CN101980080B - Homocentric camera, image processing method and device - Google Patents
Homocentric camera, image processing method and device Download PDFInfo
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- CN101980080B CN101980080B CN2010102904958A CN201010290495A CN101980080B CN 101980080 B CN101980080 B CN 101980080B CN 2010102904958 A CN2010102904958 A CN 2010102904958A CN 201010290495 A CN201010290495 A CN 201010290495A CN 101980080 B CN101980080 B CN 101980080B
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
- G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
- G02B26/10—Scanning systems
- G02B26/108—Scanning systems having one or more prisms as scanning elements
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/28—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00 for polarising
- G02B27/286—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00 for polarising for controlling or changing the state of polarisation, e.g. transforming one polarisation state into another
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
- G03B37/04—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe with cameras or projectors providing touching or overlapping fields of view
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Abstract
The embodiment of the invention provides a homocentric camera, an image processing method and an image processing device. The homocentric camera comprises a prism and a plurality of image pick-up devices, wherein the prism comprises a plurality of reflective surfaces, each reflective surface is adhered with a polarization film, the reflective surfaces of the prism are used for reflecting incident light rays transmitted by the polarization film and outputting polarized reflected light rays, and the polarization direction of the polarization film on each reflective surface is different from that of a polarization film on a neighboring reflective surface; and the plurality of image pick-up devices correspond to the reflective surfaces of the prisms one by one; a polarizing film is arranged in front of lens of each image pick-up device; the plurality of image pick-up devices are used for acquiring light rays obtained after the polarization treatment is performed on the polarized reflected light rays reflected by each reflective surface of the prism by using each polarizing film; and the polarization direction of the polarizing film in front of the lens of each image pick-up device is the same as that of the polarization films on the reflective surfaces corresponding to the prisms one by one. The technical scheme provided by the embodiment of the invention can prevent the generation of a feather impregnation strip.
Description
Technical field
The present invention relates to technical field of information processing, particularly a kind of photocentre video camera, image processing method and device altogether.
Background technology
Long-range appearing (Telepresence) is a kind of video conferencing system of creating the virtual meeting environment; Telepresence compares traditional video meeting system and has lot of advantages; Mainly comprise: Telepresence can present man-size image, can present the smooth motion of participant, accurate limbs behavior and expression in the eyes, has demonstrated fully participant's hommization factor; It similarly is to exchange with the other side aspectant that the meeting participant is felt all right, and improves user's satisfaction.
One of gordian technique creating the Telepresence system is exactly the panoramic picture that how to obtain the meeting-place.Present Telepresence system has adopted a plurality of video cameras with parallel or converge the mode photographed scene image of putting; But; Because the photocentre of video camera is inner at video camera; The photocentre spacing B that only depends on putting of camera position can't make two video cameras is 0; Therefore and the parallax of image is relevant with the photocentre spacing and the depth of field, so there is parallax in the image that this mode obtains between the part of overlay region, adopts a plurality of video cameras with parallel or to converge the mode photographed scene image of putting can't be panoramic picture with a plurality of image mosaics with certain scene depth scope.
In order to obtain seamless spliced panoramic picture; Prior art has adopted common photocentre video camera; The photocentre video camera has adopted reflective prism altogether; Make video camera take the image of prismatic reflection, the spacing of the virtual photocentre of reflected image can be 0, has so just solved the problem of parallax experienced of image theoretically.Concrete, suppose that common photocentre video camera comprises a glass terrace with edge P1, have 3 surperficial M1, M2, M3, these surfaces are silver-plated reflective surface, 3 video camera C1, C2 and C3 are placed in the below of reflective surface.Fig. 1 is that example shows virtual photocentre principle altogether with video camera C1, and wherein, L1 is an incident ray; R1 is a reflection ray; Normal perpendicular to reflective surface M1 is 100, and the angle of normal 100 and horizontal line 101 is a, and reflection spot is d to the vertical range of the actual photocentre O1 of video camera C1.According to the light principle of reflection, video camera can photograph a virtual image, and this virtual image has a virtual photocentre VO1.In theory through angle and the putting position of video camera of design reflective surface, can make the spacing of virtual photocentre VO3 of virtual photocentre VO2 and C3 of virtual photocentre VO1, the C2 of video camera C1 is 0, thereby obtains 3 images of common photocentre.These 3 images are spliced processing, and can obtain in theory on any degree of depth all is seamless spliced image.
