CN106131408A - A kind of image processing method and terminal - Google Patents
A kind of image processing method and terminal Download PDFInfo
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- CN106131408A CN106131408A CN201610544000.7A CN201610544000A CN106131408A CN 106131408 A CN106131408 A CN 106131408A CN 201610544000 A CN201610544000 A CN 201610544000A CN 106131408 A CN106131408 A CN 106131408A
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- Prior art keywords
- focal length
- length value
- calibrating parameters
- preset calibrations
- data base
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
Abstract
The embodiment of the invention discloses a kind of image processing method and terminal, wherein, described method includes: obtain the first focal length value of the zoom camera of user setup；The calibrating parameters mated with described first focal length value is obtained from data base；Wherein, described calibrating parameters is to demarcate in advance, measure and obtain and be stored in described data base；Image procossing is carried out according to described calibrating parameters.Embodiment of the present invention terminal obtains matched calibrating parameters to different focal length values, it is possible to effectively reduce the error caused because of focal length value change.
Description
Technical field
The present invention relates to electronic technology field, particularly relate to a kind of image processing method and terminal.
Background technology
Binocular vision photogrammetry, as a kind of real-time, non-contact measurement method that certainty of measurement is high, is widely used in
Photographic head vision measurement system.When utilizing two CCD camera measure system to measure photographic head parameter, once after system calibrating,
System is necessary for holding and is relatively fixed, and the parameter of system all can not change.
But, the focal length of zoom camera can change because measuring the object of different distance, can cause camera simultaneously
The change of other parameters.At this moment, use the calibrating parameters of the two CCD camera measure system demarcated that the photograph of current shooting is carried out
During the image procossing such as rectification, the parameter of change will cause bigger measurement error.
Summary of the invention
The embodiment of the present invention provides a kind of image processing method and terminal, it is possible to effectively reduces and causes because of focal length value change
Error, improve zoom lens measuring accuracy in two CCD camera measure system.
First aspect, embodiments provides a kind of image processing method, and the method includes:
Obtain the first focal length value of the zoom camera of user setup；
The calibrating parameters mated with described first focal length value is obtained from data base；Wherein, described calibrating parameters is in advance
Demarcate, measurement obtains and is stored in described data base；
Image procossing is carried out according to described calibrating parameters.
On the other hand, embodiments providing a kind of terminal, this terminal includes:
Acquiring unit, for obtaining the first focal length value of the zoom camera of user setup；
Matching unit, for obtaining the calibrating parameters mated with described first focal length value from data base；Wherein, described mark
Determining parameter is to demarcate in advance, measure and obtain and be stored in described data base；
Computing unit, for carrying out image procossing according to described calibrating parameters.
Such scheme, terminal obtains first focal length value of zoom camera of user setup, obtains and the from data base
The calibrating parameters of one focal length value coupling, carries out image procossing according to calibrating parameters.Due to terminal different focal length value obtained with
The calibrating parameters of its coupling, it is possible to effectively reduce the error caused because of focal length value change, improve zoom lens in binocular vision
Measuring accuracy in measurement system.
Accompanying drawing explanation
In order to be illustrated more clearly that embodiment of the present invention technical scheme, required use in embodiment being described below
Accompanying drawing is briefly described, it should be apparent that, the accompanying drawing in describing below is some embodiments of the present invention, general for this area
From the point of view of logical technical staff, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the schematic flow diagram of a kind of image processing method that the embodiment of the present invention provides；
Fig. 2 is the schematic flow diagram of a kind of image processing method that another embodiment of the present invention provides；
Fig. 3 is the shooting distance schematic diagram between zoom camera of the present invention and scaling board；
Fig. 4 is the schematic block diagram of a kind of terminal that the embodiment of the present invention provides；
Fig. 5 is a kind of terminal schematic block diagram that another embodiment of the present invention provides.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is a part of embodiment of the present invention rather than whole embodiments wholely.Based on this
Embodiment in bright, the every other enforcement that those of ordinary skill in the art are obtained under not making creative work premise
Example, broadly falls into the scope of protection of the invention.
Should be appreciated that when using in this specification and in the appended claims, term " includes " and " comprising " instruction
Described feature, entirety, step, operation, element and/or the existence of assembly, but it is not precluded from one or more further feature, whole
Body, step, operation, element, assembly and/or the existence of its set or interpolation.
It is also understood that the term used in this description of the invention is merely for the sake of the mesh describing specific embodiment
And be not intended to limit the present invention.As used in description of the invention and appended claims, unless on
Hereafter clearly indicating other situation, otherwise " ", " " and " being somebody's turn to do " of singulative is intended to include plural form.
It will be further appreciated that, the term "and/or" used in description of the invention and appended claims is
Refer to the one or more any combination being associated in the item listed and likely combine, and including that these combine.
