CN106651808B - Fisheye diagram conversion method and device - Google Patents

Fisheye diagram conversion method and device Download PDF

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CN106651808B
CN106651808B CN201611250059.1A CN201611250059A CN106651808B CN 106651808 B CN106651808 B CN 106651808B CN 201611250059 A CN201611250059 A CN 201611250059A CN 106651808 B CN106651808 B CN 106651808B
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诸加丹
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Beijing IQIYI Science and Technology Co Ltd
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Abstract

The embodiment of the invention provides a fish eye pattern conversion method and a fish eye pattern conversion device, wherein the method comprises the steps of obtaining a fish eye pattern to be converted; converting the coordinates of each pixel in the fisheye diagram into coordinates in a panoramic diagram, and establishing a mapping relation between the coordinates of pixel points in the fisheye diagram and the coordinates of the panoramic diagram; sampling pixels corresponding to the coordinates of the panoramic image from the fisheye image according to the mapping relation, and converting the fisheye image into the panoramic image; the fisheye diagram does not need to be corrected into an undistorted plane diagram and then converted into a panoramic diagram, so that intermediate steps and links are reduced, the conversion efficiency is improved, and the real-time conversion of the fisheye diagram obtained in real time can be realized.

Description

Fisheye diagram conversion method and device
Technical Field
The invention relates to the technical field of image processing, in particular to a fish eye diagram conversion method and device.
Background
In recent years, with the rapid development of VR (Virtual Reality), various hardware and software applied to VR have been developed, wherein panoramic video VR becomes a hotspot of technical research and development and product content innovation, and is widely applied to many fields such as Virtual cinema, panoramic games, panoramic education, panoramic medical treatment, panoramic tourism, and the like, and has a wide prospect and a huge economic value.
Currently, many image capturing apparatuses can capture only a small angle of view, generally less than 120 °, when capturing a panoramic image. However, in many cases, a panoramic image having a larger angle of view is required to be photographed, and thus photographing using a fisheye lens or a device is required.
However, when shooting is performed by using a fisheye lens or a device, a shot fisheye pattern is severely distorted, so how to convert the severely distorted fisheye pattern into a panorama which can be used in a VR panoramic video becomes an important research direction in the VR field.
In the prior art, when the fisheye pattern is converted, the fisheye pattern needs to be corrected into an undistorted plane view, and the undistorted plane view needs to be converted into a panoramic view. In the process, the fish eye pattern needs to undergo two conversion processes, so that the conversion efficiency is low, and the fish eye pattern cannot be converted in real time.
Disclosure of Invention
The embodiment of the invention aims to provide a fish-eye pattern conversion method and a fish-eye pattern conversion device, which are used for directly converting a fish-eye pattern into a panoramic image without converting the panoramic image into an undistorted plan view. The conversion efficiency is improved, and the fish eye diagram can be converted in real time. The specific technical scheme is as follows:
the embodiment of the invention discloses a fish eye diagram conversion method, which comprises the following steps:
obtaining a fisheye diagram to be converted;
converting the coordinates of each pixel in the fisheye diagram into coordinates in a panoramic diagram, and establishing a mapping relation between the coordinates of pixel points in the fisheye diagram and the coordinates of the panoramic diagram;
and sampling pixels corresponding to the coordinates of the panoramic image from the fisheye image according to the mapping relation, and converting the fisheye image into the panoramic image.
Optionally, the obtaining a fisheye diagram to be converted includes: obtaining a binocular fisheye pattern to be converted, wherein the binocular fisheye pattern comprises: a left eye fisheye pattern and a right eye fisheye pattern;
correspondingly, the converting the coordinates of each pixel in the fish-eye diagram into the coordinates in the panoramic diagram, and establishing a mapping relationship between the coordinates of the pixel points in the fish-eye diagram and the coordinates of the panoramic diagram includes:
converting the coordinates of each pixel in the left-eye fisheye image into coordinates in a left-eye panoramic image, and establishing a first mapping relation between the coordinates of pixel points in the left-eye fisheye image and the coordinates of the left-eye panoramic image;
converting the coordinates of each pixel in the right-eye fisheye diagram into coordinates in a right-eye panoramic diagram, and establishing a second mapping relation between the coordinates of the pixel points in the right-eye fisheye diagram and the coordinates of the right-eye panoramic diagram;
correspondingly, the sampling pixels corresponding to the coordinates of the panoramic image from the fisheye image according to the mapping relationship, and converting the fisheye image into the panoramic image includes:
sampling pixels corresponding to the coordinates of the left eye panoramic image from the left eye fisheye image according to the first mapping relation, and converting the left eye fisheye image into a left eye panoramic image;
and sampling pixels corresponding to the coordinates of the right-eye panoramic image from the right-eye fisheye image according to the second mapping relation, and converting the right-eye fisheye image into the right-eye panoramic image.
Optionally, after sampling pixels corresponding to the coordinates of the panoramic image from the fish-eye image according to the mapping relationship and converting the fish-eye image into the panoramic image, the method further includes:
and splicing the left-eye panoramic image and the right-eye panoramic image to form a complete panoramic image.
Optionally, the converting the coordinates of each pixel in the fish-eye diagram into coordinates in a panoramic view, and establishing a mapping relationship between the coordinates of the pixel points in the fish-eye diagram and the coordinates of the panoramic view includes:
converting the coordinates of the pixel points in the fisheye diagram into coordinates of an undistorted plane diagram, wherein the undistorted plane diagram is a plane diagram without distortion formed after the fisheye diagram is corrected;
converting the coordinates of the undistorted plan map into the coordinates of a spherical model;
converting the coordinates of the spherical model into the coordinates of the spherical panorama;
and converting the coordinates of the pixel points in the fisheye pattern into the coordinates of the panoramic image, and establishing a mapping relation between the coordinates of the pixel points in the fisheye pattern and the coordinates of the panoramic image.
