Panoramic image generation method and device, equipment, medium and program product

Abstract

The invention discloses a panoramic image generation method and device, equipment, a medium and a program product. Relates to the technical field of image processing, and solves the problem that the same target object is shot for multiple times at different times in the existing manner that a photoelectric turntable is adopted to carry an infrared field-of-view camera for circumferential scanning. The method comprises the steps of performing distortion processing on each infrared image according to original image information, generating N * M to-be-spliced images, generating a polar coordinate system according to the to-be-spliced images, determining theoretical overlapping areas among the to-be-spliced images, performing image fusion processing on the to-be-spliced images according to the theoretical overlapping areas, generating a to-be-placed image, and storing the to-be-placed image. And according to the pitch angle information, placing the to-be-placed image at a corresponding coordinate position under the polar coordinate system, generating a panorama under the polar coordinate system, and according to a relationship between the polar coordinate system and a rectangular coordinate system, performing coordinate system transformation on the panorama to generate a panorama image.

Description

Technical Field

[0001] The present invention relates to the field of image processing technology, and in particular to a panoramic image generation method, device, equipment, medium and program product. Background Art

[0002] With the advancement of science and technology and the development of social economy, online monitoring has become a trend. Thermal imaging technology, as one of the important monitoring methods, usually uses a fixed infrared camera to collect the temperature distribution of the target object. However, this method can only monitor a single target object and cannot achieve large-scale monitoring.

[0003] In order to improve the monitoring efficiency, a mobile thermal imaging solution is proposed in the prior art, that is, an infrared field camera is mounted on a photoelectric turntable, and the photoelectric turntable is used to drive the infrared field camera to perform a circular scan around the rotation center, so that a large area of ​​target objects can be monitored. Since the infrared field camera is at different angles during the rotation of the photoelectric turntable, the same target object will be photographed multiple times at different times, resulting in repeated sampling and reducing the monitoring efficiency. Summary of the invention

[0004] The embodiments of the present application provide a panoramic image generation method, device, equipment, medium and program product, which are intended to solve the problem that the existing method of using an optoelectronic turntable equipped with an infrared field-of-view camera for circumferential scanning causes the same target object to be photographed multiple times at different times.

[0005] In a first aspect, an embodiment of the present application provides a method for generating a panoramic image, comprising:

[0006] According to the original image information, each infrared image is distorted to generate N*M images to be stitched, wherein the original image information includes the infrared image and the pitch angle information corresponding to the infrared image, and the infrared image is obtained by scanning the photoelectric turntable according to the pitch angle information;

[0007] Generate a polar coordinate system according to the images to be stitched, and determine a theoretical overlapping area between the images to be stitched;

[0008] According to the theoretical overlapping area, performing image fusion processing on the images to be stitched to generate images to be placed;

[0009] According to the pitch angle information, the image to be placed is placed at a corresponding coordinate position in the polar coordinate system to generate a panoramic image in polar coordinates;

[0010] According to the relationship between the polar coordinate system and the rectangular coordinate system, the panoramic image is subjected to coordinate system transformation to generate a panoramic image.

[0011] Preferably, the step of performing distortion processing on each infrared image according to the original image information to generate N*M images to be stitched specifically includes:

[0012] Acquire original infrared image data, where the original infrared image data is obtained by shooting with an infrared field camera on a photoelectric turntable;

[0013] Obtaining the infrared image and the pitch angle information corresponding thereto through the infrared image raw data;

[0014] Determining a shooting speed of the infrared field of view camera according to the pitch angle information;

[0015] When the shooting speed is in a uniform state, N*M infrared images are obtained, and the radian angle information corresponding to each row of pixel points in each infrared image is determined.

[0016] Preferably, when the shooting speed is in a uniform state, after obtaining N*M infrared images, the method further includes:

[0017] According to the radian angle information, the infrared image is distorted to generate N*M images to be stitched.

[0018] Preferably, performing image fusion processing on the images to be stitched according to the theoretical overlapping area to generate the images to be placed specifically includes:

[0019] According to the theoretical overlapping area, the images to be stitched are subjected to linear fusion and superposition processing to obtain images to be placed;

[0020] According to the pitch angle information, the coordinate position corresponding to the image to be placed in the polar coordinate system is calculated.

