CN114827480B - Pipeline inner wall panoramic expansion map acquisition method and device and electronic equipment - Google Patents
Pipeline inner wall panoramic expansion map acquisition method and device and electronic equipment Download PDFInfo
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Abstract
The invention relates to the technical field of panoramic display, and provides a method and a device for acquiring a panoramic expansion map of an inner wall of a pipeline and electronic equipment.
Description
Technical Field
The invention relates to the technical field of panoramic display, in particular to a method and a device for collecting a panoramic expansion map of an inner wall of a pipeline and electronic equipment.
Background
With the miniaturization development of the manufacturing industry, pipelines with certain characteristics on the inner wall are widely applied in the fields of automobiles, aviation, nuclear energy sources and the like. For this reason, it is important to detect the profile shape, size, inner wall defects, integrity, safety, etc. of the inner wall of the pipe.
When the inner wall of the pipeline is detected, a panoramic image of the inner wall of the pipeline is usually acquired, but because the panoramic image is a compressed circular image and does not conform to the observation habit of human eyes, the panoramic image needs to be expanded to obtain a panoramic expansion image conforming to the observation habit of human eyes. At present, a crawling device with a panoramic image shooting device is generally adopted to move in a pipeline, so that a panoramic image is obtained in real time through the panoramic image shooting device in the moving process of the crawling device.
However, when the crawling device moves too fast, the acquiring speed of the panoramic image cannot be matched with the moving speed of the crawling device, so that the panoramic image acquired twice successively is repeated, and further the panoramic expansion image obtained by expansion is also repeated, which wastes computing resources, reduces the expansion efficiency, and further influences the timeliness of subsequent applications.
Disclosure of Invention
The invention provides a method and a device for acquiring a panoramic expansion map of an inner wall of a pipeline and electronic equipment, which are used for overcoming the defects in the prior art.
The invention provides a method for acquiring a panoramic expansion map of an inner wall of a pipeline, which comprises the following steps:
acquiring a panoramic video of the inner wall of the pipeline in real time based on panoramic image acquisition equipment on crawling equipment which crawls at a preset speed in the pipeline; the preset speed is smaller than a speed threshold value, the speed threshold value is determined based on the value of the video frame rate of the panoramic video and a preset frame extraction interval, and the preset frame extraction interval is the crawling distance of the crawling device in the time interval of two adjacent extraction actions when the target video frame for acquiring the panoramic expansion image is extracted from the panoramic video;
and extracting the target video frame from the panoramic video based on the preset frame extraction interval, determining a collection circle on the target video frame, and selecting an annular collection area containing the collection circle on the target video frame for expansion to obtain the panoramic expansion image.
According to the method for collecting the panoramic expansion map of the inner wall of the pipeline, provided by the invention, the preset frame extraction interval is determined based on the following method:
determining the width of the panoramic expansion map based on the width of the annular acquisition area;
and determining the preset frame extraction interval based on the width of the panoramic expansion image and the distance value represented by each pixel on the panoramic video frame in the panoramic video.
According to the method for acquiring the panoramic expansion map of the inner wall of the pipeline, provided by the invention, the annular acquisition area is determined based on the following method:
inwards shifting the acquisition circle by a first pixel shift amount to obtain an inner circle, and outwards shifting the acquisition circle by a second pixel shift amount to obtain an outer circle;
and determining the area between the outer circle and the inner circle as the annular acquisition area.
According to the pipeline inner wall panoramic expansion map acquisition method provided by the invention, the diameter of the acquisition circle is within the range of 85% -95% of the height of the target video frame.
According to the pipeline inner wall panoramic expansion image acquisition method provided by the invention, the value range of the width of the annular acquisition area comprises 2 pixels to 6 pixels.
According to the method for collecting the pipeline inner wall panoramic expansion map, the method for extracting the target video frame from the panoramic video based on the preset frame extraction interval comprises the following steps:
acquiring the current crawling total distance of the crawling equipment and the previous crawling total distance corresponding to the previous extraction action;
judging whether the current moment is the trigger moment of the extraction action or not based on the current crawling total distance, the previous crawling total distance and the preset frame extraction interval;
and if the current moment is the trigger moment, extracting a current video frame in the panoramic video as the target video frame.
