CN109597596A - Camera perspective method and device - Google Patents
Camera perspective method and device Download PDFInfo
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- CN109597596A CN109597596A CN201811301963.XA CN201811301963A CN109597596A CN 109597596 A CN109597596 A CN 109597596A CN 201811301963 A CN201811301963 A CN 201811301963A CN 109597596 A CN109597596 A CN 109597596A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/14—Digital output to display device ; Cooperation and interconnection of the display device with other functional units
Abstract
The invention discloses a kind of camera perspective method and devices, wherein camera perspective method includes: to obtain viewing field of camera angle, relative to the positional relationship between the human eye field angle and human eye and camera of screen；According between the perspective location information of object, human eye and camera positional relationship and human eye field angle and viewing field of camera angle, calculate the interception ratio of camera image and the display scale of screen；Camera image is intercepted according to the interception ratio and camera resolution of camera image, and interpolation is carried out to the camera image after interception according to the display scale of screen and screen resolution, fluoroscopy images is generated, is displayed on the screen.Camera perspective method and device provided in an embodiment of the present invention, according to the positional relationship between human eye and camera, for the perspective object of different location, calculate corresponding camera image interception ratio and screen display proportion, to carry out interception and interpolation to camera image, so that screen can show the camera image being consistent with human eye field angle.
Description
Technical field
The present invention relates to fluoroscopy techniques fields, and in particular to a kind of camera perspective method and device.
Background technique
Fluoroscopy techniques (see throught, abbreviation ST) include mainly two types, first is that the fluoroscopy techniques based on camera
(video see through, abbreviation VST), second is that based on optical fluoroscopy techniques (optical see through, abbreviation
OST).VST obtains outer scene using camera, on the screen according to the imaging of projection relationship by outer scene, brings very to user
The depth perception of real field scape.OST makes human eye directly observe outer scene by optical perspective.By equipment limit, OST is to outside
The field angle of scene is smaller, is usually no more than 40 °, and so small field angle limits the application of OST.Existing VST can be answered
For intelligent glasses, after the image that external real scene is acquired by camera, it is shown in image according to certain mapping relations
On the display screen of intelligent glasses.Due to the size and resolution ratio of intelligent glasses display screen be it is fixed, need for intelligent glasses it is aobvious
Display screen matching has the camera of adequate resolution, so that human eye visual field be avoided to lack.Existing VST technology is not particularly suited for owning
Camera and display screen, versatility is poor.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of camera perspective method and device, to solve existing VST technology
The poor problem of versatility.
According in a first aspect, the embodiment of the invention provides a kind of camera perspective methods, comprising: acquisition viewing field of camera angle,
Relative to the positional relationship between the human eye field angle and human eye and camera of screen；Obtain the location information of perspective object；Root
According to positional relationship and the human eye field angle between the perspective location information of object, the human eye and camera and described
Viewing field of camera angle calculates the interception ratio of camera image and the display scale of screen；The camera image of camera acquisition is obtained, and is obtained
Take camera resolution and screen resolution；According to the interception ratio of the camera image and the camera resolution to the camera
Image is intercepted, and is carried out to the camera image after interception according to the display scale of the screen and the screen resolution slotting
Value generates fluoroscopy images.
Camera perspective method provided in an embodiment of the present invention, according to the positional relationship between human eye and camera, for difference
The perspective object of position calculates corresponding camera image interception ratio and screen display proportion, to cut to camera image
It takes and interpolation, so that screen can show the camera image being consistent with human eye field angle.Due to not to camera resolution or screen
Curtain resolution ratio is limited, so that camera perspective method provided in an embodiment of the present invention, can be suitable for various types of cameras
And screen, solve the problems, such as that existing VST technology versatility is poor.
With reference to first aspect, the positional relationship packet in first aspect first embodiment, between the human eye and camera
Include: the vertical range between horizontal distance and human eye and camera between human eye and camera, wherein camera optical axis direction is vertical
Histogram is to the direction orthogonal with vertical direction is horizontal direction.
Camera perspective method provided in an embodiment of the present invention, by horizontal distance between human eye and camera and human eye with
Vertical range between camera, characterizes the projection relation between human eye and camera, so using projection relation to camera image into
Row proper treatment, so that camera image can match with the resolution ratio and human eye field angle of screen, to make implementation of the present invention
The camera perspective method that example provides can be suitable for various types of cameras and screen.
First embodiment with reference to first aspect, it is described according to the perspective pair in first aspect second embodiment
Positional relationship and the human eye field angle and the viewing field of camera angle between the location information of elephant, the human eye and camera,
Calculate the interception ratio of camera image and the display scale of screen, comprising: judge whether the human eye field angle is greater than the phase
Machine field angle；When the human eye field angle is not more than the viewing field of camera angle, according to the position between the human eye and camera
Relationship, the human eye field angle and the viewing field of camera angle determine two intersection points of human eye visual field border Yu viewing field of camera boundary；
Calculate separately the vertical range between described two intersection points and human eye, obtain the first intersection point vertical range and the second intersection point vertically away from
From；When the first intersection point vertical range and the second intersection point vertical range are respectively less than the location information of the perspective object
When, determine that the display scale of the screen is 100%；According between the human eye and camera horizontal distance, the human eye with
The location information of vertical range, the human eye field angle and the perspective object between camera, calculates first camera visual field
Angle；The interception ratio of the camera image is calculated according to the first camera field angle and the viewing field of camera angle.
