CN103079083B - Method for correcting array multiple-view image of calibrated parallel cameras - Google Patents
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Abstract
The invention discloses a method for correcting an array multiple-view image of calibrated parallel cameras. The method comprises the steps of: firstly, designing a uniform corrected camera physical coordinate system direction by using each camera external parameter in a pre-calibrated parallel camera to ensure that the rotary adjustable amount of a coordinate axis is minimum; then equally setting physical coordinate system original points of all corrected cameras at intervals on a public base line, establishing physical coordinate systems of all corrected cameras; and finally, uniformly setting internal parameters of the corrected cameras, calculating a correction conversion matrix of each camera and correcting multi-view images. According to the invention, vertical optical parallax can be effectively eliminated, and horizontal optical parallax equal distribution is realized, the rotating angle of the coordinate system in a correction process is small, the corrected image rotary distortion is small and accords with the vision habit of eyes, and thus the synthetic view image quality is remarkably improved, and the further processing of the subsequent processing link is facilitated.
Description
Technical field
The present invention relates to a kind of parallel vidicon array multi views as bearing calibration, especially one has demarcated parallel vidicon array multi views as bearing calibration.
Background technology
Free view-point TV (FTV) system, not only brings the strong stereoscopic vision of spectators and impacts sense, also provide " move one's steps and shift the scenes " function of interactive selection viewing location to spectators.In FTV system, video camera array sync pulse jamming obtains multi-video, sends into server and processes, and the final stereo-picture formed shows on auto-stereoscopic display.Every two adjacent form a viewpoint video depending on video, and spectators can see different viewpoint videos at diverse location, thus can appreciate the angle of three-dimensional video-frequency by interactive selection.In multi-video process, it is a key issue that multi views picture corrects.Because the installation of parallel vidicon array and parameter adjustment are by completing manually, in parallel vidicon array, be difficult to parallel with optical axis of each camera photocentre conllinear ensures, cause to take between each view picture of obtaining and there is vertical parallax, and the problem of horizontal parallax skewness etc.Vertical parallax causes composograph fuzzy, causes visual fatigue; Horizontal parallax unequal when viewpoint switch generation level to beat sense, affect 3D video appreciation effect.In addition, vertical parallax existence and the unequal distribution of horizontal parallax are unfavorable for the process of follow-up estimation of Depth, coding and drafting link.In order to improve 3DTV/FTV system display quality, for subsequent processes provides convenience, correction process must be carried out to multi views picture, eliminating vertical parallax, realizing horizontal parallax and be uniformly distributed.
Picture point in the view picture of video camera shooting
with the object point in corresponding world coordinate system
between there is following relation:
(1)
Wherein,
be respectively row, column coordinate in camera review coordinate system,
for X-axis, Y-axis and Z axis coordinate in world coordinate system;
for arbitrary scale factor,
for external parameters of cameras,
for spin matrix,
for translation vector, world coordinate system and video camera physical coordinates system (with video camera principal point for coordinate origin) connect by external parameters of cameras;
for camera intrinsic parameter:
(2)
Wherein,
for the principal point coordinate of video camera,
with
be respectively
axle and
the scale factor of axle; Video camera physical coordinates system and camera review coordinate system connect by the intrinsic parameter of video camera.
Assuming that camera parameters is respectively before and after correcting
with
, world coordinate system is respectively to the projection matrix correcting front and back camera review coordinate system
with
, camera review coordinate system calibration shift matrix before and after correcting
contact:
, wherein
for
pseudo inverse matrix.After correction, each video camera photocentre conllinear, optical axis is parallel, and spin matrix is consistent, translation vector conllinear.
The key problem that multi views picture corrects designs the unified direction of each video camera physical coordinates system, and spacing equalization arranges each video camera physical coordinates system initial point.Kang Y S, Lee C, Ho Y S. An efficient rectification algorithm for multi-view images in parallel camera array, 3DTV Conference:The True Vision-Capture, Transmission and Display of3D Video, Istanbul, Turkey:IEEE, pp.61-64,2008 propose one utilizes the public baseline of camera calibration parameter fitting, correct the method for parallel vidicon multi views picture, but do not consider to introduce image rotation distortion in image correction process.If strictly do not limit the rotation distortion that multi views is introduced as trimming process, cause vision discomfort on the one hand, such as upright object becomes inclination; On the other hand, during stereo-picture synthesis, the edge that each view picture cuts is large, and the inner number of holes needing to fill is many, effect correction efficiency.Therefore, need the strict multi views that controls as the rotation distortion introduced in trimming process, improve multi views as bearing calibration performance.
