CN105847697A - Panoramic stereo image acquisition method and device - Google Patents

Abstract

The invention is applicable to the technical field of computers, and provides a panoramic stereo image acquisition method and a panoramic stereo image acquisition device, wherein the method comprises the following steps: acquire the gesture data of presetting a plurality of cameras in the northeast coordinate system through attitude sensor, it is the even number that more than or equal to 8 to preset the quantity, it divide into two sets ofly to preset a plurality of cameras, and two sets of cameras are along circumference alternative, evenly set up, through two sets of cameras acquire the image in two sets of cameras place direction within range to obtain two sets of images that correspond, according to the gesture data that every camera corresponds in two sets of images, it is right respectively to carry out the image concatenation for two sets of images, in order to obtain two panoramic images, it is right two panoramic images carry out the synthesis operation, generate the panoramic stereo image that corresponds to panoramic image's display effect has been improved.

Description

A method and device for acquiring a panoramic stereoscopic image

technical field

The invention belongs to the technical field of computers, and in particular relates to a method and a device for acquiring a panoramic stereoscopic image.

Background technique

Generally, a panoramic camera is packaged with a plurality of sensors with different orientations inside, and then the panoramic effect is obtained by performing image splicing operation on the sub-screens acquired by the sensors, and sometimes the panoramic effect can also be obtained by using a rotating scanning camera. At present, panoramic cameras are widely used in map navigation, video surveillance and other fields to provide users with 360-degree panoramic images. However, the existing panoramic camera-based panoramic camera systems cannot provide complete stereo vision to provide users with better Panoramic stereo experience, or for special equipment to restore the environment, thereby reducing the popularity and user experience of panoramic camera systems.

Contents of the invention

The object of the present invention is to provide a method and device for obtaining a panoramic stereoscopic image, aiming at solving the problems of poor panoramic image display and poor user experience due to the inability to provide an effective stereoscopic panoramic image acquisition method in the prior art.

On the one hand, the present invention provides a kind of panoramic stereo image acquisition method, described method comprises the following steps:

Obtain the attitude data of a preset number of cameras in the northeast sky coordinate system through the attitude sensor, the preset number is an even number greater than or equal to 8, the preset number of cameras is divided into two groups, and the two groups of cameras alternate along the circumferential direction , evenly set;

Obtaining images within the range of directions where the two groups of cameras are located by the two groups of cameras to obtain two corresponding groups of images;

According to the posture data corresponding to each camera in the two groups of images, image stitching is performed on the two groups of images respectively to obtain two panoramic images, and a synthesis operation is performed on the two panoramic images to generate a corresponding panoramic image Stereoscopic image.

In another aspect, the present invention provides a panoramic stereoscopic image acquisition device, the device comprising:

The attitude data acquisition unit is used to acquire the attitude data of a preset number of cameras in the northeast sky coordinate system through the attitude sensor, the preset number is an even number greater than or equal to 8, and the preset number of cameras is divided into two groups, Two sets of cameras are arranged alternately and evenly along the circumference;

An image acquisition unit, configured to acquire images within the direction range of the two groups of cameras through the two groups of cameras, so as to obtain corresponding two groups of images; and

A stereoscopic image generation unit, configured to perform image stitching on the two sets of images according to the attitude data corresponding to each camera in the two sets of images to obtain two panoramic images, and perform image stitching on the two panoramic images Compositing operations to generate corresponding panoramic stereo images.

In the embodiment of the present invention, the posture data of a predetermined number of cameras arranged alternately and uniformly along the circumferential direction in the northeast sky coordinate system is acquired by the posture sensor. The preset number of cameras is divided into two groups, and the two groups of cameras Obtain the images within the direction range of the two groups of cameras to obtain the corresponding two groups of images, and according to the attitude data corresponding to each camera in the two groups of images, respectively perform image stitching on the two groups of images to obtain two The panoramic image is composed of two panoramic images to generate a corresponding panoramic stereoscopic image, thereby improving the display effect of the panoramic image.

