CN104869384A - Electronic device and correction method thereof - Google Patents
Electronic device and correction method thereof Download PDFInfo
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- CN104869384A CN104869384A CN201410064704.5A CN201410064704A CN104869384A CN 104869384 A CN104869384 A CN 104869384A CN 201410064704 A CN201410064704 A CN 201410064704A CN 104869384 A CN104869384 A CN 104869384A
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Abstract
The present invention provides an electronic device and a correction method. The correction method is applicable to an electronic device with a left lens, a right lens and the storage of the corresponding relation of a first parallax and a distance. The method comprises a step of using the left lens and the right lens to obtain the image of an object so as to generate a group of object images, a step of judging whether the offset of at least one characteristic point of the group of object images exceeds a threshold value, a step of carrying out anti-distortion operation on the group of object images to generate a group of non-deformed object images when the offset of the characteristic point of the group of object images exceeds the threshold value, a step of calculating the parallax of the group of non-deformed object images, a step of obtaining the object distance between the electronic device and the object, and a step of obtaining the corresponding relation of a second parallax and the distance according to the above parallax and the object distance and correcting the corresponding relation of the first parallax and the distance.
Description
Technical field
The invention relates to a kind of electronic installation, and relate to a kind of electronic installation and bearing calibration thereof especially.
Background technology
Along with the development of science and technology, intelligent electronic device miscellaneous, such as plate computer, individual digital assistant and smart mobile phone etc., become the instrument that modern is indispensable.Wherein, the camera lens that the intelligent electronic device of high-order money carries is equally matched with traditional consumption type camera, even can replace, and minority high-order money also has the function close to the simple eye pixel of numeral and image quality or shooting 3-D view.
To carry the above-mentioned electronic installation of twin-lens, the distance between its twin-lens is set to approximate average distance between the mankind two, with the right and left eyes of this simulating human to take 3-D view.When mankind's eyes watch same object with small different angle, eyes can see small two different images, and the narrow difference that eyes are seen, be generally referred to as binocular disparity (binocular disparity) or retinaldisparity (retinal disparity).Brain can become have the single image of level and the depth of field the image co-registration of these two narrow difference, and then makes us class and produce three-dimensional third dimension.
But, it is general when user uses above-mentioned electronic installation practically, twin-lens often owing to accidentally dropping, clashing into, the external factor such as the change of temperature or humidity, and cause its optical axis to produce skew, and then make electronic installation when taking object, produce error because estimating object distance mistakenly when focusing.Time in the optical axis of twin-lens partially, the object distance that electronic installation is estimated can be less than true object distance; When the optical axis of twin-lens outer partially time, the object distance that electronic installation is estimated then can be larger than true object distance.
In view of this, how when user has the doubt of distortion for the twin-lens of electronic installation, the bearing calibration of above-mentioned electronic installation is provided, to guarantee the stabilizing quality of electronic installation, has become one of problem of desiring most ardently solution.
Summary of the invention
The invention provides a kind of electronic installation and bearing calibration thereof, it can allow user carry out simple and easy to electronic installation at any time and correct fast, to guarantee the steady shot quality of electronic installation.
The invention provides a kind of bearing calibration of electronic installation, be applicable to have left camera lens and right camera lens and the electronic installation of the corresponding relation of prestore the first parallax and distance, this bearing calibration comprises the following steps.First, left camera lens and right camera lens is utilized to obtain the image of object, to produce one group of subject image respectively.Then, detect and judge that whether the side-play amount of at least one characteristic point of this group subject image is more than a threshold value.When the side-play amount of the described characteristic point judging this group subject image exceedes threshold value: carry out anti-twist computing for this group subject image, to produce one group of undeformed subject image; Calculate the parallax of the undeformed subject image of this group; Obtain the object distance between electronic installation and object; And utilize above-mentioned parallax and above-mentioned object distance, obtain the corresponding relation of the second parallax and distance, correct the corresponding relation of the first parallax and distance according to this.
In one embodiment of this invention, the above-mentioned step obtaining object distance between electronic installation and object comprises: undeformed for this group subject image is presented at user interface, the scope of the image to be analyzed corresponding to object is chosen from the undeformed subject image of this group to provide user, and show inputting interface, with the actual size providing user to input object; The scope receiving image to be analyzed selected by user and the actual size of object inputted; And according to the visual angle of the actual size of object, electronic installation, the resolution of the undeformed subject image of this group and the scope of image to be analyzed, calculate the object distance between electronic installation and object.
In one embodiment of this invention, the above-mentioned step obtaining object distance between electronic installation and object comprises: display inputting interface, to provide the object distance between user's input electronic device and object; And the object distance that reception user inputs.
In one embodiment of this invention, the image utilizing left camera lens and right camera lens to obtain this object, before the step producing this group image respectively, above-mentioned bearing calibration also comprises the following steps.At the outer surface of electronic installation or the shell of electronic installation, pattern is set.The actual size of pattern and pattern is stored in this electronic installation.
In one embodiment of this invention, wherein above-mentioned object is the imaging of pattern at minute surface, and the above-mentioned actual size according to object, the step calculating the object distance between electronic installation and object comprises: detect the detected image corresponding to object in the undeformed subject image of this group; And according to the actual size of object, the visual angle of electronic installation, the resolution of the undeformed subject image of this group and detected image, calculate the object distance between electronic installation and object.
