CN106791762B - Method for processing stereo image and system - Google Patents
Method for processing stereo image and system Download PDFInfo
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- CN106791762B CN106791762B CN201611021968.8A CN201611021968A CN106791762B CN 106791762 B CN106791762 B CN 106791762B CN 201611021968 A CN201611021968 A CN 201611021968A CN 106791762 B CN106791762 B CN 106791762B
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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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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 that will acquire are launched into longitude and latitude image, the relative position of six fish eye images is found by Feature Points Matching, obtain the rotation angle row that each fish eye images surround X-axis rotation, around the rotation angle pitch of Y-axis rotation, around the rotation angle yaw of Z axis rotation, splicing is fused into panoramic picture, according to the good position of Panorama Mosaic, extract the splicing block of each 60 degree of field angles of longitude and latitude image middle line left and right side, splicing generates left eye visual angle panoramic picture and right-eye perspectives panoramic picture, 3D stereoscopic full views image will be finally generated after left eye visual angle panoramic picture and right-eye perspectives panoramic picture synchronization process.The user experience is improved for the 3D stereoscopic full views image that technical solution of the present invention generates, and eliminates subtense angle, enhances 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 systems.
Background technique
With the development and prevalence of 3D stereovision technique and panorama shooting device, people are to the requirement of 3D stereo vision experience
It is constantly promoted, panoramic picture can recorde 360 ° of image, bring the strong sense of reality and stereoscopic vision, this panorama
Multiple industries presence such as tourism, live streaming, video display, real estate are recorded in be widely applied.Current 3D three-dimensional video-frequency processing mode
Most of is that the stereo-picture with right and left eyes parallax is generated using 360 ° of panoramic picture, and disparity computation problem therein does not have
It is well solved, causes user experience poor, affect the use feeling of user.
In view of the deficiencies in the prior art, it is necessary to improve to the deficiencies in the prior art, to promote the experience of user.
Summary of the invention
The object of the present invention is to provide a kind of processing methods and system for generating 3D stereopsis, it is intended to solve the prior art
Problem of parallax experienced caused by middle 3D stereopsis processing, promotes the Experience Degree of user.
The present invention provides a kind of stereopsis processing system, including fish eye images obtain module, further comprise:
Panorama Mosaic module, the fish eye images for will acquire carry out being spliced into panoramic picture；
Left eye visual angle generation module extracts left eye visual angle splicing block for generating the left eye visual angle splicing block of panoramic picture
After be spliced into left eye visual angle panoramic picture；
Right-eye perspectives generation module extracts right-eye perspectives splicing block for generating the right-eye perspectives splicing block of panoramic picture
After be spliced into right-eye perspectives panoramic picture；
Stereopsis generation module generates three-dimensional for synchronizing left eye visual angle panoramic picture and right-eye perspectives panoramic picture
Panoramic picture.
Further, fish eye images described in stereopsis processing system obtain module by least six ultra-wide angle flake mirrors
Head composition.
Further, stereopsis described in stereopsis processing system includes video and image.
Further, fish eye images are expanded into longitude and latitude by Panorama Mosaic module described in stereopsis processing system
Image finds the relative position of six fish eye images by Feature Points Matching, obtains the rotation that each fish eye images surround X-axis rotation
Gyration row, around Y-axis rotation rotation angle pitch, around Z axis rotation rotation angle yaw, splice be fused into panorama
Image.
Further, the stereopsis processing system, left eye visual angle therein generation module choose longitude and latitude image
The center line left side take 60 degree of field angle of image as splicing block.
Further, the stereopsis processing system, right-eye perspectives generation module therein choose longitude and latitude image
Center line on the right of take 60 degree of field angle of image as splicing block.
