoramic and two kinds of flake panorama.Spliced panoramic refers to multiple by spy
The picture determining the lens shooting that angle is put is stitched into a secondary panorama sketch, generally selects more than 2 90 °-150
° wide-angle lens；Flake panorama refers to the panorama sketch using single fish eye lens to shoot, usual camera lens
The horizontal and vertical visual field equals or exceeds 360 ° x180 °.
The defect of spliced panoramic includes: (1) multiple sensor colors, brightness etc. are inconsistent, cause panorama
Image light and shade is uneven；(2) time irreversibility between sensor, causes video pictures tear, passes through phenomenon；
(3) sewing up precision inadequate, seam area is unintelligible, have ghost image；(4) region that distance camera lens is nearer
There is blind area.
Flake panorama only one of which sensor, it is to avoid all defect of above-mentioned spliced panoramic.But, existing
The fish eye lens field range that some flake panoramic techniques use is limited, only 360 ° x180 °, and has
Spliced panoramic can reach 360 ° x360 °；Existing fish eye images panorama Display Technique is generally only and will distort
Serious correcting fisheye image is the two dimensional image close to real scene, and this method have lost panoramic picture
Partial information so that field range diminishes, and becomes the effect of common wide-angle lens.
Summary of the invention
The present invention is directed to the above-mentioned problems in the prior art, propose a kind of fish eye lens shooting image
3D panorama display packing and system.By the panoramic picture that fish eye lens shoots is reduced to 3D scene, meter
Calculate simple, speed is fast, real-time good, image and/or video smooth.Which solve existing flake panorama to hang down
Open country is less, calibration result is undesirable, the lossy problem of information in direct-view, and only 2D plane display effect
The limitation of fruit.
The technical scheme is that
A kind of fish-eye 3D panorama display packing is provided, comprises the steps:
Original fish eye images computing is obtained the calibrating parameters of fish eye images；
Set up 3D model；
Set up the texture mapping relations between the summit of described 3D model and described original fish eye images；
Irradiate relation according to described texture, original fish eye images is bound, obtains 3D panorama and show
Image.
As a kind of enforceable preference, described 3D panorama display packing, described to original fish-eye image
After binding, also comprise the steps:
After binding original fish eye images, carrying out 3D and render, the described 3D panorama after being rendered shows
Image.
As a kind of enforceable preference, described 3D panorama display packing, also comprise the steps:
Described 3D panorama display image is interacted.
For realizing the object of the invention, also provide for following technical scheme:
The 3D panorama display system of a kind of fish eye lens shooting image, including demarcating module, sets up pattern die
Block, sets up texture mapping relations module, and binding module；
Wherein:
Described demarcating module, for obtaining the calibrating parameters of fish eye images to original fish eye images computing；
Described set up model module, be used for setting up 3D model；
Described set up texture mapping relations module, for setting up the summit of described 3D model and described original fish
Texture mapping relations between eye pattern picture；
Described binding module, for irradiating relation according to described texture, ties up original fish eye images
Fixed, obtain 3D panorama display image.
As a kind of preferred embodiment, described 3D panorama display system, described texture of setting up maps pass
It is module, including pinup picture submodule and calculating sub module, wherein:
Described pinup picture submodule, for using described original fish eye images as texture image pinup picture in set up
On described 3D model；
Described calculating sub module, be used for calculating texture coordinate (u, v).
As a kind of embodiment, described 3D panorama display system, described binding module, including rendering
Submodule, for carrying out 3D render according to the original fish eye images after binding, described after being rendered
3D panorama display image.
There is advantages that
The panoramic picture being shot fish eye lens uses model to be reduced to 3D scene, calculates simple, fast
Degree is fast, real-time is good, image and/or video smooth.It can directly utilize GPU (Graphics further
Processing Unit, graphic process unit) carry out 3D rendering operation, allow people see distortionless solid
Scene, just as on the spot in person.Further, the visual field is expanded to more than 360 ° of x 180 °, nothing by it
Distortion, has feeling of immersion.
