CN109104611A - A kind of method and apparatus for spherical surface and interplanar mapping - Google Patents
A kind of method and apparatus for spherical surface and interplanar mapping Download PDFInfo
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Abstract
The present invention relates to technical field of video coding, provide a kind of method and apparatus for spherical surface and interplanar mapping.The boundary parameter of corresponding transformation bar-shaped zone is stored with corresponding to each transformation bar-shaped zone, the method also includes: using the multiple right angled triangles split out in bar-shaped zone that convert as the source of triangle texture graphics acquisition respective pixel array on spherical surface；According to transformation bar-shaped zone boundary parameter, one by one by it is each transformation bar-shaped zone on pixel according to triangle texture graphics be handle Conversion of measurement unit be constitute spherical video frame texel.The present invention considers simplified conversion process, for regenerating the possible problem of spherical video frame after decoding, avoids because of the problem of collecting invalid data region in mapping process, causing the appearance black surround on the spherical surface caused because of loss of data.
Description
[technical field]
The present invention relates to technical field of video coding, more particularly to a kind of method for spherical surface and interplanar mapping and
Device.
[background technique]
In 360 degree of panoramic video applications (such as immersion VR), photographer can utilize multiple cameras by level 360
All angle shots of degree, upper and lower 180 degree come out, and are then a panoramic video by Video Composition using Video Composition device,
That is a spherical video.
But spherical video data are not readily expressible, store and compress.At present in field of video compression, various existing pressures
Such as H.264, H.265 contracting standard is compressed both for planar rectangular region.In order to utilize the video compression standard both deposited
It compresses and transmitting video data, common practice is spherical video to be projected in a plane at present.
Currently, common method has conic projection, conical projection etc. in the market.The projecting method of most common of them is
Equirectangular is every warp to be unfolded in alignment section, and form a cylindrical body around a circle along equatorial line,
Then a rectangle is expanded into.This method is widely used in during VR panorama video code, its advantage is that rectangle has
It is compressed conducive to existing video compression standard.But after this method is projected to plane, the area of planar rectangular is expanded
Big pi/2 times, will lead to will keep identical compression quality in this way, need corresponding code rate and promoted to guarantee, consumed more
More storages and network transmission bandwidth.
Equirectangular method is realized in the process particularly, and a sphere model, sphere Model Establishment side are established
Formula is that setting thinks spherical surface to set south poles, and is divided into N points by latitude, and longitude is divided into M parts, if the position of the centre of sphere is origin O
The radius of (0,0,0), ball is r, the latitude on spherical surface and the position in longitude crosspoint is calculated, as shown in Figure 1, ψ=pi/2-i*
π/N (0≤i≤N), θ=j*2 π/M (0≤j≤M).The position of spherical surface is vertex, uses connection triangle manner connection top
Point establishes the sphere model of 3D.As shown in Fig. 2, the use of Computer display sphere being to simulate sphere, ball using approximate method
Point on face be it is discrete, each point constitutes line between adjacent point, line constitutes face on spherical surface.So spherical surface be using
The 3 of very little it is angular come approximate representation.If the point on spherical surface mostly if closer to ball.The processing of the Equirectangular
As a result with compatibility is higher between Direct3D and the API of OpenGL in existing technology, and technology is more mature, however, existing
Some Equirectangular algorithm bring computing redundancy degree are higher, cause the reduction of API treatment effeciency.
It in addition is six of embedded square that spherical surface is projected to ball there are one relatively conventional cubic projective method
On face, the area of plane projected in this way is smaller than spherical surface, but the disadvantage is that since the unit area on spherical surface projects in plane
Area, different due to position --- especially square edges --- cause scaling more obvious, will lead to original graph in this way
As information loss and final display distortion.
In addition, in disclosed patent document, application number CN201610246821.2, entitled a kind of 360 degree
The planar projective method of panoramic video and coding method also disclose a kind of mapping thinking: by each weft on spherical surface
Projection forms corresponding straight line in the plane, then establishes rectangular coordinate system as origin using the midpoint of equatorial line in the plane, makes
The equal length of the respective straight of the length and projection of every weft in the plane, makes any bar weft and equatorial line on spherical surface
Longitudinal camber line distance be equal to Y-axis value of the respective straight in the rectangular coordinate system.However, camera is by water in actual environment
360 degree flat, upper and lower 180 degree all angle shots, which come out, is processed into panoramic video, is not usually the sphere data of standard, more
It is to change into plane screen data first to meet various transmission of video codings when more, is then converted to panorama by planar video data
Video uses.Therefore, the technical solution that application number CN201610246821.2 is proposed is a kind of partially Utopian processing method,
It is only disposably acquired using special sphere acquisition camera under actual conditions and generates sphere picture described in the program
Element collection, still, there is no the cameras of corresponding function for current technology realization, and are all to complete ball using multi-cam
The acquisition of plane video data.So application number CN201610246821.2 lacks practical operability and practicability.
In addition, application number CN201710116888.9, entitled panoramic picture reflects in disclosed patent document
Existing sphere data is carried out the area Liao Hua by shooting method, which, and by each picture obtained sub-block curved surface content map in area to pair
It answers in rectangle plane, the existing patent CN201610246821.2 of the above chapter that compares, the side of application number CN201710116888.9
Case is more realistic, i.e., more matches with the acquisition environment of camera used in actual environment, however, which has mapping pair
The square unmatched problem of area size, especially close to the curved surface in the two poles of the earth region and the mapping relations of respective rectangular plane, therefore,
The scheme of application number CN201710116888.9 still can have an impact visual effect in rectangular unit's size not enough hours
Pixel loses problem.Correspondingly, if the too small sequential organization complexity that will also result in front of mapping operations and coding of rectangular unit's size
The raising of degree, influences computational efficiency.