According to the method for acquiring the panoramic expansion map of the inner wall of the pipeline provided by the invention, the method for selecting and expanding the annular acquisition area including the acquisition circle on the target video frame to obtain the panoramic expansion map comprises the following steps:
and unfolding the annular acquisition area by adopting a bilinear interpolation method to obtain the panoramic expansion image.
The invention also provides a pipeline inner wall panoramic expansion map acquisition device, which comprises:
the video acquisition module is used for acquiring a panoramic video of the inner wall of the pipeline in real time based on panoramic image acquisition equipment on crawling equipment which crawls at a preset speed in the pipeline; the preset speed is smaller than a speed threshold value, the speed threshold value is determined based on the value of the video frame rate of the panoramic video and a preset frame extraction interval, and the preset frame extraction interval is the crawling distance of the crawling device in the time interval of two adjacent extraction actions when the target video frame for acquiring the panoramic expansion image is extracted from the panoramic video;
and the panorama expansion module is used for extracting the target video frame from the panoramic video based on the preset frame extraction interval, determining a collection circle on the target video frame, and selecting an annular collection area containing the collection circle on the target video frame for expansion to obtain the panorama expansion image.
The invention also 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 method for acquiring the panoramic expansion map of the inner wall of the pipeline is realized.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method for acquiring a panoramic expansion map of an inner wall of a pipeline as described in any of the above.
According to the method, the device and the electronic equipment for acquiring the panoramic expansion map of the inner wall of the pipeline, provided by the invention, the crawling equipment is set to crawl in the pipeline at the preset speed, the setting of the preset speed is limited below the speed threshold determined by the value of the video frame rate of the panoramic video and the extraction interval of the preset frame, so that each target video frame extracted from the panoramic video can not be repeated, further, the corresponding panoramic expansion map obtained by expansion can not be repeated, not only can the computing resource be saved, but also the expansion efficiency can be improved, and the timeliness of subsequent application can be ensured.
Drawings
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 schematic flow chart of a method for collecting a panoramic expansion view of an inner wall of a pipeline according to the present invention;
FIG. 2 is a schematic diagram of a target video frame in a pipeline inner wall panoramic expansion image acquisition method provided by the invention;
FIG. 3 is a schematic view of a panoramic expansion view in the method for collecting the panoramic expansion view of the inner wall of the pipeline provided by the invention;
FIG. 4 is a schematic view of the inner wall of the pipeline obtained after splicing the panoramic expansion map in the method for collecting the panoramic expansion map of the inner wall of the pipeline provided by the invention;
FIG. 5 is a schematic structural diagram of a pipeline inner wall panoramic expansion view acquisition device provided by the invention;
fig. 6 is a schematic structural diagram of an electronic device provided in the present 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.
Because the moving speed of the crawling device is not limited when the panoramic image is acquired by the panoramic image shooting device in real time, when the moving speed of the crawling device is too high, the acquiring speed of the panoramic image cannot be matched with the moving speed of the crawling device, so that the panoramic image acquired twice is repeated, and further the panoramic expansion image obtained by expansion is also repeated, which wastes computing resources, reduces the expansion efficiency and further influences the timeliness of subsequent application. Therefore, the embodiment of the invention provides a method for acquiring a panoramic expansion map of the inner wall of a pipeline.
Fig. 1 is a schematic flow chart of a method for collecting a panoramic expansion view of an inner wall of a pipeline, provided in an embodiment of the present invention, and as shown in fig. 1, the method includes:
s1, collecting a panoramic video of the inner wall of a pipeline in real time based on panoramic image collecting equipment on crawling equipment which crawls at a preset speed in the pipeline; the preset speed is smaller than a speed threshold value, the speed threshold value is determined based on the value of the video frame rate of the panoramic video and a preset frame extraction interval, and the preset frame extraction interval is the crawling distance of the crawling device in the time interval of two adjacent extraction actions when the target video frame for acquiring the panoramic expansion image is extracted from the panoramic video;
and S2, extracting the target video frame from the panoramic video based on the preset frame extraction interval, determining an acquisition circle on the target video frame, and selecting an annular acquisition area including the acquisition circle on the target video frame for expansion to obtain the panoramic expansion image.
Specifically, the implementation subject of the method for acquiring a panoramic expansion map of an inner wall of a pipeline provided in the embodiments of the present invention is an apparatus for acquiring a panoramic expansion map of an inner wall of a pipeline, which may be configured in a server, where the server may be a computer, a tablet computer, and the like, and is not limited herein.