Camera perspective method provided in an embodiment of the present invention gives in human eye field angle no more than viewing field of camera angle, and
Perspective object is located under the projection relation except human eye visual field border and viewing field of camera boundary, calculates screen display proportion and camera
The method of image interception ratio so that under determining projection relation, can conveniently and efficiently calculate screen display proportion and
Camera image intercepts ratio, and treatment effeciency with higher can satisfy requirement of the camera perspective to image procossing real-time.
Second embodiment with reference to first aspect calculates institute in first aspect third embodiment according to the following formula
State first camera field angle:
Wherein, Vcam1Indicate the first camera field angle；(b1-b2) indicate between the human eye and camera it is horizontal away from
From；Z indicates the vertical range between the human eye and camera；α indicates that human eye visual field corresponding with the human eye field angle half regards
Rink corner；zkIndicate the location information of the perspective object, i.e., the vertical range between the described perspective object and human eye.
Camera perspective method provided in an embodiment of the present invention gives in human eye field angle no more than viewing field of camera angle, and
Perspective object is located under the projection relation except human eye visual field border and viewing field of camera boundary, calculates the formula at viewing field of camera angle,
Enable and conveniently and efficiently calculate corresponding viewing field of camera angle using the formula, and then calculates phase using the viewing field of camera angle
The interception ratio of machine image, helps to improve the efficiency of data processing, to meet camera perspective to image procossing real-time
It is required that.
Third embodiment with reference to first aspect calculates institute in the 4th embodiment of first aspect according to the following formula
State the interception ratio of camera image:
Wherein, PβIndicate the interception ratio of the camera image；Vcam1Indicate the first camera field angle；β is indicated and institute
State the corresponding viewing field of camera angle of half field-of view in viewing field of camera angle.
Camera perspective method provided in an embodiment of the present invention gives in human eye field angle no more than viewing field of camera angle, and
Perspective object is located under the projection relation except human eye visual field border and viewing field of camera boundary, calculates camera image interception ratio
Formula is enabled and is conveniently and efficiently calculated corresponding camera image interception ratio using the formula, helps to improve data
The efficiency of processing, to meet requirement of the camera perspective to image procossing real-time.
Second embodiment with reference to first aspect, in the 5th embodiment of first aspect, when first intersection point is vertical
When distance and the second intersection point vertical range are all larger than the location information of the perspective object, cutting for the camera image is determined
Taking ratio is 100%；According between horizontal distance, the human eye and the camera between the human eye and camera vertical range,
The location information of the viewing field of camera angle and the perspective object, calculates the first human eye field angle；According to first human eye
Field angle and the human eye field angle calculate the display scale of the screen.
Camera perspective method provided in an embodiment of the present invention gives in human eye field angle no more than viewing field of camera angle, and
Perspective object is located under the projection relation within human eye visual field border and viewing field of camera boundary, calculates screen display proportion and camera
The method of image interception ratio so that under determining projection relation, can conveniently and efficiently calculate screen display proportion and
Camera image intercepts ratio, and treatment effeciency with higher can satisfy requirement of the camera perspective to image procossing real-time.
5th embodiment with reference to first aspect calculates institute in first aspect sixth embodiment according to the following formula
State the first human eye field angle:
Wherein, Veye1Indicate the first human eye field angle；(b1-b2) indicate between the human eye and camera it is horizontal away from
From；Z indicates the vertical range between the human eye and camera；β indicates that viewing field of camera corresponding with the viewing field of camera angle half regards
Rink corner；zkIndicate the location information of the perspective object, i.e., the vertical range between the described perspective object and human eye.
Camera perspective method provided in an embodiment of the present invention gives in human eye field angle no more than viewing field of camera angle, and
Perspective object is located under the projection relation within human eye visual field border and viewing field of camera boundary, calculates the formula of human eye field angle,
Enable and conveniently and efficiently calculate corresponding human eye field angle using the formula, and then calculates screen using the human eye field angle
The display scale of curtain, helps to improve the efficiency of data processing, to meet requirement of the camera perspective to image procossing real-time.
Sixth embodiment with reference to first aspect calculates institute in the 7th embodiment of first aspect according to the following formula
State the display scale of screen:
Wherein, PαIndicate the display scale of the screen；Veye1Indicate the first human eye field angle；α is indicated and the people
The corresponding human eye visual field angle of half field-of view of eye field angle.
Camera perspective method provided in an embodiment of the present invention gives in human eye field angle no more than viewing field of camera angle, and
Perspective object is located under the projection relation within human eye visual field border and viewing field of camera boundary, calculates the public affairs of screen display proportion
Formula is enabled and is conveniently and efficiently calculated corresponding screen display proportion using the formula, helps to improve data processing
Efficiency, to meet requirement of the camera perspective to image procossing real-time.
Second embodiment with reference to first aspect, in the 8th embodiment of first aspect, when the position of the perspective object
Confidence breath is between the first intersection point vertical range and the second intersection point vertical range or the position of the perspective object is believed
Breath is equal to the first intersection point vertical range or the location information of the perspective object is equal to the second intersection point vertical range
When, according to vertical range, the human eye visual field between horizontal distance, the human eye and the camera between the human eye and camera
The location information at angle, the viewing field of camera angle and the perspective object, calculates second camera field angle；According to second phase
Machine field angle and the viewing field of camera angle calculate the interception ratio of the camera image；According to the water between the human eye and camera
Vertical range, the human eye field angle, the viewing field of camera angle and the perspective between flat distance, the human eye and camera
The location information of object calculates the second human eye field angle；It is calculated according to the second human eye field angle and the human eye field angle
The display scale of the screen.
