CN114445259B - Multiprocessor parallel processing method and device for panoramic image stitching - Google Patents
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Abstract
The invention provides a multiprocessor parallel processing method and a device for panoramic image stitching, which adopt at least 2 parallel processors to synchronously process and stitch panoramic images and then output the panoramic images. The panoramic image processing method comprises the steps of dividing a panoramic image to be output into N areas, distributing image processing tasks of each processor, synchronously sending data of a plurality of acquired images to each processor, processing the acquired images in parallel by each processor according to the image processing tasks to obtain an output image, respectively outputting the output image to corresponding areas in a buffer area by the processor according to the sequence of the N areas of the panoramic image to be output, and completing the splicing of the panoramic image after the output images are all output to the buffer area. The device comprises an input image buffer area, a processor array and an output image buffer area, wherein the processor array comprises at least 2 parallel processors. The multi-processor parallel image splicing method designed by the invention has the advantages of strong operability, scientific and reasonable, high efficiency and high speed.
Description
Technical Field
The invention relates to the technical field of image processing, in particular to a multiprocessor parallel processing method and device for panoramic image stitching.
Background
The panoramic image stitching technology utilizes a plurality of common cameras to generate a spherical panoramic view angle of 360 degrees in the transverse direction and 360 degrees in the longitudinal direction, can bring wider view angles and richer visual impact to observers, and is increasingly applied to various scenes such as scenic spot virtual display, digital exhibition halls and the like.
At present, most panoramic image stitching techniques are realized through a single processor, and as the processing capacity of the single processor is limited, and the pixel resolution and the output frame rate of an output image are continuously improved, the resolution and the frame rate of the output image obtained after processing through the single processor cannot meet the requirements of users.
Disclosure of Invention
With the continuous improvement of the pixel resolution and the output frame rate of the output image, the invention provides a multiprocessor parallel processing method and a device for panoramic image stitching, according to the panoramic image stitching method and device, the multiple processors are adopted to conduct task division processing on the input images, and on the basis of reducing task load of each processor, the processors are matched with each other to finish stitching of panoramic images with higher performance requirements.
The technical scheme for realizing the aim of the invention is as follows:
In a first aspect, the invention provides a method for parallel processing of multiple processors for panoramic image stitching, which adopts N parallel processors to synchronously process a plurality of acquired images and then outputs panoramic images, wherein N is an integer greater than or equal to 2.
The method for processing the panoramic image spliced multiprocessor in parallel comprises the following steps:
s1, dividing a panoramic image to be output into N areas, and distributing image processing tasks of each processor;
s2, synchronously transmitting the data of the plurality of acquired images to each processor;
S3, each processor processes a plurality of acquired images according to the image processing task to obtain respective output images;
S4, according to the sequence of N areas of the panoramic image to be output, each processor outputs the output image to the corresponding area in the buffer area for buffering;
And S5, after all the output images of the N processors are output to the buffer area, the panoramic image stitching is completed.
According to the multi-processor parallel processing method for panoramic image stitching, tasks are reasonably distributed to a plurality of parallel processors according to pixel requirements of panoramic image stitching, the task load of each processor can be reduced, the image processing speed is improved, the processors synchronously input output images into a buffer zone, and panoramic image stitching can be achieved.
In one embodiment of the present invention, in the step S1, the panoramic image to be output is divided into N regions, and the image processing task of each processor is allocated by dividing the panoramic image to be output into 1,2, 3, 2, N-1, N regions corresponding to the processor numbers in sequence, based on the pixel row number Rx pixel column number C of the panoramic image to be output, and according to the processor numbers 1,2, 3, 2, N-1, N, along the row number 0, 1,2, 3, R-1 directions of the panoramic image pixels to be output, each region corresponding to the image processing task of one processor respectively.
Further, among the processors, the area size of the first N-1 processors is the same, the area size of the nth processor is less than or equal to the area size of the first N-1 processors, that is, the processing amount of the image processing task of the first N-1 processors is the same, and the processing amount of the image processing task of the nth processor is less than or equal to the processing amount of the image processing task of the first N-1 processors.
Further, when the processing amounts of the image processing tasks of the N processors are identical, the calculation formula of the pixel value of the output image of the kth processor in the panoramic image is P (i, j) =f (S (u, v)), wherein k is an integer of [1, N ], P is a pixel value of the ith row and the jth column of the output image, i is an integer in the interval range of [ (k-1) xR/N, kxR/N), j is an integer in the interval range of [0, C), f is a spatial mapping relation between the output image and the input acquired image, and S is a pixel value of the ith row and the jth column of the input acquired image.