[summary of the invention]
After being projected to plane present in Equirectangular algorithm, plane
The area of rectangle has been extended pi/2 times, and will lead to will keep identical compression quality in this way, needs corresponding code rate and promoted
The problem of guaranteeing, consuming more storages and network transmission bandwidth.
The present invention adopts the following technical scheme:
In a first aspect, the present invention provides a kind of method for spherical surface and interplanar mapping, the spherical video frame of acquisition
Data are original plane video requency frame data by preset method migration, wherein the original plane video requency frame data is rectangle
The video frame of format, each original plane video requency frame data is before carrying out Video coding, further includes:
Original plane video frame is divided into the bar-shaped zone of n equal length according to default longitudinal gap, wherein n is certainly
So number；
According to the corresponding relationship that the latitude gap size in the size and spherical surface of the longitudinal gap matches, spherical surface is regarded
Region division between frequency frame south poles is n using south poles as the annular region of center axis；
Calculate the angle α between each annular region lower boundary and equator relative to the centre of spherei, wherein [0, n-1] i ∈；
According to the angle αiThe corresponding transformation bar-shaped zone of each bar-shaped zone institute is calculated；
After the calculating for completing each transformation bar-shaped zone, by its assignment to the change generated according to original plane video frame size
Rear rectangular video frame is changed, the pixel after unified assignment transformation in rectangular video frame in addition to each transformation bar-shaped zone is low pixel
Value, obtains rectangular video frame after pixel content assignment completely converts.
Preferably, described according to the angle αiThe corresponding transformation bar-shaped zone of each bar-shaped zone institute is calculated,
It specifically includes:
According to the angle αiCalculate the origin coordinates of the transformation bar-shaped zone of i-th bar-shaped zone；
According to the angle αiEach pixel coordinate of i-th bar-shaped zone is calculated relative to the inclined of the origin coordinates
Shifting value, to obtain the mapping point of each pixel coordinate in bar-shaped zone；
In mapping process, when mapping point is floating number, to round up, rule is rounded；Also, for returning after being rounded
For multiple pixel values of same coordinate position, to take mean value as the assignment pixel value of corresponding coordinate position, point sampling as phase
Answer the assignment pixel value of coordinate position, linear filtering result as the assignment pixel value of corresponding coordinate position or with sequence after
Assignment pixel value of the median as the coordinate position.
Preferably, described according to the angle αiThe origin coordinates of the transformation bar-shaped zone of i-th bar-shaped zone is calculated,
Specifically:
According to formula 0.5*W* (1-cos (αi)), the starting for calculating the transformation bar-shaped zone of i-th bar-shaped zone is sat
Mark；
Wherein, in i < N/2, αi=(float) (pi/2-π * ((i+1)/N))；In i >=N/2, αi=(float) (π/
2-π*(i/N))；The N is the sum for the bar-shaped zone that spherical surface marks off.
Preferably, described according to the angle αiEach pixel coordinate of i-th bar-shaped zone is calculated relative to described
The mapping value of origin coordinates, specifically:
According to formula cos (αi) * x0_i calculates i-th each pixel coordinate of bar-shaped zone and sit relative to the starting
Target deviant；
Wherein, (x0_i, y0_i) is the pixel coordinate in original plane video frame in i-th bar-shaped zone,
(x1_i, y1_i) is the mapping point that i-th of transformation bar-shaped zone corresponds to (x0_i, the y0_i) in the same coordinate system
When, then x1_i=0.5*W* (1-cos (αi))+cos(αi)*x0_i；Y1_i=y0_i.
Preferably, the preset method is specially Equirectangular conversion process algorithm.
Second aspect, the present invention also provides a kind of methods for generating spherical video frame based on planar video frame, using such as
The method of mapping described in first aspect planar video frame generated, wherein be stored with accordingly corresponding to each transformation bar-shaped zone
Transformation bar-shaped zone boundary parameter, the method also includes:
The multiple right angled triangles split out using in the transformation bar-shaped zone are obtained as triangle texture graphics on spherical surface
The source of respective pixel array；
According to transformation bar-shaped zone boundary parameter, one by one by it is each transformation bar-shaped zone on pixel according to triangle line
Reason figure is to handle the texel that Conversion of measurement unit is composition spherical video frame.
Preferably, it is described one by one by it is each transformation bar-shaped zone on pixel according to triangle texture graphics be processing unit
The texel for constituting spherical video frame is converted to, is specifically included:
When texel size is bigger than single pixel, multiple pixels correspond on spherical video frame on rectangular video frame after transformation
Single texel, then in the mode for taking intermediate value by way of taking mean value, after point sampling, linear filtering and sequence any one or
Person's various ways complete the conversion of pixel to texel；
When texel size is smaller than single pixel, after transformation on rectangular video frame single pixel correspond to it is more on spherical video frame
A texel, then directly using respective pixel values as the texel value of corresponding texel position.
Preferably, the method is specifically completed by the figure API programing operation of OpenGL or Direct3D.
