CN102123290B - Method and device for correcting translation error between images shot by two cameras - Google Patents
Method and device for correcting translation error between images shot by two cameras Download PDFInfo
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- CN102123290B CN102123290B CN201110001263.0A CN201110001263A CN102123290B CN 102123290 B CN102123290 B CN 102123290B CN 201110001263 A CN201110001263 A CN 201110001263A CN 102123290 B CN102123290 B CN 102123290B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/246—Calibration of cameras
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Abstract
The invention discloses a method for correcting a translation error between images shot by two cameras, and the method comprises the following steps: simultaneously shooting a calibrated object by two cameras so as to respectively obtain a left-eye calibrated image and a right-eye calibrated image; determining a translation error between the two cameras according to the positions of the calibrated object in the two calibrated images, and then storing the translation error; and correcting the images shot by the two cameras according to the stored translation error. The invention also discloses a device for correcting a translation error of images shot by two cameras. By utilizing the method and device disclosed by the invention, the translation error between the two cameras can be eliminated effectively, so that a viewer can see clear stereo images.
Description
Technical field
The present invention relates to double camera stereoscopic shooting technology, refer to especially a kind of method and apparatus of correcting the translation error of the captured image of dual camera.
Background technology
In the prior art, the stereo display of picture or image is all to have utilized the parallax characteristic of eyes to realize, and its mode mainly contains: look point-score, light point-score, time-sharing procedure and raster method etc.Although specific implementation is different, basic point of departure is identical, and principle broadly similar, utilizes two video cameras of settling side by side commissarial left eye and right eye respectively, utilizes two cameras synchronously to shoot two slightly pictures of horizontal parallax.During projection, left eye film and right eye film are respectively charged into left eye projecting device and right eye projecting device, left eye projecting device and the run-in synchronism of right eye projecting device by picture presentation out, form the slur image that comprises left-eye image, eye image.Spectators are by some special installations, and for example polaroid glasses, make spectators' left eye can only see left-eye image, and right eye can only be seen eye image.By the aggregation feature of spectators' eyes, respectively left-eye image and eye image are superimposed on retina again, by cerebral nerve, are produced the visual effect of 3 D stereo.
The technology of above-mentioned four kinds of stereo displays and shooting, all require to use dual camera to take, Fig. 1 is the schematic diagram of dual camera left-eye image and eye image while correctly installing, and as shown in Figure 1, two images are respectively left-eye image and the eye image that left eye video camera and right eye video camera are taken.Yet, when dual camera is installed on filming apparatus may there is error in the position of dual camera, or the vibrations in use procedure are collided with and also may be made the dual camera position of filming apparatus have error, such as: dual camera, there is left and right, skew etc. up and down.Certain camera in two cameras, for example, when there is left and right skew in right eye camera, the image of taking out will be offset, the schematic diagram of the image that when Fig. 2 is the skew of right eye camera position, dual camera is taken, as shown in Figure 2, the skew due to right eye camera is offset eye image slightly left.The schematic diagram of left-eye image and eye image stack when Fig. 3 is the skew of right eye camera position, as shown in Figure 3, the image of stack has occurred that skew makes beholder feel that the edge blurry of image is unclear, even ghost image.
Current, dual camera filming apparatus all can carry out the demarcation of camera before dispatching from the factory, and corrects the problems such as camera radial distortion, makes the image of taking out be unlikely to obvious distortion.Conventional have biplane scaling method, Tsai two-step method, a self-calibration method etc.Yet these calibration techniques are all that an independent camera self is demarcated in general, rather than camera is demarcated each other.Therefore, can not eliminate the alignment error between dual camera completely.
Summary of the invention
In view of this, main purpose of the present invention is to provide a kind of method and apparatus of correcting the translation error of the captured image of dual camera, can eliminate the site error between dual camera completely, causes superimposed image to occur the problem of skew.
