CN106791762A - Method for processing stereo image and system - Google Patents
Method for processing stereo image and system Download PDFInfo
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- CN106791762A CN106791762A CN201611021968.8A CN201611021968A CN106791762A CN 106791762 A CN106791762 A CN 106791762A CN 201611021968 A CN201611021968 A CN 201611021968A CN 106791762 A CN106791762 A CN 106791762A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
- H04N13/106—Processing image signals
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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- Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
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Abstract
The present invention announces a kind of method for processing stereo image and system, scheme uses six fish eye lenses of horizontal direction, six fish eye images for obtaining are launched into longitude and latitude image, six relative positions of fish eye images are found by Feature Points Matching, obtain the anglec of rotation row that each fish eye images rotates around X-axis, around the anglec of rotation pitch of Y-axis rotation, around the anglec of rotation yaw of Z axis rotation, splicing is fused into panoramic picture, according to the good position of Panorama Mosaic, extract the splicing block of longitude and latitude image center line left side and each 60 degree of angles of visual field in right side, splicing generation left eye visual angle panoramic picture and right-eye perspectives panoramic picture, finally 3D stereoscopic full views images will be generated after left eye visual angle panoramic picture and right-eye perspectives panoramic picture synchronization process.The 3D stereoscopic full views images of technical solution of the present invention generation improve Consumer's Experience, eliminate subtense angle, enhance the experience sense and feeling of immersion of user, enhance product competitiveness.
Description
Technical field
The invention belongs to image processing field, more particularly to a kind of method for processing stereo image and system.
Background technology
Development and prevalence with 3D stereovision techniques and panorama shooting device, people are to the requirement of 3D stereo vision experiences
Constantly lifting, panoramic picture can record 360 ° of image, bring the strong sense of reality and stereoscopic vision, this panorama
Record to exist in the multiple industries such as tourism, live, video display, real estate and be widely applied.Current 3D three-dimensional video-frequency processing modes
Most of is to use 360 ° of panoramic picture to generate the stereo-picture with right and left eyes parallax, and disparity computation problem therein does not have
It is well solved, causes Consumer's Experience poor, have impact on the use feeling of user.
In view of the deficiencies in the prior art, it is necessary to which the deficiencies in the prior art are improved, to lift the experience of user.
The content of the invention
It is an object of the invention to provide a kind of processing method and system of generation 3D stereopsis, it is intended to solve prior art
The problem of parallax experienced that middle 3D stereopsis treatment is caused, lifts the Experience Degree of user.
The present invention provides a kind of stereopsis processing system, including fish eye images acquisition module, further includes：
Panorama Mosaic module, for carrying out the fish eye images of acquisition to be spliced into panoramic picture；
Left eye visual angle generation module, the left eye visual angle splicing block for generating panoramic picture is spelled after extracting left eye visual angle splicing block
It is connected in left eye visual angle panoramic picture；
Right-eye perspectives generation module, the right-eye perspectives splicing block for generating panoramic picture is spelled after extracting right-eye perspectives splicing block
It is connected in right-eye perspectives panoramic picture；
Stereopsis generation module, for synchronous left eye visual angle panoramic picture and right-eye perspectives panoramic picture, generates stereoscopic full views
Image.
Further, the fish eye images acquisition module described in stereopsis processing system is by least six ultra-wide angle flake mirrors
Head composition.
Further, the stereopsis described in stereopsis processing system includes video and image.
Further, fish eye images are expanded into longitude and latitude by the Panorama Mosaic module described in stereopsis processing system
Image, six relative positions of fish eye images are found by Feature Points Matching, obtain the rotation that each fish eye images rotates around X-axis
Gyration row, the anglec of rotation pitch around Y-axis rotation, the anglec of rotation yaw around Z axis rotation, splicing are fused into panorama
Image.
Further, described stereopsis processing system, left eye visual angle therein generation module chooses longitude and latitude image
The center line left side take the image of 60 degree of the angle of visual field as splicing block.
Further, described stereopsis processing system, right-eye perspectives generation module therein chooses longitude and latitude image
Center line the right take the image of 60 degree of the angle of visual field as splicing block.