In one embodiment of this invention, above-mentioned according to parallax and object distance, the step obtaining the corresponding relation of the second parallax and distance comprises: with at least two different distance, utilizes left camera lens and right camera lens to obtain the image of object, to produce the new subject image of at least two groups; Anti-twist computing is carried out, to produce the new undeformed subject image of at least two groups for described group of new subject image; Calculate at least two new parallaxes of described group of new undeformed range images; Obtain the described distance between electronic installation and object; And according to object distance, described distance, parallax and described new parallax, obtain the corresponding relation of the second parallax and distance.
The present invention separately provides a kind of electronic installation, comprises image acquisition components, feature point detection assembly, deformation correction assembly, disparity computation assembly, distance assembly and distance parallax correction assembly.Image acquisition components comprises left camera lens and right camera lens, in order to obtain the image of object, to produce one group of subject image respectively.Feature point detection assembly is in order to detect and to judge that whether the side-play amount of at least one characteristic point of this group subject image is more than a threshold value.When this feature point detection assembly judges that this side-play amount of described characteristic point of this group subject image exceedes threshold value: deformation correction assembly in order to carry out anti-twist computing for this group subject image, to produce one group of undeformed subject image; Disparity computation assembly is in order to calculate the parallax of the undeformed subject image of this group; Distance assembly is in order to obtain the object distance between electronic installation and object; And distance parallax correction assembly is in order to according to parallax and object distance, obtains the corresponding relation of the second parallax and distance, corrects the corresponding relation of the first parallax and the distance prestored in an electronic according to this.
In one embodiment of this invention, above-mentioned electronic installation also comprises display module and input module.Display module is in order to show the undeformed subject image of this group at user interface.Input module in order to provide user to choose the scope of the image to be analyzed corresponding to object at user interface, and provides this user to input the actual size of this object.The distance assembly scope that also receives the image to be analyzed selected by user and the actual size of object inputted, and according to the visual angle of the actual size of object, electronic installation, the resolution of the undeformed subject image of this group and the scope of image to be analyzed, calculate the object distance between electronic installation and object.
In one embodiment of this invention, above-mentioned electronic installation also comprises input module, and in order to provide the object distance between user's input electronic device and object, its middle distance assembly also receives the object distance that user inputs.
In one embodiment of this invention, above-mentioned electronic installation also comprises the pattern and storage assembly that are arranged on the outer surface of electronic installation or the shell of electronic installation, and wherein storage assembly is in order to store the size of pattern and pattern.
In one embodiment of this invention, above-mentioned object is the imaging of pattern at minute surface, and above-mentioned electronic installation also comprises image detection component, in order to detect the detected image corresponding to object in the undeformed subject image of this group.And above-mentioned distance assembly is according to the actual size of object, the visual angle of electronic installation, the resolution of the undeformed subject image of this group and detected image, calculate the object distance between electronic installation and object.
In one embodiment of this invention, above-mentioned image acquisition components, with at least two different distance, utilizes left camera lens and right camera lens to obtain the image of object, to produce the new subject image of at least two groups.Above-mentioned deformation correction assembly carries out anti-twist computing, to produce the new undeformed subject image of at least two groups for described group of new subject image.At least two new parallaxes of new undeformed range images are organized described in above-mentioned disparity computation Assembly calculation.Above-mentioned distance assembly obtains the described distance between electronic installation and object.Above-mentioned distance parallax correction assembly, again according to object distance, described distance, parallax and described new parallax, obtains the corresponding relation of the second parallax and distance.
Based on above-mentioned, electronic installation provided by the present invention and bearing calibration thereof, when the image acquisition components of user to electronic installation has the doubt of distortion, can utilize image acquisition components first to obtain the image of object, to produce one group of subject image.When the side-play amount of the described characteristic point judging this group subject image exceedes threshold value, anti-twist computing is being carried out for this group subject image, and after producing one group of changing object image, can according to the parallax of the undeformed subject image of this group and the object distance between electronic installation and object, obtain the corresponding relation of the second parallax and distance, correct the corresponding relation of the first parallax and the distance prestored in an electronic according to this.Electronic installation provided by the present invention and bearing calibration thereof can allow user carry out simple and easy to electronic installation at any time and correct fast, to guarantee the steady shot quality of electronic installation.
For above-mentioned feature and advantage of the present invention can be become apparent, special embodiment below, and coordinate accompanying drawing to be described in detail below.
Accompanying drawing explanation
Fig. 1 is the calcspar of the electronic installation shown by one embodiment of the invention;
The bearing calibration flow chart of the electronic installation of Fig. 2 shown by one embodiment of the invention;
Fig. 3 is the bearing calibration flow chart of the electronic installation shown by another embodiment of the present invention;
Fig. 4 A is the correction situation schematic diagram of the electronic installation shown by one embodiment of the invention;
Fig. 4 B is the schematic diagram at electronic installation and user interface thereof;
Fig. 5 A is the schematic diagram utilizing single group of parallax and distance to correct the corresponding relation of the first parallax and distance;
Fig. 5 B is another schematic diagram utilizing single group of parallax and distance to correct the corresponding relation of the first parallax and distance;
Fig. 6 A is the schematic diagram utilizing four groups of parallaxes and distance to correct the corresponding relation of the first parallax and distance;
Fig. 6 B is another schematic diagram utilizing four groups of parallaxes and distance to correct the corresponding relation of the first parallax and distance;
Fig. 7 is the bearing calibration flow chart of the electronic installation shown by yet another embodiment of the invention;
Fig. 8 A is the another schematic diagram at electronic installation and user interface thereof;
Fig. 8 B is another schematic diagram at electronic installation and user interface thereof;
Fig. 9 is the bearing calibration flow chart of the electronic installation shown by further embodiment of this invention;
Figure 10 A is the electronic installation schematic diagram shown by one embodiment of the invention;
Figure 10 B is the correction situation schematic diagram of the electronic installation shown by another embodiment of the present invention.
