CN103458181B - Lens distortion parameter adjusting method, device and picture pick-up device - Google Patents
Lens distortion parameter adjusting method, device and picture pick-up device Download PDFInfo
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Abstract
The embodiment of the present invention provides a kind of lens distortion parameter adjusting method, device and picture pick-up device, and the method includes: selecting shaping modes, shaping modes includes calibration adjustment pattern and manual adjustment mode；If selecting calibration adjustment pattern, then after demarcating image to be captured, manually regulation trim button is to regulate the distortion degree of image to be captured；Otherwise, if selecting manual adjustment mode, the most manually regulation trim button is to regulate the distortion degree of image to be captured.In the embodiment of the present invention, calibration adjustment pattern and manual adjustment mode, need the parameter only one of which that user manually regulates, i.e. by a trim button regulation revision parameter, regulation process is simple, effectively reduces lens distortion.
Description
Technical field
The present embodiments relate to computer vision and image measurement technology, particularly relate to a kind of lens distortion parameter regulation
Method, device and picture pick-up device.
Background technology
Lens distortion (Lens Distortion) is the general name of the intrinsic perspective distortion of optical lens, refers to the image of shooting
The distortion caused because of perspective, this distortion can make actual photographed offset to the coordinate of image and the coordinate of true picture,
This is the most unfavorable for the image quality of photo.In prior art, by filming apparatus, such as camera, video camera etc. are joined
Number is demarcated thus is created as the geometric model of picture, and geometric model carries out parameter adjustment to reduce lens distortion, and conventional is several
What model has one-parameter model and two-parameter multiplied model, the two-parameter division such as one-parameter multiplied model, one-parameter division model
The two-parameter models such as model.
As a example by one-parameter multiplied model and two-parameter multiplication, one-parameter multiplied model:Wherein, K1
For distortion factor, individually determine distortion degree, rdFor the radial direction radius of known fault image, it is a known parameter, rc
Radial direction radius for orthoscopic image.User is by regulation K1And then regulation rc, make image reach optimum state, and then utilization should
rcCarrying out image taking, the method is applicable to the camera lens that distortion character is consistent.But, the central area of camera lens in most cases
Different with the distortion character of outer peripheral areas, the r obtained is adjusted by one-parameter multiplied modelcPrecision is low, when distortion degree is bigger,
Image present by central area bend to certain direction extend to image outer peripheral areas stick up tail phenomenon.
Two-parameter multiplied model:Wherein, K1And K2For distortion parameter, together decide on distortion
Degree, rdFor the radial direction radius of known fault image, rcRadial direction radius for orthoscopic image.User is by regulation K1And K2
And then regulation rcImage is made to reach optimum state, the method distortion character no requirement (NR) to camera lens, stick up tail phenomenon during adjustment
Inconspicuous.But user regulates K1And K2Time, due to property relevant between two parameters, after one parameter of regulation, in addition it is also necessary to adjust
Joint second parameter, goes back to regulate first parameter the most again ..., so iterate and the most just can make rcIt is suitable to arrive
Value, adjust process loaded down with trivial details, be difficult to operation, thus obtained rcError is big, it is difficult to really reduce lens distortion.
Summary of the invention
The embodiment of the present invention provides a kind of lens distortion parameter adjusting method, device and picture pick-up device, existing in order to solve
When shooting image in technology, parameter regulation process is complicated thus cannot reduce lens distortion.
First aspect, the embodiment of the present invention provides a kind of lens distortion parameter adjusting method, including:
Selecting shaping modes, described shaping modes includes calibration adjustment pattern and manual adjustment mode；
If selecting described calibration adjustment pattern, then show image to be captured based on two calibration adjustment parameters, manually regulate
Trim button is to regulate the distortion degree of described image to be captured；
Otherwise, if selecting described manual adjustment mode, then manually regulate described trim button to regulate described figure to be captured
The distortion degree of picture, wherein, described trim button instruction revision parameter.
In the first possible implementation of first aspect, select described calibration adjustment pattern, then base if described
Showing image to be captured in two calibration adjustment parameters, manually regulation trim button is to regulate the distortion journey of described image to be captured
Degree, including:
Sustained manual regulates described trim button, searches two corresponding with described revision parameter and repair from Parameter lookup step
Positive parameter；
Two calibrating parameters are obtained with said two corrected parameter according to said two calibration adjustment parameter；
According to said two calibrating parameters and imaging geometry model, show described image to be captured.