The present invention provides a kind of method for processing stereo image, including starts fish eye images acquisition module acquisition fish eye images
Step, it is further comprising the steps：
Start Panorama Mosaic module, fish eye images are spliced；
Start left eye visual angle generation module, generation left eye visual angle splicing block is further spliced into left eye visual angle panoramic picture；
Start right-eye perspectives generation module, generate right-eye perspectives splicing block, be further spliced into right-eye perspectives panoramic picture；
Start stereopsis generation module, generate stereoscopic panoramic image.
Further, described method for processing stereo image, described fish eye images acquisition module is by least six super wide
Angle fish eye lens composition.
Further, described method for processing stereo image, described stereopsis includes video and image.
Further, described method for processing stereo image, described Panorama Mosaic module launches fish eye images
It is longitude and latitude image, six relative positions of fish eye images is found by Feature Points Matching, obtains each fish eye images around X-axis
The anglec of rotation row of rotation, the anglec of rotation pitch around Y-axis rotation, the anglec of rotation yaw around Z axis rotation, splicing are melted
Synthesis panoramic picture.
Further, described method for processing stereo image, described left eye visual angle generation module chooses longitude and latitude image
The center line left side take the image of 60 degree of the angle of visual field as splicing block.
Further, described method for processing stereo image, described right-eye perspectives generation module chooses longitude and latitude image
Center line the right take the image of 60 degree of the angle of visual field as splicing block.
The present invention program uses at least six fish eye lenses of horizontal direction, and at least six fish eye images that will be obtained launch
Into longitude and latitude image, six relative positions of fish eye images are found by Feature Points Matching, obtain each fish eye images around X-axis
The anglec of rotation row of rotation, the anglec of rotation pitch around Y-axis rotation, the anglec of rotation yaw around Z axis rotation, splicing are melted
Synthesis panoramic picture.According to the good position of panoramic mosaic, longitude and latitude image center line left side and each 60 degree of angles of visual field in right side are extracted
Splicing block, splicing generation left eye visual angle panoramic picture and right-eye perspectives panoramic picture, left eye visual angle panoramic picture and right eye are regarded
3D stereoscopic full views images are generated after the panoramic picture synchronization process of angle.The 3D stereoscopic full views image lifting of technical solution of the present invention generation
Consumer's Experience, eliminates subtense angle, enhances the experience sense and feeling of immersion of user, enhances product competitiveness.
Brief description of the drawings
Fig. 1 stereopsis processing system schematic diagrames.
Fig. 2 method for processing stereo image flow charts.
Fig. 3 Panorama Mosaic block flow diagrams.
Fig. 4 Feature Points Matching schematic diagrames.
Fig. 5 left eyes visual angle generation module process chart.
Fig. 6 left eyes visual angle splicing block extracts schematic diagram.
Fig. 7 right-eye perspectives generation module process charts.
Fig. 8 right-eye perspectives splicing block extracts schematic diagram.
Fig. 9 stereopsis generation module processes schematic diagram.
Figure 10 stereopsis forms schematic diagram.
Specific embodiment
In order that the purpose of the present invention, technical scheme and beneficial effect become more apparent, below in conjunction with accompanying drawing and implementation
Example, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used to explain this hair
It is bright, it is not intended to limit the present invention.
For convenience, the present embodiment is illustrated by taking panoramic picture as an example, and those skilled in the art are it is to be understood that originally
Scheme of the invention can also be applied to panoramic video process field.
It is as shown in Figure 1 stereopsis processing system schematic diagram of the present invention, the stereopsis processing system includes fish-eye image
As acquisition module 101, for obtaining fish eye images；The electrical connection fish eye images of Panorama Mosaic module 102 acquisition module 101,
For the fish eye images of acquisition to be carried out to be spliced into panoramic picture；Left eye visual angle generation module 103 and right-eye perspectives generation module
104 electrically connect with Panorama Mosaic module 102 respectively；Left eye visual angle generation module 103, the left eye for extracting panoramic picture
Visual angle splicing block, generation left eye visual angle panoramic picture；Right-eye perspectives generation module 104, the right eye for extracting panoramic picture is regarded
Angle splicing block, generates right-eye perspectives panoramic picture；Stereopsis generation module 105 respectively with left eye visual angle generation module 103 and
Right-eye perspectives generation module 104 is electrically connected, and for synchronous left eye visual angle panoramic picture and right-eye perspectives panoramic picture, generation is three-dimensional
Panoramic picture.
