CN107093165A - The fast display method and device of a kind of recursive image - Google Patents
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Abstract
The embodiment of the invention discloses a kind of fast display method of recursive image and device, wherein, this method includes：Obtain image and pre-processed；Selected reference image, obtains pixel three-dimensional information；Image co-registration is carried out to overlapping images portions using recursive image method；Interpolation image is produced to separate picture compartment using recursive image method；Interpolation image is produced to corner parts using recursive image method, curvilinear flow shape panorama sketch is obtained；Curvilinear flow shape panorama sketch is cut, interpolation, obtain Nogata panorama sketch.In embodiments of the present invention, based on recursive image method rapid build panorama sketch and show, overcome in conventional panoramic figure constructing technology, it is required that keeping the deficiency that camera is translated on horizontal linear, the flexibility that panorama sketch is built is improved, while improving treatment effeciency, reduce storage, redundant computation during image procossing is avoided, the weak point of conventional panoramic figure structure is fully compensate for, strengthens user experience.
Description
Technical field
The present invention relates to the panorama sketch constructing technology field of image rendering technologies, more particularly to a kind of recursive image is quick
Display methods and device.
Background technology
Panoramic picture is that one kind can provide the user normal more than people's eyes effectively visual angle or eyes remaining light visual angle, or even
The real picture that 360 degree of super large visual angles are browsed, as a kind of method of image rendering technologies, it using discrete real picture as
Source data, by the splicing fusion treatment to source data, can obtain the continuous description at the visual angle of each in shooting environmental, with painting
Speed processed is fast, the advantages of scene display fidelity is high.Existing smart mobile phone often all provides the function of construction panorama sketch, can be with
Directly constructed on smart mobile phone and show panorama sketch, on the one hand the structure of its panorama sketch will keep camera on horizontal linear
Translation；On the other hand to ensure that the overlapping region of image reaches 20% or so, this results in panorama sketch and builds dumb, user's body
Degree of testing is low, and image processing data amount is big, the problems such as inefficiency.
When building panorama sketch with the geographical position of scenery the change of position and different degrees of camera can occur for user
Shake, and it cannot be guaranteed that camera is the translation based on horizontal linear, then the track of the image sequence gathered can be curve, even
Produce spaced situation between image.In this case, panorama sketch is built using current method, image torsion will be produced
Bent, distortion is serious, the defect such as image can not splice.
The content of the invention
It is an object of the invention to overcome the deficiencies in the prior art, the invention provides a kind of quick display of recursive image
Method and device, can improve the flexibility of panorama sketch structure, while improving treatment effeciency, reduce storage, it is to avoid image procossing
When redundant computation.
In order to solve the above problems, the present invention proposes a kind of fast display method of recursive image, and methods described includes：
Obtain image and pre-processed；
Selected reference image, obtains pixel three-dimensional information；
Image co-registration is carried out to overlapping images portions using recursive image method；
Interpolation image is produced to separate picture compartment using recursive image method；
Interpolation image is produced to corner parts using recursive image method, curvilinear flow shape panorama sketch is obtained；
Curvilinear flow shape panorama sketch is cut, interpolation, obtain Nogata panorama sketch.
Preferably, the acquisition image and the step of pre-processed, including：
Shot with any translation mode, obtain image sequence；
Gray processing processing is carried out to image, smoothing denoising processing is carried out using Gamma correction methods；
To there is the image of overlapping region to carry out image characteristic point extraction, matching area is obtained；
Coordinate transform is carried out, by overlapping image, the image projection separated to same plane.
Preferably, the selected reference image, the step of obtaining pixel three-dimensional information, including：
Image on the basis of piece image, coordinate system is set up with its two-dimensional signal in selected plane；
The pixel two-dimensional coordinate information of image is calculated according to the translation transformation of matrix, with the three-dimensional letter of gray value composition
Breath.
Preferably, the step of use recursive image method carries out image co-registration to overlapping images portions, including：
Crucial pixel, which is chosen, from the overlapping region of matching is used as recursive vertex sequence；
Fusion treatment is carried out to pixel using recursive fashion.
