CN112634460A - Method and device for generating outdoor panorama based on Haar-like characteristics - Google Patents
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Abstract
The embodiment of the invention provides an outdoor panorama generating method and device based on Haar-like characteristics, wherein the method comprises the following steps: receiving observation point pictures shot by a shooting device, and grouping the observation point pictures; constructing a cascade classifier according to a preset calculation scheme; determining a panoramic geometry according to the observation point picture, applying the panoramic geometry to the panoramic geometry, detecting the panoramic geometry through a cascade classifier, and marking the panoramic geometry according to a detection result; acquiring identifiers corresponding to the marks, generating corresponding identifier links, and generating panorama frame links among the panorama geometries; scene projection of scene resources is realized; and when the panoramic scene is visual interactive, generating a corresponding panoramic image. The method is adopted to detect and mark the picture, so that the semi-automatic generation of the panoramic image is realized, the development cost is reduced, the development period is shortened, the navigation, the interactivity and the picture of the panoramic image are ensured, and the quality of the full-screen scene is improved.
Description
Technical Field
The invention relates to the technical field of outdoor panorama, in particular to an outdoor panorama generating method and device based on Haar-like characteristics.
Background
The panoramic technology is an emerging rich media technology and mainly comprises virtual reality and 3D (three-dimensional) real scenes. The panoramic virtual reality is a real scene virtual reality technology based on panoramic images, and realizes the restoring display of watching real scenes in an omnibearing interactive way through a computer technology.
However, the current panoramic technology has the problems of high development cost, long period, poor navigation and interactivity, and poor quality of pictures and panoramic scenes due to the technical gap in the industry at present.
Disclosure of Invention
Aiming at the problems in the prior art, the embodiment of the invention provides an outdoor panorama generating method and device based on Haar-like characteristics.
The embodiment of the invention provides an outdoor panorama generation method based on Haar-like characteristics, which comprises the following steps:
receiving observation point pictures shot by a shooting device, and grouping the observation point pictures;
constructing a cascade classifier according to a preset calculation scheme;
determining a corresponding panorama geometric body according to the observation point pictures, applying the grouped observation point pictures to the panorama geometric body, detecting the panorama geometric body through the cascade classifier, and marking the panorama geometric body according to the detection result;
acquiring identifiers corresponding to the marks, generating corresponding identifier links according to the identifiers, and generating panorama frame links among the panorama geometries;
loading scene resources corresponding to the identifier, the identifier link and the panorama frame link, detecting the identifier, the identifier link and the panorama frame link through the cascade classifier, and obtaining scene projection of the scene resources according to a detection result;
and detecting whether the panoramic scene corresponding to the scene projection is visual interactive or not, and generating a corresponding panoramic image when the panoramic scene is visual interactive.
In one embodiment, the method further comprises:
training a weak classifier, inputting the picture characteristics corresponding to the observation point picture into the weak classifier for detection, and obtaining the cascade classifier according to the detection process.
In one embodiment, the method further comprises:
generating a mesh contact of the panorama geometry by the identifier, the identifier link and the panorama frame link, and storing the mesh contact in a configuration file;
the loading of scene resources corresponding to the identifier, identifier link, and panorama frame link, comprises:
and loading the configuration file to generate corresponding scene resources.
In one embodiment, the method further comprises:
and positioning the observation point according to the outdoor panorama, and receiving the shooting result of the shooting device for shooting 8 azimuths of the observation point to obtain the observation point picture.
In one embodiment, the method further comprises:
and when the panoramic scene corresponding to the scene projection is not visual interactive, inquiring a panoramic database according to the panoramic scene, positioning an original image through the identifier, the identifier link and the panoramic image frame link, and restarting a preset outdoor panoramic image generation method through the original image.
In one embodiment, the method further comprises:
and when the panoramic scene is visual interactive, updating data of the panoramic database to generate a corresponding panoramic image.
