CN108876712B - Spherical closed cabin panoramic display method based on double projection transformation - Google Patents
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Abstract
The invention discloses a spherical closed type cabin panoramic display method based on double projection transformation, which comprises the following steps of S01: acquiring at least M groups of images; s02, panoramic stitching: the method comprises the steps of cylindrical projection transformation and spherical surface fitting projection transformation; s03, displaying in a spherical shape, including: spherical surface segmentation: obtaining N equal-size polygonal images; and (3) block storage: storing the polygonal image blocks in a buffer area; chain addressing: addressing pixels in each polygonal image according to a chain sequence, and recoding; chain scanning: scanning and driving the physical screen according to a chain sequence; and (3) block display: and reading the storage content of the polygonal image in the buffer area, and displaying the storage content on a physical screen corresponding to the area. The method provides a new addressing scanning mode suitable for any special-shaped screen, is suitable for any spliced spherical display, is suitable for spherical panoramic display occasions in a closed environment, and can bring more excellent immersive experience to various closed cockpit or simulated training cockpit.
Description
Technical Field
The invention belongs to the technical field of panoramic display, and particularly relates to a panoramic display method of a spherical closed cabin based on double projection transformation.
Background
At present, the traditional cockpit display system mostly adopts a multi-unit display method, namely, a plurality of groups of screens are spliced to form a large-screen display effect. The method needs a multi-screen display card to process an original image, and outputs the divided image to a multi-path display in a split screen mode for displaying. The display area of the method can only be the forward-looking area of a viewer, 360-degree panoramic display is difficult to generate in a splicing mode, and the excellent immersive experience cannot be brought under the closed environment.
A panoramic display system based on virtual reality is a relatively hot panoramic display method in the existing scheme, but a user has to wear VR glasses, so that the method is very inconvenient, and the problem of narrow display visual angle exists. If the display is delayed, the bad experience of dizziness feeling is easily brought to the user.
Other more sophisticated panoramic display technologies are projection panoramic displays, such as CAVE immersive projection display systems. The large VR display system has good immersion and good interaction means, but the display principle is complex, a high-end graphic processing system is required to be matched with the large VR display system, the large VR display system is often expensive in manufacturing cost, cannot be widely popularized and is not suitable for closed cabin display. The projection display is better experienced in large applications such as wrap-around cylindrical or dome screens, providing a wider field of view and a superior immersive experience. However, in the cabin display system, since the space is narrow, the projection display mode is easily blocked by people walking, which affects the viewing effect.
Disclosure of Invention
The technical problem to be solved by the invention is as follows:
in order to solve the technical defects that the existing closed cabin panoramic display system is difficult to implement and poor in immersive experience and the like, the invention provides a spherical closed cabin panoramic display method based on double projection transformation.
The invention adopts the following technical scheme for solving the technical problems:
the invention provides a spherical closed cabin panoramic display method based on double projection transformation, which comprises the following steps:
s01, image acquisition: acquiring at least M groups of images;
s02, panoramic stitching: the M groups of images are subjected to projection transformation to obtain a complete spherical panoramic image; the projective transformation comprises cylindrical projective transformation and spherical fitting projective transformation;
s03, displaying in a spherical mode, and specifically sequentially comprising the following steps:
spherical surface segmentation: segmenting the spherical panoramic image to obtain N polygonal images with equal size;
and (3) block storage: storing the polygonal image blocks in a buffer;
chain addressing: addressing pixels in each polygonal image according to a chain sequence, and recoding;
chain scanning: scanning and driving the physical screen according to a chain sequence;
and (3) block display: and reading the storage content of the polygonal image in the buffer area, and displaying the storage content on a physical screen corresponding to the area.
The panoramic display method for the spherical closed cockpit based on the double projection transformation further comprises the step of S01, collecting the M groups of images by M cameras respectively, wherein the cameras are evenly distributed on a circumferential structure in a beta included angle mode.
The spherical closed cockpit panoramic display method based on double projection transformation further comprises a top surface image and a bottom surface image besides M groups of images projected onto a cylindrical surface in S01, wherein the images are respectively acquired by an upper camera and a lower camera.
In the panoramic display method for the spherical closed cabin based on the double projection transformation, the M groups of images collected by the S01 image are shot by the three-axis pan-tilt-zoom with common lens cameras and other time slots.