Camera perspective method provided in an embodiment of the present invention gives in human eye field angle no more than viewing field of camera angle, and
It has an X-rayed under projection relation of the object between human eye visual field border and viewing field of camera boundary, calculates screen display proportion and camera
The method of image interception ratio so that under determining projection relation, can conveniently and efficiently calculate screen display proportion and
Camera image intercepts ratio, and treatment effeciency with higher can satisfy requirement of the camera perspective to image procossing real-time.
8th embodiment with reference to first aspect calculates institute in the 9th embodiment of first aspect according to the following formula
State second camera field angle:
Wherein, Vcam2Indicate the second camera field angle；(b1-b2) indicate between the human eye and camera it is horizontal away from
From；Z indicates the vertical range between the human eye and camera；α indicates that human eye visual field corresponding with the human eye field angle half regards
Rink corner；β indicates viewing field of camera angle of half field-of view corresponding with the viewing field of camera angle；zkIndicate the position letter of the perspective object
Breath, i.e., the vertical range between the described perspective object and human eye.
Camera perspective method provided in an embodiment of the present invention gives in human eye field angle no more than viewing field of camera angle, and
It has an X-rayed under projection relation of the object between human eye visual field border and viewing field of camera boundary, calculates the formula at viewing field of camera angle,
Enable and conveniently and efficiently calculate corresponding viewing field of camera angle using the formula, and then calculates phase using the viewing field of camera angle
The interception ratio of machine image, helps to improve the efficiency of data processing, to meet camera perspective to image procossing real-time
It is required that.
9th embodiment with reference to first aspect calculates institute in the tenth embodiment of first aspect according to the following formula
State the interception ratio of camera image:
Wherein, PβIndicate the interception ratio of the camera image；Vcam2Indicate the second camera field angle；β is indicated and institute
State the corresponding viewing field of camera angle of half field-of view in viewing field of camera angle.
Camera perspective method provided in an embodiment of the present invention gives in human eye field angle no more than viewing field of camera angle, and
It has an X-rayed under projection relation of the object between human eye visual field border and viewing field of camera boundary, calculates camera image interception ratio
Formula is enabled and is conveniently and efficiently calculated corresponding camera image interception ratio using the formula, helps to improve data
The efficiency of processing, to meet requirement of the camera perspective to image procossing real-time.
8th embodiment with reference to first aspect calculates according to the following formula in the 11st embodiment of first aspect
The second human eye field angle:
Wherein, Veye2Indicate the second human eye field angle；(b1-b2) indicate between the human eye and camera it is horizontal away from
From；Z indicates the vertical range between the human eye and camera；α indicates that human eye visual field corresponding with the human eye field angle half regards
Rink corner；β indicates viewing field of camera angle of half field-of view corresponding with the viewing field of camera angle；zkIndicate the position letter of the perspective object
Breath, i.e., the vertical range between the described perspective object and human eye.
Camera perspective method provided in an embodiment of the present invention gives in human eye field angle no more than viewing field of camera angle, and
It has an X-rayed under projection relation of the object between human eye visual field border and viewing field of camera boundary, calculates the formula of human eye field angle,
Enable and conveniently and efficiently calculate corresponding human eye field angle using the formula, and then calculates screen using the human eye field angle
The display scale of curtain, helps to improve the efficiency of data processing, to meet requirement of the camera perspective to image procossing real-time.
11st embodiment with reference to first aspect is counted according to the following formula in the 12nd embodiment of first aspect
Calculate the display scale of the screen:
Wherein, PαIndicate the display scale of the screen；Veye2Indicate the second human eye field angle；α is indicated and the people
The corresponding human eye visual field angle of half field-of view of eye field angle.
Camera perspective method provided in an embodiment of the present invention gives in human eye field angle no more than viewing field of camera angle, and
It has an X-rayed under projection relation of the object between human eye visual field border and viewing field of camera boundary, calculates the public affairs of screen display proportion
Formula is enabled and is conveniently and efficiently calculated corresponding screen display proportion using the formula, helps to improve data processing
Efficiency, to meet requirement of the camera perspective to image procossing real-time.
Second embodiment with reference to first aspect, in the 13rd embodiment of first aspect, when the human eye field angle
When greater than the viewing field of camera angle, determine that the interception ratio of the camera image is 100%；According between the human eye and camera
Horizontal distance, the vertical range between the human eye and camera, the viewing field of camera angle and the perspective object position
Information calculates third human eye field angle；The screen is calculated according to the third human eye field angle and the human eye field angle
Display scale.
Camera perspective method provided in an embodiment of the present invention gives and is greater than the projection at viewing field of camera angle in human eye field angle
Under relationship, the method for calculating screen display proportion and camera image interception ratio, so that under determining projection relation, Neng Goufang
Just it quickly calculates screen display proportion and camera image interception ratio, treatment effeciency with higher can satisfy camera
Have an X-rayed the requirement to image procossing real-time.
13rd embodiment with reference to first aspect is counted according to the following formula in the 14th embodiment of first aspect
Calculate the third human eye field angle:
Wherein, Veye3Indicate the third human eye field angle；(b1-b2) indicate between the human eye and camera it is horizontal away from
From；Z indicates the vertical range between the human eye and camera；β indicates that viewing field of camera corresponding with the viewing field of camera angle half regards
Rink corner；zkIndicate the location information of the perspective object, i.e., the vertical range between the described perspective object and human eye.
Camera perspective method provided in an embodiment of the present invention gives and is greater than the projection at viewing field of camera angle in human eye field angle
Under relationship, the formula of human eye field angle is calculated, enables and conveniently and efficiently calculates corresponding human eye visual field using the formula
Angle, and then using the display scale of human eye field angle calculating screen, the efficiency of data processing is helped to improve, to meet phase
Machine has an X-rayed the requirement to image procossing real-time.
