CN106651808A - Fisheye image conversion method and device - Google Patents
Fisheye image conversion method and device Download PDFInfo
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Abstract
The embodiment of the invention provides a fisheye image conversion method and device. The method comprises: obtaining a fisheye image to be converted; converting the coordinates of each pixel in the fisheye image to the coordinates in a panorama, and establishing a mapping relation between the coordinates of each pixel in the fisheye image and the coordinates in the panorama; and according to the mapping relation, sampling the pixels corresponding to the coordinates in the panorama from the fisheye image, and converting the fisheye image to the panorama. The fisheye image conversion method and device do not need the steps of correcting the fisheye image to a planar graph without distortion and then converting the planar graph without distortion to the panorama to reduce the steps and links in the process, improve the conversion efficiency so as to realize the real-time conversion of the fisheye image obtained in real time.
Description
Technical field
The present invention relates to technical field of image processing, more particularly to a kind of fish-eye image conversion method and device.
Background technology
In recent years, with the high speed development of VR (Virtual Reality, virtual reality), the various hardware for being applied to VR
Emerge in an endless stream with software etc., wherein, panoramic video VR becomes the focus of technical research and product content innovation, is widely used in void
Intend many fields such as movie theatre, panorama game, panorama education, panorama medical treatment, panorama tourism, there is wide prospect and huge Jing
Ji value.
At present, many picture pick-up devices can only photograph less visual angle, generally less than when photographing panorama picture is carried out
120°.But in the panoramic picture for many times, being required for shooting visual angle bigger, so as to need to carry out using fish eye lens or equipment
Shoot.
But when being shot using fish eye lens or equipment, captured fish-eye image can occur Severe distortion, so such as
The fish-eye image that Severe distortion occurs is changed into and can become VR fields important in the panorama sketch used in VR panoramic videos by what
Research direction.
In prior art, when converting to fish-eye image, it is necessary to be first distortionless plan by fish-eye image correction,
Distortionless plan is being converted into into panorama sketch.In this process, fish-eye image needs experience conversion process twice so that conversion
It is less efficient, it is impossible to realize to the real-time conversion of fish-eye image.
The content of the invention
The purpose of the embodiment of the present invention is to provide a kind of fish-eye image conversion method and device, to realize fish-eye image directly
Convert by panorama sketch, without panorama sketch is converted into into distortionless plan.So that transformation efficiency is improved, it is possible to achieve right
Fish-eye image is changed in real time.Concrete technical scheme is as follows：
The present invention implements row and discloses a kind of fish-eye image conversion method, including：
Obtain fish-eye image to be converted；
By the Coordinate Conversion of each pixel in the fish-eye image into the coordinate in panorama sketch, and set up in the fish-eye image
Mapping relations between the coordinate of the coordinate of pixel and the panorama sketch；
According to the mapping relations, the corresponding pixel of coordinate of the panorama sketch of sampling from the fish-eye image will be described
Fish-eye image is converted into panorama sketch.
Optionally, it is described to obtain fish-eye image to be converted, including：Obtain binocular fish-eye image to be converted, the binocular fish
Eye pattern includes：Left eye fish-eye image and right eye fish-eye image；
Accordingly, the Coordinate Conversion by each pixel in the fish-eye image is into the coordinate in panorama sketch, and sets up
Mapping relations in the fish-eye image between the coordinate of the coordinate of pixel and the panorama sketch, including：
By the Coordinate Conversion of each pixel in the left eye fish-eye image into the coordinate in left eye panorama sketch, and set up described
The first mapping relations in left eye fish-eye image between the coordinate of the coordinate of pixel and the left eye panorama sketch；
By the Coordinate Conversion of each pixel in the right eye fish-eye image into the coordinate in right eye panoramic figure, and set up described
The second mapping relations in right eye fish-eye image between the coordinate of the coordinate of pixel and the right eye panoramic figure；
Accordingly, described according to the mapping relations, the coordinate of the panorama sketch of sampling from the fish-eye image is corresponding
Pixel, by the fish-eye image panorama sketch is converted into, including：
According to first mapping relations, the coordinate of the left eye panorama sketch of sampling from the left eye fish-eye image is corresponding
Pixel, by the left eye fish-eye image left eye panorama sketch is converted into；
According to second mapping relations, the coordinate of the right eye panoramic figure of sampling from the right eye fish-eye image is corresponding
Pixel, by the right eye fish-eye image right eye panoramic figure is converted into.
Optionally, described according to the mapping relations, the coordinate of the panorama sketch of sampling from the fish-eye image is corresponding
Pixel, the fish-eye image is converted into after the panorama sketch, and methods described also includes：
The left eye panorama sketch and the right eye panoramic figure are spliced, complete panorama sketch is constituted.
Optionally, the Coordinate Conversion by each pixel in the fish-eye image is into the coordinate in panorama sketch, and sets up
Mapping relations in the fish-eye image between the coordinate of the coordinate of pixel and the panorama sketch, including：
Coordinate transformation by pixel in the fish-eye image is the coordinate of undistorted plan, and the undistorted plan is
After the fish-eye image correction, the plan that there is no distortion of composition；
By the coordinate that the coordinate transformation of the undistorted plan is Sphere Measurement Model；
Coordinate transformation by the Sphere Measurement Model is the coordinate of the spherical panoramic image；
Coordinate Conversion by pixel in the fish-eye image is the coordinate of the panorama sketch, sets up picture in the fish-eye image
Mapping relations between the coordinate of vegetarian refreshments and the coordinate of panorama sketch.
