CN108206909A - Panorama real time image processing - Google Patents
Panorama real time image processing Download PDFInfo
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- CN108206909A CN108206909A CN201611168672.9A CN201611168672A CN108206909A CN 108206909 A CN108206909 A CN 108206909A CN 201611168672 A CN201611168672 A CN 201611168672A CN 108206909 A CN108206909 A CN 108206909A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
Abstract
The present invention provides a kind of panorama real time image processing.360 degree of full-view images can not be generated to real-time different from the prior art, the method of the present invention captures video information using two flake video cameras for completing lens parameters correction, and by the video information captured after Video coding and string fluidization treatment, an electronic product is sent to by way of wire transmission or wireless transmission, to carry out video coding processing by the image procossing application program for being installed on the electronic product, panoramic coordinates conversion process, image sews up processing, and edge-smoothingization processing, and then regard ball full-view image in display one on the display of the electronic product.In addition, by the assistance of programmable graphics processor or digital signal processor, after the image procossing application program also can regard this progress visual field parameter operation of ball full-view image, shown by plane panorama display pattern, flake visual field display pattern or human eye visual field display pattern.
Description
Technical field
Technical field of the present invention about image procossing, espespecially a kind of panorama real time image processing.
Background technology
In early days, only about 30 degree to 50 of the angular range of scene that film pickup machine or egative film camera can only be shot
Degree, therefore film pickup machine or egative film camera can not be by panorama filming images among same image.In the recent period, with digital phase
The appearance of machine and the progress of image processing techniques, existing camera work can utilize a plurality of lenses to single scene into
The image capture of row omnibearing angel, then by image processing techniques by multiple image joints into 360 degree of full-view images.
Referring to Fig. 1, a kind of method flow diagram of existing 360 degree of full-view image generation techniques of display.As shown in Figure 1,
Existing 360 degree of full-view image generation techniques include following methods step：
(S1’)：Image capture is carried out using multiple photographing elements；
(S2’)：The point coordinates of multiframe image captured is converted into falling within to multiple spherical coordinates on semi-sphere；
(S3’)：Using longitude and latitude projection method further by the multiframe video conversion into multiframe longitude and latitude image；
(S4’)：After multiframe longitude and latitude image progress optics is cut out, one frame full-view image of generation is sewed up；
(S5’)：The full-view image is subjected to edge-smoothing processing；
(S6’)：Video coding is carried out to each frame panoramic picture according to time shaft, and then generates a panoramic video and plays
Output.
Although 360 degree of above-mentioned full-view image generation techniques have been widely used at present, however, inventor's base of this case
It is found in practical experience, which still shows following defect：
(1) when capturing the multiframe image using multiple photographing element, in addition to being based on same optical centre (common
Optical center) other than, more must assure that the multiframe image, there are one part superimposed image regions for tool each other.It is aobvious
So, 360 degree of full-view image generation techniques are in containing many restrictive conditions in implementation；
(2) in the application process of 360 degree of full-view image generation techniques, since the photographing element is wide-angle lens
(such as fish eye lens), therefore before generation full-view image is sewed up, it is necessary to camera lens distortion is carried out to the multiframe image captured
Correction process.However, as known to the engineering staff for being familiar with image processing techniques, image procossing need to expend a large amount of calculation resources
And the time, if human eye thinks viewing smoothly video, 24~30 image informations need to be handled each second, more than typical hardware device
Accessible limitation；It follows that 360 degree of known full-view image generation techniques can not generate to real-time 360 degree of panorama shadows
Picture.
Therefore, in view of known full-view image generation technique still there is technology to apply the defects of upper with insufficient, this case
Inventor is strongly studied invention, and researches and develops a kind of panorama real time image processing for completing the present invention finally.