14th embodiment with reference to first aspect is counted according to the following formula in the 15th embodiment of first aspect
Calculate the display scale of the screen:
Wherein, PαIndicate the display scale of the screen；Veye3Indicate the third human eye field angle；α is indicated and the people
The corresponding human eye visual field angle of half field-of view of eye field angle.
Camera perspective method provided in an embodiment of the present invention gives and is greater than the projection at viewing field of camera angle in human eye field angle
Under relationship, the formula of screen display proportion is calculated, such that conveniently and efficiently to calculate corresponding screen using the formula aobvious
Show ratio, help to improve the efficiency of data processing, to meet requirement of the camera perspective to image procossing real-time.
With reference to first aspect or any embodiment in first aspect the first to the 15th, real in first aspect the 16th
Apply in mode, the generation fluoroscopy images the step of after, further includes: according to the distortion model of the camera to the perspective
Image carries out anti-distortion processing, generates anti-distortion fluoroscopy images.
Camera perspective method provided in an embodiment of the present invention, since the distortion model using camera carries out anti-fluoroscopy images
Distortion processing, has corrected the distortion in fluoroscopy images, has been able to use family and more really perceives ambient enviroment.
According to second aspect, the embodiment of the invention provides a kind of camera arrangement for perspective, comprising: input unit, for obtaining
It takes the positional relationship between viewing field of camera angle, the human eye field angle relative to screen, human eye and camera and has an X-rayed the position of object
Confidence breath；Computing unit, for according to the positional relationship between the perspective location information of object, the human eye and camera with
And the human eye field angle and the viewing field of camera angle, calculate the interception ratio of camera image and the display scale of screen；It is described
Input unit is also used to obtain the camera image of camera acquisition, and obtains camera resolution and screen resolution；The calculating is single
Member is also used to intercept the camera image according to the interception ratio and the camera resolution of the camera image, and root
Interpolation is carried out to the camera image after interception according to the display scale and the screen resolution of the screen, generates fluoroscopy images.
According to the third aspect, the embodiment of the invention provides a kind of electronic equipment, comprising: display screen, memory and processing
Device communicates with each other connection, is stored with computer in the memory between the display screen, the memory and the processor
Instruction, the processor is by executing the computer instruction, thereby executing any one of such as first aspect or first aspect
Camera perspective method described in kind embodiment.
It is described computer-readable the embodiment of the invention provides a kind of computer readable storage medium according to fourth aspect
Storage medium is stored with computer instruction, and the computer instruction is for making the computer execute such as first aspect or first
Camera perspective method described in any one embodiment of aspect.
Detailed description of the invention
The features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings, and attached drawing is schematically without that should manage
Solution is carries out any restrictions to the present invention, in the accompanying drawings:
Fig. 1 shows the application scenarios schematic diagram of the embodiment of the present invention；
Fig. 2 shows the flow charts of a specific example of one of embodiment of the present invention camera perspective method；
Fig. 3 shows the flow chart of a specific example of another camera perspective method in the embodiment of the present invention；
Fig. 4 shows the projection relation figure between human eye and camera；
Fig. 5 shows the structural schematic diagram of a specific example of one of embodiment of the present invention camera arrangement for perspective；
Fig. 6 shows the structural schematic diagram of a specific example of one of embodiment of the present invention electronic equipment.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those skilled in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
As shown in Figure 1, being the application scenarios schematic diagram of the embodiment of the present invention.Wherein, screen T2 and lens T1 is used cooperatively
And be located at immediately ahead of human eye E, for showing fluoroscopy images.Camera T3 is for the image in front of photographed screen T2 and by image transmitting
Screen T2 is given, so that screen T2 be made to be shown to user for the image as fluoroscopy images, realizes camera perspective.In order to make camera T3
Shooting gained image can be adapted with the resolution ratio of screen T2, and gained image can be shot to camera T3 and is intercepted or is inserted
Value.
In some embodiments, as shown in Fig. 2, can realize camera perspective by following steps:
Step S11: viewing field of camera angle is obtained, relative to the position between the human eye field angle and human eye and camera of screen
Relationship.Specifically, 2 β of viewing field of camera angle depends on camera parameter；Human eye field angle relative to screen corresponds to angle shown in Fig. 1
Spend 2 α；Positional relationship between human eye and camera includes horizontal distance between human eye and camera (between screen T2 shown in corresponding diagram 1
Horizontal distance b1Horizontal distance b between camera T32Difference) and human eye and camera between vertical range (correspond to Fig. 1
Shown distance z).
Step S12: the location information of perspective object is obtained.Specifically, can be according to the position of position of human eye and perspective object
It sets, obtains the vertical range z between perspective object and human eyek, pass through zkIndicate the location information of perspective object.
Step S13: according to the positional relationship and human eye field angle between the location information, human eye and camera of perspective object
With viewing field of camera angle, the interception ratio of camera image and the display scale of screen are calculated.In a specific embodiment, such as Fig. 3
It is shown, the process of step S13 can be realized by following sub-step:
Step S131: judge whether human eye field angle is greater than viewing field of camera angle.When human eye field angle is not more than viewing field of camera
When angle, step S132 is executed；When human eye field angle is greater than viewing field of camera angle, step S1312 is executed.
