CN104200454B - Fisheye image distortion correction method and device - Google Patents
Fisheye image distortion correction method and device Download PDFInfo
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- CN104200454B CN104200454B CN201410225953.8A CN201410225953A CN104200454B CN 104200454 B CN104200454 B CN 104200454B CN 201410225953 A CN201410225953 A CN 201410225953A CN 104200454 B CN104200454 B CN 104200454B
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Abstract
The application discloses a fisheye image distortion correction method and a fisheye image distortion correction device. The fisheye image distortion correction method includes steps: selecting an assigned outline pixel point in a fisheye image, and demarcating the assigned outline pixel point on a preset boundary of a corrected image; then performing demarcating correction on a relevant assigned ligature pixel point according to a relation between positions of the outline pixel point before and after demarcated; finally, executing correction tasks of other pixel points according to the assigned outline pixel point and the assigned ligature pixel point after the demarcating correction is completed. According to the fisheye image distortion correction method and the fisheye image distortion correction device, demarcating parameters needed by a user can be imitated in fitting mode without need of setting a demarcating object, and therefore demarcating operation difficulty is greatly reduced, and efficiency can be improved.
Description
Technical field
The application is related to digital image processing field and in particular to arriving a kind of fish eye images distortion correction method and device.
Background technology
Fish-eye camera (camera lens) is applied multi-field, and fish-eye camera can be shot with video-corder the image at bigger visual angle or be regarded
Frequently, such as in the fields such as computer vision, virtual reality, robot navigation and vision monitoring, generally require to obtain more big angle
The image of degree scope, and also can there are a variety of restrictions in wide-angle lens on using, however, fish eye camera can meet these wanting
Ask, its angular field of view can effectively meet the needs in above field, therefore, at present very greatly or even close to full angular field of view
It is obtained in that the fish eye lens of big visual angle fish eye images is widely used.
Although fish eye lens can obtain very big visual angle, by the common perspective that fish eye lens is common with us
Image is different, and fish eye images generally all can have very big distortion, in order to meet the observation habit of human eye, typically can be by processing
Device is processed accordingly to fish eye images such as demarcates correction, then by processor, the image after correcting is sent to display dress
Put and shown.Particularly in fields such as three-dimensional modeling, virtual reality and robot navigations, want first must using fish eye lens
The fish eye images data that fish eye lens must be shot with video-corder accurately is corrected, and the process of this correction is referred to as marked in computer vision
Fixed (calibration).During this, processor all can cause to Consumer's Experience to the treatment effect of fish eye images and efficiency
Directly affect, even affect the key factor of Consumer's Experience.At present, substantially as follows for fish-eye scaling method:
Algorithm model is demarcated: the deformation often assuming that flake is to meet certain physical model, and calculating image by model needs
Parameter to be corrected, such as based on corresponding estimation epipolar-line constraint etc..Corrected using algorithm model, demarcate easy, but, some calculations
Method has higher requirement to demarcating scene, such as method (the straight lines have to be based on straight line
straight)；Some models can lead to localized distortion serious, and such as longitude and latitude model can lead to the two poles of the earth of image to be stretched.
Manual demarcation: often will put demarcation thing before video camera, be mated by pointwise, set up real space and image pixel
The relation of point.This kind of method can Accurate Calibration fish eye lens, but existing method need to choose manually a large amount of on scaling board
Characteristic point, operating efficiency is very low.
Content of the invention
The application provides a kind of fish eye images distortion correction method and device, to provide a kind of fish eye images distortion correction
New departure.
According to the application's in a first aspect, the application provides a kind of fish eye images distortion correction method, comprising:
Fish eye images obtaining step, obtains the fish eye images that fish-eye camera is shot with video-corder；
Central point demarcating steps, the central point of image after the central point of fish eye images is demarcated as correcting；
Profile point demarcating steps, by the wire-frame image specified on fish eye images border vegetarian refreshments (p0) it is demarcated as image side after correction
Correspondence profile pixel in boundary；
Line point demarcating steps, the line picture that the wire-frame image vegetarian refreshments line that fish eye images central point is specified with it is specified
Vegetarian refreshments is demarcated on the line of the correspondence profile pixel of the central point of image and this specified wire-frame image vegetarian refreshments to correction.