As used in this specification and in the appended claims, term " if " can be according to context quilt
Be construed to " when ... " or " once " or " in response to determining " or " in response to detecting ".Similarly, phrase " if it is determined that " or
" if be detected that [described condition or event] " can be interpreted to mean according to context " once it is determined that " or " in response to really
Fixed " or " [described condition or event] once being detected " or " in response to [described condition or event] being detected ".
In implementing, the terminal described in the embodiment of the present invention includes but not limited to such as have touch sensitive surface
Mobile phone, laptop computer or the tablet PC of (such as, touch-screen display and/or touch pad) etc other just
Portable device.It is to be further understood that in certain embodiments, described equipment not portable communication device, but have tactile
Touch the desk computer of sensing surface (such as, touch-screen display and/or touch pad).
In discussion below, describe the terminal including display and touch sensitive surface.It is, however, to be understood that
It is that terminal can include such as physical keyboard, mouse and/or control other physical user-interface device one or more of bar.
Terminal supports various application programs, such as following in one or more: drawing application program, demonstration application journey
Sequence, word-processing application, website create application program, dish imprinting application program, spreadsheet applications, game application
Program, telephony application, videoconference application, email application, instant messaging applications, exercise
Support the application of application program, photo management application program, digital camera application program, digital camera application program, web-browsing
Program, digital music player application and/or video frequency player application program.
The various application programs that can perform in terminal can use at least one of such as touch sensitive surface public
Physical user-interface device.Among applications and/or can adjust in corresponding application programs and/or change and touch sensitive table
The corresponding information of display in one or more functions in face and terminal.So, the public physical structure of terminal (such as, touches
Sensing surface) the various application programs with the most directly perceived and transparent user interface can be supported.
Refer to the schematic flow diagram that Fig. 1, Fig. 1 are a kind of image processing methods that the embodiment of the present invention provides.This enforcement
In example, the executive agent of image processing method is the terminal with zoom camera.Terminal can be camera, it is also possible to for mobile phone,
The mobile terminals such as panel computer.Image processing method can comprise the following steps that as shown in Figure 1
S101: obtain the first focal length value of the zoom camera of user setup.
User, when using the equipment with zoom camera to carry out shooting preview, promotes zoom camera to arrange current
Focal length value.
Terminal obtains the first focal length value of the zoom camera of user's current setting.
S102: obtain the calibrating parameters mated with described first focal length value from data base；Wherein, described calibrating parameters is
Demarcate in advance, measure and obtain and be stored in described data base.
Terminal searches the calibrating parameters mated with the first focal length value in the local database, to obtain in zoom camera
Outer parameter.
Wherein, calibrating parameters is that the camera to fixed focal length is demarcated in advance, measured and obtain and be stored in data base.Gu
Focus away from camera calibration method see the related data of " camera marking method based on moving die plate " of Zhang Zhengyou, this
Place does not repeats.
Calibrating parameters can include focal length, image sensor center position information, spin matrix, translation matrix, but not
It is limited to this, does not limits.
The internal reference (focal length, picture centre, distortion factor etc.) of zoom camera, outer ginseng (R (rotation) matrix T (translation) square
Battle array).
S103: carry out image procossing according to described calibrating parameters.
Terminal, according to the calibrating parameters mated with the first focal length value, carries out figure by binocular vision algorithm to selected picture
As processing.
Binocular vision is simulating human visual theory, the method using the passive perceived distance of computer.From two or many
One object of individual observation, is obtained the image under different visual angles, according to the matching relationship of pixel between image, is surveyed by triangle
Amount principle calculates the skew between pixel to obtain the three-dimensional information of object.
Binocular vision algorithm can include correcting calculating, binocular ranging calculates, 3D distance calculates.
Wherein, binocular vision algorithm refers to the associated description in prior art about binocular vision algorithm, does not goes to live in the household of one's in-laws on getting married
State.Reference link: http://blog.sina.com.cn/s/blog_4a540be60102v44s.html, http: //
wenku.baidu.com/link？Url=coiTfp6Ff4CgiWA5nxkm3y9A05oWQ1DsftFS5XF N_AiWk-
cPG8Vk9MuYB-ITtWLdZ873dNLcoc9Mccbr7WSiUgX3GM_JRIeex5bu RppVMk_。
Binocular vision parameter can include correcting parameter, binocular ranging parameter, 3D distance value, the three-dimensional information etc. of object,
But it is not limited to this.Binocular vision parameter may be used for 3D and rebuilds.
Such scheme, terminal obtains first focal length value of zoom camera of user setup, obtains and the from data base
The calibrating parameters of one focal length value coupling, carries out image procossing according to calibrating parameters.Due to terminal different focal length value obtained with
The calibrating parameters of its coupling, it is possible to effectively reduce the error caused because of focal length value change, improve zoom lens in binocular vision
Measuring accuracy in measurement system.
