CN106899782A - A kind of method for realizing interactive panoramic video stream map - Google Patents
A kind of method for realizing interactive panoramic video stream map Download PDFInfo
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- 230000000007 visual effect Effects 0.000 claims abstract description 7
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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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
- H04N13/261—Image signal generators with monoscopic-to-stereoscopic image conversion
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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
- H04N13/282—Image signal generators for generating image signals corresponding to three or more geometrical viewpoints, e.g. multi-view systems
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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
- H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
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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
- H04N23/62—Control of parameters via user interfaces
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
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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
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/2621—Cameras specially adapted for the electronic generation of special effects during image pickup, e.g. digital cameras, camcorders, video cameras having integrated special effects capability
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Abstract
The invention discloses a kind of method for realizing interactive panoramic video stream map, using high-definition camera, intimate 100% comprehensive spherical imaging is realized by 6 CCD with fixed angle；Video camera is demarcated, realizes carrying out after the conversion during three-dimensional reconstruction between coordinate system the collection of panoramic video data；Built after the completion of collecting work, after the data prediction that will be collected and rebuild effect closer to real three-dimensional scenic, be directed into video-splicing software and spliced, final panoramic video flow data is reached best visual effect；Then issued with Flash format.The continuity that panoramic video stream map of the present invention based on continuous scene has by video flowing, can effectively solve the problem that the not good enough problem of Consumer's Experience of the conventional panoramic map based on standalone scenario photo group when different scenes switch.
Description
Technical field
The present invention relates to panoramic video field, especially a kind of method for realizing interactive panoramic video stream map.
Background technology
With the progress in epoch, requirement of the people to geography information achievement no longer simply rests on symbol, word and numerically, but has risen to the height of spatial information.People are not intended merely to accurately to arrive at, and are more desirable to see outdoor scene picture, enjoy excellent Consumer's Experience.360 degree of uses of panoramic video stream map gradually will move towards microcosmic by macroscopic view, and specific by abstract trend, real realizes on the visual angle of people to browse map, provide the user more true and accurate, more be rich in the Map Services of picture detail.
Panoramic video stream map carrys out the original appearance of direct reaction space object and natural environment with the video image of fine definition, and it contains traditional Target scalar information, and the various natures and social information for having physical correlation therewith are included again.
For the public, image video is the most real portrayal in objective world, the digital city of easy intuitivism apprehension, therefore, 360 degree of panoramic video stream maps are a part and parcels of cartography development from now on.360 degree of panoramic video streams and common map can serve as map to use, but common map is limited due to angular field of view, without third dimension, and 360 degree of panoramic video streams not only have 360 degree of panoramas, can more bring 3 D stereo to feel, observer can immerse wherein.The third dimension and feeling of immersion of three-dimensional modeling are undoubtedly more stronger than 360 degree of panoramas, but the making of three-dimensional modeling needs substantial amounts of manpower and materials, and the collection in manufacturing process to building model has choice.Very easy for 360 degree of making and relative dimensional modeling of panorama, the requirement of data volume mini system is low, is adapted to be watched on each terminal device.So 360 degree of panoramic videos not only can be with the field condition in comprehensive record some time somewhere, scene somewhere can more be showed using the mode of 3 D stereo, the exhibition method and recording meanses of such high performance-price ratio are that general map and three-dimensional modeling cannot be accomplished.
Existing panoramic table has the following disadvantages：
1st, data acquisition time stationary problem：How to make 6 video camera sync pulse jammings, and 6 video cameras that the problem of synchronous recording is realized with GPS signal.
2nd, video-splicing treatment effeciency problem：The data volume for gathering HD video is huge, how splicing operation is efficiently completed on the premise of the quality of data is ensured；Simultaneously because the data for photographing may include individual privacy, the information that is related to state secret or government safety is, it is necessary to process these image informations, this workload is also very huge.
3rd, achievement issue Consumer's Experience problem：The data volume of the panoramic video achievement after the completion of splicing is also very big, how the network optimization and client optimization are carried out, suitable Web Publishing form is selected to be issued on the basis of user is met using common bandwidth, smooth carries out HD video panorama broadcasting, lifts user experience.
The content of the invention
Regarding to the issue above, the invention provides a kind of method for realizing interactive panoramic video stream map.