For achieving the above object, technical scheme of the present invention is achieved in that
The invention provides a kind of method of correcting the translation error of the captured image of dual camera, described method comprises:
Use dual camera to take demarcation object simultaneously, obtain respectively left eye uncalibrated image and right eye uncalibrated image;
According to the translation error of demarcating between the location positioning dual camera of object in two uncalibrated images, and preserve described translation error;
According to the translation error of preserving, correct the image that dual camera is taken.
Wherein, described demarcation object is specifically demarcated object in conplane four, and this plane parallel is in the line of dual camera photocentre, the first abscissa spacing of demarcating object and the second demarcation object equals the spacing of dual camera photocentre, and the 3rd abscissa spacing of demarcating object and the 4th demarcation object also equals the spacing of dual camera photocentre.
Wherein, the translation error between described definite dual camera, specifically: determine respectively and demarcate longitudinal error and the lateral error of object in left eye uncalibrated image and right eye uncalibrated image.
Wherein, described longitudinal error is demarcated object and the 3rd demarcation object left eye ordinate mean value by calculating first, and the difference of demarcating object right eye ordinate mean value with the first demarcation object and the 3rd obtains;
Described lateral error is demarcated object and the 3rd demarcation object left eye abscissa mean value by calculating first, and the difference of demarcating object right eye abscissa mean value with the second demarcation object and the 4th obtains.
Wherein, the image that described correction dual camera is taken, specifically: according to translation error, to left-eye image, and/or eye image carries out longitudinally, and/or transverse translation.
The present invention also provides a kind of device of correcting the translation error of the captured image of dual camera, and described device comprises: uncalibrated image acquisition module, translation error determination module and image rectification module, wherein,
Described uncalibrated image acquisition module is used dual camera to take demarcation object for gathering simultaneously, obtains respectively left eye uncalibrated image and right eye uncalibrated image, and two uncalibrated images are sent to translation error determination module;
Described translation error determination module, for the translation error between the location positioning dual camera of two uncalibrated images according to demarcation object, and preserves described translation error;
Described image rectification module, for correcting according to the translation error of preserving the image that dual camera is taken.
Wherein, the demarcation object that the dual camera of described uncalibrated image acquisition module collection is taken is simultaneously specifically: in conplane four, demarcate objects, and this plane parallel is in the line of dual camera photocentre, the first abscissa spacing of demarcating object and the second demarcation object equals the spacing of dual camera photocentre, and the 3rd abscissa spacing of demarcating object and the 4th demarcation object also equals the spacing of dual camera photocentre.
The method and apparatus of the translation error of the captured image of correction dual camera provided by the present invention is used dual camera to take demarcation object simultaneously, obtains respectively left eye uncalibrated image and right eye uncalibrated image; According to the translation error of demarcating between the location positioning dual camera of object in two uncalibrated images, and preserve described translation error; According to the translation error of preserving, correct the image that dual camera is taken.Can effectively eliminate dual camera translation error each other, make beholder can see stereopsis clearly.Further, if filming apparatus in use collides with, cause dual camera to be offset, utilize method and apparatus of the present invention again to be demarcated by user oneself, do not need to send manufacturer back to and keep in repair, facilitated the maintenance in using of later stage of user.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of dual camera left-eye image and eye image while correctly installing;
The schematic diagram of the image that when Fig. 2 is the skew of right eye camera position, dual camera is taken;
The schematic diagram of left-eye image and eye image stack when Fig. 3 is the skew of right eye camera position;
Fig. 4 is a kind of method flow schematic diagram of correcting the translation error of the captured image of dual camera of the present invention;
Fig. 5 is the effect schematic diagram of left eye uncalibrated image in the embodiment of the present invention;
Fig. 6 is the effect schematic diagram of right eye uncalibrated image in the embodiment of the present invention;
Fig. 7 is a kind of apparatus structure schematic diagram of correcting the translation error of the captured image of dual camera of the present invention.