Adopt above-mentioned photocentre video camera altogether, as shown in Figure 2, L1 and R1 are respectively incident and the reflection rays of reflective surface M1, and L2 and R2 are respectively incident and the reflection rays of reflective surface M2.In the edge of M1 and M2, in the ideal case, have only the reflection ray R2 of reflective surface M2 can get in the camera lens of video camera C2, and the reflection ray R1 of reflective surface M1 can't get into the camera lens of C2.But in actual conditions; Because the parameter of camera lens and the position of camera lens and reflective surface relation; Cause R1 and R2 all might enter into the camera lens of video camera C2, thereby formed the dip-dye band of sprouting wings, this is contaminated band and in splicing, can not be used; Thereby cause the splicing effect variation, can't obtain high-quality panoramic picture.
Summary of the invention
The embodiment of the invention provides a kind of photocentre video camera, image processing method and device altogether, can prevent to generate the dip-dye band of emergence.
In view of this, the embodiment of the invention provides:
A kind of photocentre video camera altogether comprises:
Prism; Have a plurality of reflective surfaces and each reflective surface all posts polarizing coating; The reflective surface of said prism is used for the incident ray that sees through polarizing coating is reflected; The reflection ray of output polarizationization, on said each reflective surface on the polarization direction of polarizing coating and the adjacent reflective surface polarization direction of polarizing coating different;
A plurality of camera heads; Corresponding one by one with each reflective surface of said prism; And polaroid is installed all before the camera lens of each camera head; Said a plurality of camera head is used to obtain and utilizes each polaroid that the reflection ray of the polarization of each reflective surface of said prism reflection is carried out the light after the polarization manipulation, wherein, the polarization direction of the polaroid before the camera lens of each camera head with its one to one on the reflective surface of said prism the polarization direction of polarizing coating identical.
A kind of image processing method comprises:
Obtain the scene image that camera head is taken;
Obtain the brightness value of each pixel in the marginal portion image of said scene image; Wherein, the formed image of light of the scene of the marginal portion image of the said scene image regional reflex that to be the said camera head reflective surface corresponding with said camera head of catching have a common boundary with the reflective surface that is adjacent;
Form the luminance compensation coefficient of each pixel in the image according to the brightness value of each pixel in the marginal portion image of said scene image and the reflective surface corresponding that presets with the regional reflex light of the reflective surface boundary that is adjacent, the brightness of each pixel in the marginal portion image of said scene image is compensated with said camera head.
A kind of image processing apparatus comprises:
Image acquisition unit to be compensated is used to obtain the scene image that camera head is taken;
The brightness value acquiring unit is used for obtaining the brightness value of marginal portion each pixel of image of said scene image; Wherein, the formed image of light of the scene of the marginal portion image of the said scene image regional reflex that to be the said camera head reflective surface corresponding with said camera head of catching have a common boundary with the reflective surface that is adjacent;
Compensating unit; Be used for forming the luminance compensation coefficient of each pixel in the image with the regional reflex light of the reflective surface boundary that is adjacent, the brightness of each pixel in the marginal portion image of said scene image is compensated according to the brightness value of marginal portion each pixel of image of said scene image and the reflective surface corresponding that presets with said camera head.
On the reflective surface of the common photocentre video camera that the embodiment of the invention provides polarizing coating is arranged; Before the camera lens of camera head polaroid is arranged; Because the polarization direction of the preceding polaroid of the polarization direction of polarizing coating and the pairing camera head lens of this reflective surface is identical on each reflective surface; Different with the polarization direction of polaroid before the pairing camera head lens of adjacent reflective surface; Cause camera head can only receive, can not receive the reflected light of adjacent reflective surface (this adjacent reflective surface is and the adjacent reflective surface of the pairing reflective surface of said camera head), like this from the reflected light on the reflective surface corresponding with it; The image that is formed by the reflected light of two adjacent reflective surfaces of prism just can not be aliasing in together, just can not form the dip-dye band of emergence.