Description of drawings

FIG. 1 is a flow chart of the implementation of the panoramic stereoscopic image acquisition method provided by Embodiment 1 of the present invention;

FIG. 2 is a flow chart of the implementation of the panoramic stereoscopic image acquisition method provided by Embodiment 2 of the present invention;

FIG. 3 is a schematic structural diagram of a panoramic stereoscopic image acquisition device provided in Embodiment 3 of the present invention; and

FIG. 4 is a schematic structural diagram of a panoramic stereoscopic image acquisition device provided in Embodiment 4 of the present invention.

detailed description

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

The specific realization of the present invention is described in detail below in conjunction with specific embodiment:

Embodiment one:

Fig. 1 shows the implementation process of the panoramic stereoscopic image acquisition method provided by Embodiment 1 of the present invention. For the convenience of description, only the parts related to the embodiment of the present invention are shown, and the details are as follows:

In step S101 , attitude data of a preset number of cameras in the northeast sky coordinate system are acquired by an attitude sensor, and the preset number of cameras are divided into two groups.

The embodiment of the present invention is applicable to a panoramic camera or a panoramic camera system, for example, a panoramic map camera or system, which is provided with an image data processing unit, an attitude sensor and a preset number of cameras. In the embodiment of the present invention, the preset number is an even number greater than or equal to 8, and the preset number of cameras is divided into two groups, and the two groups of cameras are arranged alternately and uniformly along the circumferential direction. Preferably, the preset number of cameras is 8, and two groups of cameras are arranged alternately and evenly along the circumference, so that while reducing the number of cameras in the panoramic camera or panoramic camera system and reducing the cost, the coverage of the captured images will not be reduced.

In step S102, the images within the direction ranges of the two sets of cameras are acquired through the two sets of cameras, so as to obtain two sets of corresponding images.

In the embodiment of the present invention, each camera is used to shoot and acquire images within the range of its orientation or direction to obtain corresponding two groups of images, and the shooting angle of each camera can reach 110 degrees to 150 degrees, and the two groups The same number of images in the image. After the image is acquired, the pose data corresponding to the camera should also be associated with the corresponding image for subsequent image stitching.

In step S103, according to the pose data corresponding to each camera in the two groups of images, image stitching is performed on the two groups of images to obtain two panoramic images, and the two panoramic images are synthesized to generate a corresponding panoramic stereo image.

In the embodiment of the present invention, after acquiring the image in the direction of each camera and the pose data corresponding to the camera, according to the pose data corresponding to each camera in the two groups of images, image stitching is performed on the two groups of images respectively.

During stitching, according to the attitude data corresponding to each camera in the two sets of images, the images acquired by each camera are converted into images under the same attitude, and the converted two sets of images are respectively stitched, so that the stitched images are not different. Misalignment occurs, where the same pose can be that of any of all cameras. When synthesizing two panoramic images, due to the parallax in the images acquired by adjacent cameras, it is equivalent to the images acquired by the left and right eyes of a person. Therefore, stereoscopic vision can be obtained when viewing the synthesized images with naked eyes, which can provide users with Directly provide or output a stereoscopic panoramic image, which improves the image display effect and user experience.

Embodiment two:

Fig. 2 shows the implementation flow of the panoramic stereoscopic image acquisition method provided by the second embodiment of the present invention. For the convenience of description, only the parts related to the embodiment of the present invention are shown, and the details are as follows:

In step S201 , attitude data of a preset number of cameras in the northeast sky coordinate system are acquired by an attitude sensor, and the preset number of cameras are divided into two groups.

The embodiment of the present invention is applicable to a panoramic camera or a panoramic camera system, for example, a panoramic map camera or system, which is provided with an image data processing unit, an attitude sensor and a preset number of cameras. In the embodiment of the present invention, the preset number is an even number greater than or equal to 8, and the preset number of cameras is divided into two groups, and the two groups of cameras are arranged alternately and uniformly along the circumferential direction. Preferably, the preset number of cameras is 8, and two groups of cameras are arranged alternately and evenly along the circumference, so that while reducing the number of cameras in the panoramic camera or panoramic camera system and reducing the cost, the coverage of the captured images will not be reduced.

In step S202, the images within the direction ranges where the two groups of cameras are located are acquired through the two groups of cameras, so as to obtain two corresponding groups of images.

In step S203, a corresponding microphone is set in the direction of each camera in the two groups of cameras to collect sound in the direction.

In the embodiment of the present invention, after the image, gesture data and sound data are acquired, the image, gesture data and sound data corresponding to the same camera can be associated and saved for subsequent image splicing and output.

In step S204, according to the posture data corresponding to each camera in the two groups of images, the two groups of images are respectively image stitched to obtain two panoramic images, and the two panoramic images are synthesized to generate a corresponding panoramic stereo image.