The embodiment of the invention provides an outdoor panorama generating device based on Haar-like characteristics, which comprises:
the receiving module is used for receiving the observation point pictures shot by the shooting device and grouping the observation point pictures;
the construction module is used for constructing a cascade classifier according to a preset calculation scheme;
the processing module is used for determining a corresponding panoramic image geometric body according to the observation point pictures, applying the grouped observation point pictures to the panoramic image geometric body, detecting the panoramic image geometric body through the cascade classifier and marking the panoramic image geometric body according to the detection result;
the acquisition module is used for acquiring the identifier corresponding to the mark, generating a corresponding identifier link according to the identifier, and generating a panorama frame link between the panorama geometries;
the loading module is used for loading scene resources corresponding to the identifiers, the identifier links and the panorama frame links, detecting the identifiers, the identifier links and the panorama frame links through the cascade classifier, and obtaining scene projection of the scene resources according to a detection result;
and the detection module is used for detecting whether the panoramic scene corresponding to the scene projection is visual interactive or not and generating a corresponding panoramic picture when the panoramic scene is visual interactive.
In one embodiment, the apparatus further comprises:
and the training module is used for training the weak classifier, inputting the picture characteristics corresponding to the observation point picture into the weak classifier for detection, and obtaining the cascade classifier according to the detection process.
The embodiment of the invention provides electronic equipment, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the program, the steps of the outdoor panorama generating method based on the Haar-like characteristic are realized.
An embodiment of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the above outdoor panorama generation method based on Haar-like features.
The method and the device for generating the outdoor panoramic image based on the Haar-like characteristics, provided by the embodiment of the invention, receive observation point pictures shot by a shooting device and group the observation point pictures; constructing a cascade classifier according to a preset calculation scheme; determining a corresponding panoramic image geometric body according to the observation point pictures, applying the grouped observation point pictures to the panoramic image geometric body, detecting the panoramic image geometric body through a cascade classifier, and marking the panoramic image geometric body according to a detection result; acquiring identifiers corresponding to the marks, generating corresponding identifier links according to the identifiers, and generating panorama frame links among the panorama geometries; loading scene resources corresponding to the identifiers, the identifier links and the panorama frame links, detecting the identifiers, the identifier links and the panorama frame links through a cascade classifier, and realizing scene projection of the scene resources through a detection result; and detecting whether the panoramic scene corresponding to the scene projection is visual interactive or not, and generating a corresponding panoramic picture when the panoramic scene is visual interactive. The method for detecting and marking the object of the cascade classifier based on the Haar-like features detects and marks the picture, realizes semi-automatic generation of the panoramic image, reduces the development cost, shortens the development period, ensures the navigation, interactivity and picture of the panoramic image, and improves the quality of the full-screen scene.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flowchart of an outdoor panorama generation method based on Haar-like features in an embodiment of the present invention;
FIG. 2 is a flowchart of an outdoor panorama generation method based on Haar-like features according to another embodiment of the present invention;
FIG. 3 is a structural diagram of an outdoor panorama generation apparatus based on Haar-like features in an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device in an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flow chart of an online monitoring method for a device based on multidimensional parameter estimation according to an embodiment of the present invention, and as shown in fig. 1, an online monitoring method for a device based on multidimensional parameter estimation according to an embodiment of the present invention includes:
step S101, receiving observation point pictures shot by a shooting device and grouping the observation point pictures.
Specifically, the viewpoint is a point with outdoor representativeness obtained by positioning according to an outdoor panorama, such as a landmark building, and after the viewpoint is determined, 8 photos around each viewpoint acquired by shooting by the shooting device may be received, and then the photos may be grouped according to each viewpoint.
And S102, constructing a cascade classifier according to a preset calculation scheme.
Specifically, the preset calculation scheme may, for example, first train a weak classifier, and then input the image features corresponding to the observation point image into the weak classifier for detection, so as to obtain a cascade classifier according to the detection process, where the cascade classifier is a robust target detector quickly constructed by using the features of the image, the number of false positives is reduced by calling a more complex classifier, and the weak classifier uses the features to obtain an optimal recognition result for the used image, and the algorithm evaluates the classification error with a higher weight, and the specific calculation step may include:
first, a weak classifier is trained, using a feature that yields the best detection result for the sample.
The algorithm shows the basis of an iterative process, where t is the number of iterations,
α is a control variable for the classification error, a hypothetical weak classifier. Generating a robust object classifier through the whole training and classification process
。
Wherein h is a weak classifier, f is a feature of the picture,
is a threshold value, p is a polarity value. The object is detected by quantifying, inputting and continuously classifying the object on the picture, and each stage is regarded as one selection of image characteristics in the classification process.
Step S103, determining a corresponding panorama geometric body according to the observation point pictures, applying the grouped observation point pictures to the panorama geometric body, detecting the panorama geometric body through the cascade classifier, and marking the panorama geometric body according to the detection result.