Description of drawings
In order to be illustrated more clearly in the technical scheme of the embodiment of the invention; To do to introduce simply to the accompanying drawing of required use among the embodiment below; Obviously, the accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills; Under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the virtual photocentre principle schematic altogether that prior art provides;
Fig. 2 is the catoptrical synoptic diagram of edge of two reflective surfaces providing of prior art;
Fig. 3 A is a kind of photocentre camera structure figure altogether that the embodiment of the invention provides;
Fig. 3 B is the light path synoptic diagram based on a reflective surface of prism that the embodiment of the invention provides;
Fig. 4 is the light path synoptic diagram based on a reflective surface up that the embodiment of the invention provides;
Fig. 5 is the light path synoptic diagram based on a reflective surface down that the embodiment of the invention provides;
Fig. 6 is the light path synoptic diagram based on the reflective surface with transparent protective film that the embodiment of the invention provides;
Fig. 7 is the common photocentre camera structure figure with dividing plate that the embodiment of the invention provides;
Fig. 8 is the image processing method process flow diagram that the embodiment of the invention provides;
Fig. 9 is the method flow diagram of a kind of definite luminance compensation coefficient of providing of the embodiment of the invention;
Figure 10 is a marginal portion image synoptic diagram in the mono-color image that provides of the embodiment of the invention;
Figure 11 is the method flow diagram that another kind that the embodiment of the invention provides is confirmed the luminance compensation coefficient;
Figure 12 A is a kind of image processing apparatus structural drawing that the embodiment of the invention provides;
Figure 12 B is the another kind of image processing apparatus structural drawing that the embodiment of the invention provides.
Embodiment
Consult Fig. 3 A, the embodiment of the invention provides a kind of photocentre video camera altogether, and this common photocentre video camera comprises: prism 10 and a plurality of camera heads 20,
A plurality of camera heads 20; Corresponding one by one with each reflective surface of said prism 10; And polaroid is installed all before the camera lens of each camera head; Said a plurality of camera head is used to obtain and utilizes each polaroid that the reflection ray of the polarization of each reflective surface of said prism reflection is carried out the light after the polarization manipulation, wherein, the polarization direction of the polaroid before the camera lens of each camera head with its one to one on the reflective surface of said prism the polarization direction of polarizing coating identical.
Wherein, the polarization direction of the polarizing coating on the polarization direction of the polarizing coating on each reflective surface of prism and the adjacent reflective surface can be vertical, also can be other angles, do not influence realization of the present invention.
For the technical scheme that makes the embodiment of the invention is clearer, consult Fig. 3 B, be that example is described the principle of work of photocentre video camera altogether with the reflective surface 100 of prism:
Post polarizing coating 101 on the reflective surface 100 of prism, the reflective surface 100 of said prism is used for the incident ray that sees through polarizing coating 101 is reflected the reflection ray of output polarizationization;
For more effective prevention video camera receives and its light that adjacent reflective surface reflected of reflective surface one to one; The photocentre video camera can also comprise altogether: dividing plate; The reflection ray of polarization that is used for stopping a reflective surface output of said prism gets into another the reflective surface corresponding camera head adjacent with this reflective surface, the boundary line coplane of said dividing plate and said adjacent two reflective surfaces.
Dividing plate can be fixedly connected with the shell of said altogether photocentre video camera, the structure that perhaps is one of the forming with the shell of said common photocentre video camera.
On the reflective surface of the common photocentre video camera that the embodiment of the invention provides polarizing coating is arranged; Before the camera lens of camera head polaroid is arranged; Because the polarization direction of the preceding polaroid of the polarization direction of polarizing coating and the pairing camera head lens of this reflective surface is identical on each reflective surface; Different with the polarization direction of polaroid before the pairing camera head lens of adjacent reflective surface; Cause camera head can only receive, can not receive the reflection ray of adjacent reflective surface (this adjacent reflective surface is and the adjacent reflective surface of the pairing reflective surface of said camera head), like this from the reflection ray on the reflective surface corresponding with it; The image that is formed by the reflection ray of two adjacent reflective surfaces of prism just can not be aliasing in together, just can not form the dip-dye band of emergence.
In order to make the embodiment of the invention clearer, following embodiment will be described in detail photocentre video camera altogether provided by the invention.
Fig. 4 shows the light path synoptic diagram based on a reflective surface up, supposes that incident ray 301 is natural light, and its polarization direction is circular polarization, and the polarization direction of polarizing coating 101 and polaroid 201 all is a horizontal polarization.
100 pairs of incident raies 301 that see through polarizing coating 101 of the reflective surface of prism 10 reflect; The reflection ray 302 of output polarizationization; Because the polarization direction of polarizing coating 101 is a horizontal polarization, so incident ray 301 sees through the linearly polarized light that becomes horizontal polarization behind the polarizing coating 101, the linearly polarized light of 100 pairs of these horizontal polarizations of reflective surface reflects; Output reflection light 302, this reflection ray 302 also are the linearly polarized lights of horizontal polarization.
