Algorithm 3 Image transformation from 3D world point cloud to panoramic expansion.

Input: 3D world point cloud

Output: Panoramic expansion image   1: VCAM algorithm starts   2: Loading VCAM model   3: Setting VCAM parameters   4: Loading 3D point cloud image   5: Update VCAM camera parameters   6: Using MD5 algorithm to verify the integrity of image expansion data transmission   7: Read image mapping file   8: Transformation from 3D point cloud image to 2D image points   9: Calculation of expanded image by bilinear interpolation algorithm   10: Real-time display of expansion image progress with progress bar   11: Mean optimization re_ MAP1 and re_ MAP2 image   12: Save the optimized image

13: End of VCAM algorithm