CN107845061A - Image processing method, device and terminal - Google Patents

Image processing method, device and terminal Download PDF

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Publication number
CN107845061A
CN107845061A CN201711107117.XA CN201711107117A CN107845061A CN 107845061 A CN107845061 A CN 107845061A CN 201711107117 A CN201711107117 A CN 201711107117A CN 107845061 A CN107845061 A CN 107845061A
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point
plane
candidate region
mapping candidate
regional area
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袁雨龙
黄文辉
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Storm Group Ltd By Share Ltd
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Storm Group Ltd By Share Ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/06—Topological mapping of higher dimensional structures onto lower dimensional surfaces
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/08—Projecting images onto non-planar surfaces, e.g. geodetic screens

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Image Processing (AREA)

Abstract

The invention discloses a kind of image processing method, device and terminal.Methods described includes：Determine the pending partial sphere figure on spherical panoramic image；The corresponding surface pending partial sphere figure being mapped in default polyhedral structure, obtains the plane regional area in the corresponding surface；Default processing is carried out to the plane regional area；Plane regional area after processing is mapped to the region on the spherical panoramic image corresponding to the pending partial sphere figure.Pass through technical scheme, the spherical diagram of pending part in spherical panoramic image can be mapped to plan, after handling plan, the plan after processing is remapped to respective regions on sphere, realizes the processing to spherical panoramic image upper part spherical diagram picture.

Description

Image processing method, device and terminal
Technical field
The present invention relates to technical field of image processing, more particularly to a kind of image processing method, device and terminal.
Background technology
At present, with the high speed development of internet VR (Virtual Reality, virtual reality) video, to panoramic video Demand it is also more and more, it is sometimes necessary to a part of content of spherical panoramic image is handled, and the place in correlation technique Adjustment method be often based on it is plane rather than spherical curve, such as, the AR of current trend (Augmented Reality, Augmented reality) tracking technique is exactly to find image to be processed in plane picture and then carry out the processing such as image replacement, because And how the parts of images on spherical panoramic image handle using the Processing Algorithm in correlation technique just turns into urgently to be resolved hurrily The problem of.
The content of the invention
In view of this, the technical problems to be solved by the invention be how to provide a kind of image processing method, device and Terminal, the spherical diagram of pending part in spherical panoramic image can be mapped to plan, after handling plan, will located Plan after reason is remapped to respective regions on sphere, realizes the processing to spherical panoramic image upper part spherical diagram picture.
The invention provides a kind of image processing method, including：
Determine the pending partial sphere figure on spherical panoramic image；
The corresponding surface pending partial sphere figure being mapped in default polyhedral structure, obtains the corresponding surface In plane regional area；
Default processing is carried out to the plane regional area；
It is right that plane regional area after processing is mapped to the pending partial sphere figure institute on the spherical panoramic image The region answered.
In one embodiment, pair pending partial sphere figure being mapped in default polyhedral structure Face is answered, obtains the plane regional area in the corresponding surface, including：
Obtain the longitude and latitude scope of the pending partial sphere figure；
According to the longitude and latitude scope, determined from the polyhedral structure corresponding described with the longitude and latitude scope Mapping candidate region in corresponding surface and the corresponding surface；
The pending partial sphere figure is mapped to the mapping candidate region, obtains the plane regional area.
In one embodiment, it is described according to the longitude and latitude scope, the mapping candidate region in the corresponding surface is determined, Including：
The subtended angle of the plane regional area is determined according to the longitude and latitude scope；
The mapping candidate region is selected from the corresponding surface according to the subtended angle.
In one embodiment, it is described that the pending partial sphere figure is mapped to the mapping candidate region, obtain The plane regional area, including：
Determine the plane coordinate value of each point on the mapping candidate region；
Space coordinates according to where the plane coordinate value of each point determines each point in the spherical panoramic image In D coordinates value；
According to the D coordinates value of each point in space, each point on the mapping candidate region is obtained in the ball The latitude and longitude value of respective point on the panorama sketch of face；
According to the warp of the respective point on the mapping candidate region in the plane coordinate value and the spherical panoramic image of each point Latitude value, plane picture corresponding with the pending partial sphere figure is drawn on the mapping candidate region, to obtain State plane regional area.
In one embodiment, methods described also includes：
The plane coordinate value of each point on the mapping candidate region is normalized, the mapping after being normalized The plane coordinate value of each point on candidate region.
In one embodiment, the plane coordinate value according to each point determines each point in the spherical panorama The D coordinates value in space coordinates where scheming, including：
According to the longitude and latitude scope, the default anglec of rotation for mapping candidate region is determined；
When the initial rotation angle of the mapping candidate region mismatches with the default anglec of rotation, by the mapping After candidate region is rotated, based on the plane coordinate value of each point, the mapping candidate region before and after rotation is determined respectively The D coordinates value of upper each point.
In one embodiment, it is described complete according to the plane coordinate value of each point and the sphere on the mapping candidate region The latitude and longitude value of respective point on scape figure, drawn on the mapping candidate region corresponding with the pending partial sphere figure Plane picture, to obtain the plane regional area, including：
By the longitude and latitude of the plane coordinate value of each point and the respective point of the spherical panoramic image on the mapping candidate region Value is identified as apex coordinate and texture coordinate in opengl；
According to the apex coordinate and the texture coordinate in the opengl, drawn on the mapping candidate region The plane picture, to obtain the plane regional area.
In one embodiment, methods described also includes：
The pending partial sphere figure institute on the spherical panoramic image is mapped in the plane regional area after by processing During corresponding region, by the warp of the plane coordinate value of each point and the respective point of the spherical panoramic image on the plane regional area Latitude value is identified as texture coordinate and apex coordinate in opengl.
Present invention also offers a kind of image processing apparatus, including：
First determining module, for determining the pending partial sphere figure on spherical panoramic image；
First mapping block, for the correspondence being mapped to the pending partial sphere figure in default polyhedral structure Face, obtain the plane regional area in the corresponding surface；
First processing module, for carrying out default processing to the plane regional area；
Second mapping block, described wait to locate for the plane regional area after processing to be mapped on the spherical panoramic image Manage the region corresponding to partial sphere figure.