Refer to the schematic flow diagram that Fig. 2, Fig. 2 are a kind of image processing methods that another embodiment of the present invention provides.This
In embodiment, the executive agent of image processing method is the terminal with zoom camera.Terminal can be camera, it is also possible to for
The mobile terminal such as mobile phone, panel computer.Image processing method can comprise the following steps that as shown in Figure 1
S201: use multiple preset calibrations focal length value to obtain each self-corresponding calibrating parameters of multiple shooting distances；By described
The association of multiple preset calibrations focal length values, the plurality of preset calibrations focal length value each self-corresponding calibrating parameters is saved in described data
Storehouse；Wherein, shooting distance is the distance between zoom camera and scaling board, the corresponding different pre-bidding of different shooting distances
Determining focal length value, the described preset calibrations focal length value that maximum shooting distance is corresponding is minimum.
Such as, seeing also Fig. 3, Fig. 3 is the shooting distance schematic diagram between zoom camera of the present invention and scaling board.
When terminal is in first count photographic range d1, the first preset calibrations focal length value is used to obtain the first mark of zoom camera
Determine parameter；When terminal is in second count photographic range d2, the second preset calibrations focal length value is used to obtain the second mark of zoom camera
Determine parameter ..., when terminal is in N shooting distance dn, use N preset calibrations focal length value to obtain the N of zoom camera
Calibrating parameters.
Wherein, N is positive integer, and the value of N can be configured according to actual needs, and the value of N is the biggest, the demarcation ginseng got
Number is the most, and the difference of adjacent two calibrating parameters is the least, when processing subsequently through calibrating parameters, and obtained result
Error is the least.
Multiple preset calibrations focal length values, the association of multiple preset calibrations focal length value each self-corresponding calibrating parameters are preserved by terminal
Data base.Terminal can also be by preset calibrations focal length value corresponding to shooting distance and this shooting distance, calibrating parameters association
It is saved in local data base.
Shooting distance is the distance between zoom camera and scaling board, the corresponding different pre-bidding of different shooting distances
Determining focal length value, the preset calibrations focal length value that maximum shooting distance is corresponding is minimum.Shooting distance between photographic head and scaling board
The least, the preset calibrations focal length value of its correspondence is the biggest.
The value of first count photographic range d1 is maximum, and the value of N shooting distance dn is minimum.The value of first count photographic range d1 and
The value of N shooting distance dn can be configured according to actual needs, does not limits.
The difference of the adjacent shooting distance of any two can be identical, it is also possible to different, does not limits.Work as any two
During the difference difference of adjacent shooting distance, this difference reduces along with the increase of N value.I.e. zoom camera distance calibration plate away from
Close to more, the difference of the adjacent shooting distance of any two is the least.
Such as, when shooting distance is between 5 meters to 1 meter, shooting distance successively decreases with 0.5 meter successively for decrement value, shoot away from
Time between for 1 meter to 0.1 meter, shooting distance successively decreases with 0.1 meter successively for decrement value, and shooting distance is between 0.1 meter to 0 meter
Time, shooting distance successively decreases with 0.02 meter successively for decrement value.
Calibrating parameters can include focal length, image sensor center position information, spin matrix, translation matrix, but not
It is limited to this, does not limits.
The camera calibration method of fixed focal length see " camera marking method based on moving die plate " of Zhang Zhengyou
Related data, does not repeats.It is understood that in other embodiments, it is also possible to use other scaling method to carry out
Demarcate, do not limit.
Seeing also Fig. 3, Fig. 3 is the shooting distance schematic diagram between zoom camera of the present invention and scaling board.
Further, step S201 use multiple preset calibrations focal length value to obtain each self-corresponding mark of multiple shooting distances
Determine parameter and specifically may include that the scaling board figure using the plurality of default focal length value the plurality of shooting distance of acquisition corresponding
Picture；According to the described each self-corresponding calibrating parameters of the plurality of shooting distance of scaling board Image Acquisition；Wherein, in same shooting position
Put the described scaling board image obtaining predetermined number, and scaling board and water described in the described scaling board image of described predetermined number
The angle that plane is formed is variant；Described angle corresponding to different camera sites is the most different.
Terminal uses multiple default focal length values to obtain the scaling board image that multiple shooting distances are corresponding；According to scaling board image
Obtain each self-corresponding calibrating parameters of multiple shooting distance.
Wherein, obtain the scaling board image of predetermined number in same camera site, and in the scaling board image of predetermined number
The angle that scaling board is formed with horizontal plane is variant；Angle corresponding to different camera sites is the most different.