Step S132: according to positional relationship, human eye field angle and the viewing field of camera angle between human eye and camera, human eye is determined
Two intersection points of visual field border and viewing field of camera boundary.Specifically, by drawing the projection relation figure between human eye and camera, energy
Enough determine two intersection point P of human eye visual field border and viewing field of camera boundary1And P2.As shown in figure 4, between human eye and camera
Projection relation figure.In Fig. 4, (b1-b2) indicate horizontal distance between human eye and camera；Z indicates hanging down between human eye and camera
Straight distance；α indicates human eye visual field angle of half field-of view corresponding with human eye field angle；zkIndicate vertical between perspective object and human eye
Distance；P1And P2Respectively indicate two intersection points of human eye visual field border Yu viewing field of camera boundary.Assuming that human eye visual field and viewing field of camera
In a plane, then the P in the plane1And P2Coordinate relative to human eye is (XP1,ZP1) and (XP2,ZP2).Pass through following public affairs
Formula can calculate P1And P2Coordinate relative to human eye:
XP1=ZP1·tanα (2)
XP2=ZP2·tanα (4)
Step S133: calculating separately two vertical ranges between intersection point and human eye, obtain the first intersection point vertical range and
Second intersection point vertical range.Specifically, the first intersection point vertical range, that is, intersection point P1Ordinate ZP1, the second intersection point vertical range is
Intersection point P2Ordinate ZP2。
Step S134: judge whether the first intersection point vertical range and the second intersection point vertical range are respectively less than the position for having an X-rayed object
Confidence breath.Specifically, judging ZP1And ZP2The vertical range z whether being respectively less than between perspective object and human eyek.When the first intersection point hangs down
When straight distance and the second intersection point vertical range are respectively less than the location information for having an X-rayed object, viewing field of camera is not exclusively in human eye visual field
Interior, restricted at this time is human eye visual field, executes step S135；When the first intersection point vertical range and the second intersection point vertical range simultaneously
When not being respectively less than the location information of perspective object, step S137 is executed.
Step S135: the display scale for determining screen is 100%, and according to the horizontal distance between human eye and camera, people
The location information of vertical range, human eye field angle and perspective object between eye and camera, calculates first camera field angle.Tool
Body, first camera field angle can be calculated according to the following formula:
Wherein, Vcam1Indicate first camera field angle；(b1-b2) indicate horizontal distance between human eye and camera；Z is indicated
Vertical range between human eye and camera；α indicates human eye visual field angle of half field-of view corresponding with human eye field angle；zkIndicate perspective pair
As the vertical range between human eye.
Step S136: the interception ratio of camera image is calculated according to first camera field angle and viewing field of camera angle.Specifically,
The interception ratio of camera image can be calculated according to the following formula:
Wherein, PβIndicate the interception ratio of camera image；Vcam1Indicate first camera field angle；β is indicated and viewing field of camera angle
Corresponding viewing field of camera angle of half field-of view.
Step S137: judge whether the first intersection point vertical range and the second intersection point vertical range are all larger than the position of perspective object
Confidence breath.Specifically, judging ZP1And ZP2It is whether big less than the vertical range z having an X-rayed between object and human eyek.When the first intersection point
When vertical range and the second intersection point vertical range are all larger than the location information of perspective object, viewing field of camera is completely in human eye visual field
Interior, restricted at this time is human eye visual field, executes step S138；When the first intersection point vertical range and the second intersection point vertical range simultaneously
When not being all larger than the location information of perspective object, step S1310 is executed.
Step S138: the interception ratio for determining camera image is 100%, and according between human eye and camera it is horizontal away from
From vertical range, viewing field of camera angle and the location information for having an X-rayed object between, human eye and camera, the first human eye visual field is calculated
Angle.Specifically, the first human eye field angle can be calculated according to the following formula:
Wherein, Veye1Indicate the first human eye field angle；(b1-b2) indicate horizontal distance between human eye and camera；Z is indicated
Vertical range between human eye and camera；β indicates viewing field of camera angle of half field-of view corresponding with viewing field of camera angle；zkIndicate perspective pair
As the vertical range between human eye.
Step S139: the display scale of screen is calculated according to the first human eye field angle and human eye field angle.Specifically, can be with
The display scale of screen is calculated according to the following formula:
Wherein, PαIndicate the display scale of the screen；Veye1Indicate the first human eye field angle；α is indicated and the people
The corresponding human eye visual field angle of half field-of view of eye field angle.
Step S1310: according to the vertical range between horizontal distance, human eye and the camera between human eye and camera, human eye
Field angle, viewing field of camera angle and the location information for having an X-rayed object calculate second camera field angle, and according to second camera visual field
Angle and viewing field of camera angle calculate the interception ratio of camera image.It, can be with after the multilevel iudge of step S134 and step S137
Determine in the first intersection point vertical range and the second intersection point vertical range not simultaneously greater than or less than the location information for having an X-rayed object
When, have an X-rayed the location information of object between the first intersection point vertical range and the second intersection point vertical range, at this point, viewing field of camera and
Human eye visual field is limited.Meanwhile there is also perspective objects to be located exactly at the first intersection point vertical range or the second intersection point vertical range
Possibility.Under above-mentioned projection relation, second camera field angle and corresponding camera image can be calculated according to the following formula
Interception ratio:
Wherein, Vcam2Indicate second camera field angle；PβIndicate the interception ratio of camera image；(b1-b2) indicate human eye with
Horizontal distance between camera；Z indicates the vertical range between human eye and camera；α indicates human eye corresponding with human eye field angle
Visual field angle of half field-of view；β indicates viewing field of camera angle of half field-of view corresponding with viewing field of camera angle；zkIt indicates between perspective object and human eye
Vertical range.