Optionally, the Coordinate Conversion by each pixel in the fish-eye image is into the coordinate in panorama sketch, and sets up
Mapping relations in the fish-eye image between the coordinate of the coordinate of pixel and the panorama sketch, including：
According to preset formula, set up the mapping in the fish-eye image between the coordinate of pixel and the coordinate of panorama sketch and close
System, wherein the preset formula is：
X=fxx′+cx
Y=fyy′+cy
The x, the y are the planar rectangular co-ordinate of the panorama sketch, the fx, the fy, the cx, the cy
Parameter in shoot the fish-eye Intrinsic Matrix that the fish-eye image is used, wherein the fx, the fyIt is burnt for camera
Away from the cx, the cyThe side-play amount of the origin of coordinate system and world coordinate system for the fish-eye image, the x ', the y ' are
Intermediate variable, wherein：
The Hfov is the horizontal view angle of the default panorama sketch, and the Vfov is the vertical of the default panorama sketch
Visual angle, the n is the width of the default panorama sketch, and the u, the v are the planar rectangular co-ordinate in fish-eye image, described
π is pi, the R be spin matrix, the t be translation vector, the X, the Y, the W, the θ, the xc, it is described
yc, the λ is describedIt is intermediate variable.
Optionally, the corresponding pixel of coordinate of the panorama sketch of sampling from the fish-eye image, including：
Using image interpolation algorithm, the corresponding pixel of coordinate of the spherical panoramic image of sampling from the fish-eye image.
The present invention implements row and also discloses a kind of fish-eye image conversion equipment, including：
Acquisition module, for obtaining fish-eye image to be converted；
Mapping block, into the coordinate in panorama sketch, and builds for by the Coordinate Conversion of each pixel in the fish-eye image
Found the mapping relations between the coordinate of pixel and the coordinate of the panorama sketch in the fish-eye image；
Sampling module, for being answered according to the coordinate pair of the mapping relations, the panorama sketch of sampling from the fish-eye image
Pixel, the fish-eye image is converted into into panorama sketch.
Optionally, the acquisition module is additionally operable to：Binocular fish-eye image to be converted is obtained, the binocular fish-eye image includes：
Left eye fish-eye image and right eye fish-eye image；
Accordingly, the mapping block, is additionally operable to：
By the Coordinate Conversion of each pixel in the left eye fish-eye image into the coordinate in left eye panorama sketch, and set up described
The first mapping relations in left eye fish-eye image between the coordinate of the coordinate of pixel and the left eye panorama sketch；
By the Coordinate Conversion of each pixel in the right eye fish-eye image into the coordinate in right eye panoramic figure, and set up described
The second mapping relations in right eye fish-eye image between the coordinate of the coordinate of pixel and the right eye panoramic figure；
Accordingly, the sampling module, is additionally operable to：
According to first mapping relations, the coordinate of the left eye panorama sketch of sampling from the left eye fish-eye image is corresponding
Pixel, by the left eye fish-eye image left eye panorama sketch is converted into；
According to second mapping relations, the coordinate of the right eye panoramic figure of sampling from the right eye fish-eye image is corresponding
Pixel, by the right eye fish-eye image right eye panoramic figure is converted into.
Optionally, described device also includes：
Concatenation module, for the left eye panorama sketch and the right eye panoramic figure to be spliced, constitutes complete panorama
Figure.
Optionally, the mapping block, including：
First map unit, for by the coordinate that the coordinate transformation of pixel in the fish-eye image is undistorted plan,
The undistorted plan is the plan that there is no distortion of composition after fish-eye image correction；
Second map unit, for by the coordinate transformation of the undistorted plan for Sphere Measurement Model coordinate；
3rd map unit, for by coordinate that the coordinate transformation of the Sphere Measurement Model is the spherical panoramic image；
4th map unit, for by the coordinate that the Coordinate Conversion of pixel in the fish-eye image is the panorama sketch,
Set up the mapping relations between the coordinate of pixel and the coordinate of panorama sketch in the fish-eye image.
Optionally, the mapping block, including：
5th map unit, for according to preset formula, setting up the coordinate of pixel and panorama sketch in the fish-eye image
Mapping relations between coordinate, wherein the preset formula is：
X=fxx′+cx
Y=fyy′+cy
The x, the y are the planar rectangular co-ordinate of the panorama sketch, the fx, the fy, the cx, the cy
Parameter in shoot the fish-eye Intrinsic Matrix that the fish-eye image is used, wherein the fx, the fyIt is burnt for camera
Away from the cx, the cyThe side-play amount of the origin of coordinate system and world coordinate system for the fish-eye image, the x ', the y ' are
Intermediate variable, wherein:
The Hfov is the horizontal view angle of the default panorama sketch, and the Vfov is the vertical of the default panorama sketch
Visual angle, the n is the width of the panorama sketch, and the u, the v are the planar rectangular co-ordinate in fish-eye image, and the π is circle
Frequency, the R be spin matrix, the t be translation vector, the X, the Y, the W, the θ, the xc, the yc, institute
λ is stated, it is describedIt is intermediate variable.
Optionally, the sampling module, specifically for：
Using image interpolation algorithm, the corresponding pixel of coordinate of the spherical panoramic image of sampling from the fish-eye image.
A kind of fish-eye image conversion method provided in an embodiment of the present invention and device, can set up the coordinate of pixel in fish-eye image
With the corresponding relation of coordinate in spherical panoramic image, so as to the direct sampled pixel from fish-eye image, spherical panoramic image is constituted.So that depositing
In the fish-eye image of distortion, the panorama sketch that can be used in VR panoramic videos can be converted into.Directly adopt from original fish-eye image
Sample constitutes panorama sketch, it is ensured that while the accuracy of conversion, improve conversion efficiency and conversion speed such that it is able to which it is right to realize
The real-time conversion of fish-eye image.Certainly, implementing arbitrary product or method of the present invention must be not necessarily required to while reaching the above
All advantages.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the flow chart of fish-eye image conversion method provided in an embodiment of the present invention；
It is Sphere Measurement Model coordinate schematic diagram that Fig. 2 is undistorted plan Coordinate Conversion provided in an embodiment of the present invention；
Fig. 3 is Sphere Measurement Model schematic diagram provided in an embodiment of the present invention；
Fig. 4 is panorama sketch schematic diagram provided in an embodiment of the present invention；
Fig. 5 is the structure chart of fish-eye image conversion equipment provided in an embodiment of the present invention.