Specifically, determining a geometry of a specific panoramic image type according to observation point pictures, applying each group of observation point pictures to the geometry of the panoramic image, detecting object detection marks on the pictures by adopting a Haar-like feature-based cascade classifier, and labeling corresponding labeling points on the detected object on each panoramic image according to the detection result.
And step S104, acquiring identifiers corresponding to the marks, generating corresponding identifier links according to the identifiers, and generating panorama frame links among the panorama geometries.
Specifically, the identifier corresponding to the obtained mark may be an identifier added on the basis of the mark point for mapping with the mark of the real object, and then corresponding identifier links are generated for all identifiers in one panorama, and a panorama frame link is generated between each set of panorama geometries.
In addition, a mesh connection of the panorama geometry is formed by the mark points, the identifier links and the panorama frame links, and all information is stored in a configuration file.
Step S105, loading scene resources corresponding to the identifier, the identifier link and the panorama frame link, detecting the identifier, the identifier link and the panorama frame link through the cascade classifier, and obtaining scene projection of the scene resources according to a detection result.
Specifically, the configuration file is loaded, expanded according to the original mesh sequence of the identifier link and the panorama frame link, and the corresponding scene resource is loaded. And detecting the mark points, the identifier links and the panoramic picture frame links on the panoramic picture by using the method for detecting the object of the cascade classifier based on the Haar-like characteristics, and correspondingly applying the loaded scene resources to the mark points and the links to realize scene projection and enhance the creation of a panoramic visualization environment.
And S106, detecting whether the panoramic scene corresponding to the scene projection is visual interactive or not, and generating a corresponding panoramic image when the panoramic scene is visual interactive.
Specifically, whether the panoramic scene is panoramic and visual interactive is detected, and if the panoramic scene is visual interactive, a final visual interactive panoramic image is formed.
In addition, when the panoramic scene corresponding to the scene projection is not visual interactive, the panoramic database is inquired according to the panoramic scene, the original image is positioned through the identifier, the identifier link and the panoramic image frame link, and the preset outdoor panoramic image generation method is restarted through the original image.
In addition, when the panoramic scene is visual interactive, data updating can be performed on the panoramic database to generate a corresponding panoramic image, so that the updating frequency of the data in the panoramic database is ensured, and the data is more comprehensive.
The embodiment of the invention provides an outdoor panorama generating method based on Haar-like characteristics, which comprises the steps of receiving observation point pictures shot by a shooting device, and grouping the observation point pictures; constructing a cascade classifier according to a preset calculation scheme; determining a corresponding panoramic image geometric body according to the observation point pictures, applying the grouped observation point pictures to the panoramic image geometric body, detecting the panoramic image geometric body through a cascade classifier, and marking the panoramic image geometric body according to a detection result; acquiring identifiers corresponding to the marks, generating corresponding identifier links according to the identifiers, and generating panorama frame links among the panorama geometries; loading scene resources corresponding to the identifiers, the identifier links and the panorama frame links, detecting the identifiers, the identifier links and the panorama frame links through a cascade classifier, and realizing scene projection of the scene resources through a detection result; and detecting whether the panoramic scene corresponding to the scene projection is visual interactive or not, and generating a corresponding panoramic picture when the panoramic scene is visual interactive. The method for detecting and marking the object of the cascade classifier based on the Haar-like features detects and marks the picture, realizes semi-automatic generation of the panoramic image, reduces the development cost, shortens the development period, ensures the navigation, interactivity and picture of the panoramic image, improves the quality of a full-screen scene, and enhances the detailed experience.
In another embodiment, the steps of the above outdoor panorama generation method based on Haar-like features may also be as shown in fig. 2, and the steps of fig. 2 may be divided into 3 parts, including: the system comprises an enhanced panorama editing system, an enhanced panorama viewing system and an information control system.
The method comprises the following steps of starting, inserting panoramic images, detecting objects, marking mark points (identifier links), storing configuration files, entering an enhanced panoramic viewing system, loading files, loading scene resources, detecting mark points (detecting two types of links), applying the scene resources, enhancing a scene projection frame, displaying panoramic images, and then carrying out an information control system, wherein the information control system comprises the steps of detecting whether the displayed panoramic images are interacted, updating a database when the panoramic images are interacted, carrying out panoramic display, inquiring a database when the panoramic images are not interacted, and returning to the starting step of the enhanced panoramic viewing system.