Firstly, step S1 is executed, and a panoramic video of the inner wall of the pipeline is collected in real time based on a panoramic image collecting device on crawling equipment which crawls at a preset speed in the pipeline. The pipe may be a circular pipe, a square pipe or a pipe having a cross section of other shapes, and is not particularly limited herein.
This equipment of crawling can crawl with preset speed along pipeline longitudinal direction in the pipeline, and the equipment of crawling is gone up to be carried with panoramic image collection equipment, and this panoramic image collection equipment can gather the panoramic video of pipeline inner wall in real time, and this panoramic image collection equipment can be fisheye camera, all-round visual sensor etc. for example. The acquired panoramic video can comprise a plurality of panoramic video frames, each panoramic video frame is a panoramic image, and each panoramic video frame is a circular image.
In order to avoid that the target video frames extracted each time are not the same panoramic image, the crawling speed of the crawling device in the pipeline is a preset speed. The preset speed can be set as required, but needs to be guaranteed to be smaller than a speed threshold value, and the speed threshold value needs to be determined by combining the value of the video frame rate of the panoramic video and the extraction interval of the preset frame. For example, the speed threshold may be directly determined as the product of the value of the video frame rate of the panoramic video and the preset frame decimation pitch.
The video frame rate is the number of displayed panoramic video frames per second, and the unit of the displayed panoramic video frames is frame/s or fps, and may be 25 or 30, which is not limited herein. The preset frame extraction interval refers to the crawling distance of crawling equipment in a time interval of two adjacent extraction actions when a target video frame used for acquiring a panoramic expansion image is extracted from a panoramic video, and the unit of the crawling distance is mm.
It can be understood that, when the product of the value of the video frame rate of the panoramic video and the preset frame extraction interval is directly determined as the speed threshold, the unit of the obtained speed threshold is mm/s, and the speed units in general cases are all m/s, so that mm/s needs to be converted into m/s, that is to say, the following steps are performed:
S=D*f/1000
wherein S is a speed threshold value, the unit is m/S, D is a preset frame extraction interval, and f is a value of a video frame rate of the panoramic video.
Through the preset frame extraction interval, the extraction speed of the target video frame can be represented, namely the extraction speed of the target video frame can be matched with the crawling speed of crawling equipment through the limitation of the speed threshold value on the preset speed, and therefore the fact that the target video frame extracted at each time is not the same panoramic image can be guaranteed.
The preset frame extraction interval may correspond to a width of the panorama expansion map, and may be determined by the width of the panorama expansion map, where a unit of the width of the panorama expansion map is a pixel, which is not specifically limited in the embodiment of the present invention.
And then, executing a step S2, extracting the target video frame from the panoramic video according to the preset frame extraction interval, namely extracting the target video frame from the panoramic video once at intervals of the preset frame extraction interval. Furthermore, a capture circle may be determined on each target video frame, with the same location on different target video frames. The position of the capture circle on the target video frame may be set according to needs, for example, because the image effect of the edge area on each target video frame is better, the capture circle may be set in the edge area of the target video frame, and is not limited specifically here.
Then, an annular acquisition area including an acquisition circle on the target video frame can be selected, and the annular acquisition area is expanded, so that a panorama expansion image can be obtained. For example, the width of the annular capture area may be used as the width of the panorama expansion map, or the result of performing corresponding scaling processing on the width of the annular capture area may be used as the width of the panorama expansion map, and the perimeter of the capture circle may be used as the height of the panorama expansion map, and the annular capture area may be expanded by using an image interpolation technique, so as to obtain the panorama expansion map. The image interpolation technique may include bilinear interpolation or cubic interpolation, and is not limited in particular.
As shown in fig. 2, a circle represents a target video frame, and an annular area within the circle represents an annular capture area within the target video frame. Fig. 3 is a panoramic expansion map obtained by expanding the annular acquisition area, wherein the panoramic expansion map is a rectangular map.
According to the method for acquiring the panoramic expansion map of the inner wall of the pipeline, provided by the embodiment of the invention, the crawling equipment is set to crawl in the pipeline at a preset speed, the preset speed is set to be limited below the video frame rate of the panoramic video and the speed threshold value determined by the preset frame extraction interval, so that each target video frame extracted from the panoramic video can be ensured not to be repeated, further, the corresponding panoramic expansion map obtained by expansion can not be repeated, not only can the computing resource be saved, but also the expansion efficiency can be improved, and the timeliness of subsequent application can be ensured.