Specific embodiment
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
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Referring to Fig. 1, Fig. 1 is the flow chart of fish-eye image conversion method provided in an embodiment of the present invention, including：
Step 101, obtains fish-eye image to be converted.
The image shot using fish eye lens is properly termed as fish-eye image, and it is 16mm or shorter that fish eye lens is a kind of focal length
And camera lens of the visual angle close or equal to 180 °.It is a kind of extreme wide-angle lens, and " fish eye lens " is being commonly called as it.
Fish eye lens belongs to a kind of special lens in bugeye lens, and its visual angle makes every effort to reach or beyond human eye institute energy
The scope seen.Therefore, there is very big difference in the scene of the real world in fish eye lens and people's eye, because we are in reality
The scenery seen in the life of border is well-regulated solid form, and by the picture effect of fish eye lens generation then beyond this
Category.
These intrinsic properties due to fish eye lens, cause the image shot using fish eye lens all can produce serious
Distortion, the fish-eye image with Severe distortion, it is impossible to be directly used in making VR panoramic videos, it is necessary to convert thereof into panorama sketch.Entirely
Scape figure refers to the striograph that can record and present full angle visual angle, for example, the Equirectangular commonly used in VR fields
The panorama sketch of (equidistant rectangle projection) form.Equirectangular panorama sketch, can cover 360 degree horizontal view angle and
The vertical angle of view of 180 degree, so as to define the picture of whole scenes that round.
But because the fish-eye image generated using fish eye lens can only cover the image of 180 degree, so the panorama sketch being converted into
Visual angle can only cover the horizontal view angle of 180 degree and the vertical angle of view of 180 degree, so as to define one around half cycle whole scene
Picture
It can be fish-eye image that the artificial input of operating personnel has been present, or directly to obtain fish-eye image to be converted
Obtain the fish-eye image for taking captured in real-time.
Step 102, by the Coordinate Conversion of each pixel in fish-eye image into the coordinate in panorama sketch, and sets up in fish-eye image
Mapping relations between the coordinate of pixel and the coordinate of panorama sketch.
Fish-eye image is the plan of a two dimension, although plan has serious distortion, but each of pie graph picture
Pixel all has a fixed coordinate position in fish-eye image.
By the coordinate of each pixel in fish-eye image by Coordinate Conversion, can be by the coordinate of each pixel in fish-eye image
It is converted into being used directly for generating the planar two dimensional coordinate in the panorama sketch of VR panoramic videos.
The method of Coordinate Conversion can turned by by the coordinate in fish-eye image, being converted to the coordinate of undistorted plan
Be changed to the coordinate of Sphere Measurement Model, finally by the Coordinate Conversion of Sphere Measurement Model into the coordinate of panorama sketch realizing, it is also possible to using this
Invention implements preset formula that row provide come the conversion that directly carries out coordinate, the coordinate being input in fish-eye image, it is possible to obtain right
Coordinate in the panorama sketch answered.Wherein, Sphere Measurement Model can mutually be changed with panorama sketch, be that the two-dimensional plane coordinate of panorama sketch turns
Polar coordinates are turned to so as to the model for being formed.Undistorted plan be fish-eye image it is corrected after, there is no distortion in the image for obtaining
Plan.
After completing the conversion of coordinate, the coordinate pair of pixel answers the coordinate in a panorama sketch in each fish-eye image, so as to
The mapping relations between the coordinate of pixel and the coordinate of panorama sketch in fish-eye image can be set up.
Step 103, according to mapping relations, the corresponding pixel of coordinate of panorama sketch of sampling from fish-eye image, fish-eye image is turned
Change panorama sketch into.
According to the mapping relations having built up, sampled pixel can be carried out according to the coordinate in panorama sketch from fish-eye image.
Each coordinate can obtain the pixel represented by respective coordinates in fish-eye image in panorama sketch, so as to be sampled.Panorama sketch
All of coordinate all complete sampling after, it is possible to obtain the panorama sketch containing pixel converted by fish-eye image.So
Panorama sketch be just used directly for make VR panoramic videos.
The present invention is implemented in row, and, into the coordinate of panorama sketch, and the mapping of coordinate is set up by by the Coordinate Conversion of fish-eye image
Relation, according to the mapping relations, carries out the sampling of pixel from fish-eye image, so as to constitute panorama sketch, realizes that fish-eye image is converted into
Panorama sketch.So that first fish-eye image need not be corrected into after distortionless plan, reconvert is into panorama sketch.Reduce centre
Step and link, improve conversion efficiency such that it is able to realize changing the real-time fish-eye image for obtaining in real time.
Optionally, in fish-eye image conversion method provided in an embodiment of the present invention, fish-eye image to be converted is obtained, including：Obtain
Binocular fish-eye image to be converted is obtained, binocular fish-eye image includes：Left eye fish-eye image and right eye fish-eye image.
In actual applications, generally the shooting of scene image is carried out using binocular camera.Binocular camera uses two
Fish eye lens is shot, such that it is able to obtain two fish-eye images that two fish eye lenses shoot, referred to as binocular fish-eye image.Binocular
Fish-eye image can include left eye fish-eye image and right eye fish-eye image.