The third aspect, the present invention also provides a kind of device for spherical surface and interplanar mapping, described device includes
Original plane video requency frame data conversion module, the spherical video frame data for that will acquire are turned by preset method
It is changed to original plane video requency frame data；Wherein, the original plane video requency frame data is the video frame of rectangular format；
Planar video frame region division module, for original plane video frame to be divided into n according to default longitudinal gap
The bar-shaped zone of equal length, wherein n is natural number；
Spherical video frame region division module, according to the size of the longitudinal gap and the latitude gap size phase in spherical surface
Region division between spherical video frame south poles is n using south poles as the annular of center axis by matched corresponding relationship
Region；
Mapping and Converting factor computing module, for calculating the folder between each annular region lower boundary and equator relative to the centre of sphere
Angle αi, wherein [0, n-1] i ∈；
Bar-shaped zone computing module is converted, for according to the angle αiIt is corresponding that each bar-shaped zone institute is calculated
Convert bar-shaped zone；
Rectangle generation module after transformation, for complete it is each transformation bar-shaped zone calculating after, by its assignment to according to original
Rectangular video frame after the transformation that beginning planar video frame size generates removes each transformation bar shaped in rectangular video frame after unified assignment transformation
Pixel other than region is low-pixel value, obtains rectangular video frame after pixel content assignment completely converts；
Coding module, for completing the coding of rectangular video frame after the transformation.
Preferably, the transformation bar-shaped zone computing module further includes origin coordinates computing unit, offset computation unit
And map unit, it is specific:
The origin coordinates computing unit, for according to the angle αiCalculate the transformation bar shaped of i-th bar-shaped zone
The origin coordinates in region；
The offset computation unit, for according to the angle αiEach pixel for calculating i-th bar-shaped zone is sat
The deviant relative to the origin coordinates is marked, to obtain the mapping point of each pixel coordinate in bar-shaped zone；
The map unit, in mapping process, when mapping point is floating number, rule to be rounded to round up；
Also, for the multiple pixel values for being classified as same coordinate position after being rounded, to take mean value as the assignment picture of corresponding coordinate position
The assignment picture as corresponding coordinate position of assignment pixel value, linear filtering result of element value, point sampling as corresponding coordinate position
Element is worth or using the median after sorting as the assignment pixel value of the coordinate position.
Fourth aspect, the present invention also provides a kind of intelligent apparatus, described device includes:
Memory, for storing one or more programs.
Processor is completed to be used for spherical surface and plane described in first aspect for executing one or more of programs
Between the method and step that maps and/or complete the method step for generating spherical video frame described in second aspect based on planar video frame
Suddenly.
The original plane video requency frame data that existing ripe algorithm conversion spherical video frame data are obtained in the present invention,
The simplified conversion process of redundant data is carried out, rectangular video frame after being converted reduces data content range, reduces
The processing time of coding, and code rate is reduced under identical parameter compared to the prior art.
On the other hand, the present invention also provides a kind of methods for generating spherical video frame based on planar video frame, further
Above-mentioned simplified conversion process is considered, for regenerating the possible problem of spherical video frame after decoding, is avoided
Because collecting invalid data region in mapping process, asking for the appearance black surround on the spherical surface caused because of loss of data is caused
Topic.
[Detailed description of the invention]
In order to illustrate the technical solution of the embodiments of the present invention more clearly, will make below to required in the embodiment of the present invention
Attached drawing is briefly described.It should be evident that drawings described below is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the relation schematic diagram of spherical surface in the prior art provided by the invention and interplanar mapping；
Fig. 2 is the effect diagram of the processing of sphere texture in the prior art provided by the invention；
Fig. 3 is a kind of method flow schematic diagram for spherical surface and interplanar mapping provided in an embodiment of the present invention；
Fig. 4 is the effect diagram provided in an embodiment of the present invention that original plane video frame is divided according to default spacing；
Fig. 5 is the effect diagram provided in an embodiment of the present invention that spherical video frame is divided according to default spacing；
Fig. 6 is transformation factor α provided in an embodiment of the present invention1Obtain schematic illustration；
Fig. 7 is the pictorial diagram of rectangular video frame after transformation provided in an embodiment of the present invention；
Fig. 8 is transformation bar-shaped zone calculation flow chart provided in an embodiment of the present invention；
Fig. 9 is the schematic diagram of rectangular video frame after a kind of transformation with boundary information provided in an embodiment of the present invention；
Figure 10 is a kind of method flow diagram that spherical video frame is generated based on planar video frame provided in an embodiment of the present invention；
Figure 11 is the pixel graphics schematic diagram provided in an embodiment of the present invention corresponding to texture；
Figure 12 is a kind of sphere texture processing unit pictorial diagram provided in an embodiment of the present invention；
Figure 13 is shift process schematic diagram of the pixel-map provided in an embodiment of the present invention to texel；
Figure 14 is a kind of apparatus structure schematic diagram for spherical surface and interplanar mapping provided in an embodiment of the present invention；
Figure 15 is another apparatus structure schematic diagram for spherical surface and interplanar mapping provided in an embodiment of the present invention；
Figure 16 is another apparatus structure schematic diagram for spherical surface and interplanar mapping provided in an embodiment of the present invention；
Figure 17 is provided in an embodiment of the present invention a kind of for spherical surface and interplanar mapping and the system knot for mapping display
Structure schematic diagram；
Figure 18 is a kind of intelligent apparatus provided in an embodiment of the present invention.