As mentioned above, the panoramic display method for spherical closed cabins based on double projection transformation, further, the cylindrical projection transformation for panoramic stitching of S02 specifically includes: and projecting the M groups of images onto the side surface of the cylinder, and performing linear fusion on the images and the edge of the image to obtain a cylindrical panoramic image.
The panoramic display method for the spherical closed cabin based on the double projection transformation further comprises the step of enabling the radius of the section of the cylinder to be the distance from the focal length of the camera to the center of the circle.
The panoramic display method for the spherical closed cabin based on the double-projection transformation further comprises, in step s02, the panoramic stitching projection transformation specifically comprises: and taking the spherical surface as a shadow bearing surface, and projecting the cylindrical surface and the upper and lower bottom surfaces of the cylinder onto the spherical surface tangent to the cylindrical surface to obtain a spherical panoramic image.
According to the panoramic display method for the spherical closed cabin based on the double projection transformation, further, the spherical surface fitting projection transformation process adopts equiangular positive axis cylindrical back projection transformation in a low latitude area of the spherical surface, and adopts spherical surface projection transformation in a high latitude area.
In the panoramic display method of the spherical closed cockpit based on the double projection transformation, further, in the spherical display of S03, the polygonal image of the spherical partition includes a triangle, a parallelogram, and a regular pentagon.
In the spherical display, furthermore, in s03, the pixels are addressed in a chained sequence, and the address of each pixel is encoded from low order to high order.
The spherical closed cabin panoramic display method based on double projection transformation as described above, further, the chain sequence includes: the next address points to the adjacent pixel in the same row; if the currently identified pixel address reaches the boundary of a row, the next address refers to the pixel to the next same side boundary.
As mentioned above, in the spherical closed cockpit panoramic display method based on the double projection transformation, further, in the spherical display of S03, the interior spherical display system includes a camera set, an image processor, an address converter, a signal controller, a set of screen drivers and a set of polygonal screens, wherein:
the camera set outputs a plurality of paths of images to the image processor;
the image processor outputs image information to the address converter and outputs pixel data signals to the screen driver;
the address converter is used for converting the image address format and outputting an address data signal to the screen driver;
the signal controller outputs a screen synchronizing signal to the image processor, the address converter and the screen driver;
the luminance color equalizer outputs a luminance color calibration signal to the screen driver, and simultaneously receives luminance color information from a set of polygonal screens as feedback;
a set of screen drivers for driving the polygonal screen;
and the group of polygonal screens are used for splicing into a spherical-like display and displaying the panoramic image.
The spherical closed cockpit panoramic display method based on the double projection transformation further comprises a triangle, a parallelogram and a regular pentagon.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
1. the invention adopts double projection transformation to realize spherical projection, and adopts different projection algorithms according to the latitude, thereby greatly reducing the distortion degree of the image in the projection process; according to the invention, the quasi-spherical image is divided into the polygonal images for storage, and the sequential process is changed into the parallel process, so that the storage and reading are convenient, and the loading speed is increased; the invention addresses the pixels according to the chain sequence, and can adapt to any polygonal screen; (ii) a The invention adopts chain scanning, on one hand, line synchronizing signals in the traditional line-column scanning mode are reduced, and only pixel signals and field synchronizing signals are used for controlling a screen to refresh images; on the other hand, the display device can adapt to the driving of any polygonal screen and realize the spliced spherical display of any polygon.
2. Compared with the traditional scheme that a plurality of groups of screens are spliced to form a large screen, the invention can realize the inner spherical surface display with large curvature and equal visual distance; compared with virtual reality display technology based on VR equipment, the invention can provide 360-degree wide visual field without wearing the equipment by a user, and all polygonal screens are loaded and displayed at the same time, thereby solving the dizzy problem caused by delay.
3. The invention provides a complete set of methods for image acquisition, image transformation and image display of a splicing type panoramic display system. The defects of the existing equipment are overcome, and a brand-new universal panoramic display method is provided.
Drawings
Fig. 1 is a general flow chart.
Fig. 2 is a schematic diagram of a multi-channel camera set when M is 3.
Fig. 3 is a schematic view of a three-axis pan-tilt structure of a rotary camera.
FIG. 4 is a top view of a planar image to cylindrical image mapping relationship for a cylindrical projection transform algorithm.
FIG. 5 is a 3D schematic diagram of a planar image to cylindrical image mapping relationship for a cylindrical projection transform algorithm.