Certainly, the arbitrary product implementing the present invention it is not absolutely required to reach all the above excellent simultaneously
Point.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, institute in embodiment being described below
The accompanying drawing needed does simple introduction, it should be apparent that, drawings discussed below is only the one of the present invention
A little embodiments, for those of ordinary skill in the art, on the premise of not paying creative work,
Other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the fish-eye 3D panorama display packing flow chart of the embodiment of the present invention.
Fig. 2 fish eye lens shooting image schematic diagram.
Fig. 3 is the fish eye images calibrating parameters schematic diagram of the present invention.
Fig. 4-1 is half spherical model (camera lens level the is upwards) schematic diagram of the embodiment of the present invention.
Fig. 4-2 is the embodiment of the present invention half spherical model (camera lens level is upwards) and the mapping of fish eye images is shown
It is intended to.
The original fish eye images (camera lens level is upwards) that Fig. 4-3 uses for the embodiment of the present invention.
Fig. 4-1 is used OpenGL/D3D to render half spherical model, outer viewpoint for the embodiment of the present invention by Fig. 4-4
Time display image.
Fig. 4-1 is used OpenGL/D3D to render half spherical model for the embodiment of the present invention by Fig. 4-5, interior viewpoint,
The display image in horizontal line of sight direction ().
Fig. 4-1 is used OpenGL/D3D to render half spherical model for the embodiment of the present invention by Fig. 4-6, interior viewpoint,
The display image in horizontal line of sight direction (two).
Fig. 4-1 is used OpenGL/D3D to render half spherical model for the embodiment of the present invention by Fig. 4-7, interior viewpoint,
The display image in vertical coverage direction.
Fig. 5-1 is half spherical model (camera lens level the is downward) schematic diagram of the embodiment of the present invention.
Fig. 5-2 is the embodiment of the present invention half spherical model (camera lens level is downward) and the mapping of fish eye images is shown
It is intended to.
The original fish eye images (camera lens level is downward) that Fig. 5-3 uses for the embodiment of the present invention.
Fig. 5-1 is used OpenGL/D3D to render half spherical model, outer viewpoint for the embodiment of the present invention by Fig. 5-4
Time display image.
Fig. 5-1 is used OpenGL/D3D to render half spherical model for the embodiment of the present invention by Fig. 5-5, interior viewpoint,
The display image in horizontal line of sight direction ().
Fig. 5-1 is used OpenGL/D3D to render half spherical model for the embodiment of the present invention by Fig. 5-6, interior viewpoint,
The display image in horizontal line of sight direction (two).
Fig. 5-1 is used OpenGL/D3D to render half spherical model for the embodiment of the present invention by Fig. 5-7, interior viewpoint,
The display image in vertical coverage direction.
Fig. 6-1 is half spherical model (camera lens forward direction) schematic diagram of the embodiment of the present invention.
Fig. 6-2 is the mapping schematic diagram of the embodiment of the present invention half spherical model (camera lens forward direction) and fish eye images.
The original fish eye images (camera lens forward direction) that Fig. 6-3 uses for the embodiment of the present invention.
Fig. 6-1 is used OpenGL/D3D to render half spherical model, outer viewpoint for the embodiment of the present invention by Fig. 6-4
Time display image.
Fig. 6-1 is used OpenGL/D3D to render half spherical model for the embodiment of the present invention by Fig. 6-5, interior viewpoint,
The display image in horizontal line of sight direction (front).
Fig. 6-1 is used OpenGL/D3D to render half spherical model for the embodiment of the present invention by Fig. 6-6, interior viewpoint,
The display image in horizontal line of sight direction (left side).
Fig. 6-1 is used OpenGL/D3D to render half spherical model for the embodiment of the present invention by Fig. 6-7, interior viewpoint,
The display image in horizontal line of sight direction (right side).
Fig. 6-1 is used OpenGL/D3D to render half spherical model for the embodiment of the present invention by Fig. 6-8, interior viewpoint,
The display image in vertical coverage direction (upwards).
Fig. 6-3 is used OpenGL/D3D to render half spherical model for the embodiment of the present invention by Fig. 6-9, interior viewpoint,
The display image in vertical coverage direction (downwards).
Fig. 7 is the fish-eye 3D panorama display system architectures schematic diagram of the embodiment of the present invention.