Accordingly, by the Coordinate Conversion of each pixel in fish-eye image into the coordinate in panorama sketch, and set up in fish-eye image
Mapping relations between the coordinate of pixel and the coordinate of panorama sketch, including：
By the Coordinate Conversion of each pixel in left eye fish-eye image into the coordinate in left eye panorama sketch, and set up left eye flake
The first mapping relations in figure between the coordinate of the coordinate of pixel and left eye panorama sketch.
By the Coordinate Conversion of each pixel in right eye fish-eye image into the coordinate in right eye panoramic figure, and set up right eye flake
The second mapping relations in figure between the coordinate of the coordinate of pixel and right eye panoramic figure.
The method that fish-eye image as described above is converted to panorama sketch, respectively by left eye fish-eye image and right eye fish-eye image
The coordinate of each pixel carries out Coordinate Conversion, and the planar two dimensional coordinate of left eye panorama sketch and right eye panoramic figure is converted into respectively,
And set up the first mapping relations and right eye in left eye fish-eye image between the coordinate of the coordinate of pixel and left eye panorama sketch respectively
The second mapping relations in fish-eye image between the coordinate of the coordinate of pixel and right eye panoramic figure.
Accordingly, according to mapping relations, the corresponding pixel of coordinate of panorama sketch of sampling from fish-eye image changes fish-eye image
Into panorama sketch, including：
According to the first mapping relations, the corresponding pixel of coordinate of left eye panorama sketch of sampling from left eye fish-eye image, by left eye
Fish-eye image is converted into left eye panorama sketch.
According to the second mapping relations, the corresponding pixel of coordinate of right eye panoramic figure of sampling from right eye fish-eye image, by right eye
Fish-eye image is converted into right eye panoramic figure.
Equally, the method that panorama sketch is converted to fish-eye image is identical, is closed by the first mapping relations and the second mapping respectively
System, from left eye fish-eye image and right eye fish-eye image, is sampled respectively according to the coordinate in left eye panorama sketch and right eye panoramic figure
Pixel, so as to respectively constitute the left eye panorama sketch containing pixel and right eye panoramic figure.Realize left eye fish-eye image and right eye fish-eye image
Be converted to and be used directly for VR panoramic video left eye panorama sketch and right eye panoramic figure.
The present invention is implemented in row, single fish-eye image not only can be changed, it is also possible to being obtained by binocular camera
To binocular fish-eye image changed, expand the scope that the present invention implements row application, binocular fish-eye image is converted to left eye
Fish-eye image and right eye panoramic figure, can directly pass through VR equipment, and the left eye and right eye that user is corresponded to respectively is presented, it is also possible to
The VR panoramic videos for user's left eye and right eye are generated, and by being presented by VR equipment, improves Consumer's Experience.
Optionally, in fish-eye image conversion method provided in an embodiment of the present invention, according to mapping relations, sample from fish-eye image
The corresponding pixel of coordinate of panorama sketch, fish-eye image is converted into after panorama sketch, and method also includes：
Left eye panorama sketch and right eye panoramic figure are spliced, complete panorama sketch is constituted.
When carrying out binocular fish-eye image and being changed, two Zhang Quanjing figures, respectively left eye panorama sketch and the right side are will eventually get
Eye panorama sketch.Need to be spliced in two Zhang Quanjing figures, constitute a complete panorama sketch.Splicing can be spelled up and down
Connect, or left and right is spliced.
Specifically, the method for carrying out image mosaic, the mode for having had many maturations in the prior art.Can be according to need
Flexibly selected, here is omitted.
The present invention is implemented in row, and the left eye panorama sketch and the right side that obtain will be respectively converted by left eye fish-eye image and right eye fish-eye image
Eye panorama sketch is spliced, and then has obtained more complete panorama sketch, is conducive to the use of panorama sketch, is improve user and is being seen
See the Consumer's Experience during VR panoramic videos that panorama sketch or panorama sketch constitute.
Optionally, in fish-eye image conversion method provided in an embodiment of the present invention, by each pixel in the fish-eye image
Coordinate Conversion is set up in the fish-eye image between the coordinate of the coordinate of pixel and the panorama sketch into the coordinate in panorama sketch
Mapping relations, including：
The first step, the coordinate transformation by pixel in fish-eye image is the coordinate of undistorted plan, and undistorted plan is
After fish-eye image correction, the plan that there is no distortion of composition.
The fish eye lens that fish-eye image is used is shot, with fixed Intrinsic MatrixAnd distortion
Parameter (k1, k2, k3, k4), wherein fx, fyFor camera focus, cx, cyThe origin of coordinate system and world coordinate system for fish-eye image
Side-play amount.These parameters are the intrinsic parameters of fish eye lens, and when fish eye lens is produced, these parameters are just true
It is fixed, in the prior art, there are many methods that can obtain these parameters, specifically repeat no more.
Also there is outer parameter matrix, including spin matrix R and translation vector using fish-eye video camera or camera
T, these parameters are the intrinsic parameter of video camera or camera, for describing a world coordinate system under coordinate, with video camera
Or the transformational relation of the coordinate of camera coordinate system.Specifically, world coordinate system coordinate is sat with video camera or camera coordinate system
Mark transformational relation can be described with formula one, and formula one is：
Wherein, (X, Y, Z) is the coordinate in world coordinate system, and (x, y, z) is the coordinate in camera coordinates system, and R is rotation
Matrix, t is translation vector.Spin matrix R and translation vector t is the intrinsic parameter of video camera or camera, it is possible to use existing
Technology is directly obtained, and here is omitted for concrete preparation method.