Description of reference numerals:
100: electronic installation;
110: image acquisition components;
120: feature point detection assembly;
130: deformation correction assembly;
140: disparity computation assembly;
150: distance assembly;
160: distance parallax correction assembly;
S201 ~ S211, S301 ~ S317, S701 ~ S713, S901 ~ S917: step;
410: the person of being taken;
420: user interface;
424: spool;
424a, 424b: transfer point;
422: image;
422a: image to be analyzed;
426,826,829: inputting interface;
51,52,61,62: curve;
521,621 ~ 624: point;
827: upper key;
828: lower key;
1000: shell;
100 ', 1002 ': imaging;
1002: pattern;
M: minute surface.
Embodiment
Next section Example of the present invention will coordinate accompanying drawing to describe in detail, the component symbol that following description is quoted, when different accompanying drawing occurs that identical component symbol will be considered as same or analogous element.These embodiments are a part of the present invention, do not disclose all embodiments of the present invention.More precisely, these embodiments are the example of the apparatus and method in patent claim of the present invention.
Fig. 1 is the calcspar of the electronic installation shown by one embodiment of the invention, but this is only for convenience of description, not in order to limit the present invention.First Fig. 1 first introduces all components and the configuration relation of electronic installation, and cooperation Fig. 2 discloses by detailed functions in the lump.
Please refer to Fig. 1, electronic installation 100 comprises image acquisition components 110, feature point detection assembly 120, deformation correction assembly 130, disparity computation assembly 140, distance assembly 150 and distance parallax correction assembly 160.In the present embodiment, electronic installation 100 is such as digital camera, S.L.R, digital code camera or other have the device such as smart mobile phone, panel computer, personal digital assistant, panel computer etc., head-mounted display of image-acquisition functions, and the present invention is not as limit.
Image acquisition components 110 comprises left camera lens and right camera lens (not shown), and it includes photo-sensitive cell, in order to sense the light intensity entering left camera lens and right camera lens respectively, and then produces left eye subject image and right eye subject image respectively.Described photo-sensitive cell is such as charge coupled cell (Charge CoupledDevice, CCD), complementary metal oxide semiconductors (CMOS) (Complementary Metal-OxideSemiconductor be called for short:, be called for short: CMOS) element or other elements, the present invention does not limit at this.
Feature point detection assembly 120, deformation correction assembly 130, disparity computation assembly 140, distance assembly 150 and distance parallax correction assembly 160 can be realized by software, hardware or its combination, are not limited at this.Software is such as source code, operating system, application software or driver etc.Hardware is such as CPU (Central Processing Unit, be called for short: CPU), or the microprocessor (Microprocessor) of other programmable general services or special purpose, digital signal processor (DigitalSignal Processor, be called for short: DSP), Programmable Logic Controller, Application Specific Integrated Circuit (ApplicationSpecific Integrated Circuits, be called for short: ASIC), programmable logic device (ProgrammableLogic Device, PLD) or the combination of other similar devices or these devices be called for short:.
The bearing calibration flow chart of the electronic installation of Fig. 2 shown by one embodiment of the invention, and the bearing calibration of the electronic installation of Fig. 2 can each element of electronic installation 100 of Fig. 1 realize.
Referring to Fig. 1 and Fig. 2, the method for the present embodiment is suitable for, when the image acquisition components 110 of user to electronic installation 100 has the doubt of distortion, providing the operation sequence that user corrects electronic installation 100.First, image acquisition components 110 utilizes left camera lens and right camera lens to obtain the image of object, to produce one group of subject image (step S201) respectively.Wherein, left camera lens and right camera lens are such as adopt identical parameter photographic images, and described parameter comprises focal length, aperture, shutter and white balance etc., and the present embodiment is not limited.Obtain the image of this object at image acquisition components 110 after, can produce the left eye subject image corresponding respectively to left camera lens and the right eye subject image corresponding to right camera lens, wherein left eye subject image and right eye subject image are this group subject image.
Then, feature point detection assembly 120 detects and judges whether the side-play amount of at least one characteristic point of this group subject image exceedes threshold value (step S203).In detail, after feature point detection assembly 120 can detect the described characteristic point of this group subject image according to the calculation method of existing feature point detection (feature detection algorithm), judge whether the side-play amount (offset) of the left eye subject image of described characteristic point respectively in this group subject image and right eye subject image exceedes above-mentioned threshold value, whether the left camera lens of detected image securing component 110 and right camera lens are out of shape according to this.In the present embodiment, after feature point detection assembly 120 detects described characteristic point, can judge whether described characteristic point exceedes above-mentioned threshold value in the vertical offset (namely, the gap of distance axis coordinate) of left eye subject image and right eye subject image respectively.