According to the second aspect of the application, the application provides a kind of fish eye images distortion correction device, comprising: central point mark
Cover half block, profile point demarcating module, line point demarcating module and fish eye images acquisition module.
Fish eye images acquisition module is used for obtaining the fish eye images that fish-eye camera is shot with video-corder；
Central point demarcating module is used for the central point of fish eye images is demarcated as the central point of image after correction；
Profile point demarcating module is used for for the wire-frame image vegetarian refreshments specified on fish eye images border being demarcated as image side after correction
Correspondence profile pixel in boundary；
Line selects demarcating module for the company specifying on the wire-frame image vegetarian refreshments line of specifying fish eye images central point with it
Line pixel is demarcated on the line of the correspondence profile pixel of the central point of image and this specified wire-frame image vegetarian refreshments to correction.
The beneficial effect of the application is: the fish eye images distortion correction method being provided according to the application/device, first basis
Fish eye images determine the central point of image after correction, and the profile based on correction chart picture is to the wheel specified on the border of fish eye images
Wide pixel is demarcated；The line pixel then according to the position relationship of base wheel exterior feature pixel before and after demarcating, correlation specified
Carry out demarcating correction, thus completing correction tasks.Fish eye images distortion correction method/the device being provided using the application, is not needed
Set and demarcate thing, you can simulate the correction parameter of user's needs, substantially reduce the difficulty of proving operation, it is possible to increase efficiency.
Brief description
Fig. 1 is the embodiment of the present application fish eye images distortion correction apparatus structure sketch；
Fig. 2 is the embodiment of the present application profile point demarcating module structure diagram；
Fig. 3 is the embodiment of the present application line point demarcating module structure diagram；
Fig. 4 is the embodiment of the present application fish eye images distortion correction method flow chart；
Fig. 5 a is the embodiment of the present application fish eye images outline drawing；
Fig. 5 b is the embodiment of the present application fish eye images calibration strategy schematic diagram, and wherein dotted line frame is illustrated for fish eye images, real
Wire frame is image signal after correction；
Fig. 6 specifies wire-frame image vegetarian refreshments scaling method flow chart for the embodiment of the present application；
The line pixel scaling method flow chart that Fig. 7 specifies for the embodiment of the present application；
Fig. 8 a is the embodiment of the present application fish eye images distortion design sketch；
Fig. 8 b is the design sketch after the embodiment of the present application correcting fisheye image.
Specific embodiment
Combine accompanying drawing below by specific embodiment the present invention is described in further detail.
The application demarcates coordinate diagram according to distortion fish eye images feature, to the profile specified chosen on fish eye images border
Pixel ask for correct after ideal coordinates value, according to the coordinate before and after specified contour pixel point calibration set up fish eye images and
Mapping relations between image after correction, try to achieve the seat after the line pixel point calibration specified accordingly using this mapping relations
Mark, thus having demarcated the position after each wire-frame image vegetarian refreshments specified of fish eye images and line pixel point calibration, generates coordinate mapping
Table.Image after being corrected with this coordinate map in follow-up correction program.
Refer to Fig. 1, be the present embodiment fish eye images distortion correction apparatus structure sketch, this correcting unit includes: flake
Image collection module 1, central point demarcating module 2, profile point demarcating module 3 and line point demarcating module 4.Wherein,
Fish eye images acquisition module 1 is used for obtaining the fish eye images that fish-eye camera is shot with video-corder, and alleged fish eye images are flake
The image to be corrected that photographic head is shot with video-corder.
Central point demarcating module 2 is used for the central point o of fish eye images0The central point o of image after being demarcated as correctingc.
Profile point demarcating module 3 is used for the wire-frame image specified on fish eye images border vegetarian refreshments p0It is demarcated as image after correction
Borderline correspondence profile pixel pc.In a preferred embodiment, can be according to the first predetermined interval in fish eye images profile
The some pixels of upper selection are as specified wire-frame image vegetarian refreshments p0；Or, according to the first predetermined interval image outline after calibration
The some pixels of upper selection are as correspondence profile pixel pc.