On the basis of the above embodiment, in the method for acquiring a panoramic expansion map of an inner wall of a pipeline provided in the embodiment of the present invention, the preset frame extraction interval is determined based on the following method:
determining the width of the panoramic expansion map based on the width of the annular acquisition area;
and determining the preset frame extraction interval based on the width of the panoramic expansion image and the distance value represented by each pixel on the panoramic video frame in the panoramic video.
Specifically, in the embodiment of the present invention, when the preset frame extraction interval is determined, the width of the panorama expansion map may be determined according to the width of the annular acquisition area. The unit of the width of the annular acquisition area is a pixel, the width of the annular acquisition area on each panoramic video frame in the panoramic video is the same, and the width of the annular acquisition area can be set according to needs, and is not specifically limited here. Meanwhile, the positions of the annular acquisition areas on each panoramic video frame in the panoramic video are the same.
Here, the width of the annular acquisition region may be directly used as the width of the panorama, or the width of the panorama may be obtained by performing corresponding scaling processing on the width of the annular acquisition region, which is not specifically limited herein. From this, the unit of the width of the panorama development is also a pixel.
And finally, determining the preset frame extraction distance according to the width of the panoramic expansion image and the distance value represented by each pixel on the panoramic video frame. The distance value represented by each pixel on each panoramic video frame in the panoramic video is the same, and the distance value can be determined by the corresponding relationship between the panoramic video frame coordinate system and the pipeline coordinate system, for example, the ratio of the pipeline diameter to the diameter of the acquisition circle can be used as the distance value. Namely, the method comprises the following steps:
P=d/2r
wherein, P is the distance value represented by each pixel on the panoramic video frame, d represents the diameter of the pipeline, and 2r represents the diameter of the acquisition circle.
Here, the diameter of the pipe is in mm, and the diameter of the collection circle is in pixels. The distance value is thus in mm/pixel.
Further, the product of the width of the panorama development view and the distance value represented by each pixel on the panoramic video frame may be taken as a preset frame decimation pitch.
In the embodiment of the invention, the preset frame extraction interval is determined by combining the width of the panoramic expansion map and the distance value represented by each pixel on the panoramic video frame, so that the preset frame extraction interval can be associated with the width of the panoramic expansion map, and the continuity of the panoramic expansion map is ensured.
On the basis of the above embodiment, in the method for acquiring a panoramic expansion map of an inner wall of a pipeline provided in the embodiment of the present invention, the annular acquisition area is determined based on the following method:
inwards shifting the acquisition circle by a first pixel shift amount to obtain an inner circle, and outwards shifting the acquisition circle by a second pixel shift amount to obtain an outer circle;
and determining the area between the outer circle and the inner circle as the annular acquisition area.
Specifically, in the embodiment of the present invention, when the annular acquisition region is used, the acquisition circle may be shifted inward by the first pixel shift amount, so as to obtain the inner circle. The radius of the collection circle may be set to r, and if the first pixel offset is a, the radius of the inner circle may be r-a.
And if the second pixel offset is b, the radius of the outer circle can be r + b.
Then, the region between the outer circle and the inner circle may be determined as an annular acquisition region. From this, it is understood that the width of the loop-shaped acquisition region is a + b +1, and may be the width of the panorama development view. At this time, the size of the panorama development may be:
w=a+b+1，h=2*π*r
wherein, w is the width of the panoramic expansion map, and h is the height of the panoramic expansion map.
Further, the preset frame decimation interval can be expressed as:
D=(a+b+1)*P
wherein D is a preset frame extraction interval and the unit is mm.
In the embodiment of the invention, the annular acquisition area is determined by inward and outward deviation of the set acquisition circle, so that the area position of the panoramic expansion image corresponding to the target video frame can be quickly determined.
On the basis of the above embodiment, in the method for acquiring the panoramic expansion map of the inner wall of the pipeline provided in the embodiment of the present invention, the diameter of the acquisition circle is within the range of 85% -95% of the height of the target video frame.