The present invention provides a kind of method for processing stereo image, obtains module including starting fish eye images and obtains fish eye images
Step further includes steps of
Start Panorama Mosaic module, fish eye images are spliced；
Start left eye visual angle generation module, generates left eye visual angle splicing block, be further spliced into left eye visual angle panoramic picture；
Start right-eye perspectives generation module, generates right-eye perspectives splicing block, be further spliced into right-eye perspectives panoramic picture；
Start stereopsis generation module, generates stereoscopic panoramic image.
Further, the method for processing stereo image, the fish eye images obtain module by least six super wide
Angle fish eye lens composition.
Further, the method for processing stereo image, the stereopsis include video and image.
Further, fish eye images are unfolded for the method for processing stereo image, the Panorama Mosaic module
For longitude and latitude image, the relative position of six fish eye images is found by Feature Points Matching, obtains each fish eye images around X-axis
The rotation angle row of rotation, the rotation angle pitch around Y-axis rotation, the rotation angle yaw that rotates around Z axis, splicing melts
Synthesize panoramic picture.
Further, the method for processing stereo image, the left eye visual angle generation module choose longitude and latitude image
The center line left side take 60 degree of field angle of image as splicing block.
Further, the method for processing stereo image, the right-eye perspectives generation module choose longitude and latitude image
Center line on the right of take 60 degree of field angle of image as splicing block.
The present invention program uses at least six fish eye lenses of horizontal direction, at least six fish eye images expansion that will acquire
At longitude and latitude image, the relative position of six fish eye images is found by Feature Points Matching, obtains each fish eye images around X-axis
The rotation angle row of rotation, the rotation angle pitch around Y-axis rotation, the rotation angle yaw that rotates around Z axis, splicing melts
Synthesize panoramic picture.According to the good position of panoramic mosaic, each 60 degree of field angles of longitude and latitude image middle line left and right side are extracted
Splicing block, splicing generate left eye visual angle panoramic picture and right-eye perspectives panoramic picture, and left eye visual angle panoramic picture and right eye are regarded
3D stereoscopic full views image is generated after the panoramic picture synchronization process of angle.The 3D stereoscopic full views image that technical solution of the present invention generates is promoted
User experience, eliminates subtense angle, enhances the experience sense and feeling of immersion of user, enhance product competitiveness.
Detailed description of the invention
Fig. 1 stereopsis processing system schematic diagram.
Fig. 2 method for processing stereo image flow chart.
Fig. 3 Panorama Mosaic module flow diagram.
Fig. 4 Feature Points Matching schematic diagram.
Fig. 5 left eye visual angle generation module process flow diagram.
Fig. 6 left eye visual angle splicing block extracts schematic diagram.
Fig. 7 right-eye perspectives generation module process flow diagram.
Fig. 8 right-eye perspectives splicing block extracts schematic diagram.
Fig. 9 stereopsis generation module processing schematic.
Figure 10 stereopsis forms schematic diagram.
Specific embodiment
In order to which the purpose of the present invention, technical solution and beneficial effect is more clearly understood, below in conjunction with attached 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 should know this
Scheme of the invention also can be applied to panoramic video process field.
It is as shown in Figure 1 stereopsis processing system schematic diagram of the present invention, which includes fish-eye image
As obtaining module 101, for obtaining fish eye images；Panorama Mosaic module 102 is electrically connected fish eye images and obtains module 101,
Fish eye images for will acquire carry out being spliced into panoramic picture；Left eye visual angle generation module 103 and right-eye perspectives generation module
104 are electrically connected with Panorama Mosaic module 102 respectively；Left eye visual angle generation module 103, for extracting the left eye of panoramic picture
Visual angle splicing block generates left eye visual angle panoramic picture；Right-eye perspectives generation module 104, the right eye for extracting panoramic picture regard
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 synchronizing left eye visual angle panoramic picture and right-eye perspectives panoramic picture, is generated three-dimensional
Panoramic picture.
It is illustrated in figure 2 method for processing stereo image flow chart, firstly, step S201 starting fish eye images obtain 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, generate left eye visual angle panoramic picture, step
S204 starts right-eye perspectives generation module, generates right-eye perspectives panoramic picture, step S205 starts stereopsis generation module, raw
At stereoscopic panoramic image.