Line point demarcating module 4 is used for fish eye images central point o0The wire-frame image vegetarian refreshments p specifying with it0Specify on line
Line pixel pi 0Demarcate the central point o of the image to correctioncWith this specified wire-frame image vegetarian refreshments p0Correspondence profile pixel pc
Line on.In a preferred embodiment, can be according to the second predetermined interval in fish eye images central point o0The wheel specified with it
Wide pixel p0Some pixels are chosen on line as specified line pixel pi 0.
When the first predetermined interval and/or the second predetermined interval are larger, in order to demarcate more pixels in fish eye images,
Can further include other point demarcating modules 5.
Other selects demarcating module 5 for the position mark before and after demarcating based on specified wire-frame image vegetarian refreshments and specified line pixel
Fixed other pixels position on image after calibration.In a kind of specific embodiment, other point demarcating modules 5 can be using existing
Some technical schemes trying to achieve the position after other pixel point calibrations, such as when specified wire-frame image vegetarian refreshments and specified line pixel
After the completion of all demarcating, just form the graticules demarcated after correction being made up of specified wire-frame image vegetarian refreshments and specified line pixel
Lattice, then try to achieve the position related like vegetarian refreshments using this longitude and latitude grid according to three adjacent pixels.
In the present embodiment, refer to Fig. 2, profile point demarcating module 3 may further include the first party of signal connection
Parallactic angle computing unit 31 and profile point searching unit 32.
In a kind of specific embodiment, first party parallactic angle computing unit 31 is used for determining the wheel specified on fish eye images border
Wide pixel p0Central point o with respect to fish eye images0First party parallactic angle θ.
Profile point searching unit 32 is for the central point o of image after searching on the border of image after calibration and correctingc's
Azimuth is equal to the point of first party parallactic angle θ, this is selected as specified wire-frame image vegetarian refreshments p0Correspondence profile in image after calibration
Pixel pc.
In another kind of specific embodiment, first party parallactic angle computing unit 31 is used for right on the border of image after determination corrects
Answer wire-frame image vegetarian refreshments pcCentral point o with respect to fish eye imagescFirst party parallactic angle θ.
Profile point searching unit 32 is used for searching the central point o with fish eye images on fish eye images border0Azimuth
Equal to the point of first party parallactic angle θ, using this point as correspondence profile pixel pcThe contour pixel specified in fish eye images
Point p0.
In a kind of specific embodiment, refer to Fig. 3, line point demarcating module 4 may further include signal connection
First metrics calculation unit 41, second distance computing unit 42, the 3rd metrics calculation unit 43 and the 4th metrics calculation unit 44.
Wherein,
First metrics calculation unit 41 is used for calculating the wire-frame image vegetarian refreshments p specifying0To fish eye images central point o0First away from
From d0.
Second distance computing unit 42 is used for calculating this specified wire-frame image vegetarian refreshments p0Correspondence profile pixel pcTo after correction
The o of the central point of imagecSecond distance dc.
3rd metrics calculation unit 43 is used for calculating line pixel pi 0To fish eye images central point o0The 3rd distance.
4th metrics calculation unit 44 is used for image after the correspondence profile pixel with this wire-frame image vegetarian refreshments and correction
On the line that central point determines, determine that the central point of image after correction is the point of the 4th distance, using this point as line pixel
The point corresponding pixel in image after calibration.
Based on said apparatus, the present embodiment also discloses a kind of fish eye images distortion correction method, flow chart such as Fig. 4 institute
Show, and with reference to Fig. 5 a and Fig. 5 b, the distortion correction method of the present embodiment is illustrated, concrete grammar comprises the following steps that
Step s100, fish eye images obtaining step.Obtain the fish eye images that fish-eye camera is shot with video-corder, alleged fish eye images are
The image of the demarcation to be corrected that finger is shot with video-corder by fish-eye camera, can there is different degrees of distortion in usual fish eye images.
Step s200, central point demarcating steps.Central point o by fish eye images0The central point of image after being demarcated as correcting
oc.As shown in figure 5 a and 5b, wherein, Fig. 5 a is fish eye images schematic diagram, and Fig. 5 b is image schematic diagram after correction.Need explanation
, in a preferred embodiment, the central point of the image before and after correction has identical coordinate (0,0).