Method for processing stereo image flow chart is illustrated in figure 2, first, step S201 starts fish eye images acquisition module,
Obtain fish eye images I1, I2, I3, I4, I5, I6, step S202 start Panorama Mosaic module, by fish eye images I1, I2,
I3, I4, I5, I6 are spliced, and step S203 starts left eye visual angle generation module, generation left eye visual angle panoramic picture, step
S204 starts right-eye perspectives generation module, generates right-eye perspectives panoramic picture, and step S205 starts stereopsis generation module, raw
Into stereoscopic panoramic image.
Panorama Mosaic block flow diagram is illustrated in figure 3, and combines Fig. 4 feature of present invention Point matching schematic diagrames, it is first
First, step S301 obtains fish eye images I1, I2, I3, I4, I5, I6, and then, step S302 is according to default flake Mathematical Modeling
Fish eye images I1, I2, I3, I4, I5, I6 are each expanded into longitude and latitude image, step S303 finds six by Feature Points Matching
The relative position of individual fish eye images, obtains anglec of rotation row, the rotation around Y-axis rotation that each fish eye images rotates around X-axis
Longitude and latitude image mosaic is fused into panoramic picture by gyration pitch, the anglec of rotation yaw around Z axis rotation, step S304.
Left eye visual angle generation module process chart of the present invention is illustrated in figure 5, first, step S501 generation left eyes visual angle
Splicing block, is extracted shown in schematic diagram with reference to Fig. 6 left eyes visual angle splicing block, and the angle of visual field 60 is taken on the longitude and latitude picture centre line AB left sides
Used as splicing block, six width longitude and latitude figures extract six pieces of LOOK LEFT splicing blocks to the image of degree successively, are designated as L1, L2, L3, L4, L5, L6.
Step S502 extracts left eye visual angle splicing block, and two splicing blocks for closing on are spliced successively, finally gives a Zhang Quanjing image LP, such as
The right of splicing block L1 carries out splicing and merges with the left side of splicing block L2, step S503 generation left eyes visual angle panoramic picture, will be complete
Scape image LP is converted into three-dimensional ball-type panorama, and using the centre of sphere as left eye position, obtains left eye visual angle panoramic picture.
Right-eye perspectives generation module process chart of the present invention is illustrated in figure 7, first, step S701 generation right-eye perspectives
Splicing block, is extracted shown in schematic diagram with reference to Fig. 8 right-eye perspectives splicing block, and the angle of visual field 60 is taken on the right of longitude and latitude picture centre line AB
Used as splicing block, six width longitude and latitude figures extract six pieces of LOOK RIGHT splicing blocks to the image of degree successively, are designated as R1, R2, R3, R4, R5, R6.
Step S702 extracts right-eye perspectives splicing block, and two splicing blocks for closing on are spliced successively, finally gives a Zhang Quanjing image RP, such as
The right of splicing block R1 carries out splicing and merges with the left side of splicing block R2, step S703 generation right-eye perspectives panoramic pictures, will be complete
Scape image RP is converted into three-dimensional ball-type panorama, and using the centre of sphere as right eye position, obtains right-eye perspectives panoramic picture.
Formed and illustrated with reference to Fig. 9 stereopsis generation module treatment schematic diagrames of the present invention and Figure 10 stereopsis of the present invention
Figure, first, step S901 obtains the left eye visual angle panoramic picture and right-eye perspectives generation module of left eye visual angle generation module generation
The right-eye perspectives panoramic picture of generation, step S902 carries out the left eye visual angle panoramic picture and right-eye perspectives panoramic picture of acquisition
Synchronous fusion, and the rotation and translation of image is carried out, step S903 combination left eye visual angle panoramic picture and right-eye perspectives panorama sketch
Picture, generates stereoscopic panoramic image.