Optionally, the converting the coordinates of each pixel in the fish-eye diagram into coordinates in a panoramic view, and establishing a mapping relationship between the coordinates of the pixel points in the fish-eye diagram and the coordinates of the panoramic view includes:
according to a preset formula, establishing a mapping relation between coordinates of pixel points in the fisheye pattern and coordinates of the panoramic image, wherein the preset formula is as follows:
x＝fxx′+cx
y＝fyy′+cy
x, y are the planar two-dimensional rectangular coordinates of the panorama, fxSaid fyC to c ofxC to c ofyParameters in an internal parameter matrix of a fisheye lens used for taking the fisheye pattern, wherein fxSaid fyIs the focal length of the camera, cxC to c ofyAn offset of an origin of a coordinate system of the fisheye diagram and a world coordinate system, the x ', the y' being an intermediate variable, wherein:
Figure BDA0001197856930000031
Figure BDA0001197856930000032
Figure BDA0001197856930000033
Figure BDA0001197856930000034
Figure BDA0001197856930000035
Figure BDA0001197856930000036
Figure BDA0001197856930000037
Figure BDA0001197856930000041
the Hfav is a preset horizontal view angle of the panoramic image, the Vfav is a preset vertical view angle of the panoramic image, and the n is a preset width of the panoramic image, the u, theV is a two-dimensional rectangular coordinate of a plane in the fish eye diagram, pi is a circumferential rate, R is a rotation matrix, t is a translation vector, X, Y, W, theta, XcSaid y iscSaid λ, said
Figure BDA0001197856930000042
Are all intermediate variables.
Optionally, the sampling, from the fish-eye diagram, pixels corresponding to coordinates of the panoramic view includes:
and sampling pixels corresponding to the coordinates of the spherical panorama from the fisheye diagram by using an image interpolation algorithm.
The embodiment of the invention also discloses a fish eye diagram conversion device, which comprises:
the acquisition module is used for acquiring a fisheye pattern to be converted;
the mapping module is used for converting the coordinates of each pixel in the fisheye diagram into the coordinates in the panoramic diagram and establishing the mapping relation between the coordinates of the pixel points in the fisheye diagram and the coordinates of the panoramic diagram;
and the sampling module is used for sampling pixels corresponding to the coordinates of the panoramic image from the fisheye image according to the mapping relation and converting the fisheye image into the panoramic image.
Optionally, the obtaining module is further configured to: obtaining a binocular fisheye pattern to be converted, wherein the binocular fisheye pattern comprises: a left eye fisheye pattern and a right eye fisheye pattern;
correspondingly, the mapping module is further configured to:
converting the coordinates of each pixel in the left-eye fisheye image into coordinates in a left-eye panoramic image, and establishing a first mapping relation between the coordinates of pixel points in the left-eye fisheye image and the coordinates of the left-eye panoramic image;
converting the coordinates of each pixel in the right-eye fisheye diagram into coordinates in a right-eye panoramic diagram, and establishing a second mapping relation between the coordinates of the pixel points in the right-eye fisheye diagram and the coordinates of the right-eye panoramic diagram;
correspondingly, the sampling module is further configured to:
sampling pixels corresponding to the coordinates of the left eye panoramic image from the left eye fisheye image according to the first mapping relation, and converting the left eye fisheye image into a left eye panoramic image;
and sampling pixels corresponding to the coordinates of the right-eye panoramic image from the right-eye fisheye image according to the second mapping relation, and converting the right-eye fisheye image into the right-eye panoramic image.
Optionally, the apparatus further comprises:
and the splicing module is used for splicing the left-eye panoramic image and the right-eye panoramic image to form a complete panoramic image.
Optionally, the mapping module includes:
the first mapping unit is used for converting the coordinates of the pixel points in the fisheye diagram into the coordinates of an undistorted plane diagram, and the undistorted plane diagram is a plane diagram which is formed after the fisheye diagram is corrected and has no distortion;
the second mapping unit is used for converting the coordinates of the undistorted plane graph into the coordinates of a spherical model;
the third mapping unit is used for converting the coordinates of the spherical model into the coordinates of the spherical panorama;
and the fourth mapping unit is used for converting the coordinates of the pixel points in the fisheye diagram into the coordinates of the panoramic diagram and establishing the mapping relation between the coordinates of the pixel points in the fisheye diagram and the coordinates of the panoramic diagram.
Optionally, the mapping module includes:
a fifth mapping unit, configured to establish a mapping relationship between coordinates of a pixel point in the fisheye diagram and coordinates of the panorama according to a preset formula, where the preset formula is:
x＝fxx′+cx
y＝fyy′+cy
x, y are the planar two-dimensional rectangular coordinates of the panorama, fxSaid fyC to c ofxC to c ofyParameters in an internal parameter matrix of a fisheye lens used for taking the fisheye pattern, wherein fxSaid fyIs the focal length of the camera, cxC to c ofyAn offset of an origin of a coordinate system of the fisheye diagram and a world coordinate system, the x ', the y' being an intermediate variable, wherein:
Figure BDA0001197856930000051
Figure BDA0001197856930000061
Figure BDA0001197856930000062
Figure BDA0001197856930000063
Figure BDA0001197856930000064
Figure BDA0001197856930000065
Figure BDA0001197856930000066
Figure BDA0001197856930000067
the Hfav is a preset horizontal view angle of the panoramic image, the Vfav is a preset vertical view angle of the panoramic image, the n is the width of the panoramic image, the u, the v are planar two-dimensional rectangular coordinates in the fish-eye image, the pi is a circumferential rate, the R is a rotation matrix, the t is a translation vector, the X, the Y, the W, the theta, the X are translation vectors, the Y is a linear coordinate, the V is a planar two-dimensional rectangular coordinate, the Z is a circular coordinate, the R is a rotation matrix, the T is a translation vectorcWhat is, what isY iscSaid λ, said
Figure BDA0001197856930000068
Are all intermediate variables.