The coordinate of pixel can pass through the coordinate that formula two is converted into undistorted plan in fish-eye image, wherein, formula
Two include：
U=fxx″+cx
V=fyy″+cy
In above-mentioned formula two, u, v are the coordinate of undistorted plan, fx, fy, cx, cyTo shoot the fish that fish-eye image is used
Parameter in the Intrinsic Matrix of glasses head, wherein fx, fyFor camera focus, cx, cyFor the coordinate system and world coordinates of fish-eye image
The side-play amount of the origin of system, x ", y " is intermediate variable, wherein:
In above-mentioned formula, (x, y, z) is the coordinate in camera coordinates system, and (k1, k2, k3, k4) is made to shoot fish-eye image
Fish-eye distortion parameter, θ is intermediate variable.
It should be noted that in prior art, need for fish-eye image to be converted into undistorted plan, and the embodiment of the present invention
In step simply carry out the conversion of coordinate, it is not necessary to fish-eye image is converted into into undistorted plan, described in this step
Undistorted plan, the undistorted plan of simply undistorted plan virtual in logic, rather than necessary being.
Second step, by the coordinate that the coordinate transformation of undistorted plan is Sphere Measurement Model.
Sphere Measurement Model may be considered video camera or camera in sphere center position, shoots 360 degree of horizontal view angles and 180 degree is hung down
Direct-view angle, such that it is able to obtain the image of all scenery of surrounding.But in the embodiment of the present invention, picture is not converted into globulate
Model, and simply the coordinate of image is converted, so it can be empty in logic that the present invention implements the Sphere Measurement Model in row
The Sphere Measurement Model of plan.
Image due to covering 180 degree horizontal view angle in fish-eye image, so Sphere Measurement Model only has half sphere.
Referring to Fig. 2, Fig. 2 is that undistorted plan Coordinate Conversion provided in an embodiment of the present invention is the signal of Sphere Measurement Model coordinate
Figure.
The coordinate of undistorted plan 202 can pass through the coordinate that formula three is converted into Sphere Measurement Model 201, wherein, formula
Three include：
Wherein, λ represents the longitude in the coordinate of Sphere Measurement Model 201, and φ represents the latitude in the coordinate of Sphere Measurement Model 201,
U, v are the planar rectangular co-ordinate of undistorted plan 202, and r represents the radius of Sphere Measurement Model, and n ' represents undistorted plan
202 width, the i.e. maximum of coordinate u.
3rd step, by the coordinate that the coordinate transformation of Sphere Measurement Model is panorama sketch.
Referring to Fig. 3, Fig. 3 is Sphere Measurement Model schematic diagram provided in an embodiment of the present invention.Wherein, point q is Sphere Measurement Model surface
Any point, λ represents the longitude in the coordinate of Sphere Measurement Model, and φ represents the latitude in the coordinate of Sphere Measurement Model.
Referring to Fig. 4, Fig. 4 is panorama sketch schematic diagram provided in an embodiment of the present invention.Wherein, m is the height of panorama sketch, and n is complete
The width of scape figure.Each coordinate pair in panorama sketch answers a pixel.
The coordinate of Sphere Measurement Model can mutually be changed with the coordinate of panorama sketch by formula four, wherein, formula four is：
N=π r
Wherein, x, y are the planar rectangular co-ordinate of pixel in panorama sketch, and m is the height of panorama sketch, and n is the width of panorama sketch,
λ represents the longitude in the coordinate of Sphere Measurement Model, and φ represents the latitude in the coordinate of Sphere Measurement Model, and π is pi, and r represents sphere
The radius of model, the height of the panorama sketch that m can be obtained as needed, is manually set.
4th step, is the coordinate of panorama sketch by the Coordinate Conversion of pixel in fish-eye image, sets up pixel in fish-eye image
Coordinate and the coordinate of spherical panoramic image between mapping relations.
According to formula one to formula five, the Coordinate Conversion by pixel in fish-eye image that can be step by step for panorama sketch seat
Mark, and set up the mapping relations in fish-eye image between the coordinate of pixel and the coordinate of spherical panoramic image.
When fish-eye image to be converted is binocular fish-eye image, then need to obtain shooting left eye fish-eye image and right eye flake respectively
The fish-eye Intrinsic Matrix of figure and distortion parameter, and spin matrix and translation vector are obtained respectively so as to carry out coordinate
Conversion, and the first mapping relations in left eye fish-eye image between the coordinate of the coordinate of pixel and left eye panorama sketch are set up, and
The second mapping relations in right eye fish-eye image between the coordinate of the coordinate of pixel and right eye panoramic figure.
The present invention is implemented in row, by Coordinate Conversion step by step so that can as needed adjust every during Coordinate Conversion
The design parameter of one step, can obtain diversified result, for example, when by the coordinate transformation of fish-eye image for Sphere Measurement Model coordinate
Afterwards, Sphere Measurement Model can be compressed or is amplified according to the characteristics of the coordinate of Sphere Measurement Model, so as in the same of conversion fish-eye image
When, the compression to fish-eye image or amplification can be realized, specifically, Sphere Measurement Model is carried out according to the characteristics of the coordinate of Sphere Measurement Model
Compression is amplified, it is possible to achieve existing various pattern compressions or the method amplified, here is no longer repeated.
Optionally, in fish-eye image conversion method provided in an embodiment of the present invention, by each pixel in the fish-eye image
Coordinate Conversion is set up in the fish-eye image between the coordinate of the coordinate of pixel and the panorama sketch into the coordinate in panorama sketch
Mapping relations, including：
According to preset formula, the mapping relations between the coordinate of pixel and the coordinate of panorama sketch in fish-eye image are set up, its
Middle preset formula is：
X=fxx′+cx
Y=fyy′+cy
X, y for panorama sketch planar rectangular co-ordinate, fx, fy, cx, cyTo shoot the fish eye lens that fish-eye image is used
Intrinsic Matrix in parameter, wherein fx, fyFor camera focus, cx, cyThe original of coordinate system and world coordinate system for fish-eye image
The side-play amount of point, x ', y ' they are intermediate variable, wherein:
In above-mentioned formula, Hfov is the horizontal view angle of default panorama sketch, and Vfov is the vertical angle of view of default panorama sketch,
Hfov and Vfov are to shoot the intrinsic parameter that fish-eye image uses camera, and n is the width of the panorama sketch, and u, v are in fish-eye image
Planar rectangular co-ordinate, π is pi, and R is spin matrix, and t is translation vector, X, Y, W, θ, xc, yc, λ,It is centre
Variable.