In one embodiment, first mapping block includes：
Acquisition submodule, for obtaining the longitude and latitude scope of the pending partial sphere figure；
Determination sub-module, for according to the longitude and latitude scope, being determined from the polyhedral structure and the longitude and latitude Spend mapping candidate region of the scope accordingly in the corresponding surface and the corresponding surface；
Mapping submodule, for the pending partial sphere figure to be mapped into the mapping candidate region, described in acquisition Plane regional area.
In one embodiment, the determination sub-module includes：
First determining unit, for determining the subtended angle of the plane regional area according to the longitude and latitude scope；
Selecting unit, for selecting the mapping candidate region from the corresponding surface according to the subtended angle.
In one embodiment, the mapping submodule includes：
Second determining unit, for determining the plane coordinate value of each point on the mapping candidate region；
3rd determining unit, for determining each point in the spherical panoramic image according to the plane coordinate value of each point D coordinates value in the space coordinates at place；
Acquiring unit, for the D coordinates value according to each point in space, obtain on the mapping candidate region Respective point of each point on the spherical panoramic image latitude and longitude value；
Drawing unit, for according to the plane coordinate value of each point and the spherical panoramic image on the mapping candidate region Respective point latitude and longitude value, draw plan corresponding with the pending partial sphere figure on the mapping candidate region Picture, to obtain the plane regional area.
In one embodiment, described device also includes：
Second processing module, for the plane coordinate value of each point on the mapping candidate region to be normalized, obtain The plane coordinate value of each point on the mapping candidate region after normalization；
In one embodiment, the 3rd determining unit is used for：
According to the longitude and latitude scope, the default anglec of rotation for mapping candidate region is determined；
When the initial rotation angle of the mapping candidate region mismatches with the default anglec of rotation, by the mapping After candidate region is rotated, based on the plane coordinate value of each point, the mapping candidate region before and after rotation is determined respectively The D coordinates value of upper each point.
In one embodiment, the drawing unit is used for：
By the longitude and latitude of the plane coordinate value of each point and the respective point of the spherical panoramic image on the mapping candidate region Value is identified as apex coordinate and texture coordinate in opengl；
According to the apex coordinate and the texture coordinate in the opengl, drawn on the mapping candidate region The plane picture, to obtain the plane regional area.
In one embodiment, described device also includes：
Second determining module, described treat is mapped on the spherical panoramic image for the plane regional area after by processing It is when handling the region corresponding to partial sphere figure, the plane coordinate value of each point and the sphere on the plane regional area is complete The latitude and longitude value of the respective point of scape figure is identified as texture coordinate and apex coordinate in opengl.
Present invention also offers a kind of terminal, including：Such as the image processing apparatus any one of above-mentioned technical scheme.
The technical scheme that embodiments of the invention provide can include the following benefits：
Plan can be handled by the way that the spherical diagram of pending part in spherical panoramic image is mapped into plan Afterwards, the plan after processing is remapped to respective regions on sphere, realize to spherical panoramic image upper part spherical diagram as Processing.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification Obtain it is clear that or being understood by implementing the present invention.The purpose of the present invention and other advantages can be by the explanations write Specifically noted structure is realized and obtained in book, claims and accompanying drawing.
Below by drawings and examples, technical scheme is described in further detail.
Brief description of the drawings
Accompanying drawing is used for providing a further understanding of the present invention, and a part for constitution instruction, the reality with the present invention Apply example to be used to explain the present invention together, be not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is a kind of flow chart of image processing method according to an exemplary embodiment.
Fig. 2 is the flow chart of another image processing method according to an exemplary embodiment.
Fig. 3 is the flow chart of another image processing method according to an exemplary embodiment.
Fig. 4 A are the schematic diagrames that establishment according to an exemplary embodiment has inscribed hexahedral spherical panoramic image.
Fig. 4 B are the schematic diagrames of Choose for user candidate region from ABCD planes according to an exemplary embodiment.
Fig. 4 C are pending partial sphere figure N and mapping candidate in spherical panoramic image according to an exemplary embodiment The relativeness schematic diagram of the dimensional orientation in region.
Fig. 4 D are the schematic diagrames of the postrotational mapping candidate region according to an exemplary embodiment.
Fig. 5 is a kind of block diagram of image processing apparatus according to an exemplary embodiment.
Fig. 6 is the block diagram of another image processing apparatus according to an exemplary embodiment.
Fig. 7 is the block diagram of another image processing apparatus according to an exemplary embodiment.
Fig. 8 is the block diagram of another image processing apparatus according to an exemplary embodiment.
Embodiment
The various exemplary embodiments of the present invention are described in detail now with reference to accompanying drawing 1 to 7.It should be noted that：It is unless another Illustrate outside, the part and the positioned opposite of step, numerical expression and numerical value otherwise illustrated in these embodiments is unlimited The scope of the present invention processed.
The description only actually at least one exemplary embodiment is illustrative to be never used as to the present invention below And its application or any restrictions that use.
It may be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable In the case of, the technology, method and apparatus should be considered as part for specification.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi It is defined, then it need not be further discussed in subsequent accompanying drawing in individual accompanying drawing.
The embodiment of the present invention can apply to computer system/server, and it can be with numerous other universal or special calculating System environments or configuration operate together.Suitable for be used together with computer system/server well-known computing system, ring The example of border and/or configuration includes but is not limited to：Personal computer system, server computer system, thin client, thick client Machine, hand-held or laptop devices, the system based on microprocessor, set top box, programmable consumer electronics, NetPC Network PC, Little types Ji calculates machine Xi Tong ﹑ large computer systems and the distributed cloud computing technology environment including any of the above described system, etc..