Fig. 3 is an apparatus online monitoring device based on multidimensional parameter estimation provided in an embodiment of the present invention, including: a receiving module 201, a constructing module 202, a processing module 203, an obtaining module 204, a loading module 205 and a detecting module 206, wherein:
the receiving module 201 is used for receiving the observation point pictures shot by the shooting device and grouping the observation point pictures.
A building module 202, configured to build a cascade classifier according to a preset calculation scheme.
And the processing module 203 is configured to determine a corresponding panorama geometric object according to the observation point pictures, apply the grouped observation point pictures to the panorama geometric object, detect the panorama geometric object through the cascade classifier, and mark the panorama geometric object according to the detection result.
An obtaining module 204, configured to obtain an identifier corresponding to the tag, generate a corresponding identifier link according to the identifier, and generate a panorama frame link between the panorama geometries.
A loading module 205, configured to load a scene resource corresponding to the identifier, the identifier link, and the panorama frame link, and detect the identifier, the identifier link, and the panorama frame link through the cascade classifier, and obtain a scene projection of the scene resource according to a detection result.
A detecting module 206, configured to detect whether the panoramic scene corresponding to the scene projection is visual interactive, and generate a corresponding panoramic image when the panoramic scene is visual interactive.
In one embodiment, the apparatus may further comprise:
and the training module is used for training the weak classifier, inputting the picture characteristics corresponding to the observation point picture into the weak classifier for detection, and obtaining the cascade classifier according to the detection process.
In one embodiment, the apparatus may further comprise:
and the generating module is used for generating the mesh contact of the panorama geometry by using the scene resources corresponding to the identifier, the identifier link and the panorama frame link, and storing the mesh contact in a configuration file.
In one embodiment, the apparatus may further comprise:
and the positioning module is used for positioning the observation point according to the outdoor panorama, and the shooting device shoots according to the position of the observation point to obtain the observation point picture.
In one embodiment, the apparatus may further comprise:
and the query module is used for querying a panoramic database according to the panoramic scene when the panoramic scene corresponding to the scene projection is not visual interactive, positioning the panoramic scene to an original image through the identifier, the identifier link and the panoramic image frame link, and restarting a preset outdoor panoramic image generation method through the original image.
In one embodiment, the apparatus may further comprise:
and the updating module is used for updating data of the panoramic database when the panoramic scene is visual interactive so as to generate a corresponding panoramic image.
For specific limitations of the outdoor panorama generating apparatus based on Haar-like characteristics, reference may be made to the above limitations of the outdoor panorama generating method based on Haar-like characteristics, and details are not repeated here. The modules in the outdoor panorama generating apparatus based on Haar-like features may be wholly or partially implemented by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
Fig. 4 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 4: a processor (processor)301, a memory (memory)302, a communication Interface (Communications Interface)303 and a communication bus 304, wherein the processor 301, the memory 302 and the communication Interface 303 complete communication with each other through the communication bus 304. The processor 301 may call logic instructions in the memory 302 to perform the following method: receiving observation point pictures shot by a shooting device, and grouping the observation point pictures; constructing a cascade classifier according to a preset calculation scheme; determining a corresponding panoramic image geometric body according to the observation point pictures, applying the grouped observation point pictures to the panoramic image geometric body, detecting the panoramic image geometric body through a cascade classifier, and marking the panoramic image geometric body according to a detection result; acquiring identifiers corresponding to the marks, generating corresponding identifier links according to the identifiers, and generating panorama frame links among the panorama geometries; loading scene resources corresponding to the identifier, the identifier link and the panorama frame link, detecting the identifier, the identifier link and the panorama frame link through a cascade classifier, and obtaining scene projection of the scene resources according to a detection result; and detecting whether the panoramic scene corresponding to the scene projection is visual interactive or not, and generating a corresponding panoramic picture when the panoramic scene is visual interactive.