One of ordinary skill in the art will appreciate that all or part of step in realizing above-described embodiment method can be
The hardware of correlation is instructed to complete by program, described program can be stored in a computer read/write memory medium,
Described storage medium, such as ROM/RAM, disk, CD.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (12)
1. a kind of stereopsis processing system, including fish eye images acquisition module, it is characterised in that further include：
Panorama Mosaic module, for the fish eye images of acquisition to be spliced into panoramic picture；
Left eye visual angle generation module, the left eye visual angle splicing block for generating panoramic picture is spelled after extracting left eye visual angle splicing block
It is connected in left eye visual angle panoramic picture；
Right-eye perspectives generation module, the right-eye perspectives splicing block for generating panoramic picture is spelled after extracting right-eye perspectives splicing block
It is connected in right-eye perspectives panoramic picture；
Stereopsis generation module, for synchronous left eye visual angle panoramic picture and right-eye perspectives panoramic picture, generates stereoscopic full views
Image.
2. stereopsis processing system as claimed in claim 1, it is characterised in that described fish eye images acquisition module is by extremely
Few six ultra-wide angle fish eye lenses composition.
3. stereopsis processing system as claimed in claim 1, it is characterised in that described stereopsis includes video and figure
Picture.
4. stereopsis processing system as claimed in claim 1, it is characterised in that Panorama Mosaic module therein is by fish
Eye pattern picture expands into longitude and latitude image, and six relative positions of fish eye images are found by Feature Points Matching, obtains each flake
Anglec of rotation row, the anglec of rotation pitch around Y-axis rotation, the anglec of rotation around Z axis rotation that image rotates around X-axis
Yaw, splicing is fused into panoramic picture.
5. stereopsis processing system as claimed in claim 1, it is characterised in that left eye visual angle therein generation module is chosen
The center line left side of longitude and latitude image takes the image of 60 degree of the angle of visual field as left eye visual angle splicing block.
6. stereopsis processing system as claimed in claim 1, it is characterised in that right-eye perspectives generation module therein is chosen
Center line the right of longitude and latitude image takes the image of 60 degree of the angle of visual field as right-eye perspectives splicing block.
7. the step of a kind of method for processing stereo image, including startup fish eye images acquisition module obtains fish eye images, its feature
It is, it is further comprising the steps：
Start Panorama Mosaic module, fish eye images are spliced；
Start left eye visual angle generation module, generate the left eye visual angle splicing block of panoramic picture, spelled after extracting left eye visual angle splicing block
It is connected in left eye visual angle panoramic picture；
Start right-eye perspectives generation module, generate the right-eye perspectives splicing block of panoramic picture, spelled after extracting right-eye perspectives splicing block
It is connected in right-eye perspectives panoramic picture；
Start stereopsis generation module, generate stereoscopic panoramic image.
8. method for processing stereo image as claimed in claim 7, it is characterised in that described fish eye images acquisition module is by extremely
Few six ultra-wide angle fish eye lenses composition.
9. method for processing stereo image as claimed in claim 7, it is characterised in that described stereopsis includes video and figure
Picture.
10. method for processing stereo image as claimed in claim 7, it is characterised in that described Panorama Mosaic module will
Fish eye images expand into longitude and latitude image, and six relative positions of fish eye images are found by Feature Points Matching, obtain each fish
Anglec of rotation row, the anglec of rotation pitch around Y-axis rotation, the anglec of rotation around Z axis rotation that eye pattern picture rotates around X-axis
Degree yaw, splicing is fused into panoramic picture.
11. method for processing stereo image as claimed in claim 7, it is characterised in that described left eye visual angle generation module choosing
The learn from else's experience center line left side of latitude image takes the image of 60 degree of the angle of visual field as left eye visual angle splicing block.
12. method for processing stereo image as claimed in claim 7, it is characterised in that described right-eye perspectives generation module choosing
Learn from else's experience latitude image center line the right take the image of 60 degree of the angle of visual field as right-eye perspectives splicing block.
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| WO2019001255A1 (en) * | 2017-06-26 | 2019-01-03 | 深圳岚锋创视网络科技有限公司 | Method, device, and portable terminal for stitching panoramic image |
| CN109308686A (en) * | 2018-08-16 | 2019-02-05 | 北京市商汤科技开发有限公司 | A kind of fish eye images processing method and processing device, equipment and storage medium |
| CN115174805A (en) * | 2022-06-27 | 2022-10-11 | 影石创新科技股份有限公司 | Panoramic stereo image generation method and device and electronic equipment |
| WO2022227068A1 (en) * | 2021-04-30 | 2022-11-03 | Google Llc | Intermediate view synthesis between wide-baseline panoramas |
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| CN106791762B (en) | 2019-04-30 |
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