[specific embodiment]
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In the description of the present invention, term "inner", "outside", " longitudinal direction ", " transverse direction ", "upper", "lower", "top", "bottom" etc. refer to
The orientation or positional relationship shown be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description the present invention rather than
It is required that the present invention must be constructed and operated in a specific orientation, therefore it is not construed as limitation of the present invention.
In addition, as long as technical characteristic involved in the various embodiments of the present invention described below is each other not
Constituting conflict can be combined with each other.
The present invention is by the similar planar rectangular video frame obtained with Equirectangular algorithm, then carries out a wheel
Mapping transformation is equivalent to the planar rectangular video frame that Equirectangular algorithm obtains optimizing processing, so that effectively
Pixel concentrates among the figure that mapping obtains, to alleviate the load of the coding of rectangular video frame, and can also be into one
Step improves the subsequent figure obtained according to the mapping and obtains the efficiency of spherical video frame.
Embodiment 1:
The embodiment of the present invention 1 provides a kind of method for spherical surface and interplanar mapping, the spherical video frame number of acquisition
It is original plane video requency frame data according to by preset method migration, wherein the original plane video requency frame data is rectangular grid
The video frame of formula；The spherical video frame data of the acquisition can be to be collected by multiple cameras, the camera
Quantity and configuration mode is the prior art, and details are not described herein.It in the prior art, is that each original plane video requency frame data is straight
Tap into row Video coding, and the embodiment of the present invention, in each original plane video requency frame data before carrying out Video coding, such as Fig. 3
It is shown, also execute following methods step:
In step 201, original plane video frame is divided into the slab region of n equal length according to default longitudinal gap
Domain, wherein n is natural number.
It is illustrated in figure 4 an original plane video frame and is divided into the schematic diagram after the bar-shaped zone of 6 equal lengths,
In, the value of n the big, can guarantee that the information reduction degree for the transformation bar-shaped zone being subsequently generated is higher, be embodied in boundary
The information in region retain it is more complete, it is subsequent be converted to spherical video frame according to the mapped graphics when (such as: in embodiment 2
The method content of realization), the value size of n can largely influence the resolution sizes of spherical video frame, usual n more it is big then
The spherical video frame resolution accordingly obtained is bigger.
In step 202, matched according to the size of the longitudinal gap with the latitude gap size in spherical surface corresponding
Region division between spherical video frame south poles is n using south poles as the annular region of center axis by relationship.
Such as: shown in Fig. 5, to set corresponding latitude interval corresponding to the size of longitudinal gap shown in Fig. 4, by spherical surface
Video frame is divided into the annular region at 6 equal latitudes intervals.
You need to add is that the embodiment of the present invention goes out 6 using equally spaced model split for the convenience described
Bar-shaped zone and annular region.And in actual operation, it can also be according to actual design requirement, by each bar-shaped zone and annular
The width in region is arranged to unequal.Such as: can be relatively large to the width of the annular region not close to the two poles of the earth, setting,
And include equator more abundant for effective information, the width that annular region can be set is smaller, to guarantee more
Effective information content is retained during transformation (involved in the embodiment of the present invention) and subsequent mapping (involved in embodiment 2).
In step 203, the angle α between each annular region lower boundary and equator relative to the centre of sphere is calculatedi, wherein i ∈
[0,n-1]。
Such as: it is the corresponding angle α of the 1st annular region during foundation Fig. 5 is shown shown in Fig. 61The form of expression.
In step 204, according to the angle αiThe corresponding transformation bar-shaped zone of each bar-shaped zone institute is calculated.
In step 205, after the calculating for completing each transformation bar-shaped zone, by its assignment to according to original plane video frame
Rectangular video frame after the transformation that size generates, the picture after unified assignment transformation in rectangular video frame in addition to each transformation bar-shaped zone
Vegetarian refreshments is low-pixel value, obtains rectangular video frame after pixel content assignment completely converts.
The original plane video that existing ripe algorithm conversion spherical video frame data are obtained in embodiments of the present invention
Frame data have carried out the simplified conversion process of redundant data, rectangular video frame after being converted, and reduce data content model
It encloses, reduces the processing time of coding, and reduce code rate under identical parameter compared to the prior art.
As shown in fig. 7, for according to original plane video frame shown in Fig. 4, when being specially numerical value 6 using n, the change of progress
The figure (figure constituted such as dotted line frame is marked in Fig. 7 one group of transformation bar-shaped zone) got in return, wherein transformation bar shaped
The pixel value in the region other than region be labeled for 0 (in Fig. 7 using grid background be labelled with corresponding transformation bar-shaped zone with
Outer region), to simplify the cataloged procedure of rectangular video frame after transformation as shown in Figure 7, improve rate encoded.
It is described according to the angle α involved in step 204 in conjunction with the embodiment of the present inventioniEach slab region is calculated
The corresponding transformation bar-shaped zone of domain institute, as shown in figure 8, specifically including:
In step 2041, according to the angle αiThe starting for calculating the transformation bar-shaped zone of i-th bar-shaped zone is sat
Mark.
In step 2042, according to the angle αiEach pixel coordinate of i-th bar-shaped zone is calculated relative to institute
The deviant of origin coordinates is stated, to obtain the mapping point of each pixel coordinate in bar-shaped zone.
Wherein, the endpoint in rectangular picture element arrays for optionally original plane video frame being used to be included is coordinate origin.