Computer system/server can be in computer system executable instruction (such as journey performed by computer system Sequence module) general linguistic context under describe.Generally, program module can include routine, program, target program, component, logic, number According to structure etc., they perform specific task or realize specific abstract data type.Computer system/server can be with Implement in distributed cloud computing environment, in distributed cloud computing environment, task is by by the long-range of communication network links Manage what equipment performed.In distributed cloud computing environment, program module can be located at the Local or Remote meter for including storage device In calculation system storage medium.
As shown in figure 1, the image processing method in the embodiment of the present invention can include：Step S101 to step S104, its In,
In step S101, the pending partial sphere figure on spherical panoramic image is determined；
In step s 102, the corresponding surface pending partial sphere figure being mapped in default polyhedral structure, obtain Plane regional area in corresponding surface；
The polyhedral structure is the inpolyhedron in spherical panoramic image, and corresponding surface is treated for this in polyhedral multiple faces That face corresponding to partial sphere figure is handled, and is calculated for convenience, the polyhedral structure can be hexahedron i.e. square.
Plane picture corresponding to the pending partial sphere figure, the chi of plane localized area are have mapped on plane localized area It is very little to be less than or equal to the obverse size.
In step s 103, default processing is carried out to plane regional area；
The default processing can be any processing, such as can be the portion of the plane picture to being mapped on the plane regional area Point/all replacement, AR processing etc., such as the plane picture mapped on plane regional area can be replaced quadrangularly arbitrary shape The logo of shape or advertisement.
In step S104, the plane regional area after processing is mapped to pending partial sphere figure on spherical panoramic image Corresponding region.
Determined on spherical panoramic image after needing pending partial sphere figure to be processed, by by pending partial sphere figure The corresponding surface being mapped in default polyhedral structure, can obtain the plane regional area in corresponding surface, and the plane partial zones The image mapped on domain is plane picture corresponding to the pending partial sphere figure, i.e., is mapped to pending partial sphere figure Plan, thus, by carrying out default processing to plane regional area, using the processing based on plan in correlation technique Algorithm is handled image, and then the plane regional area after processing is remapped into pending part on spherical panoramic image Region corresponding to spherical diagram, that is, spherical panoramic image after treatment is obtained, thus, the present invention can be by by spherical panorama The spherical diagram of pending part is mapped to plan in figure, and after handling plan, the plan after processing is reflected again Respective regions on sphere are mapped to, realize the processing to spherical panoramic image upper part spherical diagram picture.
As shown in Fig. 2 in one embodiment, the step S102 shown in above-mentioned Fig. 1, i.e., pending partial sphere figure is reflected The corresponding surface being mapped in default polyhedral structure, the plane regional area in corresponding surface is obtained, including：
In step s 201, the longitude and latitude scope of pending partial sphere figure is obtained；
The longitude and latitude scope is a coarse longitude and latitude scope, i.e. the pending partial sphere figure is complete relative to the sphere The general angular range of three-dimensional system of coordinate where scape figure, for characterizing the pending partial sphere figure in the spherical panoramic image Position Approximate/orientation.
In step S202, according to longitude and latitude scope, it is corresponding with longitude and latitude scope right to be determined from polyhedral structure Answer the mapping candidate region in face and corresponding surface；
The corresponding surface is that most probable covers plane picture corresponding to the pending partial sphere figure in polyhedral multiple faces That face.
In step S203, pending partial sphere figure is mapped to mapping candidate region, obtains plane regional area.
When obtaining plane regional area, the longitude and latitude scope of the pending partial sphere figure can be first obtained, and then be based on The longitude and latitude scope, the corresponding corresponding surface of longitude and latitude scope is selected from multiple faces of polyhedral structure, and then will be pending Partial sphere figure is mapped to corresponding surface, i.e., spherical diagram is mapped as into plan, to obtain the plane regional area.
In one embodiment, according to longitude and latitude scope, the mapping candidate region in corresponding surface is determined, including：
The subtended angle of plane regional area is determined according to longitude and latitude scope；
The subtended angle is the space coordinates where the midpoint on two sides up and down of plane regional area and spherical panoramic image The size for the first angle that the line of origin (or referred to as centre of sphere) is formed；And/or the left side that the subtended angle is plane regional area What the line of the origin (or referred to as centre of sphere) of the space coordinates where the midpoint on right two sides and spherical panoramic image was formed The size of second angle, and handle for convenience, the first angle and the second angle can be with identical, i.e., plane regional area can be Square.
According to subtended angle from corresponding surface Choose for user candidate region；
Because plane picture corresponding to pending partial sphere figure may be smaller, the corresponding surface can not be fully taken up, and The size of subtended angle can determine the specific size of plane picture again, thus, one can be selected again from corresponding surface according to above-mentioned subtended angle Zonule is the mapping candidate region, and pending partial sphere figure then is mapped into mapping candidate region, that is, mapped There is the plane regional area of plane picture corresponding with the pending partial sphere figure, for example, when polyhedral structure is hexahedron When, after 1 facing is selected as corresponding surface from hexahedral six faces, if subtended angle size is 45 °, with this just Centered on square central point, the small square area that the half that a length of side is the square length of side is selected from the square is made For the mapping candidate region, the pending partial sphere figure is then mapped to the small square area, that is, obtains plane office Portion region.
As shown in figure 3, in one embodiment, the step S203 shown in above-mentioned Fig. 1, i.e., pending partial sphere figure is reflected Mapping candidate region is mapped to, plane regional area is obtained, can be performed as：
In step S301, it is determined that mapping the plane coordinate value of each point on candidate region；
The plane coordinate value is after establishing two-dimensional coordinate system with the mapping candidate region or corresponding surface, maps candidate region Upper each point relative to the two-dimensional coordinate system coordinate value, such as when the mapping candidate region/corresponding surface for it is square when, with the pros The adjacent two edges of shape respectively horizontally and vertically establish the two-dimensional coordinate system；
And the selection mode for mapping each point on candidate region can be according to the resolution ratio for the plane picture for it is expected to obtain come really It is fixed, for example, resolution ratio then maps each point on candidate region laterally to take 480 points, longitudinally takes 480 if 480*480 Point, each point is then obtained in this 480*480 point relative to the coordinate value of foregoing two-dimensional coordinate system.