Detailed description of the invention
For making the goal of the invention of the present invention, feature, the advantage can be the most obvious and understandable, below will
In conjunction with the accompanying drawing 1-7 in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is described, aobvious
So, described embodiment is only a part of embodiment of the present invention, and not all embodiments.Based on this
Embodiment in invention, those of ordinary skill in the art are obtained under not making creative work premise
Every other embodiment, broadly fall into the scope of protection of the invention.
The 3D of the fish eye images in the embodiment of the present invention shows, is described in detail as a example by half spherical model,
Embodiment is readily adaptable for use in Sphere Measurement Model, cylinder model, asteroid model, 360 or 180 degree of cylinders
Expansion model, longitude correction areal model, projection correction's areal model etc.；
The embodiment of the present invention is said as a example by the fish eye lens that the horizontal and vertical visual field is 360 ° x230 °
Bright, the panoramic picture shot is reduced to 3D scene, and calculating is simple, speed is fast, real-time good, figure
Picture and/or video are smooth.Further, it also utilizes 3D Rendering to allow people see distortionless solid
Scene, just as on the spot in person.
As a kind of embodiment, the method and system of the embodiment of the present invention is applicable not only to 360 ° of x230
° fish eye lens, to other fish eye lens, such as Canon or Kodak produces, including, but not limited to 360 °
X180 ° or above fish eye lens, the image of shooting is equally applicable.
Further, owing to video is made up of a frame two field picture, the present invention is also applicable to fish eye lens
The 3D panorama of shooting video shows.
As it is shown in figure 1, the specific embodiment party of the fish-eye 3D panorama display packing of the embodiment of the present invention
Formula is as follows:
Step S100, obtains the calibrating parameters of fish eye images to original fish eye images computing；
Due to sensor and the difference of image delivering system, it is thus achieved that the size of fish eye images and the ratio of width to height also
Be not quite similar, but effective information the most in the picture between a border circular areas in, as shown in Figure 2.
The calibrating parameters of described fish eye images includes but not limited to central coordinate of circle (x0, y0) and radius R0, see figure
Calibrating parameters schematic diagram shown in 3.
As a kind of embodiment, described fish eye images carries out computing and statistic algorithm can be used to realize, but
This statistic algorithm will produce relatively large deviation when there is more black pixel point in fish eye images scene regions.
As another kind more preferably embodiment, described fish eye images carries out computing can use scan line approach
Algorithm realizes.Described scan line approach algorithm is to pass through progressive scanning picture, it is thus achieved that the circular contour of central authorities,
Calculate central coordinate of circle (x0, y0) and radius R0.This scan line approach algorithm and the black picture element within image
Point is unrelated, can overcome the deficiency of statistic algorithm.
Step S200, sets up 3D half spherical model；
For fish eye lens, constructing radius in world coordinate system is the hemisphere of R, its vertical visual field and mirror
Head effective field of view is consistent.
Fig. 4-1 by 230 ° of fish eye lenses of 360 ° of x and lens direction level upwards as a example by illustrate, should
The vertical visual field of half spherical model that camera lens is corresponding is also 230 °, is the half of vertical visual field with y-axis angle,
It is 115 °, increases 25 ° than 90 ° of half spherical model vertical angle.In Fig. 4-1 definition of coordinate system with
In OpenGL system, the definition [Descartes (Descartes) right-handed coordinate system] of world coordinate system is consistent
, it is simple to use OpenGL technology to carry out 3D and render.
If using D3D technology to render, it is preferred that the world coordinate system of this model and the one of D3D employing
Cause, i.e. Descartes's left-handed coordinate system.
As another kind of embodiment, half spherical model itself can also be unrelated with flake parameter, such as, take
The unit hemisphere of R=1, its half spherical model itself is unrelated with flake parameter.
Step S300, sets up the texture between summit and the described original fish eye images of described 3D half spherical model
Mapping relations；
It is preferred that described step S300 comprises the steps:
Step S310, using described original fish eye images as texture image pinup picture in set up described 3D hemisphere
On model；
Described original fish eye images as texture image pinup picture in set up 3D half spherical model on, the most accurately
Mapping relations guarantee reduction 3D scene undistorted.
