Virtual-reality occlusion handling method based on depth image data flow
A technology of virtual and real occlusion and processing methods, which is applied in image data processing, 3D image processing, image enhancement, etc., and can solve problems such as time-consuming, lack of 3D information of real scenes, and difficult to deal with the occlusion relationship between virtual objects and real scenes. Achieving improved accuracy and robustness
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[0023] Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0024] Such as figure 1 As shown, the implementation process of the present invention is mainly divided into four steps: depth data preprocessing, building a 3D point cloud model of a scene, 3D space registration, and virtual-real fusion rendering.
[0025] Step 1. In-depth data preprocessing
[0026] Its main steps are:
[0027] (11) For the depth data in the given input RGBD (color + depth) data stream, set the threshold w according to the error range of the depth camera min ,w max , the depth value is at w min with w max The points between are regarded as credible values, and only the depth data I within the threshold range are kept.
[0028] (12) Perform fast bilateral filtering on each pixel of the depth data, as follows:
[0029]
[0030] where p j for pixel p i The pixels in the neighborhood of , s is the number of effective pixels i...
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