CN117689557A - OpenCV-based method, system and storage medium for converting orthoscopic panorama into hexahedral panorama - Google Patents
OpenCV-based method, system and storage medium for converting orthoscopic panorama into hexahedral panorama Download PDFInfo
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Abstract
The invention discloses a method, a system and a storage medium for converting an orthoscopic panorama into a hexahedral gram based on OpenCV, belonging to the technical field of image conversion, wherein the method comprises the following steps: setting the number of converted images and the resolution of the images, and creating a corresponding number of conversion tasks according to the number of the images, wherein the conversion tasks are used for realizing conversion from panoramic images to six-sided images by calling a remap function in OpenCV; defining a single-sided chart in the six-sided chart as a target image, acquiring resolution information of the target image, inquiring whether the resolution information has corresponding mapping data in a local database, and if so, directly calling the mapping data and sending the mapping data to a conversion task; if not, calculating new mapping data corresponding to the resolution information; and sending the new mapping data to the conversion task and saving the new mapping data to a local database. According to the invention, the mapping data calculated by the resolution ratio of the single-sided map is used as the input of the conversion task, so that the panoramic map is quickly converted.
Description
Technical Field
The invention relates to the technical field of image conversion, in particular to a method, a system and a storage medium for converting an OpenCV-based straight panorama into a six-sided panorama.
Background
The panoramic view is obtained by capturing image information of the whole scene by a professional camera or rendering a picture by modeling software, splicing the picture by the software, playing the picture by a special player, namely changing a planar photo or a computer modeling picture into 360-degree full view for virtual reality browsing, simulating a two-dimensional planar view into a real three-dimensional space, and presenting the real three-dimensional space to an observer.
Panoramic pictures are widely applied in virtual scenes, along with the development of technology, users also increasingly pursue the real effect of the virtual scenes, a scene space is usually built by utilizing a real-shot panoramic picture to replace the scene space built by an original model, six-sided pictures before splicing can exist in image resources when the panoramic pictures are used, so that the panoramic pictures can be directly used, and only a spliced straight Fang Quanjing picture can exist, then the direct panoramic pictures are required to be reconverted into the six-sided pictures, but most of traditional panoramic pictures can only be processed once, if the pictures are too many, a processor can arrange tasks in sequence, and the conversion of the next panoramic picture is carried out after the conversion of the previous panoramic picture is completed, so that the traditional conversion method is low in efficiency and cannot meet the actual use requirement.
Disclosure of Invention
The invention aims to solve the problem of low efficiency of converting the panorama into the six-sided diagram, and provides a method, a system and a storage medium for converting the square panorama into the six-sided diagram based on OpenCV.
In a first aspect, the present invention achieves the above object by the following technical solution, which is a method for converting an OpenCV-based direct panorama into a six-sided panorama, the method comprising the steps of:
setting the number of converted images and the resolution of the images, and creating a corresponding number of conversion tasks according to the number of the images, wherein the conversion tasks are used for realizing conversion from panorama mapping to six-sided mapping by calling a remap function in OpenCV;
defining a single-sided chart in the six-sided chart as a target image, acquiring resolution information of the target image, inquiring whether corresponding mapping data exist in the resolution information in a local database, and if so, directly calling the mapping data and sending the mapping data to the conversion task;
if not, calculating new mapping data corresponding to the resolution information, wherein the method for calculating the new mapping data corresponding to the resolution information comprises the following steps:
acquiring pixel coordinates of a target image, and mapping the pixel coordinates into plane unit vectors [ -1,1] of a rectangular coordinate system;
mapping the coordinates of the plane unit vector [ -1,1] onto a sphere unit vector [ - [ v ] 2/2, [ v ] 2/2 ];
mapping the coordinates of the sphere unit vector [ - [ v ] 2/2, [ v ] 2/2] onto the plane unit vector [ -1,1] by using the angular coordinates of the polar coordinate system;
pixel coordinates mapped from the plane unit vector [ -1,1] to the target image in the texture space as mapping data;
and sending the new mapping data to the conversion task and storing the new mapping data in the local database.
Preferably, the number of images is 6n, where n is the number of panoramic images, and each image is numbered while the number of images is set.
Preferably, the conversion task is created through a cpu, and the cpu sequentially sends all the conversion tasks to different cores of the GPU for calculation.