201 pairs of reflection rays of polaroid 302 before the camera lens 200 of camera head 20 carry out polarization to be handled; Because reflection ray 302 is linearly polarized lights of horizontal polarization; The polarization direction of polaroid 201 is a horizontal polarization, is injected in the camera lens 200 of camera head 20 so this reflection ray 302 can see through polaroid 201.
The reflection ray 302 that camera head 20 receives the polarization that utilizes 100 reflections of 201 pairs of said prism 10 reflective surfaces of polaroid carries out polarization manipulation light afterwards.
On the reflective surface of the common photocentre video camera that the embodiment of the invention provides polarizing coating is arranged; Before the camera lens of camera head polaroid is arranged; Because the polarization direction of the preceding polaroid of the polarization direction of polarizing coating and the pairing camera head lens of this reflective surface is identical on each reflective surface; Different with the polarization direction of polaroid before the pairing camera head lens of adjacent reflective surface; Cause camera head can only receive, can not receive the reflected light of adjacent reflective surface (this adjacent reflective surface is and the adjacent reflective surface of the pairing reflective surface of said camera head), like this from the reflected light on the reflective surface corresponding with it; The image that is formed by the reflected light of two adjacent reflective surfaces of prism just can not be aliasing in together, just can not form the dip-dye band of emergence.
Fig. 5 shows the light path synoptic diagram based on a reflective surface down, supposes that incident ray 301 is natural light, and its polarization direction is circular polarization, and the polarization direction of polarizing coating 101 and polaroid 201 all is a horizontal polarization.Wherein, reflective surface, polaroid and camera head, repeat no more at this with embodiment illustrated in fig. 4 similar to the processing of light among this embodiment.
Optional, as shown in Figure 6, between reflective surface 100 and polarizing coating 101, transparent protective film 102 can also be arranged, be used to prevent that the coating on the reflective surface from coming off.Wherein, Incident ray 301 orders see through polarizing coating 101 and incide reflective surface 100 with transparent protective film 102; 100 pairs of incident raies 301 of reflective surface reflect, and reflection ray 302 orders that obtain see through transparent protective film 102, polarizing coating 101 directive camera heads 20.
Owing to adopted polaroid and polarizing coating; Light can reduce light quantity during through polaroid and polarizing coating; So arriving the catoptrical light quantity of camera head lens can be littler than the light quantity of incident light; Usually be merely 50% of incident light light quantity, so can adopt the aperture of regulating camera head to remedy the light loss that polaroid and polarizing coating bring.Aperture is one and is used for controlling light through camera lens that get into the device of the light quantity of light-sensitive surface in the fuselage, aperture size can be represented with the f value: the diameter of the focal length/camera lens aperture of f value=camera lens.The f value of aperture is usually between 2.8 to 16.The f value of aperture is littler, and the light quantity of light-sensitive surface just the more in the entering fuselage in the same unit interval.For example aperture is adjusted to f5.6 from f8, one-level that aperture is big, and simultaneously, the light quantity that gets into light-sensitive surface in the fuselage is also many one times.
The common photocentre video camera of the invention described above embodiment introduction stops camera head reception and its light that adjacent reflective surface reflected of reflective surface one to one through adopting optical principle; For this camera head of more effective prevention receives and its light that adjacent reflective surface reflected of reflective surface one to one; The photocentre video camera can also comprise altogether: dividing plate; The structure that is fixedly connected with the shell of said altogether photocentre video camera or is one of the forming with the shell of said common photocentre video camera; The reflection ray of polarization that is used for stopping a reflective surface output of said prism gets into the corresponding camera head of another reflective surface, and wherein, a said reflective surface and said another reflective surface are two adjacent reflective surfaces; Wherein, the boundary line coplane of said dividing plate and said adjacent two reflective surfaces.Concrete, the reflective surface of prism can up also can be down, and the reflective surface of prism is up the time, dividing plate be positioned at two adjacent reflective surface boundary lines directly over; The reflective surface of prism is down the time, dividing plate be positioned at two adjacent reflective surface boundary lines under.