Preferably, the use recursive image method produces interpolation image to corner parts, obtains curvilinear flow shape panorama sketch
The step of, including：
Target area is chosen from image corner parts；
Interpolation processing is carried out to target area using recursive fashion, interpolation image is obtained；
Interpolation image is projected into former projection plane and obtains curvilinear flow shape panorama sketch.
Correspondingly, the embodiment of the present invention also provides a kind of quick display device of recursive image, and described device includes：
Pretreatment module, for obtaining image and being pre-processed；
Three-dimensional information acquisition module, for selected reference image, obtains pixel three-dimensional information；
Image co-registration module, for carrying out image co-registration to overlapping images portions using recursive image method；
Interpolating module, for producing interpolation image to separate picture compartment using recursive image method；Using recurrence
Image method produces interpolation image to corner parts, obtains curvilinear flow shape panorama sketch；
Panorama sketch processing module, for curvilinear flow shape panorama sketch to be cut, interpolation, obtains Nogata panorama sketch.
Preferably, the pretreatment module includes：
Shooting unit, for being shot with any translation mode, obtains image sequence；
Denoising unit, for carrying out gray processing processing to image, is carried out at smoothing denoising using Gamma correction methods
Reason；
Feature point extraction unit, for there is the image of overlapping region to carry out image characteristic point extraction, obtaining matching area；
Coordinate transformation unit, for carrying out coordinate transform, by overlapping image, the image projection separated to same plane.
Preferably, the three-dimensional information acquisition module includes：
Coordinate sets up unit, and for selecting in plane image on the basis of piece image, coordinate is set up with its two-dimensional signal
System；
Computing unit, the pixel two-dimensional coordinate information for calculating image according to the translation transformation of matrix, with gray scale
Value composition three-dimensional information.
Preferably, described image Fusion Module includes：
Unit is chosen, recursive vertex sequence is used as choosing crucial pixel from the overlapping region of matching；
Integrated unit, for carrying out fusion treatment to pixel using recursive fashion.
Preferably, the interpolating module includes：
Object selection unit, for choosing target area from image corner parts；
Interpolation process unit, for carrying out interpolation processing to target area using recursive fashion, obtains interpolation image；
Projecting cell, curvilinear flow shape panorama sketch is obtained for interpolation image to be projected into former projection plane.
In embodiments of the present invention, based on recursive image method rapid build panorama sketch and show, overcome conventional panoramic
In figure constructing technology, it is desirable to keep camera to be translated on horizontal linear, rather than the flexibly deficiency of curvilinear translation, and overlapping
When region is smaller, there is panoramic image distortion, distortion serious, it is impossible to real now with building the defects such as panorama sketch in partition image,
The flexibility that panorama sketch is built is improved, while improving treatment effeciency, reduces storage, it is to avoid redundant computation during image procossing, fills
Divide the weak point that compensate for conventional panoramic figure structure, strengthen user experience.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the schematic flow sheet of the fast display method of the recursive image of the embodiment of the present invention；
Fig. 2 is the conceptual schematic view of acquisition image sequence in the embodiment of the present invention；
Fig. 3 is real scene image sequence curve track schematic diagram in the embodiment of the present invention；
Fig. 4 is curvilinear flow shape panorama schematic diagram in the embodiment of the present invention；
Fig. 5 is Nogata panorama schematic diagram in the embodiment of the present invention；
Fig. 6 is the structure composition schematic diagram of the quick display device of the recursive image of the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1 is the schematic flow sheet of the fast display method of the recursive image of the embodiment of the present invention, as shown in figure 1, the party
Method includes：
S1, obtains image and is pre-processed；
S2, selected reference image obtains pixel three-dimensional information；
Overlapping images portions are carried out image co-registration by S3 using recursive image method；
S4, interpolation image is produced using recursive image method to separate picture compartment；
Corner parts are produced interpolation image using recursive image method, obtain curvilinear flow shape panorama sketch by S5；
S6, curvilinear flow shape panorama sketch is cut, interpolation, obtains Nogata panorama sketch.