Summary of the invention
The object of the invention is the defect existed for prior art, provide one to demarcate parallel vidicon array multi views as bearing calibration.The method effectively improves synthetic stereo image quality, reduces clipping region, edge.
For achieving the above object, design of the present invention is:
First utilize each external parameters of cameras in the parallel vidicon array demarcated in advance, design video camera physical coordinates system direction after unified correction, guarantee that X-axis rotate adjustment amount is minimum; On public baseline, the setting of spacing equalization corrects rear each video camera physical coordinates system initial point again, sets up each video camera physical coordinates system after correcting; Camera intrinsic parameter after finally unified setting corrects, calculates the calibration shift matrix of each video camera, corrects multi views picture.
According to above-mentioned design, technical scheme of the present invention is:
One has demarcated parallel vidicon array multi views as bearing calibration, the steps include:
1) design video camera physical coordinates system direction after unified correction: under X-axis rotate adjustment amount least commitment condition, to determine after unified correction Y-coordinate axle, Z reference axis, X-coordinate direction of principal axis in video camera physical coordinates system successively;
2) public baseline is determined: public baseline is parallel to X-coordinate direction of principal axis in the rear video camera physical coordinates system of correction, and before correcting, each camera coordinate system initial point is minimum to the distance summation to public baseline;
3) each camera coordinate system initial point after determining to correct: setting corrects rear center video camera physical coordinates system initial point on public baseline, by correct to set on public baseline at equal intervals to two ends centered by video camera physical coordinates system of rear center initial point all the other correct after video camera physical coordinates system initial point;
4) calculate the correction transformation matrix of each view picture: camera intrinsic parameter after unified setting corrects, calculate each view picture and be transformed into the corresponding correction transformation matrix correcting rearview picture;
5) multi views picture is corrected: under correction transformation matrix controls, correct multi views picture.
Above-mentioned steps 1) in video camera physical coordinates system direction after the unified correction of design, refer to that first to rotate adjustment total amount with all video camera physical coordinates systems Y-coordinate axle minimum for constraint, determine to correct rear video camera physical coordinates system Y-coordinate direction of principal axis; Again Z reference axis in each video camera physical coordinates system is projected in the plane vertical with correcting rear video camera physical coordinates system Y direction, obtain each video camera Z reference axis projection components, adjustment total amount is rotated minimum for constraint with each video camera Z reference axis projection components, determine to correct rear video camera physical coordinates system Z change in coordinate axis direction, after correcting, video camera physical coordinates system X-coordinate direction of principal axis is vertical with Z change in coordinate axis direction with its Y-coordinate direction of principal axis;
Above-mentionedly determine that correcting the axial method of rear video camera physical coordinates system Y-coordinate is:
Select the Y direction of a kth camera coordinate system as video camera physical coordinates system Y-coordinate direction of principal axis after correction,
Wherein,
for the direction intermediate value of each video camera physical coordinates system Y-coordinate axle,
be
the Y-coordinate direction of principal axis of individual video camera physical coordinates system;
Above-mentionedly determine that the method correcting rear video camera physical coordinates system Z change in coordinate axis direction is:
Using the Z reference axis projection components intermediate value of each camera coordinate system as the rear video camera physical coordinates system Z change in coordinate axis direction of correction;
The above-mentioned method determining the rear each camera coordinate system initial point of correction, its concrete steps are:
(1) adjacent camera initial point spacing after calculation correction
:
, wherein
for the distance between the projection of two ends camera coordinate system initial point on public baseline,
for looking picture number;
(2) determine to correct rear center video camera physical coordinates system initial point: choose the
individual video camera physical coordinates system initial point in the projection of public baseline as correction rear center video camera physical coordinates system initial point,
Wherein,
, for after correcting the
individual video camera physical coordinates system initial point,
be
the projection of individual video camera physical coordinates system initial point on public baseline.