Fig. 6 is a 3D schematic diagram of a cylindrical image to spherical image mapping relationship of a spherical surface fitting projection transformation algorithm.
FIG. 7 is a 3D schematic diagram of a high latitude region mapping relationship of a spherical surface fitting projection transformation algorithm.
FIG. 8 is a schematic view of a chain scanning mode of a spherical pentagonal screen and a triangular screen.
FIG. 9 is a schematic diagram of the relationship of modules of the interior sphere display system.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the attached drawings:
it will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The method provided by the present invention is applicable to a plurality of hardware solutions, two of which are given as examples herein, but is not limited to the scope of this hardware solution. Fig. 1 shows that the image acquisition part of the method includes two methods, namely acquisition by a multi-channel camera set and acquisition by a rotary camera, and any one of the image acquisition methods can be selected according to needs.
Embodiment I, use multichannel camera group to carry out image acquisition
Fig. 2 is a schematic diagram of a multi-channel camera set when M is 3. In this embodiment, M groups (M is greater than or equal to 3) of cameras with a viewing angle α are distributed on the circumference in an even manner to form an included angle β, and the viewing angle α must be greater than the included angle β. If necessary, an upper camera and a lower camera are respectively added at the upper and lower parts of the circle center of the circumference. When M is more than or equal to 3 and less than or equal to 6, the cameras distributed on the circumference adopt wide-angle lenses; at the moment, the shot image needs barrel-shaped distortion correction to correct perspective distortion of a shot picture caused by a wide-angle lens; when M >6, a conventional lens is employed. (R: lens-to-center distance; f: camera focal length; R ═ R + f: radius of the circumference)
The relationship between the distance R from the lens to the circle center, the focal length f of the camera, the radius R of the circumference, the visual angle alpha of the camera, the included angle beta and the number M of the camera groups is as follows:
In the embodiment, M is 3, that is, three wide-angle cameras which are arranged on the circumference at an angle of 120 degrees with each other are included; the embodiment also comprises two common cameras which are arranged in a mirror image way up and down at the circle center and are used as an upper camera and a lower camera. Fig. 2 exemplarily shows a schematic structure when M is 3.
At the moment, M images and two bottom surface images A (upper) and B (lower) can be acquired at one time; and acquiring for multiple times to obtain M groups of images and two groups of bottom surface images A (upper) and B (lower). Wherein M groups of images are firstly subjected to cylindrical surface projection transformation and projected onto the side surface of a cylinder with the cross section radius of R (the radius R of the cross section of the cylinder is equal to the focal length f of a camera plus the distance R from a lens to the center of a circle). And then, a spherical surface fitting projection transformation algorithm is applied to the cylindrical surface image to complete the process of projecting the cylindrical surface image to the spherical surface.
(I) cylindrical projection transformation algorithm
Fig. 4 and 5 are a top view and a 3D schematic diagram of a planar image to cylindrical image mapping relationship in a cylindrical projection transformation algorithm, respectively. Firstly, cylindrical projection transformation is carried out on the M plane images. And under a Cartesian rectangular coordinate system, projecting a plane image (x, y, z) onto a cylindrical curved surface, wherein z is-R, the cylindrical surface can be expanded into a plane along a generatrix, and a plane rectangular coordinate system is established, so that the cylindrical surface can be expressed as (x ', y'). When M is 3, the plan view is shown in fig. 4, and the 3D view is shown in fig. 5. The camera view ABB 'a' is a projection surface, the width of the projection surface is W, the height of the projection surface is H, the cylindrical surface DEE 'D' is a supporting surface, the cylindrical surface radius is R (R ═ R + f, R: lens-to-center distance, f: camera focal length), and the mapping relationship is expressed as follows:
the M groups of images after cylindrical surface projection transformation meet the principle of visual consistency, image feature extraction is carried out on adjacent images, image registration is carried out on overlapped regions, and finally image splicing is carried out in a gradually-in and gradually-out mode, so that the M groups of images are subjected to linear fusion, and a 360-degree cylindrical surface ring scene image can be finally obtained.