As shown in Figure 7; P1 is a prism, and it has M1, M2 and three reflective surfaces of M3, and these three reflective surfaces up; C1, C2 and C3 are respectively the camera head of corresponding three reflective surface M1, M2 and M3; For the reflected light that makes M1 and M3 does not get into the camera lens of C2, on the boundary line S12 of M1 and these two adjacent reflective surfaces of M2, place way-board B12, placement way-board B23 on the boundary line S23 of M3 and these two adjacent reflective surfaces of M2.Wherein, way-board B12 and S12 coplane, the bottom surface D12 of way-board B12 overlaps in the projection of prism P1 bottom surface with S12 in the projection of prism P1 bottom surface; Way-board B23 and S23 coplane, the bottom surface D23 of way-board B23 overlaps in the projection of prism P1 bottom surface with S23 in the projection of prism P1 bottom surface.B12 and B23 have been divided into three parts being total to photocentre video camera volume inside like this; The corresponding reflective surface of each part and a camera head; Way-board can block the reflected light of adjacent reflective surface, makes camera head in this segment space can not receive the reflected light of adjacent reflective surface.
Consult Fig. 8, a kind of embodiment of image processing method is provided, this method embodiment comprises:
801, obtain the scene image that camera head is taken.
802, obtain the brightness value of each pixel in the marginal portion image of said scene image; Wherein, the formed image of light of the scene of the marginal portion image of the said scene image regional reflex that to be the said camera head reflective surface corresponding with said camera head of catching have a common boundary with the reflective surface that is adjacent.
This method is applicable to the common photocentre video camera that the foregoing description provides, and also is applicable to the common photocentre video camera that prior art provides.Photocentre video camera altogether as shown in Figure 7; Because reflective surface M2 and M1 and M3 are adjacent respectively; Marginal portion image in the scene image that the video camera that M2 is corresponding is taken comprises: the formed image of light of the scene of the regional reflex that the formed image of light of the scene of the regional reflex that reflective surface M2 and M1 have a common boundary and reflective surface M2 and M3 have a common boundary.Marginal portion image in the scene image that the video camera that M1 is corresponding is taken comprises: the formed image of light of the scene of the regional reflex that reflective surface M2 and M1 have a common boundary.
803, the regional reflex light that has a common boundary with the reflective surface that is adjacent according to the brightness value of each pixel in the marginal portion image of said scene image and the reflective surface corresponding with said camera head that preset forms the luminance compensation coefficient of each pixel in the image, and the brightness of each pixel in the marginal portion image of said scene image is compensated.
Before this step; In order to obtain the reflective surface corresponding with said camera head forms each pixel in the image with the regional reflex light of the reflective surface boundary that is adjacent luminance compensation coefficient; This method further comprises: obtain the marginal portion image and the non-marginal portion image of the monochrome image that said camera head takes, the marginal portion image of said monochrome image is the light formed image of the said camera head reflective surface corresponding with said camera head of catching with the monochromatic object of the regional reflex of the reflective surface boundary that is adjacent; The non-marginal portion image of said monochrome image is the part except that the image of said marginal portion in the said monochrome image; Obtain the average brightness value of pixel in the non-marginal portion image of said monochrome image, with the brightness value of each pixel in the marginal portion image of said monochrome image with respect to the ratio of said average brightness value brightness decay coefficient as each pixel in the marginal portion image of said monochrome image; Confirm that regional reflex light that the inverse of the brightness decay coefficient of each pixel in the marginal portion image of said monochrome image has a common boundary with the reflective surface that is adjacent as the said reflective surface corresponding with camera head forms the luminance compensation coefficient of respective pixel in the image.Wherein, monochromatic object can be monochromatic template, and this template is white template or gray scale template; Accordingly, the R of each pixel, G, B value equate or approximately equal in the monochrome image.
Wherein, The process that the brightness of each pixel in the marginal portion image of scene image is compensated can be to handle by frame; For speed up processing; Can adopt graphic process unit (Graphic ProcessingUnit, GPU), (Digital Signal Processing DSP) waits device to handle to digital signal processor.
The regional reflex light that the reflective surface corresponding with camera head that the embodiment of the invention presets through utilization has a common boundary with the reflective surface that is adjacent forms the brightness decay coefficient of each pixel in the image; Brightness to each pixel in the captured edge of image parts of images compensates, and has eliminated the blanking bar that juncture area caused by two reflective surfaces.
The regional reflex light that the acquisition reflective surface corresponding with camera head that the following specific descriptions embodiment of the invention provides has a common boundary with the reflective surface that is adjacent forms the process of the luminance compensation coefficient of each pixel in the image:
First kind of mode consulted Fig. 9, and it specifically comprises:
901, obtain the marginal portion image and the non-marginal portion image of the monochrome image of said camera head shooting.
902, obtain the average brightness value of pixel in the non-marginal portion image of said monochrome image.