[0021] Preferably, placing the image to be placed at a corresponding coordinate position in the polar coordinate system according to the pitch angle information to generate a panoramic image in polar coordinates includes:

[0022] Determining the coordinate position of the image to be placed according to the pitch angle information;

[0023] The image to be placed is placed according to the coordinate position to generate a panoramic image under polar coordinates.

[0024] In a second aspect, an embodiment of the present application further provides a panoramic image generation device, including:

[0025] A processing module, used for performing distortion processing on each infrared image according to original image information to generate N*M images to be stitched, wherein the original image information includes an infrared image and pitch angle information corresponding to the infrared image, and the infrared image is obtained by scanning the photoelectric turntable according to the pitch angle information;

[0026] A determination module, used for generating a polar coordinate system according to the images to be stitched, and determining a theoretical overlapping area between the images to be stitched;

[0027] A fusion module, used for performing image fusion processing on the images to be stitched according to the theoretical overlapping area to generate an image to be placed;

[0028] A placement module, used for placing the image to be placed at a corresponding coordinate position in the polar coordinate system according to the pitch angle information, so as to generate a panoramic image in polar coordinates;

[0029] The transformation module is used to perform coordinate system transformation on the panoramic image according to the relationship between the polar coordinate system and the rectangular coordinate system to generate a panoramic image.

[0030] In a third aspect, an embodiment of the present application provides an electronic device, including: a processor and a memory, wherein the processor is used to call a program in the memory so that the electronic device executes the above method.

[0031] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores instructions, and when the instructions are executed, the computer executes the above method.

[0032] In a fifth aspect, an embodiment of the present application further provides a computer program product, including a computer program, which implements the above method when executed.

[0033] The panoramic image generation method, device, equipment, medium and program product provided in the embodiment of the present application perform distortion processing on each infrared image according to the original image information to generate N*M images to be stitched, generate a polar coordinate system according to the images to be stitched, and determine the theoretical overlapping area between the images to be stitched, perform image fusion processing on the images to be stitched according to the theoretical overlapping area to generate an image to be placed, place the image to be placed at the corresponding coordinate position in the polar coordinate system according to the pitch angle information, generate a panoramic image in polar coordinates, perform coordinate system transformation on the panoramic image according to the relationship between the polar coordinate system and the rectangular coordinate system to generate a panoramic image. In this way, automatic stitching of multiple images is achieved, the problem of repeated sampling is avoided, and monitoring efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0036] Figure 1 A schematic diagram of a flow chart of a panoramic image generation method provided in an embodiment of the present application;

[0037] Figure 2 A schematic diagram of a panoramic image generation method provided in an embodiment of the present application;

[0038] Figure 3 A schematic diagram of a process of image distortion processing in a panoramic image generation method provided in an embodiment of the present application;

[0039] Figure 4 A schematic diagram of a process for generating an image to be placed in a panoramic image generation method provided in an embodiment of the present application;

[0040] Figure 5 A schematic diagram of a process of generating a panoramic image in polar coordinates in a panoramic image generating method provided in an embodiment of the present application;

[0041] Figure 6 A structural block diagram of a panoramic image generation device provided in an embodiment of the present application;

[0042] Figure 7 A structural block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0044] At present, online monitoring systems usually use fixed infrared cameras to collect the temperature distribution of target objects, but this method can only monitor a single target object and cannot achieve large-scale monitoring. In order to improve the monitoring efficiency, a mobile thermal imaging solution is proposed in the prior art, that is, an infrared field camera is mounted on a photoelectric turntable, and the photoelectric turntable is used to drive the infrared field camera to perform a circular scan around the rotation center, thereby realizing large-area target object monitoring. However, due to the different angles of the infrared field camera during the rotation of the photoelectric turntable, the same target object will be photographed multiple times at different times, resulting in repeated sampling and reducing monitoring efficiency.

[0045] Embodiment 1

[0046] The present application embodiment provides a method for generating a panoramic image. Figure 1 and Figure 2 As shown, the method comprises the following steps:

[0047] S10, performing distortion processing on each infrared image according to the original image information to generate N*M images to be stitched, wherein the original image information includes the infrared image and the pitch angle information corresponding to the infrared image, and the infrared image is obtained by scanning the photoelectric turntable according to the pitch angle information;

[0048] S20, generating a polar coordinate system according to the images to be stitched, and determining a theoretical overlapping area between the images to be stitched;

[0049] S30, performing image fusion processing on the images to be stitched according to the theoretical overlapping area to generate an image to be placed;

[0050] S40, placing the image to be placed at a corresponding coordinate position in a polar coordinate system according to the pitch angle information, and generating a panoramic image in polar coordinates;

[0051] S50 . Perform coordinate system transformation on the panoramic image according to the relationship between the polar coordinate system and the rectangular coordinate system to generate a panoramic image.