Specifically, in the embodiment of the present invention, the diameter of the capture circle is in the range of 85% -95% of the height of the target video frame. That is, if the diameter of the target video frame is R, the diameter d of the capture circle should satisfy:
95%*R≥d≥85%*R
in the embodiment of the invention, the annular acquisition area can be ensured to be close to the edge area of the target video frame as much as possible.
On the basis of the above embodiment, in the method for acquiring the panoramic expansion map of the inner wall of the pipeline provided in the embodiment of the present invention, the value range of the width of the annular acquisition region includes 2 pixels to 6 pixels.
Specifically, in the embodiment of the present invention, in order to ensure the quality of the expanded panorama obtained by expansion and reduce the influence of distortion of the acquisition area on the quality of the expanded panorama, a value range of the acquisition area width may be set to 2 pixels to 6 pixels, that is, the acquisition area width may be set to 2 pixels, 3 pixels, 4 pixels, 5 pixels, or 6 pixels.
On the basis of the foregoing embodiment, the method for acquiring a panoramic expansion map of an inner wall of a pipeline provided in the embodiment of the present invention, which extracts the target video frame from the panoramic video based on the preset frame extraction interval, includes:
acquiring the current crawling total distance of the crawling equipment and the previous crawling total distance corresponding to the previous extraction action;
judging whether the current moment is the trigger moment of the extraction action or not based on the current crawling total distance, the previous crawling total distance and the preset frame extraction interval;
and if the current moment is the trigger moment, extracting the current video frame in the panoramic video as the target video frame.
Specifically, in the embodiment of the present invention, when extracting a target video frame from a panoramic video, a current total crawling distance of a crawling device and a previous total crawling distance corresponding to a previous extraction action may be obtained first. The current crawling total distance is the crawling distance from the crawling device to the current moment when crawling starts, the previous crawling total distance corresponding to the previous extraction action is the crawling distance from the crawling device to the previous extraction moment, and the current crawling total distance and the previous extraction moment can be obtained by measuring the distance between the current moment position and the crawling start moment position of the crawling device in real time through a length measuring instrument installed on the crawling device.
Then, whether the current time is the trigger time of the extraction action can be judged according to the current crawling total distance, the previous crawling total distance and the frame extraction interval. That is, if the difference between the current total crawling distance and the previous total crawling distance reaches the frame extraction interval, it may be determined that the current time is the trigger time of the extraction action, that is, the current video frame in the panoramic video frame needs to be extracted at the current time.
Further, when the current time is the trigger time, the current video frame in the panoramic video is extracted as the target video frame.
In the embodiment of the invention, the triggering moment of the extraction action of the target video frame is determined by the crawling distance of the crawling equipment and the frame extraction distance, the target video frame to be extracted can be rapidly determined, and the acquisition efficiency of the panoramic expansion image can be further improved.
On the basis of the above embodiment, the method for acquiring a panoramic expansion view of an inner wall of a pipeline provided in the embodiment of the present invention includes selecting an annular acquisition area including the acquisition circle on the target video frame to expand, and acquiring the panoramic expansion view, including:
and unfolding the annular acquisition area by adopting a bilinear interpolation method to obtain the panoramic expansion image.
Specifically, in the embodiment of the present invention, in the process of unfolding the annular acquisition area to obtain the panoramic expansion map, a conventional bilinear interpolation method may be adopted to perform linear interpolation from two directions of the x axis and the y axis, respectively, so as to obtain the rectangular panoramic expansion map.
Here, the deployment may be performed for the annular acquisition region from the 12-point direction clockwise. It should be noted that, the selection of the starting point of the expansion is related to the crawling direction of the crawling device, and if the crawling direction is forward, the starting point of the expansion is the outer pixels of the 12-point direction annular acquisition area, and the expansion is performed sequentially from the outer pixels to the inner pixels. If the crawling direction is backward, the starting point of the expansion is the inner pixel of the 12-point direction annular acquisition area, and the expansion is carried out from the inner pixel to the outer pixel sequentially.
In the embodiment of the invention, a mature bilinear interpolation method is adopted, so that the acquisition efficiency of the panoramic expansion image can be further improved. Meanwhile, the collection of the panoramic expansion images corresponding to different crawling directions of the crawling equipment can be supported.
