CN112634460B - Outdoor panorama generation method and device based on Haar-like features - Google Patents
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Abstract
The embodiment of the invention provides a method and a device for generating an outdoor panorama 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 image geometry according to the observation point picture, applying the panoramic image geometry to the panoramic image geometry, detecting the panoramic image geometry through a cascade classifier, and marking the panoramic image geometry according to a detection result; acquiring identifiers corresponding to the marks, generating corresponding identifier links, and generating panorama frame links between panorama geometries; realizing scene projection of scene resources; and when the panoramic scene is visual interaction, generating a corresponding panoramic image. By adopting the method for detecting and marking the pictures, 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 pictures 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 panoramic views, in particular to a Haar-like feature-based outdoor panoramic view generation method and device.
Background
Panoramic technology is an emerging rich media technology, and is mainly divided into two types, namely virtual reality and 3D live-action. Panoramic virtual reality is a real scene virtual reality technology based on panoramic images, and the panoramic virtual reality realizes the restoration display of omnidirectionally interactive viewing real scenes through a computer technology.
However, the existing 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 prior industry.
Disclosure of Invention
Aiming at the problems existing in the prior art, the embodiment of the invention provides a Haar-like feature-based outdoor panorama generation method and device.
The embodiment of the invention provides an outdoor panorama generating 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 panoramic geometry according to the viewpoint pictures, applying the viewpoint pictures after grouping to the panoramic geometry, detecting the panoramic geometry through the cascade classifier, and marking the panoramic geometry according to the detection result;
acquiring identifiers corresponding to the marks, generating corresponding identifier links according to the identifiers, and generating panorama frame links between 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 the cascade classifier, and obtaining scene projections of the scene resources through detection results;
detecting whether the panoramic scene corresponding to the scene projection is visual interaction or not, and generating a corresponding panoramic image when the panoramic scene is visual interaction.
In one embodiment, the method further comprises:
training a weak classifier, inputting picture features corresponding to the observation point pictures into the weak classifier for detection, and obtaining the cascade classifier according to a detection process.
In one embodiment, the method further comprises:
generating a mesh connection of the panorama geometry by the identifier, the identifier link and the panorama frame link, and storing the mesh connection in a configuration file;
the loading of scene resources corresponding to the identifier, the identifier link and the panorama frame link comprises:
and loading the configuration file to generate corresponding scene resources.
In one embodiment, the method further comprises:
and according to the outdoor panoramic positioning observation point, receiving the shooting results of the shooting device for shooting 8 directions of the observation point, and obtaining the observation point picture.
In one embodiment, the method further comprises:
and when the panoramic scene corresponding to the scene projection is not visual interaction, inquiring a panoramic database according to the panoramic scene, positioning to an original image through the identifier, the identifier link and the panoramic image frame link, and restarting a preset outdoor panoramic image generating method through the original image.
In one embodiment, the method further comprises:
and when the panoramic scene is visual interaction, 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 following components:
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 the cascade classifier according to a preset calculation scheme;
the processing module is used for determining a corresponding panorama geometry according to the viewpoint pictures, applying the grouped viewpoint pictures to the panorama geometry, detecting the panorama geometry through the cascade classifier, and marking the panorama geometry 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 projections of the scene resources through detection results;
the detection module is used for detecting whether the panoramic scene corresponding to the scene projection is visual interaction or not, and generating a corresponding panoramic image when the panoramic scene is visual interaction.
In one embodiment, the apparatus further comprises:
and the training module is used for training the weak classifier, inputting the picture features corresponding to the observation point pictures 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 stored on the memory and capable of running on the processor, wherein the processor realizes the steps of the outdoor panorama generating method based on Haar-like characteristics when executing the program.
An embodiment of the present invention provides a non-transitory computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the above-described outdoor panorama generation method based on Haar-like features.
