Active omni-directional vision-based 3D (three-dimensional) environment duplication system and 3D omni-directional display drawing method
A panoramic display and panoramic vision technology, applied in surveying and navigation, photogrammetry/video metrology, measuring devices, etc., can solve the problems of increasing the sense of immersive experience, high consumption of computer resources, and poor practicability, etc. Achieve the effects of reducing computer resource consumption, good real-time performance, and strong practicability
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Embodiment 1
[0064] refer to Figure 1-16 , a 3D environment replication system based on active panoramic vision and a 3D panoramic display rendering method, including an omnidirectional visual sensor, a moving body laser light source, and a microprocessor for performing 3D panoramic reconstruction and 3D panoramic rendering output on omnidirectional images .
[0065] The center of the omnidirectional vision sensor and the center of the moving body laser light source are arranged on the same axis line. as attached figure 1 As shown, the omnidirectional visual sensor includes a hyperboloid mirror 2, an upper cover 1, a transparent semicircular cover 3, a lower fixing seat 4, a camera unit fixing seat 5, a camera unit 6, a connecting unit 7, and an upper cover 8. The hyperboloid mirror surface 2 is fixed on the upper cover 1, and the connecting unit 7 connects the lower fixing base 4 and the transparent semicircular cover 3 into one body, and the transparent semicircular cover 3, the upper...
Embodiment 2
[0158] The other structure and working process of this embodiment are the same as those of Embodiment 1, the difference is: to meet the needs of different reconstruction scenarios, replace the hardware module of the laser light source of the moving body, that is, change the attached Figure 4 The projection angle θ of the green laser line in a and the projection angle θ of the blue laser line c , to change the vertical scanning range.
Embodiment 3
[0160] The rest are the same as in Embodiment 1. According to the requirements of drawing and displaying different 3D scenes, the human-centered panoramic perspective view cycle display drawing module is used to continuously change the viewing angle in the 3D reconstruction environment according to the observer. From the perspective of ergonomics Determine the field of view to draw a 3D perspective, the core of which is to continuously and slowly change the azimuth angle β to generate a display data matrix under the azimuth angle β; the key algorithm is as follows:
[0161] STEP1: Determine the initial azimuth angle β 1 , read the minimum distance h min and the maximum distance h max data;
[0162] STEP2: β=β 1 , to determine the number of display loops N, n=0;
[0163] STEP3: h=h min ;
[0164] STEP4: Read the data from the initial azimuth β of the distance value h to β+300, if β+300≥1000, then β+300=β+300-1000; use these values as a new row of data in the matrix, h= h...
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