In step 2043, in mapping process, when mapping point is floating number, to round up, rule is rounded；Also,
For being classified as multiple pixel values of same coordinate position after being rounded, using take mean value as corresponding coordinate position assignment pixel value,
Point sampling as the assignment pixel value of corresponding coordinate position, linear filtering result as corresponding coordinate position assignment pixel value or
Assignment pixel value of the person using the median after sorting as the coordinate position.
Such as: in the mapping point being calculated there are A (152.6,745.6), B (152.7,745.6), C (152.8,
745.8) and D (152.6,745.9) are then according to the above-mentioned rule that rounds up, they both correspond to (153,746) mapping point, this
When, it can be using the result that tetra- points of above-mentioned A, B, C and D are averaged as the pixel value of (153,746) mapping point.
Wherein, point sampling is using the pixel coordinate most preferably approached through rasterizer module calculating transformation, also referred to as
nearest filtering.Such as coordinate (152,745) pixel value in bar-shaped zone after transformation, just obtained using transformation calculations
The point element for being transformed pixel corresponding to original plane video requency frame data corresponding to its distance nearest (152.1,745.1)
Matter replaces.Error of losing shape is easy to produce with point sampling.
In linear filter method (linear filtering), coordinate is located at (152,745) in bar-shaped zone after transformation
Pixel pixel value calculating, be embodied in and obtain this and be worth corresponding nearest several transformed coordinates are as follows:
((152.1,745.4), (153.3,745.2), (152.4,744.7), (153.8,744.4)), then can use this 4 changes
It changes recoil and is marked on and be accordingly transformed the pixel value of pixel in original plane video requency frame data and carry out linear interpolation and be calculated
As a result, the pixel value of the pixel of (152,745) is located at as coordinate in bar-shaped zone after transformation.
Median after sorting is embodied in as the assignment pixel value of the coordinate position by tetra- points of A, B, C and D
According to the big minispread of pixel value, and take pixel value of the in-between value as (153,746) mapping point, wherein if median
Including can then take the pixel value of 2 mean value as mapping point at 2.Similar combination obtains mapping point pixel
The method of value, belongs in the protection scope of the embodiment of the present invention, will not repeat them here.
During the embodiment of the present invention is realized, mapping transformation emphasis is around transformation factor cos (αi) expansion, then institute
It states according to the angle αiCalculate the origin coordinates of the transformation bar-shaped zone of i-th bar-shaped zone, specific implementation are as follows:
According to formula 0.5*W* (1-cos (αi)), the starting for calculating the transformation bar-shaped zone of i-th bar-shaped zone is sat
Mark；
Wherein, in i < N/2, αi=(float) (pi/2-π * ((i+1)/N))；In i >=N/2, αi=(float) (π/
2-π*(i/N))；The N is the sum for the bar-shaped zone that spherical surface marks off.
It is described according to the angle αiEach pixel coordinate of i-th bar-shaped zone is calculated relative to the origin coordinates
Mapping value, specifically:
According to formula cos (αi) * x0_i calculates i-th each pixel coordinate of bar-shaped zone and sit relative to the starting
Target deviant；
Wherein, (x0_i, y0_i) is the pixel coordinate in original plane video frame in i-th bar-shaped zone,
(x1_i, y1_i) is the mapping point that i-th of transformation bar-shaped zone corresponds to (x0_i, the y0_i) in the same coordinate system
When, then x1_i=0.5*W* (1-cos (αi))+cos(αi)*x0_i；Y1_i=y0_i.
In embodiments of the present invention, the preset method is specially Equirectangular conversion process algorithm.
Embodiment 2:
The embodiment of the present invention turns flat in addition to providing the existing spherical video frame that corresponds to the pass illustrated in embodiment 1 such as
After the rectangular video frame of face, except the method for further completing transformation bar-shaped zone variation, additionally provides one kind and regarded based on plane
The method that frequency frame generates spherical video frame, the pixel being located in planar rectangular video frame in embodiments of the present invention are regarded in spherical surface
Then it is referred to as texel in frequency frame, and the figure (such as triangle ABC shown in Figure 11) handled in planar rectangular video frame exists
Then it is referred to as texture (such as triangle A ' B ' C ' shown in Figure 12) in spherical video frame.Use what is mapped as described in Example 1
Method planar video frame generated (such as: the planar video frame shown in Fig. 7 obtained by mapping transformation), wherein it is corresponding
It is stored with the boundary parameter of corresponding transformation bar-shaped zone in each transformation bar-shaped zone, as shown in figure 9, corresponding shown in Fig. 7 flat
Plane video frame, boundary parameter show as the boundary coordinate for corresponding to the 1st transformation bar-shaped zone are as follows: [(x1, y1), (x1, y2)],
[(x2, y1), (x2, y2)], the boundary coordinate corresponding to the 2nd transformation bar-shaped zone are as follows: [(x3, y3), (x3, y4)], [(x4,
Y3), (x4, y4)], and so on, then as shown in Figure 10, the method also includes:
In step 301, using the multiple right angled triangles split out in bar-shaped zone that convert as triangle on spherical surface
The source of texture graphics acquisition respective pixel array.
Wherein, optionally, the right-angle side of each right angled triangle is identical as the transformation height of bar-shaped zone.Due to
Itself can be related to choosing in mapping process it is not of uniform size between triangle and spherical video frame texture, therefore, in reality
When operation, the right-angle side of right angled triangle and the height of the transformation bar-shaped zone can also be set as not identical.
