Method and device, device and medium for acquiring 3D scene image by using fisheye camera

Abstract

The present disclosure provides a method, device, device and medium for acquiring a three-dimensional scene image by using a fisheye camera. The method includes: using a fisheye camera to acquire a video image of a target scene; based on the three-dimensional coordinates of each vertex in the three-dimensional space model of the target scene The corresponding relationship between the corresponding two-dimensional coordinates, the video image is pasted into the three-dimensional space model, and the three-dimensional scene effect diagram of the target scene is obtained, and the three-dimensional coordinates of the vertex are the space of the vertex in the three-dimensional coordinate system corresponding to the three-dimensional space model Position coordinates, two-dimensional coordinates are the coordinates of the projection point corresponding to the vertex on the cross section of the spherical coordinate system corresponding to the fisheye camera; the spherical coordinate system takes the fisheye camera as the center of the sphere, and is based on the internal parameters and external parameters of the fisheye camera The cross-section plane is a plane passing through the center point of the spherical coordinate system and perpendicular to the positive shooting direction of the fisheye camera. The present disclosure can reduce the image acquisition cost, improve the imaging effect of the 3D scene, and meet the real-time requirement of the video stream.

Description

technical field [0001] The present disclosure relates to video image processing technology, in particular to a method, device, device and medium for acquiring a three-dimensional scene video image by using a fisheye camera. Background technique [0002] At present, the imaging methods in applications such as augmented reality technology (Augmented Reality, AR) all collect the model data and material data of the entire scene through data modeling, and use these data models and material data through a certain three-dimensional (3D ) technology to restore the entire 3D scene. [0003] In the process of realizing the present disclosure, the inventors have found through research that the above-mentioned imaging methods in applications such as AR have at least the following problems: the model data and material data of all objects in the entire scene space need to be collected in advance for modeling, and cannot Use the video stream to restore the real imaging of the entire 3D sc...

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Problems solved by technology

[0003] In the process of realizing the present disclosure, the inventors have found through research that the above-mentioned imaging methods in applications such as AR have at least the following problems: the model data and material data of all objects in the entire scene space need to be collected in advance for modeling, and cannot Use the video stream to restore the real imaging of the entire 3D scene in real time; at present, most of the ordinary cameras are used for image acquisition. Due to the limitation of the shooting angle of ordinary cameras, the imaging of the entire space is usually achieved by fusing the images taken by multiple cameras. The image acquisition cost required to deploy multiple cameras is high, and if there are walking objects or humans in the space, there is a high probability of splitting at the fusion gap of the images captured by multiple cameras, thus affecting the imaging effect of the 3D scene

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