(3) determine to correct all the other camera coordinate system initial points rear: to correct centered by video camera physical coordinates system of rear center initial point, to correct rear adjacent camera initial point spacing for interval, public baseline arranges all the other video camera physical coordinates system initial points after correcting.
The method of the correction transformation matrix of each view picture of above-mentioned calculating, its concrete steps are:
(1) spin matrix correcting rear video camera is determined
:
,
to be respectively after unified correction Y-coordinate axle, Z reference axis, X-coordinate direction of principal axis vector in video camera physical coordinates system;
(2) translation vector correcting rear each video camera is determined
:
;
(3) each camera intrinsic parameter after unified correction is set
;
(4) projection matrix of each view picture after calculation correction
:
;
(5) the correction transformation matrix of each view picture is calculated
:
, wherein
for
pseudo inverse matrix.
After the correction of unified setting in the correction transformation matrix method of each view picture of above-mentioned calculating, camera intrinsic parameter is:
Wherein,
,
for the average of each camera horizon focal length, vertical focal length,
,
for view inconocenter pixel coordinate.
The present invention compared with the prior art comparatively, has following apparent outstanding substantive distinguishing features and remarkable advantage:
(1) eliminate the rear each viewpoint vertical parallax of correction, achieve horizontal parallax and be uniformly distributed, be conducive to improving 3D video display quality, estimation of Depth accuracy and compression coding efficiency.
(2) fully take into account human-eye visual characteristic, in trimming process, X-axis rotate angle is little, corrects the distortion of backsight image rotation little, improves 3D video display subjective quality.
(3), during multi views picture intertexture synthetic stereo image, the part that all view pictures are total is only retained.The present invention can reduce clipping region, edge, expands the multi views of synthetic stereo image use as region.
Accompanying drawing explanation
Fig. 1 is bearing calibration flow chart of the present invention;
Fig. 2 is for determining unified correction rear camera coordinate system direction method flow diagram;
Fig. 3 corrects rear each camera coordinate system initial point method flow diagram for determining;
Fig. 4 is the method flow diagram of the correction transformation matrix calculating each view picture;
Fig. 5 is the non-correcting image of calibrating template;
Fig. 6 is image after the correction of calibrating template;
Fig. 7 is that table 1 corrects rear adjacent viewpoint picture parallax (unit: pixl);
Fig. 8 is each viewpoint camera coordinate system anglec of rotation in table 2 trimming process;
Embodiment
Below in conjunction with accompanying drawing table, embodiments of the invention are elaborated.The present embodiment is implemented premised on technical scheme of the present invention, but protection scope of the present invention is not limited to following embodiment.
Embodiment one:
See Fig. 1, this has demarcated parallel vidicon array multi views as bearing calibration, first utilize each external parameters of cameras in the parallel vidicon array demarcated in advance, design video camera physical coordinates system direction after unified correction, guarantee that X-axis rotate adjustment amount is minimum; On public baseline, the setting of spacing equalization corrects rear each video camera physical coordinates system initial point again, sets up each video camera physical coordinates system after correcting; Camera intrinsic parameter after finally unified setting corrects, calculates the calibration shift matrix of each video camera, corrects multi views picture; Its concrete operation step is:
1) design video camera physical coordinates system direction after unified correction: under X-axis rotate adjustment amount least commitment condition, to determine after unified correction Y-coordinate axle, Z reference axis, X-coordinate direction of principal axis in video camera physical coordinates system successively;
2) public baseline is determined: public baseline is parallel to X-coordinate direction of principal axis in the rear video camera physical coordinates system of correction, and before correcting, each camera coordinate system initial point is minimum to the distance summation to public baseline;
3) each camera coordinate system initial point after determining to correct: setting corrects rear center video camera physical coordinates system initial point on public baseline, by correct to set on public baseline at equal intervals to two ends centered by video camera physical coordinates system of rear center initial point all the other correct after video camera physical coordinates system initial point;
4) calculate the correction transformation matrix of each view picture: camera intrinsic parameter after unified setting corrects, calculate each view picture and be transformed into the corresponding correction transformation matrix correcting rearview picture;
5) multi views picture is corrected: under correction transformation matrix controls, correct multi views picture.