Fig. 4-2 is the mapping schematic diagram of half spherical model and fish eye images.In figure,θ be model points P (x, y, z)
Respectively with x, the angle of y-axis, R is model radius, and r is the distance in the image mapping point distance center of circle.
The embodiment of the present invention can use trigonometric function model to carry out pinup picture, such as Orthographic (just penetrating),
The mapping function that Equisolid angle (solid angle), Stereographic (globular projection) use
Being respectively r=f sin (θ), r=2f sin (θ/2), r=2f tan (θ/2), wherein f is flake
The focal length of camera lens.But, the shortcoming of these models is as the increase distortion of θ and increases, and effect is undesirable.
It is preferred that the embodiment of the present invention can also use multinomial model r=k0+k1θ+k2θ2+...+
knθn, wherein, k0...knFor constant coefficient, n is positive integer, which overcomes and increases along with the increase of θ distorts,
The problem that effect is undesirable.
Step S320, calculates texture coordinate (u, the such as following formula of formula v) (1), (2), wherein (x0, y0)
For the central coordinate of circle of fish eye images, W, H are picture traverse and height.
U=(r cos (θ)+x0)/W (1)
V=(r sin (θ)+y0)/H (2)
Step S400, irradiates relation according to described texture, binds original fish eye images, carry out
3D renders, the described 3D panorama display image after being rendered.
The embodiment of the present invention utilizes 3D Rendering, as OpenGL (Open Graphics Library,
Open graphic library), D3D (Direct3D), or other 3D Renderings, using fish eye images as
Texture image, according to the texture mapping relations set, is mapped on 3D half spherical model built up, finally leads to
Cross and render 3D half spherical model and obtain distortionless stereo scene.
Described step S400 comprises the steps:
Step S410, is divided into grid by 3D half spherical model by longitude and latitude, the intersection point conduct of grid
The summit (Vertex) of OpenGL/D3D, and with in step S300 obtain five dimensional vectors (x, y, z, u, v)
Describing summit, wherein, (x, y, z) be the three-dimensional world coordinate on summit, and (u v) is the texture of fish eye images
Coordinate, sees Fig. 4-2, and the set on all summits constitutes the hemisphere solid that OpenGL/D3D can render.
Step S420, utilizes the Texture Mapping Technology of OpenGL/D3D, and original fish eye images is bound stricture of vagina
Reason image, by setting world's conversion, view transformation, projective transformation matrix, and calls OpenGL/D3D
Draw function draw vertex set obtain different rendering effect.
Utilize the Texture Mapping Technology of OpenGL/D3D, by the fisheye photo of original fish eye images or video
A two field picture next bind texture image, as long as setting world's conversion, view transformation, projection change
Change matrix, and the function of drawing calling OpenGL/D3D draws vertex set i.e. it can be seen that different renders effect
Really.
Fig. 4-4 be viewpoint outside half spherical model, sight line is towards the rendering effect of hemisphere；
Fig. 4-5, Fig. 4-6, Fig. 4-7 be viewpoint in half spherical model, sight line is towards outside different directions
Rendering effect.
It will be seen that in such a mode, the serious fish eye images that distorts in Fig. 4-1 has been corrected as
Distortionless normal picture, effect is much better than other universal method.And, by changing direction of visual lines energy
Enough see level 360 ° one week, vertically to the stereoscopic image on the crown.Not only take full advantage of fish eye images
Information, does not has any loss, and without the slightest difference with true environment, and third dimension is strong.
Owing to texture coordinate directly acts on fish eye images, there is no intermediate conversion process, calculate speed
Hurry up, the present invention shows excellence during real-time flake video flowing and flake playback of video files.
Compared with spliced panoramic, the present invention does not has the problems such as any blind area, brightness disproportionation, ghost image, ghost；
And calculating simple, real-time is good.
Step S500, interacts 3D panorama display image.
For coordinate 3D display effect, available mouse move (including but not limited to the equipment such as computer),
Finger slides (including but not limited to the mobile device such as mobile phone, Ipad) or shaking equipment utilizes himself
Gravity sensing change direction of visual lines, it is seen that complete 3D scene, obtain mutual 3D panoramic picture.