By preset formula, can directly by the Coordinate Conversion of each pixel in fish-eye image into the coordinate in panorama sketch,
And set up the mapping relations in fish-eye image between the coordinate of pixel and the coordinate of panorama sketch.Coordinate in input fish-eye image is with regard to energy
Access the coordinate in corresponding panorama sketch.
When the conversion of binocular fish-eye image is carried out, need to obtain the flake for shooting left eye fish-eye image and right eye fish-eye image respectively
The Intrinsic Matrix and distortion parameter of camera lens, and spin matrix and translation vector are obtained respectively so as to carry out the conversion of coordinate, example
As left eye fish-eye image spin matrix and translation vector beThe spin matrix of right eye fish-eye image
It is R=R3x3 with translation vector,Wherein, R3x3 represents that R is the matrix of a 3x3, this matrix representative two
The rotation relationship of the image coordinate of camera or camera lens.
Represent the translation relation of the corresponding image coordinate of two cameras or camera lens, specifically, R3x3 matrixes and
Tx, ty, tz these parameters, it is determined that two cameras or camera lens camera site and camera or camera lens model after, it is possible to
Directly obtain, preparation method belongs to prior art, here is omitted.
In embodiments of the present invention, transformation of coordinates is carried out by preset formula.Coordinate can fast and accurately be carried out
Conversion such that it is able to which satisfaction carries out the needs of real-time conversion to fish-eye image.
Optionally, in fish-eye image conversion method provided in an embodiment of the present invention, spherical panoramic image of sampling from fish-eye image
The corresponding pixel of coordinate, including：
Using image interpolation algorithm, the corresponding pixel of coordinate of spherical panoramic image of sampling from fish-eye image.
During pixel sampling is carried out, it is possible to use image interpolation algorithm obtains last panorama being sampled
Image.Image interpolation algorithm be a kind of beautifying picture and improve picture quality graph processing technique, including bilinear interpolation calculate
Various interpolation algorithms such as method and model bar interpolation algorithm.Image interpolation algorithm is using gray value, the face of known vicinity points
Colour is producing gray value, the color value of unknown pixel point.For the embodiment of the present invention, map in the coordinate for obtaining panoramic picture
After relation, it is possible to the gray value and color value of all pixels are obtained using image interpolation algorithm, so as to obtain panorama sketch.
Specifically, a variety of image interpolation algorithms belong to prior art, and here is omitted.
Referring to Fig. 5, Fig. 5 is the structure chart of fish-eye image conversion equipment provided in an embodiment of the present invention, including：
Acquisition module 501, for obtaining fish-eye image to be converted；
Mapping block 502, into the coordinate in panorama sketch, and sets up for by the Coordinate Conversion of each pixel in fish-eye image
Mapping relations in fish-eye image between the coordinate of pixel and the coordinate of panorama sketch；
Sampling module 503, for according to mapping relations, the corresponding pixel of coordinate of panorama sketch of sampling from fish-eye image will
Fish-eye image is converted into panorama sketch.
The present invention is implemented in row, and, into the coordinate of panorama sketch, and the mapping of coordinate is set up by by the Coordinate Conversion of fish-eye image
Relation, according to the mapping relations, carries out the sampling of pixel from fish-eye image, so as to constitute panorama sketch, realizes that fish-eye image is converted into
Panorama sketch.So that first fish-eye image need not be corrected into after distortionless plan, reconvert is into panorama sketch.Reduce centre
Step and link, improve conversion efficiency such that it is able to realize changing the real-time fish-eye image for obtaining in real time.
The device of the embodiment of the present invention is the device for applying above-mentioned fish-eye image conversion method, then above-mentioned fish-eye image conversion method
All embodiments be applied to the device, and can reach same or analogous beneficial effect.
Optionally, in fish-eye image conversion method provided in an embodiment of the present invention, acquisition module 501 is additionally operable to：Obtain and wait to turn
The binocular fish-eye image for changing, binocular fish-eye image includes：Left eye fish-eye image and right eye fish-eye image；
Accordingly, mapping block 502, are additionally operable to：
By the Coordinate Conversion of each pixel in left eye fish-eye image into the coordinate in left eye panorama sketch, and set up left eye flake
The first mapping relations in figure between the coordinate of the coordinate of pixel and left eye panorama sketch；
By the Coordinate Conversion of each pixel in right eye fish-eye image into the coordinate in right eye panoramic figure, and set up right eye flake
The second mapping relations in figure between the coordinate of the coordinate of pixel and right eye panoramic figure；
Accordingly, sampling module 503, are additionally operable to：
According to the first mapping relations, the corresponding pixel of coordinate of left eye panorama sketch of sampling from left eye fish-eye image, by left eye
Fish-eye image is converted into left eye panorama sketch；
According to the second mapping relations, the corresponding pixel of coordinate of right eye panoramic figure of sampling from right eye fish-eye image, by right eye
Fish-eye image is converted into right eye panoramic figure.
Optionally, in fish-eye image conversion method provided in an embodiment of the present invention, device also includes：
Concatenation module, for left eye panorama sketch and right eye panoramic figure to be spliced, constitutes complete panorama sketch.
