CN107346530A - A kind of projecting method and system for correcting fish eye images - Google Patents
A kind of projecting method and system for correcting fish eye images Download PDFInfo
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- CN107346530A CN107346530A CN201610301966.8A CN201610301966A CN107346530A CN 107346530 A CN107346530 A CN 107346530A CN 201610301966 A CN201610301966 A CN 201610301966A CN 107346530 A CN107346530 A CN 107346530A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/04—Context-preserving transformations, e.g. by using an importance map
- G06T3/047—Fisheye or wide-angle transformations
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
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Abstract
The invention provides a kind of projecting method for correcting fish eye images, including：Fish eye images progress projective transformation is obtained into concordance list；The concordance list is mapped on cubical surface to obtain position relationship of the surface in the concordance list.Present invention also offers corresponding system.The present invention by fish eye images progress projective transformation by obtaining concordance list, and then concordance list is mapped to cubical surface, so as to which the pixel in fish eye images can find corresponding pixel in cube, realize fish eye images to cubical projection, during applied to amendment fish eye images, only need to calculate and preserve fish eye images to the mapping relations on cubical summit, the calculating of i.e. most 24 mapping relations, during relative to projecting on spherome surface, greatly reduce operand, improve computational efficiency, the occupancy size of memory optimization, so as to improve the efficiency of image procossing.Meanwhile during applied to amendment fish eye images improve human eye can identification.
Description
Technical field
The present invention relates to technical field of image processing, more specifically to a kind of throwing for correcting fish eye images
Image method and system.
Background technology
Fish eye lens is that a kind of focal length is close or equal to 180 ° for 16mm or shorter and visual angle.It is one
The extreme wide-angle lens of kind.It is straight for the Camera angle for making camera lens reach maximum, the front lens of this phtographic lens
Footpath is very short and is protruded in parabolical to camera lens is anterior, rather similar to the eyes of fish, " fish eye lens " therefore
And gain the name.As shown in figure 1, fish-eye visual angle is very wide, due to the Scene projection hemispherical area
To a plane, fish eye lens can produce the image of a Severe distortion, including radial distortion and tangential distortion.
Tangential distortion is inessential, and the straight line in reality can be twisted into a curve by radial distortion, and
The position of point diametrically can also deviate correct position.As away from fish eye images center, these are abnormal
Change can be strengthened therewith, and then can not only influence to observe, and identification is also very poor.
In the projection pattern of existing amendment fish eye images, fish eye images are projected to the surface of spheroid,
The process of this projection, according to warp and weft or is divided into many small grids by whole sphere first, and every
One grid has four summits, then calculates mapping of the summit on each grid to former fish eye images, finally,
Whole sphere is rendered according to the mapping relations calculated.In the process, whole sphere is about
Individual summit more than 2000 needs to go to calculate mapping between points, and also needs to each result calculated
Preserved, therefore, in this projection process, the mapping that calculates between points takes larger, and expends
Memory source.
The content of the invention
The technical problem to be solved in the present invention is, for the upper of the existing projection pattern for correcting fish eye images
State deficiency, there is provided a kind of projecting method and system for correcting fish eye images.
Technical scheme there is provided a kind of amendment fish eye images used by the present invention solves above-mentioned technical problem
Projecting method, the described method comprises the following steps：
Fish eye images progress projective transformation is obtained into concordance list；
The concordance list is mapped on cubical surface to obtain the surface in the concordance list
Position relationship.
In the projecting method of above-mentioned amendment fish eye images, by equivalent rectangular projection by the fish eye images
Carry out projective transformation and obtain the concordance list.
In the projecting method of above-mentioned amendment fish eye images, the pixel (x of the fish eye imagesf,yf) and institute
State the pixel (x of fish eye imagesf,yf) the corresponding point (x in the concordance listp,yp) relation meet it is following public
Formula：
With
Wherein, θ is incident ray and primary optical axis angle.