Preferably, the method for calculating the new mapping data corresponding to the resolution information further includes dividing all pixel coordinates of the target image into two groups of pixel coordinates in a horizontal direction and pixel coordinates in a vertical direction, and calculating the mapping data corresponding to each group of pixel coordinates at the same time.
Preferably, the method for calculating the new mapping data corresponding to the resolution information sends each calculation to the GPU core for processing by calling an interface opened by the GPU.
Preferably, the method further includes pre-storing mapping data corresponding to pictures having resolutions 1440×1440, 1024×1024, 900×900, 768×768, and 512×512 in a local database.
In a second aspect, the present invention achieves the above object by a technical solution, which is a system for converting an OpenCV-based direct panorama into a six-sided panorama, the system comprising:
the task creation unit is used for setting the number of converted images and the resolution of the images, and creating a corresponding number of conversion tasks according to the number of the images, wherein the conversion tasks are used for realizing conversion from panoramic images to six-sided images by calling a remap function in OpenCV;
the conversion unit is used for defining a single-sided chart in the six-sided chart as a target image, acquiring resolution information of the target image, inquiring whether corresponding mapping data exist in the resolution information in a local database, and if so, directly calling the mapping data and sending the mapping data to the conversion task;
if not, calculating new mapping data corresponding to the resolution information, wherein the method for calculating the new mapping data corresponding to the resolution information comprises the following steps:
acquiring pixel coordinates of a target image, and mapping the pixel coordinates into plane unit vectors [ -1,1] of a rectangular coordinate system;
mapping the coordinates of the plane unit vector [ -1,1] onto a sphere unit vector [ - [ v ] 2/2, [ v ] 2/2 ];
mapping the coordinates of the sphere unit vector [ - [ v ] 2/2, [ v ] 2/2] onto the plane unit vector [ -1,1] by using the angular coordinates of the polar coordinate system;
pixel coordinates mapped from the plane unit vector [ -1,1] to the target image in the texture space as mapping data;
the new mapping data are sent to the conversion task and stored in the local database;
and the local database is used for storing the mapping data.
Preferably, the conversion tasks in the conversion unit are created through a cpu, and the cpu sequentially sends all the conversion tasks to different cores of the GPU for calculation.
Preferably, the method for calculating the new mapping data corresponding to the resolution information in the conversion unit further includes dividing all pixel coordinates of the target image into two groups of pixel coordinates in a horizontal direction and pixel coordinates in a vertical direction, and calculating mapping data corresponding to each group of pixel coordinates at the same time.
In a third aspect, the present invention achieves the above object by a storage medium having stored thereon a computer program which, when executed by a processor, implements the method for converting an OpenCV-based direct panorama into a six-sided panorama according to the first aspect.
Compared with the prior art, the invention has the beneficial effects that: according to the method, mapping data of each graph of the six-sided graph is calculated, a remap function in the OpenCV is adopted according to the mapping data to realize a manner of rapidly converting the six-sided graph of the panorama graph, when the mapping data of each graph is calculated, whether the mapping data exist in a local database is judged, if the mapping data are directly called, conversion is realized, if the mapping data do not exist, new mapping data are calculated, and when the mapping data are calculated, the calculation is simultaneously calculated in a plurality of cores of the gpu due to huge pixel number of the pictures, under the condition that the panorama graph number is large, the calculation time is greatly reduced, mapping data corresponding to some pictures with common resolution can be stored in the local database, and the resource occupation of the cpu and the gpu can be reduced by using the method.
Drawings
Fig. 1 is a flowchart of a method for converting an OpenCV-based straight panorama into a six-sided panorama.
Fig. 2 is a schematic diagram of the distribution of model space and panoramic space in a virtual scene according to the present invention.
Fig. 3 is a schematic diagram of a system from an OpenCV-based direct panorama to a six-sided panorama.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. 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.