It is illustrated in figure 3 Panorama Mosaic module flow diagram, and Fig. 4 feature of present invention point is combined to match schematic diagram, it is first
First, step S301 obtains fish eye images I1, I2, I3, I4, I5, I6, and then, step S302 is according to preset flake mathematical model
Fish eye images I1, I2, I3, I4, I5, I6 are respectively expanded into longitude and latitude image, step S303 finds six by Feature Points Matching
The relative position of a fish eye images obtains the rotation angle row that each fish eye images are rotated around X-axis, the rotation rotated around Y-axis
Gyration pitch, longitude and latitude image mosaic is fused into panoramic picture around rotation the angle yaw, step S304 of Z axis rotation.
It is illustrated in figure 5 left eye visual angle generation module process flow diagram of the present invention, firstly, step S501 generates left eye visual angle
Splicing block extracts shown in schematic diagram in conjunction with Fig. 6 left eye visual angle splicing block, takes field angle 60 on the left side longitude and latitude picture centre line AB
The image of degree successively extracts six pieces of LOOK LEFT splicing blocks, is denoted as L1, L2, L3, L4, L5, L6 as splicing block, six width longitude and latitude figures.
Step S502 extracts left eye visual angle splicing block, successively splices two splicing blocks closed on, finally obtains a Zhang Quanjing image LP, such as
The right of splicing block L1 carries out splicing with the left side of splicing block L2 and merges, and step S503 generates left eye 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.
It is illustrated in figure 7 right-eye perspectives generation module process flow diagram of the present invention, firstly, step S701 generates right-eye perspectives
Splicing block extracts shown in schematic diagram in conjunction with Fig. 8 right-eye perspectives splicing block, takes field angle 60 on the right of longitude and latitude picture centre line AB
The image of degree successively extracts six pieces of LOOK RIGHT splicing blocks, is denoted as R1, R2, R3, R4, R5, R6 as splicing block, six width longitude and latitude figures.
Step S702 extracts right-eye perspectives splicing block, successively splices two splicing blocks closed on, finally obtains a Zhang Quanjing image RP, such as
The right of splicing block R1 carries out splicing with the left side of splicing block R2 and merges, and step S703 generates right-eye perspectives panoramic picture, 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.
Signal is formed in conjunction with Fig. 9 stereopsis generation module processing schematic of the present invention and Figure 10 stereopsis of the present invention
Figure, firstly, step S901 obtains the left eye visual angle panoramic picture and right-eye perspectives generation module that left eye visual angle generation module generates
The right-eye perspectives panoramic picture of generation, the left eye visual angle panoramic picture and right-eye perspectives panoramic picture that step S902 will acquire carry out
Synchronous fusion, and the rotation and translation of image is carried out, step S903 combines left eye visual angle panoramic picture and right-eye perspectives panorama sketch
Picture generates stereoscopic panoramic image.
Those of ordinary skill in the art will appreciate that implement the method for the above embodiments be can be with
Relevant hardware is instructed to complete by program, the program can be stored in a computer readable storage medium,
The storage medium, such as ROM/RAM, disk, CD.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (4)
1. a kind of stereopsis processing system characterized by comprising
Fish eye images obtain module, and the fish eye images obtain module and are made of six ultra-wide angle fish eye lenses, for obtaining
Six fish eye images；
Panorama Mosaic module, six fish eye images for will acquire according to preset flake mathematical model respectively expand into
Longitude and latitude image finds the relative position of six fish eye images by Feature Points Matching, obtains each fish eye images and revolves around X-axis
Turn rotation angle, around Y-axis rotation rotation angle, around Z axis rotate rotation angle, longitude and latitude image mosaic is merged
At panoramic picture；
Left eye visual angle generation module, for taking 60 degree of field angle of image as splicing block on the longitude and latitude picture centre line left side,
Six width longitude and latitude images successively extract six pieces of left eye visual angle splicing blocks, successively splice the two left eye visual angle splicing blocks closed on, obtain
To Zhang Quanjing's image, panoramic picture is converted into three-dimensional ball-type panorama, and using the centre of sphere as left eye position, obtain left eye visual angle
Panoramic picture；
Right-eye perspectives generation module, for taking 60 degree of field angle of image as splicing block on the right of longitude and latitude picture centre line,
Six width longitude and latitude images successively extract six pieces of right-eye perspectives splicing blocks, successively splice the two right-eye perspectives splicing blocks closed on, obtain
To Zhang Quanjing's image, panoramic picture is converted into three-dimensional ball-type panorama, and using the centre of sphere as right eye position, obtain right-eye perspectives
Panoramic picture；
Stereopsis generation module generates stereoscopic full views for synchronizing left eye visual angle panoramic picture and right-eye perspectives panoramic picture
Image.