Furthermore, the logic instructions in the memory 302 may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented to perform the transmission method provided in the foregoing embodiments when executed by a processor, and for example, the method includes: receiving observation point pictures shot by a shooting device, and grouping the observation point pictures; constructing a cascade classifier according to a preset calculation scheme; determining a corresponding panoramic image geometric body according to the observation point pictures, applying the grouped observation point pictures to the panoramic image geometric body, detecting the panoramic image geometric body through a cascade classifier, and marking the panoramic image geometric body according to a detection result; acquiring identifiers corresponding to the marks, generating corresponding identifier links according to the identifiers, and generating panorama frame links among the panorama geometries; loading scene resources corresponding to the identifier, the identifier link and the panorama frame link, detecting the identifier, the identifier link and the panorama frame link through a cascade classifier, and obtaining scene projection of the scene resources according to a detection result; and detecting whether the panoramic scene corresponding to the scene projection is visual interactive or not, and generating a corresponding panoramic picture when the panoramic scene is visual interactive.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An outdoor panorama generation method based on Haar-like features is characterized by comprising the following steps:
receiving observation point pictures shot by a shooting device, and grouping the observation point pictures;
constructing a cascade classifier according to a preset calculation scheme;
determining a corresponding panorama geometric body according to the observation point pictures, applying the grouped observation point pictures to the panorama geometric body, detecting the panorama geometric body through the cascade classifier, and marking the panorama geometric body according to the detection result;
acquiring identifiers corresponding to the marks, generating corresponding identifier links according to the identifiers, and generating panorama frame links among the panorama geometries;
loading scene resources corresponding to the identifier, the identifier link and the panorama frame link, detecting the identifier, the identifier link and the panorama frame link through the cascade classifier, and obtaining scene projection of the scene resources according to a detection result;
and detecting whether the panoramic scene corresponding to the scene projection is visual interactive or not, and generating a corresponding panoramic image when the panoramic scene is visual interactive.
2. The method for generating an outdoor panorama based on Haar-like features of claim 1, wherein the constructing a cascade classifier according to a preset calculation scheme comprises:
training a weak classifier, inputting the picture characteristics corresponding to the observation point picture into the weak classifier for detection, and obtaining the cascade classifier according to the detection process.
3. The Haar-like feature based outdoor panorama generation method of claim 1, further comprising:
generating a mesh contact of the panorama geometry by the identifier, the identifier link and the panorama frame link, and storing the mesh contact in a configuration file;
the loading of scene resources corresponding to the identifier, identifier link, and panorama frame link, comprises:
and loading the configuration file to generate corresponding scene resources.
4. The Haar-like feature based outdoor panorama generating method of claim 1, wherein said observation point map comprises:
and positioning the observation point according to the outdoor panorama, and receiving the shooting result of the shooting device for shooting 8 azimuths of the observation point to obtain the observation point picture.
5. The method of claim 1, wherein after detecting whether the panoramic scene corresponding to the scene projection is visual interactive, the method further comprises:
and when the panoramic scene corresponding to the scene projection is not visual interactive, inquiring a panoramic database according to the panoramic scene, positioning an original image through the identifier, the identifier link and the panoramic image frame link, and restarting a preset outdoor panoramic image generation method through the original image.
6. The method for generating an outdoor panorama based on Haar-like features of claim 1, wherein when the panoramic scene is visual interactive, generating a corresponding panorama comprises:
and when the panoramic scene is visual interactive, updating data of the panoramic database to generate a corresponding panoramic image.
7. An apparatus for generating an outdoor panorama based on Haar-like features, the apparatus comprising:
the receiving module is used for receiving the observation point pictures shot by the shooting device and grouping the observation point pictures;
the construction module is used for constructing a cascade classifier according to a preset calculation scheme;
the processing module is used for determining a corresponding panoramic image geometric body according to the observation point pictures, applying the grouped observation point pictures to the panoramic image geometric body, detecting the panoramic image geometric body through the cascade classifier and marking the panoramic image geometric body according to the detection result;
the acquisition module is used for acquiring the identifier corresponding to the mark, generating a corresponding identifier link according to the identifier, and generating a panorama frame link between the panorama geometries;
the loading module is used for loading scene resources corresponding to the identifiers, the identifier links and the panorama frame links, detecting the identifiers, the identifier links and the panorama frame links through the cascade classifier, and obtaining scene projection of the scene resources according to a detection result;
and the detection module is used for detecting whether the panoramic scene corresponding to the scene projection is visual interactive or not and generating a corresponding panoramic picture when the panoramic scene is visual interactive.
8. The Haar-like feature based outdoor panorama generating apparatus of claim 7, further comprising:
and the training module is used for training the weak classifier, inputting the picture characteristics corresponding to the observation point picture into the weak classifier for detection, and obtaining the cascade classifier according to the detection process.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the Haar-like feature based outdoor panorama generating method of any of claims 1 to 6.
10. A non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor implements the steps of the Haar-like based outdoor panorama generating method according to any of claims 1 to 6.
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