In the projecting method of above-mentioned amendment fish eye images, it is described the concordance list is mapped to it is cubical
To include the step of obtaining position relationship of the surface in the concordance list on surface：
By cubical 6 unfolded surfaces to obtain deploying plane, and in the expansion plane
The cubical apex coordinate is obtained when establishing plane coordinate system；
The concordance list is divided into the plane domain corresponding with cubical 6 surfaces；
Existed according to the apex coordinate on each surface in the expansion plane and the apex coordinate
Corresponding point coordinates calculates on each surface arbitrfary point in the concordance list in the concordance list
Coordinate position.
In the projecting method of above-mentioned amendment fish eye images, using difference approach according on each surface
The apex coordinate and the apex coordinate on diagonal on diagonal is in the rope
Draw point coordinates corresponding in table and calculate coordinate bit of the arbitrfary point in the concordance list on each surface
Put.
Present invention also offers a kind of optical projection system for correcting fish eye images, the system includes：
Conversion module, for fish eye images progress projective transformation to be obtained into concordance list；
Mapping block, for the concordance list to be mapped on cubical surface to obtain the surface in institute
State the position relationship in concordance list.
In the optical projection system of above-mentioned amendment fish eye images, the conversion module will by equivalent rectangular projection
The fish eye images carry out projective transformation and obtain the concordance list.
In the optical projection system of above-mentioned amendment fish eye images, the pixel (x of the fish eye imagesf,yf) and institute
State the pixel (x of fish eye imagesf,yf) the corresponding point (x in the concordance listp,yp) relation meet it is following public
Formula：
With
Wherein, θ is incident ray and primary optical axis angle.
In the optical projection system of above-mentioned amendment fish eye images, the mapping block includes：
Deploy unit, for by cubical 6 unfolded surfaces with obtain deploy plane, and
The cubical apex coordinate is obtained when establishing plane coordinate system in the expansion plane；
Division unit, it is corresponding with cubical 6 surfaces for the concordance list to be divided into
Plane domain；
Computing module, for the apex coordinate according to each surface in the expansion plane and institute
State apex coordinate corresponding point coordinates in the concordance list and calculate on each surface arbitrfary point in institute
State the coordinate position in concordance list.
In the optical projection system of above-mentioned amendment fish eye images, the computing unit is using difference approach according to every
The apex coordinate and the summit on diagonal on the individual surface on diagonal
Arbitrfary point is in the index on the coordinate each surface of point coordinates calculating corresponding in the concordance list
Coordinate position in table.
The amendment projecting method of fish eye images and the beneficial effect of system of the present invention has：
By the way that fish eye images progress projective transformation is obtained into concordance list, and then concordance list is mapped to cubical
Surface, so as to which the pixel in fish eye images can find corresponding pixel in cube, i.e.,
Fish eye images are realized to cubical projection, during applied to amendment fish eye images, it is only necessary to calculate and preserve fish
Eye pattern picture is to the mapping relations on cubical summit, i.e., the calculating of most 24 mapping relations, relative to projection
When on to spherome surface, operand is greatly reduced, improves computational efficiency, the occupancy size of memory optimization,
So as to improve the efficiency of image procossing.Meanwhile improve recognizing for human eye during applied to amendment fish eye images
Degree.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is the schematic diagram at fish-eye visual angle；
Fig. 2 is the flow chart of the projecting method embodiment of the amendment fish eye images of the present invention；
Fig. 3 is the flow chart that concordance list is mapped to preferred embodiment on cubical surface of the present invention；
Fig. 4 is a kind of planar graph of expansion plane after cube expansion；
Fig. 5 is the division figure for the expansion plane that concordance list corresponds in Fig. 4；
Fig. 6 is the structural representation of the optical projection system embodiment of the amendment fish eye images of the present invention；
Fig. 7 is the structural representation of the mapping block embodiment in Fig. 6.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with accompanying drawing and reality
Example is applied, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
Concordance list is mapped to vertical by the present invention by the way that fish eye images progress projective transformation is obtained into concordance list
The surface of cube, so as to which the pixel in fish eye images can find corresponding pixel in cube
Point, that is, fish eye images are realized to cubical projection, due to concordance list is mapped on cubical surface,
Thus only need to calculate cubical apex coordinate corresponding point in concordance list obtained from projective transformation, carry
Computationally efficient, and the occupancy size of memory optimization.