Such as, when terminal is in first count photographic range d1, the first preset calibrations focal length value is used to obtain the mark of predetermined number
Determine plate image, according to the first calibrating parameters of zoom camera corresponding for scaling board Image Acquisition first count photographic range d1.Terminal
When being in second count photographic range d2, the second preset calibrations focal length value is used to obtain the scaling board image of predetermined number, according to demarcation
Second calibrating parameters of the zoom camera that plate Image Acquisition second count photographic range d2 is corresponding ..., terminal be in N shooting away from
When dn, use N preset calibrations focal length value to obtain the scaling board image of predetermined number, take the photograph according to scaling board Image Acquisition zoom
N calibrating parameters as head.
Wherein, N is positive integer, and the value of N can be configured according to actual needs, and the value of N is the biggest, the demarcation ginseng got
Number is the most, and the difference of adjacent two calibrating parameters is the least, when processing subsequently through calibrating parameters, and obtained result
Error is the least.Predetermined number is at least two, can be 3, it is also possible to for more, do not limit.
Wherein, obtain the scaling board image of predetermined number in same camera site, and in the scaling board image of predetermined number
The angle that scaling board is formed with horizontal plane (ground level) is variant；This angle corresponding to different camera sites is the most different.Mark
Determine plate can rotate in the direction of the clock or counterclockwise with the default anglec of rotation.The anglec of rotation preset can be according to reality
Situation is arranged.The angle that scaling board and horizontal plane (ground level) are formed includes 0 ° to 360 °.
S202: obtain the first focal length value of the zoom camera of user setup.
User, when using the equipment with zoom camera to carry out shooting preview, promotes zoom camera to arrange current
Focal length value.
Terminal obtains the first focal length value of the zoom camera of user's current setting.
S203: obtain the preset calibrations focal length value mated with described first focal length value from data base.
Terminal searches identical with the first focal length value or approximately uniform preset calibrations focal length value in the local database.
Wherein, local data library storage S201 in steps obtains the calibrating parameters that different preset calibrations focal length value is corresponding.
Approximately the same is that the first focal length value is the poorest in the range of error that can accept with preset calibrations focal length value.
S204: obtain the calibrating parameters that described preset calibrations focal length value is corresponding；Wherein, described calibrating parameters is to mark in advance
Fixed, measurement obtains and is stored in described data base.
Terminal, after getting the preset calibrations focal length value mated with the first focal length value, obtains this pre-in the local database
If the calibrating parameters that calibrated focal length value is corresponding, to obtain the inside and outside parameter of zoom camera.
Wherein, calibrating parameters is that the camera to fixed focal length is demarcated in advance, measured and obtain and be stored in data base.Gu
Focus away from camera calibration method see the related data of " camera marking method based on moving die plate " of Zhang Zhengyou, this
Place does not repeats.
Calibrating parameters can include focal length, image sensor center position information, spin matrix, translation matrix, but not
It is limited to this, does not limits.
The internal reference of zoom camera includes that (focal length, picture centre, distortion factor etc.), outer ginseng include (R (rotation) matrix T
(translation) matrix).
S205: carry out image procossing according to described calibrating parameters.
Wherein, the image later stage processes and can include in the range finding of image flame detection, binocular, three-dimensional reconstruction, texture mapping at least
One or the combination in any of at least two, or multiple combination in any, but it is not limited to this, it is also possible to include other, the most not
Limit.
Selected picture, according to the calibrating parameters mated with the first focal length value, can be entered by terminal by binocular vision algorithm
Row image procossing.
Binocular vision is simulating human visual theory, the method using the passive perceived distance of computer.From two or many
One object of individual observation, is obtained the image under different visual angles, according to the matching relationship of pixel between image, is surveyed by triangle
Amount principle calculates the skew between pixel to obtain the three-dimensional information of object.
Binocular vision algorithm includes correcting calculating, binocular ranging calculates, 3D distance calculates.
Wherein, binocular vision algorithm refers to the associated description in prior art about binocular vision algorithm, does not goes to live in the household of one's in-laws on getting married
State.Such as, " the binocular vision 3 D measurement technical research " of Chen Jitang it is referred to.
Such scheme, terminal obtains first focal length value of zoom camera of user setup, obtains and the from data base
The calibrating parameters of one focal length value coupling, carries out image procossing according to calibrating parameters.Due to terminal different focal length value obtained with
The calibrating parameters of its coupling, it is possible to effectively reduce the error caused because of focal length value change, improve zoom lens in binocular vision
Measuring accuracy in measurement system.
Terminal uses multiple preset calibrations focal length values to obtain each self-corresponding calibrating parameters of multiple shooting distances, to different burnt
Camera under away from is demarcated, and default focal length value, calibrating parameters association are saved in local data base, it is possible to carry out user
During shooting, obtain matched calibrating parameters according to the focal length value of user setup, reduce the inside and outside parameter of zoom camera
Error, effectively reduces the measurement error of three-dimensional information.