Optionally, the sampling module is specifically configured to:
and sampling pixels corresponding to the coordinates of the spherical panorama from the fisheye diagram by using an image interpolation algorithm.
The fisheye pattern conversion method and the fisheye pattern conversion device provided by the embodiment of the invention can establish the corresponding relation between the coordinates of the pixels in the fisheye pattern and the coordinates in the spherical panoramic image, so that the pixels are directly sampled from the fisheye pattern to form the spherical panoramic image. So that the distorted fish eye pattern can be converted into a panorama which can be used in the VR panoramic video. The panoramic image is directly sampled from the original fish-eye image, so that the conversion accuracy is ensured, and the conversion efficiency and the conversion speed are improved, thereby realizing the real-time conversion of the fish-eye image. Of course, it is not necessary for any product or method of practicing the invention to achieve all of the above-described advantages at the same time.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flowchart of a fish eye diagram conversion method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of transformation of undistorted plan view coordinates into spherical model coordinates according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a spherical model provided in an embodiment of the present invention;
FIG. 4 is a perspective view of a panoramic illustration provided by an embodiment of the present invention;
fig. 5 is a structural diagram of a fish eye diagram conversion device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a flowchart of a fish eye diagram conversion method provided by an embodiment of the present invention, including:
step 101, obtaining a fisheye diagram to be converted.
An image taken using a fisheye lens, which is a lens having a focal length of 16mm or less and a viewing angle close to or equal to 180 °, may be referred to as a fisheye diagram. It is an extreme wide-angle lens, and the "fish-eye lens" is its common name.
The fisheye lens belongs to a special lens in an ultra-wide angle lens, and the visual angle of the fisheye lens is required to reach or exceed the range which can be seen by human eyes. Therefore, the fisheye lens is very different from the real world scene in human eyes, because the scene seen in real life is in a regular fixed form, and the picture effect generated by the fisheye lens is beyond the scope.
Due to the inherent properties of the fisheye lens, images shot by the fisheye lens are seriously distorted, and the fisheye image with the serious distortion cannot be directly used for making VR panoramic videos and must be converted into panoramas. The panorama refers to an image map that can record and present a full angle view, for example, a panorama in Equirectangular projection format commonly used in the VR field. The Equirectangular panorama can cover a horizontal viewing angle of 360 degrees and a vertical viewing angle of 180 degrees, thereby forming a picture of the whole scene surrounding a circle.
However, since the fisheye pattern generated by using the fisheye lens can only cover 180-degree images, the view angle of the converted panoramic image can only cover 180-degree horizontal view angle and 180-degree vertical view angle, so that a picture surrounding the whole scene in a half-circle is formed
The acquisition of the fisheye pattern to be converted may be a fisheye pattern already existing by manual input of an operator, or may be a fisheye pattern directly acquired by real-time shooting.
And 102, converting the coordinates of each pixel in the fish eye pattern into the coordinates in the panoramic image, and establishing a mapping relation between the coordinates of the pixel points in the fish eye pattern and the coordinates of the panoramic image.
The fisheye diagram is a two-dimensional plan view, and although the plan view has severe distortion, each pixel constituting the image has a fixed coordinate position in the fisheye diagram.
The coordinates of each pixel in the fisheye diagram can be converted into plane two-dimensional coordinates in a panoramic image which can be directly used for generating the VR panoramic video through coordinate conversion.
The coordinate conversion method can be realized by converting the coordinates in the fish eye diagram into the coordinates of the distortion-free plane diagram, then converting the coordinates of the spherical model into the coordinates of the spherical model, and finally converting the coordinates of the spherical model into the coordinates of the panoramic image, or can be realized by directly converting the coordinates by using a preset formula provided by the embodiment of the invention and inputting the coordinates in the fish eye diagram, so that the corresponding coordinates in the panoramic image can be obtained. The spherical model can be converted with the panoramic image, and is a model formed by converting two-dimensional plane coordinates of the panoramic image into polar coordinates. The distortion-free plan view is a plan view of an image obtained after the fisheye diagram is corrected and has no distortion.
After the conversion of the coordinates is completed, the coordinates of the pixels in each fish eye diagram correspond to the coordinates in one panoramic diagram, so that the mapping relation between the coordinates of the pixels in the fish eye diagrams and the coordinates of the panoramic diagram can be established.
And 103, sampling pixels corresponding to the coordinates of the panoramic image from the fisheye image according to the mapping relation, and converting the fisheye image into the panoramic image.
According to the established mapping relationship, pixels can be sampled from the fish-eye diagram according to the coordinates in the panoramic image. Each coordinate in the panorama can be sampled by obtaining the pixel represented by the corresponding coordinate in the fish-eye diagram. After all the coordinates of the panorama are sampled, the panorama which is converted from the fish eye diagram and contains pixels can be obtained. Such a panorama can be directly used to make a VR panoramic video.
In the embodiment of the invention, the coordinates of the fish-eye pattern are converted into the coordinates of the panoramic image, the mapping relation of the coordinates is established, and the pixels are sampled from the fish-eye pattern according to the mapping relation, so that the panoramic image is formed, and the conversion of the fish-eye pattern into the panoramic image is realized. Therefore, the fisheye pattern does not need to be corrected into an undistorted plane image and then converted into a panoramic image. The intermediate steps and links are reduced, and the conversion efficiency is improved, so that the fish eye pattern obtained in real time can be converted in real time.
Optionally, in the fish eye diagram conversion method provided by the embodiment of the present invention, obtaining a fish eye diagram to be converted includes: obtaining a binocular fisheye pattern to be converted, wherein the binocular fisheye pattern comprises: a fisheye pattern for the left eye and a fisheye pattern for the right eye.