When feature point detection assembly 120 judges that the side-play amount of the described characteristic point of this group subject image does not exceed above-mentioned threshold value, the left camera lens of representative image securing component 110 and right camera lens there is no and produces distortion, and electronic installation 100 will terminate the flow process of bearing calibration.
Otherwise, when feature point detection assembly 120 judges that the side-play amount of the described characteristic point of this group subject image exceedes above-mentioned threshold value, left camera lens and the right camera lens of representative image securing component 110 produce distortion, then deformation correction assembly 120 will carry out anti-twist computing for this group subject image, to produce one group of undeformed subject image (step S205).In detail, deformation correction assembly 130 first according to multiple deformation parameters of image acquisition unit 110, carries out anti-twist computing (undistortion) for this group subject image, to produce the undeformed subject image of this group.Deformation parameter in the present embodiment can be inner parameter (intrinsic parameters) and camera lens torsional deformation coefficient (distortion coefficients), wherein inner parameter is the relation that camera coordinates (camera coordinates) projects image coordinate (image coordinates), namely utilizes pin hole (pinhole) image-forming principle camera coordinates to be projected to imaging plane (projective plane); Camera lens torsional deformation coefficient is then for describing the tubbiness (barrel) or needle-like (pincushion) distortion that camera lens causes.In other words, deformation correction assembly 130 is after utilizing deformation parameter that this group subject image is carried out anti-twist computing, and the undeformed subject image of this group produced is revise back the Mathematical Modeling that approximate pin hole (pinhole) projects.
It should be noted that, in another embodiment, deformation correction assembly 130 also first can carry out anti-twist computing for this group subject image, after producing the undeformed subject image of this group, feature point detection assembly 120 detects and judges whether the side-play amount of the characteristic point of the undeformed subject image of this group exceedes threshold value, and the present invention does not limit at this.
Then, disparity computation assembly 140 will calculate the parallax (step S207) of the undeformed subject image of this group.Wherein, the undeformed subject image of this group comprises the undeformed subject image of left eye and the undeformed subject image of right eye.Disparity computation assembly 140 can utilize the horizontal offset (namely, the gap of axis of parallax coordinate) between the above-mentioned characteristic point calculating undeformed subject image of left eye and the undeformed subject image of right eye.
Afterwards, apart from the object distance (step S209) that assembly 150 will obtain between electronic installation 100 and object.At this, the mode that distance assembly 150 obtains object distance can be receive user to input real object distance, or analyzes the undeformed subject image of this group to calculate object distance, and the present invention does not limit at this.Detailed step will be described in subsequent paragraph.
It is worth mentioning that, the closer to the object of electronic installation 100, its parallax between the undeformed subject image of left eye and the undeformed subject image of right eye can be larger; More away from the object of electronic installation 100, its parallax between the undeformed subject image of left eye and the undeformed subject image of right eye can be less, and therefore, parallax and object distance also exist a corresponding relation, are defined herein as " corresponding relation of the first parallax and distance ".The corresponding relation of the first parallax and distance can a look-up table (look-up table, be called for short: form LUT) is pre-stored in the storage element (not shown) of electronic installation 100, wherein the input index of look-up table is parallax, and the distance of the output of look-up table corresponding to this parallax, this distance is object distance.When electronic installation 100 is for taking an object, namely it is the process of carrying out according to this object distance focusing.But, when left camera lens and right camera lens produce distortion, the corresponding relation being then pre-stored in the first parallax in electronic installation 100 and distance is unreliable, therefore according to the parallax acquired by step S207 and step S209 and distance, must correct the corresponding relation of the first parallax and distance.
In other words, distance parallax correction assembly 160 according to above-mentioned object distance and above-mentioned parallax, will obtain the corresponding relation of the second parallax and distance, correct the corresponding relation (step S211) of the first parallax and distance according to this, to complete correcting process.At this, distance parallax correction assembly 160 can utilize single group of parallax and distance to correct the corresponding relation of the first parallax and distance.In another embodiment, at least three group parallaxes and distance can be utilized to obtain the corresponding relation of more accurate second parallax and distance, and the present invention does not limit at this.Detailed step embodiment of arranging in pairs or groups in subsequent paragraph is described.
Fig. 3 is the bearing calibration flow chart of the electronic installation shown by another embodiment of the present invention.Fig. 4 A is the correction situation schematic diagram of the electronic installation shown by one embodiment of the invention.Fig. 4 B is the schematic diagram at electronic installation and user interface thereof.
Referring to Fig. 1, Fig. 3, Fig. 4 A and Fig. 4 B, when the image acquisition components 110 of user to electronic installation 100 has the doubt of distortion, the image acquisition components 110 of electronic installation 100 will utilize the image of left camera lens and right camera lens acquisition object, to produce one group of subject image (step S301) respectively.In the present embodiment, the person of being taken 410 shown by Fig. 4 A is the object be taken.