Still further, among the N processors, the kth processor generates an address range of the output image in the buffer, i.e., in the panoramic image, [ (k-1) xRxC/N, kxRxC/N).
In a second aspect, the present invention provides an apparatus for multiprocessor parallel processing for panoramic image stitching, including an input image buffer, a processor array, and an output image buffer, where the processor array includes at least 2 parallel processors.
The input image buffer area is connected with each processor in the processor array and is used for storing a plurality of acquired images.
The processor is used for receiving the plurality of acquired images output by the input image buffer area, and generating an output image of the processor by splicing the plurality of acquired images based on the allocated image processing tasks.
The processors in the processor array are connected with the output image buffer area and are used for outputting respective output images into the image buffer area for storage.
Further, the dividing method of the image processing tasks of the N processors is that the panoramic image to be output is divided into 1,2, N-1 and N areas sequentially corresponding to the processor numbers according to the pixel row Rx pixel column number C of the panoramic image to be output and the processor numbers 1,2,3, and the R-1 and N directions along the row numbers 0,1, 2, and R-1 of the pixels of the panoramic image to be output, each area corresponds to the image processing task of one processor, and after the processor generates an output image, the output image is output to the corresponding area in the image buffer area for storage.
Furthermore, the processor array comprises N processors, N is an integer more than or equal to 2, the processing capacity of the image processing tasks of the first N-1 processors is the same, and the processing capacity of the image processing tasks of the nth processor is less than or equal to the processing capacity of the image processing tasks of the first N-1 processors.
Furthermore, when the processing amounts of the image processing tasks of the N processors are the same, the calculation formula of the pixel values of the output image of the kth processor in the panoramic image is P (i, j) =f (S (u, v)), wherein k is an integer of [1, N ], P is a pixel value of the ith row and the jth column of the output image, i is an integer in the interval range of [ (k-1) xR/N, kxR/N), j is an integer in the interval range of [0, c), f is a spatial mapping relation between the output image and the input acquired image, and S is a pixel value of the ith row and the jth column of the input acquired image.
Further, among the N processors, the kth processor generates an address range of a corresponding region of the output image in the buffer, that is, an address range in the panoramic image, [ (k-1) xRxC/N, kxRxC/N).
Compared with the prior art, the panoramic image stitching multiprocessor parallel processing method has the advantages that tasks are reasonably distributed to a plurality of parallel processors according to pixel requirements of panoramic image stitching, the task load of each processor can be reduced, the image processing speed is improved, the processors synchronously input output images into a buffer zone, panoramic image stitching can be achieved, and the panoramic image stitching multiprocessor parallel processing method has the advantages of being strong in operability, scientific, reasonable, efficient and rapid.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described. It is apparent that the drawings in the following description are only for the purpose of more clearly illustrating the embodiments of the present invention or the technical solutions in the prior art, and that other drawings can be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a flow chart of a method of multiprocessor parallel processing for panoramic image stitching of the present invention;
FIG. 2 is a schematic diagram of an apparatus for multi-processor parallel processing of panoramic image stitching of the present invention;
the system comprises an input image buffer area, a processor array and an output image buffer area.
Detailed Description
The invention will be further described with reference to specific embodiments, and advantages and features of the invention will become apparent from the description. These examples are merely exemplary and do not limit the scope of the invention in any way. It will be understood by those skilled in the art that various changes and substitutions of details and forms of the technical solution of the present invention may be made without departing from the spirit and scope of the present invention, but these changes and substitutions fall within the scope of the present invention.
In the description of the present embodiment, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
Example 1:
In the embodiment, N parallel processors are adopted for panoramic image stitching to synchronously process a plurality of acquired images and then output panoramic images, wherein N is an integer more than or equal to 2.
As shown in fig. 1, a method for multiprocessor parallel processing for panoramic image stitching includes the steps of:
S1, dividing a panoramic image to be output into N areas, and distributing image processing tasks of each processor.
In the step, the panoramic image to be output is divided into N areas, the image processing task of each processor is acquired by dividing the panoramic image to be output into 1,2, 3, N-1 and N areas sequentially corresponding to the processor numbers according to the pixel row Rx pixel column number C of the panoramic image to be output and according to the processor numbers 1,2, 3, N-1 and N, and the image processing task of one processor is respectively corresponding to each area along the row numbers 0, 1,2, 3, R-1 directions of the pixels of the panoramic image to be output. For example, the region of the image processing task of the processor numbered 1 is the 1st region, the region of the image processing task of the processor numbered 2 is the 2nd region, and so on, the region of the image processing task of the processor numbered N-1 is the N-1 th region, and the region of the image processing task of the processor numbered N is the N-th region.