In conjunction with the first possible implementation of first aspect, the realization side that the second at first aspect is possible
In formula, described obtain two calibrating parameters according to said two calibration adjustment parameter and said two corrected parameter, including:
Using each described calibration adjustment parameter and corresponding described corrected parameter sum as described calibrating parameters.
In conjunction with the first possible implementation of first aspect, in the third possible realization side of first aspect
In formula, the method also includes:
Based on described imaging geometry model, set up described Parameter lookup step.
In conjunction with the first possible implementation of first aspect, in the 4th kind of possible realization side of first aspect
In formula, described show image to be captured according to two calibration adjustment parameters before, also include:
Shoot at least 3 and demarcate picture, demarcate to obtain said two calibration adjustment parameter to described demarcation picture.
In conjunction with the first possible implementation of first aspect, in the 5th kind of possible realization side of first aspect
In formula, described according to said two calibrating parameters and imaging geometry model, show described image to be captured, including:
Employing two-parameter model is as described imaging geometry model, using said two calibrating parameters as described Radix Triplostegiae Grandiflorae digital-to-analogue
The distortion parameter of type, shows described image to be captured.
In the 6th kind of possible implementation of first aspect, select described manual adjustment mode, then hands if described
Move the described distortion degree regulating described trim button to regulate described image to be captured, including:
Persistently regulate described trim button, according to described revision parameter, based on to be captured described in imaging geometry models show
Image, described imaging geometry model is one-parameter model.
Second aspect, the embodiment of the present invention provides a kind of lens distortion parameter adjustment control, including:
Select module, be used for selecting shaping modes, described shaping modes to include calibration adjustment pattern and manual adjustment mode；
Calibration adjustment module, if selecting described calibration adjustment pattern for described selection module, then demarcates based on two and adjusts
JIESHEN digital display shows image to be captured, and manually regulation trim button is to regulate the distortion degree of described image to be captured；
Manual adjustment module, if selecting described manual adjustment mode for described selection module, then manually regulation is described micro-
Adjusting button to regulate the distortion degree of described image to be captured, wherein, parameter is revised in the instruction of described trim button.
In the first possible implementation of second aspect, described calibration adjustment module includes:
Search unit, when sustained manual regulates described trim button, search and described revision from Parameter lookup step
Two corrected parameters that parameter is corresponding；
Acquiring unit, demarcates ginseng for obtaining two according to said two calibration adjustment parameter and said two corrected parameter
Number；
Display unit, for according to said two calibrating parameters and imaging geometry model, shows described image to be captured.
In conjunction with the first possible implementation of second aspect, the realization side that the second at second aspect is possible
In formula, described acquiring unit specifically for:
Using each described calibration adjustment parameter and corresponding described corrected parameter sum as described calibrating parameters.
In conjunction with the first possible implementation of second aspect, in the third possible realization side of second aspect
In formula, described calibration adjustment module also includes:
Build table unit, for based on described imaging geometry model, set up described Parameter lookup step.
In conjunction with the first possible implementation of second aspect, in the 4th kind of possible realization side of second aspect
In formula, described calibration adjustment module also includes:
Demarcate unit, demarcate picture for shooting at least 3, demarcate to obtain said two to described demarcation picture
Calibration adjustment parameter.
In conjunction with the first possible implementation of second aspect, in the 5th kind of possible realization side of second aspect
In formula, described display unit specifically for:
Employing two-parameter model is as described imaging geometry model, using said two calibrating parameters as described Radix Triplostegiae Grandiflorae digital-to-analogue
The distortion parameter of type, shows described image to be captured.
In the 6th kind of possible implementation of second aspect, described manual adjustment module, specifically for:
Persistently regulate described trim button, according to described revision parameter, based on to be captured described in imaging geometry models show
Image, described imaging geometry model is one-parameter model.
3rd aspect, the embodiment of the present invention provides a kind of picture pick-up device, including optical lens and arbitrary described
Lens distortion parameter adjustment control.
Lens distortion parameter adjusting method, device and the picture pick-up device that the embodiment of the present invention provides, in calibration adjustment pattern
Under, show image to be captured based on two calibration adjustment parameters, manually regulation trim button is to regulate the distortion of image to be captured
Degree, calibration adjustment and manually regulation combine；Under manual adjustment mode, then it is not needed upon two calibration adjustment parameters and shows
Showing image to be captured, abandoned biparametric coarse adjustment the most completely, manually one trim button of regulation is to regulate image to be captured
Distortion degree so that no matter being calibration adjustment pattern or manual adjustment mode, the parameter needing user manually to regulate only has one
Revision parameter that is individual, that i.e. regulated by trim button, regulation process is simple, can effectively reduce lens distortion.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is this
Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to
Other accompanying drawing is obtained according to these accompanying drawings.