Embodiment
In the prior art, camera all adopts lens as camera lens, to reach the object of imaging.During the rays pass through lens of all directions, all can produce deviation, light transmition direction is changed.But have on lens a bit, when the light of any direction passes through this, the direction of propagation of light is constant, and exit direction and incident direction are parallel to each other, this point, the optical centre of lens, is called for short photocentre.In the present invention, the calibration position of definite camera is as the criterion with the photocentre of lens.
Basic thought of the present invention is: use dual camera to take demarcation object simultaneously, obtain respectively left eye uncalibrated image and right eye uncalibrated image; According to the translation error of demarcating between the location positioning dual camera of object in two uncalibrated images, and preserve described translation error; According to the translation error of preserving, correct the image that dual camera is taken.
Below in conjunction with the drawings and specific embodiments, the technical solution of the present invention is further elaborated.
Fig. 4 is a kind of method flow schematic diagram of correcting the translation error of the captured image of dual camera of the present invention, and as shown in Figure 4, the method for the translation error of the captured image of described correction dual camera, comprises the following steps:
Step 401 is used dual camera to take demarcation object simultaneously, obtains respectively left eye uncalibrated image and right eye uncalibrated image;
Concrete, described demarcation object is in same plane, and this plane parallel is in the line of dual camera photocentre, and meanwhile, the first abscissa spacing and the 3rd of demarcating object and the second demarcation object is demarcated object and the 4th and demarcated the spacing that object is equal to dual camera photocentre.
Step 402, according to the translation error of demarcating between the location positioning dual camera of object in two uncalibrated images, and preserves described translation error;
Concrete, the translation error between described definite dual camera, specifically: determine respectively and demarcate longitudinal error and the lateral error of object in left eye uncalibrated image and right eye uncalibrated image.Concrete implementation is: calculate first and demarcate object and the 3rd and demarcate object left eye ordinate mean value, the difference of demarcating object right eye ordinate mean value with the first demarcation object and the 3rd is as longitudinal error; Calculate first and demarcate object and the 3rd and demarcate object left eye abscissa mean value, the difference of demarcating object right eye abscissa mean value with the second demarcation object and the 4th is as lateral error.
Step 403, corrects according to the translation error of preserving the image that dual camera is taken.
Concrete, the image that described correction dual camera is taken, specifically according to translation error to left-eye image, and/or eye image carries out longitudinally, and/or transverse translation, with the translation error of remedial frames.In the prior art, digital image processing techniques are very ripe, therefore, can carry out translation, torsion, stretching, convergent-divergent, cutting processing to digital picture completely.The deformation transformation of digital picture, for example compressed transform or stretching conversion, be exactly original image to the coordinate transform of target image, briefly, exactly the coordinate of each point of original image is transferred to the new coordinate of the respective point of target image by distortion computing.Therefore, can realize completely digital picture is carried out to compressed transform processing or stretching conversion processing.The cutting techniques of digital picture, is exactly the coordinate based on pixel, and digital picture, according to certain rule, is formed partial pixel point to the technology of a new width digital picture.The folding of digital picture, is exactly the coordinate based on pixel, and two width or several digital pictures, according to certain rule, are formed to the technology of a new width digital picture.The image translation of can be easily needs being corrected by above-mentioned digital image processing techniques, further can also be optimized the image of correcting by the technology such as cutting apart.
Below in conjunction with a specific embodiment, method of the present invention is described in detail.
Fig. 5 is the effect schematic diagram of left eye uncalibrated image in the embodiment of the present invention, as shown in Figure 5, in left eye uncalibrated image, abscissa is 31, ordinate is 32, the first demarcation object 1 coordinate is (x11, y11), the second demarcation object 2 coordinates are (x12, y12), the 3rd demarcation object 3 coordinates are that (x13, y13), the 4th demarcation object 4 coordinates are (x14, y14).Fig. 6 is the effect schematic diagram of right eye uncalibrated image in the embodiment of the present invention, as shown in Figure 6, in right eye uncalibrated image, abscissa is 41, ordinate is 42, the first demarcation object 1 coordinate is (x21, y21), the second demarcation object 2 coordinates are (x22, y22), the 3rd demarcation object 3 coordinates are that (x23, y23), the 4th demarcation object 4 coordinates are (x24, y24).Meanwhile, x12 – x11=x14 – x13=x22 – x21=x24 – x23 equals the photocentre spacing of left camera 15 and right camera 16.