Concrete, ask the brightness value sum of each pixel in the image of non-marginal portion, use said then and, obtain average brightness value divided by the number of pixel in the image of non-marginal portion.
903, with the brightness value of each pixel in certain delegation of marginal portion image in the monochrome image respectively divided by said average brightness value, obtain the brightness decay coefficient of each pixel in this row.
Concrete, shown in figure 10, the width of the marginal portion image in the phantom order color image is w, in the image coordinate of a certain pixel be (x, y), when asking y to be determined value in this step, the brightness decay coefficient of the pixel of different x correspondences, wherein, x ∈ [0, w] supposes B
xBe the brightness value of this pixel, the span of this brightness value is 0～255, and then this pixel intensity attenuation coefficient is:
Wherein,
Be the average brightness value of pixel in the non-marginal portion image of monochrome image, its span is 0～255, λ
xSpan be λ
x∈ (0,1], i.e. 0＜λ
x≤1.
Following definite mode of describing the marginal portion picture traverse w in the monochrome image:
Concrete, judge whether the brightness value of each pixel in the monochrome image delegation is lower than threshold value, find the nearest pixel that is lower than threshold value in range image center, said pixel is w to the distance on monochrome image border.
904, confirm the brightness decay coefficient of each pixel in other row of marginal portion image of monochrome image, wherein, the brightness decay coefficient of pixel that said other row and said certain delegation have identical horizontal ordinate is identical.
905, confirm that regional reflex light that the inverse of the brightness decay coefficient of each pixel in the marginal portion image of monochrome image has a common boundary with the reflective surface that is adjacent as the said reflective surface corresponding with camera head forms the luminance compensation coefficient of respective pixel in the image.
The second way: consult Figure 11, it specifically comprises:
1101, obtain the marginal portion image and the non-marginal portion image of the monochrome image of said camera head shooting.
1102, obtain the average brightness value of pixel in the non-marginal portion image of said monochrome image.
1103, with the brightness value of each pixel of marginal portion image in the monochrome image divided by said average brightness value, obtain the brightness decay coefficient of each pixel.
1104, confirm that regional reflex light that the inverse of the brightness decay coefficient of each pixel in the marginal portion image of monochrome image has a common boundary with the reflective surface that is adjacent as the said reflective surface corresponding with camera head forms the luminance compensation coefficient of respective pixel in the image.
Need to prove; For each camera head,, then can only ask the brightness decay coefficient of pixel in the marginal portion image of a monochrome image if when self imaging conditions of camera head is constant; When if self imaging conditions of camera head changes; Such as changing f-number, the juncture area of then corresponding two reflective surfaces also can change, and need ask the brightness decay coefficient of the marginal portion image of monochrome image again.General, when f-number increased, the juncture area of two reflective surfaces also can become greatly, and when f-number reduced, the juncture area of two reflective surfaces also can reduce.
Optional; The brightness of each pixel compensates in the marginal portion image of the scene image that each camera head is taken, and obtains after the scene image after each self compensation, in order to obtain panoramic picture; This method also comprises: the scene image after a plurality of compensation is spliced, obtain panoramic picture.
Consult Figure 12 A, the embodiment of the invention provides a kind of image processing apparatus, and it mainly comprises:
Brightness value acquiring unit 1202 is used for obtaining the brightness value of marginal portion each pixel of image of said scene image; Wherein, the formed image of light of the scene of the marginal portion image of the said scene image regional reflex that to be the said camera head reflective surface corresponding with said camera head of catching have a common boundary with the reflective surface that is adjacent;
Compensating unit 1203; Be used for forming the luminance compensation coefficient of each pixel in the image with the regional reflex light of the reflective surface boundary that is adjacent, the brightness of each pixel in the marginal portion image of said scene image is compensated according to the brightness value of marginal portion each pixel of image of said scene image and the reflective surface corresponding that presets with said camera head.
Wherein, The luminance compensation coefficient that the regional reflex light that the reflective surface corresponding with said camera head has a common boundary with the reflective surface that is adjacent forms each pixel in the image can be just to be configured in advance on the said camera head, also can be that camera head utilizes that the brightness value of each pixel calculates in the monochrome image.