In the embodiment of the present invention, during splicing, according to the posture data corresponding to each camera in the two groups of images, the images acquired by each camera are converted into images in the same posture, and the converted two groups of images are respectively spliced , so that the spliced images are not misaligned, wherein the same pose can be the pose of any camera among all the cameras. When synthesizing two panoramic images, due to the parallax in the images acquired by adjacent cameras, it is equivalent to the images acquired by the left and right eyes of a person. Therefore, stereoscopic vision can be obtained when viewing the synthesized images with naked eyes, which can provide users with Directly provide or output a stereoscopic panoramic image, which improves the image display effect and user experience.

In step S205, when the user's request to view the panoramic stereoscopic image is received, the orientation requested by the user to be viewed is determined.

In the embodiment of the present invention, when receiving a user's request to view a panoramic stereoscopic image, first determine the position of the user's viewpoint and the orientation requested to view, that is, the user's field of view, and then search for the corresponding image in the panoramic stereoscopic image.

In step S206, according to the determined orientation, the image and the sound corresponding to the orientation in the panoramic stereo image are output.

In the embodiment of the present invention, according to the determined orientation, the image of the corresponding orientation in the panoramic stereo image is output, and at the same time, the sound collected by the microphone adjacent to the position of the user's viewpoint is acquired, according to the orientation set by the microphone, and the distance between the microphone and the orientation. The sound is mixed and output, and the sound information can be obtained while the stereoscopic image is output, so that the user experience of the panoramic camera system can be effectively improved.

Those of ordinary skill in the art can understand that all or part of the steps in the method of the above-mentioned embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage Media such as ROM/RAM, magnetic disk, optical disk, etc.

Embodiment three:

Fig. 3 shows the structure of the panoramic stereoscopic image acquisition device provided by the third embodiment of the present invention. For the convenience of description, only the parts related to the embodiment of the present invention are shown, including:

The attitude data acquisition unit 31 is used to acquire the attitude data of a preset number of cameras in the northeast sky coordinate system through the attitude sensor, the preset number is an even number greater than or equal to 8, and the preset number of cameras is divided into two groups , two groups of cameras are arranged alternately and uniformly along the circumferential direction;

An image acquisition unit 32, configured to acquire images within the direction range of the two groups of cameras through the two groups of cameras, so as to obtain corresponding two groups of images; and

Stereoscopic image generation unit 33, for according to the attitude data corresponding to each camera in the two groups of images, image stitching is respectively performed on the two groups of images to obtain two panoramic images, and the two panoramic images are A composite operation is performed to generate a corresponding panoramic stereoscopic image.

In the embodiment of the present invention, each unit of the panoramic stereoscopic image acquisition device can be realized by corresponding hardware or software units, and each unit can be an independent software and hardware unit, or can be integrated into a software and hardware unit, which is not limited here. this invention. For the specific implementation manner of each unit, reference may be made to the description of the first embodiment above, and details are not repeated here.

Embodiment four:

Fig. 4 shows the structure of the panoramic stereoscopic image acquisition device provided by the fourth embodiment of the present invention. For the convenience of description, only the parts related to the embodiment of the present invention are shown, including:

The attitude data acquisition unit 41 is used to acquire the attitude data of a preset number of cameras in the northeast sky coordinate system through the attitude sensor, the preset number is an even number greater than or equal to 8, and the preset number of cameras is divided into two groups , two groups of cameras are arranged alternately and uniformly along the circumferential direction;

An image acquisition unit 42, configured to acquire images within the direction range of the two groups of cameras through the two groups of cameras, so as to obtain corresponding two groups of images;

A sound collection unit 43, configured to set a corresponding microphone in the direction of each camera in the two groups of cameras, so as to collect the sound in the direction;

Stereoscopic image generation unit 44, for according to the attitude data corresponding to each camera in the two groups of images, image stitching is respectively performed on the two groups of images to obtain two panoramic images, and the two panoramic images are Perform a synthesis operation to generate a corresponding panoramic stereoscopic image;

The orientation determination unit 45 is configured to determine the orientation that the user requests to view when receiving a request from the user to view the panoramic stereoscopic image; and

The image output unit 46 is configured to, according to the determined orientation, output the image and sound of the corresponding orientation in the panoramic stereoscopic image.