According to the outdoor panorama generation method and device based on Haar-like features, which are provided by the embodiment of the invention, observation point pictures shot by a shooting device are received, and the observation point pictures are grouped; constructing a cascade classifier according to a preset calculation scheme; determining a corresponding panorama geometry according to the viewpoint images, applying the grouped viewpoint images to the panorama geometry, detecting the panorama geometry through a cascade classifier, and marking the panorama geometry according to a detection result; acquiring identifiers corresponding to the marks, generating corresponding identifier links according to the identifiers, and generating panorama frame links between 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 detection results; detecting whether the panoramic scene corresponding to the scene projection is visual interaction or not, and generating a corresponding panoramic image when the panoramic scene is visual interaction. The method for detecting and marking the object of the cascade classifier based on the Haar-like features is used for detecting and marking the picture, semi-automatic generation of the panoramic image is realized, development cost is reduced, development period is shortened, navigation, interactivity and picture of the panoramic image are ensured, and quality of full-screen scene is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of an outdoor panorama generating method based on Haar-like features in an embodiment of the present invention;
FIG. 2 is a flow chart of a Haar-like feature based outdoor panorama generation method according to another embodiment of the present invention;
FIG. 3 is a block diagram of an outdoor panorama generating device based on Haar-like features in an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is a flow chart of an on-line monitoring method for equipment based on multidimensional parameter estimation according to an embodiment of the present invention, as shown in fig. 1, the embodiment of the present invention provides an on-line monitoring method for equipment based on multidimensional parameter estimation, including:
step S101, receiving the viewpoint images shot by the shooting device, and grouping the viewpoint images.
Specifically, the observation points are points with outdoor representativeness obtained according to outdoor panoramic positioning, such as a logo building and the like, after the observation points are determined, 8 photos around each observation point obtained by the photographing device through photographing can be received, and then the photos are grouped according to each observation point.
Step S102, constructing a cascade classifier according to a preset calculation scheme.
Specifically, the preset calculation scheme may, for example, train a weak classifier first, then input the picture features corresponding to the observation point images into the weak classifier to detect, and obtain a cascade classifier according to the detection process, where the cascade classifier is a robust object detector constructed quickly by using the features of the images, the number of false positives is reduced by calling a more complex classifier, and the weak classifier uses the features to obtain the best recognition result for the used images, and the algorithm evaluates the classification error with a higher weight, and the specific calculation steps may include:
a weak classifier is first 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,for a hypothetical weak classifier, α is the control variable of the classification error. Through this whole training and classificationThe process generates a robust object classifier +.>。
Where h is the weak classifier, f is the feature of the picture,for the threshold value, p is the polarity value. The method has the advantages that a large number of image features are quantitatively detected and marked.
Step S103, determining a corresponding panorama geometry according to the viewpoint picture, applying the grouped viewpoint picture to the panorama geometry, detecting the panorama geometry through the cascade classifier, and marking the panorama geometry according to the detection result.
Specifically, a specific panorama type geometry is determined according to the viewpoint images, each group of viewpoint images are applied to the panorama geometry, then object detection marks on the images are detected by adopting a cascade classifier based on Haar-like features, and corresponding marking points are marked on the detected objects on each panorama according to detection results.
Step S104, obtaining identifiers corresponding to the marks, generating corresponding identifier links according to the identifiers, and generating panorama frame links among the panorama geometries.
In particular, the identifier corresponding to the mark can be obtained by adding an identifier for mapping with the mark of the real object on the basis of the mark point, and then generating a corresponding identifier link between all identifiers in one panorama, and generating a panorama frame link between each group of panorama geometries.
In addition, all information is stored in the configuration file in a mesh-like relationship of the panorama geometry formed by the marker points, the identifier links and the panorama frame links.
Step S105, loading a scene resource 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 a scene projection of the scene resource through the detection result.
Specifically, the configuration file is loaded, the configuration file is unfolded according to the original network sequence of identifier links and panorama frame links, and corresponding scene resources are loaded. And detecting the marking points, the identifier links and the panorama frame links on the panorama by using the method for detecting the objects of the cascade classifier based on the Haar-like features, and correspondingly applying the loaded scene resources to the marking points and the links to realize scene projection and enhance the creation of a panoramic visualization environment.
Step S106, detecting whether the panoramic scene corresponding to the scene projection is visual interaction or not, and generating a corresponding panoramic image when the panoramic scene is visual interaction.
Specifically, whether the panoramic scene is subjected to panoramic visualization is detected, and if the panoramic scene is subjected to panoramic visualization, a final visual interaction panoramic image is formed.
In addition, when the panoramic scene corresponding to the scene projection is not visual interaction, a panoramic database is inquired according to the panoramic scene, an original image is positioned through an identifier, an identifier link and a panoramic image frame link, and a preset outdoor panoramic image generation method is restarted through the original image.