In this embodiment, in order to equalize the processing amounts of the respective processors, each processing area can output the processed output image within a predetermined time, and in this embodiment, the panoramic image to be output is preferentially and uniformly divided according to the number of pixel rows R, so as to obtain the image processing task of each processor.
However, since the image processing task is obtained according to the number R of pixel rows of the panoramic image to be output, there may be a case where the image processing task is the same for each processor or the processing amounts of the image processing tasks are different for the other processors. In order to ensure that the processing amounts of the image processing tasks of the respective processors are the same as much as possible, for example, when the number of pixel rows Rx and pixel columns C of the panoramic image to be output is 1080x1920, and when the number of processors is 2,3, 4, 5, 6, 9, etc., 1080/N is an integer, the processing amounts of the image processing tasks obtained by the respective processors are the same, and for example, when the number of processors is 7, 1080/7 has a remainder, the processing amounts of the image processing tasks of the respective processors are different from each other, and in order to ensure that the processing amounts of most of the processors are the same, in this embodiment, the area sizes of the first N-1 processors are the same, the area sizes of the nth processors are not more than the area sizes of the first N-1 processors, that is the processing amounts of the image processing tasks of the first N-1 processors are the same, and the processing amounts of the image processing tasks of the nth processors are not more than the processing amounts of the image processing tasks of the first N-1 processors.
Here, the method for acquiring the image processing task of each processor is not limited to the above method, and for example, the method may be selected such that the processing amounts of the image processing tasks of the first several processors are the same, and the processing amounts of the image processing tasks of the second several processors are different, so as to divide the panoramic image to be output.
Further, when the processing amounts of the image processing tasks of the N processors are identical, the calculation formula of the pixel value of the output image of the kth processor in the panoramic image is P (i, j) =f (S (u, v)), wherein k is an integer of [1, N ], P is a pixel value of the ith row and the jth column of the output image, i is an integer in the interval range of [ (k-1) xR/N, kxR/N), j is an integer in the interval range of [0, C), f is a spatial mapping relation between the output image and the input acquired image, and S is a pixel value of the ith row and the jth column of the input acquired image.
Further, of the N processors, the kth processor generates a range of a corresponding region of the output image in the buffer, i.e., an address range [ (k-1) xRxC/N, kxRxC/N ] in the panoramic image.
S2, synchronously transmitting the data of the plurality of acquired images to each processor.
In this step, a plurality of acquired images are obtained to be distributed to each processor simultaneously.
S3, each processor processes the acquired images according to the image processing task to obtain respective output images.
In this step, each processor processes a plurality of acquired images according to the image processing task obtained by distribution in step1, and the processing method is performed by a conventional general method, which will not be described in detail herein.
And S4, respectively outputting the output images of the processors to corresponding areas in the buffer area for buffering according to the sequence of N areas of the panoramic image to be output.
In this step, since the processors are in one-to-one correspondence with the N areas of the output panoramic image, each processor also has an area corresponding to the respective output image in the buffer.
And S5, after all the output images of the N processors are output to the buffer area, the panoramic image stitching can be completed.
According to the multi-processor parallel processing method for panoramic image stitching, tasks are reasonably distributed to a plurality of parallel processors according to pixel requirements of panoramic image stitching, the task load of each processor can be reduced, the image processing speed is improved, the processors synchronously input output images into a buffer zone, and panoramic image stitching can be achieved.
Example 2:
The present embodiment provides an apparatus corresponding to the multiprocessor parallel processing method for panoramic image stitching in embodiment 1, as shown in fig. 2, where the apparatus includes an input image buffer 1, a processor array 2, and an output image buffer 3, and the processor array 2 includes at least 2 parallel processors.
As shown in fig. 2, an input image buffer 1 is connected to each processor in the processor array 2, and the input image buffer 1 is used for storing a plurality of acquired images.
The processor is used for receiving the plurality of acquired images output by the input image buffer zone 1, and generating an output image of the processor by splicing the plurality of acquired images based on the allocated image processing tasks.
As shown in fig. 2, the processors in the processor array 2 are all connected to the output image buffer 3, and are configured to output respective output images into the image buffer 3 for storage.
Further, the method for dividing the image processing tasks of the N processors is the same as that in embodiment 1, and will not be described herein.
Furthermore, the processor array includes N processors, where N is an integer greater than or equal to 2, and the processing capacity of the image processing task of each processor is the same as that in embodiment 1, and will not be described herein.
Furthermore, the calculation formula of the pixel values of the output image of each processor is the same as that of embodiment 1, and will not be described here again.