On the basis of the above embodiment, the method for acquiring a panoramic expansion map of an inner wall of a pipeline provided in the embodiment of the present invention selects an annular acquisition area including the acquisition circle on the target video frame to perform expansion to obtain the panoramic expansion map, and then includes:
and splicing the panoramic expansion map corresponding to each extraction action based on the current total crawling distance of the crawling equipment corresponding to each extraction action to obtain a two-dimensional plane map of the inner wall of the pipeline.
Specifically, as shown in fig. 4, the two-dimensional plane graph of the inner wall of the pipeline is obtained by splicing the panoramic expansion maps from left to right in the sequence of the current total crawling distance from short to long, so that an image of the inner wall of the pipeline, which is more intuitive and conforms to the habit of observing human eyes, can be provided for a user.
On the basis of the above embodiment, the method for collecting a panoramic expansion map of an inner wall of a pipeline provided in the embodiment of the present invention includes:
1) Setting the collection circle, calculating the collection parameters
If the radius of the collection circle is r, the offset of the first pixel is a, the offset of the second pixel is b, the diameter of the pipeline is dmm, and the value of the video frame rate is f, then each collection parameter may include:
distance value (mm/pixel) represented by each pixel on the panoramic video frame: p = d/2r
Width (pixel) of panorama development: w = a + b +1, height (pixel): h =2 × pi × r
Preset frame extraction pitch (mm): d = (a + b + 1) × P
Maximum acquisition speed (m/s): s = D f/1000;
2) The crawling device crawls forwards in the pipeline at a preset speed, whether the current moment is the trigger moment of the extraction action is judged according to the current crawling total distance, the previous crawling total distance and the preset frame extraction interval of the crawling device, if yes, a frame extraction signal is triggered, and the current video frame is extracted from the panoramic video to serve as a target video frame;
3) Expanding an annular acquisition area in a target video frame to obtain a panoramic expansion image;
4) Splicing all panoramic expansion maps according to the current total crawling distance of the crawling equipment;
5) And drawing scales according to the current total crawling distance of the crawling equipment to obtain a two-dimensional plane graph of the inner wall of the pipeline.
Fig. 5 is a schematic structural diagram of a pipeline inner wall panoramic expansion view acquisition device provided in an embodiment of the present invention, and as shown in fig. 5, the device includes:
the video acquisition module 51 is used for acquiring a panoramic video of the inner wall of the pipeline in real time based on a panoramic image acquisition device on crawling equipment which crawls at a preset speed in the pipeline; the preset speed is smaller than a speed threshold value, the speed threshold value is determined based on the value of the video frame rate of the panoramic video and a preset frame extraction interval, and the preset frame extraction interval is the crawling distance of the crawling device in the time interval of two adjacent extraction actions when the target video frame for acquiring the panoramic expansion image is extracted from the panoramic video;
and the panorama expanding module 52 is configured to extract the target video frame from the panoramic video based on the preset frame extraction interval, determine a capture circle on the target video frame, and select an annular capture area including the capture circle on the target video frame to expand, so as to obtain the panorama expanded image.
On the basis of the above embodiment, the device for acquiring a panoramic expansion map of an inner wall of a pipeline provided in the embodiment of the present invention further includes a preset frame extraction interval determining module, configured to:
determining the width of the panoramic expansion map based on the width of the annular acquisition area;
and determining the preset frame extraction distance based on the width of the panoramic expansion image and the distance value represented by each pixel on the panoramic video frame in the panoramic video.
On the basis of the above embodiment, the device for acquiring a panoramic expansion map of an inner wall of a pipeline provided in the embodiment of the present invention further includes an annular acquisition area determining module, configured to:
inwards shifting the acquisition circle by a first pixel shift amount to obtain an inner circle, and outwards shifting the acquisition circle by a second pixel shift amount to obtain an outer circle;
and determining the area between the outer circle and the inner circle as the annular acquisition area.
On the basis of the above embodiment, in the device for acquiring the panoramic expansion map of the inner wall of the pipeline provided in the embodiment of the present invention, the diameter of the acquisition circle is within the range of 85% -95% of the height of the target video frame.
On the basis of the above embodiment, in the pipeline inner wall panoramic expansion image acquisition device provided in the embodiment of the present invention, the value range of the width of the annular acquisition region includes 2 pixels to 6 pixels.