Fig. 5-1～Fig. 5-7, Fig. 6-1～Fig. 6-9 are respectively with 230 ° of fish eye lenses of 360 ° of x and camera lens level
Downwards, illustrate as a example by forward direction.In figure, world coordinate system, five dimensional vectors (x, y, z, u, determining v)
Texture mapping model adopted and used with camera lens level upwards time be consistent, give simultaneously outer viewpoint,
Rendering effect during interior viewpoint different sight direction.
For solving the problems of the prior art of the present invention, the present invention also provides for a kind of fish eye lens shooting image
3D panorama display system, as it is shown in fig. 7, comprises demarcating module 10, set up model module 20, build
Vertical texture mapping relations module 30, and binding module 40；Wherein:
Described demarcating module 10, for obtaining the calibrating parameters of fish eye images to original fish eye images computing；
Described set up model module 20, for the calibrating parameters according to described fish eye images, set up 3D hemisphere
Model；
Described set up texture mapping relations module 30, for setting up the summit of described 3D half spherical model with described
Texture mapping relations between original fish eye images；
Described binding module 40, for irradiating relation according to described texture, is carried out original fish eye images
Binding, obtains described 3D panorama display image.
As a kind of preferred embodiment, described set up texture mapping relations module 30, including pinup picture submodule
31 and calculating sub module 32, wherein:
Described pinup picture submodule 31, for using described original fish eye images as texture image pinup picture in foundation
Described 3D half spherical model on；
Described calculating sub module 32, for by formula (1), (2) calculate texture coordinate (u, v).
As a kind of preferred embodiment, the 3D panorama of the fish eye lens shooting image of the embodiment of the present invention shows
Showing system, described binding module 40, including rendering submodule 41, for according to the original fish after binding
Eye pattern picture carries out 3D and renders, the described 3D panorama display image after being rendered.
3D half spherical model is divided into grid by longitude and latitude by described binding module 40, the intersection point conduct of grid
The summit (Vertex) of OpenGL/D3D, and with obtain five dimensional vectors (x, y, z, u, v) describe summit, its
In, (x, y, z) be the three-dimensional world coordinate on summit, and (u v) is the texture coordinate of fish eye images, all tops
The set of point constitutes the hemisphere solid that OpenGL/D3D can render.
Utilize the Texture Mapping Technology of OpenGL/D3D, by the two field picture binding in fisheye photo or video
For texture image, next set world's conversion, view transformation, projective transformation matrix, and call
The function of drawing of OpenGL/D3D draws vertex set i.e. it can be seen that different rendering effect.
As a kind of preferred embodiment, the 3D panorama of the fish eye lens shooting image of the embodiment of the present invention shows
Show system, still further include interactive module 50, for 3D panorama display image is interacted.
The embodiment of the present invention fish eye lens shooting image 3D panorama display system, the process of its work with
The 3D panorama display packing of the fish eye lens shooting image of the embodiment of the present invention is essentially identical, therefore, at this
Invent about in the work specification of this system, repeated description the most one by one.
In the embodiment of the present invention, the panoramic picture being shot fish eye lens uses 3D model to be reduced to 3D
Scene, calculate simple, speed is fast, real-time good, image and/or video smooth.It further can be straight
Connect and utilize GPU (Graphics Processing Unit, graphic process unit) to carry out 3D rendering operation,
People is allowed to see distortionless stereo scene, just as on the spot in person.Which solve existing flake panorama vertically to regard
Open country is less, calibration result is undesirable, the lossy problem of information, and only 2D plane display effect
Limitation.Further, the visual field is expanded to more than 360 ° of x 180 ° by it, undistorted, has feeling of immersion.
Each embodiment in this specification all uses the mode gone forward one by one to describe, identical between each embodiment
Similar part sees mutually, and what each embodiment stressed is different from other embodiments
Part.For system or system embodiment, owing to it is similar to embodiment of the method, so
Describing fairly simple, relevant part sees the part of embodiment of the method and illustrates.Described above
System and system embodiment are only schematically, and the wherein said unit illustrated as separating component is permissible
Being or may not be physically separate, the parts shown as module can be or can not also
It is physical location, i.e. may be located at a place, or can also be distributed on multiple mixed-media network modules mixed-media.Can
To select some or all of module therein to realize the mesh of the present embodiment scheme according to the actual needs
's.Those of ordinary skill in the art, in the case of not paying creative work, are i.e. appreciated that and implement.