As shown in figure 11, multiple to be split out in the 2nd transformation bar-shaped zone in transformation bar-shaped zone as shown in Figure 7
The schematic diagram of right angled triangle.
In step 302, according to transformation bar-shaped zone boundary parameter, one by one by it is each transformation bar-shaped zone on pixel
Point is to handle the texel that Conversion of measurement unit is composition spherical video frame according to triangle texture graphics.
A kind of method generating spherical video frame based on planar video frame provided in an embodiment of the present invention, further contemplates
Above-mentioned simplified conversion process is avoided for regenerating the possible problem of spherical video frame after decoding because reflecting
The problem of collecting invalid data region during penetrating, causing the appearance black surround on the spherical surface caused because of loss of data.
As shown in figure 12, wherein the annular region of section mark is just that the pixel on the 2nd transformation bar-shaped zone is pressed
It is obtained according to triangle texture graphics processing Conversion of measurement unit.Such as: the texture of each triangle A ' B ' C ' indicated in Figure 12 reflects
Penetrating object is triangle ABC described in Figure 11.
The embodiment of the present invention complete it is above-mentioned spherical video frame is mapped to by transformation bar-shaped zone during, shape can be encountered
On deformation, therefore, it may appear that pixel-map line into triangle as shown in figure 12 in right angled triangle as shown in figure 11
When plain, generate a texel region and be associated with the feelings that multiple pixels or multiple texels are covered by a pixel region
Condition, therefore, in order to effectively handle above-mentioned two situations, the embodiment of the invention also provides a kind of preferred implementation, institutes
State one by one by it is each transformation bar-shaped zone on pixel according to triangle texture graphics be processing Conversion of measurement unit be constitute spherical surface view
The texel of frequency frame specifically includes as shown in figure 13:
In step 3021, when judging that texel size is bigger than single pixel, multiple pixels pair on rectangular video frame after transformation
Should on spherical video frame single texel, execute step 3022.
Texel size is judged than single pixel hour, and single pixel corresponds on spherical video frame on rectangular video frame after transformation
Multiple texels, then follow the steps 3023.
In step 3022, in the mode for taking intermediate value by way of taking mean value, after point sampling, linear filtering and sequence
Any one or various ways complete pixel to the conversion of texel, enter step 3024 after having executed.
Wherein, point sampling is using the texture coordinate most preferably approached through rasterizer module calculating output, also referred to as
nearest filtering.Such as the texel of coordinate (152.34,745.14), just use (152,745) to replace.It is adopted with point
Sample is easy to produce error of losing shape.
For example, calculating a texture coordinate in linear filter method (linear filtering) and being located at
(152.34,745.14), then this is worth corresponding 4 nearest texture coordinates are as follows: ((152,745), (153,745),
(152,744),(153,744)).The corresponding color value that so can use this 4 texture coordinates carries out linear interpolation, can be with
Calculate the weighted average of this group of texel, and using the value as texture coordinate map to texel array when texel value.It is this
Method calculation amount is bigger than point sampling, and effect is generally better than point sampling.
In step 3023, directly using respective pixel values as the texel value of corresponding texel position, enter step after having executed
Rapid 3024.
In step 3024, terminate process if mappings work between all pixels point and texel if having executed, otherwise jumps back to step
Rapid 3021 carry out the mappings work of next pixel and texel.
In embodiments of the present invention, the method can specifically be programmed by the figure API of OpenGL or Direct3D and be transported
Row is completed.
Embodiment 3:
The embodiment of the present invention in addition to provide as described in Example 1 it is a kind of for spherical surface and interplanar mapping method other than,
Additionally provide it is a kind of for spherical surface and the device of interplanar mapping for executing method and step as described in Example 1, such as Figure 14
Shown, described device includes:
Original plane video requency frame data conversion module, the spherical video frame data for that will acquire are turned by preset method
It is changed to original plane video requency frame data；Wherein, the original plane video requency frame data is the video frame of rectangular format；
Planar video frame region division module, for original plane video frame to be divided into n according to default longitudinal gap
The bar-shaped zone of equal length, wherein n is natural number；
Spherical video frame region division module, according to the size of the longitudinal gap and the latitude gap size phase in spherical surface
Region division between spherical video frame south poles is n using south poles as the annular of center axis by matched corresponding relationship
Region；
Mapping and Converting factor computing module, for calculating the folder between each annular region lower boundary and equator relative to the centre of sphere
Angle αi, wherein [0, n-1] i ∈；
Bar-shaped zone computing module is converted, for according to the angle αiIt is corresponding that each bar-shaped zone institute is calculated
Convert bar-shaped zone；
Rectangle generation module after transformation, for complete it is each transformation bar-shaped zone calculating after, by its assignment to according to original
Rectangular video frame after the transformation that beginning planar video frame size generates removes each transformation bar shaped in rectangular video frame after unified assignment transformation
Pixel other than region is low-pixel value, obtains rectangular video frame after pixel content assignment completely converts；
Coding module, for completing the coding of rectangular video frame after the transformation.