To achieve these goals, the present invention is to realize by the following technical solutions：A kind of method for realizing interactive panoramic video stream map, comprises the following steps：
The hardware design of S1, collecting device：Including carrier loader, panoramic shooting system, GPS, controlling switch and data storage device composition；GPS device is positioned over carrier loader outside, panoramic shooting system is arranged on carrier loader upper end by electric expansion bar, panoramic shooting system is arranged on electric expansion bar upper end by the universal joint with servomechanism installation, panoramic shooting system uses high-definition camera, and intimate 100% comprehensive spherical imaging is realized by 6 CCD with fixed angle
S2, video camera is demarcated, after realizing the conversion during three-dimensional reconstruction between coordinate system, 6 video cameras are responsible for 360 ° of collections of panoramic video data, GPS is responsible for the spatial information of the data acquisition equipment of current time, and controlling switch is responsible for power switch and the data record switch of whole collecting device；After collecting device reaches collection starting point, system electrification test is carried out to panoramic video stream data acquisition equipment and GPS searches star preparation, after test completion ensures system worked well and possesses GPS location information, user is by starting the data record shift knob of controller, data collection task is started simultaneously at by 6 video cameras and GPS of wired connection with controller, respective data are recorded to storage device respectively；
The 6 road video flowing map datums that will be gathered after the completion of S3, collecting work, the pretreatment such as denoising, image enhaucament is carried out, accurate edge is obtained, and using the marginal point that obtains as characteristic point, three-dimensional point cloud is obtained by conversion between coordinate system, accurate surface model is rebuild；The texture mapping without deformation is carried out to model, make reconstruction effect closer to real three-dimensional scenic, it is directed into video-splicing software, software meeting Auto-matching starting point, realize that 6 road videos are automatically or manually spliced into a panoramic video, whole splicing covers the demarcation of camera, sensor image distortion correction, the projective transformation of image, match point selection, Panorama Mosaic, and brightness and the equilibrium treatment of color, final panoramic video flow data is reached best visual effect；
S4, Flash format issue, user can select to include that two-dimensional map and panoramic table are switched over, the panoramic video stream data separate d engine for completing will be processed carries out secondary development, the data of high definition are shown on a web browser in the form of plug-in unit, panoramic view data is added to show simultaneously, general flash forms are finally used, Web Publishing is carried out, the panorama interactive function of client is provided the user.
Preferably, 3-D effect generating process includes：
S11, camera calibration is realized using OpenCV, including gridiron pattern demarcates the angle point grid and camera calibration of thing；
S12, using laser range finder obtain depth information；
S13, set up statistics of histogram gradation of image distribution, then using segmentation grey linear transformation strengthen picture contrast, reuse gaussian filtering and be smoothed, complete image pretreatment；
S14, the extraction that picture edge characteristic point is completed using Canny operators；
S 15, the characteristic point using edge extracting and the range information for collecting auxiliary laser rangefinder can calculate 3 d space coordinate point by the conversion between coordinate system, and these 3 d space coordinate points are shown in OpenGL, tentatively generate 3-D effect；
S16, will photograph material object a series of photochromes be mapped exactly to reconstruct geometrical model on, with implementation model without deformation texture mapping.
The invention has the advantages that：
The continuity that panoramic video stream map based on continuous scene has by video flowing, can effectively solve the problem that the not good enough problem of Consumer's Experience of the conventional panoramic map based on standalone scenario photo group when different scenes switch.Panoramic video stream map is a kind of brand-new outdoor scene information record means, realizes the fusion of 360 degree of panoramic videos and map, is the good complement of traditional map with ultra-wide visual angle, and its data updating efficiency is high, informative.Panoramic video data contain the information such as coordinate points and position, therefore panoramic video data can based on geographic information data one side, the more rich form of expression is updated for two-dimentional three-dimensional map system brings, more preferable Consumer's Experience and senior analysis can be provided with application.
Specific embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, it is described in detail below in conjunction with the accompanying drawings and the specific embodiments.