As shown in Fig. 2 it is the flow chart of the projecting method embodiment of the amendment fish eye images of the present invention.At this
In embodiment, with reference to figure 2, the projecting method comprises the following steps：
In step S102, fish eye images progress projective transformation is obtained into concordance list；
In this step, (equivalent rectangular projection) is projected by Equirectangular to carry out fish eye images
Projective transformation obtains concordance list, it can be seen from the fish eye images of fish eye lens shooting, meets below equation (1)
(2)：
Rf=2f tan (θ) (2)
In above-mentioned formula (1) and (2), RfFor the pixel P on fish eye images to fish eye images center distance,
F is effective focal length, and θ is incident ray and primary optical axis angle.
Understood according to Equirectangular projections, pixel P on fish eye images with its in concordance list it is corresponding
Point meet below equation (3)：
In above-mentioned formula (3), the coordinate of the pixel P on fish eye images is (xf,yf), the P on fish eye images
Point coordinate of corresponding point in concordance list is (xp,yp)。
By above-mentioned formula (1), (2) and (3) understand, the pixel P of fish eye images with its in concordance list it is corresponding
The relation of point meets such as following formula (4), (5) and (6)：
In above-mentioned formula (6), image-width represents the width of fish eye images, FOVhorzRepresent fish-eye image
The horizontal field of view angle of picture.In the present invention, fish eye images can also be thrown by other projection patterns
Shadow converts to obtain concordance list, such as Miller cylindrical projections (Miller conic projection).
In step S104, concordance list is mapped on cubical surface to obtain position of the surface in concordance list
Put relation.
In this step, by concordance list correspondence mappings to cubical surface, equivalent to concordance list with it is vertical
The surface of cube overlaps, and concordance list corresponds with cubical surface.Specifically, such as Fig. 3 institutes
Show, be the flow chart that concordance list is mapped to preferred embodiment on cubical surface.
It is first, in step S1041, cubical 6 unfolded surfaces is flat to obtain expansion with reference to figure 3
Face, and obtain the cubical apex coordinate when establishing plane coordinate system in the expansion plane.It is cubical
6 surfaces are respectively inner surface, outer surface, left surface, right surface, upper and lower surface, after expansion,
Deploy the planar graph that plane is formed for thus 6 surfaces, cubical apex coordinate namely put down in the expansion
In face, as shown in figure 4, be a kind of planar graph for deploying plane, then using the planar graph as plane,
Plane coordinate system is established, obtains cubical apex coordinate, including inner surface, outer surface, left surface, the right side
Surface, the apex coordinate of upper and lower surface.
Then, in step S1042, concordance list is divided into the plane corresponding with cubical 6 surfaces
Region.Because concordance list and cubical surface correspond, cubical 6 surfaces can be in concordance list
In find corresponding plane domain, as shown in figure 5, concordance list is divided into 6 plane domains, inner plane
Region, outerplanar region, left plane region, right plane domain, upper plane domain and lower plane region difference
Correspond to cubical inner surface shown in Fig. 4, outer surface, left surface, right surface, upper surface and
Lower surface.