Then, feature point detection assembly 120 detects and judges that whether the side-play amount of at least one characteristic point of this group subject image is more than a threshold value (step S303).When feature point detection assembly 120 judges that the side-play amount of the described characteristic point of this group subject image does not exceed above-mentioned threshold value, electronic installation 100 will terminate the flow process of bearing calibration; Otherwise then deformation correction assembly 120 will carry out anti-twist computing for this group subject image, to produce one group of undeformed subject image (step S305), and disparity computation assembly 140 will calculate the parallax (step S307) of the undeformed subject image of this group.Step S303, step S305 and step S307 respectively with reference to the related description of step S203, step S205 and step S207, can not repeat them here.
Then, apart from the object distance that assembly 150 will obtain between electronic installation 100 and the person of being taken 410.In the present embodiment, distance assembly 150 obtains object distance by the mode of analysis image.In detail, electronic installation 100 also comprises display module (not shown) and input module (not shown).Deformation correction assembly 120 is in the generation undeformed subject image of this group and after calculating its parallax, undeformed for this group subject image can be presented at user interface (step S309) by display module, and the scope that input module will provide the user of electronic installation 100 to choose the image to be analyzed corresponding to object, and the actual size (step S311) providing user to input object.
For example, Fig. 4 B is the schematic diagram at electronic installation 100 and user interface 420 thereof.Image 422 is the undeformed subject image that deformation correction assembly 120 produces.In the present embodiment, display module such as can show spool 424, and it comprises two transfer point 424a and 424b, and the scope in order to provide the user of electronic installation 100 to choose image to be analyzed 422a.The height of the person of being taken in image 422 is in the length of this image to be analyzed 422a.In addition, display module, by display inputting interface 426, provides user to input the actual height of the person of being taken, the actual size of namely above-mentioned object to allow input module.
Then, the actual size (step S313) of the object that the scope of the image to be analyzed received selected by user and user input by distance assembly 150, and according to the actual size of the visual angle of electronic installation, object, the resolution of the undeformed subject image of this group and the scope of image to be analyzed, calculate the object distance (step S315) between electronic installation 100 and object.In detail, theoretically, when the visual angle of electronic installation 100 is known, between object distance (object distance), image distance (image distance), object height (object height) and image height (object image height), there is certain proportionate relationship.Distance assembly 150 first can calculate image height according to the selection range height of image to be analyzed and the resolution (being the resolution of image to be analyzed) of the undeformed subject image of this group, then utilize left camera lens and right camera lens to obtain the image distance of image and the actual size of object of object according to image height, image acquisition components 110, calculate object distance.With the embodiment of Fig. 4 A and Fig. 4 B, distance assembly 150 can first utilize left camera lens and right camera lens to obtain the image distance of image 422 and the actual height of the person of being taken 410 according to the selection range height of image to be analyzed 422a, image acquisition components 110 and obtain distance between electronic installation 100 and the person of being taken 410.
After the step s 315, distance parallax correction assembly 160 according to above-mentioned parallax and above-mentioned object distance, will obtain the corresponding relation of the second parallax and distance, correct the corresponding relation (step S317) of the first parallax and distance according to this.In the present embodiment, distance parallax correction assembly 160 can utilize single group of parallax and distance to correct the corresponding relation of the first parallax and distance.
For example, Fig. 5 A is the schematic diagram utilizing single group of parallax and distance to correct the corresponding relation of the first parallax and distance.Fig. 5 B is another schematic diagram utilizing single group of parallax and distance to correct the corresponding relation of the first parallax and distance.Please also refer to Fig. 1 and Fig. 5 A, the corresponding relation that curve 51 is the first parallax and distance that are pre-stored in electronic installation 100; Point 521 is above-mentioned parallax and the corresponding points of object distance.In the present embodiment, if when image acquisition components 110 produces distortion, the distance object distance that calculates of assembly 150 and disparity computation assembly 140 calculate described group of undeformed subject image parallax will not meet the corresponding relation of the first parallax and distance.In the present embodiment, distance parallax correction assembly 160 can be such as shown in Fig. 5 B, by curve 51 toward the translation of distance axis positive direction, curve 51 is up moved to overlapping with putting 521, and the position that curve 51 finally moves to is curve 52 whereabouts, wherein curve 52 is the corresponding relation of the second parallax and distance.The corresponding relation of the second parallax and distance can be replaced the corresponding relation of prestore the first parallax in an electronic and distance by distance parallax correction assembly 160, to complete correction program.In one embodiment, distance parallax correction assembly 160 can carry out according to curve 52 look-up table that construction corresponds to the corresponding relation of the second parallax and distance, can obtain correct parallax and the corresponding relation of distance to make electronic installation 100 in follow-up use.
In another embodiment, distance parallax correction assembly 160 can utilize many group parallaxes and distance to correct the corresponding relation of the first parallax and distance, to make correction program more accurate.In detail, the image acquisition components 110 of electronic installation 100 can at least three different distance, recycle the image that left camera lens and right camera lens obtain object again, to produce at least one group of new subject image.Deformation correction assembly 130 carries out anti-twist computing for the subject image that this group is new again, to produce the new undeformed subject image of at least three groups.Disparity computation assembly 140 will calculate the parallax of described group of new undeformed subject image respectively, and obtains the distance of electronic installation 100 and object.With another viewpoint, electronic installation 100 can after the bearing calibration flow process of Fig. 2 or Fig. 3 obtains one group of object distance and parallax, again with at least two different distance repeated execution of steps S201, S205 ~ S209 or step S301, S305 ~ S315, obtain the different new distance (object distance) of at least two groups and parallax in addition.The detail that distance parallax correction assembly 160 obtains many group parallaxes and distance please refer to aforementioned relevant paragraph, does not repeat them here.Finally, distance parallax correction assembly 160, again according to the one group of object distance originally obtained and parallax, together with at least two group distance and the parallaxes newly obtained, corrects the corresponding relation of the first distance and parallax.