Invention content
The main object of the present invention is to provide a kind of panorama real time image processing.It can not different from known techniques
360 degree of full-view images are generated to real-time, method of the invention is to utilize two flake video cameras for completing lens parameters correction
Capture video information, and by the video information captured after Video coding and string fluidization treatment, by wire transmission or
The mode of wireless transmission is sent to an electronic product, to be carried out by the image procossing application program for being installed on the electronic product
Processing and edge-smoothingization processing are sewed up in video coding processing, panoramic coordinates conversion process, image, and then are produced in the electronics
Display one regards ball full-view image on the display of product.In addition, the association by programmable graphics processor or digital signal processor
It helps, after which also can regard this progress visual field parameter operation of ball full-view image, which is taken the photograph
The video information that shadow machine is captured passes through plane panorama display pattern, flake visual field display pattern or human eye visual field display pattern
It is shown.
In order to reach the main purpose of the invention described above, the inventor of this case provides a kind of panorama scan picture side
Method includes the following steps：
(1) parameter correction process is carried out to an at least image acquisition module；
(2) at least two frame images are captured using an at least image acquisition module；
(3) a panoramic coordinates conversion process is carried out at least two frame images, to obtain at least two frame panorama converting images；
(4) an image joining process is carried out at least two frame panorama converting images, to obtain single full-view image；And
(5) a display pattern processing is carried out to the single frame full-view image so that the single frame full-view image is specific with one
Display pattern is shown on a display equipment.
Description of the drawings
Fig. 1 is to show a kind of method flow diagram of existing 360 degree of full-view image generation techniques；
Fig. 2 is a kind of flow chart of panorama real time image processing of the display present invention；
Fig. 3 is the schematic diagram that image capture operation is carried out using a panorama camera；
The schematic diagram of two frame images that Fig. 4 is captured by two image acquisition modules；
Fig. 5 schematically shows figure for the single frame full-view image depending on ball panorama display pattern；
Fig. 6 schematically shows figure for the single frame full-view image of plane panorama display pattern.
Wherein reference numeral is：
S1~S5 method and steps
2 panorama cameras
21 left fish-eye cameras
22 right fish-eye cameras
The left frame wide-angle images of I-L
The right frame wide-angle images of I-R
3 electronic products
S1 '~S6 ' method and steps
Specific embodiment
In order to more clearly describe a kind of panorama real time image processing proposed by the invention, below in conjunction with
Schema elaborates presently preferred embodiments of the present invention.
A kind of panorama real time image processing of the present invention for can writing into an image processing software or an image procossing
Application program (APP) is downloaded for user and is installed among an electronic product；Such as：Digital camera, intelligent mobile phone, number
Video camera, tablet computer or laptop.In this way, make when user completes an image capture using an image acquisition module
After industry, can the image captured be further subjected to image (or video) and encoded and string fluidization treatment, and by image
(or video) crossfire is sent among the electronic product for being equipped with the application program, and then passes through the image procossing application program
By the video conversion captured into panorama real-time imaging.
It must illustrate, above-mentioned image acquisition module can be the photographing module that the electronic product is carried,
Can be independent photographing module, and the acquisition captured by way of wire transmission or wireless transmission at least two frames
Image is sent to the electronic product.In addition, alleged in the description below " a frame image (one frame of image) " it can be with
It is the frame shadow among the multiframe image that an image photo or a video streams (video stream) are included
Picture.
Referring to Fig. 2, a kind of flow chart of panorama real time image processing to show the present invention.As shown in Fig. 2, this
The panorama real time image processing of invention includes the following steps：
First, this method performs step (S1)：One parameter correction process is carried out to two image acquisition modules.As Fig. 3 is shown
The one panorama camera of use shown is carried out shown in the schematic diagram of image capture operation, and commercially available panorama camera 2 includes a left flake
Camera 21 and a right fish-eye camera 22, and the present invention is mainly using the left fish-eye camera 21 and the right fish-eye camera
22 carry out 360 ° of levels and vertical 360 ° of image capture operation, therefore, it is necessary to be taken the photograph using following mathematics function to each flake
As head carries out parameter correction process：In aforementioned mathematics function, FOV is expressed as the image and picks
The field angle (Field of View, FOV) or field range of modulus block (also that is, fish-eye camera).In addition, W is expressed as
One image width, and WoverIt is expressed as an image overlap width of the two frames image.
