CN109688327B - Method and device for preventing panoramic video from shaking and portable terminal - Google Patents

Method and device for preventing panoramic video from shaking and portable terminal Download PDF

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CN109688327B
CN109688327B CN201811548507.5A CN201811548507A CN109688327B CN 109688327 B CN109688327 B CN 109688327B CN 201811548507 A CN201811548507 A CN 201811548507A CN 109688327 B CN109688327 B CN 109688327B
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陈聪
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Insta360 Innovation Technology Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/681—Motion detection
    • H04N23/6812—Motion detection based on additional sensors, e.g. acceleration sensors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture

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Abstract

The invention is applicable to the field of videos and provides a method and a device for preventing panoramic videos from shaking and a portable terminal. The method comprises the following steps: the method comprises the steps of acquiring the world coordinate of any one reference point in a world coordinate system in real time, and acquiring the corresponding camera coordinate of the reference point in the portable terminal and the angular velocity value of the current state of a gyroscope in the portable terminal; smoothing the motion of the camera using an extended kalman filter; decomposing and processing the smoothed motion, synthesizing the motion of the virtual lens fixed in the horizontal direction, and calculating the rotation amount of the virtual lens; and (5) re-projecting the original video to generate a stable video. The invention decomposes the motion of the camera to synthesize the virtual lens motion, can filter out the motion in other directions except the horizontal direction, achieves the purposes of only reserving the motion in the horizontal direction of the panoramic video, generates a stable video and reserves the original shooting angle of the camera.