In practical applications, a binocular camera is usually used to capture images of a scene. The binocular camera performs shooting using two fisheye lenses, so that two fisheye patterns shot by the two fisheye lenses can be obtained, which are called binocular fisheye patterns. The binocular fisheye pattern may include a left eye fisheye pattern and a right eye fisheye pattern.
Correspondingly, the method for converting the coordinates of each pixel in the fish-eye pattern into the coordinates in the panoramic pattern and establishing the mapping relation between the coordinates of the pixel points in the fish-eye pattern and the coordinates of the panoramic pattern comprises the following steps:
and converting the coordinates of each pixel in the left-eye fisheye image into the coordinates in the left-eye panoramic image, and establishing a first mapping relation between the coordinates of the pixel points in the left-eye fisheye image and the coordinates of the left-eye panoramic image.
And converting the coordinates of each pixel in the right-eye fisheye diagram into the coordinates in the right-eye panoramic diagram, and establishing a second mapping relation between the coordinates of the pixel points in the right-eye fisheye diagram and the coordinates of the right-eye panoramic diagram.
According to the method for converting the fisheye pattern into the panoramic image, the coordinates of each pixel in the fisheye pattern of the left eye and the fisheye pattern of the right eye are respectively converted into the two-dimensional plane coordinates of the panoramic image of the left eye and the panoramic image of the right eye, and a first mapping relation between the coordinates of the pixel points in the fisheye pattern of the left eye and the coordinates of the panoramic image of the left eye and a second mapping relation between the coordinates of the pixel points in the fisheye pattern of the right eye and the coordinates of the panoramic image of the right eye are respectively established.
Correspondingly, sampling pixels corresponding to the coordinates of the panoramic image from the fish-eye image according to the mapping relation, and converting the fish-eye image into the panoramic image, wherein the method comprises the following steps:
and sampling pixels corresponding to the coordinates of the left-eye panoramic image from the left-eye fisheye image according to the first mapping relation, and converting the left-eye fisheye image into the left-eye panoramic image.
And sampling pixels corresponding to the coordinates of the right-eye panoramic image from the right-eye fisheye image according to the second mapping relation, and converting the right-eye fisheye image into the right-eye panoramic image.
Similarly, in the same way as the method for converting the fisheye image into the panorama, the pixels are sampled from the left-eye fisheye image and the right-eye fisheye image according to the coordinates in the left-eye panorama and the right-eye panorama respectively through the first mapping relation and the second mapping relation, so that the left-eye panorama and the right-eye panorama containing the pixels are respectively formed. The conversion of the left eye fisheye diagram and the right eye fisheye diagram into the left eye panoramic image and the right eye panoramic image which can be directly used for the VR panoramic video is realized.
In the embodiment of the invention, not only can a single fisheye image be converted, but also binocular fisheye images obtained by a binocular camera can be converted, so that the application range of the embodiment of the invention is expanded.
Optionally, in the fish-eye diagram conversion method provided in the embodiment of the present invention, according to the mapping relationship, pixels corresponding to coordinates of the panoramic image are sampled from the fish-eye diagram, and after the fish-eye diagram is converted into the panoramic image, the method further includes:
and splicing the left-eye panoramic image and the right-eye panoramic image to form a complete panoramic image.
When the binocular fisheye images are converted, two panoramas are finally obtained, namely a left-eye panorama and a right-eye panorama. Two panoramic pictures need to be spliced to form a complete panoramic picture. The splicing can be performed up and down or left and right.
In particular, there are many mature methods for image stitching in the prior art. The selection can be flexibly performed according to the needs, and the details are not repeated herein.
In the embodiment of the invention, the left-eye panoramic image and the right-eye panoramic image which are respectively converted from the left-eye fisheye image and the right-eye fisheye image are spliced, so that a more complete panoramic image is obtained, the use of the panoramic image is facilitated, and the user experience of a user in watching a VR panoramic video formed by the panoramic image or the panoramic image is improved.
Optionally, in the fish-eye diagram conversion method provided in the embodiment of the present invention, the converting the coordinates of each pixel in the fish-eye diagram into the coordinates in the panoramic diagram, and establishing a mapping relationship between the coordinates of the pixel points in the fish-eye diagram and the coordinates of the panoramic diagram includes:
the method comprises the following steps of firstly, converting coordinates of pixel points in a fisheye diagram into coordinates of an undistorted plane diagram, wherein the undistorted plane diagram is a plane diagram without distortion formed after the fisheye diagram is corrected.
Fisheye lens for taking fisheye images with a fixed internal parameter matrix
Figure BDA0001197856930000101
And distortion parameters (k1, k2, k3, k4), wherein fx，fyIs the focal length of the camera, cx，cyIs the offset of the coordinate system of the fish eye diagram and the origin of the world coordinate system. These parameters are inherent to the fisheye lens and are determined when the fisheye lens is produced, and there are many in the prior art that can be usedThe method for obtaining these parameters is not described in detail.
The camera or the camera using the fisheye lens further has an external parameter matrix including a rotation matrix R and a translation vector t, which are parameters inherent to the camera or the camera and are used for describing a transformation relation between coordinates in a world coordinate system and coordinates in the camera or the camera coordinate system. Specifically, the coordinate transformation relationship between the world coordinate system and the coordinate transformation relationship between the camera coordinate system and the camera coordinate system can be described by a formula one, wherein the formula one is as follows:
Figure BDA0001197856930000111
wherein, (X, Y, Z) is a coordinate in a world coordinate system, (X, Y, Z) is a coordinate in a camera coordinate system, R is a rotation matrix, and t is a translation vector. The rotation matrix R and the translation vector t are intrinsic parameters of the video camera or the still camera, and can be directly obtained by using the prior art, and the specific obtaining method is not described herein again.