Suppose that dual camera installation is correct, without offset problem, demarcate objects in two uncalibrated images coordinate system separately for 4, Y value is identical, has: y11=y21; Y12=y22; Y13=y23; Y14=y24.
Because the first demarcation object 1, the spacing of the second demarcation object 2 on left eye abscissa 31 equal the dual camera spacing of photocentre separately, in left eye uncalibrated image and right eye uncalibrated image, first demarcates object 1, second demarcates object 2 in two uncalibrated images coordinate system separately, abscissa is identical, has: x11=x22.
Because the 3rd demarcation object 3, the spacing of the 4th demarcation object 4 on right eye abscissa 41 equal the dual camera spacing of photocentre separately, in left eye uncalibrated image and right eye uncalibrated image, the 3rd demarcates object 3, the 4th demarcates object 4 in two pictures coordinate system separately, abscissa is identical, has: x13=x24.
While supposing that right camera is installed, be offset the error of 2 pixels to the right, the coordinate of the demarcation object that left camera photographs in left eye uncalibrated image is as follows:
First demarcates object 1, and coordinate is (x11, y11), i.e. and (75,2000),
Second demarcates object 2, and coordinate is (x12, y12), i.e. and (140,1800),
The 3rd demarcates object 3, and coordinate is (x13, y13), i.e. and (1075,210),
The 4th demarcates object 4, and coordinate is (x14, y14), i.e. (1140,10).
The coordinate of the demarcation object that right camera photographs in right eye uncalibrated image is as follows:
First demarcates object 1, and coordinate is (x21, y21), i.e. and (8,2000),
Second demarcates object 2, and coordinate is (x22, y22), i.e. and (73,1800),
The 3rd demarcates object 3, and coordinate is (x23, y23), i.e. and (1008,210),
The 4th demarcates object 4, and coordinate is (x24, y24), i.e. (1073,10).
Calculate first and demarcate object 1, the 3rd left eye ordinate mean value Y_No1 of demarcation object 3 on left eye ordinate 32, calculate the first demarcation object 1, the 3rd and demarcate the right eye ordinate mean value Y_No2 of object 3 on right eye ordinate 42;
Y_No1＝(y11+y13)/2＝(2000+210)/2＝1105
Y_No2＝(y21+y23)/2＝(2000+210)/2＝1105
Calculate first and demarcate object 1, the 3rd left eye abscissa mean value X_No1 of demarcation object 3 on left eye abscissa 31, calculate the second demarcation object 2, the 4th and demarcate the right eye abscissa mean value X_No2 of object 4 on right eye abscissa 41;
X_No1＝(x11+x13)/2＝(75+1075)/2＝575
X_No2＝(x22+x24)/2＝(73+1073)/2＝573
Right eye ordinate mean value is deducted to left eye ordinate mean value, and the ordinate difference DY obtaining is longitudinal error, and right eye abscissa mean value is deducted to left eye abscissa mean value, and the abscissa difference DX obtaining is lateral error.Image rectification while meanwhile, preserving translation error for photographic images.
DY＝Y_No2–Y_No1＝1105–1105＝0
DX＝X_No2–X_No1＝575–573＝2
By eye image, along ordinate positive direction, translation ordinate difference DYGe unit makes progress; Eye image, along abscissa positive direction, to right translation Diff E ZhiDXGe unit, is about to eye image translation 0 pixel that makes progress; Eye image, along abscissa to 2 pixels of right translation, has been completed according to the translation error of preserving and corrected the image that dual camera is taken.