In conjunction with the embodiment of the present invention, there are a kind of optional implementations, and as shown in figure 15, the transformation bar-shaped zone calculates
Module further includes origin coordinates computing unit, offset computation unit and map unit, specific:
The origin coordinates computing unit, for according to the angle αiCalculate the transformation bar shaped of i-th bar-shaped zone
The origin coordinates in region；
The offset computation unit, for according to the angle αiEach pixel for calculating i-th bar-shaped zone is sat
The deviant relative to the origin coordinates is marked, to obtain the mapping point of each pixel coordinate in bar-shaped zone；
The map unit, in mapping process, when mapping point is floating number, rule to be rounded to round up；
Also, for the multiple pixel values for being classified as same coordinate position after being rounded, to take mean value as the assignment picture of corresponding coordinate position
The assignment picture as corresponding coordinate position of assignment pixel value, linear filtering result of element value, point sampling as corresponding coordinate position
Element is worth or using the median after sorting as the assignment pixel value of the coordinate position.
In conjunction with the embodiment of the present invention, there are a kind of optional implementations, and as shown in figure 16, described device further includes decoding mould
Block, texture acquirement module and spherical video frame generation module, specific:
The decoder module is used to decode the above-mentioned video content obtained after handling via coding module, is embodied in and obtains
Obtain figure after above-mentioned transformation.The mapped graphics obtained after decoding are sent to texture acquirement module.
The texture acquirement module, for using the multiple right angled triangles split out in bar-shaped zone that convert as ball
Triangle texture graphics obtain the source of respective pixel array on face；Wherein, the right-angle side of each right angled triangle and the transformation
The height of bar-shaped zone is identical；
The spherical video frame generation module, for the boundary parameter according to transformation bar-shaped zone, one by one by each transformation
It is the texel for constituting spherical video frame that pixel on bar-shaped zone, which is processing Conversion of measurement unit according to triangle texture graphics,.
During specific implementation, in addition to above-mentioned by decoder module, texture acquirement module and spherical video frame generation module
Be attributed to and be integrated outside mode with the proposed device of the embodiment of the present invention, can also by the decoder module, texture acquirement module and
Comprising modules of the spherical video frame generation module as another self-contained unit, and data link has been also set up between two devices
It can be used for transmitting above-mentioned coding module treated video content.As shown in figure 17, institute is realized using self-contained unit to be above-mentioned
State the configuration diagram of decoder module, texture acquirement module and spherical video frame generation module.
Embodiment 4:
The embodiment of the invention also provides a kind of intelligent apparatus, and as shown in figure 18, described device includes:
Memory, for storing one or more programs.
Processor is completed described in embodiment 1 for spherical surface and interplanar for executing one or more of programs
The method and step of mapping and/or the completion method and step as described in example 2 that spherical video frame is generated based on planar video frame.
It is worth noting that in information exchange, implementation procedure between module, unit in above-mentioned apparatus and system etc.
Hold, due to being based on same design with processing method embodiment of the invention, particular content be can be found in embodiment of the present invention method
Narration, details are not described herein again.
It is worth noting that in information exchange, implementation procedure between module, unit in above-mentioned apparatus and system etc.
Hold, due to being based on same design with processing method embodiment of the invention, particular content be can be found in embodiment of the present invention method
Narration, details are not described herein again.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of embodiment is can to lead to
Program is crossed to instruct relevant hardware and complete, which can be stored in a computer readable storage medium, storage medium
It may include: read-only memory (ROM, Read Only Memory), random access memory (RAM, Random Access
Memory), disk or CD etc..
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of method for spherical surface and interplanar mapping, which is characterized in that the spherical video frame data of acquisition pass through default
Method migration be original plane video requency frame data, wherein the original plane video requency frame data be rectangular format video frame,
Each original plane video requency frame data is before carrying out Video coding, method further include:
Original plane video frame is divided into the bar-shaped zone of n equal length according to default longitudinal gap, wherein n is natural number；
According to the corresponding relationship that the latitude gap size in the size and spherical surface of the longitudinal gap matches, by spherical video frame
Region division between south poles is n using south poles as the annular region of center axis；
Calculate the angle α between each annular region lower boundary and equator relative to the centre of spherei, wherein [0, n-1] i ∈；
According to the angle αiThe corresponding transformation bar-shaped zone of each bar-shaped zone institute is calculated；
After the calculating for completing each transformation bar-shaped zone, after its assignment to the transformation generated according to original plane video frame size
Rectangular video frame；Pixel after unified assignment transformation in rectangular video frame in addition to each transformation bar-shaped zone is low-pixel value,
Obtain rectangular video frame after pixel content assignment completely converts.
2. the method according to claim 1 for spherical surface and interplanar mapping, which is characterized in that described according to the folder
Angle αiThe corresponding transformation bar-shaped zone of each bar-shaped zone institute is calculated, specifically includes:
According to the angle αiCalculate the origin coordinates of the transformation bar-shaped zone of i-th bar-shaped zone；
According to the angle αiDeviant of each pixel coordinate of i-th bar-shaped zone relative to the origin coordinates is calculated,
To obtain the mapping point of each pixel coordinate in bar-shaped zone；
In mapping process, when mapping point is floating number, to round up, rule is rounded；Also, it is same for being classified as after being rounded
Multiple pixel values of one coordinate position, to take mean value to sit as the assignment pixel value of corresponding coordinate position, point sampling as corresponding
The assignment pixel value of cursor position, linear filtering result are as the assignment pixel value of corresponding coordinate position or with the centre after sorting
It is worth the assignment pixel value as the coordinate position.