Fig. 1 is the flow chart of lens distortion parameter adjusting method embodiment one of the present invention；
Fig. 2 is the flow chart of lens distortion parameter adjusting method embodiment two of the present invention；
Fig. 3 is the flow chart of lens distortion parameter adjusting method embodiment four of the present invention；
Fig. 4 is the configuration diagram of lens distortion parameter adjustment control embodiment one of the present invention；
Fig. 5 is the configuration diagram of lens distortion parameter adjustment control embodiment two of the present invention；
Fig. 6 is the configuration diagram of lens distortion parameter adjustment control embodiment three of the present invention；
Fig. 7 is the configuration diagram of picture pick-up device of the present invention.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under not making creative work premise, broadly falls into the scope of protection of the invention.
Fig. 1 is the flow chart of lens distortion parameter adjusting method embodiment one of the present invention.The present embodiment is applicable to user couple
The scene that the shooting precision of images is high or image to be captured is complicated, the method can be performed by lens distortion parameter adjustment control,
This device can be integrated on the filming apparatus such as camera, video camera.The method of the present embodiment specifically may include steps of:
101, selecting shaping modes, shaping modes includes calibration adjustment pattern and manual adjustment mode.
In this step, the user interface of lens distortion parameter adjustment control selects the pattern needed.In general, if
Image to be captured is more complicated, or user is higher to the required precision of the image of shooting, then select calibration adjustment pattern；No
Then, if image to be captured is fairly simple, or user is the highest to the required precision of image, then select manual adjustment mode.
If 102 select calibration adjustment pattern, then show image to be captured based on two calibration adjustment parameters, manually regulate
Trim button is to regulate the distortion degree of image to be captured.
After have selected calibration adjustment pattern, first lens distortion parameter adjustment control carries out coarse adjustment to image to be captured, i.e.
Import and uncalibrated image is carried out calibrated two calibration adjustment parameters, based on these two calibration adjustment parameters, show to be captured
Image；Then, be finely adjusted image to be captured, i.e. limit is observed image limit to be captured and is manually regulated trim button and wait to clap to regulate
Take the photograph the distortion degree of image.
Concrete, in image measurement process and computer vision are applied, for determining the three of space object surface point
Tie up the mutual relation between corresponding point in geometric position and image, it is necessary to be created as geometric model, these imaging geometry models
Parameter be exactly the calibration adjustment parameter of the filming apparatus such as video camera or camera.Such as, standard pin pore model includes the most abnormal
Become the parameter in interior various distortion and have 7.In this step, lens distortion parameter adjustment control under calibration mode, based on
The various imaging geometry models that bottom code is supported, show image to be captured according to two calibration adjustment parameters, such as: based on Radix Triplostegiae Grandiflorae
The number two-parameter model such as multiplied model or two-parameter division model, shows according to two calibration adjustment parameters of radial distortion and waits to clap
Taking the photograph image, this calibration process can be coarse tuning process.
If 103 select manual adjustment mode, the most manually regulation trim button is to regulate the distortion degree of image to be captured,
Wherein, trim button instruction revision parameter.
If have selected manual adjustment mode in the user interface of lens distortion parameter adjustment control, then limit is observed to be captured
Image limit manually regulates trim button to regulate the distortion degree of image to be captured.Trim button in this step and above-mentioned steps
Trim button in 102 is same button so that from user interface, either calibration mode or manual mode, needs
Parameter only one of which to be regulated, process is simple..
The lens distortion parameter adjusting method that the embodiment of the present invention provides, under calibration adjustment pattern, based on two demarcation
Regulation parameter show image to be captured, and manually regulation trim button is to regulate the distortion degree of image to be captured, calibration adjustment with
Manually regulation combines；Under manual adjustment mode, then it is not needed upon two calibration adjustment parameters and shows image to be captured, i.e.
Having abandoned biparametric coarse adjustment completely, manually one trim button of regulation is to regulate the distortion degree of image to be captured so that no
Pipe is calibration adjustment pattern or manual adjustment mode, needs the parameter only one of which that user manually regulates, is i.e. pressed by fine setting
The revision parameter of button adjusting joint, regulation process is simple, can effectively reduce lens distortion.