Step s300, profile point demarcating steps.By the wire-frame image specified on fish eye images border vegetarian refreshments p0It is demarcated as correcting
Correspondence profile pixel p in image boundary afterwardsc.In a kind of specific embodiment, so that fish eye images are as circle as a example, can be by
Some pixels are chosen on fish eye images profile as specified wire-frame image vegetarian refreshments p according to the first predetermined interval0；In another kind of tool
In body embodiment, because the profile of the image after correction is usually default, that is, the profile of the image after correcting is determine, because
This is it is also possible to choose some pixels as correspondence profile pixel according in the first predetermined interval after calibration image boundary
pc, then correspondence profile pixel p is found out based on default rulecThe wire-frame image vegetarian refreshments p specifying in fish eye images0.First
Predetermined interval can be size or unequal interval at equal intervals.The size of the first predetermined interval can be carried out as needed
Setting, spaced less, the wire-frame image vegetarian refreshments p specifying of selection0More, also higher to the pattern accuracy demarcated, when
When first predetermined interval is sufficiently small, pixel all of on fish eye images border can be demarcated, but then, can be reduced
The treatment effeciency of system.Accordingly, it would be desirable to the degree of accuracy of pool image rectification and treatment effeciency are determined suitable first preset
Interval.In order to following description is convenient, the radius of fish eye images that might as well set circle is as r.
Due to specified wire-frame image vegetarian refreshments p0For the borderline pixel of fish eye images, therefore, in a kind of specific embodiment
In it is also possible to be preferably based on the image outline size wire-frame image vegetarian refreshments p that specifies of demarcation after default correction0Position after correction.
In a kind of specific embodiment, the image after correction can be the length and width of the display being preset as the shape or needs arbitrarily needing
Than.Refer to Fig. 5 b, so that after correction, image tends to rectangle as a example illustrate, in a preferred embodiment, can also be in correction
On four angles of image afterwards, setting radius is r tangent circular arc chamfering, and the value of r can choose between 0～r, r closer to
0, the image after correction is closer to square；, closer to r, the image after correction is closer to circle for r；Additionally, in order to reduce system
Operand, in a preferred embodiment, after correction, the border of image and the outline of fish eye images are tangent.After determining correction
After the shape of image, the profile according to image before and after correction determines the wire-frame image vegetarian refreshments p specifying0Position after correction, such as corrects
Before the wire-frame image vegetarian refreshments p that specifies0On the border of fish eye images, then in correction chart picture, this point also should be located at border.A kind of
Feasible scheme is: fish eye images central point o0With the wire-frame image vegetarian refreshments p specifying before correction0Scheme after place straight line and default correction
As the intersection point of profile is the wire-frame image vegetarian refreshments p specifying before this correction0Position in image after calibration, in figure pcIt is and correct
The wire-frame image vegetarian refreshments p specifying afterwards0Corresponding pixel.Another kind of feasible scheme is: the central point o of image after default correctionc
With the correspondence profile pixel p after the correction chosencThe intersection point of place straight line and fish eye images profile is specified before being this correction
Wire-frame image vegetarian refreshments p0Position in fish eye images.
Step s400, line point demarcating steps.By fish eye images central point o0The wire-frame image vegetarian refreshments p specifying with it0On line
The line pixel p specifyingi 0Demarcate the central point o of the image to correctioncWith this specified wire-frame image vegetarian refreshments p0Correspondence profile picture
Vegetarian refreshments pcLine on, wherein i is the integer more than 0.In a preferred embodiment, can be according to the second predetermined interval in flake
Image center o0The wire-frame image vegetarian refreshments p specifying with it0Some pixels are chosen on line as specified line pixel pi 0.
Second predetermined interval can be size or unequal interval at equal intervals.The size of the second predetermined interval can be as needed
It is configured, spaced less, the line pixel p specifying of selectioni 0More, the pattern accuracy demarcated also is got over
Height, but then, can reduce the treatment effeciency of system.Accordingly, it would be desirable to the degree of accuracy of pool image rectification and treatment effeciency enter
Row determines suitable second predetermined interval.