After the parameter correction process for completing step (S1), unceasingly, this method performs step (S2) and step (S3)：Make
A frame image (one frame of image) is captured respectively with two image acquisition module, and it is complete to carry out one to the two frames image
Scape coordinate conversion process, to obtain two frame panorama converting images.In this, it is necessary to special instruction, although the present invention's is preferable
Embodiment carries out image capture work using two image acquisition modules (also that is, left fish-eye camera 21 and right fish-eye camera 22)
Industry, but embodiments of the present invention are not limited with this.In particular, the present invention can also use single group image acquisition module to complete
The acquisition of the two frames image.
Referring to Fig. 4, the schematic diagram of two frame images captured for two image acquisition module.As shown in figure 4, left flake
Camera 21 and right fish-eye camera 22 captures respectively left frame wide-angle image (L-frame wide-angle image) I-L and
After one right frame wide-angle image (R-frame wide-angle image) I-R, which will be real
When carry out image (or video) coding and string fluidization treatment, and by image by way of wire transmission or wireless transmission
(or video) crossfire is sent among the electronic product 3 for being equipped with the image procossing application program of the present invention.Further, Yu Bu
Suddenly among (S3), image procossing application program of the invention is used first with following formula (1) and formula (2) to the left frame wide-angle image I-
L carries out a latitude coordinates conversion process with the right frame wide-angle image I-R, to obtain multiple latitude coordinates：
In formula (1) and formula (2), (θ, φ) is expressed as any latitude coordinates, and PI is expressed as pi, and W is expressed as a shadow
Image width degree, and H is expressed as an image height.After obtaining multiple latitude coordinates corresponding to the two frames image, the image
Processing application program is then used carries out a three-dimensional vector conversion with following formula (3), formula (4) and formula (5) to multiple latitude coordinates
Processing, to obtain multiple 3D vectors：
SpX=cos φ × sin θ (3)
SpY=cos φ × sin θ (4)
SpZ=sin φ (5)
In formula (3), formula (4) and in formula (5), (θ, φ) is expressed as any latitude coordinates, and (spX, spY, spZ) is expressed as
Any three-dimensional vector coordinate.After obtaining multiple 3D vectors corresponding to the two frames image, the image procossing application program
Then it uses and a projection transform processing is carried out to multiple latitude coordinates with following formula (6), formula (7) and formula (8), to obtain multiple throwings
Shadow latitude coordinates：
In formula (6), formula (7) and formula (8), (r, θ*, φ*) it is expressed as any projection latitude coordinates, (spX, spY, spZ)
Any three-dimensional vector coordinate is expressed as, FOV is expressed as the field range of the image acquisition module, and W is expressed as image width.Most
Afterwards, the image procossing application program can be used with following formula (9) and formula (10), calculated corresponding to the more of the two frames image
A raw video coordinate：
X*=Cx+r × cos θ* (9)
Y*=Cy+r × sin θ* (10)
Among above-mentioned formula (9) and formula (10), (X*,Y*) any full-view image coordinate is expressed as, (Cx, Cy) has been expressed as
The fish-eye optical center position obtained after into the parameter correction process.In this way, calculate corresponding to this two
After multiple raw video coordinates of frame image, two frame panorama converting images just can be further obtained, that is, left panorama is converted
Image and right panorama converting image.
After completing step (S3), this method then performs step (S4)：At least two frame panorama converting images are carried out
One image joining process, to obtain single full-view image.In step (S4), primarily from left panorama converting image and right panorama
(also that is, the image overlap area on the right side of left panorama converting image) selects one among one image overlap area of converting image
One subregion；Then, multiple fisrt feature points are found out among first subregion with fixed intervals sampling method.Unceasingly, it is sharp
With feature recognition technique, (also that is, right panorama turns among the image overlap area of right panorama converting image and left panorama converting image
Change the image overlap area in the left side of image) find out multiple first matching characteristics being mutually matched with multiple fisrt feature point
Point.It in this way, just can be according to multiple fisrt feature point and multiple first matching characteristic point in a left side for right panorama converting image
One first matching area being mutually matched with first subregion is found out among the image overlap area of side.