In step s 302, the space coordinates according to where the plane coordinate value of each point determines each point in spherical panoramic image In D coordinates value；
The origin of space coordinates is the centre of sphere of spheroid where spherical panoramic image, and the X, Y, Z axis of space coordinates can be free Set, such as be respectively along the radius level of the spheroid towards right, facing forward and direction upward vertically.
And due to the relative two-dimensional coordinate system of aforesaid plane coordinate value, it is associated with the space coordinates, thus, according to this The plane coordinate value of each point can determine that D coordinates value of each point in space coordinates, if for example, the corresponding surface is vertical In XOZ (wherein, O is the centre of sphere) parallel to XOY plane, then because the Z coordinate of each point on mapping candidate region is all identical As being all a, thus, establish two-dimensional coordinate system (it is assumed that the two dimension is sat by x-axis and y-axis of obverse horizontal edge and vertical edge respectively Mark the x-axis of the x-axis of system and the forward direction of y-axis and three-dimensional system of coordinate, the direction of y-axis forward direction is identical and is parallel to each other), and obtain mapping On candidate region after the X of each point, Y-coordinate (i.e. (x, y)), the D coordinates value that each point can be obtained with reference to a is.
In addition, even if mapping candidate region is not parallel or vertical with the face that adjacent coordinates axle is formed, can be waited according to mapping Each end points in favored area calculates the plane equation in this face and then calculated after being projected to this face each on perspective plane The two-dimensional coordinate of point, it is finally based on the two-dimensional coordinate of each point on plane equation and perspective plane, you can obtain mapping candidate region The three-dimensional coordinate of upper each point.
In step S303, according to the D coordinates value of each point in space, each point obtained on mapping candidate region exists The latitude and longitude value of respective point on spherical panoramic image；
Respective point of each point on candidate region on spherical panoramic image is mapped for each point and ball on mapping candidate region Intersection point when ray determined by the heart (centre of sphere is the end points of ray) passes through the spherical panoramic image with the spherical panoramic image, and this Point on a little intersection points namely pending spherical diagram.
In step s 304, according to the respective point on mapping candidate region in the plane coordinate value and spherical panoramic image of each point Latitude and longitude value, corresponding with pending partial sphere figure plane picture is drawn on mapping candidate region, to obtain plane office Portion region.
According to spherical radius value corresponding to spheroid where each point D coordinates value in space and spherical panoramic image, can obtain The latitude and longitude value of respective point of each point on candidate region on spherical panoramic image must be mapped, and then according on mapping candidate region The latitude and longitude value of respective point in the plane coordinate value and spherical panoramic image of each point, you can draw and treat on mapping candidate region Plane picture corresponding to partial sphere figure is handled, to obtain plane regional area, consequently facilitating being carried out to the plane picture follow-up Processing.
In one embodiment, method also includes：The plane coordinate value for mapping each point on candidate region is normalized, The plane coordinate value of each point on mapping candidate region after being normalized.
In order to facilitate processing, the plane coordinate value for mapping each point on candidate region can be normalized, be normalized The plane coordinate value of each point on mapping candidate region afterwards, so afterwards using each point on the mapping candidate region after normalization Plane coordinate value calculate D coordinates value of each point in the space coordinates where spherical panoramic image.
In one embodiment, the step S302 in above-mentioned Fig. 3, i.e., determine each point in ball according to the plane coordinate value of each point The D coordinates value in space coordinates where the panorama sketch of face, can be performed as：
According to longitude and latitude scope, it is determined that the default anglec of rotation of mapping candidate region；
When the initial rotation angle for mapping candidate region mismatches with the default anglec of rotation, mapping candidate region is carried out After rotation (so that the present rotation angel degree of postrotational mapping candidate region matches with the default anglec of rotation), based on each point Plane coordinate value, the D coordinates value of each point on the front and rear mapping candidate region of rotation is determined respectively.
When the initial rotation angle and the default anglec of rotation that map candidate region mismatch, illustrate to map candidate region and The pending partial sphere figure is offset, and now, some respective points of point on spherical panoramic image mapped on candidate region can Can not be just the point on pending partial sphere figure, namely pending partial sphere figure pair can not be completely covered in mapping candidate region The plane picture answered, thus, it can will map candidate region and carry out rotating the present rotation angel for making postrotational mapping candidate region Degree matches with the default anglec of rotation, and based on the plane coordinate value of each point on mapping candidate region, determines respectively before rotating The D coordinates value of candidate region is mapped afterwards.
Such as：When the initial rotation angle for mapping candidate region mismatches with the default anglec of rotation, candidate can will be mapped Region carries out horizontal and/or vertical rotary, and maps the plane coordinate value of each point on candidate region, determines the mapping before rotation The D coordinates value of each point on candidate region, then calculated according to the D coordinates value of each point on the mapping candidate region before rotation Go out the D coordinates value of each point on the mapping candidate region after rotating.
Wherein, map the initial rotation angle of candidate region mismatched with the default anglec of rotation represent initial rotation angle degree with The default anglec of rotation is unequal, or the differential seat angle between initial rotation angle and the default anglec of rotation is poor more than predetermined angle.
Secondly, the anglec of rotation (including initial rotation angle and default anglec of rotation) is mapping candidate region and space coordinates The angle in the face that two reference axis of certain specified in system are formed, and the anglec of rotation includes vertical rotation angle and feathering angle Degree.
In one embodiment,
According to mapping candidate region on each point plane coordinate value and spherical panoramic image on respective point latitude and longitude value, Map and plane picture corresponding with pending partial sphere figure is drawn on candidate region, to obtain plane regional area, including：
It is true that the latitude and longitude value of the plane coordinate value of each point and the respective point of spherical panoramic image difference on candidate region will be mapped The apex coordinate and texture coordinate being set in opengl；
According to apex coordinate and texture coordinate in opengl, plane picture is drawn on mapping candidate region, to obtain Plane regional area.