[0052] Specifically, the panoramic image generation method provided in the embodiment of the present application is applied to the field of image processing technology. In practical applications, a large-area target object can be monitored by mounting an infrared field-of-view camera on an optoelectronic turntable, and using the optoelectronic turntable to drive the infrared field-of-view camera to perform a circular scan around the rotation center. During one rotation of the optoelectronic turntable, the pitch angle changes periodically, and at this time, the pitch angle information generated at each moment needs to be recorded.

[0053] After the circumferential scan is completed, the original image data taken by the infrared field camera is obtained from the photoelectric turntable, and then the infrared image and the corresponding pitch angle information are obtained based on the original image data. Among them, the original image data refers to the image data without any processing, the infrared image refers to the infrared image extracted from the original image data, and the pitch angle information refers to the pitch angle information extracted from the original image data.

[0054] After obtaining the infrared image and the corresponding pitch angle information, the shooting speed of the infrared field camera can be determined according to the pitch angle information. The shooting speed refers to the number of images taken by the infrared field camera per unit time, that is, the number of images taken per second. If the shooting speed is fast, it means that more images are taken per unit time, and vice versa.

[0055] In addition, when the shooting speed is in a uniform state, N*M infrared images can be obtained, and then the radian angle information corresponding to each row of pixels in each infrared image can be determined. Of course, if the shooting speed is not in a uniform state, the shooting speed needs to be corrected, and then the radian angle information corresponding to each row of pixels in each infrared image can be determined.

[0056] Then, according to the radian angle information, the infrared image is distorted to generate N*M images to be stitched. Distortion processing refers to changing the shape of the infrared image according to the radian angle information to make it an ellipse or an ellipse-like shape, in order to facilitate subsequent image stitching.

[0057] Next, a polar coordinate system is generated based on the images to be stitched, and the theoretical overlapping area between the images to be stitched is determined. The polar coordinate system is a two-dimensional coordinate system, which is composed of an origin and a ray, wherein the origin is called the pole and the ray is called the polar axis. In the embodiment of the present application, the polar coordinate system is established with the rotation center as the pole and the rotation direction as the polar axis. In addition, the theoretical overlapping area refers to the part where there is an intersection between the images to be stitched.

[0058] Further, according to the theoretical overlapping area, the images to be stitched are subjected to image fusion processing to generate the image to be placed. The image fusion processing refers to performing an image fusion operation on the theoretical overlapping area between the images to be stitched, for example, two adjacent images to be stitched can be subjected to linear fusion and superposition processing, or other methods can be used for image fusion processing, as long as it can be ensured that there is no obvious break mark in the theoretical overlapping area.

[0059] Finally, according to the pitch angle information, the image to be placed is placed at the corresponding coordinate position in the polar coordinate system to generate a panoramic image in polar coordinates. And, according to the relationship between the polar coordinate system and the rectangular coordinate system, the panoramic image is transformed into a coordinate system to generate a panoramic image.

[0060] In summary, the panoramic image generation method provided by the embodiment of the present application performs distortion processing on each infrared image according to the original image information to generate N*M images to be stitched, generates a polar coordinate system according to the images to be stitched, and determines the theoretical overlapping area between the images to be stitched, performs image fusion processing on the images to be stitched according to the theoretical overlapping area to generate images to be placed, places the images to be placed at the corresponding coordinate positions in the polar coordinate system according to the pitch angle information, generates a panoramic image in polar coordinates, and performs coordinate system transformation on the panoramic image according to the relationship between the polar coordinate system and the rectangular coordinate system to generate a panoramic image. In this way, automatic stitching of multiple images is achieved, the problem of repeated sampling is avoided, and the monitoring efficiency is improved.