In the embodiment of the present invention, after acquiring the image in the direction of each camera and the pose data corresponding to the camera, according to the pose data corresponding to each camera in the two groups of images, image stitching is performed on the two groups of images respectively. During stitching, according to the attitude data corresponding to each camera in the two sets of images, the images acquired by each camera are converted into images under the same attitude, and the converted two sets of images are respectively stitched, so that the stitched images are not different. If misalignment occurs, the same pose can be the pose of any camera among all cameras. When synthesizing two panoramic images, due to the parallax in the images obtained by adjacent cameras, it is equivalent to the images obtained by the left and right eyes of a person. Therefore, when viewing the image with naked eyes, stereo vision can be obtained, which can provide users with The three-dimensional panoramic image improves the display effect of the image.

Therefore, as shown in the figure, the stereoscopic image generation unit 44 may include an image splicing unit 441, which is used to convert the image acquired by each camera into an image under the same posture according to the posture data corresponding to each camera in the two groups of images, The converted two sets of images are stitched separately.

In the embodiment of the present invention, each unit of the panoramic stereoscopic image acquisition device can be realized by corresponding hardware or software units, and each unit can be an independent software and hardware unit, or can be integrated into a software and hardware unit, which is not limited here. this invention. For the specific implementation manner of each unit, reference may be made to the description of the second embodiment above, and details are not repeated here.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. within range.

Claims (10)

1. a panoramic stereo image acquisition methods, it is characterised in that described method comprises the steps:

The attitude data in predetermined number photographic head sky coordinate system northeastward, institute is obtained by attitude transducer Stating predetermined number is the even number more than or equal to 8, and described predetermined number photographic head is divided into two groups, two groups of shootings Circumferentially alternating, be uniformly arranged；

The image in the range of direction, described two groups of photographic head places is obtained, to obtain by described two groups of photographic head Two groups of corresponding images；

According to the attitude data that each photographic head in described two groups of images is corresponding, respectively described two groups of images are entered Described two width panoramic pictures, to obtain two width panoramic pictures, are carried out synthetic operation by row image mosaic, generate Corresponding panoramic stereo image.

2. described method as claimed in claim 1, it is characterised in that the predetermined number of described photographic head is 8, Described two groups of photographic head circumferentially circumference replaces, is uniformly arranged.

3. described method as claimed in claim 1, it is characterised in that described method also includes:

In described two groups of photographic head, each photographic head place side sets up the mike of correspondence, to gather Sound on direction.

4. described method as claimed in claim 3, it is characterised in that described method also includes:

When receiving the request that user checks described panoramic stereo image, determine what described user request was checked Orientation；

According to the described orientation determined, export image and the sound in corresponding orientation in described panoramic stereo image.

5. described method as claimed in claim 1, it is characterised in that take the photograph according to each in described two groups of images As the attitude data that head is corresponding, respectively described two groups of images are carried out the step of image mosaic, including:

According to the attitude data that each photographic head in described two groups of images is corresponding, the image that each shooting obtains is turned It is changed to the image under same attitude, respectively two groups of images after conversion is spliced.

6. a panoramic stereo image acquisition device, it is characterised in that described device includes:

Attitude data acquiring unit, for obtaining predetermined number photographic head sky northeastward by attitude transducer Attitude data in coordinate system, described predetermined number is the even number more than or equal to 8, and described predetermined number is taken the photograph As head is divided into two groups, two groups of photographic head are circumferentially alternating, be uniformly arranged；

Image acquisition unit, for obtaining direction, described two groups of photographic head places model by described two groups of photographic head Enclose interior image, to obtain two groups of images of correspondence；And

Stereo-picture signal generating unit, for the attitude data corresponding according to each photographic head in described two groups of images, Respectively described two groups of images are carried out image mosaic, to obtain two width panoramic pictures, to described two width panorama sketch As carrying out synthetic operation, generate corresponding panoramic stereo image.

7. described device as claimed in claim 6, it is characterised in that the predetermined number of described photographic head is 8, Described two groups of photographic head circumferentially circumference replaces, is uniformly arranged.

8. described device as claimed in claim 6, it is characterised in that described device also includes:

Sound collection unit, sets up for each photographic head place side in described two groups of photographic head Corresponding mike, to gather the sound on direction, place.

9. described device as claimed in claim 8, it is characterised in that described device also includes:

Orientation determination element, for when receiving the request that user checks described panoramic stereo image, determines Described user asks the orientation checked；And

Image output unit, for according to the described orientation determined, exports in described panoramic stereo image corresponding The image in orientation and sound.

10. described device as claimed in claim 6, it is characterised in that described stereo-picture signal generating unit bag Include:

Image mosaic unit, will be every for the attitude data corresponding according to each photographic head in described two groups of images The image that individual shooting obtains is converted to the image under same attitude, spells two groups of images after conversion respectively Connect.