Wherein, S1 further comprises：
Shot with any translation mode, obtain image sequence；
Gray processing processing is carried out to image, smoothing denoising processing is carried out using Gamma correction methods；
To there is the image of overlapping region to carry out image characteristic point extraction, matching area is obtained；
Coordinate transform is carried out, by overlapping image, the image projection separated to same plane.
In specific implementation, shoot to obtain image sequence with any translation mode by camera；Image acquisition mode is more
Flexibly, image sequence track can be that horizontal linear can also be curve, image can be it is overlapping can also be separation, such as scheme
Shown in 2.
Gray processing processing is carried out to image, smoothing denoising processing is carried out using Gamma correction methods；In specific implementation, use
Image gray processing is carried out the standardization of color space using Gamma correction methods by HOG algorithms to input picture；Figure can be adjusted
The contrast of picture, reduces the influence caused by the shade and illumination variation of image local, while can suppress the interference of noise.
Specifically, for there is the image of overlapping region, extracting the step of image characteristic point obtains images match region includes：
Feature extraction is carried out to image using SURF algorithm；
Feature Points Matching relation is obtained using the nearest neighbor search BBF algorithms based on K-D trees；
The optimal match point between two images is found using the consistent RANSAC algorithms of random sampling；
Space transform models parameter between image is solved according to the matching characteristic of image point, the spatial alternation of image is set up
Model.
In specific implementation, SURF algorithm has higher efficiency, and takes less internal memory, is more suitable for the money such as mobile phone
Source limited device.
Feature Points Matching relation is obtained using the nearest neighbor search BBF algorithms based on K-D trees, then using random sampling one
Cause RANSAC algorithms to find the optimal match point between two images, obtain matching area, and reject Mismatching point, reduction was matched
Journey；Space transform models parameter between image is solved according to the matching characteristic of image point, the space transform models of image are set up；
Mainly estimate the geometrical relationship between image using transformation model.
During by overlapping image, the image projection separated to same plane, the geometry between image is determined is closed
It is previous as benchmark image in selection adjacent image after system, then other non-reference images are changed according to transformation model
Projected into the coordinate system of benchmark image, and by all images in plane, it is convenient that image is further processed.
S2 further comprises：
Image on the basis of piece image, coordinate system is set up with its two-dimensional signal in selected plane；
The pixel two-dimensional coordinate information of image is calculated according to the translation transformation of matrix, with the three-dimensional letter of gray value composition
Breath.
S3 further comprises：
Crucial pixel, which is chosen, from the overlapping region of matching is used as recursive vertex sequence Q；
Fusion treatment is carried out to pixel using recursive fashion.
In S4, target area is partitioned into from separate picture by Threshold segmentation；Crucial pixel is chosen from target area
Point is used as recursive vertex sequence P；Recurrent curve is constructed for pixel using recursive fashion；Opposite vertexes sequence P three dimensions
According to calculate obtaining interpolating pixel point, interpolation image is produced.
S5 further comprises：
Target area is chosen from image corner parts；
Interpolation processing is carried out to target area using recursive fashion, interpolation image is obtained；
Interpolation image is projected into former projection plane and obtains curvilinear flow shape panorama sketch.
In S6, choose suitable rectangle frame and curvilinear flow shape panorama sketch is cut；With recursive image method interpolation inframe
Without image section, Nogata panorama sketch is obtained.
In specific implementation, image co-registration is carried out to overlapping region using recursive image method, to separate picture compartment
With corner parts interpolation image is produced with recursion method.
(1) wherein recursive image is defined, and gives n+1 image, i.e. matrix Mi(i=0,1 ..., n), claim following recursion to close
It is formula definition
Wherein：WithBe onAn order polynomial；ObtainedFor n recursive image, brief note
ForOrThen claimFor n recursive image.
Note：
It can be expressed as
ClaimFor companion's function of correspondence recursive image.
Easily prove have with function
1 zero power property
2 zero recursion
Wherein, l=2,3 ..., n；K=0,1 ..., l；And it is fixedAs k ＞ l or k ＜ 0, and remember
N recursive image n+1 not necessarily constitutes n+1 dimensional linears space with function under general conditionOne group of substrate.