Optionally, in fish-eye image conversion method provided in an embodiment of the present invention, mapping block 502, including：
First map unit, for by the coordinate that the coordinate transformation of pixel in fish-eye image is undistorted plan, without abnormal
After becoming plan into fish-eye image correction, the plan that there is no distortion of composition；
Second map unit, for by the coordinate transformation of undistorted plan for Sphere Measurement Model coordinate；
3rd map unit, for by the coordinate transformation of Sphere Measurement Model for spherical panoramic image coordinate；
4th map unit, for being the coordinate of panorama sketch by the Coordinate Conversion of pixel in fish-eye image, sets up flake
Mapping relations in figure between the coordinate of pixel and the coordinate of panorama sketch.
Optionally, in fish-eye image conversion method provided in an embodiment of the present invention, mapping block 502, including：
5th map unit, for according to preset formula, setting up the coordinate of the coordinate of pixel and panorama sketch in fish-eye image
Between mapping relations, wherein preset formula is：
X=fxx′+cx
Y=fyy′+cy
X, y for panorama sketch planar rectangular co-ordinate, fx, fy, cx, cyTo shoot the fish eye lens that fish-eye image is used
Intrinsic Matrix in parameter, wherein fx, fyFor camera focus, cx, cyThe original of coordinate system and world coordinate system for fish-eye image
The side-play amount of point, x ', y ' they are intermediate variable, wherein:
Hfov is the horizontal view angle of default panorama sketch, and Vfov is the vertical angle of view of default panorama sketch, and n is default complete
The width of scape figure, u, v is the planar rectangular co-ordinate in fish-eye image, and π is pi, and R is spin matrix, and t is translation vector, X,
Y, W, θ, xc, yc, λ,It is intermediate variable.
Optionally, in fish-eye image conversion method provided in an embodiment of the present invention, sampling module 503, specifically for：
Using image interpolation algorithm, the corresponding pixel of coordinate of spherical panoramic image of sampling from fish-eye image.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or deposit between operating
In any this actual relation or order.And, term " including ", "comprising" or its any other variant are intended to
Nonexcludability is included, so that a series of process, method, article or equipment including key elements not only will including those
Element, but also including other key elements being not expressly set out, or also include for this process, method, article or equipment
Intrinsic key element.In the absence of more restrictions, the key element for being limited by sentence "including a ...", it is not excluded that
Also there is other identical element in process, method, article or equipment including the key element.
Each embodiment in this specification is described by the way of correlation, identical similar portion between each embodiment
Divide mutually referring to what each embodiment was stressed is the difference with other embodiment.Especially for system reality
For applying example, because it is substantially similar to embodiment of the method, so description is fairly simple, related part is referring to embodiment of the method
Part explanation.
Presently preferred embodiments of the present invention is the foregoing is only, protection scope of the present invention is not intended to limit.It is all
Any modification, equivalent substitution and improvements made within the spirit and principles in the present invention etc., are all contained in protection scope of the present invention
It is interior.
Claims (12)
1. a kind of fish-eye image conversion method, it is characterised in that include：
Obtain fish-eye image to be converted；
By the Coordinate Conversion of each pixel in the fish-eye image into the coordinate in panorama sketch, and set up pixel in the fish-eye image
Mapping relations between the coordinate and the coordinate of the panorama sketch of point；
According to the mapping relations, the corresponding pixel of coordinate of the panorama sketch of sampling from the fish-eye image, by the flake
Figure is converted into panorama sketch.
2. method according to claim 1, it is characterised in that acquisition fish-eye image to be converted, including：Obtain and wait to turn
The binocular fish-eye image for changing, the binocular fish-eye image includes：Left eye fish-eye image and right eye fish-eye image；
Accordingly, the Coordinate Conversion by each pixel in the fish-eye image is into the coordinate in panorama sketch, and sets up described
Mapping relations in fish-eye image between the coordinate of the coordinate of pixel and the panorama sketch, including：
By the Coordinate Conversion of each pixel in the left eye fish-eye image into the coordinate in left eye panorama sketch, and set up the left eye
The first mapping relations in fish-eye image between the coordinate of the coordinate of pixel and the left eye panorama sketch；
By the Coordinate Conversion of each pixel in the right eye fish-eye image into the coordinate in right eye panoramic figure, and set up the right eye
The second mapping relations in fish-eye image between the coordinate of the coordinate of pixel and the right eye panoramic figure；
Accordingly, it is described according to the mapping relations, the corresponding pixel of coordinate of the panorama sketch of sampling from the fish-eye image,
The fish-eye image is converted into into panorama sketch, including：
According to first mapping relations, the corresponding picture of coordinate of the left eye panorama sketch of sampling from the left eye fish-eye image
Element, by the left eye fish-eye image left eye panorama sketch is converted into；
According to second mapping relations, the corresponding picture of coordinate of the right eye panoramic figure of sampling from the right eye fish-eye image
Element, by the right eye fish-eye image right eye panoramic figure is converted into.
3. method according to claim 2, it is characterised in that described according to the mapping relations, from the fish-eye image
Sample the corresponding pixel of coordinate of the panorama sketch, the fish-eye image is converted into after the panorama sketch, methods described is also wrapped
Include：
The left eye panorama sketch and the right eye panoramic figure are spliced, complete panorama sketch is constituted.
4. method according to claim 1, it is characterised in that the coordinate by each pixel in the fish-eye image turns
Change the coordinate in panorama sketch into, and set up the mapping in the fish-eye image between the coordinate of the coordinate of pixel and the panorama sketch
Relation, including：
Coordinate transformation by pixel in the fish-eye image is the coordinate of undistorted plan, and the undistorted plan is described
After fish-eye image correction, the plan that there is no distortion of composition；
By the coordinate that the coordinate transformation of the undistorted plan is Sphere Measurement Model；
Coordinate transformation by the Sphere Measurement Model is the coordinate of the spherical panoramic image；
Coordinate Conversion by pixel in the fish-eye image is the coordinate of the panorama sketch, sets up pixel in the fish-eye image
Coordinate and the coordinate of panorama sketch between mapping relations.