Embodiment two:
The applied environment of the embodiment of the present invention is as follows: the parallel vidicon array adopting 8 Point Grey 2.0 industrial camera compositions, acquisition resolution is 1280*960, and frame per second is 25 frames/second.Each camera interior and exterior parameter is demarcated, demarcates template image as tested object using the gridiron pattern taken.In video camera array, each camera parameters is demarcated in advance,
be respectively
the spin matrix of individual video camera, translation vector and internal reference matrix,
the projection matrix of individual video camera is
;
See Fig. 1, this has demarcated parallel vidicon array multi views as bearing calibration, first utilize each external parameters of cameras in the parallel vidicon array demarcated in advance, design video camera physical coordinates system direction after unified correction, guarantee that X-axis rotate adjustment amount is minimum; On public baseline, the setting of spacing equalization corrects rear each video camera physical coordinates system initial point again, sets up each video camera physical coordinates system after correcting; Camera intrinsic parameter after finally unified setting corrects, calculates the calibration shift matrix of each video camera, corrects multi views picture; Its concrete operation step is:
1) design video camera physical coordinates system direction after unified correction: under X-axis rotate adjustment amount least commitment condition, to determine after unified correction Y-coordinate axle, Z reference axis, X-coordinate direction of principal axis in video camera physical coordinates system successively;
2) public baseline is determined: public baseline is parallel to X-coordinate direction of principal axis in the rear video camera physical coordinates system of correction, and before correcting, each camera coordinate system initial point is minimum to the distance summation to public baseline;
3) each camera coordinate system initial point after determining to correct: setting corrects rear center video camera physical coordinates system initial point on public baseline, by correct to set on public baseline at equal intervals to two ends centered by video camera physical coordinates system of rear center initial point all the other correct after video camera physical coordinates system initial point;
4) calculate the correction transformation matrix of each view picture: camera intrinsic parameter after unified setting corrects, calculate each view picture and be transformed into the corresponding correction transformation matrix correcting rearview picture;
5) multi views picture is corrected: under correction transformation matrix controls, correct multi views picture.
See Fig. 2, described parallel vidicon array multi views of demarcating is as designing video camera physical coordinates system direction after unified correction in bearing calibration step 1), refer to that first rotating adjustment total amount minimum with all video camera physical coordinates systems Y-coordinate axle is constraint, determines to correct rear video camera physical coordinates system Y-coordinate direction of principal axis; Again Z reference axis in each video camera physical coordinates system is projected in the plane vertical with correcting rear video camera physical coordinates system Y direction, obtain each video camera Z reference axis projection components, adjustment total amount is rotated minimum for constraint with each video camera Z reference axis projection components, determine to correct rear video camera physical coordinates system Z change in coordinate axis direction, after correcting, video camera physical coordinates system X-coordinate direction of principal axis is vertical with Z change in coordinate axis direction with its Y-coordinate direction of principal axis.
Determine that correcting the axial method of rear video camera physical coordinates system Y-coordinate is:
Select the Y direction of a kth camera coordinate system as video camera physical coordinates system Y-coordinate direction of principal axis after correction,
Wherein,
for the direction intermediate value of each video camera physical coordinates system Y-coordinate axle,
be
the Y-coordinate direction of principal axis of individual video camera physical coordinates system.
Determine that the method correcting rear video camera physical coordinates system Z change in coordinate axis direction is:
Using the Z reference axis projection components intermediate value of each camera coordinate system as the rear video camera physical coordinates system Z change in coordinate axis direction of correction.
See Fig. 3, described demarcates parallel vidicon array multi views as the method determining to correct rear each camera coordinate system initial point in bearing calibration step 3), and its concrete steps are:
(1) adjacent camera initial point spacing after calculation correction
:
, wherein
for the distance between the projection of two ends camera coordinate system initial point on public baseline,
for looking picture number;
(2) determine to correct rear center video camera physical coordinates system initial point: choose the
individual video camera physical coordinates system initial point in the projection of public baseline as correction rear center video camera physical coordinates system initial point,
Wherein,
, for after correcting the
individual video camera physical coordinates system initial point,
be
the projection of individual video camera physical coordinates system initial point on public baseline.