In the latitude and longitude value according to the respective point on mapping candidate region in the plane coordinate value and spherical panoramic image of each point When drawing plane picture, the longitude and latitude of the plane coordinate value of each point and the respective point of spherical panoramic image on candidate region can will be mapped Value is identified as apex coordinate and texture coordinate in opengl, and then the pixel value on texture coordinate is rendered into summit and sat Put on, you can (Open Graphics Library, refer to define one across programming language, cross-platform volume by opengl The professional graphic package interface of journey interface specification) obtain and want the plane picture that the spherical diagram of process part is mapped.
In one embodiment, method also includes：
The area on spherical panoramic image corresponding to pending partial sphere figure is mapped in the plane regional area after by processing During domain, the latitude and longitude value of the plane coordinate value of each point and the respective point of spherical panoramic image on plane regional area is identified as Texture coordinate and apex coordinate in opengl.
, can be when opengl draws respectively by plane regional area when plane regional area is remapped on sphere The latitude and longitude value of the plane coordinate value of upper each point and the respective point of spherical panoramic image is defined as texture coordinate and top in opengl Point coordinates, and then the new pixel value on the texture coordinate after default processing is rendered on apex coordinate, you can complete reflecting for image Penetrate, the plane picture after processing is pasted back on spherical panoramic image again.
In addition, those skilled in the art be it is to be understood that above-described embodiment can be combined with each other, and if according to subtended angle from right Answer and mapping candidate region is have selected in face.
It will be exemplified below embodiments of the invention：
Polyhedral structure is built in spherical panoramic image；
If pending office is determined according to the general longitude and latitude scope of the pending partial sphere figure P on spherical panoramic image Portion spherical diagram P probably corresponds to the M faces in polyhedral structure, i.e. M faces are corresponding surface, then pending partial sphere figure P are mapped into M On face, that is, the plane local area for being mapped with plane picture corresponding with pending partial sphere figure is obtained, it is so right afterwards After plane regional area carries out respective handling, the plane regional area after processing is mapped to pending part on spherical panoramic image Region corresponding to spherical diagram.
In the above-described embodiments, pending partial sphere figure P is mapped on M faces, can root when obtaining plane local area The subtended angle of plane regional area is determined according to above-mentioned general longitude and latitude scope, and then, selected according to the subtended angle from the corresponding surface A corresponding zonule is as mapping candidate region, then if the initial rotation angle and the default anglec of rotation of mapping candidate region Degree is mismatched, that is, plane picture corresponding to the pending partial sphere figure can not be covered by mapping candidate region, then the mapping is waited Favored area is rotated vertically or horizontally, and determines to rotate three of each point on front and rear mapping candidate region in three-dimensional system of coordinate Dimension coordinate, and be based on spherical radius, determining to map the ray of each point and the centre of sphere on candidate region, (wherein the centre of sphere is the ray End points) on sphere intersection point (intersection point be map candidate region on each point spherical panoramic image respective point) longitude and latitude Value, then according to each point on mapping candidate region in the plane coordinate value of each point and mapping candidate region on spherical panoramic image Respective point latitude and longitude value, on the mapping candidate region draw plane picture after, that is, obtain the plane regional area (i.e. Drawing has the mapping candidate region of the plane picture).
Embodiments of the invention are further described below in conjunction with Fig. 4 A to Fig. 4 D：
The present invention is that a part of pending spherical diagram on spherical panoramic image is mapped into plan, at plan After reason, paste back again on original spherical panoramic image.Wherein：S- in the embodiment>Cfov is subtended angle size, s->rotate_v For vertical rotation angle, s->Rotate_h is horizontal rotation angle；Wherein,
s->Cfov is to map the angle that the midpoint on two sides up and down of candidate region is formed with the centre of sphere；
s->Rotate_v refers to the angle that should rotate the X-axis mapped shown in candidate region along Fig. 4 A to Fig. 4 D, The differential seat angle that front and rear mapping candidate region and XOY faces are rotated along X-axis, the vertical rotation angle be equal to mapping candidate region with XOY faces should reach preset vertical angle and map the angle between the initial perpendicular angle of the angle in candidate region and XOY faces Difference, and preset vertical angle determines according to latitude scope general figure N；
s->Rotate_h refers to the angle that should rotate the Y-axis mapped shown in candidate region along Fig. 4 A to Fig. 4 D, Can be the differential seat angle that front and rear mapping candidate region and YOZ faces are rotated along Y-axis, and the vertical rotation angle is equal to mapping candidate regions Domain and YOZ faces should reach between preset level angle and the initial level angle of the angle in mapping candidate region and YOZ faces Differential seat angle, and preset vertical angle determines according to longitude range general figure N.Concrete scheme is as follows：
First step：As shown in Figure 4 A, regular hexahedron, the direction of its X, Y, Z axis is inscribed in spherical panoramic image internal build With inscribed regular hexahedron as shown in Figure 4 A, the figure N and in Fig. 4 A represents pending partial sphere figure on spherical panoramic image.
Second step：According to the general longitude and latitude scopes of figure N, it may be determined that one in its corresponding hexahedral six face Face, as shown in Figure 4 A, figure N correspond to the ABCD planes in hexahedron, then ABCD planes are defined as to figure N corresponding surface.
Third step：Visible figure N size is less than ABCD size from Fig. 4 A, thus, can probably opening according to figure N Angle (angle that as shown in Figure 4 B, the subtended angle is formed by top midpoint E, the following midpoint F of dash area and centre of sphere O line, Certainly, the selection in region is carried out for convenience, in the present embodiment, the midpoint of the right and left of dash area and centre of sphere O company The size for the angle that line is formed is also in this way, not showed that in Fig. 4 B simply), determine to map candidate region from ABCD faces That is the shadow region in Fig. 4 B, it is a small square area.