Finally, in step S1043, according to the apex coordinate and apex coordinate on each surface in expansion plane
Corresponding point coordinates calculates coordinate position of the arbitrfary point in concordance list on each surface in concordance list.Often
Coordinate position of the arbitrfary point in concordance list on individual surface is that position of each surface in concordance list is closed
System, it is preferable that using difference approach according on each surface be located at diagonal on apex coordinate and positioned at pair
Apex coordinate on linea angulata point coordinates corresponding in concordance list calculates arbitrfary point on each surface and indexed
Coordinate position in table, for example, the apex coordinate in the upper left corner of left plane is (x1,y1), it is in concordance list
Corresponding point coordinates is (α1,β1), the apex coordinate in the lower right corner is (x2,y2), its corresponding point in concordance list
Coordinate is (α2,β2), according to difference approach, in left plane the coordinate (x, y) of arbitrfary point with its in concordance list it is right
Point coordinates (the α answered2,β2) relation meet equation below (7) and (8)：
In the present invention, can also be calculated according to the apex coordinate on each surface by other method each
Position relationship of the surface in concordance list, it can be seen that the apex coordinate for only needing to calculate on each surface exists
Position relationship in concordance list, i.e., 24 summits are at most calculated to the mapping relations of concordance list, improve calculating
Efficiency.
As shown in fig. 6, it is the structural representation of the optical projection system embodiment of the amendment fish eye images of the present invention.
In the present embodiment, conversion module 102 and mapping block 104 are included with reference to figure 6, the optical projection system 100.
Wherein, conversion module 102 is used to fish eye images progress projective transformation obtaining concordance list.Specifically,
Conversion module 104 is projected by Equirectangular fish eye images progress projective transformation obtaining concordance list, root
Understood according to the fish eye images of fish eye lens shooting, meet above-mentioned formula (1) and (2), and then according to
Equirectangular projections understand that corresponding point in concordance list meets the pixel P on fish eye images with it
Above-mentioned formula (3).Further, understood by above-mentioned formula (1), (2) and (3), the pixel P of fish eye images
Meet with the relation of its corresponding point in concordance list such as following formula (4), (5) and (6).In the present invention,
Fish eye images progress projective transformation can also be obtained concordance list by conversion module 104 by other projection patterns,
Such as Miller cylindrical projections (Miller conic projection).
Mapping block 104 is used to concordance list is mapped on cubical surface to obtain surface in concordance list
Position relationship.By in concordance list correspondence mappings to cubical surface, equivalent to concordance list and cube
Surface overlap, concordance list and cubical surface correspond.Specifically, as shown in fig. 7,
It is the structural representation of mapping block, the mapping block 104 includes expansion unit 1041, division unit 1042
With computing unit 1043.
Wherein, deploy unit 1041 be used for by cubical 6 unfolded surfaces with obtain deploy plane, and
The cubical apex coordinate is obtained when establishing plane coordinate system in the expansion plane.Cubical 6 surfaces
Respectively inner surface, outer surface, left surface, right surface, upper and lower surface, after expansion, expansion is flat
The planar graph that face is formed for thus 6 surfaces, cubical apex coordinate namely in the expansion plane,
As shown in figure 4, being a kind of planar graph for deploying plane, then using the planar graph as plane, establish flat
Areal coordinate system, obtains cubical apex coordinate, including inner surface, outer surface, left surface, right surface,
The apex coordinate of upper and lower surface.
Division unit 1042 is used to for concordance list to be divided into the plane area corresponding with cubical 6 surfaces
Domain.Because concordance list and cubical surface correspond, cubical 6 surfaces can be in concordance list
Corresponding plane domain is found, as shown in figure 5, concordance list is divided into 6 plane domains, inner planar area
Domain, outerplanar region, left plane region, right plane domain, upper plane domain and lower plane region difference phase
Corresponding to the cubical inner surface shown in Fig. 4, outer surface, left surface, right surface, upper surface and under
Surface.