See Fig. 4, be the schematic block diagram of a kind of terminal that the embodiment of the present invention provides.Terminal can be mobile phone, flat board
The mobile terminals such as computer, but it is not limited to this, it is also possible to for other-end, do not limit.The terminal of the present embodiment includes
Each module for each step performing in embodiment corresponding to Fig. 1, specifically refer in embodiment corresponding to Fig. 1 and Fig. 1
Associated description, do not repeat.The terminal of the present embodiment includes: acquiring unit 410, matching unit 420 and computing unit
430。
Acquiring unit 410 is for obtaining the first focal length value of the zoom camera of user setup.
Such as, acquiring unit 410 obtains first focal length value of zoom camera of user setup.Acquiring unit 410 is by
One focal length value sends to matching unit 420.
Matching unit 420, for receiving the first focal length value that acquiring unit 410 sends, obtains burnt with first from data base
Calibrating parameters away from value coupling；Wherein, calibrating parameters is to demarcate in advance, measure and obtain and be stored in described data base.
Such as, matching unit 420 receives the first focal length value that acquiring unit 410 sends, and obtains and first from data base
The calibrating parameters of focal length value coupling；Wherein, calibrating parameters is to demarcate in advance, measure and obtain and be stored in data base.
Calibrating parameters is sent by matching unit 420 to computing unit 430.
Computing unit 430, for receiving the calibrating parameters that matching unit 420 sends, is carried out at image according to calibrating parameters
Reason.
Such as, computing unit 430 receives the calibrating parameters that matching unit 420 sends, and carries out at image according to calibrating parameters
Reason.
Such scheme, terminal obtains first focal length value of zoom camera of user setup, obtains and the from data base
The calibrating parameters of one focal length value coupling, carries out image procossing according to calibrating parameters.Due to terminal different focal length value obtained with
The calibrating parameters of its coupling, it is possible to effectively reduce the error caused because of focal length value change, improve zoom lens in binocular vision
Measuring accuracy in measurement system.
Continuing with seeing Fig. 4, in another kind of embodiment, each module that terminal includes is for performing enforcement corresponding to Fig. 2
Each step in example, specifically refers to the associated description in embodiment corresponding to Fig. 2 and Fig. 2, does not repeats.Specifically:
Acquiring unit 410 is used for using multiple preset calibrations focal length value to obtain each self-corresponding demarcation of multiple shooting distances and joins
Number；Multiple preset calibrations focal length values, the association of multiple preset calibrations focal length value each self-corresponding calibrating parameters are saved in data base；
Wherein, shooting distance is the distance between zoom camera and scaling board, the corresponding different preset calibrations of different shooting distances
Focal length value, the preset calibrations focal length value that maximum shooting distance is corresponding is minimum.
Such as, acquiring unit 410 uses multiple preset calibrations focal length value to obtain each self-corresponding demarcation of multiple shooting distances
Parameter；Multiple preset calibrations focal length values, the association of multiple preset calibrations focal length value each self-corresponding calibrating parameters are saved in data
Storehouse；Wherein, shooting distance is the distance between zoom camera and scaling board, the corresponding different pre-bidding of different shooting distances
Determining focal length value, the preset calibrations focal length value that maximum shooting distance is corresponding is minimum.
Further, acquiring unit 410 is specifically for using multiple preset calibrations focal length values to obtain multiple shooting distances pair
The scaling board image answered；According to each self-corresponding calibrating parameters of the multiple shooting distance of scaling board Image Acquisition；Wherein, in same bat
Take the photograph the scaling board image of position acquisition predetermined number, and the folder that in the scaling board image of predetermined number, scaling board is formed with horizontal plane
Angle is variant；Angle corresponding to different camera sites is the most different.
Such as, acquiring unit 410 uses multiple preset calibrations focal length value to obtain the scaling board figure that multiple shooting distances are corresponding
Picture；According to each self-corresponding calibrating parameters of the multiple shooting distance of scaling board Image Acquisition；Wherein, obtain in advance in same camera site
Fixed number purpose scaling board image, and in the scaling board image of predetermined number, scaling board is variant with the angle that horizontal plane is formed；No
The angle corresponding with camera site is the most different.
Acquiring unit 410 is for obtaining the first focal length value of the zoom camera of user setup.
Such as, acquiring unit 410 obtains first focal length value of zoom camera of user setup.
First focal length value is sent by acquiring unit 410 to matching unit 420.
Matching unit 420, for receiving the first focal length value that acquiring unit 410 sends, obtains burnt with first from data base
Calibrating parameters away from value coupling；Wherein, calibrating parameters is to demarcate in advance, measure and obtain and be stored in described data base.