Four steps：It is that to map the transverse and longitudinal coordinate of each point on candidate region be x by the shadow region shown in Fig. 4 B, y (when So, the transverse and longitudinal coordinate is to map the plane coordinate value of each point on candidate region, and the transverse axis of its corresponding two-dimensional coordinate system is CD sides It is horizontal towards right identical and parallel with the X-direction in the three-dimensional system of coordinate shown in Fig. 4 B, the longitudinal axis for BC sides level upward with figure The Y direction in three-dimensional system of coordinate shown in 4B is identical and parallel, is not showed that in Fig. 4 B simply) it is normalized, process is such as Under：
Ix=(x-0.5) * ((float) s->cfov/90.0)+0.5；
Iy=(y-0.5) * ((float) s->cfov/90.0)+0.5；
X=ix；
Y=iy；
The maximum angle of subtended angle is 90 degree, is reduced centered on the center in ABCD faces.
5th step：It is determined that map the process of the D coordinates value of each point x, y in three-dimensional system of coordinate XYZ on candidate region (wherein, f hereinafter is float, represents real-coded GA type) as follows：
Sin_y=sin (0.0f)；
Cos_y=cos (0.0f)；
Sin_p=sin (s->rotate_v*M_PI/180.0f)；
Cos_p=cos (s->rotate_v*M_PI/180.0f)；
Tx=qx*cos_y-qy*sin_y*sin_p+qz*sin_y*cos_p；
Ty=qy*cos_p+qz*sin_p；
Tz=qx* (- sin_y)-qy*cos_y*sin_p+qz*cos_y*cos_p；
D=sqrtf (tx*tx+ty*ty+tz*tz)；
Qx, qy, qz are in three-dimensional coordinate not by the point mapped before mapping candidate region vertical rotary on candidate region It is the three-dimensional coordinate in XYZ, tx, ty, tz is that d is vertical rotary by the three-dimensional coordinate after mapping candidate region vertical rotary The each point on mapping face is to the distance (i.e. the radius of ball) of the centre of sphere, M_PI=pis afterwards；
In addition, in this step, because ABCD faces are vertical with XOZ faces, thereon Z coordinate a little it is identical, thus, X, y in four steps calculate qx, when qy, qz, due in the two-dimensional coordinate system where ABCD faces and XYZ three-dimensional system of coordinates X-axis with Y-axis be all parallel, thus, after x, y in calculating four steps, according between ABCD faces and XOY faces Vertical range, you can determine qx, qy, qz, i.e. qx=x, qy=y, the vertical range between qz=ABCD faces and XOY faces.
6th step：The latitude and longitude value of respective point of each point on mapping candidate region on spherical panoramic image is obtained, It is exactly coordinate of the respective point on spherical panoramic image：
OutX=-atan2f (- tx/d, tz/d)/(M_PI*1.0f)+0.5f；
OutY=asinf (- ty/d)/M_PI+0.5f；
OutX+=(s->rotate_h/360.0f)；
Certain point (x, y) on so given mapping candidate region, has just obtained its respective point on spherical panoramic image Coordinate (outX, outY), and the rotates effe in the 5th step and the 6th step is as shown in Figure 4 D, wherein, Fig. 4 C represent rotation The relativeness of dimensional orientation of the preceding mapping candidate region with scheming N, from Fig. 4 C, if before figure N is mapped to rotation Map candidate region (i.e. shadow region), then map the initial rotation angle of candidate region and the default anglec of rotation, this When, the mapping candidate region before rotation can not be completely covered plane picture corresponding to figure N, that is, the mapping candidate region before rotating with What corresponding plane picture was not parallel to each other but was mutually inclined, thus, it can will map candidate region according to above-mentioned steps and carry out It is vertical and/or rotate horizontally, make plane picture corresponding to its coverability graph N, and postrotational mapping candidate region such as Fig. 4 D institutes Show.
7th step：X, y are set as apex coordinate with opengl, outX, outY are set as texture coordinate, obtains handling Partial plane picture (draws plane picture corresponding to figure N just i.e. on postrotational mapping candidate region as shown in Figure 4 D Plane regional area can be obtained).
8th step：Plane picture is handled, wherein it is possible to be various processing, such as AR, post processing etc. skills Art.
9th step：Plane picture after processing is remapped to spherical panoramic image, specifically：Drawn in opengl When x, y be set as texture coordinate, outX, outY are set as apex coordinate.
As shown in figure 5, the present invention also provides a kind of image processing apparatus, including：
First determining module 501, the pending partial sphere figure being configured to determine that on spherical panoramic image；
First mapping block 502, it is configured as pending partial sphere figure being mapped in default polyhedral structure Corresponding surface, obtain the plane regional area in corresponding surface；
First processing module 503, it is configured as carrying out plane regional area default processing；
Second mapping block 504, it is configured as the plane regional area after processing being mapped on spherical panoramic image and waits to locate Manage the region corresponding to partial sphere figure.
As shown in fig. 6, in one embodiment, the first mapping block 502 can include：
Acquisition submodule 5021, it is configured as obtaining the longitude and latitude scope of pending partial sphere figure；
Determination sub-module 5022, it is configured as, according to longitude and latitude scope, determining from polyhedral structure and longitude and latitude model Enclose the mapping candidate region in corresponding corresponding surface and corresponding surface；
Mapping submodule 5023, it is configured as pending partial sphere figure being mapped to mapping candidate region, obtains plane Regional area.
As shown in fig. 7, in one embodiment, determination sub-module 5022 can include：
First determining unit 50221, it is configured as determining the subtended angle of plane regional area according to longitude and latitude scope；
Selecting unit 50222, it is configured as according to subtended angle the Choose for user candidate region from corresponding surface.