For example, Fig. 6 A is the schematic diagram utilizing four groups of parallaxes and distance to correct the corresponding relation of the first parallax and distance.Fig. 6 B is another schematic diagram utilizing four groups of parallaxes and distance to correct the corresponding relation of the first parallax and distance.
Please refer to Fig. 1 and Fig. 6 A, in the present embodiment, distance parallax correction assembly 160 can utilize four groups of parallaxes and distance to correct the corresponding relation of the first parallax and distance.Curve 61 is for being pre-stored in the corresponding relation of the first parallax in electronic installation 100 and distance; Point 621 ~ 624 is four groups of parallaxes and object distance.If image acquisition components 110 produces distortion, point 621 ~ 624 will not meet the corresponding relation of the first parallax and distance.In the present embodiment, distance parallax correction assembly 160 utilisation point 621 ~ 624 carries out curve fitting (curving fitting), to calculate the relation curve of the corresponding relation meeting the second parallax and distance most, as the curve 62 in Fig. 6 B.The corresponding relation of the second parallax and distance can be replaced the corresponding relation of prestore the first parallax in an electronic and distance by distance parallax correction assembly 160, to complete correction program.In one embodiment, distance parallax correction assembly 160 can carry out according to curve 62 look-up table that construction corresponds to the corresponding relation of the second parallax and distance, can obtain correct parallax and the corresponding relation of distance to make electronic installation 100 in follow-up use.
Fig. 7 is the bearing calibration flow chart of the electronic installation shown by yet another embodiment of the invention.Fig. 8 A is the another schematic diagram at electronic installation 100 and user interface 420 thereof.Fig. 8 B is another schematic diagram at electronic installation 100 and user interface 420 thereof.In the present embodiment, the user of electronic installation 100 be object distance between electronic installation and object known correct.
Please also refer to Fig. 7, be similar to the step S301 ~ S307 of Fig. 3, the image acquisition components 110 of electronic installation 100 will utilize the image of left camera lens and right camera lens acquisition object, to produce one group of subject image (step S701) respectively, feature point detection assembly 120 detects and judges that whether the side-play amount of at least one characteristic point of this group subject image is more than a threshold value (step S703).When feature point detection assembly 120 judges that the side-play amount of the described characteristic point of this group subject image does not exceed above-mentioned threshold value, electronic installation 100 will terminate the flow process of bearing calibration; Otherwise then deformation correction assembly 120 will carry out anti-twist computing for this group subject image, to produce one group of undeformed subject image (step S705), and disparity computation assembly 140 will calculate the parallax (step S707) of the undeformed subject image of this group.Step S701 ~ S707 please refer to the explanation of relevant paragraph, does not repeat them here.
In the present embodiment, the display module of electronic installation 100 will show user interface, to provide the object distance between user's input electronic device and object (step S709).For example, Fig. 8 A is the another schematic diagram at electronic installation and user interface thereof.The present embodiment is described using the shooting situation of Fig. 4 A.After deformation correction assembly 130 produces the undeformed subject image 422 of this group, display module optionally shows the undeformed subject image 422 of this group.Then, display module can show inputting interface 826, provides user to input known object distance to allow input module.
Fig. 8 B is another schematic diagram at electronic installation and user interface thereof.In this example, after disparity computation assembly 140 calculates the parallax of the undeformed subject image of this group, distance parallax correction assembly 160 first can utilize the corresponding relation of the first parallax and distance, obtain the distance (being defined herein as " display object distance ") corresponding to above-mentioned parallax, and display object distance is presented at inputting interface 829 by display module.In addition, it is such as upper key 827 and lower key 828 that input module will provide, and adjusts the display object distance of inputting interface 829 for user according to known object distance.
Then, the object distance (step S711) that reception user inputs by input module, and distance parallax correction assembly 160 according to above-mentioned parallax and above-mentioned object distance, will obtain the corresponding relation of the second parallax and distance, correct the corresponding relation (step S713) of the first parallax and distance according to this.Similarly, distance parallax correction assembly 160 can utilize single group or many group parallaxes and object distance to correct the corresponding relation of the first parallax and distance.
Fig. 9 is the bearing calibration flow chart of the electronic installation shown by further embodiment of this invention.This flow process the user of electronic devices 100 can cannot learn the another kind of correcting mode of actual size of other subject.
Please refer to Fig. 9, first, by the outer surface of a pattern setting at electronic installation 100 or the shell (step S901) of electronic installation 100, and above-mentioned pattern and size thereof are stored in (step S903) in electronic installation 100.Figure 10 A is electronic installation 100 schematic diagram shown by one embodiment of the invention, and for electronic installation 100 schematic diagram of Figure 10 A, shell 1000 can be enclosed within the outer surface of electronic installation 100 by the user of electronic installation 100, and its housing 1000 comprises pattern 1002.In another embodiment, user figuratum for tool paster can be attached to the outer surface of electronic installation 100 or electronic installation 100 is before dispatching from the factory, and directly pattern is imprinted on the outer surface of electronic installation 100, the present invention does not limit at this.In addition, electronic installation 100 can by the size of recording figure forming 1002 and pattern 1002 in storage element.At this, the size of pattern 1002 can be pre-stored in storage element before electronic installation 100 dispatches from the factory, or is inputted voluntarily by user.