[0061] In some possible embodiments, combined with Figure 3 As shown, the above step S10 specifically includes the following steps:

[0062] S11, obtaining infrared image raw data, where the infrared image raw data is obtained by shooting with an infrared field camera on a photoelectric turntable;

[0063] S12, obtaining the infrared image and the pitch angle information corresponding thereto through the original infrared image data;

[0064] S13, determining the shooting speed of the infrared field camera according to the pitch angle information;

[0065] S14, when the shooting speed is in a uniform state, obtain N*M infrared images, and determine the radian angle information corresponding to each row of pixels in each infrared image.

[0066] Specifically, the infrared image raw data refers to image data that has not been processed in any way, the infrared image refers to the infrared image extracted from the raw image data, and the pitch angle information refers to the pitch angle information extracted from the raw image data.

[0067] The pitch angle information refers to the tilt angle of the camera relative to the horizontal plane, that is, the angle between the camera lens and the horizontal plane. The change of this angle will affect the size and shape of the picture taken by the camera, so it is necessary to accurately measure and adjust this angle before shooting.

[0068] In addition, the shooting speed refers to the number of images taken by the infrared field camera per unit time, that is, the number of images taken per second. If the shooting speed is fast, it means that more images are taken per unit time, and vice versa.

[0069] After shooting, the original image data taken by the infrared field camera can be obtained from the photoelectric turntable, and then the infrared image and the corresponding pitch angle information can be obtained based on the original image data. The original image data refers to the image data without any processing, the infrared image refers to the infrared image extracted from the original image data, and the pitch angle information refers to the pitch angle information extracted from the original image data.

[0070] After obtaining the infrared image and the corresponding pitch angle information, the shooting speed of the infrared field camera can be determined according to the pitch angle information. The shooting speed refers to the number of images taken by the infrared field camera per unit time, that is, the number of images taken per second. If the shooting speed is fast, it means that more images are taken per unit time, and vice versa.

[0071] After determining the shooting speed, it is also necessary to determine whether the shooting speed is in a uniform state. If the shooting speed is in a uniform state, N*M infrared images can be obtained, and then the radian angle information corresponding to each row of pixels in each infrared image can be determined. Of course, if the shooting speed is not in a uniform state, the shooting speed needs to be corrected, and then the radian angle information corresponding to each row of pixels in each infrared image can be determined.

[0072] Then, according to the radian angle information, the infrared image is distorted to generate N*M images to be stitched. Distortion processing refers to changing the shape of the infrared image according to the radian angle information to make it an ellipse or an ellipse-like shape, in order to facilitate subsequent image stitching.

[0073] In summary, the method provided in the embodiment of the present application obtains the original data of the infrared image, obtains the infrared image and the pitch angle information corresponding thereto through the original data of the infrared image, determines the shooting speed of the infrared field camera according to the pitch angle information, obtains N*M infrared images when the shooting speed is in a uniform state, and determines the radian angle information corresponding to each row of pixels in each infrared image. In this way, the automatic splicing of multiple images is realized, the problem of repeated sampling is avoided, and the monitoring efficiency is improved.

[0074] In some possible embodiments, combined with Figure 3 As shown, after step S14, the following steps are also included:

[0075] S15. Perform distortion processing on the infrared image according to the radian angle information to generate N*M images to be stitched.

[0076] Specifically, after determining the radian angle information corresponding to each row of pixels in each infrared image, the infrared image is distorted according to the radian angle information to generate N*M images to be stitched. Distortion processing refers to changing the shape of the infrared image according to the radian angle information to make it an ellipse or an ellipse-like shape, in order to facilitate subsequent image stitching.

[0077] In summary, the method provided in the embodiment of the present application performs distortion processing on the infrared image according to the radian angle information to generate N*M images to be stitched, thereby realizing automatic stitching of multiple images, avoiding the problem of repeated sampling, and improving monitoring efficiency.

[0078] In some possible embodiments, combined with Figure 4 As shown, the above step S30 specifically includes the following steps:

[0079] S31, performing linear fusion and superposition processing on the images to be spliced ​​according to the theoretical overlapping area to obtain the images to be placed;

[0080] S32. Calculate the coordinate position of the image to be placed in the polar coordinate system according to the pitch angle information.