The coordinates of the pixel points in the fisheye diagram can be converted into coordinates of an undistorted plane diagram through a second formula, wherein the second formula comprises:
u＝fxx″+cx
v＝fyy″+cy
in the second formula, u and v are coordinates of the undistorted plan view, and fx，fy，cx，cyParameters in an internal parameter matrix of a fisheye lens for use in taking fisheye images, wherein fx，fyIs the focal length of the camera, cx，cyX ", y" is the offset of the origin of the coordinate system of the fish eye diagram and the world coordinate system, where:
Figure BDA0001197856930000112
Figure BDA0001197856930000113
Figure BDA0001197856930000121
in the above formula, (x, y, z) is a coordinate in the camera coordinate system, (k1, k2, k3, k4) is a distortion parameter of a fisheye lens used for photographing a fisheye pattern, and θ is an intermediate variable.
It should be noted that in the prior art, a fish-eye diagram needs to be converted into an undistorted plan view, and the steps in the embodiment of the present invention are only to perform coordinate conversion, and do not need to convert the fish-eye diagram into the undistorted plan view.
And secondly, converting the coordinates of the undistorted plane graph into the coordinates of the spherical model.
The spherical model can be regarded as that the camera or the camera is positioned at the center of a sphere and shoots a 360-degree horizontal view angle and a 180-degree vertical view angle, so that images of all the scenes around can be obtained. However, in the embodiment of the present invention, the image is not converted into the spherical model, but only the coordinates of the image are converted, so the spherical model in the embodiment of the present invention may be a logically virtual spherical model.
Since the fisheye image covers 180 degrees of horizontal viewing angle, the spherical model has only a half sphere.
Referring to fig. 2, fig. 2 is a schematic diagram of converting the coordinates of the undistorted plan view provided by the embodiment of the present invention into the coordinates of the spherical model.
The coordinates of the undistorted plan view 202 may be converted into the coordinates of the spherical model 201 by formula three, where formula three includes:
Figure BDA0001197856930000122
Figure BDA0001197856930000123
Figure BDA0001197856930000124
where λ represents the longitude in the coordinates of the spherical model 201, Φ represents the latitude in the coordinates of the spherical model 201, u, v are the planar two-dimensional rectangular coordinates of the undistorted plan view 202, r represents the radius of the spherical model, and n' represents the width of the undistorted plan view 202, i.e., the maximum value of the coordinates u.
And thirdly, converting the coordinates of the spherical model into the coordinates of the panoramic image.
Referring to fig. 3, fig. 3 is a schematic view of a spherical model provided in the embodiment of the present invention. Wherein, the point q is any point on the surface of the spherical model, λ represents longitude in the coordinate of the spherical model, and Φ represents latitude in the coordinate of the spherical model.
Referring to fig. 4, fig. 4 is a perspective view of an embodiment of the present invention. Wherein m is the height of the panorama and n is the width of the panorama. Each coordinate in the panorama corresponds to a pixel.
The coordinates of the spherical model and the coordinates of the panorama can be converted into each other through a formula four, wherein the formula four is as follows:
Figure BDA0001197856930000131
Figure BDA0001197856930000132
n＝πr
wherein, x and y are planar two-dimensional rectangular coordinates of pixels in the panoramic image, m is the height of the panoramic image, n is the width of the panoramic image, λ represents longitude in coordinates of the spherical model, φ represents latitude in coordinates of the spherical model, π is the circumference ratio, r represents the radius of the spherical model, and m can be set artificially according to the height of the panoramic image required.
And fourthly, converting the coordinates of the pixel points in the fish eye pattern into the coordinates of the panoramic image, and establishing a mapping relation between the coordinates of the pixel points in the fish eye pattern and the coordinates of the spherical panoramic image.
According to the formulas I to V, the coordinates of the pixel points in the fisheye diagram can be converted into the coordinates of the panoramic diagram step by step, and the mapping relation between the coordinates of the pixel points in the fisheye diagram and the coordinates of the spherical panoramic diagram is established.
When the fisheye pattern to be converted is a binocular fisheye pattern, an internal parameter matrix and distortion parameters of a fisheye lens for shooting the left-eye fisheye pattern and the right-eye fisheye pattern are required to be obtained respectively, a rotation matrix and a translation vector are obtained respectively so as to convert coordinates, a first mapping relation between coordinates of pixel points in the left-eye fisheye pattern and coordinates of the left-eye panoramic image is established, and a second mapping relation between coordinates of pixel points in the right-eye fisheye pattern and coordinates of the right-eye panoramic image is established.
In the embodiment of the present invention, by performing coordinate transformation in steps, specific parameters of each step can be adjusted as needed during coordinate transformation, and diversified results can be obtained, for example, after transforming coordinates of a fish eye diagram into coordinates of a spherical model, the spherical model can be compressed or amplified according to characteristics of the coordinates of the spherical model, so that compression or amplification of the fish eye diagram can be realized while transforming the fish eye diagram, specifically, compression or amplification of the spherical model can be performed according to characteristics of the coordinates of the spherical model, and the existing methods for compressing or amplifying various patterns can be realized, which is not described herein again.
Optionally, in the fish-eye diagram conversion method provided in the embodiment of the present invention, the converting the coordinates of each pixel in the fish-eye diagram into the coordinates in the panoramic diagram, and establishing a mapping relationship between the coordinates of the pixel points in the fish-eye diagram and the coordinates of the panoramic diagram includes:
according to a preset formula, establishing a mapping relation between coordinates of pixel points in the fish eye pattern and coordinates of the panoramic image, wherein the preset formula is as follows:
x＝fxx′+cx
y＝fyy′+cy
x, y are the planar two-dimensional rectangular coordinates of the panorama, fx，fy，cx，cyInternal reference of fisheye lens for shooting fisheye patternParameters in a number matrix, where fx，fyIs the focal length of the camera, cx，cyIs the offset of the coordinate system of the fish eye diagram and the origin of the world coordinate system, x ', y' are intermediate variables, where:
Figure BDA0001197856930000141
Figure BDA0001197856930000142
Figure BDA0001197856930000151
Figure BDA0001197856930000152
Figure BDA0001197856930000153
Figure BDA0001197856930000154
Figure BDA0001197856930000155
Figure BDA0001197856930000156
in the above formula, Hfov is a horizontal viewing angle of a preset panoramic view, Vfov is a vertical viewing angle of the preset panoramic view, Hfov and Vfov are intrinsic parameters of a camera used for shooting a fish-eye view, n is a width of the panoramic view, u, v are planar two-dimensional rectangular coordinates in the fish-eye view, pi is a circumferential ratio, R is a rotation matrix, t is a translation vector, X, Y, W, θ, X arec，yc，λ，
Figure BDA0001197856930000159
Are all intermediate variables.