Fig. 7 is a kind of apparatus structure schematic diagram of correcting the translation error of the captured image of dual camera of the present invention, as shown in Figure 7, the device of the translation error of the captured image of described correction dual camera comprises: uncalibrated image acquisition module 71, translation error determination module 72 and image rectification module 73, wherein
Described uncalibrated image acquisition module 71 is used dual camera to take demarcation object for gathering simultaneously, obtains respectively left eye uncalibrated image and right eye uncalibrated image, and two uncalibrated images are sent to translation error determination module 72;
Concrete, described demarcation object is in same plane, and this plane parallel is in the line of dual camera photocentre, and meanwhile, the first abscissa spacing and the 3rd of demarcating object and the second demarcation object is demarcated object and the 4th and demarcated the spacing that object is equal to dual camera photocentre.
Described translation error determination module 72, for the translation error between the location positioning dual camera of two uncalibrated images according to demarcation object, and preserves described translation error;
Concrete, the translation error that translation error determination module 72 is determined between dual camera, specifically: determine respectively and demarcate longitudinal error and the lateral error of object in left eye uncalibrated image and right eye uncalibrated image.Concrete implementation is: calculate first and demarcate object and the 3rd and demarcate object left eye ordinate mean value, the difference of demarcating object right eye ordinate mean value with the first demarcation object and the 3rd is as longitudinal error; Calculate first and demarcate object and the 3rd and demarcate object left eye abscissa mean value, the difference of demarcating object right eye abscissa mean value with the second demarcation object and the 4th is as lateral error.
Described image rectification module 73, for correcting according to the translation error of preserving the image that dual camera is taken.
Concrete, described image rectification module 73 is corrected the image that dual cameras are taken, specifically according to translation error to left-eye image, and/or eye image carries out longitudinally, and/or transverse translation, with the translation error of remedial frames.In the prior art, digital image processing techniques are very ripe, therefore, can carry out translation, torsion, stretching, convergent-divergent, cutting processing to digital picture completely.The deformation transformation of digital picture, for example compressed transform or stretching conversion, be exactly original image to the coordinate transform of target image, briefly, exactly the coordinate of each point of original image is transferred to the new coordinate of the respective point of target image by distortion computing.Therefore, can realize completely digital picture is carried out to compressed transform processing or stretching conversion processing.The cutting techniques of digital picture, is exactly the coordinate based on pixel, and digital picture, according to certain rule, is formed partial pixel point to the technology of a new width digital picture.The folding of digital picture, is exactly the coordinate based on pixel, and two width or several digital pictures, according to certain rule, are formed to the technology of a new width digital picture.The image translation of can be easily needs being corrected by above-mentioned digital image processing techniques, further can also be optimized the image of correcting by the technology such as cutting apart.
The above, be only preferred embodiment of the present invention, is not intended to limit protection scope of the present invention, all any modifications of doing within the spirit and principles in the present invention, is equal to and replaces and improvement etc., within all should being included in protection scope of the present invention.
Claims (4)
1. a method of correcting the translation error of the captured image of dual camera, is characterized in that, described method comprises:
Use dual camera to take demarcation object simultaneously, obtain respectively left eye uncalibrated image and right eye uncalibrated image;
According to the translation error of demarcating between the location positioning dual camera of object in two uncalibrated images, and preserve described translation error;
According to the translation error of preserving, correct the image that dual camera is taken;
Described demarcation object is specifically demarcated object in conplane four, and this plane parallel is in the line of dual camera photocentre, the first abscissa spacing of demarcating object and the second demarcation object equals the spacing of dual camera photocentre, and the 3rd abscissa spacing of demarcating object and the 4th demarcation object also equals the spacing of dual camera photocentre;
Described according to the translation error of demarcating between the location positioning dual camera of object in two uncalibrated images, be specially: determine respectively and demarcate longitudinal error and the lateral error of object in left eye uncalibrated image and right eye uncalibrated image, described longitudinal error is demarcated object and the longitudinal mean value of the 3rd demarcation object left eye by calculating first, and the difference of demarcating object right eye ordinate mean value with the first demarcation object and the 3rd obtains; Described lateral error is demarcated object and the 3rd demarcation object left eye abscissa mean value by calculating first, and the difference of demarcating object right eye abscissa mean value with the second demarcation object and the 4th obtains.