Unceasingly, it is (also that is, right complete among an image overlap area of right panorama converting image and left panorama converting image
The image overlap area in the left side of scape converting image) select one second subregion；Then, with fixed intervals sampling method in this second
Multiple second feature points are found out among subregion.Unceasingly, using feature recognition technique, turn in left panorama converting image and right panorama
Change among the image overlap area of image found out (also that is, the image overlap area on the right side of left panorama converting image) with it is multiple
Multiple second matching characteristic points that second feature point is mutually matched.It in this way, just can be more with this according to multiple second feature point
A second matching characteristic point is found out and the second subregion phase among the image overlap area on the right side of left panorama converting image
Mutual matched one second matching area.
It obtains multiple first matching characteristic point and after multiple second matching characteristic point, image procossing application program is just
The one of the two frames panorama converting image can be completed based on multiple first matching characteristic point and multiple second matching characteristic point
Image joining process, to obtain single full-view image.It is complete by two as known to the engineering staff for being familiar with image processing techniques
The single full-view image that scape converting image sews up, it is necessary to carry out an edge smoothing techniques to eliminate splicing seams.
When edge-smoothingization processing, it is necessary to prior to left panorama converting image and right panorama converting image between the two
The central point of image overlap area then makes following formula (11) complete the image reconciliation process (Image of first time
blending)：
Among above-mentioned formula (11), PL' left side panorama conversion the shadow being expressed as among two frame panorama converting images of engagement
The new pixel of picture, PL0It is expressed as the pixel of the left side panorama converting image, PRIt is expressed as in two frame panorama converting images of engagement
Right side panorama converting image pixel, WLIt is expressed as a left side width of the image overlap area, WL0It is complete to be expressed as the left side
Any pixel of scape converting image and the distance on the boundary of the left side width.It, must after the image reconciliation process for completing first time
It must be unceasingly in the central point of right panorama converting image and the image overlap area of left panorama converting image between the two, then
Following formula (12) is made to complete secondary image reconciliation process：
Among above-mentioned formula (12), PR' right side panorama the converting image being expressed as in two frame panorama converting images of engagement
New pixel, PR0It is expressed as the pixel of the right side panorama converting image, PLIt is expressed as in two frame panorama converting images of engagement
The pixel of left side panorama converting image, WRIt is expressed as the right side width of the image overlap area, WR0The right side panorama is expressed as to turn
Change the distance on any pixel of image and the boundary of the right side width.
After the edge-smoothingization processing for completing image joining process and splicing seams, this method just then performs step
(S5)：One display pattern processing is carried out to the single frame full-view image so that the single frame full-view image is particularly shown mould with one
Formula is shown on a display equipment；Such as：Mould is shown depending on ball panorama display pattern (Sphere Panorama), plane panorama
Formula (Plain Panorama), flake visual field display pattern, human eye visual field display pattern or projection display mode.It is also, such as ripe
It knows known to the engineering staff of image processing techniques, the variation of the display pattern of image (or video) is suitable by display is built into
Programmable graphics processing function (Programmable image processing library) among orchestration is completed,
Such as：1.5、Or Shader Model 3.0.In addition to this, the display pattern processing also may be used
To be completed by a digital signal processor (Digital Signal Processor, DSP).
Unceasingly refering to Fig. 4, and please refer to Fig. 5 and Fig. 6；Wherein, Fig. 5 is regarding ball panorama display pattern (Sphere
Panorama Mode) single frame full-view image schematically show figure, and Fig. 6 is plane panorama display pattern (Plain
Panorama Mode) single frame full-view image schematically show figure.As shown in figure 4, it is handled by described image using journey
Sequence, user can enable electronic product 3 directly display and be picked by left fish-eye camera 21 and right fish-eye camera 22 (as shown in Figure 3)
The left right frame wide-angle image I-R of frame wide-angle image I-L and one got.In addition, as shown in figure 5, by operating the image procossing
Application program, it is single that user can enable electronic product 3 be formed by the left frame wide-angle image I-L and the right frame wide-angle image I-R conversions
One regards ball full-view image.On the other hand, as shown in fig. 6, by operating the image procossing application program, user can enable electronics produce
Product 3 form single plane full-view image by the left frame wide-angle image I-L and the right frame wide-angle image I-R conversions.