(2) image overlapping region is merged using recursion method, selectes lap and certain adjacent part conduct
Target area, and initial pixel is chosen as summit, vertex sequence { Q on target area0,Q1,…,QnRepresent, Qi
It is expressed as (xi,yi,zi), wherein (xi,yi) represent summit QiCoordinate, ziRepresent pixel gray value.
Choose three summit Qi(xi,yi,zi), wherein i=0,1,2, construct quadratic bezier curve, i.e. reverse Bezier
The feature summit P of curvei, i=0,1,2.
Desirable P0=Q0, P2=Q2,
According to P (t)=P0·(1-t)2+P1·2(1-t)t+P2·t2
Make l1=| Q1Q0|, l2=| Q2Q1|, then
Calculating is tried to achieveObtain P1Three-dimensional data (x1, y1, z1)
By P0, P1, P2Substitute into the usually apply-official formula of Bezier curve：
(l=1,2 ..., n；I=0,1 ..., n-l；t∈[0,1])
By P0, P1, P2Three-dimensional data (xi,yi,zi) above-mentioned Bezier curve formula calculating is substituted into, obtain optimum fusion picture
Vegetarian refreshments；
To the vertex sequence { Q of target area0,Q1,…,QnCarry out Recursion process successively respectively, realize image co-registration.
(3) interpolation image is produced to separate picture compartment and corner parts using recursive image method, passes through threshold value
Segmentation is partitioned into target area from separate picture, and choosing crucial pixel from target area is used as vertex sequence G, vertex sequence
With { G0,G1,…,GnRepresent, GiIt is expressed as (xi,yi,zi), wherein (xi,yi) represent summit GiCoordinate, ziRepresent pixel ash
Angle value.
Using with identical method construct interpolation quadratic bezier curve in (2).
Opposite vertexes sequence G three-dimensional data calculate obtaining interpolating pixel point, produces interpolation image.
(4) interpolation image is projected into former projection plane by the image after fusion, the image of interpolation, obtains curvilinear flow shape complete
Jing Tu, forming curves stream shape panorama sketch.
Suitable rectangle frame is finally chosen to cut curvilinear flow shape panorama sketch, it is same to use recursive image method interpolation rectangle
Inframe image lack part, obtains Nogata panorama sketch.
(5) equivalent to one image of the square frame described in Fig. 2, i.e., one matrix, they are arranged in curvilinear path form, it
Between have the conceptual schematic view of compartment.Fig. 3 describes Lijiang River real scene image sequence chart.Fig. 4 is image sequence process in Fig. 3
The curvilinear flow shape panorama sketch obtained after recursion method processing.Fig. 5 is by cutting out and the Nogata panorama sketch after interpolation by Fig. 4.
Correspondingly, the embodiment of the present invention also provides a kind of quick display device of recursive image, as shown in fig. 6, the device
Including：
Pretreatment module 1, for obtaining image and being pre-processed；
Three-dimensional information acquisition module 2, for selected reference image, obtains pixel three-dimensional information；
Image co-registration module 3, for carrying out image co-registration to overlapping images portions using recursive image method；
Interpolating module 4, for producing interpolation image to separate picture compartment using recursive image method；Using recurrence
Image method produces interpolation image to corner parts, obtains curvilinear flow shape panorama sketch；
Panorama sketch processing module 5, for curvilinear flow shape panorama sketch to be cut, interpolation, obtains Nogata panorama sketch.
Wherein, pretreatment module 1 includes：
Shooting unit, for being shot with any translation mode, obtains image sequence；
Denoising unit, for carrying out gray processing processing to image, is carried out at smoothing denoising using Gamma correction methods
Reason；
Feature point extraction unit, for there is the image of overlapping region to carry out image characteristic point extraction, obtaining matching area；
Coordinate transformation unit, for carrying out coordinate transform, by overlapping image, the image projection separated to same plane.
Three-dimensional information acquisition module 2 includes：
Coordinate sets up unit, and for selecting in plane image on the basis of piece image, coordinate is set up with its two-dimensional signal
System；
Computing unit, the pixel two-dimensional coordinate information for calculating image according to the translation transformation of matrix, with gray scale
Value composition three-dimensional information.