Such as, matching unit 420 receives the first focal length value that acquiring unit 410 sends, and obtains and first from data base
The calibrating parameters of focal length value coupling；Wherein, calibrating parameters is to demarcate in advance, measure and obtain and be stored in data base.
Further, matching unit 420 is for obtaining the preset calibrations focal length mated with the first focal length value from data base
Value；Obtain the calibrating parameters that preset calibrations focal length value is corresponding.
Such as, matching unit 420 obtains the preset calibrations focal length value mated with the first focal length value from data base；Obtain pre-
If the calibrating parameters that calibrated focal length value is corresponding.
Calibrating parameters is sent by matching unit 420 to computing unit 430.
Computing unit 430, for receiving the calibrating parameters that matching unit 420 sends, carries out the image later stage according to calibrating parameters
Process.
Such as, computing unit 430 receives the calibrating parameters that matching unit 420 sends, after carrying out image according to calibrating parameters
Phase processes.
Further, the image later stage processes and includes in the range finding of image flame detection, binocular, three-dimensional reconstruction, texture mapping at least
One or more.
Such scheme, terminal obtains first focal length value of zoom camera of user setup, obtains and the from data base
The calibrating parameters of one focal length value coupling, carries out image procossing according to calibrating parameters.Due to terminal different focal length value obtained with
The calibrating parameters of its coupling, it is possible to effectively reduce the error caused because of focal length value change, improve zoom lens in binocular vision
Measuring accuracy in measurement system.
Terminal uses multiple preset calibrations focal length values to obtain each self-corresponding calibrating parameters of multiple shooting distances, to different burnt
Camera under away from is demarcated, and default focal length value, calibrating parameters association are saved in local data base, it is possible to carry out user
During shooting, obtain matched calibrating parameters according to the focal length value of user setup, reduce the inside and outside parameter of zoom camera
Error, effectively reduces the measurement error of three-dimensional information.
See Fig. 5, be a kind of terminal schematic block diagram of another embodiment of the present invention offer.In the present embodiment as depicted
Terminal may include that one or more processor 510；One or more input equipments 520, one or more outut devices
530 and memorizer 440.Above-mentioned processor 510, input equipment 520, outut device 530 and memorizer 540 are by bus 550 even
Connect.
Memorizer 540 is used for storing programmed instruction.
Processor 510 operation below performing according to the programmed instruction of memorizer 540 storage:
Processor 510 is for obtaining the first focal length value of the zoom camera of user setup.
Processor 510 is additionally operable to from data base obtain the calibrating parameters mated with described first focal length value；Wherein, described
Calibrating parameters is to demarcate in advance, measure and obtain and be stored in described data base.
Processor 510 is additionally operable to carry out image procossing according to described calibrating parameters.
Further, processor 510 is additionally operable to from described data base to obtain mate with described first focal length value default
Calibrated focal length value；Obtain the calibrating parameters that described preset calibrations focal length value is corresponding.
Further, the described image later stage processes and includes in the range finding of image flame detection, binocular, three-dimensional reconstruction, texture mapping
At least one or more.
Further, processor 510 is additionally operable to use multiple preset calibrations focal length value multiple shooting distances of acquisition the most right
The calibrating parameters answered；The plurality of preset calibrations focal length value, each self-corresponding demarcation of the plurality of preset calibrations focal length value are joined
Number association is saved in described data base；Wherein, shooting distance is the distance between zoom camera and scaling board, different shootings
The corresponding different preset calibrations focal length value of distance, the preset calibrations focal length value that maximum shooting distance is corresponding is minimum.
Further, processor 510 is specifically for using the plurality of preset calibrations focal length value to obtain the plurality of shooting
The scaling board image that distance is corresponding；Join according to each self-corresponding demarcation of the described the plurality of shooting distance of scaling board Image Acquisition
Number；Wherein, the described scaling board image of predetermined number, and the described scaling board of described predetermined number are obtained in same camera site
The angle that scaling board described in image is formed with horizontal plane is variant；Described angle also each not phase that different camera sites are corresponding
With.
Such scheme, terminal obtains first focal length value of zoom camera of user setup, obtains and the from data base
The calibrating parameters of one focal length value coupling, carries out image procossing according to calibrating parameters.Due to terminal different focal length value obtained with
The calibrating parameters of its coupling, it is possible to effectively reduce the error caused because of focal length value change, improve zoom lens in the system of measurement
In measuring accuracy.
Terminal uses multiple preset calibrations focal length values to obtain each self-corresponding calibrating parameters of multiple shooting distances, to different burnt
Camera under away from is demarcated, and default focal length value, calibrating parameters association are saved in local data base, it is possible to carry out user
During shooting, obtain matched calibrating parameters according to the focal length value of user setup, reduce the inside and outside parameter of zoom camera
Error, effectively reduces the measurement error of three-dimensional information.