Step S1311: according to the vertical range between horizontal distance, human eye and the camera between human eye and camera, human eye
Field angle, viewing field of camera angle and the location information for having an X-rayed object calculate the second human eye field angle, and according to the second human eye visual field
Angle and human eye field angle calculate the display scale of screen.Specifically, can calculate according to the following formula the second human eye field angle and
The display scale of corresponding screen:
Wherein, Veye2Indicate the second human eye field angle；PαIndicate the display scale of the screen；(b1-b2) indicate institute
State the horizontal distance between human eye and camera；Z indicates the vertical range between the human eye and camera；α is indicated and the human eye
The corresponding human eye visual field angle of half field-of view of field angle；β indicates viewing field of camera angle of half field-of view corresponding with the viewing field of camera angle；zkTable
Show the location information of the perspective object, i.e., the vertical range between the described perspective object and human eye.
Step S1312: the interception ratio for determining camera image is 100%.When human eye field angle is greater than viewing field of camera angle,
For viewing field of camera completely in human eye visual field, restricted at this time is human eye visual field, therefore can directly determine cutting for camera image
Taking ratio is 100%.
Step S1313: according to the vertical range between horizontal distance, human eye and the camera between human eye and camera, camera
Field angle and the location information for having an X-rayed object calculate third human eye field angle, and are regarded according to third human eye field angle and human eye
The display scale of rink corner calculating screen.Specifically, third human eye field angle and its corresponding screen can be calculated according to the following formula
The display scale of curtain:
Wherein, Veye3Indicate third human eye field angle；PαIndicate the display scale of screen；(b1-b2) indicate human eye and camera
Between horizontal distance；Z indicates the vertical range between human eye and camera；β indicates viewing field of camera corresponding with viewing field of camera angle
Angle of half field-of view；zkIndicate the vertical range between perspective object and human eye.
By step S131 to step S1313, the interception ratio of camera image under any projection relation can be calculated
With the display scale of screen, so that camera perspective method provided in an embodiment of the present invention be enable to be common to various cameras and screen
Curtain, without being influenced by camera or screen resolution.
Step S14: the camera image of camera acquisition is obtained, and obtains camera resolution and screen resolution.According to camera
Resolution ratio U2With screen resolution U1, and in conjunction with the interception ratio P of the step S13 camera image being calculatedβWith the display of screen
Ratio Pα, camera image I can be handled, so that camera image I and the resolution ratio of screen is enable to match, Jin Erti
The display effect of high camera perspective.
Step S15: camera image is intercepted according to the interception ratio and camera resolution of camera image, and according to screen
The display scale and screen resolution of curtain carry out interpolation to the camera image after interception, generate fluoroscopy images.Specifically, can incite somebody to action
U in camera image I2·PβPart, interpolation to U1·PαResolution ratio, so that fluoroscopy images be enable to adapt to camera and screen simultaneously
The resolution ratio of curtain.
Optionally, in order to correct to the distortion in fluoroscopy images, following step can also be added after the step s 15
It is rapid:
Step S16: carrying out anti-distortion processing to fluoroscopy images according to the distortion model of camera, generates anti-distortion perspective view
Picture.
Camera perspective method provided in an embodiment of the present invention, according to the positional relationship between human eye and camera, for difference
The perspective object of position calculates corresponding camera image interception ratio and screen display proportion, to cut to camera image
It takes and interpolation, so that screen can show the camera image being consistent with human eye field angle.Due to not to camera resolution or screen
Curtain resolution ratio is limited, so that camera perspective method provided in an embodiment of the present invention, can be suitable for various types of cameras
And screen, solve the problems, such as that existing VST technology versatility is poor.
The embodiment of the invention also provides a kind of camera arrangement for perspective, as shown in figure 5, the camera arrangement for perspective can wrap
It includes: input unit 51 and computing unit 52.
Wherein, input unit 51 be used for obtain viewing field of camera angle, relative to screen human eye field angle, human eye and camera it
Between positional relationship and have an X-rayed object location information；Its specific course of work can refer to the step in above method embodiment
Described in rapid S11 to step S12.
Computing unit 52 is used for positional relationship and human eye between the location information, human eye and camera according to perspective object
Field angle and viewing field of camera angle calculate the interception ratio of camera image and the display scale of screen；Its specific course of work can
With reference to described in the step S13 in above method embodiment.
In addition, input unit 51 is also used to obtain the camera image of camera acquisition, and obtain camera resolution and screen point
Resolution；Its specific course of work can refer to described in the step S14 in above method embodiment.Computing unit 52 is also used to basis
The interception ratio and camera resolution of camera image intercept camera image, and according to the display scale of screen and screen point
Resolution carries out interpolation to the camera image after interception, generates fluoroscopy images；Its specific course of work can refer to above method reality
It applies described in the step S15 in example.
Optionally, in order to correct to the distortion in fluoroscopy images, computing unit 52 can also be used according to the abnormal of camera
Varying model carries out anti-distortion processing to fluoroscopy images, generates anti-distortion fluoroscopy images；Its specific course of work can refer to above-mentioned
Described in step S16 in embodiment of the method.
The embodiment of the invention also provides a kind of electronic equipment, as shown in fig. 6, the electronic equipment may include communication connection
Display screen 61, processor 62 and memory 63, wherein processor 62 and memory 63 can pass through bus or other modes
It connects, in Fig. 6 for being connected by bus.
Processor 62 can be central processing unit (Central Processing Unit, CPU).Processor 62 can be with
For other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
The combination of the chips such as discrete hardware components or above-mentioned all kinds of chips.