Fig. 2 is the flow chart of lens distortion parameter adjusting method embodiment two of the present invention.As in figure 2 it is shown, in the present embodiment,
102 specifically include:
1021, sustained manual regulation trim button, searches two correction ginsengs that revision parameter is corresponding from Parameter lookup step
Number.
Lens distortion adjusting means is built-in with a Parameter lookup step, and this Parameter lookup step preserves one-parameter model with double
The mapping relations of parameter model, the distortion degree of the image to be captured that the parameter in one-parameter model, for example, K are determined, with
The distortion degree of the image to be captured that the parameter in two-parameter model, for example, K1, K2 are determined is the same, i.e. in look-up table
Preserve the mapping relations of the K of one-parameter model and K1, K2 of two-parameter model.Under calibration mode, each revision parameter is corresponding
Two corrected parameters in Parameter lookup step, and all corresponding calibration adjustment parameter of each corrected parameter.I.e. one revision ginseng
The change of number, linkage gets two corresponding corrected parameters；If in a manual mode, then without searching Parameter lookup step,
Persistently regulation revision parameter, according to revision parameter, based on imaging geometry model, such as one-parameter multiplied model or one-parameter division mould
Type, display shooting image.In this step, two calibration adjustment parameters are imported as disposable coarse adjustment and shows image to be captured
After, user manually regulates revision parameter while observing image to be captured, and lens distortion parameter adjustment control is from Parameter lookup step
Two corrected parameters that middle lookup is corresponding with revision parameter.Wherein, such as can be by the sliding button of setting on interface to repairing
Order parameter to be adjusted.
1022: obtain two calibrating parameters according to two calibration adjustment parameters with two corrected parameters.
User constantly regulates revision parameter, when observing that image to be captured reaches optimum state, and lens distortion parameter
Adjusting means obtains calibrating parameters according to each calibration adjustment parameter with corresponding corrected parameter.Such as, lens distortion ginseng
Number adjusting meanss can using each calibration adjustment parameter and corresponding corrected parameter sum as calibrating parameters, or, right
Corrected parameter does and is multiplied with corresponding calibration adjustment parameter as calibrating parameters etc. again after certain mathematical operation processes, this
Invention is not limited thereto system.This step can be considered the most manual fine setting operation.
Step 1023: according to two calibrating parameters and imaging geometry model, show image to be captured.
After obtaining calibrating parameters, image to be captured presents optimum state, and lens distortion degree is minimum, now, and camera lens
Distortion parameter adjusting means, according to two calibrating parameters and imaging geometry model, shows image to be captured.Such as, can be according to two
Individual calibrating parameters and imaging geometry model, determine radial direction radius and then the shooting image of orthoscopic image.
The lens distortion parameter adjusting method that the embodiment of the present invention provides, under calibration mode, by by calibrated relevant
Two parameters of connection import as disposable coarse adjustment to show image to be captured, and user manually regulates a revision parameter with to this
Two calibration adjustment parameters are modified fine setting makes image to be captured reach optimum state, obtains the demarcation ginseng of image to be captured
Number, then according to calibrating parameters and imaging geometry model, determines the shooting dimension information of image to be captured.The embodiment of the present invention carries
The lens distortion parameter adjusting method of confession, calibration adjustment pattern and manual adjustment mode combine, parameter adjustment in image taking
Process is simple, is easily reduced lens distortion.
In lens distortion parameter adjusting method embodiment three of the present invention, for simple image to be captured or user to figure
As the scene that required precision is low, then image limit to be captured regulation revision parameter is observed on limit the most in a manual mode, treats that image reaches
To stopping regulation revision parameter during perfect condition and shooting image.User can select calibration mode or manual mould according to demand
Formula, under calibration mode, using calibrated two-parameter as disposable coarse adjustment importing, user manually regulates a revision parameter and makees
For repeatedly finely tuning, jointly complete trimming process；In a manual mode, user manually regulates a revision parameter, individually completes school
Positive process.
It should be noted that in above-described embodiment one and embodiment two, i.e. under calibration mode and manual mode, Yong Husuo
The revision parameter of regulation is same parameter, such as user by the sliding button arranged on regulation filming apparatus etc. thus to repairing
Ordering the regulation of parameter, under different mode, user manually regulates the revision parameter distortion that makes image to be captured occur is the same, from
And one-parameter and biparametric user interface are merged so that user the most in what mode, need manually regulation time
Waiting, only one parameter of regulation just can make captured image reach optimal.