In addition, when the panoramic scene is visual interactive, the panoramic database can be updated with data 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.
According to the outdoor panorama generation method based on Haar-like features, which is provided by the embodiment of the invention, observation point pictures shot by a shooting device are received and grouped; constructing a cascade classifier according to a preset calculation scheme; determining a corresponding panorama geometry according to the viewpoint images, applying the grouped viewpoint images to the panorama geometry, detecting the panorama geometry through a cascade classifier, and marking the panorama geometry according to a detection result; acquiring identifiers corresponding to the marks, generating corresponding identifier links according to the identifiers, and generating panorama frame links between 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 detection results; detecting whether the panoramic scene corresponding to the scene projection is visual interaction or not, and generating a corresponding panoramic image when the panoramic scene is visual interaction. The method for detecting and marking the object of the cascade classifier based on the Haar-like features is used for detecting and marking pictures, semi-automatic generation of panoramic images is realized, development cost is reduced, development period is shortened, navigation, interactivity and pictures of the panoramic images are guaranteed, quality of full-screen scenes is improved, and detail experience is enhanced.
In another embodiment, the steps of the outdoor panorama generating method based on Haar-like features may be further as shown in fig. 2, and the steps of fig. 2 may be divided into 3 parts, including: an enhanced panorama editing system, an enhanced panorama viewing system and an information control system.
The enhanced panorama editing system comprises the steps of starting, inserting a panoramic image, detecting objects, marking mark points (identifier links), storing configuration files, entering the enhanced panorama viewing system, loading files, loading scene resources, detecting mark points (detecting two types of links), scene resource application, enhancing a scene projection frame, displaying the panoramic image, and then performing an information control system, wherein the information control system comprises the steps of detecting whether the displayed panoramic image is interacted, updating a database when the panoramic image is interacted, then performing panoramic display, inquiring the database when the panoramic image is not interacted, and returning to the starting step in the enhanced panorama editing system.
Fig. 3 is a schematic diagram of an apparatus for online monitoring based on multidimensional parameter estimation according to 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:
a receiving module 201, configured to receive the viewpoint images captured by the capturing device, and group the viewpoint images.
A construction module 202, configured to construct a cascade classifier according to a preset calculation scheme.
And the processing module 203 is configured to determine a corresponding panorama geometry according to the viewpoint picture, apply the viewpoint picture after grouping to the panorama geometry, detect the panorama geometry through the cascade classifier, and mark the panorama geometry 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.
And the loading module 205 is configured to load scene resources corresponding to the identifier, the identifier link and the panorama frame link, detect the identifier, the identifier link and the panorama frame link through the cascade classifier, and obtain a scene projection of the scene resources through a detection result.
The detection module 206 is configured to detect whether the panoramic scene corresponding to the scene projection is visual interaction, and generate a corresponding panoramic image when the panoramic scene is visual interaction.
In one embodiment, the apparatus may further include:
and the training module is used for training the weak classifier, inputting the picture features corresponding to the observation point pictures into the weak classifier for detection, and obtaining the cascade classifier according to the detection process.
In one embodiment, the apparatus may further include:
and the generation module is used for generating the mesh connection of the panorama geometry by using scene resources corresponding to the identifier, the identifier link and the panorama frame link, and storing the mesh connection in a configuration file.
In one embodiment, the apparatus may further include:
and the positioning module is used for positioning the observation point according to the outdoor panorama, and the shooting device shoots and obtains the observation point picture according to the position of the observation point.
In one embodiment, the apparatus may further include:
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 database to an original image through the identifier, the identifier link and the panoramic frame link, and restarting a preset outdoor panoramic generation method through the original image.
In one embodiment, the apparatus may further include:
and the updating module is used for updating the data of the panoramic database when the panoramic scene is visual interaction, and generating a corresponding panoramic image.
For specific limitations of the Haar-like feature based outdoor panorama generating apparatus, reference may be made to the above description of the Haar-like feature based outdoor panorama generating method, which is not repeated herein. The above-mentioned outdoor panorama generating device based on Haar-like features may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
Fig. 4 illustrates a physical schematic diagram of an electronic device, as shown in fig. 4, which may include: 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 perform 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 panorama geometry according to the viewpoint images, applying the grouped viewpoint images to the panorama geometry, detecting the panorama geometry through a cascade classifier, and marking the panorama geometry according to a detection result; acquiring identifiers corresponding to the marks, generating corresponding identifier links according to the identifiers, and generating panorama frame links between 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 obtaining scene projections of the scene resources through detection results; detecting whether the panoramic scene corresponding to the scene projection is visual interaction or not, and generating a corresponding panoramic image when the panoramic scene is visual interaction.