Explanation is must be supplemented with, it is above-mentioned real-time to the panorama of the present invention for example with single frame image (or single photo)
The process flow of image processing method carries out explanation and the introduction of example formula；However, the method for the present invention also can be used for processing to regard
Frequency image.When method processing video image using the present invention, it is necessary to right to step (S5) with step (S1) according to time shaft
Each frame image among the video image carries out image procossing, and then generates panoramic video image and in the electronic product 3
It is broadcasted on display.
In this way, above-mentioned completely and clearly demonstrated the panorama real time image processing of the present invention, via above-mentioned, we
It is following can to learn that the present invention has the advantages that：
(1) 360 degree of full-view images can not be generated to real-time different from the prior art, method of the invention utilizes and completes mirror
Two flake video cameras of head parameter correction capture video information, and the video information captured is passed through Video coding and crossfire
Change processing after, an electronic product is sent to by way of wire transmission or wireless transmission, with by be installed on the electronics production
The image procossing application program progress video coding processing of product, panoramic coordinates conversion process, image sew up processing and edge
Smoothing techniques, and then regard ball full-view image in display one on the display of the electronic product.In addition, at by programmable graphics
The assistance of device or digital signal processor is managed, which also can regard ball full-view image to this and carry out visual field parameter
After operation, the video information which is captured is shown by plane panorama display pattern, the flake visual field
Pattern or human eye visual field display pattern are shown.
It must be subject to detailed description the illustrating for possible embodiments of the present invention, it is emphasized that above-mentioned, only the reality
Apply example be not to limit the present invention the scope of the claims, all equivalence enforcements or change without departing from carried out by skill spirit of the present invention,
It is intended to be limited solely by the scope of the claims of this case.
Claims (16)
1. a kind of panorama real time image processing, which is characterized in that among an electronic product, and including following step
Suddenly：
(1) parameter correction process is carried out to an at least image acquisition module；
(2) at least two frame images are captured using an at least image acquisition module；
(3) a panoramic coordinates conversion process is carried out at least two frame images, to obtain at least two frame panorama converting images；
(4) an image joining process is carried out at least two frame panorama converting images, to obtain single full-view image；And
(5) a display pattern processing is carried out to the single frame full-view image so that the single frame full-view image is particularly shown with one
Pattern is shown on a display equipment.
2. panorama real time image processing as described in claim 1, which is characterized in that it can be following that this, which is particularly shown pattern,
It is any：Depending on ball panorama display pattern, plane panorama display pattern, flake visual field display pattern, human eye visual field display pattern or
Projection display mode.
3. panorama real time image processing as described in claim 1, which is characterized in that among the step (1), use with
Lower mathematics function completes the parameter correction process：
Wherein, FOV is expressed as the field range of the image acquisition module, and it is wide that W is expressed as an image
Degree, and WoverIt is expressed as an image overlap width of the two frames image.
4. panorama real time image processing as described in claim 1, which is characterized in that the step (3) is including in detailed below
Step：
(31) a latitude coordinates conversion process is carried out to the two frames image, to obtain multiple latitude coordinates；
(32) a three-dimensional vector conversion process is carried out to multiple latitude coordinates, to obtain multiple 3D vectors；
(33) the vectorial projection transform processing to multiple 3D, to obtain multiple projection latitude coordinates；
(34) according to multiple projection latitude coordinates, multiple raw video coordinates corresponding to the two frames image are calculated, and then
Obtain the two frames panorama converting image.
5. panorama real time image processing as described in claim 1, which is characterized in that display pattern processing can using one
Programming image processor or a digital signal processor are completed.
6. panorama real time image processing as described in claim 1, which is characterized in that the electronic product can be following any
Person：Digital camera, intelligent mobile phone, digital camera, tablet computer or laptop.
7. panorama real time image processing as described in claim 1, which is characterized in that the image acquisition module is by wired
The acquisition that the mode of transmission or the mode of wireless transmission are captured this at least two frame images are sent to the electronic product.