The present embodiment mainly utilizes the pattern on electronic installation 100 in the imaging of minute surface, and the mode of collocation image identification, carries out correcting process.In detail, the image that image acquiring device 110 will utilize left camera lens and right camera lens to obtain object, to produce one group of subject image respectively, wherein above-mentioned object is the imaging (step S905) of pattern at minute surface.Figure 10 B is the correction situation schematic diagram of the electronic installation shown by another embodiment of the present invention, for the correction situation schematic diagram of Figure 10 B, the user of electronic installation 100 can take pictures in the imaging 100 ' of minute surface facing to electronic installation 100 before minute surface M, and wherein imaging 100 ' comprises the imaging 1002 ' corresponding to pattern 1002.
Be similar to the step S303 ~ S307 of Fig. 3, feature point detection assembly 120 detects and judges that whether the side-play amount of at least one characteristic point of this group subject image is more than a threshold value (step S907).When feature point detection assembly 120 judges that the side-play amount of the described characteristic point of this group subject image does not exceed above-mentioned threshold value, electronic installation 100 will terminate the flow process of bearing calibration; Otherwise then deformation correction assembly 120 will carry out anti-twist computing for this group subject image, to produce one group of undeformed subject image (step S909), and disparity computation assembly 140 will calculate the parallax (step S9011) of the undeformed subject image of this group.Step S903 ~ S907 please refer to the explanation of relevant paragraph, does not repeat them here.
In the present embodiment, electronic installation 100 also comprises image detection component (not shown).In step S913, image detection component corresponds to the detected image of object in the undeformed subject image of this group by detecting.In detail, the pattern that image detection component can prestore in step S903 according to storage element, utilize the calculation method of existing figure identification (pattern recognition), in the undeformed subject image of this group, be detected as the image of picture 1002 ', and then obtain the size of detected image.
Then, distance assembly 150, by the resolution of the visual angle according to object actual size, electronic installation 100, the undeformed subject image of this group and detected image, calculates the object distance (step S915) between electronic installation 100 and object.In the present embodiment, the object distance between electronic installation 100 and object is the distance between the imaging 100 ' of electronic installation 100 and electronic installation 100, namely the distance twice of electronic installation 100 and minute surface M.In addition, object actual size is the size of the pattern prestored in step S903.
Similarly, distance parallax correction assembly 160 according to above-mentioned parallax and above-mentioned object distance, will obtain the corresponding relation of the second parallax and distance, correct the corresponding relation (step S917) of the first parallax and distance according to this.Distance parallax correction assembly 160 can utilize single group or many group parallaxes and object distance to correct the corresponding relation of the first parallax and distance equally.
Additionally, the correcting process of Fig. 9 is not limited to the pattern utilizing electronic installation 100.In other embodiments, electronic installation 100 also can utilize the image of electronic installation 100 itself and actual size to perform correcting process.
In addition, in one embodiment, the first distance and the corresponding relation of parallax can utilize two kinds of different modes to correct.First distance is with the corresponding relation of parallax, and for more than 1 meter distance, user can adopt Fig. 3 and Fig. 7 to wait and utilize larger subject execution correcting process; And for the distance of less than 1 meter, it is such as that Fig. 9 etc. utilizes less subject in the imaging of minute surface to perform correcting process that user can adopt, make whole correction result more accurate.
In sum, electronic installation proposed by the invention and bearing calibration thereof, when the image acquisition components of user to electronic installation has the doubt of distortion, can utilize image acquisition components first to obtain the image of object, to produce one group of subject image.When feature point detection assembly judges that the side-play amount of the described characteristic point of this group subject image exceedes threshold value, anti-twist computing is carried out for this group subject image, and after producing one group of changing object image, can according to the parallax of the undeformed subject image of this group and the object distance between electronic installation and object, obtain the corresponding relation of the second parallax and distance, correct the corresponding relation of the first parallax and the distance prestored in an electronic according to this.Electronic installation provided by the present invention and bearing calibration thereof can allow user carry out simple and easy to electronic installation at any time and correct fast, to guarantee the steady shot quality of electronic installation.
Last it is noted that above each embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to foregoing embodiments to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein some or all of technical characteristic; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.
Claims (12)
1. a bearing calibration for electronic installation, is characterized in that, be applicable to have left camera lens and right camera lens and the electronic installation of the corresponding relation of prestore the first parallax and distance, this bearing calibration comprises:
This left camera lens and this right camera lens is utilized to obtain the image of object, to produce one group of subject image respectively;
Detect and judge whether the side-play amount of at least one characteristic point of this group subject image exceedes threshold value; And
When this side-play amount of the described characteristic point judging this group subject image exceedes this threshold value:
Anti-twist computing is carried out, to produce one group of undeformed subject image for this group subject image;
Calculate the parallax of the undeformed subject image of this group;
Obtain the object distance between this electronic installation and this object; And
Utilize this parallax and this object distance, obtain the corresponding relation of the second parallax and distance, correct the corresponding relation of this first parallax and distance according to this.