As shown in figure 8, in one embodiment, mapping submodule 5023 includes：
Second determining unit 50231, it is configured to determine that the plane coordinate value of each point on mapping candidate region；
3rd determining unit 50232, it is configured as determining each point in spherical panoramic image institute according to the plane coordinate value of each point Space coordinates in D coordinates value；
Acquiring unit 50233, the D coordinates value in space according to each point is configured as, obtained on mapping candidate region Respective point of each point on spherical panoramic image latitude and longitude value；
Drawing unit 50234, it is configured as plane coordinate value and spherical panoramic image according to each point on mapping candidate region On respective point latitude and longitude value, draw corresponding with pending partial sphere figure plane picture on mapping candidate region, with Obtain plane regional area.
In one embodiment, device also includes：
Second processing module, it is configured as the plane coordinate value for mapping each point on candidate region being normalized, obtains The plane coordinate value of each point on mapping candidate region after normalization；
In one embodiment, the 3rd determining unit is configured as：
According to longitude and latitude scope, it is determined that the default anglec of rotation of mapping candidate region；
When the initial rotation angle for mapping candidate region mismatches with the default anglec of rotation, mapping candidate region is carried out After rotation, the plane coordinate value based on each point, the front and rear D coordinates value for mapping each point on candidate region of rotation is determined respectively.
In one embodiment, drawing unit is configured as：
It is true that the latitude and longitude value of the plane coordinate value of each point and the respective point of spherical panoramic image difference on candidate region will be mapped The apex coordinate and texture coordinate being set in opengl；
According to apex coordinate and texture coordinate in opengl, plane picture is drawn on mapping candidate region, to obtain Plane regional area.
In one embodiment, device also includes：
Second determining module, it is configured as being mapped in the plane regional area after by processing pending on spherical panoramic image During region corresponding to partial sphere figure, by the plane coordinate value of each point on plane regional area and the respective point of spherical panoramic image Latitude and longitude value be identified as texture coordinate and apex coordinate in opengl.
Present invention also offers a kind of terminal, including：Such as the image processing apparatus any one of above-mentioned technical scheme.
In addition, each embodiment is described by the way of progressive in this specification, each embodiment stresses It is the difference with other embodiments, same or analogous part cross-reference between each embodiment.For device For embodiment, because it is substantially corresponding with embodiment of the method, so description is fairly simple, related part is implemented referring to method The part explanation of example.
Methods and apparatus of the present invention may be achieved in many ways.For example, can by software, hardware, firmware or Software, hardware, firmware any combinations come realize the present invention method and system.The said sequence of the step of for methods described Order described in detail above is not limited to merely to illustrate, the step of method of the invention, it is special unless otherwise Do not mentionlet alone bright.In addition, in certain embodiments, the present invention can be also embodied as recording program in the recording medium, these programs Including the machine readable instructions for realizing the method according to the invention.Thus, the present invention also covering storage is used to perform basis The recording medium of the program of the method for the present invention.
Description of the invention provides for the sake of example and description, and is not exhaustively or by the present invention It is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Select and retouch State embodiment and be to more preferably illustrate the principle and practical application of the present invention, and one of ordinary skill in the art is managed The present invention is solved so as to design the various embodiments with various modifications suitable for special-purpose.

Claims (17)

  1. A kind of 1. image processing method, it is characterised in that including：
    Determine the pending partial sphere figure on spherical panoramic image；
    The corresponding surface pending partial sphere figure being mapped in default polyhedral structure, is obtained in the corresponding surface Plane regional area；
    Default processing is carried out to the plane regional area；
    Plane regional area after processing is mapped on the spherical panoramic image corresponding to the pending partial sphere figure Region.
  2. 2. according to the method for claim 1, it is characterised in that
    The corresponding surface pending partial sphere figure being mapped in default polyhedral structure, obtains the corresponding surface In plane regional area, including：
    Obtain the longitude and latitude scope of the pending partial sphere figure；
    According to the longitude and latitude scope, the correspondence corresponding with the longitude and latitude scope is determined from the polyhedral structure Mapping candidate region in face and the corresponding surface；
    The pending partial sphere figure is mapped to the mapping candidate region, obtains the plane regional area.
  3. 3. according to the method for claim 2, it is characterised in that
    It is described that mapping candidate region in the corresponding surface is determined according to the longitude and latitude scope, including：
    The subtended angle of the plane regional area is determined according to the longitude and latitude scope；
    The mapping candidate region is selected from the corresponding surface according to the subtended angle.
  4. 4. according to the method in claim 2 or 3, it is characterised in that
    It is described that the pending partial sphere figure is mapped to the mapping candidate region, the plane regional area is obtained, is wrapped Include：
    Determine the plane coordinate value of each point on the mapping candidate region；
    In space coordinates according to where the plane coordinate value of each point determines each point in the spherical panoramic image D coordinates value；
    According to the D coordinates value of each point in space, each point obtained on the mapping candidate region is complete in the sphere The latitude and longitude value of respective point on scape figure；
    According to the longitude and latitude of the respective point on the mapping candidate region in the plane coordinate value and the spherical panoramic image of each point Value, plane picture corresponding with the pending partial sphere figure is drawn on the mapping candidate region, to obtain described put down Face regional area.
  5. 5. according to the method for claim 4, it is characterised in that methods described also includes：
    The plane coordinate value of each point on the mapping candidate region is normalized, the mapping candidate after being normalized The plane coordinate value of each point on region.
  6. 6. according to the method for claim 4, it is characterised in that
    The plane coordinate value according to each point determines each point in the space coordinates where the spherical panoramic image In D coordinates value, including：
    According to the longitude and latitude scope, the default anglec of rotation for mapping candidate region is determined；
    When the initial rotation angle of the mapping candidate region mismatches with the default anglec of rotation, by the mapping candidate After region is rotated, based on the plane coordinate value of each point, determine respectively each on the mapping candidate region before and after rotating The D coordinates value of point.