Memory 63 is used as a kind of non-transient computer readable storage medium, can be used for storing non-transient software program, non-
Transient computer executable program and module, such as the corresponding program instruction/mould of camera perspective method in the embodiment of the present invention
Block (for example, input unit shown in fig. 5 51 and computing unit 52).Processor 62 is stored in non-in memory 63 by operation
Transient state software program, instruction and module are realized above-mentioned thereby executing the various function application and data processing of processor
Camera perspective method in embodiment of the method.
Memory 63 may include storing program area and storage data area, wherein storing program area can storage program area,
Application program required at least one function；It storage data area can the data etc. that are created of storage processor 62.In addition, storage
Device 63 may include high-speed random access memory, can also include non-transient memory, for example, at least a magnetic disk storage
Part, flush memory device or other non-transient solid-state memories.In some embodiments, it includes relative to place that memory 63 is optional
The remotely located memory of device 62 is managed, these remote memories can pass through network connection to processor 62.The reality of above-mentioned network
Example includes but is not limited to internet, intranet, local area network, mobile radio communication and combinations thereof.
One or more of modules are stored in the memory 63, when being executed by the processor 62, are executed
Camera perspective method in embodiment as shown in Figure 2 to Figure 3.
Above-mentioned electronic equipment detail can correspond to refering to Fig. 2 into embodiment shown in Fig. 3 corresponding associated description
Understood with effect, details are not described herein again.
It is that can lead to it will be understood by those skilled in the art that realizing all or part of the process in above-described embodiment method
Computer program is crossed to instruct relevant hardware and complete, the program can be stored in a computer-readable storage medium
In, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, the storage medium can for magnetic disk,
CD, read-only memory (Read-Only Memory, ROM), random access memory (Random Access
Memory, RAM), flash memory (Flash Memory), hard disk (Hard Disk Drive, abbreviation: HDD) or solid state hard disk
(Solid-State Drive, SSD) etc.；The storage medium can also include the combination of the memory of mentioned kind.
Although being described in conjunction with the accompanying the embodiment of the present invention, those skilled in the art can not depart from the present invention
Spirit and scope in the case where various modifications and variations can be made, such modifications and variations are each fallen within by appended claims institute
Within the scope of restriction.
Claims (20)
1. a kind of camera perspective method characterized by comprising
Obtain viewing field of camera angle, relative to the positional relationship between the human eye field angle and human eye and camera of screen；
Obtain the location information of perspective object；
According to the positional relationship and the human eye field angle between the location information, the human eye and camera of the perspective object
With the viewing field of camera angle, the interception ratio of camera image and the display scale of screen are calculated；
The camera image of camera acquisition is obtained, and obtains camera resolution and screen resolution；
The camera image is intercepted according to the interception ratio of the camera image and the camera resolution, and according to institute
The display scale and the screen resolution for stating screen carry out interpolation to the camera image after interception, generate fluoroscopy images.
2. camera perspective method according to claim 1, which is characterized in that the positional relationship between the human eye and camera
It include: the horizontal distance between human eye and camera and the vertical range between human eye and camera, wherein camera optical axis direction is
Vertical direction, the direction orthogonal with vertical direction are horizontal direction.
3. camera perspective method according to claim 2, which is characterized in that believe the position according to the perspective object
Projection information and the human eye field angle and the viewing field of camera angle between breath, the human eye and camera, calculate camera figure
The interception ratio of picture and the display scale of screen, comprising:
Judge whether the human eye field angle is greater than the viewing field of camera angle；
When the human eye field angle be not more than the viewing field of camera angle when, according between the human eye and camera positional relationship,
The human eye field angle and the viewing field of camera angle determine two intersection points of human eye visual field border Yu viewing field of camera boundary；
The vertical range between described two intersection points and human eye is calculated separately, the first intersection point vertical range is obtained and the second intersection point hangs down
Straight distance；
When the first intersection point vertical range and the second intersection point vertical range are respectively less than the location information of the perspective object
When, determine that the display scale of the screen is 100%；
According to vertical range, the human eye view between horizontal distance, the human eye and the camera between the human eye and camera
The location information of rink corner and the perspective object, calculates first camera field angle；
The interception ratio of the camera image is calculated according to the first camera field angle and the viewing field of camera angle.
4. camera perspective method according to claim 3, which is characterized in that calculate the first camera according to the following formula
Field angle:
Wherein, Vcam1Indicate the first camera field angle；(b1-b2) indicate horizontal distance between the human eye and camera；z
Indicate the vertical range between the human eye and camera；α indicates human eye visual field angle of half field-of view corresponding with the human eye field angle；
zkIndicate the location information of the perspective object, i.e., the vertical range between the described perspective object and human eye.
5. camera perspective method according to claim 4, which is characterized in that calculate the camera image according to the following formula
Interception ratio:
Wherein, PβIndicate the interception ratio of the camera image；Vcam1Indicate the first camera field angle；β is indicated and the phase
The corresponding viewing field of camera angle of half field-of view of machine field angle.
6. camera perspective method according to claim 3, it is characterised in that:
When the first intersection point vertical range and the second intersection point vertical range are all larger than the location information of the perspective object
When, determine that the interception ratio of the camera image is 100%；
According to vertical range, the camera view between horizontal distance, the human eye and the camera between the human eye and camera
The location information of rink corner and the perspective object, calculates the first human eye field angle；
The display scale of the screen is calculated according to the first human eye field angle and the human eye field angle.
7. camera perspective method according to claim 6, which is characterized in that calculate first human eye according to the following formula
Field angle:
Wherein, Veye1Indicate the first human eye field angle；(b1-b2) indicate horizontal distance between the human eye and camera；z
Indicate the vertical range between the human eye and camera；β indicates viewing field of camera angle of half field-of view corresponding with the viewing field of camera angle；
zkIndicate the location information of the perspective object, i.e., the vertical range between the described perspective object and human eye.