In view of standard pin pore model include radial distortion at interior various distortion totally 7 kinds of distortion parameters, but, due to
External parameter is difficult in actual use and the Method at Register Transfer Level of tangential distortion (Register-Transfer-Level,
Hereinafter referred to as RTL) code realization difficulty, therefore, for making the embodiment of the present invention clearer, below, only in shooting process
There is radial distortion and to the regulation of two distortion parameters of this radial distortion to elaborate the present invention.
Fig. 3 is the flow chart of lens distortion parameter adjusting method embodiment four of the present invention.In the present embodiment, lens distortion is joined
The bottom source code of number adjusting means, field programmable gate array as same set of in bottom (Field Programmable Gate
Array, hereinafter referred to as FPGA) Method at Register Transfer Level (Register-Transfer-Level, hereinafter referred to as RTL) code with
Time support two-parameter multiplied modelWith one-parameter multiplied modelSpecifically
, the present embodiment comprises the steps:
Step 201: model selection, if selecting manual mode, then performing step 207, if selecting calibration mode, then performing step
Rapid 202.
User selects manual mode or calibration mode on graphical interfaces, and the parameter of model selection is passed to bottom source
Code, such as, is set to " 0 " by the mark of manual mode, the mark of calibration mode is set to " 1 ", if selecting manual mode,
Then pattern identification " 0 " is passed by SDK (Software Development Kit, hereinafter referred to as SDK) code
Pass bottom FPGA code；Otherwise, mark " 1 " is passed to bottom FPGA code.
In general, if image to be captured is more complicated, or user is higher to the required precision of the image of shooting, then select
Select calibration mode；Otherwise, if image to be captured is fairly simple, or user is the highest to the required precision of image, then select manually
Pattern.
Step 202: camera lens is demarcated.
Under calibration mode, first shooting N pair picture, as shot the gridiron pattern picture of more than 3 and storing, start and demarcate journey
Sequence, reads in the N pair gridiron pattern picture stored, carries out camera lens demarcation, wherein, calibrating procedure e.g. SDK
Iteration optimization algorithms based on method of least square in (Software Development Kit, hereinafter referred to as SDK).Owing to it is deposited
In the problem that Dependence Problem and the iteration of center of distortion point can not restrain, i.e. center of distortion point initial value is typically defaulted as in image
Heart point, and the center that the center of distortion of reality point initial value is set by register configuration with filming apparatus inner sensor (sensor)
Position is relevant, and it is invalid that iteration does not restrain the demarcation picture that some may be caused to shoot, therefore needs in theory to shoot at least 3 effectively
Picture, the most typically wants more than 5 pairs, and the most invalid picture is too much, then the parameters precision calibrated will reduce.This step
In, demarcated by camera lens, calibrate two calibration adjustment parameters cK1And cK2。
Step 203: show image to be captured according to calibration adjustment parameter.
Two calibration adjustment parameters cK that will calibrate1And cK2Import to, in bottom FPGA source code, take advantage of based on two-parameter
Method model shows image to be captured in real time.
Step 204: fine setting, manually regulation is revised parameter and searches Parameter lookup step.
User manually regulates revision parameter while observing image to be captured from camera lens on graphical interfaces, such as, pass through
Slider on interface is finely adjusted, and lens distortion parameter adjustment control is searched and revision parameter pair according to built-in Parameter lookup step
Two the corrected parameter dK answered1And dK2, dK1And dK2Initial value could be arranged to 0.Wherein, look-up table can be such as in advance
Being barrel distortion according to lens distortion type, mapping relations based on two-parameter multiplied model and one-parameter multiplied model generate
One look-up table.
Step 205: obtain calibrating parameters.
Two corrected parameter dK that fine setting revision parameter is found from Parameter lookup step1And dK2It is added to two respectively
Calibration adjustment parameter cK1And cK2In, by two calibrating parameters K of SDK code building1And K2, i.e. K1=dK1+cK1, K2=dK2+
cK2。
Step 206: shooting image.