3. the method according to claim 2 for spherical surface and interplanar mapping, which is characterized in that described according to the folder
Angle αiThe origin coordinates of the transformation bar-shaped zone of i-th bar-shaped zone is calculated, specifically:
According to formula 0.5*W* (1-cos (αi)), calculate the origin coordinates of the transformation bar-shaped zone of i-th bar-shaped zone；
Wherein, in i < N/2, αi=(float) (pi/2-π * ((i+1)/N))；In i >=N/2, αi=(float) (pi/2-π *
(i/N))；The N is the sum for the bar-shaped zone that spherical surface marks off.
4. the method according to claim 3 for spherical surface and interplanar mapping, which is characterized in that described according to the folder
Angle αiMapping value of each pixel coordinate of i-th bar-shaped zone relative to the origin coordinates is calculated, specifically:
According to formula cos (αi) * x0_i calculate i-th bar-shaped zone each pixel coordinate relative to the origin coordinates
Deviant；
Wherein, (x0_i, y0_i) is the pixel coordinate in original plane video frame in i-th bar-shaped zone, (x1_i,
Y1_i described in) corresponding in the same coordinate system for i-th of transformation bar-shaped zone when the mapping point of (x0_i, y0_i), then x1_
I=0.5*W* (1-cos (αi))+cos(αi)*x0_i；Y1_i=y0_i.
5. the method according to claim 1 to 4 for spherical surface and interplanar mapping, which is characterized in that described default
Method be specially Equirectangular conversion process algorithm.
6. a kind of method for generating spherical video frame based on planar video frame, which is characterized in that any using such as claim 1-5
The method of mapping planar video frame generated, wherein be stored with corresponding transformation item corresponding to each transformation bar-shaped zone
The boundary parameter in shape region, the method also includes:
The multiple right angled triangles split out using in the transformation bar-shaped zone obtain corresponding as triangle texture graphics on spherical surface
The source of array of pixels；
According to transformation bar-shaped zone boundary parameter, one by one by it is each transformation bar-shaped zone on pixel according to triangle texture maps
Shape is to handle the texel that Conversion of measurement unit is composition spherical video frame.
7. it is according to claim 6 based on planar video frame generate spherical video frame method, which is characterized in that it is described by
One by it is each transformation bar-shaped zone on pixel according to triangle texture graphics be processing Conversion of measurement unit be constitute spherical video frame
Texel, specifically include:
When texel size is bigger than single pixel, multiple pixels correspond on spherical video frame individually on rectangular video frame after transformation
Texel, then in the mode for taking intermediate value by way of taking mean value, after point sampling, linear filtering and sequence any one or it is more
Kind mode completes the conversion of pixel to texel；
When texel size is smaller than single pixel, single pixel corresponds to multiple lines on spherical video frame on rectangular video frame after transformation
Element, then directly using respective pixel values as the texel value of corresponding texel position.
8. the method according to claim 6 or 7 for generating spherical video frame based on planar video frame, which is characterized in that institute
Method is stated specifically to be completed by the figure API programing operation of OpenGL or Direct3D.
9. a kind of device for spherical surface and interplanar mapping, which is characterized in that described device includes
Original plane video requency frame data conversion module, for being by preset method migration by the spherical video frame data of acquisition
Original plane video requency frame data；Wherein, the original plane video requency frame data is the video frame of rectangular format；
Planar video frame region division module, it is a isometric for original plane video frame to be divided into n according to default longitudinal gap
The bar-shaped zone of degree, wherein n is natural number；
Spherical video frame region division module, matches according to the latitude gap size in the size and spherical surface of the longitudinal gap
Corresponding relationship, be n using south poles as the annular region of center axis by the region division between spherical video frame south poles；
Mapping and Converting factor computing module, for calculating the angle α between each annular region lower boundary and equator relative to the centre of spherei,
Wherein [0, n-1] i ∈；
Bar-shaped zone computing module is converted, for according to the angle αiThe corresponding transformation of each bar-shaped zone institute is calculated
Bar-shaped zone；
Rectangle generation module after transformation, for after the calculating for completing each transformation bar-shaped zone, its assignment to be put down to according to original
Rectangular video frame after the transformation that plane video frame size generates removes each transformation bar-shaped zone in rectangular video frame after unified assignment transformation
Pixel in addition is low-pixel value, obtains rectangular video frame after pixel content assignment completely converts；
Coding module, for completing the coding of rectangular video frame after the transformation.
10. the device according to claim 9 for spherical surface and interplanar mapping, which is characterized in that the transformation bar shaped
Area calculation module further includes origin coordinates computing unit, offset computation unit and map unit, specific:
The origin coordinates computing unit, for according to the angle αiCalculate the transformation bar-shaped zone of i-th bar-shaped zone
Origin coordinates；
The offset computation unit, for according to the angle αiEach pixel coordinate for calculating i-th bar-shaped zone is opposite
In the deviant of the origin coordinates, to obtain the mapping point of each pixel coordinate in bar-shaped zone；
The map unit, in mapping process, when mapping point is floating number, rule to be rounded to round up；Also,
For being classified as multiple pixel values of same coordinate position after being rounded, using take mean value as corresponding coordinate position assignment pixel value,
Point sampling as the assignment pixel value of corresponding coordinate position, linear filtering result as corresponding coordinate position assignment pixel value or
Assignment pixel value of the person using the median after sorting as the coordinate position.
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