[0081] Specifically, the theoretical overlapping area refers to the part where each image to be stitched has an intersection, and according to the theoretical overlapping area, the images to be stitched can be linearly fused and superimposed to obtain the image to be placed. The linear fusion superposition process refers to linearly fusion superimposition of two adjacent images to be stitched, and other methods can also be used for image fusion processing, as long as it can be ensured that there is no obvious break mark in the theoretical overlapping area.

[0082] Then, according to the pitch angle information, the coordinate position of the image to be placed in the polar coordinate system is calculated. The polar coordinate system is a two-dimensional coordinate system, which is composed of an origin and a ray, wherein the origin is called the pole and the ray is called the polar axis. In the embodiment of the present application, the polar coordinate system is established with the rotation center as the pole and the rotation direction as the polar axis.

[0083] In summary, the method provided in the embodiment of the present application performs linear fusion and superposition processing on the images to be stitched according to the theoretical overlapping area to obtain the image to be placed, and calculates the coordinate position of the image to be placed in the polar coordinate system according to the pitch angle information. In this way, the automatic stitching of multiple images is achieved, the problem of repeated sampling is avoided, and the monitoring efficiency is improved.

[0084] In some possible embodiments, combined with Figure 5 As shown, the above step S40 includes the following steps:

[0085] S41, determining the coordinate position of the image to be placed according to the pitch angle information;

[0086] S42, placing the image to be placed according to the coordinate position, and generating a panoramic image under polar coordinates.

[0087] Specifically, the coordinate position of the image to be placed can be determined according to the pitch angle information, and then the image to be placed is placed according to the coordinate position to generate a panoramic image in polar coordinates. The coordinate position refers to the coordinate position of the image to be placed in the polar coordinate system.

[0088] In summary, the method provided in the embodiment of the present application determines the coordinate position of the image to be placed according to the pitch angle information, places the image to be placed according to the coordinate position, and generates a panoramic image under polar coordinates. Thus, automatic stitching of multiple images is achieved, the problem of repeated sampling is avoided, and the monitoring efficiency is improved.

[0089] Embodiment 2

[0090] Combination Figure 6 As shown, the embodiment of the present application also provides a panoramic image generation device, including:

[0091] The processing module 400 is used to perform distortion processing on each infrared image according to the original image information to generate N*M images to be stitched, wherein the original image information includes the infrared image and the pitch angle information corresponding to the infrared image, and the infrared image is obtained by scanning the photoelectric turntable according to the pitch angle information;

[0092] A determination module 500 is used to generate a polar coordinate system according to the images to be stitched, and determine a theoretical overlapping area between the images to be stitched;

[0093] A fusion module 600 is used to perform image fusion processing on the images to be stitched according to the theoretical overlapping area to generate an image to be placed;

[0094] A placement module 700 is used to place the image to be placed at a corresponding coordinate position in a polar coordinate system according to the pitch angle information, and generate a panoramic image in polar coordinates;

[0095] The transformation module 800 is used to perform coordinate system transformation on the panoramic image according to the relationship between the polar coordinate system and the rectangular coordinate system to generate a panoramic image.

[0096] The device provided in the embodiment of the present application performs distortion processing on each infrared image according to the original image information to generate N*M images to be stitched, generates a polar coordinate system according to the images to be stitched, and determines the theoretical overlapping area between the images to be stitched, performs image fusion processing on the images to be stitched according to the theoretical overlapping area to generate an image to be placed, places the image to be placed at the corresponding coordinate position in the polar coordinate system according to the pitch angle information, generates a panoramic image in polar coordinates, and performs coordinate system transformation on the panoramic image according to the relationship between the polar coordinate system and the rectangular coordinate system to generate a panoramic image. In this way, automatic stitching of multiple images is achieved, the problem of repeated sampling is avoided, and the monitoring efficiency is improved.

[0097] It should be noted that the above explanation of the method embodiment is also applicable to the device of this embodiment, and the implementation principle is similar, which will not be repeated here.

[0098] Embodiment 3

[0099] Combination Figure 7 As shown, an embodiment of the present application provides an electronic device, including: a processor and a memory, the processor is used to call a program in the memory to enable the electronic device to execute any panoramic image generation method.

[0100] In a typical configuration, an electronic device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0101] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0102] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0103] Embodiment 4

[0104] An embodiment of the present application provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores instructions, which, when executed, enable a computer to execute any panoramic image generation method.