In above-mentioned steps 204, user constantly regulates revision parameter, two corrected parameters while observing image to be captured
dK1And dK2Also ceaselessly changing so that two calibrating parameters K in step 2051And K2The most constantly change, and then
Make image to be captured also due to the change of parameter and change, when image to be captured reaches optimum degree, i.e. determine demarcation ginseng
Number K1And K2Time, according to calibrating parameters, and above-mentioned steps 201 transmit the pattern identification got off, based on bottom FPGA RTL code
Two-parameter multiplied model in the two-parameter multiplied model simultaneously supported and one-parameter multiplied model
Determine the radial direction radius of the orthoscopic image of image to be captured, shoot image.
Step 207: manually regulation revision parameter, returns and performs step 206, i.e. shoot image.
If user have selected manual adjustment mode, now, user limit is observed image limit to be captured and is manually regulated revision ginseng
Number, using revision parameter K as the input parameter of one-parameter multiplied model, treats time picture reaches optimum state, then in step 206
In, the one-parameter multiplication in the two-parameter multiplied model simultaneously supported based on bottom FPGA RTL code and one-parameter multiplied model
ModelDetermine the radial direction radius of the orthoscopic image of image to be captured, shoot image.
It should be noted that the calibrating parameters K in above-mentioned steps, under calibration mode1And K2And the revision under manual mode
Parameter K all can be configured in bottom FPGA RTL code by SDK, calibration mode and manual mode, the pattern identification of alternative
Can be configured to FPGA RTL code by SDK code, bottom same set of FPGA RTL code supports two-parameter taking advantage of simultaneously simultaneously
Method model and one-parameter multiplied model.
Summary understands, in the present embodiment, under calibration mode, using calibrated calibration adjustment parameter as disposably
Coarse adjustment imports, and makes reaching and being worth the most accurately of image, the most substantially determines the footpath of the orthoscopic image of image to be captured
To radius, then, user's sustained manual regulation revision parameter and then acquisition corrected parameter, join according to corrected parameter and calibration adjustment
Number obtains calibrating parameters so that calibrating parameters is the most accurate, i.e. obtains the radial direction radius of accurate orthoscopic image；Manual mode
Under, it is not necessary to import calibration adjustment parameter, but directly manually adjust revision parameter, according to revision parameter determination image to be captured
The radial direction radius of orthoscopic image.It is to say, in the present embodiment, can be by calibration adjustment with manually regulate phase under calibration mode
In conjunction with, and the most only regulation one revision parameter under calibration mode and manual mode, adjust process simple, be easily reduced camera lens abnormal
Become.
It should be noted that above-described embodiment is with two-parameter multiplied model and two-parameter multiplied model, Parameter lookup step
Preserve as a example by the mapping relations of one-parameter multiplied model and two-parameter model multiplied model that the present invention will be described in detail, so
And, the present invention is not limited thereto system, and in the embodiment that other are possible, two-parameter model can also be two-parameter division mould
Type, one-parameter model can also be one-parameter division model, and Parameter lookup step preserves one-parameter division model and Radix Triplostegiae Grandiflorae digital-to-analogue
Type removes the mapping relations of model, or, preserve one-parameter multiplied model and the mapping relations etc. of two-parameter multiplied model.
Fig. 4 is the configuration diagram of lens distortion parameter adjustment control embodiment one of the present invention.The mirror that the present embodiment provides
The lens distortion parameter that is applied to that head distortion parameter adjusting means 100 specifically can realize any embodiment of the present invention and provide regulates
Each step of the method for device, the process of implementing does not repeats them here.As it is shown on figure 3, the lens distortion ginseng of the present embodiment
Number adjusting means 100 may include that
Select module 11, be used for selecting shaping modes, shaping modes to include calibration adjustment pattern and manual adjustment mode；
Calibration adjustment module 12, if for selecting module 11 to select calibration adjustment pattern, then based on two calibration adjustment ginsengs
Digital display shows image to be captured, and manually regulation trim button is to regulate the distortion degree of image to be captured；
Manual adjustment module 13, if for select module 11 select manual adjustment mode, the most manually regulation trim button with
Regulate the distortion degree of image to be captured, wherein, trim button instruction revision parameter.
The lens distortion parameter adjustment control that the present embodiment provides, under calibration adjustment pattern, based on two calibration adjustment
Parameter shows image to be captured, and manually regulation trim button is to regulate the distortion degree of image to be captured, and calibration adjustment is with manual
Regulation combines；Under manual adjustment mode, then it is not needed upon two calibration adjustment parameters and shows image to be captured, the most completely
Having abandoned biparametric coarse adjustment, manually one trim button of regulation is to regulate the distortion degree of image to be captured so that be no matter
Calibration adjustment pattern or manual adjustment mode, needed the parameter only one of which that user manually regulates, i.e. adjusted by trim button
The revision parameter of joint, regulation process is simple, can effectively reduce lens distortion.