Example 1
As shown in fig. 1, a method for converting an OpenCV-based straight panorama into a six-sided panorama includes the following steps:
step S1, setting the number of converted images and the resolution of the images, and creating a corresponding number of conversion tasks according to the number of the images, wherein the conversion tasks are used for realizing conversion from panoramic images to six-sided images by calling a remap function in OpenCV. The converted images are single-sided images of six diagrams, and according to the fact that the panoramic diagrams are converted into six diagrams, six images can be converted from each panoramic diagram, and the corresponding number of conversion tasks can be created by setting the number of the images. The number of the images is 6n, wherein n is the number of panoramic images, each image is numbered while the number of the images is set, the image numbers are used for better sequencing the converted images, the images can be quickly found through the numbers, the situation that a user cannot find the corresponding images is avoided, the conversion task is a technology for mapping the original images to the target images based on a remap function in OpenCV, and the remap function is specifically as follows:
void cv::remap(InputArray src,
OutputArray dst,
InputArray map1,
InputArray map2,
int interpolation,
int borderMode = BORDER_CONSTANT,
const Scalar& borderValue = Scalar());
wherein src is the original image; dst, the size of the target image is the same as that of map1, and the data type is the same as that of src; map1 represents an (x, y) coordinate point or an x coordinate, and is of the type CV_16SC2, CV_32FC1 or CV_32Fc2; map2 represents the y coordinate, the types are CV_16UC1, CV_32Fc1, when map1 is the (x, y) coordinate, map2 can be empty; interpolation, representing Interpolation algorithm, and enumerating the types. The INTER AREA interpolation algorithm is temporarily not supported. From this function, it can be seen that when the original images (straight Fang Quanjing drawing), map1 and map2 are input, the target image can be obtained, and the straight panorama is also converted into six views in this way.
Step S2, defining a single-sided chart in the six-sided chart as a target image, acquiring resolution information of the target image, inquiring whether corresponding mapping data exists in the resolution information in a local database, and if so, directly performing step S3;
if not, calculating new mapping data corresponding to the resolution information, wherein the method for calculating the new mapping data corresponding to the resolution information comprises the following steps:
step S201, obtaining pixel coordinates of a target image, and mapping the pixel coordinates into plane unit vectors [ -1,1] of a rectangular coordinate system;
step S202, mapping the coordinates of the plane unit vector [ -1,1] onto a sphere unit vector [ - [ v ] 2/2, [ v ] 2/2 ];
step S203, the coordinates of the sphere unit vector [ - [ v ] 2/2, [ v ] 2/2] are mapped onto the plane unit vector [ -1,1] by using the angular coordinates of the polar coordinate system;
step S204, mapping pixel coordinates of the target image from the plane unit vector [ -1,1] in the texture space as mapping data and saving the mapping data to the local database;
and step S3, calling mapping data and sending the mapping data to the conversion task for execution.
In step S1, since map1 and map2 are known to represent coordinates of pixels of the target image according to the remap function, the resolution of the target image is different, and the resolution is the pixels of the image, and the map1 and map2 obtained are different, in step S2, map1 and map2 are used as mapping data, so that the mapping data of the target image need to be calculated, and some mapping data are stored in advance in the local database and can be called, so that in step S2, the local database search is performed on the mapping data corresponding to the input target image, if the mapping data can be searched, the mapping data can be directly called and input into the conversion task, the calculation step is reduced, if the mapping data cannot be searched, and the calculation of the mapping data is performed. The method further includes pre-storing map data corresponding to pictures with resolutions 1440, 1024, 900, 768 and 512, in a local database, where some of the resolutions are commonly used image resolutions and can be used for most target images, and of course, the listed resolutions are not all the resolutions pre-stored in the local database, and the pre-stored map data can be selected by user custom according to user habits or needs, so that the map data corresponding to all the picture resolutions are not listed.
As shown in fig. 2, which shows a calculation flow of new mapping data, the calculation essence of the mapping data is the conversion of pixel coordinates, and because the target image has different numbers of pixels according to different resolutions, the number of calculation steps required to be calculated is also huge.
Different from the above-mentioned method for calculating x and y coordinates by using a single pixel point, it is also possible to divide all pixel coordinates of the target image into two groups of pixel coordinates in the horizontal direction and pixel coordinates in the vertical direction, and calculate mapping data corresponding to each group of pixel coordinates, for example, calculate all x coordinates of the target image and calculate all y coordinates of the target image, where the two calculation modes are different, but when the two calculation modes are input to the conversion task, only the map1 and map2 are different, just like the map1 described in step S1, which represents (x, y) coordinate points or x coordinates, and the types are cv_16sc2, cv_32fc1 or cv_32fc2; map2 represents the y coordinate, the types are CV_16UC1, CV_32Fc1, and when map1 is the (x, y) coordinate, map2 may be empty. Similarly, in any computing mode, each computing can be sent to the GPU core for processing by calling an interface opened by the GPU, so as to improve the computing efficiency.