5. method according to claim 1, it is characterised in that the coordinate by each pixel in the fish-eye image turns
Change the coordinate in panorama sketch into, and set up the mapping in the fish-eye image between the coordinate of the coordinate of pixel and the panorama sketch
Relation, including：
According to preset formula, the mapping relations between the coordinate of pixel and the coordinate of panorama sketch in the fish-eye image are set up, its
Described in preset formula be：
X=fxx′+cx
Y=fyy′+cy
The x, the y are the planar rectangular co-ordinate of the panorama sketch, the fx, the fy, the cx, the cyTo shoot
Parameter in the fish-eye Intrinsic Matrix that the fish-eye image is used, wherein the fx, the fyFor camera focus, institute
State cx, the cyThe side-play amount of the origin of coordinate system and world coordinate system for the fish-eye image, the x ', the y ' are centre
Variable, wherein：
The Hfov is the horizontal view angle of the default panorama sketch, and the Vfov is vertically regarding for the default panorama sketch
Angle, the n is the width of the default panorama sketch, and the u, the v are the planar rectangular co-ordinate in fish-eye image, the π
For pi, the R is spin matrix, and the t is translation vector, the X, the Y, the W, the θ, the xc, it is described
yc, the λ is describedIt is intermediate variable.
6. method according to claim 1, it is characterised in that the seat of the panorama sketch of sampling from the fish-eye image
Corresponding pixel is marked, including：
Using image interpolation algorithm, the corresponding pixel of coordinate of the spherical panoramic image of sampling from the fish-eye image.
7. a kind of fish-eye image conversion equipment, it is characterised in that include：
Acquisition module, for obtaining fish-eye image to be converted；
Mapping block, into the coordinate in panorama sketch, and institute is set up for by the Coordinate Conversion of each pixel in the fish-eye image
State the mapping relations between the coordinate of the coordinate of pixel and the panorama sketch in fish-eye image；
Sampling module, for according to the mapping relations, the corresponding picture of coordinate of the panorama sketch of sampling from the fish-eye image
Element, by the fish-eye image panorama sketch is converted into.
8. device according to claim 7, it is characterised in that the acquisition module is additionally operable to：Obtain binocular to be converted
Fish-eye image, the binocular fish-eye image includes：Left eye fish-eye image and right eye fish-eye image；
Accordingly, the mapping block, is additionally operable to：
By the Coordinate Conversion of each pixel in the left eye fish-eye image into the coordinate in left eye panorama sketch, and set up the left eye
The first mapping relations in fish-eye image between the coordinate of the coordinate of pixel and the left eye panorama sketch；
By the Coordinate Conversion of each pixel in the right eye fish-eye image into the coordinate in right eye panoramic figure, and set up the right eye
The second mapping relations in fish-eye image between the coordinate of the coordinate of pixel and the right eye panoramic figure；
Accordingly, the sampling module, is additionally operable to：
According to first mapping relations, the corresponding picture of coordinate of the left eye panorama sketch of sampling from the left eye fish-eye image
Element, by the left eye fish-eye image left eye panorama sketch is converted into；
According to second mapping relations, the corresponding picture of coordinate of the right eye panoramic figure of sampling from the right eye fish-eye image
Element, by the right eye fish-eye image right eye panoramic figure is converted into.
9. device according to claim 8, it is characterised in that described device also includes：
Concatenation module, for the left eye panorama sketch and the right eye panoramic figure to be spliced, constitutes complete panorama sketch.
10. device according to claim 7, it is characterised in that the mapping block, including：
First map unit, it is described for by the coordinate that the coordinate transformation of pixel in the fish-eye image is undistorted plan
Undistorted plan is the plan that there is no distortion of composition after fish-eye image correction；
Second map unit, for by the coordinate transformation of the undistorted plan for Sphere Measurement Model coordinate；
3rd map unit, for by coordinate that the coordinate transformation of the Sphere Measurement Model is the spherical panoramic image；
4th map unit, for by the coordinate that the Coordinate Conversion of pixel in the fish-eye image is the panorama sketch, setting up
Mapping relations in the fish-eye image between the coordinate of pixel and the coordinate of panorama sketch.
11. devices according to claim 7, it is characterised in that the mapping block, including：
5th map unit, for according to preset formula, setting up the coordinate of the coordinate of pixel and panorama sketch in the fish-eye image
Between mapping relations, wherein the preset formula is：
X=fxx′+cx
Y=fyy′+cy
The x, the y are the planar rectangular co-ordinate of the panorama sketch, the fx, the fy, the cx, the cyTo shoot
Parameter in the fish-eye Intrinsic Matrix that the fish-eye image is used, wherein the fx, the fyFor camera focus, institute
State cx, the cyThe side-play amount of the origin of coordinate system and world coordinate system for the fish-eye image, the x ', the y ' are centre
Variable, wherein:
The Hfov is the horizontal view angle of the default panorama sketch, and the Vfov is vertically regarding for the default panorama sketch
Angle, the n is the width of the panorama sketch, and the u, the v are the planar rectangular co-ordinate in fish-eye image, and the π is circumference
Rate, the R be spin matrix, the t be translation vector, the X, the Y, the W, the θ, the xc, the yc, it is described
λ, it is describedIt is intermediate variable.
12. devices according to claim 7, it is characterised in that
The sampling module, specifically for：
Using image interpolation algorithm, the corresponding pixel of coordinate of the spherical panoramic image of sampling from the fish-eye image.
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