The coordinates of each pixel in the fish-eye pattern can be directly converted into the coordinates in the panoramic image through a preset formula, and the mapping relation between the coordinates of the pixel points in the fish-eye pattern and the coordinates of the panoramic image is established. Inputting the coordinates in the fish eye diagram can obtain the corresponding coordinates in the panoramic image.
When the binocular fisheye diagram is converted, it is necessary to obtain an internal parameter matrix and distortion parameters of a fisheye lens for shooting a left-eye fisheye diagram and a right-eye fisheye diagram respectively, and obtain a rotation matrix and a translation vector respectively so as to convert coordinates, for example, the rotation matrix and the translation vector of the left-eye fisheye diagram are
Figure BDA0001197856930000157
The rotation matrix and translation vector of the right-eye fish eye diagram are R3x3,
Figure BDA0001197856930000158
where R3x3 indicates that R is a 3x3 matrix representing the rotation of the image coordinates of the two cameras or lenses.
Figure BDA0001197856930000161
The parameters, specifically, the R3x3 matrix and tx, ty, tz, of the translation relationship of the corresponding image coordinates of the two cameras or lenses are directly obtained after the shooting positions of the two cameras or lenses and the models of the cameras or lenses are determined, and the obtaining method belongs to the prior art and is not described herein again.
In the embodiment of the invention, the transformation of the coordinates is carried out through a preset formula. The conversion of coordinates can be rapidly and accurately carried out, so that the requirement for carrying out real-time conversion on the fisheye diagram can be met.
Optionally, in the fish-eye diagram conversion method provided in the embodiment of the present invention, sampling pixels corresponding to coordinates of the spherical panorama from the fish-eye diagram includes:
and sampling pixels corresponding to the coordinates of the spherical panorama from the fisheye image by using an image interpolation algorithm.
In the process of pixel sampling, an image interpolation algorithm may be used to perform sampling to obtain a final panoramic image. The image interpolation algorithm is a graphic processing technology for beautifying images and improving image quality, and comprises a plurality of interpolation algorithms such as a bilinear interpolation algorithm and a template interpolation algorithm. The image interpolation algorithm generates the gray value and the color value of an unknown pixel point by utilizing the gray value and the color value of a known adjacent pixel point. For the embodiment of the invention, after the coordinate mapping relation of the panoramic image is obtained, the gray values and the color values of all the pixels can be obtained by utilizing an image interpolation algorithm, so that the panoramic image is obtained.
Specifically, various image interpolation algorithms belong to the prior art, and are not described herein again.
Referring to fig. 5, fig. 5 is a structural diagram of a fish eye diagram conversion apparatus provided in an embodiment of the present invention, including:
an obtaining module 501, configured to obtain a fisheye diagram to be converted;
the mapping module 502 is configured to convert coordinates of each pixel in the fisheye diagram into coordinates in the panoramic diagram, and establish a mapping relationship between the coordinates of the pixel in the fisheye diagram and the coordinates of the panoramic diagram;
and the sampling module 503 is configured to sample pixels corresponding to the coordinates of the panoramic image from the fisheye image according to the mapping relationship, and convert the fisheye image into the panoramic image.
In the embodiment of the invention, the coordinates of the fish-eye pattern are converted into the coordinates of the panoramic image, the mapping relation of the coordinates is established, and the pixels are sampled from the fish-eye pattern according to the mapping relation, so that the panoramic image is formed, and the conversion of the fish-eye pattern into the panoramic image is realized. Therefore, the fisheye pattern does not need to be corrected into an undistorted plane image and then converted into a panoramic image. The intermediate steps and links are reduced, and the conversion efficiency is improved, so that the fish eye pattern obtained in real time can be converted in real time.
The device of the embodiment of the invention is a device applying the fisheye pattern conversion method, so that all embodiments of the fisheye pattern conversion method are suitable for the device and can achieve the same or similar beneficial effects.
Optionally, in the fish eye diagram conversion method provided in the embodiment of the present invention, the obtaining module 501 is further configured to: obtaining a binocular fisheye pattern to be converted, wherein the binocular fisheye pattern comprises: a left eye fisheye pattern and a right eye fisheye pattern;
accordingly, the mapping module 502 is further configured to:
converting the coordinates of each pixel in the left-eye fisheye image into coordinates in the left-eye panoramic image, and establishing a first mapping relation between the coordinates of pixel points in the left-eye fisheye image and the coordinates of the left-eye panoramic image;
converting the coordinates of each pixel in the right-eye fisheye diagram into coordinates in the right-eye panoramic diagram, and establishing a second mapping relation between the coordinates of the pixel points in the right-eye fisheye diagram and the coordinates of the right-eye panoramic diagram;
accordingly, the sampling module 503 is further configured to:
sampling pixels corresponding to the coordinates of the left eye panoramic image from the left eye fisheye image according to the first mapping relation, and converting the left eye fisheye image into the left eye panoramic image;
and sampling pixels corresponding to the coordinates of the right-eye panoramic image from the right-eye fisheye image according to the second mapping relation, and converting the right-eye fisheye image into the right-eye panoramic image.
Optionally, in the fish eye diagram conversion method provided in the embodiment of the present invention, the apparatus further includes:
and the splicing module is used for splicing the left-eye panoramic image and the right-eye panoramic image to form a complete panoramic image.