Should be appreciated that in embodiments of the present invention, alleged processor 510 can be CPU (Central
Processing Unit, CPU), this processor can also is that other general processors, digital signal processor (Digital
Signal Processor, DSP), special IC (Application Specific Integrated Circuit,
ASIC), ready-made programmable gate array (Field-Programmable Gate Array, FPGA) or other FPGAs
Device, discrete gate or transistor logic, discrete hardware components etc..General processor can be microprocessor or this at
Reason device can also be the processor etc. of any routine.
Input equipment 520 can include that Trackpad, fingerprint adopt sensor (for gathering the finger print information of user and fingerprint
Directional information), mike etc., outut device 530 can include display (LCD etc.), speaker etc..
This memorizer 540 can include read only memory and random access memory, and to processor 510 provide instruction and
Data.A part for memorizer 540 can also include nonvolatile RAM.Such as, memorizer 540 can also be deposited
The information of storage device type.
In implementing, processor 510, input equipment 520 described in the embodiment of the present invention, outut device 530 can
Implementation described in the first embodiment of the image processing method that the execution embodiment of the present invention provides and the second embodiment,
Also can perform the implementation of terminal described by the embodiment of the present invention, not repeat them here.
Those of ordinary skill in the art are it is to be appreciated that combine the list of each example that the embodiments described herein describes
Unit and algorithm steps, it is possible to electronic hardware, computer software or the two be implemented in combination in, in order to clearly demonstrate hardware
With the interchangeability of software, the most generally describe composition and the step of each example according to function.This
A little functions perform with hardware or software mode actually, depend on application-specific and the design constraint of technical scheme.Specially
Industry technical staff can use different methods to realize described function to each specifically should being used for, but this realization is not
It is considered as beyond the scope of this invention.
Those skilled in the art is it can be understood that arrive, for convenience of description and succinctly, and the end of foregoing description
End and the specific works process of unit, be referred to the corresponding process in preceding method embodiment, do not repeat them here.
In several embodiments provided herein, it should be understood that disclosed terminal and method, can be passed through it
Its mode realizes.Such as, device embodiment described above is only schematically, such as, and the division of described unit, only
Being only a kind of logic function to divide, actual can have other dividing mode, the most multiple unit or assembly to tie when realizing
Close or be desirably integrated into another system, or some features can be ignored, or not performing.It addition, shown or discussed phase
Coupling between Hu or direct-coupling or communication connection can be the INDIRECT COUPLING by some interfaces, device or unit or communication
Connect, it is also possible to be electric, machinery or other form connect.
Step in embodiment of the present invention method can carry out order according to actual needs and adjust, merges and delete.
Unit in embodiment of the present invention terminal can merge according to actual needs, divides and delete.
The described unit illustrated as separating component can be or may not be physically separate, shows as unit
The parts shown can be or may not be physical location, i.e. may be located at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected according to the actual needs to realize embodiment of the present invention scheme
Purpose.
It addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to be that two or more unit are integrated in a unit.Above-mentioned integrated
Unit both can realize to use the form of hardware, it would however also be possible to employ the form of SFU software functional unit realizes.
If described integrated unit realizes and as independent production marketing or use using the form of SFU software functional unit
Time, can be stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially
The part in other words prior art contributed, or this technical scheme completely or partially can be with the form of software product
Embodying, this computer software product is stored in a storage medium, including some instructions with so that a computer
Equipment (can be personal computer, server, or the network equipment etc.) performs the complete of method described in each embodiment of the present invention
Portion or part steps.And aforesaid storage medium includes: USB flash disk, portable hard drive, read only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
The above, the only detailed description of the invention of the present invention, but protection scope of the present invention is not limited thereto, and any
Those familiar with the art, in the technical scope that the invention discloses, can readily occur in the amendment of various equivalence or replace
Changing, these amendments or replacement all should be contained within protection scope of the present invention.Therefore, protection scope of the present invention should be with right
The protection domain required is as the criterion.
Claims (10)
1. an image processing method, for two CCD camera measure system, it is characterised in that described method includes:
Obtain the first focal length value of the zoom camera of user setup；
The calibrating parameters mated with described first focal length value is obtained from data base；Wherein, described calibrating parameters be in advance demarcate,
Measurement obtains and is stored in described data base；
Image procossing is carried out according to described calibrating parameters.
Method the most according to claim 1, it is characterised in that described acquisition and described first focal length value from data base
The calibrating parameters joined includes:
The preset calibrations focal length value mated with described first focal length value is obtained from described data base；Wherein, described preset calibrations
Focal length value is to demarcate in advance, measure and obtain and be stored in described data base；
Obtain the calibrating parameters that described preset calibrations focal length value is corresponding.
