Algorithm 4 Panoramic_view_extract.

Input: Panoramic theme, OCAM and VCAM   Output: Panoramic expansion time and panoramic expansion map   1: panoramic_ view_ Start of extract algorithm   2: Initialize panoramic_ view_ extract   3: Circularly publish image_ topic, image_ pub_ topic, camera_ model, virtual_ camera, point cloud_ topic, remap_ save_ path   4: Subscribe to image_ Topic, publishing to point_ Cloud and point_ Topic of cloud2   5: Initialize OCAM and VCAM, load mapping file   6: Through the defined display and adjust macro, create image_ Remap and control_ Panel window (parameters and pose of camera can be adjusted)   7: Load OCAM model into CV: mat map, and then map CV: mat map to VCAM: point_ Map calculates its time t_ i. Finally, VCAM: point_ The map is expanded quickly and the time t is calculated_ p   8: Finally, save the expanded map to remap_ save_ File

9: panoramic_ view_ End of extract algorithm