Correction front position according to the position relationship before and after specified contour pixel point calibration and the line pixel specified
Demarcate the position after the line pixel point calibration that this specifies.In a kind of specific embodiment, can be according to the contour pixel specified
Point p0Position offset after correction draws the line pixel p that its correspondence is specifiedi 0Position skew, and according to this side-play amount
And the line pixel p specifyingi 0Position before correction is determining the line pixel p specifyingi 0Position after correction, such as permissible
Tried to achieve by position and side-play amount are overlapped with computing or other feasible computing mode.
When the first predetermined interval and/or the second predetermined interval are larger, in order to demarcate more pixels in fish eye images,
Can further include:
Step s500, other point demarcating steps.Before and after being demarcated based on specified wire-frame image vegetarian refreshments and specified line pixel
Location position other pixel position on image after calibration.As all specified wire-frame image vegetarian refreshments p0With line pixel pi 0's
After the completion of location position, just pixel remaining in fish eye images can be corrected demarcating.Existing technology can be adopted
Scheme trying to achieve the position after other pixel point calibrations, such as when specified wire-frame image vegetarian refreshments and line pixel are all demarcated and completed
Afterwards, just form the longitude and latitude grid demarcated after correction being made up of specified wire-frame image vegetarian refreshments and line pixel, then utilize this
Longitude and latitude grid tries to achieve the position related like vegetarian refreshments according to three adjacent pixels, such as, list of references " 3d Fundamentals of Mathematics: figure
Shape and development of games " (fletcher dunn etc. Beijing: publishing house of Tsing-Hua University .2005:p246-p252.) describe and pass through
Calculate the triangle interior point interpolation that barycenter oftriangle coordinate realizes arbitrfary point composition.
In a kind of specific embodiment, step s300 can be passed through to include the following method realization of step further, please join
Examine Fig. 6.
Step s310, first party parallactic angle calculation procedure.For the wire-frame image vegetarian refreshments p specifying is determined on fish eye images border0
Central point o with respect to fish eye images0First party parallactic angle θ.Refer to Fig. 5 b, it is possible to use trigonometric function formula
OrTry to achieve first party parallactic angle θ, wherein, x0And y0The wire-frame image vegetarian refreshments p respectively specifying0In fish eye images
Abscissa and vertical coordinate, xcAnd ycIt is respectively corresponding wire-frame image vegetarian refreshments pcAbscissa in image and vertical coordinate after calibration.Need
It is noted that in the present embodiment, for the ease of calculating, first party parallactic angle θ is set to the wire-frame image vegetarian refreshments p specifying0With
Fish eye images central point o0Straight line and angle alleged by x-axis, in other embodiments it is also possible to the angle becoming with y-axis, or
It is it considers that suitable angle.It should be noted that first party parallactic angle θ is objectively also equal to corresponding wire-frame image vegetarian refreshments pcWith school
The central point o of image after justcStraight line and angle alleged by x-axis.
Step s320, profile point finding step.For in image after searching on the border of image after calibration and correcting
Heart point ocAzimuth be equal to first party parallactic angle θ point, this is selected as specified wire-frame image vegetarian refreshments p0Right in image after calibration
Answer wire-frame image vegetarian refreshments pc.Due to correspondence profile pixel pcFor specifying wire-frame image vegetarian refreshments p0With image center o before correction0Company
The line intersection point with border in image after calibration, therefore, correspondence profile pixel pcCentral point o with respect to image after correctionc's
Azimuth should be equal to first party parallactic angle θ.It is also possible to the selection in image is right after calibration first in another kind of specific embodiment
Answer wire-frame image vegetarian refreshments pc, then search in fish eye images and specify wire-frame image vegetarian refreshments p0.Now, should border in fish eye images
Upper lookup and fish eye images central point o0Azimuth be equal to the point of first party parallactic angle θ, using this point as correspondence profile pixel pc
Specified wire-frame image vegetarian refreshments p in fish eye images0.
In a kind of specific embodiment, refer to Fig. 7, step s400 can be passed through to include the following method of step further
Realize:
Step s410, first apart from calculation procedure.Calculate the wire-frame image vegetarian refreshments p specifying0To fish eye images central point o0?
One apart from d0.First apart from d0Computational methods can adopt currently existing scheme, such as according to the wire-frame image vegetarian refreshments p that specifies0Seat
Mark, tries to achieve apart from computing formula using in cartesian coordinate system, such asCan certainly be adopted it
Its formula is calculated.