Camera head forms the luminance compensation coefficient of each pixel in the image for the regional reflex light that calculates the reflective surface corresponding with said camera head and have a common boundary with the reflective surface that is adjacent, consults Figure 12 B, and this camera head also comprises:
Mono-color image acquiring unit 1204; Be used to obtain the marginal portion image and the non-marginal portion image of the monochrome image that said camera head takes, the marginal portion image of said monochrome image is the light formed image of the said camera head reflective surface corresponding with said camera head of catching with the monochromatic object of the regional reflex of the reflective surface boundary that is adjacent; The non-marginal portion image of said monochrome image is the part except that the image of said marginal portion in the said monochrome image; The brightness decay coefficient is confirmed unit 1205; Be used for obtaining the average brightness value of the non-marginal portion image pixel of said monochrome image; With the brightness value of each pixel in the marginal portion image of said monochrome image with respect to the ratio of said average brightness value brightness decay coefficient as each pixel in the marginal portion image of said monochrome image; Can specifically be used for brightness value with certain each pixel of delegation of the marginal portion image of monochrome image divided by said average brightness value; Obtain the brightness decay coefficient of each pixel in said certain delegation; Confirm the brightness decay coefficient of each pixel in other row of marginal portion image of said monochrome image, wherein, the brightness decay coefficient of pixel that said other row and said certain delegation have identical horizontal ordinate is identical.Concrete attenuation coefficient confirms that method sees also the description of step 903-904 and step 1103 among the method embodiment, repeats no more at this.The luminance compensation coefficient is confirmed unit 1206, is used for confirming that the inverse of brightness decay coefficient of marginal portion each pixel of image of said monochrome image forms the luminance compensation coefficient of each pixel in the image as the regional reflex light of the said same reflective surface boundary that is adjacent of reflective surface corresponding with camera head.
The regional reflex light that two reflective surfaces that the embodiment of the invention presets through utilization have a common boundary forms the brightness decay coefficient of each pixel in the image; Brightness to each pixel in the captured edge of image parts of images compensates, and has eliminated the blanking bar that the zone caused that is had a common boundary by two reflective surfaces.
One of ordinary skill in the art will appreciate that all or part of step that realizes in the foregoing description method is to instruct relevant hardware to accomplish through program; Described program can be stored in a kind of computer-readable recording medium; ROM (read-only memory) for example, disk or CD etc.
More than common photocentre video camera, image processing method and device that the embodiment of the invention provided have been carried out detailed introduction; Used concrete example among this paper principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof; Simultaneously, for one of ordinary skill in the art, according to thought of the present invention, the part that on embodiment and range of application, all can change, in sum, this description should not be construed as limitation of the present invention.
Claims (7)
1. one kind is total to the photocentre video camera, it is characterized in that, comprising:
Prism; Have a plurality of reflective surfaces and each reflective surface all posts polarizing coating; The reflective surface of said prism is used for the incident ray that sees through polarizing coating is reflected; The reflection ray of output polarizationization, on said each reflective surface on the polarization direction of polarizing coating and the adjacent reflective surface polarization direction of polarizing coating different;
A plurality of camera heads; Corresponding one by one with each reflective surface of said prism; And polaroid is installed all before the camera lens of each camera head; Each camera head is used to obtain and utilizes corresponding polaroid that the reflection ray of the polarization of the corresponding reflective surface reflection of said prism is carried out the light after the polarization manipulation, wherein, the polarization direction of the polaroid before the camera lens of each camera head with its one to one on the reflective surface of said prism the polarization direction of polarizing coating identical.
2. photocentre video camera altogether according to claim 1 is characterized in that,
The polarization direction of the polarizing coating on the polarization direction of the polarizing coating on each reflective surface of said prism and the adjacent reflective surface is vertical.
3. photocentre video camera altogether according to claim 1 is characterized in that, also comprises:
Dividing plate is used for stopping that the reflection ray of polarization of a reflective surface output of said prism gets into another the reflective surface corresponding camera head adjacent with said reflective surface, wherein, and the boundary line coplane of said dividing plate and said adjacent two reflective surfaces.
4. altogether photocentre video camera according to claim 3 is characterized in that, said dividing plate is fixedly connected perhaps the structure that is one of the forming with the said shell of photocentre video camera altogether with the said shell of photocentre video camera altogether.