  7. 7. according to the method for claim 4, it is characterised in that
    The warp of the respective point according on the mapping candidate region in the plane coordinate value and the spherical panoramic image of each point Latitude value, plane picture corresponding with the pending partial sphere figure is drawn on the mapping candidate region, to obtain Plane regional area is stated, including：
    By the latitude and longitude value point of the plane coordinate value of each point and the respective point of the spherical panoramic image on the mapping candidate region The apex coordinate and texture coordinate not being defined as in opengl；
    According to the apex coordinate and the texture coordinate in the opengl, mapped described on candidate region described in drafting Plane picture, to obtain the plane regional area.
  8. 8. according to the method for claim 7, it is characterised in that methods described also includes：
    It is mapped in the plane regional area after by processing on the spherical panoramic image corresponding to the pending partial sphere figure Region when, by the longitude and latitude of the plane coordinate value of each point and the respective point of the spherical panoramic image on the plane regional area Value is identified as texture coordinate and apex coordinate in opengl.
  9. A kind of 9. image processing apparatus, it is characterised in that including：
    First determining module, for determining the pending partial sphere figure on spherical panoramic image；
    First mapping block, for the corresponding surface being mapped to the pending partial sphere figure in default polyhedral structure, Obtain the plane regional area in the corresponding surface；
    First processing module, for carrying out default processing to the plane regional area；
    Second mapping block, for the plane regional area after processing to be mapped into the pending office on the spherical panoramic image Region corresponding to portion's spherical diagram.
  10. 10. device according to claim 9, it is characterised in that
    First mapping block includes：
    Acquisition submodule, for obtaining the longitude and latitude scope of the pending partial sphere figure；
    Determination sub-module, for according to the longitude and latitude scope, being determined from the polyhedral structure and the longitude and latitude model Enclose the mapping candidate region in the corresponding corresponding surface and the corresponding surface；
    Mapping submodule, for the pending partial sphere figure to be mapped into the mapping candidate region, obtain the plane Regional area.
  11. 11. device according to claim 10, it is characterised in that
    The determination sub-module includes：
    First determining unit, for determining the subtended angle of the plane regional area according to the longitude and latitude scope；
    Selecting unit, for selecting the mapping candidate region from the corresponding surface according to the subtended angle.
  12. 12. the device according to claim 10 or 11, it is characterised in that
    The mapping submodule includes：
    Second determining unit, for determining the plane coordinate value of each point on the mapping candidate region；
    3rd determining unit, where determining each point in the spherical panoramic image according to the plane coordinate value of each point Space coordinates in D coordinates value；
    Acquiring unit, for the D coordinates value according to each point in space, obtain each on the mapping candidate region The latitude and longitude value of respective point of the point on the spherical panoramic image；
    Drawing unit, for according to the phase on the mapping candidate region in the plane coordinate value and the spherical panoramic image of each point The latitude and longitude value that should be put, plane picture corresponding with the pending partial sphere figure is drawn on the mapping candidate region, To obtain the plane regional area.
  13. 13. device according to claim 12, it is characterised in that described device also includes：
    Second processing module, for the plane coordinate value of each point on the mapping candidate region to be normalized, obtain normalizing The plane coordinate value of each point on the mapping candidate region after change.
  14. 14. device according to claim 12, it is characterised in that
    3rd determining unit is used for：
    According to the longitude and latitude scope, the default anglec of rotation for mapping candidate region is determined；
    When the initial rotation angle of the mapping candidate region mismatches with the default anglec of rotation, by the mapping candidate After region is rotated, based on the plane coordinate value of each point, determine respectively each on the mapping candidate region before and after rotating The D coordinates value of point.
  15. 15. device according to claim 12, it is characterised in that
    The drawing unit is used for：
    By the latitude and longitude value point of the plane coordinate value of each point and the respective point of the spherical panoramic image on the mapping candidate region The apex coordinate and texture coordinate not being defined as in opengl；
    According to the apex coordinate and the texture coordinate in the opengl, mapped described on candidate region described in drafting Plane picture, to obtain the plane regional area.
  16. 16. device according to claim 15, it is characterised in that described device also includes：
    Second determining module, it is mapped to for the plane regional area after by processing described pending on the spherical panoramic image During region corresponding to partial sphere figure, by the plane coordinate value of each point and the spherical panoramic image on the plane regional area The latitude and longitude value of respective point be identified as texture coordinate and apex coordinate in opengl.
  17. A kind of 17. terminal, it is characterised in that including：Image processing apparatus as any one of claim 9 to 16.
CN201711107117.XA 2017-11-10 2017-11-10 Image processing method, device and terminal Pending CN107845061A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108765539A (en) * 2018-05-24 2018-11-06 武汉斗鱼网络科技有限公司 Image rendering method, device, equipment and storage medium based on OpenG L ES
CN109492521A (en) * 2018-09-13 2019-03-19 北京米文动力科技有限公司 Face positioning method and robot
CN111161173A (en) * 2019-12-18 2020-05-15 北京城市网邻信息技术有限公司 Image correction information acquisition method, image correction information acquisition device, image correction information model construction method, image correction information model construction device, and medium
CN112927371A (en) * 2021-03-03 2021-06-08 深圳市创想三维科技有限公司 Image processing method, image processing device, computer equipment and storage medium

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108765539A (en) * 2018-05-24 2018-11-06 武汉斗鱼网络科技有限公司 Image rendering method, device, equipment and storage medium based on OpenG L ES
CN108765539B (en) * 2018-05-24 2022-05-13 武汉斗鱼网络科技有限公司 OpenGLES-based image rendering method, device, equipment and storage medium
CN109492521A (en) * 2018-09-13 2019-03-19 北京米文动力科技有限公司 Face positioning method and robot
CN109492521B (en) * 2018-09-13 2022-05-13 北京米文动力科技有限公司 Face positioning method and robot
CN111161173A (en) * 2019-12-18 2020-05-15 北京城市网邻信息技术有限公司 Image correction information acquisition method, image correction information acquisition device, image correction information model construction method, image correction information model construction device, and medium
CN112927371A (en) * 2021-03-03 2021-06-08 深圳市创想三维科技有限公司 Image processing method, image processing device, computer equipment and storage medium

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