Description

Method and device for preventing panoramic video from shaking and portable terminal
Technical Field
The invention belongs to the field of panoramic videos, and particularly relates to a method and a device for preventing panoramic videos from shaking and a portable terminal.
Background
When a panoramic video is shot at present, the panoramic video is shot through a handheld panoramic shooting device, and when the panoramic video is shot in a moving mode, shaking of the panoramic video can be caused due to instability of hands. When a panoramic view angle is acquired, the original lens focus is lost due to the motion or jitter of a camera, and the viewing experience of a panoramic video is affected. One of the solutions at present is to use a pan-tilt to stabilize a panoramic shooting device, so that the shot picture is stable. However, the disadvantage is that the pan-tilt is expensive, the volume is generally large, and the problem that the picture is jittered when the handheld panoramic shooting device shoots the video is not completely solved.
When a panoramic video viewer wants to view only the horizontal viewing angle of the panoramic video while viewing the panoramic video, the video needs to be stable while maintaining the viewing angle that changes in the horizontal direction, and therefore, it is necessary to develop a method for preventing the motion of the panoramic video in the horizontal direction.
Disclosure of Invention
The invention aims to provide a method, a device and a portable terminal for preventing a panoramic video from shaking, which aim to solve the problem that the original lens focus is lost when a panoramic video visual angle is acquired.
In a first aspect, the present invention provides a method for preventing shaking of a panoramic video, the method comprising:
the method comprises the steps of acquiring the world coordinate of any one reference point in a world coordinate system in real time, and acquiring the corresponding camera coordinate of the reference point in the portable terminal and the angular velocity value of the current state of a gyroscope in the portable terminal;
smoothing the motion of the camera using an extended kalman filter;
decomposing and processing the smoothed motion, synthesizing the motion of the virtual lens fixed in the horizontal direction, and calculating the rotation amount of the virtual lens, specifically, selecting a viewpoint in the horizontal direction in a world coordinate system, calculating the viewpoint in the horizontal direction of the smoothed lens motion, and further calculating to obtain the rotation amount of the virtual lens;
and (5) re-projecting the original video to generate a stable video.
In a second aspect, the present invention provides an apparatus for preventing shaking of a panoramic video, the apparatus comprising:
the acquisition module is used for acquiring the world coordinate of any one reference point in a world coordinate system in real time, and acquiring the corresponding camera coordinate of the reference point in the portable terminal and the angular velocity value of the current state of the gyroscope in the portable terminal;
a smoothing module to smooth the motion of the camera using an extended Kalman filter;
the computing module is used for decomposing and processing the smoothed motion, synthesizing the motion of the virtual lens fixed in the horizontal direction and computing the rotation amount of the virtual lens, specifically, selecting a viewpoint in the horizontal direction in a world coordinate system, computing the viewpoint in the horizontal direction of the smoothed lens motion, and further computing to obtain the rotation amount of the virtual lens;
and the generating module is used for re-projecting the original video to generate a stable video.
In a third aspect, the present invention provides a computer-readable storage medium storing a computer program, which when executed by a processor implements the steps of the panoramic video anti-shake method as described above.
In a fourth aspect, the present invention provides a portable terminal comprising:
one or more processors;
a memory; and
one or more computer programs, wherein the one or more computer programs are stored in the memory and configured to be executed by the one or more processors, which when executed perform the steps of the panoramic video anti-shake method as described above.
In the invention, the movement of the camera is decomposed to synthesize the virtual lens movement fixed in the horizontal direction, so that the focus of the lens can be changed in the horizontal direction all the time when the panoramic video is played, and the changes in other directions of the movement of the original camera are filtered out, therefore, the method can keep the movement of the rendered lens smooth, generate stable video, keep the original shooting view angle of the camera and have strong robustness on a large noise scene and most moving scenes.
Drawings
Fig. 1 is a flowchart of a panoramic video anti-shake method according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a panoramic video anti-shake apparatus according to a second embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a portable terminal according to a third embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
The first embodiment is as follows:
referring to fig. 1, a method for preventing shaking of a panoramic video according to an embodiment of the present invention includes the following steps:
s101, acquiring the world coordinate of any one reference point in a world coordinate system in real time, and simultaneously acquiring the camera coordinate of the reference point in the portable terminal and the angular velocity value of the current state of the gyroscope in the portable terminal.
In the first embodiment of the present invention, S101 may specifically be:
the world coordinate of the reference point is PwWith camera coordinates PcThe method specifically comprises the following steps:
Pw＝Rw2cPc(1)
in the formula (1), the first and second groups,
Figure GDA0002498206880000031
for conversion of camera coordinates to a rotation matrix of world coordinates, PwWorld coordinates of the reference point;
the specific method for acquiring the angular velocity value of the gyroscope in the portable terminal in real time is as follows: reading the three-axis angular velocity value w by using an angular velocity sensork。
And S102, smoothing the motion of the camera by using an extended Kalman filter.
The extended Kalman filtering algorithm is to linearize a nonlinear system and then carry out Kalman filtering, which is a high-efficiency recursive filter capable of estimating the state of a dynamic system from a series of measurements which do not completely contain noise;
referring to fig. 2, in the first embodiment of the present invention, S102 may specifically be:
establishing a state model and an observation model for the motion state of the camera by using an extended Kalman filtering algorithm, which specifically comprises the following steps:
the state model is:
Figure GDA0002498206880000041
the observation model is as follows:
Figure GDA0002498206880000042
in the equations (2) and (3), k is time, wkAnd q iskFor the observation vectors that can be obtained, qkIs composed of
Figure GDA0002498206880000043
Is represented by a quaternion of (a),
Figure GDA0002498206880000044
is a 3 x 3 matrix, which is the rotation amount of the virtual lens, wkIs the value of the angular velocity of the gyroscope,
Figure GDA0002498206880000045
the state transition matrix at time k-1,
Figure GDA0002498206880000046
Figure GDA0002498206880000047