Image co-registration module 3 includes：
Unit is chosen, recursive vertex sequence is used as choosing crucial pixel from the overlapping region of matching；
Integrated unit, for carrying out fusion treatment to pixel using recursive fashion.
Interpolating module 4 includes：
Object selection unit, for choosing target area from image corner parts；
Interpolation process unit, for carrying out interpolation processing to target area using recursive fashion, obtains interpolation image；
Projecting cell, curvilinear flow shape panorama sketch is obtained for interpolation image to be projected into former projection plane.
Specifically, the operation principle of the device related function module of the embodiment of the present invention can be found in the correlation of embodiment of the method
Description, is repeated no more here.
In embodiments of the present invention, by being pre-processed to image, the multiple image of plane upper curve shape arrangement is obtained；
Selected reference image in image after treatment, obtains three-dimensional information (two-dimensional coordinate and the pixel of each pixel of all images
Value)；For overlapping images portions, lap pixel is chosen as summit and carries out image co-registration with recursion method；To separation
Image spacing part, chooses appropriate pixels point as summit, construction Recurrent curve produces interpolation picture according to pixel three-dimensional information
Vegetarian refreshments, obtains interpolation image；For corner lack part, interpolation image is produced with recursion method, curvilinear flow shape panorama sketch is obtained；
Curvilinear flow shape panorama sketch cut and interpolation supplement obtains Nogata panorama sketch.Melt carrying out image using recursion method
During conjunction and figure phase interpolation, the flexibility of panorama sketch structure is enhanced, the speed of algorithm is accelerated, improves at image
The speed of reason.
Specifically, based on recursive image method rapid build panorama sketch and show, overcome conventional panoramic figure constructing technology
In, it is desirable to keep camera to be translated on horizontal linear, rather than the flexibly deficiency of curvilinear translation, and smaller in overlapping region
When, there is panoramic image distortion, distortion serious, it is impossible to real now with the defects such as panorama sketch are built in partition image, improve panorama
Scheme the flexibility built, while improving treatment effeciency, reduce storage, fully compensate for the weak point of conventional panoramic figure structure.
Using recursive image method, help realizes that camera gathers image with any translation mode, including based on horizontal linear translation and song
Line is translated, for the image of phase separation, and its compartment quickly produces interpolation image with recursion method, reduces distortion, is eliminated and is spelled
Lapping defect mark and fusion ghost, during curvilinear flow shape and Nogata panorama sketch is built, for corner without image section, also use recurrence
Method produce interpolation image, reduce distortion, form complete panorama sketch.Meanwhile, this method can reduce image overlapping region
Percentage, reduces IMAQ number, reduces storage, it is to avoid redundant computation during image procossing.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
To instruct the hardware of correlation to complete by program, the program can be stored in a computer-readable recording medium, storage
Medium can include：Read-only storage (ROM, Read Only Memory), random access memory (RAM, Random
Access Memory), disk or CD etc..
In addition, the fast display method and device of the recursive image provided above the embodiment of the present invention have been carried out in detail
Introduce, specific case used herein is set forth to the principle and embodiment of the present invention, the explanation of above example
It is only intended to the method and its core concept for helping to understand the present invention；Simultaneously for those of ordinary skill in the art, according to this
The thought of invention, be will change in specific embodiments and applications, in summary, and this specification content should not
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of fast display method of recursive image, it is characterised in that methods described includes：
Obtain image and pre-processed；
Selected reference image, obtains pixel three-dimensional information；
Image co-registration is carried out to overlapping images portions using recursive image method；
Interpolation image is produced to separate picture compartment using recursive image method；
Interpolation image is produced to corner parts using recursive image method, curvilinear flow shape panorama sketch is obtained；
Curvilinear flow shape panorama sketch is cut, interpolation, obtain Nogata panorama sketch.