Step s420, second distance calculation procedure.Calculate this specified wire-frame image vegetarian refreshments p0Correspondence profile pixel pcTo school
The o of the central point of image after justcSecond distance dc.Second distance dcComputational methods currently existing scheme may also be employed, specifically can join
See step s410, will not be described here.
Step s430, the 3rd apart from calculation procedure.Calculate line pixel pi 0To fish eye images central point o0The 3rd away from
From.Alleged 3rd distanceI-th line pixel p corresponding to fish eye images middle finger fixed wheel exterior feature pixeli 0To flake
Image center o0Distance, i be positive integer.As line pixel pi 0Choose after determining, its coordinate in fish eye images
Determine, accordingly it is also possible to the 3rd distance is calculated according to its coordinate.
Step s440, the 4th apart from calculation procedure.Scheme after the correspondence profile pixel with this wire-frame image vegetarian refreshments and correction
On the line that the central point of picture determines, determine that the central point of image after correction is the point of the 4th distance, using this point as line
The pixel corresponding pixel in image after calibration.In a kind of specific embodiment, it is possible to use formulaAsk
Obtain the 4th distance, alleged 4th distance is i-th line pixel pi 0Corresponding pixel p in image after calibrationi cTo school
Image center o after justcDistance.Wherein, d0For the first distance, it is in fish eye images middle finger fixed wheel exterior feature pixel p0To center
Point o0Distance；dcFor second distance, for correspondence profile pixel p calibrated in image after calibrationcTo central point ocAway from
From；For the 3rd distance, it is in fish eye images middle finger fixed wheel exterior feature pixel p0I-th corresponding reference image vegetarian refreshments pi 0To in
Heart point o0Distance, i be positive integer.
According to the result of step s310 and the execution of step s440, using formulaWithPermissible
Try to achieve i-th respectively and specify line pixel pi 0After calibration in image corresponding pixel points abscissaAnd vertical coordinateAsk
The coordinate obtainingIt is i-th line pixel pi 0Corresponding pixel p in image after calibrationi cPosition.
It should be noted that it will be understood by those skilled in the art that in other embodiments, determining for model
Fish-eye camera, after determining fish eye images middle finger fixed wheel exterior feature pixel and specified line pixel, just can be according to shooting
The inner parameter of head or other parameters are calculated d0WithValue.It is also possible to calculate after image outline after determining correction
Draw dcValue.Therefore, will not be described here.
It should be noted that when fish eye images are circular it is intended that wire-frame image vegetarian refreshments p0To fish eye images central point o0Away from
From d0It is the radius r of fish eye images.
Specified wire-frame image vegetarian refreshments p it should be noted that in the present embodiment, before demarcation0, corresponding contour pixel
Point pcAnd image center o is on same straight line, therefore, the image before and after correction can be using same coordinate system xoy
Demarcated.If correction before and after image adopt different coordinate systems it is also possible to coordinate system rotationally and/or translationally coming reality
The unified conversion of existing coordinate, thus simplified operation.
Further, when specified wire-frame image vegetarian refreshments and specified line pixel are more, in order to effectively judge to specify wheel
Whether wide pixel and specified line pixel are demarcated and are finished, and can also increase corresponding determination step:
Step s710, determination step demarcated by wire-frame image vegetarian refreshments.Judge whether that all of specified wire-frame image vegetarian refreshments has all been demarcated
Finish: if it is, execution step s400；If it is not, then execution step s720.
Step s720, next wire-frame image vegetarian refreshments is demarcated.Scaling method for next wire-frame image vegetarian refreshments can refer to step
Rapid s300, will not be described here.It should be noted that needing execution step s710 again to be sentenced after step s720 is finished
Fixed.
Step s810, line point demarcates determination step.Judge whether that all of line pixel specified all is demarcated to finish:
If it is, execution step s500；If it is not, then execution step s820.
Step s820, next line point is demarcated.The scaling method of the line pixel specified for the next one can refer to
Step s400, will not be described here.It should be noted that needing execution step s810 again to carry out after step s820 is finished
Judge.