The conversion tasks are created through the CPU, the CPU sequentially sends all the conversion tasks to different cores of the GPU for calculation, the conversion efficiency of the conversion tasks can be improved through a GPU acceleration mode, the conversion tasks are created and distributed through the CPU, each task is independent, a plurality of panoramic images can be processed at one time, and the effect of multi-thread acceleration is achieved.
Example 2
As shown in fig. 3, a system for converting an OpenCV-based direct panorama into a six-sided panorama, the system comprising:
the task creation unit is used for setting the number of converted images and the resolution of the images, and creating a corresponding number of conversion tasks according to the number of the images, wherein the conversion tasks are used for realizing conversion from panoramic images to six-sided images by calling a remap function in OpenCV; the number of images is 6n, wherein n is the number of panoramic images, and each image is numbered while the number of images is set;
the conversion unit is used for defining a single-sided chart in the six-sided chart as a target image, acquiring resolution information of the target image, inquiring whether corresponding mapping data exist in the resolution information in a local database, and if so, directly calling the mapping data and sending the mapping data to the conversion task; the method comprises the steps of pre-storing mapping data corresponding to pictures with resolution of 1440, 1024, 900, 768 and 512, in a local database;
if not, calculating new mapping data corresponding to the resolution information, wherein the method for calculating the new mapping data corresponding to the resolution information comprises the following steps:
acquiring pixel coordinates of a target image, and mapping the pixel coordinates into plane unit vectors [ -1,1] of a rectangular coordinate system;
mapping the coordinates of the plane unit vector [ -1,1] onto a sphere unit vector [ - [ v ] 2/2, [ v ] 2/2 ];
mapping the coordinates of the sphere unit vector [ - [ v ] 2/2, [ v ] 2/2] onto the plane unit vector [ -1,1] by using the angular coordinates of the polar coordinate system;
pixel coordinates mapped from the plane unit vector [ -1,1] to the target image in the texture space as mapping data;
the new mapping data are sent to the conversion task and stored in the local database;
and the local database is used for storing the mapping data.
And the conversion tasks in the conversion unit are created through a CPU, and the CPU sequentially sends all the conversion tasks to different cores of the GPU for calculation.
The method for calculating the new mapping data corresponding to the resolution information in the conversion unit further comprises dividing all pixel coordinates of the target image into two groups of pixel coordinates in the horizontal direction and pixel coordinates in the vertical direction, and calculating the mapping data corresponding to each group of pixel coordinates. And the method for calculating the new mapping data corresponding to the resolution information sends each calculation to the GPU core for processing by calling an interface opened by the GPU.
Embodiment 2 is substantially the same as embodiment 1, and therefore the working principle of each unit in embodiment 2 is not described in detail.
The method for calculating the new mapping data corresponding to the resolution information further comprises dividing all pixel coordinates of the target image into two groups of pixel coordinates in the horizontal direction and pixel coordinates in the vertical direction, and simultaneously calculating the mapping data corresponding to each group of pixel coordinates.
Example 3
The embodiment provides a storage medium, which comprises a storage program area and a storage data area, wherein the storage program area can store an operating system, a program required by running an instant messaging function and the like; the storage data area can store various instant messaging information, operation instruction sets and the like. A computer program is stored in the storage program area, and when the computer program is executed by a processor, the method for converting the OpenCV-based direct panorama into the six-sided panorama is implemented as described in embodiment 1. The processor may comprise one or more central processing units, or a digital processing unit or the like.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (10)
1. The method for converting the orthographic panorama into the hexahedral gram based on the OpenCV is characterized by comprising the following steps of:
setting the number of converted images and the resolution of the images, and creating a corresponding number of conversion tasks according to the number of the images, wherein the conversion tasks are used for realizing conversion from panorama mapping to six-sided mapping by calling a remap function in OpenCV;
defining a single-sided chart in the six-sided chart as a target image, acquiring resolution information of the target image, inquiring whether corresponding mapping data exist in the resolution information in a local database, and if so, directly calling the mapping data and sending the mapping data to the conversion task;
if not, calculating new mapping data corresponding to the resolution information, wherein the method for calculating the new mapping data corresponding to the resolution information comprises the following steps:
acquiring pixel coordinates of a target image, and mapping the pixel coordinates into plane unit vectors [ -1,1] of a rectangular coordinate system;
mapping the coordinates of the plane unit vector [ -1,1] onto a sphere unit vector [ - [ v ] 2/2, [ v ] 2/2 ];
mapping the coordinates of the sphere unit vector [ - [ v ] 2/2, [ v ] 2/2] onto the plane unit vector [ -1,1] by using the angular coordinates of the polar coordinate system;
pixel coordinates mapped from the plane unit vector [ -1,1] to the target image in the texture space as mapping data;
and sending the new mapping data to the conversion task and storing the new mapping data in the local database.