(II) spherical surface fitting projection transformation algorithm
The image after cylindrical surface transformation is only a cylindrical surface panoramic image and is also required to be subjected to spherical surface transformation to obtain a spherical surface panoramic image, the joint from the cylindrical surface to the spherical surface adopts equiangular positive axis cylindrical back projection transformation, but the transformation generates deformation distortion in a high latitude area, the deformation degree is increased along with the increase of the latitude, the latitude is required to be lower than 60 degrees in order to prevent the serious distortion of the high latitude, namely, the theta is more than 60 degrees. Therefore, the shadow bearing sphere is divided into A, B, C three areas according to the latitude, as shown in fig. 6. Wherein, the theta degrees from south latitude to north latitude are low latitude B areas, and equiangular positive axis cylinder back projection transformation is adopted; the high latitude area A is above theta degree of north latitude, the high latitude area C is below theta degree of south latitude, and spherical projection transformation is adopted.
The specific spherical surface fitting projection transformation algorithm is as follows:
firstly, adopting equiangular positive axis cylindrical back projection transformation in a low-latitude area: under a Cartesian rectangular coordinate system, the image bearing surface is a spherical surface, and the spherical surface is expressed by latitude and longitude lines as (
) Wherein
The included angle formed by the projection of a connecting line of the spherical center and one point of the spherical surface to the equatorial plane and the included angle formed by the projection of the connecting line of the spherical center and one point of the spherical surface to the meridian plane. Spherical surfaceThe radius is R, the surface to be projected is a cylindrical surface, the cylindrical surface and the spherical surface are tangent to the equator, and the axis of the cylindrical surface is superposed with the earth axis of the spherical surface, as shown in FIG. 6. The cylindrical surface can be unfolded into a two-dimensional plane along any generatrix. As shown in FIG. 5, a rectangular plane coordinate system is established with the equator as the x-axis and the generatrix as the y-axis corresponding to the longitude, i.e., the cylinder is represented by (x, y). Then the equiangular positive axis cylindrical backprojection transform formula is as follows:
then, spherical projection transformation is adopted in the high latitude area: in Cartesian rectangular coordinate system, the image bearing surface is a spherical surface, and the spherical surface is represented by latitude and longitude (c)
) The spherical radius is R; the surface to be projected is a plane, is parallel to the plane A tangent to the spherical pole, and has a distance h from the spherical center of the spherical surface. An orthogonal plane rectangular coordinate system (X-O-Y) is established on the surface to be projected, i.e. the surface to be projected can be represented by (X, Y), as shown in fig. 7. The spherical projective transformation formula is as follows:
and the projected image and the image to be projected are subjected to bilinear interpolation, so that pixels of the image to be projected can be uniformly distributed on the bearing surface. And finally, splicing three projection domains into a complete spherical panorama, wherein the three projection domains also need to meet the principle of visual consistency, namely the visual angles alpha of an upper camera and a lower camera need to meet the following requirements:
wherein H is 2H
Through the steps, the spherical panoramic image is obtained.
The spherical panoramic image needs to be correspondingly segmented according to the splicing mode of the spherical display, and is readdressed and stored in a partitioned mode. The spherical image segmentation method comprises a triangle segmentation mode, a parallelogram segmentation mode, a regular pentagon segmentation mode and other polygon segmentation modes, and the spherical image is segmented into N polygonal images.
In order to facilitate the display of the special-shaped screen, the pixel data addresses need to be reordered according to a chain sequence before the divided images are stored. The chain sequence refers to that the next address points to the adjacent pixels in the same row; if the currently identified pixel address reaches the boundary of a row, the next address refers to the pixel to the next same side boundary. Inside the address of a pixel, the order of conversion is from low to high. Finally, the two-dimensional matrix code is converted into the chain array code, and the schematic diagram is shown in fig. 8.
The corresponding screen splicing modes can be divided into polygonal splicing modes such as triangular splicing, parallelogram splicing and regular pentagon splicing to form a sphere-like display. And when the screen is refreshed and displayed, reading the image blocks of the corresponding areas from the buffer area, and sequentially lightening the pixel units in a chain sequential scanning mode.
The inner spherical display system is composed as shown in fig. 9, and comprises an image processor for performing spherical surface fitting, spherical surface segmentation, image storage and other processing on an input panoramic image; a brightness color equalizer for correcting color and brightness nonuniformity between screens to make the spliced screen reach the same brightness and color; a signal control device for controlling the refreshing display of the screens and synchronizing the timing of the plurality of screens; an address converter for converting the two-dimensional matrix address code into a chained address code; the screen driver is used for driving a special scanning mode of the special-shaped polygonal screen; and the group of polygonal screens are used for splicing the spherical displays and displaying the panoramic image.