Refer to Fig. 8 a and Fig. 8 b, compared for the effect before and after correcting fisheye image, wherein, Fig. 8 a is the flake before correction
Image, Fig. 8 b is the image after correcting fisheye image.Using fish eye images distortion correction method/device disclosed in the present embodiment,
Do not need to set and demarcate thing, you can simulate the correction parameter of user's needs, planned as a whole degree of accuracy and the efficiency of image calibration, and
Substantially reduce the difficulty of proving operation, it is possible to increase the efficiency of fish eye images distortion correction.
It will be understood by those skilled in the art that all or part of step of various methods can be passed through in above-mentioned embodiment
Program completes instructing related hardware, and this program can be stored in a computer-readable recording medium, and storage medium can wrap
Include: read only memory, random access memory, disk or CD etc..
Above content is to further describe it is impossible to assert this with reference to specific embodiment is made for the present invention
Bright it is embodied as being confined to these explanations.For general technical staff of the technical field of the invention, do not taking off
On the premise of present inventive concept, some simple deduction or replace can also be made.
Claims (8)
1. a kind of fish eye images distortion correction method is it is characterised in that include:
Fish eye images obtaining step, obtains the fish eye images that fish-eye camera is shot with video-corder；
Central point demarcating steps, by the central point o of fish eye images0The central point o of image after being demarcated as correctingc；
Profile point demarcating steps, by the wire-frame image specified on fish eye images border vegetarian refreshments p0In image boundary after being demarcated as correcting
Correspondence profile pixel pc；
Line point demarcating steps, by fish eye images central point o0The wire-frame image vegetarian refreshments p specifying with it0The line picture specified on line
Vegetarian refreshments pi 0Demarcate the central point o of the image to correctioncWith this specified wire-frame image vegetarian refreshments p0Correspondence profile pixel pcLine
On；
Described profile point demarcating steps include:
The wire-frame image vegetarian refreshments p specifying is determined on fish eye images border0Central point o with respect to fish eye images0First party parallactic angle；
The central point o of image after searching on the border of image and correct after calibrationcAzimuth be equal to first party parallactic angle point,
This is selected as specified wire-frame image vegetarian refreshments p0Correspondence profile pixel p in image after calibrationc；Or,
Determine correspondence profile pixel p on the border of image after correctingcCentral point o with respect to image after correctioncFirst orientation
Angle；
Central point o with fish eye images is searched on fish eye images border0Azimuth be equal to first party parallactic angle point, by this point
As correspondence profile pixel pcThe wire-frame image vegetarian refreshments p specifying in fish eye images0.
2. distortion correction method as claimed in claim 1 is it is characterised in that the described line pixel p specifyingi 0It is according to
Two predetermined interval are in fish eye images central point o0The wire-frame image vegetarian refreshments p specifying with it0The some pixels chosen on line.
3. distortion correction method as claimed in claim 2 is it is characterised in that line point demarcating steps include:
Calculate the wire-frame image vegetarian refreshments p specifying0To fish eye images central point o0First apart from d0；
Calculate this specified wire-frame image vegetarian refreshments p0Correspondence profile pixel pcThe central point o of image to after correctioncSecond distance dc；
Calculate line pixel pi 0To fish eye images central point o0The 3rd distance
Line pixel in distance according to correcting fisheye image front and rear profile pixel to image center and same line
Distance to image center etc. is than change and first apart from d0, second distance dc, the 3rd distanceCalculate the 4th distance
On the line that the central point of image determines after the correspondence profile pixel with this wire-frame image vegetarian refreshments and correction, determine away from school
After just, the central point of image is the point of the 4th distance, using this as the corresponding pixel in line pixel after calibration image
Point.
4. the distortion correction method as described in claim 1-3 any one is it is characterised in that being shaped as of described fish eye images
Circular；After described correction, image is rectangle.