8. panorama real time image processing as described in claim 1, which is characterized in that the step (4) is including in detailed below
Step：
(41) subregion is selected among an image overlap area of the two frames panorama converting image；
(42) with fixed intervals sampling method, multiple characteristic points are found out among the subregion；
(43) it using feature recognition technique, finds out in the one of the two frames panorama converting image and is mutually matched with multiple characteristic point
Multiple first matching characteristic points；
(44) step (42) and step (43) are repeated, and is then found out and multiple characteristic point among another panorama converting image
The multiple second matching characteristic points being mutually matched；
(45) the two frames panorama converting image is completed based on multiple first matching characteristic point and multiple second matching characteristic point
The image joining process, to obtain the single full-view image；
(46) an edge smoothing techniques are carried out to the single full-view image.
9. panorama real time image processing as claimed in claim 4, which is characterized in that the image acquisition module is equipped with extremely
A few fish eye lens.
10. panorama real time image processing as claimed in claim 7, which is characterized in that the warp among the step (31)
Latitude coordinate conversion process use is completed with following formula (1) and formula (2)：
Wherein, (θ, φ) is expressed as any latitude coordinates, and PI is expressed as pi, and W is expressed as an image width, and H is expressed as
One image height.
11. panorama real time image processing as claimed in claim 7, which is characterized in that among the step (32) this three
The use of dimensional vector conversion process is completed with following formula (3), formula (4) and formula (5)：
SpX=cos φ × sin θ (3)
SpY=cos φ × sin θ (4)
SpZ=sin φ (5)
Wherein, (θ, φ) is expressed as any latitude coordinates, and (spX, spY, spZ) is expressed as any three-dimensional vector coordinate.
12. panorama real time image processing as claimed in claim 7, which is characterized in that the throwing among the step (33)
The use of shadow conversion process is completed with following formula (6), formula (7) and formula (8)：
Wherein, (r, θ*, φ*) any projection latitude coordinates are expressed as, (spX, spY, spZ) is expressed as any three-dimensional vector coordinate,
FOV is expressed as the field range of the image acquisition module, and W is expressed as image width.
13. panorama real time image processing as claimed in claim 10, which is characterized in that this among the step (34) is more
A full-view image coordinate use is obtained with following formula (9) and formula (10) operation：
X*=Cx+r × cos θ* (9)
Y*=Cy+r × sin θ* (10)
Wherein, (X*,Y*) any full-view image coordinate is expressed as, (Cx, Cy) is expressed as being obtained after completing the parameter correction process
The fish-eye optical center position obtained.
14. panorama real time image processing as claimed in claim 7, which is characterized in that the step (46) is including following detailed
Thin step：
(461) central point of the image overlap area is found out；
(462) one first image reconciliation process is carried out to the one of the two frames panorama converting image；
(463) one second image reconciliation process is carried out to another panorama converting image.
15. panorama real time image processing as claimed in claim 11, which is characterized in that the step (462) uses following
Mathematics function completes the described first image reconciliation process：Wherein, PL' be expressed as connecing
The new pixel of left side panorama converting image among the two frame panorama converting images closed, PL0It is expressed as the left side panorama converting image
Pixel, PRIt is expressed as the pixel of the right side panorama converting image in two frame panorama converting images of engagement, WLIt is expressed as the image
One left side width of overlapping region, WL0It is expressed as any pixel of the left side panorama converting image and the boundary of the left side width
Distance.
16. panorama real time image processing as claimed in claim 11, which is characterized in that the step (463) uses following
Mathematics function completes the described second image reconciliation process：Wherein, PR' be expressed as connecing
The new pixel of right side panorama converting image in the two frame panorama converting images closed, PR0It is expressed as the right side panorama converting image
Pixel, PLIt is expressed as the pixel of the left side panorama converting image in two frame panorama converting images of engagement, WRIt is expressed as the image weight
The right side width in folded region, WR0Be expressed as any pixel of the right side panorama converting image and the boundary of the right side width away from
From.
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| CN109714590A (en) * | 2018-12-17 | 2019-05-03 | 广东工业大学 | A kind of Circamara production and playback method based on panoramic technique |
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