2. method according to claim 1, is characterized in that, the image that described correction dual camera is taken, specifically: according to translation error, to left-eye image, and/or eye image carries out longitudinally, and/or transverse translation.
3. a device of correcting the translation error of the captured image of dual camera, is characterized in that, described device comprises: uncalibrated image acquisition module, translation error determination module and image rectification module, wherein,
Described uncalibrated image acquisition module is used dual camera to take demarcation object for gathering simultaneously, obtains respectively left eye uncalibrated image and right eye uncalibrated image, and two uncalibrated images are sent to translation error determination module; Described demarcation object is specifically demarcated object in conplane four, and this plane parallel is in the line of dual camera photocentre, the first abscissa spacing of demarcating object and the second demarcation object equals the spacing of dual camera photocentre, and the 3rd abscissa spacing of demarcating object and the 4th demarcation object also equals the spacing of dual camera photocentre;
Described translation error determination module, for the translation error between the location positioning dual camera of two uncalibrated images according to demarcation object, and preserves described translation error; Described according to the translation error of demarcating between the location positioning dual camera of object in two uncalibrated images, be specially: determine respectively and demarcate longitudinal error and the lateral error of object in left eye uncalibrated image and right eye uncalibrated image, described longitudinal error is demarcated object and the longitudinal mean value of the 3rd demarcation object left eye by calculating first, and the difference of demarcating object right eye ordinate mean value with the first demarcation object and the 3rd obtains; Described lateral error is demarcated object and the 3rd demarcation object left eye abscissa mean value by calculating first, and the difference of demarcating object right eye abscissa mean value with the second demarcation object and the 4th obtains;
Described image rectification module, for correcting according to the translation error of preserving the image that dual camera is taken.
4. device according to claim 3, is characterized in that, described image rectification module is corrected the image that dual camera is taken, specifically: according to translation error, to left-eye image, and/or eye image carries out longitudinally, and/or transverse translation.
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| PCT/CN2011/076160 WO2012092758A1 (en) | 2011-01-05 | 2011-06-22 | Method and device for correcting translation error of images picked up by two cameras |
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| CN104581107B (en) * | 2013-10-16 | 2018-07-20 | 深圳市云立方信息科技有限公司 | It is a kind of to the corrected device and method of 3D cameras |
| CN105554492A (en) * | 2015-12-13 | 2016-05-04 | 大巨龙立体科技有限公司 | Synthesizing method of 3D image |
| CN106871900A (en) * | 2017-01-23 | 2017-06-20 | 中国人民解放军海军工程大学 | Image matching positioning method in ship magnetic field dynamic detection |
| CN109146977A (en) * | 2017-06-16 | 2019-01-04 | 中兴通讯股份有限公司 | Image translation error correcting method, mobile terminal and computer readable storage medium |
| CN111833394A (en) * | 2020-07-27 | 2020-10-27 | 深圳惠牛科技有限公司 | Camera calibration method and measuring method based on binocular measuring device |
| CN112456334B (en) * | 2020-12-02 | 2022-10-28 | 太原重工股份有限公司 | Multi-winch lifting sling leveling method and system |
| CN112929535B (en) * | 2021-01-25 | 2022-09-20 | 北京中科慧眼科技有限公司 | Binocular camera-based lens attitude correction method and system and intelligent terminal |
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| EP1235439A2 (en) * | 2001-02-23 | 2002-08-28 | Sharp Kabushiki Kaisha | Method and apparatus for transforming stereoscopic images |
| CN101149836A (en) * | 2007-11-05 | 2008-03-26 | 中山大学 | Three-dimensional reconfiguration double pick-up camera calibration method |
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