Second embodiment, capturing images using a rotating camera
As shown in fig. 3, the rotary camera structure is a three-axis brushless pan-tilt head mounted single camera, and the camera lens is a common lens. The Roll shaft and the Pitch shaft of the holder can increase the stability of the camera, so that the photographed picture is prevented from generating jelly; the Yaw axis can rotate 360 degrees. And (3) shooting one image by the camera when the Yaw shaft rotates by the angle beta, shooting M images by rotating a circle, and finally generating a panoramic image by image splicing. After rotating for a plurality of circles, M groups of images are reserved on M machine positions to generate a plurality of panoramic images. The specific steps of subsequent image stitching and spherical display are the same as the corresponding contents described in the first embodiment.
The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (8)
1. A spherical closed cabin panoramic display method based on double projection transformation is characterized by comprising the following steps:
s01, image acquisition: acquiring at least M groups of images;
s02, panoramic stitching: the M groups of images are subjected to projection transformation to obtain a complete spherical panoramic image; the projective transformation comprises cylindrical projective transformation and spherical fitting projective transformation;
s03, displaying in a spherical mode, and specifically sequentially comprising the following steps:
spherical surface segmentation: segmenting the spherical panoramic image to obtain N polygonal images with equal size;
and (3) block storage: storing the polygonal image blocks in a buffer area;
chain addressing: addressing pixels in each polygonal image according to a chain sequence, and recoding;
chain scanning: scanning and driving the physical screen according to a chain sequence;
wherein the chained sequence comprises: the next address points to the adjacent pixel in the same row; if the currently identified pixel address reaches the boundary of a row, the next address refers to the pixel at the boundary of the same side of the next row;
and (3) block display: reading the storage content of the polygonal image in the buffer area, and displaying the storage content on a physical screen corresponding to the area;
in the spherical display, pixels are addressed in a chain sequence, and the address of each pixel is encoded from low order to high order.
2. The panoramic display method for spherical closed cabins based on double projection transformation of claim 1, wherein the image acquisition of step S01 includes top and bottom images in addition to M sets of images for projection onto the cylindrical surface, and the images are acquired by the upper and lower cameras respectively.
3. The spherical closed cabin panoramic display method based on double projection transformation as claimed in claim 1, wherein the cylindrical projection transformation of panoramic stitching in step S02 specifically includes: and projecting the M groups of images onto the side surface of the cylinder, and performing linear fusion on the images and the edge of the image to obtain a cylindrical panoramic image.
4. The method as claimed in claim 3, wherein the radius of the cross section of the cylinder is the focal length of the camera plus the distance from the lens to the center of the circle.
5. The spherical closed cabin panoramic display method based on double projection transformation as recited in claim 1, wherein s02. panoramic stitching the spherical surface fitting projection transformation specifically comprises: and taking the spherical surface as a shadow bearing surface, and projecting the cylindrical surface and the upper and lower bottom surfaces of the cylinder onto the spherical surface tangent to the cylindrical surface to obtain a spherical panoramic image.
6. The panoramic display method of the spherical closed cockpit based on the double projection transformation as claimed in claim 5, wherein the spherical surface fitting projection transformation process adopts equiangular positive axis cylindrical back projection transformation in a low latitude area of the spherical surface, and adopts spherical surface projection transformation in a high latitude area.
7. The panoramic display method for the spherical closed cockpit based on the double projection transformation as claimed in claim 6, wherein the low latitude area is an area with a latitude range of 0 ° to 60 ° on the spherical surface, and the high latitude area is an area with a latitude range of 60 ° to 90 ° on the spherical surface.
8. The panoramic display method for spherical closed cabins based on double projection transformation as claimed in claim 1, wherein in said spherical display of step S03, the interior spherical display system comprises a camera set, an image processor, an address converter, a signal controller, a set of screen drivers and a set of polygonal screens, wherein:
the camera set outputs a plurality of paths of images to the image processor;
the image processor outputs image information to the address converter and outputs pixel data signals to the screen driver;
the address converter is used for converting the image address format and outputting an address data signal to the screen driver;
the signal controller outputs a screen synchronizing signal to the image processor, the address converter and the screen driver;
the luminance color equalizer outputs a luminance color calibration signal to the screen driver, and simultaneously receives luminance color information from a set of polygonal screens as feedback;
a set of screen drivers for driving the polygonal screen;
and the group of polygonal screens are used for splicing into a spherical-like display and displaying the panoramic image.
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