Method the most according to claim 1, it is characterised in that described image procossing include image flame detection, binocular range finding, three
At least one or more in dimension reconstruction, texture mapping.
The most according to the method in claim 2 or 3, it is characterised in that described method also includes:
Multiple preset calibrations focal length value is used to obtain each self-corresponding calibrating parameters of multiple shooting distances；By the plurality of pre-bidding
Determine focal length value, the association of the plurality of preset calibrations focal length value each self-corresponding calibrating parameters is saved in described data base；Wherein, clap
Photographic range is the distance between zoom camera and scaling board, the corresponding different preset calibrations focal length value of different shooting distances,
The preset calibrations focal length value that maximum shooting distance is corresponding is minimum.
Method the most according to claim 4, it is characterised in that described employing multiple preset calibrations focal length value obtains multiple bats
The calibrating parameters that photographic range is corresponding includes:
The plurality of preset calibrations focal length value is used to obtain the scaling board image that the plurality of shooting distance is corresponding；Wherein, same
One camera site obtains the described scaling board image of predetermined number, and marks described in the described scaling board image of described predetermined number
Determine plate variant with the angle that horizontal plane is formed；Described angle corresponding to different camera sites is the most different；
According to the described each self-corresponding calibrating parameters of the plurality of shooting distance of scaling board Image Acquisition.
6. a terminal, it is characterised in that described terminal includes:
Acquiring unit, for obtaining the first focal length value of the zoom camera of user setup；
Matching unit, for obtaining the calibrating parameters mated with described first focal length value from data base；Wherein, described demarcation is joined
Number is to demarcate in advance, measure and obtain and be stored in described data base；
Computing unit, for carrying out image procossing according to described calibrating parameters.
Terminal the most according to claim 6, it is characterised in that described matching unit for from described data base obtain with
The preset calibrations focal length value of described first focal length value coupling；Obtain the calibrating parameters that described preset calibrations focal length value is corresponding.
Terminal the most according to claim 6, it is characterised in that described image procossing include image flame detection, binocular range finding, three
At least one or more in dimension reconstruction, texture mapping.
9. according to the terminal described in claim 7 or 8, it is characterised in that described acquiring unit is additionally operable to use multiple pre-bidding
Determine focal length value and obtain each self-corresponding calibrating parameters of multiple shooting distances；By the plurality of preset calibrations focal length value, the plurality of
The association of preset calibrations focal length value each self-corresponding calibrating parameters is saved in described data base；Wherein, shooting distance is zoom camera
Distance between head and scaling board, the corresponding different preset calibrations focal length value of different shooting distances, maximum shooting distance pair
The preset calibrations focal length value answered is minimum.
Terminal the most according to claim 9, it is characterised in that described acquiring unit is the plurality of pre-specifically for using
If calibrated focal length value obtains the scaling board image that the plurality of shooting distance is corresponding；According to many described in described scaling board Image Acquisition
The each self-corresponding calibrating parameters of individual shooting distance；Wherein, obtain the described scaling board image of predetermined number in same camera site,
And scaling board is variant with the angle that horizontal plane is formed described in the described scaling board image of described predetermined number；Different shooting positions
The described angle putting correspondence is the most different.
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| CN201610544000.7A CN106131408A (en) | 2016-07-11 | 2016-07-11 | A kind of image processing method and terminal |
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| CN109559352A (en) * | 2018-11-30 | 2019-04-02 | Oppo广东移动通信有限公司 | Camera calibration method, device, electronic equipment and computer readable storage medium |
| CN109584311A (en) * | 2018-11-30 | 2019-04-05 | Oppo广东移动通信有限公司 | Camera calibration method, device, electronic equipment and computer readable storage medium |
| CN109767476A (en) * | 2019-01-08 | 2019-05-17 | 像工场(深圳)科技有限公司 | A kind of calibration of auto-focusing binocular camera and depth computing method |
| CN109859272A (en) * | 2018-12-18 | 2019-06-07 | 像工场(深圳)科技有限公司 | A kind of auto-focusing binocular camera scaling method and device |
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| CN111787224A (en) * | 2020-07-10 | 2020-10-16 | 深圳传音控股股份有限公司 | Image acquisition method, terminal device and computer-readable storage medium |
| CN111932636A (en) * | 2020-08-19 | 2020-11-13 | 展讯通信（上海）有限公司 | Calibration and image correction method and device for binocular camera, storage medium, terminal and intelligent equipment |
| CN116801100A (en) * | 2023-07-05 | 2023-09-22 | 上海鉴智其迹科技有限公司 | Calibration focal length verification method and device for binocular camera module in automatic driving system |
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| CN116801100A (en) * | 2023-07-05 | 2023-09-22 | 上海鉴智其迹科技有限公司 | Calibration focal length verification method and device for binocular camera module in automatic driving system |
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