Further, the output images of the respective processors are output to the corresponding area ranges within the image buffer 3, i.e., the address ranges in the panoramic image are the same as those in embodiment 1.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
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 (8)
1. A multiprocessor parallel processing method for panoramic image stitching is characterized in that N parallel processors are adopted to synchronously process a plurality of acquired images and then output panoramic images, wherein N is an integer more than or equal to 2, and the method comprises the following steps:
s1, dividing a panoramic image to be output into N areas, and distributing image processing tasks of each processor;
s2, synchronously transmitting the data of the plurality of acquired images to each processor;
S3, each processor processes a plurality of acquired images according to the image processing task to obtain respective output images;
S4, according to the sequence of N areas of the panoramic image to be output, each processor outputs the output image to the corresponding area in the buffer area for buffering;
S5, after all the output images of the N processors are output to the buffer area, the stitching of the panoramic images is completed;
In the step S1, the panoramic image to be output is divided into N areas, the image processing task of each processor is allocated according to the number of pixel rows Rx and the number of pixel columns C of the panoramic image to be output, and according to the numbers 1,2 and the number of the processors, N-1 and N, the panoramic image to be output is divided into 1,2, N-1 and N areas which correspond to the numbers of the processors in sequence along the directions of the numbers 0,1,2 and the number of the pixels of the panoramic image to be output, and each area corresponds to the image processing task of one processor respectively.
2. The method for multi-processor parallel processing of panoramic image stitching as recited in claim 1, wherein the N-1 processors are identical in area size, and the N-th processor is smaller than or equal to the N-1 processors in area size.
3. The method for multi-processor parallel processing of panoramic image stitching according to claim 2, wherein when the processing amounts of the image processing tasks of the N processors are identical, a calculation formula of pixel values of an output image of a kth processor in the panoramic image is P (i, j) =f (S (u, v)), wherein k is an integer of [1, N ], P is a pixel value of an ith row and a jth column of the output image, i is an integer in a range of [ (k-1) xR/N, kxR/N), j is an integer in a range of [0, C ], f is a spatial mapping relation between the output image and the input acquired image, and S is a pixel value of a jth row and a jth column of the input acquired image.
4. The method for multi-processor parallel processing of panoramic image stitching according to claim 3, wherein the kth processor generates an address range of the output image in the buffer, i.e., [ (k-1) xRxC/N, kxRxC/N) in the panoramic image.
5. The device for multi-processor parallel processing of panoramic image stitching is characterized by comprising an input image buffer zone, a processor array and an output image buffer zone, wherein the processor array comprises at least 2 parallel processors;
The input image buffer area is connected with each processor in the processor array and is used for storing a plurality of acquired images;
The processor is used for receiving the plurality of acquired images output by the input image buffer area, and performing splicing processing on the plurality of acquired images based on the distributed image processing tasks to generate an output image of the processor;
The processors in the processor array are connected with the output image buffer area and are used for outputting respective output images into the image buffer area for storage;
The dividing method of the image processing tasks of the N processors is that the panoramic image to be output is divided into 1,2, N-1 and N areas which sequentially correspond to the processor numbers along the directions of row numbers 0, 1,2, R-1 of the pixels of the panoramic image to be output based on the pixel row number Rx and the pixel column number C of the panoramic image to be output and the processor numbers 1,2, N-1 and N areas, and each area corresponds to the image processing task of one processor;
and after the processor generates output images, the output images are output to corresponding areas in the image buffer area for storage.
6. The device for parallel processing of multiple processors for panoramic image stitching according to claim 5, wherein said processor array comprises N processors, N is an integer greater than or equal to 2, the processing amounts of the image processing tasks of the first N-1 processors are the same, and the processing amount of the image processing task of the nth processor is less than or equal to the processing amount of the image processing task of the first N-1 processors.
7. The device for multi-processor parallel processing of panoramic image stitching according to claim 6, wherein when the processing amounts of the image processing tasks of the N processors are identical, the calculation formula of the pixel values of the output image of the kth processor in the panoramic image is P (i, j) =f (S (u, v)), wherein k is an integer of [1, N ], P is the pixel value of the ith row and jth column of the output image, i is an integer in the interval range of [ (k-1) xR/N, kxR/N), j is an integer in the interval range of [0, C), f is a spatial mapping relation between the output image and the input acquired image, and S is the pixel value of the ith row and jth column of the input acquired image.
8. The apparatus for multi-processor parallel processing of panoramic image stitching according to claim 7, wherein a kth processor among the N processors generates a range of corresponding areas of the output image in the buffer, i.e., an address range in the panoramic image [ (k-1) xRxC/N, kxRxC/N).
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