2. stereopsis processing system as described in claim 1, which is characterized in that the stereopsis includes video and figure
Picture.
3. a kind of method for processing stereo image, which comprises the following steps:
Start fish eye images and obtain module, obtain six fish eye images, fish eye images obtain module by six ultra-wide angle flake mirrors
Head composition；
Start Panorama Mosaic module, is respectively expanded into according to six fish eye images that preset flake mathematical model will acquire
Longitude and latitude image finds the relative position of six fish eye images by Feature Points Matching, obtains each fish eye images and revolves around X-axis
Turn rotation angle, around Y-axis rotation rotation angle, around Z axis rotate rotation angle, longitude and latitude image mosaic is merged
At panoramic picture；
Start left eye visual angle generation module, take 60 degree of field angle of image as splicing block on the longitude and latitude picture centre line left side,
Six width longitude and latitude images successively extract six pieces of left eye visual angle splicing blocks, successively splice the two left eye visual angle splicing blocks closed on, obtain
To Zhang Quanjing's image, panoramic picture is converted into three-dimensional ball-type panorama, and using the centre of sphere as left eye position, obtain left eye visual angle
Panoramic picture；
Start right-eye perspectives generation module, take 60 degree of field angle of image as splicing block on the right of longitude and latitude picture centre line,
Six width longitude and latitude images successively extract six pieces of right-eye perspectives splicing blocks, successively splice the two right-eye perspectives splicing blocks closed on, obtain
To Zhang Quanjing's image, panoramic picture is converted into three-dimensional ball-type panorama, and using the centre of sphere as right eye position, obtain right-eye perspectives
Panorama；
Start stereopsis generation module, synchronous left eye visual angle panoramic picture and right-eye perspectives panoramic picture, generates stereoscopic full views
Image.
4. method for processing stereo image as claimed in claim 3, which is characterized in that the stereopsis includes video and figure
Picture.
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| CN107369129B (en) * | 2017-06-26 | 2020-01-21 | 深圳岚锋创视网络科技有限公司 | Panoramic image splicing method and device and portable terminal |
| CN108848368A (en) * | 2018-08-02 | 2018-11-20 | 苏州蜗牛数字科技股份有限公司 | A kind of 3D image pickup method of VR video |
| CN109308686B (en) * | 2018-08-16 | 2022-06-24 | 北京市商汤科技开发有限公司 | Fisheye image processing method, device, equipment and storage medium |
| CN117256015A (en) * | 2021-04-30 | 2023-12-19 | 谷歌有限责任公司 | Intermediate view synthesis between wide baseline panoramas |
| 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 |
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Address after: 518101, A, block 601, dragon light Century Towers, Hai Xiu Road, Shenzhen, Guangdong, Baoan District Patentee after: Yingshi Innovation Technology Co., Ltd Address before: 518101, A, block 601, dragon light Century Towers, Hai Xiu Road, Shenzhen, Guangdong, Baoan District Patentee before: SHENZHEN ARASHI VISION Co.,Ltd. |