A kind of method for realizing interactive panoramic video stream map is the embodiment of the invention provides, is comprised the following steps：
The hardware design of S1, collecting device：Including carrier loader, panoramic shooting system, GPS, controlling switch and data storage device composition；GPS device is positioned over carrier loader outside, panoramic shooting system is arranged on carrier loader upper end by electric expansion bar, panoramic shooting system is arranged on electric expansion bar upper end by the universal joint with servomechanism installation, panoramic shooting system uses high-definition camera, and intimate 100% comprehensive spherical imaging is realized by 6 CCD with fixed angle
S2, video camera is demarcated, after realizing the conversion during three-dimensional reconstruction between coordinate system, 6 video cameras are responsible for 360 ° of collections of panoramic video data, GPS is responsible for the spatial information of the data acquisition equipment of current time, and controlling switch is responsible for power switch and the data record switch of whole collecting device；After collecting device reaches collection starting point, system electrification test is carried out to panoramic video stream data acquisition equipment and GPS searches star preparation, after test completion ensures system worked well and possesses GPS location information, user is by starting the data record shift knob of controller, data collection task is started simultaneously at by 6 video cameras and GPS of wired connection with controller, respective data are recorded to storage device respectively；
The 6 road video flowing map datums that will be gathered after the completion of S3, collecting work, the pretreatment such as denoising, image enhaucament is carried out, accurate edge is obtained, and using the marginal point that obtains as characteristic point, three-dimensional point cloud is obtained by conversion between coordinate system, accurate surface model is rebuild；The texture mapping without deformation is carried out to model, make reconstruction effect closer to real three-dimensional scenic, it is directed into video-splicing software, software meeting Auto-matching starting point, realize that 6 road videos are automatically or manually spliced into a panoramic video, whole splicing covers the demarcation of camera, sensor image distortion correction, the projective transformation of image, match point selection, Panorama Mosaic, and brightness and the equilibrium treatment of color, final panoramic video flow data is reached best visual effect；
S4, Flash format issue, user can select to include that two-dimensional map and panoramic table are switched over, the panoramic video stream data separate d engine for completing will be processed carries out secondary development, the data of high definition are shown on a web browser in the form of plug-in unit, panoramic view data is added to show simultaneously, general flash forms are finally used, Web Publishing is carried out, the panorama interactive function of client is provided the user.
Preferably, 3-D effect generating process includes：
S11, camera calibration is realized using OpenCV, including gridiron pattern demarcates the angle point grid and camera calibration of thing；
S12, using laser range finder obtain depth information；
S13, set up statistics of histogram gradation of image distribution, then using segmentation grey linear transformation strengthen picture contrast, reuse gaussian filtering and be smoothed, complete image pretreatment；
S14, the extraction that picture edge characteristic point is completed using Canny operators；
S 15, the characteristic point using edge extracting and the range information for collecting auxiliary laser rangefinder can calculate 3 d space coordinate point by the conversion between coordinate system, and these 3 d space coordinate points are shown in OpenGL, tentatively generate 3-D effect；
S16, will photograph material object a series of photochromes be mapped exactly to reconstruct geometrical model on, with implementation model without deformation texture mapping.
This specific implementation is based on the continuity that the panoramic video stream map of continuous scene has by video flowing, can effectively solve the problem that the not good enough problem of Consumer's Experience of the conventional panoramic map based on standalone scenario photo group when different scenes switch.Panoramic video stream map is a kind of brand-new outdoor scene information record means, realizes the fusion of 360 degree of panoramic videos and map, is the good complement of traditional map with ultra-wide visual angle, and its data updating efficiency is high, informative.Panoramic video data contain the information such as coordinate points and position, therefore panoramic video data can based on geographic information data one side, the more rich form of expression is updated for two-dimentional three-dimensional map system brings, more preferable Consumer's Experience and senior analysis can be provided with application.