Those of ordinary skill in the art should further appreciate that, in conjunction with reality disclosed herein
Execute unit and the algorithm steps of each example that example describes, it is possible to electronic hardware, computer software or two
Person is implemented in combination in, in order to clearly demonstrate the interchangeability of hardware and software, the most
Through generally describing composition and the step of each example according to function.These functions are actually with hardware still
Software mode performs, and depends on application-specific and the design constraint of technical scheme.This area is common
Technical staff can use different methods to realize described function to each specifically should being used for, but
This realization is it is not considered that beyond the scope of this invention.
The method described in conjunction with the embodiments described herein or the step of algorithm can use hardware, process
The software module that device performs, or the combination of the two implements.Software module can be placed in random access memory
(RAM), internal memory, read only memory (ROM), electrically programmable ROM, electrically erasable ROM,
Other form any well known in depositor, hard disk, moveable magnetic disc, CD-ROM or technical field
Storage medium in.
Above-described detailed description of the invention, enters rail to the purpose of the present invention, technical scheme and beneficial effect
Road further describes, and be it should be understood that the detailed description of the invention that the foregoing is only the present invention
, the protection domain that is not intended to limit the present invention, all within the spirit and principles in the present invention, institute
Any modification, equivalent substitution and improvement etc. done, should be included within the scope of the present invention.
Claims (12)
1. a fish-eye 3D panorama display packing, it is characterised in that comprise the steps:
Original fish eye images computing is obtained the calibrating parameters of fish eye images；
Set up 3D model；
Set up the texture mapping relations between the summit of described 3D model and described original fish eye images；
Irradiate relation according to described texture, original fish eye images is bound, obtains 3D panorama and show
Image.
3D panorama display packing the most according to claim 1, it is characterised in that described to original
After fish eye images is bound, also comprise the steps:
After binding original fish eye images, carrying out 3D and render, the described 3D panorama after being rendered shows
Image.
3D panorama display packing the most according to claim 1 and 2, it is characterised in that also include
Following steps:
Described 3D panorama display image is interacted.
3D panorama display packing the most according to claim 2, it is characterised in that described fish-eye image
Statistic algorithm or scan line approach algorithm is used to realize as carrying out computing.
3D panorama display packing the most according to claim 4, it is characterised in that described set up stricture of vagina
Reason mapping relations, comprise the steps:
Using described original fish eye images as texture image pinup picture in set up described 3D model on；
Calculating texture coordinate (u, v).
3D panorama display packing the most according to claim 5, it is characterised in that described in paste
Figure uses trigonometric function model or multinomial model.
3D panorama display packing the most according to claim 6, it is characterised in that described multinomial
Model is r=k0+k1θ+k2θ2+...+knθn, wherein, k0...knFor constant coefficient, n is positive integer；
Described calculating texture coordinate (u, formula v) is as follows:
U=(r cos (θ)+x0)/W
V=(r sin (θ)+y0)/H
Wherein (x0, y0) it is the central coordinate of circle of fish eye images, W, H are picture traverse and height.
3D panorama display packing the most according to claim 7, it is characterised in that described to original
Fish eye images is bound, and comprises the steps:
By longitude and latitude, 3D model is divided into grid, and the intersection point of grid is as summit, and with five obtained
Dimensional vector (x, y, z, u, v) describe described summit, wherein, (x, y, z) be the three-dimensional world coordinate on summit,
(u, v) is the texture coordinate of fish eye images, and the set on all summits constitutes the solid that can render；
Utilize Texture Mapping Technology, original fish eye images is bound texture image, become by setting the world
Change, view transformation, projective transformation matrix, and call drafting function draw vertex set obtain different effects
Really.
9. the 3D panorama display system of a fish eye lens shooting image, it is characterised in that include demarcating
Module, sets up model module, sets up texture mapping relations module, and binding module；
Wherein:
Described demarcating module, for obtaining the calibrating parameters of fish eye images to original fish eye images computing；
Described set up model module, be used for setting up 3D model；
Described set up texture mapping relations module, for setting up the summit of described 3D model and described original fish
Texture mapping relations between eye pattern picture；
Described binding module, for irradiating relation according to described texture, ties up original fish eye images
Fixed, obtain 3D panorama display image.