8. camera perspective method according to claim 7, which is characterized in that calculate the aobvious of the screen according to the following formula
Show ratio:
Wherein, PαIndicate the display scale of the screen；Veye1Indicate the first human eye field angle；α indicates to regard with the human eye
The corresponding human eye visual field angle of half field-of view in rink corner.
9. camera perspective method according to claim 3, it is characterised in that:
When it is described perspective object location information between the first intersection point vertical range and the second intersection point vertical range,
Or the location information of the perspective object is equal to the first intersection point vertical range or the location information of the perspective object is equal to
When the second intersection point vertical range, according between horizontal distance, the human eye and the camera between the human eye and camera
Vertical range, the human eye field angle, the viewing field of camera angle and the location information for having an X-rayed object, calculate second camera
Field angle；
The interception ratio of the camera image is calculated according to the second camera field angle and the viewing field of camera angle；
According to vertical range, the human eye view between horizontal distance, the human eye and the camera between the human eye and camera
The location information of rink corner, the viewing field of camera angle and the perspective object, calculates the second human eye field angle；
The display scale of the screen is calculated according to the second human eye field angle and the human eye field angle.
10. camera perspective method according to claim 9, which is characterized in that calculate second phase according to the following formula
Machine field angle:
Wherein, Vcam2Indicate the second camera field angle；(b1-b2) indicate horizontal distance between the human eye and camera；z
Indicate the vertical range between the human eye and camera；α indicates human eye visual field angle of half field-of view corresponding with the human eye field angle；
β indicates viewing field of camera angle of half field-of view corresponding with the viewing field of camera angle；zkIndicate the location information of the perspective object, i.e. institute
State the vertical range between perspective object and human eye.
11. camera perspective method according to claim 10, which is characterized in that calculate the camera figure according to the following formula
The interception ratio of picture:
Wherein, PβIndicate the interception ratio of the camera image；Vcam2Indicate the second camera field angle；β is indicated and the phase
The corresponding viewing field of camera angle of half field-of view of machine field angle.
12. camera perspective method according to claim 9, which is characterized in that calculate second people according to the following formula
Eye field angle:
Wherein, Veye2Indicate the second human eye field angle；(b1-b2) indicate horizontal distance between the human eye and camera；z
Indicate the vertical range between the human eye and camera；α indicates human eye visual field angle of half field-of view corresponding with the human eye field angle；
β indicates viewing field of camera angle of half field-of view corresponding with the viewing field of camera angle；zkIndicate the location information of the perspective object, i.e. institute
State the vertical range between perspective object and human eye.
13. camera perspective method according to claim 12, which is characterized in that calculate the screen according to the following formula
Display scale:
Wherein, PαIndicate the display scale of the screen；Veye2Indicate the second human eye field angle；α indicates to regard with the human eye
The corresponding human eye visual field angle of half field-of view in rink corner.
14. camera perspective method according to claim 3, it is characterised in that:
When the human eye field angle is greater than the viewing field of camera angle, determine that the interception ratio of the camera image is 100%；
According to vertical range, the camera view between horizontal distance, the human eye and the camera between the human eye and camera
The location information of rink corner and the perspective object, calculates third human eye field angle；
The display scale of the screen is calculated according to the third human eye field angle and the human eye field angle.
15. camera perspective method according to claim 14, which is characterized in that calculate the third party according to the following formula
Eye field angle:
Wherein, Veye3Indicate the third human eye field angle；(b1-b2) indicate horizontal distance between the human eye and camera；z
Indicate the vertical range between the human eye and camera；β indicates viewing field of camera angle of half field-of view corresponding with the viewing field of camera angle；
zkIndicate the location information of the perspective object, i.e., the vertical range between the described perspective object and human eye.
16. camera perspective method according to claim 15, which is characterized in that calculate the screen according to the following formula
Display scale:
Wherein, PαIndicate the display scale of the screen；Veye3Indicate the third human eye field angle；α indicates to regard with the human eye
The corresponding human eye visual field angle of half field-of view in rink corner.
17. according to claim 1 to camera perspective method described in any one of 16, which is characterized in that had an X-rayed in the generation
After the step of image, further includes:
Anti- distortion processing is carried out to the fluoroscopy images according to the distortion model of the camera, generates anti-distortion fluoroscopy images.
18. a kind of camera arrangement for perspective characterized by comprising
Input unit is closed for obtaining the position between viewing field of camera angle, the human eye field angle relative to screen, human eye and camera
The location information of system and perspective object；
Computing unit, for according between the perspective location information of object, the human eye and camera positional relationship and
The human eye field angle and the viewing field of camera angle, calculate the interception ratio of camera image and the display scale of screen；
The input unit is also used to obtain the camera image of camera acquisition, and obtains camera resolution and screen resolution；
The computing unit is also used to interception ratio and the camera resolution according to the camera image to the camera figure
As being intercepted, and according to the display scale of the screen and the screen resolution camera image after interception is carried out slotting
Value generates fluoroscopy images.
19. a kind of electronic equipment characterized by comprising
Display screen, memory and processor communicate with each other connection between the display screen, the memory and the processor,
Computer instruction is stored in the memory, the processor is by executing the computer instruction, thereby executing such as right
It is required that camera perspective method described in any one of 1-17.
20. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage has computer to refer to
It enables, the camera perspective side that the computer instruction is used to that the computer to be made to execute as described in any one of claim 1-17
Method.
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