On the basis of the above embodiment, in the device for collecting a panoramic expansion map of an inner wall of a pipeline provided in the embodiment of the present invention, the panoramic expansion map module is specifically configured to:
acquiring the current crawling total distance of the crawling equipment and the previous crawling total distance corresponding to the previous extraction action;
judging whether the current moment is the trigger moment of the extraction action or not based on the current crawling total distance, the previous crawling total distance and the preset frame extraction interval;
and if the current moment is the trigger moment, extracting the current video frame in the panoramic video as the target video frame.
On the basis of the above embodiment, the panoramic image unfolding module of the device for collecting a panoramic expansion image of an inner wall of a pipeline provided in the embodiment of the present invention is further specifically configured to:
and unfolding the annular acquisition area by adopting a bilinear interpolation method to obtain the panoramic expansion image.
Specifically, the functions of the modules in the device for acquiring a panoramic expansion view of an inner wall of a pipeline provided in the embodiment of the present invention correspond to the operation flows of the steps in the embodiments of the methods one to one, and the achieved effects are also consistent, for which reference is made to the embodiments above, which are not described again in the embodiments of the present invention.
Fig. 6 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 6: a processor (processor) 610, a communication Interface (Communications Interface) 620, a memory (memory) 630 and a communication bus 640, wherein the processor 610, the communication Interface 620 and the memory 630 communicate with each other via the communication bus 640. The processor 610 may call logic instructions in the memory 630 to execute the method for collecting the panoramic expansion map of the inner wall of the pipeline provided in the embodiments of the above methods, where the method includes: acquiring a panoramic video of the inner wall of the pipeline in real time based on panoramic image acquisition equipment on crawling equipment which crawls at a preset speed in the pipeline; the preset speed is smaller than a speed threshold value, the speed threshold value is determined based on the value of the video frame rate of the panoramic video and a preset frame extraction interval, and the preset frame extraction interval is the crawling distance of the crawling device in the time interval of two adjacent extraction actions when the target video frame for acquiring the panoramic expansion image is extracted from the panoramic video; and extracting the target video frame from the panoramic video based on the preset frame extraction interval, determining a collection circle on the target video frame, and selecting an annular collection area containing the collection circle on the target video frame for expansion to obtain the panoramic expansion image.
In addition, the logic instructions in the memory 630 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. 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 computer program product, where the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, where the computer program includes program instructions, and when the program instructions are executed by a computer, the computer is capable of executing the method for acquiring a panoramic expansion map of an inner wall of a pipeline provided in the embodiments of the foregoing methods, where the method includes: acquiring a panoramic video of the inner wall of the pipeline in real time based on panoramic image acquisition equipment on crawling equipment which crawls at a preset speed in the pipeline; the preset speed is smaller than a speed threshold value, the speed threshold value is determined based on the value of the video frame rate of the panoramic video and a preset frame extraction interval, and the preset frame extraction interval is the crawling distance of the crawling device in the time interval of two adjacent extraction actions when a target video frame used for acquiring a panoramic expansion image is extracted from the panoramic video; and extracting the target video frame from the panoramic video based on the preset frame extraction interval, determining a collection circle on the target video frame, and selecting an annular collection area containing the collection circle on the target video frame for expansion to obtain the panoramic expansion image.
In yet 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 by a processor to perform the method for acquiring a panoramic expansion map of an inner wall of a pipeline provided in the various embodiments of the method described above, and the method includes: acquiring a panoramic video of the inner wall of the pipeline in real time based on panoramic image acquisition equipment on crawling equipment which crawls at a preset speed in the pipeline; the preset speed is smaller than a speed threshold value, the speed threshold value is determined based on the value of the video frame rate of the panoramic video and a preset frame extraction interval, and the preset frame extraction interval is the crawling distance of the crawling device in the time interval of two adjacent extraction actions when a target video frame used for acquiring a panoramic expansion image is extracted from the panoramic video; and extracting the target video frame from the panoramic video based on the preset frame extraction interval, determining a collection circle on the target video frame, and selecting an annular collection area containing the collection circle on the target video frame for expansion to obtain the panoramic expansion image.