2. the fast display method of recursive image as claimed in claim 1, it is characterised in that the acquisition image is simultaneously carried out pre-
The step of processing, including：
Shot with any translation mode, obtain image sequence；
Gray processing processing is carried out to image, smoothing denoising processing is carried out using Gamma correction methods；
To there is the image of overlapping region to carry out image characteristic point extraction, matching area is obtained；
Coordinate transform is carried out, by overlapping image, the image projection separated to same plane.
3. the fast display method of recursive image as claimed in claim 1, it is characterised in that the selected reference image, is obtained
The step of capture vegetarian refreshments three-dimensional information, including：
Image on the basis of piece image, coordinate system is set up with its two-dimensional signal in selected plane；
The pixel two-dimensional coordinate information of image is calculated according to the translation transformation of matrix, three-dimensional information is constituted with gray value.
4. the fast display method of recursive image as claimed in claim 1, it is characterised in that the use recursive image method
The step of image co-registration is carried out to overlapping images portions, including：
Crucial pixel, which is chosen, from the overlapping region of matching is used as recursive vertex sequence；
Fusion treatment is carried out to pixel using recursive fashion.
5. the fast display method of recursive image as claimed in claim 1, it is characterised in that the use recursive image method
Interpolation image is produced to corner parts, the step of obtaining curvilinear flow shape panorama sketch, including：
Target area is chosen from image corner parts；
Interpolation processing is carried out to target area using recursive fashion, interpolation image is obtained；
Interpolation image is projected into former projection plane and obtains curvilinear flow shape panorama sketch.
6. the quick display device of a kind of recursive image, it is characterised in that described device includes：
Pretreatment module, for obtaining image and being pre-processed；
Three-dimensional information acquisition module, for selected reference image, obtains pixel three-dimensional information；
Image co-registration module, for carrying out image co-registration to overlapping images portions using recursive image method；
Interpolating module, for producing interpolation image to separate picture compartment using recursive image method；Using recursive image
Method produces interpolation image to corner parts, obtains curvilinear flow shape panorama sketch；
Panorama sketch processing module, for curvilinear flow shape panorama sketch to be cut, interpolation, obtains Nogata panorama sketch.
7. the quick display device of recursive image as claimed in claim 6, it is characterised in that the pretreatment module includes：
Shooting unit, for being shot with any translation mode, obtains image sequence；
Denoising unit, for carrying out gray processing processing to image, smoothing denoising processing is carried out using Gamma correction methods；
Feature point extraction unit, for there is the image of overlapping region to carry out image characteristic point extraction, obtaining matching area；
Coordinate transformation unit, for carrying out coordinate transform, by overlapping image, the image projection separated to same plane.
8. the quick display device of recursive image as claimed in claim 6, it is characterised in that the three-dimensional information acquisition module
Including：
Coordinate sets up unit, and for selecting in plane image on the basis of piece image, coordinate system is set up with its two-dimensional signal；
Computing unit, the pixel two-dimensional coordinate information for calculating image according to the translation transformation of matrix, with gray value group
Into three-dimensional information.
9. the quick display device of recursive image as claimed in claim 6, it is characterised in that described image Fusion Module bag
Include：
Unit is chosen, recursive vertex sequence is used as choosing crucial pixel from the overlapping region of matching；
Integrated unit, for carrying out fusion treatment to pixel using recursive fashion.
10. the quick display device of recursive image as claimed in claim 6, it is characterised in that the interpolating module includes：
Object selection unit, for choosing target area from image corner parts；
Interpolation process unit, for carrying out interpolation processing to target area using recursive fashion, obtains interpolation image；
Projecting cell, curvilinear flow shape panorama sketch is obtained for interpolation image to be projected into former projection plane.
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| CN108389262A (en) * | 2018-03-14 | 2018-08-10 | 桂林电子科技大学 | A kind of method for rebuilding bifurcated vessels surface with recurrence plot of combination curvature feature |
| CN110866913A (en) * | 2019-11-21 | 2020-03-06 | 桂林电子科技大学 | Deep recursion cardiovascular image display method |
| CN117689557A (en) * | 2024-02-02 | 2024-03-12 | 南京维赛客网络科技有限公司 | OpenCV-based method, system and storage medium for converting orthoscopic panorama into hexahedral panorama |
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