2. bearing calibration according to claim 1, is characterized in that, the step obtaining this object distance between this electronic installation and this object comprises:
Show the undeformed subject image of this group at user interface, to provide user to choose the scope of the image to be analyzed corresponding to this object from the undeformed subject image of this group, and show inputting interface, with the actual size providing this user to input this object;
The scope receiving this image to be analyzed selected by this user and the actual size of this object inputted; And
According to the visual angle of the actual size of this object, this electronic installation, the resolution of the undeformed subject image of this group and the scope of this image to be analyzed, calculate this object distance between this electronic installation and this object.
3. bearing calibration according to claim 1, is characterized in that, the step obtaining this object distance between this electronic installation and this object comprises:
Display inputting interface, inputs this object distance between this electronic installation and this object to provide user; And
Receive this object distance that this user inputs.
4. bearing calibration according to claim 1, is characterized in that, the image utilizing this left camera lens and this right camera lens to obtain this object, and before the step producing this group image respectively, this bearing calibration also comprises:
The outer surface of pattern at this electronic installation or the shell of this electronic installation are set; And
Store the actual size of this pattern and this pattern in this electronic installation.
5. bearing calibration according to claim 4, is characterized in that, this object is the imaging of this pattern at minute surface, and according to the actual size of this object, the step calculating this object distance between this electronic installation and this object comprises:
Detect the detected image corresponding to this object in the undeformed subject image of this group; And
According to the actual size of this object, the visual angle of this electronic installation, the resolution of the undeformed subject image of this group and this detected image, calculate this object distance between this electronic installation and this object.
6. bearing calibration according to claim 1, is characterized in that, according to this parallax and this object distance, the step obtaining the corresponding relation of this second parallax and distance comprises:
With at least two different distance, this left camera lens and this right camera lens is utilized to obtain the image of this object, to produce the new subject image of at least two groups;
Anti-twist computing is carried out, to produce the new undeformed subject image of at least two groups for described group of new subject image;
Calculate at least two new parallaxes of described group of new undeformed range images;
Obtain the described distance between this electronic installation and this object; And
According to this object distance, described distance, this parallax and described new parallax, obtain the corresponding relation of this second parallax and distance.
7. an electronic installation, is characterized in that, comprising:
Image acquisition components, comprises left camera lens and right camera lens, obtains the image of object, to produce one group of subject image respectively;
Feature point detection assembly, detects and judges whether the side-play amount of at least one characteristic point of this group subject image exceedes threshold value;
Deformation correction assembly, wherein when this feature point detection assembly judges that this side-play amount of the described characteristic point of this group subject image exceedes this threshold value, this deformation correction assembly carries out anti-twist computing for this group subject image, to produce one group of undeformed subject image;
Disparity computation assembly, calculates the parallax of the undeformed subject image of this group;
Distance assembly, obtains the object distance between this electronic installation and this object; And
Distance parallax correction assembly, according to this parallax and this object distance, obtains the corresponding relation of the second parallax and distance, corrects the corresponding relation of the first parallax and the distance prestored according to this.
8. electronic installation according to claim 7, is characterized in that, also comprises:
Display module, shows the undeformed subject image of this group and inputting interface at user interface;
Input module, provides user to choose the scope of the image to be analyzed corresponding to this object at this user interface, and provides this user to input the actual size of this object at this inputting interface, wherein
The scope that this distance assembly also receives this image to be analyzed selected by this user and the actual size of this object inputted, and according to the visual angle of the actual size of this object, this electronic installation, the resolution of the undeformed subject image of this group and the scope of this image to be analyzed, calculate this object distance between this electronic installation and this object.
9. electronic installation according to claim 7, is characterized in that, also comprises:
Display module, display inputting interface; And
Input module, provide user to input this object distance between this electronic installation and this object at this inputting interface, wherein this distance assembly also receives this object distance that this user inputs.
10. electronic installation according to claim 7, is characterized in that, also comprises:
Pattern, is arranged on the outer surface of this electronic installation or the shell of this electronic installation; And
Storage assembly, stores the size of this pattern and this pattern.
11. electronic installations according to claim 10, is characterized in that, this object is the imaging of this pattern at minute surface, and this electronic installation also comprises:
Image detection component, detect the detected image corresponding to this object in the undeformed subject image of this group, wherein, this distance assembly, according to the actual size of this object, the visual angle of this electronic installation, the resolution of the undeformed subject image of this group and this detected image, calculates this object distance between this electronic installation and this object.
12. electronic installations according to claim 7, is characterized in that:
This image acquisition components, with at least two different distance, utilizes this left camera lens and this right camera lens to obtain the image of this object, to produce the new subject image of at least two groups,
This deformation correction assembly carries out anti-twist computing for described group of new subject image, to produce the new undeformed subject image of at least two groups,
At least two new parallaxes of new undeformed range images are organized described in this disparity computation Assembly calculation,
This distance assembly obtains the described distance between this electronic installation and this object, and
This distance parallax correction assembly, according to this object distance, described distance, this parallax and described new parallax, obtains the corresponding relation of this second parallax and distance.
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