The above is the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, on the premise of principle of the present invention is not departed from; some improvements and modifications can also be made, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (2)
1. a kind of method for realizing interactive panoramic video stream map, it is characterised in that comprise the following steps：
The hardware design of S1, collecting device：Including carrier loader, panoramic shooting system, GPS,
Controlling switch and data storage device are constituted；GPS device is positioned over carrier loader outside, panoramic shooting system
System is arranged on carrier loader upper end by electric expansion bar, and panoramic shooting system is by the universal joint with servomechanism installation
Installed in electric expansion bar upper end, panoramic shooting system uses high-definition camera, by with fixed angle
6 CCD realize intimate 100% comprehensive spherical imaging
S2, video camera is demarcated, after realizing the conversion during three-dimensional reconstruction between coordinate system, 6
Video camera is responsible for 360 ° of collections of panoramic video data, and GPS is responsible for the data acquisition of current time
The spatial information of equipment, controlling switch is responsible for power switch and the data record switch of whole collecting device；
After collecting device reaches collection starting point, system electrification test is carried out to panoramic video stream data acquisition equipment
Star is searched with GPS to prepare, after test completion ensures system worked well and possesses GPS location information, use
Person by starting the data record shift knob of controller, 6 video cameras for passing through wired connection with controller
Data collection task is started simultaneously at GPS, respective data are recorded to storage device respectively；
The 6 road video flowing map datums that will be gathered after the completion of S3, collecting work, carry out denoising, image and increase
It is strong to wait pretreatment, obtain accurate edge, and using the marginal point that obtains as characteristic point, by between coordinate system
Conversion obtains three-dimensional point cloud, rebuilds accurate surface model；The texture mapping without deformation is carried out to model, is made
Effect is rebuild closer to real three-dimensional scenic, is directed into video-splicing software, software can Auto-matching
Starting point, realizes that 6 road videos are automatically or manually spliced into a panoramic video, and whole splicing is contained
The demarcation of lid camera, sensor image distortion correction, the projective transformation of image, match point selection, panorama
Image mosaic, and brightness and the equilibrium treatment of color, reach final panoramic video flow data best
Visual effect；
S4, Flash format are issued, and user can select to include that two-dimensional map and panoramic table are switched over,
The panoramic video stream data separate d engine for completing will be processed carries out secondary development, by height in the form of plug-in unit
Clear data are shown on a web browser, while to add panoramic view data to show, finally using general
Flash forms, carry out Web Publishing, provide the user the panorama interactive function of client.
2. a kind of method for realizing interactive panoramic video stream map according to claim 1, it is special
Levy and be, 3-D effect generating process includes：
S11, camera calibration is realized using OpenCV, including gridiron pattern demarcate thing angle point grid and
Camera calibration；
S12, using laser range finder obtain depth information；
S13, set up statistics of histogram gradation of image distribution, then using segmentation grey linear transformation increase
Strong picture contrast, reuses gaussian filtering and is smoothed, and completes the pretreatment of image；
S14, the extraction that picture edge characteristic point is completed using Canny operators；
S15, the characteristic point using edge extracting and the range information that auxiliary laser rangefinder is collected is led to
Crossing the conversion between coordinate system can calculate 3 d space coordinate point, and these 3 d space coordinate points are existed
Shown in OpenGL, tentatively generate 3-D effect；
S16, will photograph material object a series of photochromes be mapped exactly to reconstruct geometrical model on, with
Implementation model without deformation texture mapping.
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| CN109314773A (en) * | 2018-03-06 | 2019-02-05 | 香港应用科技研究院有限公司 | The generation method of high-quality panorama sketch with color, brightness and resolution balance |
| CN110035275A (en) * | 2019-03-27 | 2019-07-19 | 苏州华恒展览设计营造有限公司 | City panorama dynamic display system and method based on large screen fusion projection |
| CN110691203A (en) * | 2019-10-21 | 2020-01-14 | 湖南泽天智航电子技术有限公司 | Multi-path panoramic video splicing display method and system based on texture mapping |
| CN110889889A (en) * | 2019-11-12 | 2020-03-17 | 四川大学 | Oblique photography modeling data generation method applied to immersive display equipment |
| CN111008985A (en) * | 2019-11-07 | 2020-04-14 | 贝壳技术有限公司 | Panorama picture seam detection method and device, readable storage medium and electronic equipment |
| CN112672131A (en) * | 2020-12-07 | 2021-04-16 | 聚好看科技股份有限公司 | Panoramic video image display method and display equipment |
| CN112822400A (en) * | 2021-01-07 | 2021-05-18 | 浙江图盛输变电工程有限公司 | Acquisition and use method of digital panoramic map |
| CN113595779A (en) * | 2021-07-23 | 2021-11-02 | 中国电信股份有限公司 | Method, apparatus, medium, and network analysis system for acquiring data for network analysis |
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| CN109314773A (en) * | 2018-03-06 | 2019-02-05 | 香港应用科技研究院有限公司 | The generation method of high-quality panorama sketch with color, brightness and resolution balance |
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| CN113963096B (en) * | 2021-09-01 | 2022-07-05 | 泰瑞数创科技(北京)有限公司 | Artificial intelligence-based city three-dimensional map video stream interaction method and system |
| CN115293508A (en) * | 2022-07-05 | 2022-11-04 | 国网江苏省电力有限公司南通市通州区供电分公司 | Visual optical cable running state monitoring method and system |
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Application publication date: 20170627 |