5. an image processing method is characterized in that, comprising:
Obtain the scene image that camera head is taken; Wherein, A plurality of camera heads are corresponding one by one with each reflective surface of prism, and polaroid, prism all are installed before the camera lens of each camera head; Have a plurality of reflective surfaces and each reflective surface all posts polarizing coating; The reflective surface of said prism is used for the incident ray that sees through polarizing coating is reflected, the reflection ray of output polarizationization, on said each reflective surface on the polarization direction of polarizing coating and the adjacent reflective surface polarization direction of polarizing coating different; Each camera head is used to obtain and utilizes corresponding polaroid that the reflection ray of the polarization of the corresponding reflective surface reflection of said prism is carried out the light after the polarization manipulation; Wherein, the polarization direction of the polaroid before the camera lens of each camera head with its one to one on the reflective surface of said prism the polarization direction of polarizing coating identical;
Obtain the brightness value of each pixel in the marginal portion image of said scene image; Wherein, the formed image of light of the scene of the marginal portion image of the said scene image regional reflex that to be the said camera head reflective surface corresponding with said camera head of catching have a common boundary with the reflective surface that is adjacent;
Form the luminance compensation coefficient of each pixel in the image according to the brightness value of each pixel in the marginal portion image of said scene image and the reflective surface corresponding that presets with the regional reflex light of the reflective surface boundary that is adjacent, the brightness of each pixel in the marginal portion image of said scene image is compensated with said camera head.
6. method according to claim 5 is characterized in that, before the brightness of each pixel compensated in to the marginal portion image of said scene image, this method also comprised:
Obtain the marginal portion image and the non-marginal portion image of the monochrome image that said camera head takes, the marginal portion image of said monochrome image is the light formed image of said camera head corresponding with the said camera head reflective surface of catching with the monochromatic object of the regional reflex of the reflective surface boundary that is adjacent; The non-marginal portion image of said monochrome image is the part except that the image of said marginal portion in the said monochrome image;
Obtain the average brightness value of pixel in the non-marginal portion image of said monochrome image, with the brightness value of each pixel in the marginal portion image of said monochrome image with respect to the ratio of said average brightness value brightness decay coefficient as each pixel in the marginal portion image of said monochrome image;
Confirm that regional reflex light that the inverse conduct reflective surface corresponding with said camera head of the brightness decay coefficient of each pixel in the marginal portion image of said monochrome image has a common boundary with the reflective surface that is adjacent forms the luminance compensation coefficient of respective pixel in the image.
7. method according to claim 6 is characterized in that,
The brightness value of each pixel in the marginal portion image of said monochrome image is comprised with respect to the ratio of the said average brightness value brightness decay coefficient as each pixel in the marginal portion image of said monochrome image:
The brightness value of each pixel in certain delegation of the marginal portion image of monochrome image divided by said average brightness value, is obtained the brightness decay coefficient of each pixel in said certain delegation;
Confirm the brightness decay coefficient of each pixel in other row of marginal portion image of said monochrome image, wherein, the brightness decay coefficient of pixel that said other row and said certain delegation have identical horizontal ordinate is identical.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102904958A CN101980080B (en) | 2010-09-19 | 2010-09-19 | Homocentric camera, image processing method and device |
| PCT/CN2011/079834 WO2012034542A1 (en) | 2010-09-19 | 2011-09-19 | Co-optical center camera, image processing device and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102904958A CN101980080B (en) | 2010-09-19 | 2010-09-19 | Homocentric camera, image processing method and device |
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| CN101980080A CN101980080A (en) | 2011-02-23 |
| CN101980080B true CN101980080B (en) | 2012-05-23 |
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| CN2010102904958A Expired - Fee Related CN101980080B (en) | 2010-09-19 | 2010-09-19 | Homocentric camera, image processing method and device |
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| Country | Link |
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| WO (1) | WO2012034542A1 (en) |
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| CN101980080B (en) * | 2010-09-19 | 2012-05-23 | 华为终端有限公司 | Homocentric camera, image processing method and device |
| CN103646314B (en) * | 2013-12-13 | 2016-07-06 | 国家电网公司 | Team safety event management system management-control method based on web site |
| US10139644B2 (en) * | 2016-07-01 | 2018-11-27 | Tilt Five, Inc | Head mounted projection display with multilayer beam splitter and color correction |
| CN110874817B (en) * | 2018-08-29 | 2022-02-01 | 上海商汤智能科技有限公司 | Image stitching method and device, vehicle-mounted image processing device, equipment and medium |
| CN111210777A (en) * | 2018-11-21 | 2020-05-29 | 北京小米移动软件有限公司 | Backlight brightness adjusting method and device, electronic equipment and machine-readable storage medium |
| CN111385487A (en) * | 2018-12-28 | 2020-07-07 | 中兴通讯股份有限公司 | Debugging method and device of multi-lens camera and storage medium |
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| WO2012034542A1 (en) | 2012-03-22 |
| CN101980080A (en) | 2011-02-23 |
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