Fig. 5 is the configuration diagram of lens distortion parameter adjustment control embodiment two of the present invention.As shown in Figure 4, this enforcement
The lens distortion parameter adjustment control 200 of example is on the basis of embodiment illustrated in fig. 3, and further, calibration adjustment module 12 is also
May include that
Search unit 121, when sustained manual regulation trim button, search from Parameter lookup step and revise parameter pair
Two corrected parameters answered；
Acquiring unit 122, for obtaining two calibrating parameters according to two calibration adjustment parameters with two corrected parameters；
Display unit 123, for according to two calibrating parameters and imaging geometry model, shows image to be captured.
Further, acquiring unit 122 specifically for by each calibration adjustment parameter and corresponding corrected parameter it
With as calibrating parameters.
Referring again to Fig. 5, the lens distortion parameter adjustment control 200 that the present invention provides, further, calibration adjustment module
12 can also include:
Build table unit 124, for based on imaging geometry model, set up Parameter lookup step.
Referring again to Fig. 5, the lens distortion parameter adjustment control 200 that the present invention provides, further, calibration adjustment module
12 can also include:
Demarcate unit 125, demarcate picture for shooting at least 3, demarcate to obtain two demarcation to demarcating picture
Regulation parameter.
Further, display unit 123 specifically for: use two-parameter model as imaging geometry model, by two marks
Determine the parameter distortion parameter as two-parameter model, show image to be captured.
Further, manual adjustment module 13, specifically for: persistently regulate trim button, according to revision parameter, based on one-tenth
As geometric model shows that image to be captured, imaging geometry model are one-parameter model.
Fig. 6 is the configuration diagram of lens distortion parameter adjustment control embodiment three of the present invention.As shown in Figure 6, this enforcement
The lens distortion parameter adjustment control 300 that example provides includes processor 31 and memorizer 32.Lens distortion parameter adjustment control 300
Emitter 33, receptor 34 can also be included.Emitter 33 can be connected with processor 31 with receptor 34.Wherein, memorizer
32 storages perform instruction, when lens distortion parameter adjustment control 300 runs, communicate between processor 31 with memorizer 32, place
Reason device 31 calls and performs instruction in memorizer 32, for performing each step of said method embodiment, its realize principle with
Technique effect is similar to, and here is omitted.
Fig. 7 is the configuration diagram of picture pick-up device of the present invention.As it is shown in fig. 7, the picture pick-up device 400 of the present embodiment, including
Optical lens 21 and lens distortion parameter adjustment control 22, concrete, the operation principle of lens distortion parameter adjustment control 22 and
Performance, refers to above-mentioned about lens distortion parameter adjusting method and the explanation of device, and here is omitted.
One of ordinary skill in the art will appreciate that: all or part of step realizing above-mentioned each method embodiment can be led to
The hardware crossing programmed instruction relevant completes.Aforesaid program can be stored in a computer read/write memory medium.This journey
Sequence upon execution, performs to include the step of above-mentioned each method embodiment；And aforesaid storage medium includes: ROM, RAM, magnetic disc or
The various media that can store program code such as person's CD.
Last it is noted that various embodiments above is only in order to illustrate technical scheme, it is not intended to limit；To the greatest extent
The present invention has been described in detail by pipe with reference to foregoing embodiments, it will be understood by those within the art that: it depends on
So the technical scheme described in foregoing embodiments can be modified, or the most some or all of technical characteristic is entered
Row equivalent；And these amendments or replacement, do not make the essence of appropriate technical solution depart from various embodiments of the present invention technology
The scope of scheme.
Claims (13)
1. a lens distortion parameter adjusting method, it is characterised in that including:
Selecting shaping modes, described shaping modes includes calibration adjustment pattern and manual adjustment mode；
If selecting described calibration adjustment pattern, then show image to be captured based on two calibration adjustment parameters, manually regulate fine setting
Button is to regulate the distortion degree of described image to be captured；
Otherwise, if selecting described manual adjustment mode, then manually regulate described trim button to regulate described image to be captured
Distortion degree, wherein, described trim button instruction revision parameter；
Select described calibration adjustment pattern if described, then show image to be captured based on two calibration adjustment parameters, manually regulate
Trim button with regulate described image to be captured distortion degree, including:
Sustained manual regulates described trim button, searches two the correction ginsengs corresponding with described revision parameter from Parameter lookup step
Number；
Two calibrating parameters are obtained with said two corrected parameter according to said two calibration adjustment parameter；
According to said two calibrating parameters and imaging geometry model, show described image to be captured.