(3) determine to correct all the other camera coordinate system initial points rear: to correct centered by video camera physical coordinates system of rear center initial point, to correct rear adjacent camera initial point spacing for interval, public baseline arranges all the other video camera physical coordinates system initial points after correcting.
See Fig. 4, described demarcates parallel vidicon array multi views calculates the correction transformation matrix of each view picture method as bearing calibration step 4), and its concrete steps are:
(1) spin matrix correcting rear video camera is determined
and translation vector
:
,
to be respectively after unified correction Y-coordinate axle, Z reference axis, X-coordinate direction of principal axis vector in video camera physical coordinates system;
(2) each camera intrinsic parameter after unified correction is set
;
(3) projection matrix of each view picture after calculation correction
:
;
(4) the correction transformation matrix of each view picture is calculated
:
, wherein
for
pseudo inverse matrix.
After the correction of unified setting in the correction transformation matrix method of each view picture of described calculating, camera intrinsic parameter is:
Wherein,
,
for the average of each camera horizon focal length, vertical focal length,
,
for view inconocenter pixel coordinate.
As shown in Figure 5, as shown in Figure 6, wherein the first row is from left to right for looking 4 images depending on 1-for the image after correction, and the second row is from left to right for looking 8 images depending on 5-for original uncorrected 8 view pictures of the present embodiment correcting mark solid plate.Vertical parallax before visible correction is obvious, horizontal parallax skewness; And there is vertical parallax hardly after correcting, horizontal parallax is uniformly distributed.
Between the visual point image that after the present embodiment corrects, adjacent view picture is formed, parallax as shown in Figure 7, therefrom can find out, after correcting, each visual point image eliminates vertical parallax, and horizontal parallax achieves and is uniformly distributed.The present embodiment angle that each viewpoint camera coordinate system rotates in trimming process as shown in Figure 8.Can find out, the anglec of rotation that the present invention applies reference axis in trimming process is very little, conforms to, also can see from Fig. 6 with human-eye visual characteristic, and the rotation distortion that after correcting, image is introduced is very little, and in figure, vertical scenery does not have run-off the straight.According to record in document mentioned in background technology correction after image, vertically scenery run-off the straight in image after correcting can be seen.
Visible in sum, the present invention considers human-eye visual characteristic comprehensively, according to the influence degree of different X-axis rotate transfer pair visual experience, applies minimum restriction successively to it, effectively improve composograph quality, reduce clipping region, synthetic stereo image edge.
Claims (7)
1. demarcated parallel vidicon array multi views as a bearing calibration, in parallel vidicon array, each camera intrinsic parameter and outer parameter are demarcated,
be respectively
the spin matrix of individual video camera, translation vector and internal reference matrix,
the projection matrix of individual video camera is
; It is characterized in that: concrete operation step is:
1) design video camera physical coordinates system direction after unified correction: under X-axis rotate adjustment amount least commitment condition, to determine after unified correction Y-coordinate axle, Z reference axis, X-coordinate direction of principal axis in video camera physical coordinates system successively;
2) public baseline is determined: public baseline is parallel to X-coordinate direction of principal axis in the rear video camera physical coordinates system of correction, and before correcting, each camera coordinate system initial point is minimum to the distance summation of public baseline;
3) each camera coordinate system initial point after determining to correct: setting corrects rear center video camera physical coordinates system initial point on public baseline, by correct to set on public baseline at equal intervals to two ends centered by video camera physical coordinates system of rear center initial point all the other correct after video camera physical coordinates system initial point;
4) calculate the correction transformation matrix of each view picture: camera intrinsic parameter after unified setting corrects, calculate each view picture and transform to the corresponding correction transformation matrix correcting rearview picture;
5) multi views picture is corrected: under correction transformation matrix controls, correct multi views picture.