Optionally, in the fish eye diagram conversion method provided in the embodiment of the present invention, the mapping module 502 includes:
the first mapping unit is used for converting the coordinates of the pixel points in the fisheye diagram into the coordinates of an undistorted plane diagram, and the undistorted plane diagram is a plane diagram which is formed after the fisheye diagram is corrected and has no distortion;
the second mapping unit is used for converting the coordinates of the undistorted plane graph into the coordinates of the spherical model;
the third mapping unit is used for converting the coordinates of the spherical model into the coordinates of the spherical panorama;
and the fourth mapping unit is used for converting the coordinates of the pixel points in the fish eye pattern into the coordinates of the panoramic image and establishing the mapping relation between the coordinates of the pixel points in the fish eye pattern and the coordinates of the panoramic image.
Optionally, in the fish eye diagram conversion method provided in the embodiment of the present invention, the mapping module 502 includes:
the fifth mapping unit is used for establishing a mapping relation between the coordinates of the pixel points in the fisheye diagram and the coordinates of the panoramic image according to a preset formula, wherein the preset formula is as follows:
x＝fxx′+cx
y＝fyy′+cy
x, y are the planar two-dimensional rectangular coordinates of the panorama, fx，fy，cx，cyParameters in an internal parameter matrix of a fisheye lens for use in taking fisheye images, wherein fx，fyIs the focal length of the camera, cx，cyIs the offset of the coordinate system of the fish eye diagram and the origin of the world coordinate system, x ', y' are intermediate variables, where:
Figure BDA0001197856930000181
Figure BDA0001197856930000182
Figure BDA0001197856930000183
Figure BDA0001197856930000184
Figure BDA0001197856930000185
Figure BDA0001197856930000186
Figure BDA0001197856930000187
Figure BDA0001197856930000188
hfav is the horizontal visual angle of the preset panoramic view, Vfav is the vertical visual angle of the preset panoramic view, n is the width of the preset panoramic view, u, v are the planar two-dimensional rectangular coordinates in the fisheye diagram, pi is the circumferential rate, R is the rotation matrix, t is the translation vector, X, Y, W, theta, Xc，yc，λ，
Figure BDA0001197856930000189
Are all intermediate variables.
Optionally, in the fish eye diagram conversion method provided in the embodiment of the present invention, the sampling module 503 is specifically configured to:
and sampling pixels corresponding to the coordinates of the spherical panorama from the fisheye image by using an image interpolation algorithm.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims (10)

1. A fisheye conversion method, comprising:
obtaining a fisheye diagram to be converted;
converting the coordinates of each pixel in the fisheye diagram into coordinates in a panoramic diagram, and establishing a mapping relation between the coordinates of pixel points in the fisheye diagram and the coordinates of the panoramic diagram;
sampling pixels corresponding to the coordinates of the panoramic image from the fisheye image according to the mapping relation, and converting the fisheye image into the panoramic image;
the converting the coordinates of each pixel in the fish-eye pattern into the coordinates in the panoramic image, and establishing a mapping relationship between the coordinates of the pixel points in the fish-eye pattern and the coordinates of the panoramic image, includes:
according to a preset formula, establishing a mapping relation between coordinates of pixel points in the fisheye pattern and coordinates of the panoramic image, wherein the preset formula is as follows:
x＝fxx′+cx
y＝fyy′+cy
x, y are the planar two-dimensional rectangular coordinates of the panorama, fxSaid fyC to c ofxC to c ofyParameters in an internal parameter matrix of a fisheye lens used for taking the fisheye pattern, wherein fxSaid fyIs the focal length of the camera, cxC to c ofyAn offset of an origin of a coordinate system of the fisheye diagram and a world coordinate system, the x ', the y' being an intermediate variable, wherein:
Figure FDA0002330971680000011
Figure FDA0002330971680000012
Figure FDA0002330971680000013
Figure FDA0002330971680000021
Figure FDA0002330971680000022
Figure FDA0002330971680000023
Figure FDA0002330971680000024
Figure FDA0002330971680000025
the Hfav is a preset horizontal view angle of the panoramic image, the Vfav is a preset vertical view angle of the panoramic image, the n is a preset width of the panoramic image, the u, the v are planar two-dimensional rectangular coordinates in a fish eye image, the pi is a circumferential rate, the R is a rotation matrix, the t is a translation vector, the X, the Y, the W, the theta, the X are translation vectors, the Y, the W, the theta and the X are linear vectors, thecSaid y iscSaid λ, said
Figure FDA0002330971680000026
Are all intermediate variables.
2. The method of claim 1, wherein the obtaining the fisheye diagram to be transformed comprises: obtaining a binocular fisheye pattern to be converted, wherein the binocular fisheye pattern comprises: a left eye fisheye pattern and a right eye fisheye pattern;
correspondingly, the converting the coordinates of each pixel in the fish-eye diagram into the coordinates in the panoramic diagram, and establishing a mapping relationship between the coordinates of the pixel points in the fish-eye diagram and the coordinates of the panoramic diagram includes:
converting the coordinates of each pixel in the left-eye fisheye image into coordinates in a left-eye panoramic image, and establishing a first mapping relation between the coordinates of pixel points in the left-eye fisheye image and the coordinates of the left-eye panoramic image;
converting the coordinates of each pixel in the right-eye fisheye diagram into coordinates in a right-eye panoramic diagram, and establishing a second mapping relation between the coordinates of the pixel points in the right-eye fisheye diagram and the coordinates of the right-eye panoramic diagram;
correspondingly, the sampling pixels corresponding to the coordinates of the panoramic image from the fisheye image according to the mapping relationship, and converting the fisheye image into the panoramic image includes:
sampling pixels corresponding to the coordinates of the left eye panoramic image from the left eye fisheye image according to the first mapping relation, and converting the left eye fisheye image into a left eye panoramic image;
and sampling pixels corresponding to the coordinates of the right-eye panoramic image from the right-eye fisheye image according to the second mapping relation, and converting the right-eye fisheye image into the right-eye panoramic image.