Method the most according to claim 1, it is characterised in that described according to said two calibration adjustment parameter and described two
Individual corrected parameter obtains two calibrating parameters, including:
Using each described calibration adjustment parameter and corresponding described corrected parameter sum as described calibrating parameters.
Method the most according to claim 1, it is characterised in that also include:
Based on described imaging geometry model, set up described Parameter lookup step.
Method the most according to claim 1, it is characterised in that described show figure to be captured according to two calibration adjustment parameters
As before, also include:
Shoot at least 3 and demarcate picture, demarcate to obtain said two calibration adjustment parameter to described demarcation picture.
Method the most according to claim 1, it is characterised in that described according to said two calibrating parameters and imaging geometry
Model, shows described image to be captured, including:
Employing two-parameter model is as described imaging geometry model, using said two calibrating parameters as described two-parameter model
Distortion parameter, shows described image to be captured.
Method the most according to claim 1, it is characterised in that select described manual adjustment mode if described, the most manually adjust
Save the described trim button described distortion degree with the described image to be captured of regulation, including:
Persistently regulate described trim button, according to described revision parameter, based on image to be captured described in imaging geometry models show,
Described imaging geometry model is one-parameter model.
7. a lens distortion parameter adjustment control, it is characterised in that including:
Select module, be used for selecting shaping modes, described shaping modes to include calibration adjustment pattern and manual adjustment mode；
Calibration adjustment module, if selecting described calibration adjustment pattern for described selection module, then based on two calibration adjustment ginsengs
Digital display shows image to be captured, and manually regulation trim button is to regulate the distortion degree of described image to be captured；
Manual adjustment module, if selecting described manual adjustment mode for described selection module, then manually regulates described fine setting and presses
Button is to regulate the distortion degree of described image to be captured, wherein, and described trim button instruction revision parameter；
Described calibration adjustment module includes:
Search unit, when sustained manual regulates described trim button, search and described revision parameter from Parameter lookup step
Two corresponding corrected parameters；
Acquiring unit, for obtaining two calibrating parameters according to said two calibration adjustment parameter with said two corrected parameter；
Display unit, for according to said two calibrating parameters and imaging geometry model, shows described image to be captured.
Device the most according to claim 7, it is characterised in that described acquiring unit specifically for:
Using each described calibration adjustment parameter and corresponding described corrected parameter sum as described calibrating parameters.
Device the most according to claim 7, it is characterised in that described calibration adjustment module also includes:
Build table unit, for based on described imaging geometry model, set up described Parameter lookup step.
Device the most according to claim 7, it is characterised in that described calibration adjustment module also includes:
Demarcate unit, demarcate picture for shooting at least 3, described demarcation picture is demarcated obtains said two and demarcates
Regulation parameter.
11. devices according to claim 7, it is characterised in that described display unit specifically for:
Employing two-parameter model is as described imaging geometry model, using said two calibrating parameters as described two-parameter model
Distortion parameter, shows described image to be captured.
12. devices according to claim 7, it is characterised in that described manual adjustment module, specifically for:
Persistently regulate described trim button, according to described revision parameter, based on image to be captured described in imaging geometry models show,
Described imaging geometry model is one-parameter model.
13. 1 kinds of picture pick-up devices, including optical lens, it is characterised in that also include: the arbitrary described camera lens of claim 7-12
Distortion parameter adjusting means.
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| CN107564069B (en) * | 2017-09-04 | 2020-09-29 | 北京京东尚科信息技术有限公司 | Method and device for determining calibration parameters and computer readable storage medium |
| CN109523597B (en) * | 2017-09-18 | 2022-06-03 | 百度在线网络技术（北京）有限公司 | Method and device for calibrating external parameters of camera |
| CN108492263B (en) * | 2018-03-07 | 2022-02-18 | 鞍钢集团矿业有限公司 | Lens radial distortion correction method |
| CN112146848B (en) * | 2019-06-27 | 2022-02-25 | 华为技术有限公司 | Method and device for determining distortion parameter of camera |
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