for the estimated smoothed lens motion quaternion representation,
Figure GDA0002498206880000048
is from a previous moment
Figure GDA0002498206880000049
The estimated value of (c) is used,
Figure GDA00024982068800000410
to smooth the estimated angular velocity values,
Figure GDA00024982068800000411
is from a previous moment
Figure GDA00024982068800000412
A state value estimated from the value of (c);
the specific updating prediction process comprises the following steps: when at time k, using the estimate of the previous time
Figure GDA00024982068800000413
And the observed value q of the current timekTo update the state variables
Figure GDA00024982068800000414
To obtain an estimated value of the current time, and the predicted value
Figure GDA00024982068800000415
Is thatThe amount of rotation of the virtual lens at the k-th time.
S103, decomposing the smoothed motion, synthesizing the motion of the virtual lens fixed in the horizontal direction, and calculating the rotation amount of the virtual lens.
In the first embodiment of the present invention, S103 may specifically be:
the coordinate of the reference point in the virtual lens is
Figure GDA0002498206880000051
The method specifically comprises the following steps:
Figure GDA0002498206880000052
in the formula (4), the first and second groups,
Figure GDA0002498206880000053
is a 3 x 3 matrix, which is the rotation amount of the virtual lens;
for a synthetic horizontally fixed virtual lens, let the amount of rotation be
Figure GDA0002498206880000054
Wherein the content of the first and second substances,
Figure GDA0002498206880000055
Figure GDA0002498206880000056
the motion trail of the camera after smoothing in the horizontal direction is obtained;
decomposing and processing the smoothed motion, synthesizing the motion of the virtual lens fixed in the horizontal direction, and calculating the rotation quantity of the virtual lens specifically as follows:
for a synthesized virtual lens fixed in the horizontal direction, calculating the rotation amount of the virtual lens specifically includes:
selecting a viewpoint in a horizontal direction in a world coordinate system
Figure GDA0002498206880000057
Then the viewpoint in the horizontal direction of the smoothed back lens motionIs composed of
Figure GDA0002498206880000058
Figure GDA0002498206880000059
A vector rotation representing the space of quaternions,
Figure GDA00024982068800000510
is composed of
Figure GDA00024982068800000511
Projection on the XOY plane, θ is
Figure GDA00024982068800000512
And
Figure GDA00024982068800000513
angle of (a) atan2 (r)21,r11) Then can obtain
Figure GDA00024982068800000514
Figure GDA00024982068800000515
Is composed of
Figure GDA00024982068800000516
Is given by the quaternion of (a), r21、r11Is composed of
Figure GDA00024982068800000517
Value of (1), Rw2cIs a rotation matrix that converts camera coordinates to world coordinates,
Figure GDA00024982068800000518
is a 3 x 3 matrix, which is the rotation amount of the virtual lens;
the rotation matrix R can be obtained from a quaternion obtained by rotating a unit vector by an angle θ using the Rodrigues formula, specifically, the quaternion is q ═ (θ, x, y, z)TThen, the calculation formula of the rotation matrix R is:
Figure GDA00024982068800000519
and S104, re-projecting the original video to generate a stable video.
In the first embodiment of the present invention, S104 may specifically be:
calculating the corresponding relation between pixels in the original video frame and pixels in the output video frame, then performing interpolation resampling on the original video frame according to the corresponding relation to generate an output video frame, and finally generating a stable video;
wherein, let the pixel in the original video frame be PsCorresponding to the pixel P in the output video framedIf the corresponding relationship is:
Figure GDA0002498206880000061
wherein P iss＝[xs,ys]T，Pd＝[xd,yd]T，KcAnd DcRespectively an internal reference and a distortion model of the camera,
Figure GDA0002498206880000062
is a projected internal parameter, R, of the virtual cameraw2cIs a rotation matrix that converts camera coordinates to world coordinates,
Figure GDA0002498206880000063
Figure GDA0002498206880000064
is a 3 x 3 matrix, which is the rotation amount of the virtual lens;
then, the original video frame I is processed according to the corresponding relationsPerforming interpolation resampling to generate output video frame IdThe method specifically comprises the following steps:
Figure GDA0002498206880000065
in the formula (5), wiIn order to interpolate the weights for the weights,
Figure GDA0002498206880000066
is Psσ is a neighborhood range value, and i refers to the ith pixel in the neighborhood range.
Example two:
referring to fig. 2, an apparatus for preventing shaking of a panoramic video according to a second embodiment of the present invention includes:
the acquisition module 11 is configured to acquire a world coordinate of any one reference point in a world coordinate system in real time, and simultaneously acquire a camera coordinate of the reference point in the portable terminal and an angular velocity value of a current state of a gyroscope in the portable terminal;
a smoothing module 12 for smoothing the motion of the camera using an extended kalman filter;
a calculating module 13, configured to decompose and process the smoothed motion, synthesize a virtual lens motion fixed in the horizontal direction, and calculate a rotation amount of the virtual lens, specifically, select a viewpoint in the horizontal direction in a world coordinate system, calculate a viewpoint in the horizontal direction of the smoothed lens motion, and further calculate a rotation amount of the virtual lens;
and the generating module 14 is used for re-projecting the original video to generate a stable video.
The panoramic video anti-shake device and the panoramic video anti-shake method provided by the second embodiment of the invention belong to the same concept, and the specific implementation process is detailed in the whole specification and is not repeated herein.
Example three:
a third embodiment of the present invention provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the method for preventing shaking of a panoramic video according to the first embodiment of the present invention is implemented.
Example four:
fig. 3 is a block diagram showing a detailed structure of a portable terminal according to a fourth embodiment of the present invention, where a portable terminal 100 includes: one or more processors 101, a memory 102, and one or more computer programs, wherein the processors 101 and the memory 102 are connected by a bus, the one or more computer programs are stored in the memory 102 and configured to be executed by the one or more processors 101, and the processor 101 implements the steps of the method for preventing the shake of the panoramic video according to an embodiment of the present invention when executing the computer programs.
In the embodiment of the invention, the movement of the camera is decomposed to synthesize the virtual lens movement fixed in the horizontal direction, so that when a user watches panoramic video, the focus of the lens is always changed in the horizontal direction, and the change of the original camera movement in other directions is filtered out, so that the movement of only keeping the horizontal direction of the panoramic video is achieved, therefore, the method can keep the movement of the rendered lens smooth, generate stable video, keep the original shooting visual angle of the camera, and has strong robustness on a large noise scene and most moving scenes.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (7)