3. The method according to claim 2, wherein after sampling pixels corresponding to the coordinates of the panoramic image from the fisheye image according to the mapping relationship and converting the fisheye image into the panoramic image, the method further comprises:
and splicing the left-eye panoramic image and the right-eye panoramic image to form a complete panoramic image.
4. The method according to claim 1, wherein the converting the coordinates of each pixel in the fish-eye diagram into the coordinates in the panoramic diagram, and establishing the mapping relationship between the coordinates of the pixel points in the fish-eye diagram and the coordinates of the panoramic diagram comprises:
converting the coordinates of the pixel points in the fisheye diagram into coordinates of an undistorted plane diagram, wherein the undistorted plane diagram is a plane diagram without distortion formed after the fisheye diagram is corrected;
converting the coordinates of the undistorted plan map into the coordinates of a spherical model;
converting the coordinates of the spherical model into the coordinates of the panoramic image;
and converting the coordinates of the pixel points in the fisheye pattern into the coordinates of the panoramic image, and establishing a mapping relation between the coordinates of the pixel points in the fisheye pattern and the coordinates of the panoramic image.
5. The method of claim 1, wherein the sampling pixels corresponding to the coordinates of the panorama from the fish-eye image comprises:
and sampling pixels corresponding to the coordinates of the spherical panorama from the fisheye diagram by using an image interpolation algorithm.
6. A fisheye conversion device comprising:
the acquisition module is used for acquiring a fisheye pattern to be converted;
the mapping module is used for converting the coordinates of each pixel in the fisheye diagram into the coordinates in the panoramic diagram and establishing the mapping relation between the coordinates of the pixel points in the fisheye diagram and the coordinates of the panoramic diagram;
the sampling module is used for sampling pixels corresponding to the coordinates of the panoramic image from the fisheye image according to the mapping relation and converting the fisheye image into the panoramic image;
the mapping module includes:
a fifth mapping unit, configured to establish a mapping relationship between coordinates of a pixel point in the fisheye diagram and coordinates of the panorama according to a preset formula, where the preset formula is:
x＝fxx′+cx
y＝fyy′+cy
x, y are the planar two-dimensional rectangular coordinates of the panorama, fxSaid fyC to c ofxC to c ofyParameters in an internal parameter matrix of a fisheye lens used for taking the fisheye pattern, wherein fxSaid fyIs the focal length of the camera, cxC to c ofyAn offset of an origin of a coordinate system of the fisheye diagram and a world coordinate system, the x ', the y' being an intermediate variable, wherein:
Figure FDA0002330971680000041
Figure FDA0002330971680000042
Figure FDA0002330971680000043
Figure FDA0002330971680000044
Figure FDA0002330971680000045
Figure FDA0002330971680000046
Figure FDA0002330971680000047
Figure FDA0002330971680000048
the Hfav is a preset horizontal view angle of the panoramic image, the Vfav is a preset vertical view angle of the panoramic image, the n is the width of the panoramic image, the u, the v are planar two-dimensional rectangular coordinates in the fish-eye image, the pi is a circumferential rate, the R is a rotation matrix, the t is a translation vector, the X, the Y, the W, the theta, the X are translation vectors, the Y is a linear coordinate, the V is a planar two-dimensional rectangular coordinate, the Z is a circular coordinate, the R is a rotation matrix, the T is a translation vectorcSaid y iscSaid λ, said
Figure FDA0002330971680000049
Are all intermediate variables.
7. The apparatus of claim 6, wherein the obtaining module is further configured to: obtaining a binocular fisheye pattern to be converted, wherein the binocular fisheye pattern comprises: a left eye fisheye pattern and a right eye fisheye pattern;
correspondingly, the mapping module is further configured to:
converting the coordinates of each pixel in the left-eye fisheye image into coordinates in a left-eye panoramic image, and establishing a first mapping relation between the coordinates of pixel points in the left-eye fisheye image and the coordinates of the left-eye panoramic image;
converting the coordinates of each pixel in the right-eye fisheye diagram into coordinates in a right-eye panoramic diagram, and establishing a second mapping relation between the coordinates of the pixel points in the right-eye fisheye diagram and the coordinates of the right-eye panoramic diagram;
correspondingly, the sampling module is further configured to:
sampling pixels corresponding to the coordinates of the left eye panoramic image from the left eye fisheye image according to the first mapping relation, and converting the left eye fisheye image into a left eye panoramic image;
and sampling pixels corresponding to the coordinates of the right-eye panoramic image from the right-eye fisheye image according to the second mapping relation, and converting the right-eye fisheye image into the right-eye panoramic image.
8. The apparatus of claim 7, further comprising:
and the splicing module is used for splicing the left-eye panoramic image and the right-eye panoramic image to form a complete panoramic image.
9. The apparatus of claim 6, wherein the mapping module comprises:
the first mapping unit is used for converting the coordinates of the pixel points in the fisheye diagram into the coordinates of an undistorted plane diagram, and the undistorted plane diagram is a plane diagram which is formed after the fisheye diagram is corrected and has no distortion;
the second mapping unit is used for converting the coordinates of the undistorted plane graph into the coordinates of a spherical model;
the third mapping unit is used for converting the coordinates of the spherical model into the coordinates of the panoramic image;
and the fourth mapping unit is used for converting the coordinates of the pixel points in the fisheye diagram into the coordinates of the panoramic diagram and establishing the mapping relation between the coordinates of the pixel points in the fisheye diagram and the coordinates of the panoramic diagram.
10. The apparatus of claim 6,
the sampling module is specifically configured to:
and sampling pixels corresponding to the coordinates of the spherical panorama from the fisheye diagram by using an image interpolation algorithm.
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