3D panorama display system the most according to claim 10, it is characterised in that described foundation
Texture mapping relations module, including pinup picture submodule and calculating sub module, wherein:
Described pinup picture submodule, for using described original fish eye images as texture image pinup picture in set up
On described 3D model；
Described calculating sub module, be used for calculating texture coordinate (u, v).
11. 3D panorama display systems according to claim 9, it is characterised in that described binding mould
Block, including rendering submodule, carries out 3D for basis to the original fish eye images after binding and renders, obtain
Described 3D panorama display image after rendering.
12. 3D panorama display systems according to claim 9, it is characterised in that also include mutual
Module, for interacting described 3D panorama display image.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610049506.0A CN105957048A (en) | 2016-01-26 | 2016-01-26 | 3D panorama display method and system of shooting image through fish eye lens |
| PCT/CN2016/110631 WO2017128887A1 (en) | 2016-01-26 | 2016-12-19 | Method and system for corrected 3d display of panoramic image and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610049506.0A CN105957048A (en) | 2016-01-26 | 2016-01-26 | 3D panorama display method and system of shooting image through fish eye lens |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105957048A true CN105957048A (en) | 2016-09-21 |
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| CN106815870A (en) * | 2016-12-16 | 2017-06-09 | 珠海研果科技有限公司 | The method and system of panorama camera device is demarcated in a kind of machine |
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| CN107886468A (en) * | 2016-09-29 | 2018-04-06 | 阿里巴巴集团控股有限公司 | Mapping method, reconstruction, processing method and the corresponding intrument and equipment of panoramic video |
| CN106570938A (en) * | 2016-10-21 | 2017-04-19 | 哈尔滨工业大学深圳研究生院 | OPENGL based panoramic monitoring method and system |
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| CN108269234A (en) * | 2016-12-30 | 2018-07-10 | 成都观界创宇科技有限公司 | A kind of lens of panoramic camera Attitude estimation method and panorama camera |
| WO2018157350A1 (en) * | 2017-03-02 | 2018-09-07 | 深圳岚锋创视网络科技有限公司 | Horizontal calibration method and system for panoramic image or video, and portable terminal |
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| CN107248193A (en) * | 2017-05-22 | 2017-10-13 | 北京红马传媒文化发展有限公司 | The method, system and device that two dimensional surface is switched over virtual reality scenario |
| CN107808367A (en) * | 2017-11-29 | 2018-03-16 | 天津聚飞创新科技有限公司 | Fisheye image correcting method, device, unmanned plane and storage medium |
| CN110536076A (en) * | 2018-05-23 | 2019-12-03 | 福建天晴数码有限公司 | A kind of method and terminal that Unity panoramic video is recorded |
| CN110728619A (en) * | 2018-07-17 | 2020-01-24 | 中科创达软件股份有限公司 | Panoramic image splicing and rendering method and device |
| CN109388455A (en) * | 2018-09-14 | 2019-02-26 | 浩云科技股份有限公司 | It is a kind of to support multi-platform fish eye images that monitoring method is unfolded based on Opengl es |
| CN109933189A (en) * | 2018-12-28 | 2019-06-25 | 惠州Tcl移动通信有限公司 | Dynamic desktop layout method, display equipment and computer storage medium |
| CN112995646A (en) * | 2021-02-09 | 2021-06-18 | 聚好看科技股份有限公司 | Display method and display device of fisheye video |
| CN113132708B (en) * | 2021-04-22 | 2022-02-22 | 贝壳找房(北京)科技有限公司 | Method and apparatus for acquiring three-dimensional scene image using fisheye camera, device and medium |
| CN113132708A (en) * | 2021-04-22 | 2021-07-16 | 北京房江湖科技有限公司 | Method and apparatus for acquiring three-dimensional scene image using fisheye camera, device and medium |
| CN113473104A (en) * | 2021-07-12 | 2021-10-01 | 广州浩传网络科技有限公司 | Video playing method, player and playing device based on naked eye VR |
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