1. A method for anti-shake of panoramic video, the method comprising:
the method comprises the steps of acquiring the world coordinate of any one reference point in a world coordinate system in real time, and acquiring the corresponding camera coordinate of the reference point in the portable terminal and the angular velocity value of the current state of a gyroscope in the portable terminal;
smoothing the motion of the camera using an extended kalman filter;
decomposing and processing the smoothed motion, synthesizing the motion of the virtual lens fixed in the horizontal direction, and calculating the rotation amount of the virtual lens, specifically, selecting a viewpoint in the horizontal direction in a world coordinate system, calculating the viewpoint in the horizontal direction of the smoothed lens motion, and further calculating to obtain the rotation amount of the virtual lens;
and (5) re-projecting the original video to generate a stable video.
2. The method of claim 1, wherein the world coordinate of the reference point is PwWith camera coordinates PcAngular velocity value of wkThe method specifically comprises the following steps:
Pw＝Rw2cPc
wherein the content of the first and second substances,
Figure RE-FDA0002505819740000011
a rotation matrix for converting camera coordinates to world coordinates;
the specific method for acquiring the angular velocity value of the gyroscope in the portable terminal in real time is as follows: reading three-axis angular velocity value w by angular velocity sensork。
3. The method of claim 1, wherein the coordinates of the reference point in the virtual shot are
Figure RE-FDA0002505819740000012
The method specifically comprises the following steps:
Figure RE-FDA0002505819740000013
wherein the content of the first and second substances,
Figure RE-FDA0002505819740000014
is a 3 x 3 matrix, and is the rotation amount of the virtual lens, PwIs the world coordinate of the reference point.
4. The method according to claim 1, wherein the generation of the stabilized video by re-projecting the original video is specifically:
calculating the corresponding relation between pixels in the original video frame and pixels in the output video frame, then performing interpolation resampling on the original video frame according to the corresponding relation to generate an output video frame, and finally generating a stable video;
wherein, let the pixel in the original video frame be PsCorresponding to the pixel P in the output video framedIf the corresponding relationship is:
Figure RE-FDA0002505819740000021
wherein P iss＝[xs,ys]T，Pd＝[xd,yd]T，KcAnd DcRespectively an internal reference and a distortion model of the camera,
Figure DEST_PATH_IMAGE002
is a projected internal parameter, R, of the virtual cameraw2cIs a rotation matrix that converts camera coordinates to world coordinates,
Figure RE-FDA0002505819740000022
Figure RE-FDA0002505819740000023
is a 3 x 3 matrix, which is the rotation amount of the virtual lens;
then, the original video frame I is processed according to the corresponding relationsPerforming interpolation resampling to generate output video frame IdThe method specifically comprises the following steps:
Figure RE-FDA0002505819740000024
wherein, wiIn order to interpolate the weights for the weights,
Figure RE-FDA0002505819740000025
is Psσ is a neighborhood range value, and i refers to the ith pixel in the neighborhood range.
5. An apparatus for anti-shake of panoramic video, the apparatus comprising:
the acquisition module is used for acquiring the world coordinate of any one reference point in a world coordinate system in real time, and acquiring the corresponding camera coordinate of the reference point in the portable terminal and the angular velocity value of the current state of the gyroscope in the portable terminal;
the smoothing module is used for smoothing the motion of the camera by using an extended Kalman filter;
the computing module is used for decomposing and processing the smoothed motion, synthesizing the motion of the virtual lens fixed in the horizontal direction and computing the rotation amount of the virtual lens, specifically, selecting a viewpoint in the horizontal direction in a world coordinate system, computing the viewpoint in the horizontal direction of the smoothed lens motion, and further computing to obtain the rotation amount of the virtual lens;
and the generating module is used for re-projecting the original video to generate a stable video.
6. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the method for anti-shaking of panoramic video according to any one of claims 1 to 4.
7. A portable terminal, comprising:
one or more processors;
a memory; and
one or more computer programs, wherein the one or more computer programs are stored in the memory and configured to be executed by the one or more processors, characterized in that the processors, when executing the computer programs, implement the steps of the method for panoramic video anti-shake according to any of claims 1 to 4.
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