2. The OpenCV-based method for converting a direct panorama into a six-sided view according to claim 1, wherein the number of images is 6n, wherein n is the number of panorama images, and each image is numbered while the number of images is set.
3. The OpenCV-based method for converting a direct panorama into a six-sided diagram according to claim 1, wherein the conversion tasks are created by a cpu, and the cpu sequentially sends all the conversion tasks to different cores of the GPU for calculation.
4. The method for converting an OpenCV-based panorama to a six-sided view according to claim 1, wherein the calculating the new mapping data corresponding to the resolution information further comprises dividing all pixel coordinates of the target image into two sets of horizontal pixel coordinates and vertical pixel coordinates, and simultaneously calculating the mapping data corresponding to each set of pixel coordinates.
5. The method for converting the OpenCV-based panorama into the hexahedral view according to claim 1 or 4, wherein the method for calculating the new mapping data corresponding to the resolution information sends each calculation to the GPU core for processing by calling an interface opened by the GPU.
6. The method of converting an OpenCV-based panorama to a six-sided view according to claim 1, further comprising pre-storing mapping data corresponding to pictures having resolutions 1440 x 1440, 1024 x 1024, 900 x 900, 768 x 768 and 512 x 512 in a local database.
7. A system for converting an orthographic panorama to a six-sided panorama based on OpenCV, the system comprising:
the task creation unit is used for setting the number of converted images and the resolution of the images, and creating a corresponding number of conversion tasks according to the number of the images, wherein the conversion tasks are used for realizing conversion from panoramic images to six-sided images by calling a remap function in OpenCV;
the conversion unit is used for defining a single-sided chart in the six-sided chart as a target image, acquiring resolution information of the target image, inquiring whether corresponding mapping data exist in the resolution information in a local database, and if so, directly calling the mapping data and sending the mapping data to the conversion task;
if not, calculating new mapping data corresponding to the resolution information, wherein the method for calculating the new mapping data corresponding to the resolution information comprises the following steps:
acquiring pixel coordinates of a target image, and mapping the pixel coordinates into plane unit vectors [ -1,1] of a rectangular coordinate system;
mapping the coordinates of the plane unit vector [ -1,1] onto a sphere unit vector [ - [ v ] 2/2, [ v ] 2/2 ];
mapping the coordinates of the sphere unit vector [ - [ v ] 2/2, [ v ] 2/2] onto the plane unit vector [ -1,1] by using the angular coordinates of the polar coordinate system;
pixel coordinates mapped from the plane unit vector [ -1,1] to the target image in the texture space as mapping data;
the new mapping data are sent to the conversion task and stored in the local database;
and the local database is used for storing the mapping data.
8. The OpenCV based system of direct panorama to six-sided map according to claim 7, wherein the conversion tasks in the conversion unit are created by a cpu, which sends all the conversion tasks to different cores of the GPU in turn for computation.
9. The OpenCV based system of converting a direct panorama into a six-sided view according to claim 7, wherein said method for calculating new mapping data corresponding to said resolution information in said converting unit further comprises dividing all pixel coordinates of the target image into two sets of horizontal pixel coordinates and vertical pixel coordinates, and calculating mapping data corresponding to each set of pixel coordinates simultaneously.
10. A storage medium having stored thereon a computer program which, when executed by a processor, implements the OpenCV-based method of converting a direct panorama into a six-sided panorama according to any of claims 1-6.
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| 郑轩: "基于全景相机组的立体视觉系统设计与实现", 《中国优秀硕士学位论文全文数据库信息科技辑》, no. 2018, 15 April 2018 (2018-04-15), pages 138 - 2653 * |
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