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 (9)
1. A pipeline inner wall panoramic expansion map acquisition method is characterized by comprising the following steps:
acquiring a panoramic video of the inner wall of the pipeline in real time based on panoramic image acquisition equipment on crawling equipment which crawls at a preset speed in the pipeline; the preset speed is smaller than a speed threshold value, the speed threshold value is determined based on the value of the video frame rate of the panoramic video and a preset frame extraction interval, and the preset frame extraction interval is the crawling distance of the crawling device in the time interval of two adjacent extraction actions when the target video frame for acquiring the panoramic expansion image is extracted from the panoramic video;
extracting the target video frame from the panoramic video based on the preset frame extraction interval, determining a collection circle on the target video frame, and selecting an annular collection area containing the collection circle on the target video frame for expansion to obtain a panoramic expansion image; the acquisition circle is arranged in the edge area of the target video frame;
the preset frame extraction interval is determined based on the following method:
determining the width of the panorama development based on the width of the annular acquisition area;
and determining the preset frame extraction interval based on the width of the panoramic expansion image and the distance value represented by each pixel on the panoramic video frame in the panoramic video.
2. The pipeline inner wall panoramic expansion map acquisition method according to claim 1, wherein the annular acquisition area is determined based on the following method:
inwards shifting the acquisition circle by a first pixel shift amount to obtain an inner circle, and outwards shifting the acquisition circle by a second pixel shift amount to obtain an outer circle;
and determining the area between the outer circle and the inner circle as the annular acquisition area.
3. The pipeline inner wall panoramic expansion map acquisition method according to any one of claims 1-2, characterized in that the diameter of the acquisition circle is in the range of 85% -95% of the height of the target video frame.
4. The pipeline inner wall panoramic expansion map acquisition method according to any one of claims 1-2, wherein the width of the annular acquisition area ranges from 2 pixels to 6 pixels.
5. The pipeline inner wall panoramic expansion map acquisition method according to any one of claims 1-2, wherein the extracting the target video frame from the panoramic video based on the preset frame extraction interval comprises:
acquiring the current crawling total distance of the crawling equipment and the previous crawling total distance corresponding to the previous extraction action;
judging whether the current moment is the trigger moment of the extraction action or not based on the current crawling total distance, the previous crawling total distance and the preset frame extraction interval;
and if the current moment is the trigger moment, extracting the current video frame in the panoramic video as the target video frame.
6. The method for acquiring the panoramic expansion map of the inner wall of the pipeline according to any one of claims 1 to 2, wherein the step of selecting an annular acquisition area including the acquisition circle on the target video frame to expand to obtain the panoramic expansion map comprises the following steps:
and unfolding the annular acquisition area by adopting a bilinear interpolation method to obtain the panoramic expansion image.
7. The utility model provides a pipeline inner wall panorama development picture collection system which characterized in that includes:
the video acquisition module is used for acquiring a panoramic video of the inner wall of the pipeline in real time based on panoramic image acquisition equipment on crawling equipment which crawls at a preset speed in the pipeline; the preset speed is smaller than a speed threshold value, the speed threshold value is determined based on the value of the video frame rate of the panoramic video and a preset frame extraction interval, and the preset frame extraction interval is the crawling distance of the crawling device in the time interval of two adjacent extraction actions when the target video frame for acquiring the panoramic expansion image is extracted from the panoramic video;
the panorama expansion module is used for extracting the target video frame from the panoramic video based on the preset frame extraction interval, determining a collection circle on the target video frame, and selecting an annular collection area containing the collection circle on the target video frame to expand to obtain a panorama expansion image; the acquisition circle is arranged in the edge area of the target video frame;
the device further comprises a preset frame extraction interval determining module, which is used for:
determining the width of the panoramic expansion map based on the width of the annular acquisition area;
and determining the preset frame extraction interval based on the width of the panoramic expansion image and the distance value represented by each pixel on the panoramic video frame in the panoramic video.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of acquiring the panoramic expansion map of the inner wall of the pipeline according to any one of claims 1 to 6 when executing the program.
9. A non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the pipe inner wall panorama acquisition method according to any one of claims 1 to 6.
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| US8830339B2 (en) * | 2009-04-15 | 2014-09-09 | Qualcomm Incorporated | Auto-triggered fast frame rate digital video recording |
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| CN113099174A (en) * | 2021-03-26 | 2021-07-09 | 武汉固德超前高新科技研发有限公司 | Multi-view camera and crawler with same |
| CN114529808B (en) * | 2022-04-21 | 2022-07-19 | 南京北控工程检测咨询有限公司 | Pipeline detection panoramic shooting processing system and method |
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