[0105] Embodiment 5

[0106] An embodiment of the present application provides a computer program product, characterized in that it includes a computer program, and when the computer program is executed, any panoramic image generation method is implemented.

[0107] In summary, the embodiments of the present application provide a method, device, equipment, medium and program product for generating a panoramic image. According to the original image information, each infrared image is distorted to generate N*M images to be stitched. According to the images to be stitched, a polar coordinate system is generated, and the theoretical overlapping area between the images to be stitched is determined. According to the theoretical overlapping area, the images to be stitched are subjected to image fusion processing to generate an image to be placed. According to the pitch angle information, the image to be placed is placed at the corresponding coordinate position in the polar coordinate system to generate a panoramic image in polar coordinates. According to the relationship between the polar coordinate system and the rectangular coordinate system, the coordinate system of the panoramic image is transformed to generate a panoramic image. In this way, the automatic stitching of multiple images is realized, the problem of repeated sampling is avoided, and the monitoring efficiency is improved.

[0108] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0109] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for generating a panoramic image, characterized in that: The steps include: According to the original image information, each infrared image is distorted to generate N*M images to be stitched, wherein the original image information includes the infrared image and the pitch angle information corresponding to the infrared image, and the infrared image is obtained by scanning the photoelectric turntable according to the pitch angle information; Generate a polar coordinate system according to the images to be stitched, and determine a theoretical overlapping area between the images to be stitched; According to the theoretical overlapping area, performing image fusion processing on the images to be stitched to generate images to be placed; According to the pitch angle information, the image to be placed is placed at a corresponding coordinate position in the polar coordinate system to generate a panoramic image in polar coordinates; According to the relationship between the polar coordinate system and the rectangular coordinate system, the panoramic image is subjected to coordinate system transformation to generate a panoramic image.

2. The method according to claim 1, characterized in that The method of performing distortion processing on each infrared image according to the original image information to generate N*M images to be stitched specifically includes: Acquire original infrared image data, where the original infrared image data is obtained by shooting with an infrared field camera on a photoelectric turntable; Obtaining the infrared image and the pitch angle information corresponding thereto through the infrared image raw data; Determining a shooting speed of the infrared field of view camera according to the pitch angle information; When the shooting speed is in a uniform state, N*M infrared images are obtained, and the radian angle information corresponding to each row of pixel points in each infrared image is determined.

3. The method according to claim 2, characterized in that When the shooting speed is in a uniform state, after obtaining N*M infrared images, the method further includes: According to the radian angle information, the infrared image is distorted to generate N*M images to be stitched.

4. The method according to claim 3, characterized in that The performing image fusion processing on the images to be stitched according to the theoretical overlapping area to generate the images to be placed specifically includes: According to the theoretical overlapping area, the images to be stitched are subjected to linear fusion and superposition processing to obtain images to be placed; According to the pitch angle information, the coordinate position corresponding to the image to be placed in the polar coordinate system is calculated.

5. The method according to claim 4, characterized in that Placing the image to be placed at a corresponding coordinate position in the polar coordinate system according to the pitch angle information to generate a panoramic image in polar coordinates includes: Determining the coordinate position of the image to be placed according to the pitch angle information; The image to be placed is placed according to the coordinate position to generate a panoramic image under polar coordinates.

6. A panoramic image generation device, characterized in that: include: A processing module, used for performing distortion processing on each infrared image according to original image information to generate N*M images to be stitched, wherein the original image information includes an infrared image and pitch angle information corresponding to the infrared image, and the infrared image is obtained by scanning the photoelectric turntable according to the pitch angle information; A determination module, used for generating a polar coordinate system according to the images to be stitched, and determining a theoretical overlapping area between the images to be stitched; A fusion module, used for performing image fusion processing on the images to be stitched according to the theoretical overlapping area to generate an image to be placed; A placement module, used for placing the image to be placed at a corresponding coordinate position in the polar coordinate system according to the pitch angle information, so as to generate a panoramic image in polar coordinates; The transformation module is used to perform coordinate system transformation on the panoramic image according to the relationship between the polar coordinate system and the rectangular coordinate system to generate a panoramic image.

7. An electronic device, characterized in that: include: A processor and a memory, wherein the processor is used to call a program in the memory to enable the electronic device to execute the method according to any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed, the computer executes the method according to any one of claims 1 to 6.

9. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 6 when being executed.

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