5. a kind of fish eye images distortion correction device is it is characterised in that include:
Fish eye images acquisition module (1), for obtaining the fish eye images that fish-eye camera is shot with video-corder；
Central point demarcating module (2), for by the central point o of fish eye images0The central point o of image after being demarcated as correctingc；
Profile point demarcating module (3), for the wire-frame image vegetarian refreshments p that will specify on fish eye images border0It is demarcated as image side after correction
Correspondence profile pixel p in boundaryc；
Line point demarcating module (4), for by fish eye images central point o0The wire-frame image vegetarian refreshments p specifying with it0Specify on line
Line pixel pi 0Demarcate the central point o of the image to correctioncWith this specified wire-frame image vegetarian refreshments p0Correspondence profile pixel pc's
On line；
Described profile point demarcating module (3) includes:
First party parallactic angle computing unit (31), for determining the wire-frame image vegetarian refreshments p specifying on fish eye images border0With respect to flake
The central point o of image0First party parallactic angle；
Profile point searching unit (32), for the central point o of image after searching on the border of image after calibration and correctingcSide
Parallactic angle is equal to the point of first party parallactic angle, this is selected as specified wire-frame image vegetarian refreshments p0Correspondence profile pixel in image after calibration
Point pc；Or,
First party parallactic angle computing unit (31) is used for correspondence profile pixel p on the border of image after determination correctscWith respect to flake
The central point o of imagecFirst party parallactic angle；
Profile point searching unit (32) is used for searching the central point o with fish eye images on fish eye images border0Azimuth be equal to
The point of first party parallactic angle, using this point as correspondence profile pixel pcThe wire-frame image vegetarian refreshments p specifying in fish eye images0.
6. distortion correction device as claimed in claim 5 is it is characterised in that also include:
Other points demarcating module (5), for the position mark before and after being demarcated based on specified wire-frame image vegetarian refreshments and specified line pixel
Fixed other pixels position on image after calibration.
7. distortion correction device as claimed in claim 5 is it is characterised in that the described wire-frame image vegetarian refreshments p specifying0It is according to
Some pixels that one predetermined interval is chosen on fish eye images profile；Or,
Described correspondence profile pixel pcIt is according to some pixels chosen in the first predetermined interval after calibration image outline.
8. distortion correction device as claimed in claim 5 is it is characterised in that described line point demarcating module (4) includes:
First metrics calculation unit (41), for calculating the wire-frame image vegetarian refreshments p specifying0To fish eye images central point o0First away from
From d0；
Second distance computing unit (42), for calculating this specified wire-frame image vegetarian refreshments p0Correspondence profile pixel pcTo after correction
The central point o of imagecSecond distance dc；
3rd metrics calculation unit (43), for calculating line pixel pi 0To fish eye images central point o0The 3rd distance
4th metrics calculation unit (44), in image after the correspondence profile pixel with this wire-frame image vegetarian refreshments and correction
On the line that heart point determines, determine that the central point of image after correction is the point of the 4th distance, using this point as line pixel
Corresponding pixel in image after calibration.
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| WO2017092631A1 (en) * | 2015-11-30 | 2017-06-08 | 宁波舜宇光电信息有限公司 | Image distortion correction method for fisheye image, and calibration method for fisheye camera |
| US10373297B2 (en) * | 2016-10-26 | 2019-08-06 | Valve Corporation | Using pupil location to correct optical lens distortion |
| CN107749071B (en) * | 2017-09-12 | 2020-04-10 | 深圳市易成自动驾驶技术有限公司 | Large-distortion checkerboard image corner detection method and device |
| CN107948501A (en) * | 2017-10-30 | 2018-04-20 | 深圳市易成自动驾驶技术有限公司 | Automatic ring vision method, device and computer-readable recording medium |
| CN109842756A (en) * | 2017-11-28 | 2019-06-04 | 东莞市普灵思智能电子有限公司 | A kind of method and system of lens distortion correction and feature extraction |
| CN109948314A (en) * | 2017-12-20 | 2019-06-28 | 宁波盈芯信息科技有限公司 | A kind of the face 3D unlocking method and device of smart phone |
| CN111353945B (en) * | 2018-12-21 | 2023-10-20 | 杭州海康威视数字技术股份有限公司 | Fisheye image correction method, device and storage medium |
| CN109871841B (en) * | 2019-02-14 | 2023-04-21 | 腾讯科技（深圳）有限公司 | Image processing method, device, terminal and storage medium |
| CN110415196B (en) * | 2019-08-07 | 2023-12-29 | 上海视云网络科技有限公司 | Image correction method, device, electronic equipment and readable storage medium |
| CN110969696A (en) * | 2019-12-19 | 2020-04-07 | 中德人工智能研究院有限公司 | Method and system for three-dimensional modeling rapid space reconstruction |
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