2. parallel vidicon array multi views of having demarcated according to claim 1 is as bearing calibration, it is characterized in that designing in described step 1) video camera physical coordinates system direction after unified correction, refer to that first rotating adjustment total amount minimum with all video camera physical coordinates systems Y-coordinate axle is constraint, determines to correct rear video camera physical coordinates system Y-coordinate direction of principal axis; Again Z reference axis in each video camera physical coordinates system is projected in the plane vertical with correcting rear video camera physical coordinates system Y direction, obtain each video camera Z reference axis projection components, adjustment total amount is rotated minimum for constraint with each video camera Z reference axis projection components, determine to correct rear video camera physical coordinates system Z change in coordinate axis direction, after correcting, video camera physical coordinates system X-coordinate direction of principal axis is vertical with Z change in coordinate axis direction with its Y-coordinate direction of principal axis.
3. parallel vidicon array multi views of having demarcated according to claim 2 is as bearing calibration, it is characterized in that describedly determining that correcting the axial method of rear video camera physical coordinates system Y-coordinate is:
Select the Y direction of a kth camera coordinate system as video camera physical coordinates system Y-coordinate direction of principal axis after correction,
Wherein,
for the direction intermediate value of each video camera physical coordinates system Y-coordinate axle,
be
the Y-coordinate direction of principal axis of individual video camera physical coordinates system.
4. parallel vidicon array multi views of having demarcated according to claim 2 is as bearing calibration, it is characterized in that describedly determining that the method correcting rear video camera physical coordinates system Z change in coordinate axis direction is:
Using the Z reference axis projection components intermediate value of each camera coordinate system as the rear video camera physical coordinates system Z change in coordinate axis direction of correction.
5. parallel vidicon array multi views of having demarcated according to claim 1 is as bearing calibration, and it is characterized in that the method determining in described step 3) to correct rear each camera coordinate system initial point, its concrete steps are:
Adjacent camera initial point spacing after calculation correction
:
, wherein
for the distance between the projection of two ends camera coordinate system initial point on public baseline,
for looking picture number;
Determine to correct rear center video camera physical coordinates system initial point: choose the
individual video camera physical coordinates system initial point in the projection of public baseline as correction rear center video camera physical coordinates system initial point,
Wherein,
, for after correcting the
individual video camera physical coordinates system initial point,
be
the projection of individual video camera physical coordinates system initial point on public baseline;
Determine to correct all the other camera coordinate system initial points rear: to correct centered by video camera physical coordinates system of rear center initial point, to correct rear adjacent camera initial point spacing for interval, public baseline arranges all the other video camera physical coordinates system initial points after correcting.
6. parallel vidicon array multi views of having demarcated according to claim 1 is as bearing calibration, and it is characterized in that described step 4) calculates the method for the correction transformation matrix of each view picture, its concrete steps are:
(1) spin matrix correcting rear video camera is determined
and translation vector
:
,
to be respectively after unified correction Y-coordinate axle, Z reference axis, X-coordinate direction of principal axis vector in video camera physical coordinates system;
(2) each camera intrinsic parameter after unified correction is set
;
(3) projection matrix of each view picture after calculation correction
:
;
(4) the correction transformation matrix of each view picture is calculated
:
, wherein
for
pseudo inverse matrix.
7. parallel vidicon array multi views of having demarcated according to claim 6 is as bearing calibration, and after it is characterized in that calculating in described step 4) the correction of unified setting in the correction transformation matrix method of each view picture, camera intrinsic parameter is:
Wherein,
,
for the average of each camera horizon focal length, vertical focal length,
,
for view inconocenter pixel coordinate.
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| CN104284177A (en) * | 2014-10-28 | 2015-01-14 | 天津大学 | Convergence stereo image parallax control method |
| US9286680B1 (en) * | 2014-12-23 | 2016-03-15 | Futurewei Technologies, Inc. | Computational multi-camera adjustment for smooth view switching and zooming |
| JP6935389B2 (en) * | 2016-03-30 | 2021-09-15 | ソニー・オリンパスメディカルソリューションズ株式会社 | Medical stereoscopic observation device, medical stereoscopic observation method, and program |
| CN106846408B (en) * | 2016-11-25 | 2020-05-19 | 瑞安市辉煌网络科技有限公司 | Method and device for acquiring correction parameters |
| CN116228889B (en) * | 2023-04-27 | 2023-08-15 | 合肥工业大学 | Mobile calibration device, camera array system calibration device and method |
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