Further, the logic instructions in memory 302 described above may be implemented in the form of software functional units and stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform 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, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, embodiments of the present invention further provide a non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor is implemented to perform the transmission method provided in the above embodiments, for example, including: 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 geometry according to the viewpoint images, applying the grouped viewpoint images to the panorama geometry, detecting the panorama geometry through a cascade classifier, and marking the panorama geometry according to a detection result; acquiring identifiers corresponding to the marks, generating corresponding identifier links according to the identifiers, and generating panorama frame links between 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 obtaining scene projections of the scene resources through detection results; detecting whether the panoramic scene corresponding to the scene projection is visual interaction or not, and generating a corresponding panoramic image when the panoramic scene is visual interaction.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. The outdoor panorama generating 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 panoramic geometry according to the viewpoint pictures, applying the viewpoint pictures after grouping to the panoramic geometry, detecting the panoramic geometry through the cascade classifier, and marking the panoramic geometry according to the detection result;
acquiring identifiers corresponding to the marks, generating corresponding identifier links according to the identifiers, and generating panorama frame links between 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 the cascade classifier, and obtaining scene projections of the scene resources through detection results;
detecting whether the panoramic scene corresponding to the scene projection is visual interaction or not, and generating a corresponding panoramic image when the panoramic scene is visual interaction;
the constructing the cascade classifier according to a preset calculation scheme comprises the following steps:
training a weak classifier, inputting picture features corresponding to the observation point pictures into the weak classifier for detection, and obtaining the cascade classifier according to a detection process;
the method further comprises the steps of:
generating a mesh connection of the panorama geometry by the identifier, the identifier link and the panorama frame link, and storing the mesh connection in a configuration file;
the loading of scene resources corresponding to the identifier, the identifier link and the panorama frame link comprises:
loading the configuration file to generate corresponding scene resources;
the viewpoint picture includes:
and according to the outdoor panoramic positioning observation point, receiving the shooting results of the shooting device for shooting 8 directions of the observation point, and obtaining the observation point picture.
2. The method for generating an outdoor panorama based on Haar-like features according to claim 1, wherein after detecting whether the panoramic scene corresponding to the scene projection is a visual interactivity, further comprising:
and when the panoramic scene corresponding to the scene projection is not visual interaction, inquiring a panoramic database according to the panoramic scene, positioning to an original image through the identifier, the identifier link and the panoramic image frame link, and restarting a preset outdoor panoramic image generating method through the original image.
3. The method for generating an outdoor panorama based on Haar-like features according to claim 1, wherein when the panoramic scene is visual interactive, generating a corresponding panorama comprises:
and when the panoramic scene is visual interaction, updating data of the panoramic database to generate a corresponding panoramic image.
4. An outdoor panorama generating apparatus according to claim 1, wherein said apparatus 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 the cascade classifier according to a preset calculation scheme;
the processing module is used for determining a corresponding panorama geometry according to the viewpoint pictures, applying the grouped viewpoint pictures to the panorama geometry, detecting the panorama geometry through the cascade classifier, and marking the panorama geometry 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 projections of the scene resources through detection results;
the detection module is used for detecting whether the panoramic scene corresponding to the scene projection is visual interaction or not, and generating a corresponding panoramic image when the panoramic scene is visual interaction;
the training module is used for training the weak classifier, then inputting the picture features corresponding to the observation point pictures into the weak classifier for detection, and obtaining the cascade classifier according to the detection process;
the generation module is used for generating the mesh connection of the panorama geometry by using scene resources corresponding to the identifier, the identifier link and the panorama frame link, and storing the mesh connection in a configuration file;
and the positioning module is used for positioning the observation point according to the outdoor panorama, and the shooting device shoots and obtains the observation point picture according to the position of the observation point.
5. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the Haar-like feature based outdoor panorama generating method according to any one of claims 1-3 when said program is executed.
6. 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 feature based outdoor panorama generating method according to any one of claims 1-3.
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