Computing unit 1043 is used for according to the apex coordinate on each surface and apex coordinate in expansion plane in rope
Draw point coordinates corresponding in table and calculate coordinate position of the arbitrfary point in concordance list on each surface.Each table
Coordinate position of the arbitrfary point in concordance list on face is position relationship of each surface in concordance list, excellent
Selection of land, the computing unit is using difference approach according to apex coordinate and the position being located on each surface on diagonal
Arbitrfary point on each surface is calculated in the point coordinates corresponding in concordance list of the apex coordinate on diagonal to exist
Coordinate position in concordance list, for example, the apex coordinate in the upper left corner of left plane is (x1,y1), it is being indexed
Corresponding point coordinates is (α in table1,β1), the apex coordinate in the lower right corner is (x2,y2), it is corresponding in concordance list
Point coordinates be (α2,β2), according to difference approach, in left plane the coordinate (x, y) of arbitrfary point with it in concordance list
In corresponding point coordinates (α2,β2) relation meet above-mentioned formula (7) and (8).
In the present invention, can also be calculated according to the apex coordinate on each surface by other method each
Position relationship of the surface in concordance list, it can be seen that the apex coordinate for only needing to calculate on each surface exists
Position relationship in concordance list, i.e., 24 summits are at most calculated to the mapping relations of concordance list, improve calculating
Efficiency.
Summary, the projecting method and system of amendment fish eye images of the invention are vertical by the way that fish eye images are projected to
Cube, during applied to amendment fish eye images, it is only necessary to calculate and preserve fish eye images to cubical summit
Mapping relations, and then during relative to projecting on spherome surface, greatly reducing operand, improving calculating
Efficiency, the occupancy size of memory optimization, so as to improve the efficiency of image procossing.Meanwhile applied to amendment fish
Eye pattern as when improve human eye can identification.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention not office
Be limited to this, any one skilled in the art the invention discloses technical scope in, can be easily
The change or replacement expected, it should all be included within the scope of the present invention.Therefore, protection of the invention
Scope should be defined by scope of the claims.
Claims (10)
1. a kind of projecting method for correcting fish eye images, it is characterised in that the described method comprises the following steps：
Fish eye images progress projective transformation is obtained into concordance list；
The concordance list is mapped on cubical surface to obtain the surface in the concordance list
Position relationship.
2. according to the projecting method for correcting fish eye images described in claim 1, it is characterised in that pass through
Fish eye images progress projective transformation is obtained the concordance list by equivalent rectangular projection.
3. according to the projecting method for correcting fish eye images described in claim 2, it is characterised in that described
Pixel (the x of fish eye imagesf, yf) with the pixel (x of the fish eye imagesf, yf) corresponding in the concordance list
Point (xp,yp) relation meet below equation：
With
Wherein, θ is incident ray and primary optical axis angle.
4. according to the projecting method for correcting fish eye images described in claim 1, it is characterised in that described
The concordance list is mapped on cubical surface to obtain position of the surface in the concordance list
The step of relation, includes：
By cubical 6 unfolded surfaces to obtain deploying plane, and in the expansion plane
The cubical apex coordinate is obtained when establishing plane coordinate system；
The concordance list is divided into the plane domain corresponding with cubical 6 surfaces；
Existed according to the apex coordinate on each surface in the expansion plane and the apex coordinate
Corresponding point coordinates calculates on each surface arbitrfary point in the concordance list in the concordance list
Coordinate position.
5. according to the projecting method for correcting fish eye images described in claim 4, it is characterised in that use
Difference approach is according to the apex coordinate on each surface on diagonal and described positioned at diagonal
The apex coordinate on line point coordinates corresponding in the concordance list calculates each surface and taken up an official post
Coordinate position of the meaning point in the concordance list.
6. a kind of optical projection system for correcting fish eye images, it is characterised in that the system includes：
Conversion module, for fish eye images progress projective transformation to be obtained into concordance list；
Mapping block, for the concordance list to be mapped on cubical surface to obtain the surface in institute
State the position relationship in concordance list.
7. according to the optical projection system for correcting fish eye images described in claim 6, it is characterised in that described
Fish eye images progress projective transformation is obtained the concordance list by conversion module by equivalent rectangular projection.
8. according to the optical projection system for correcting fish eye images described in claim 7, it is characterised in that described
Pixel (the x of fish eye imagesf, yf) with the pixel (x of the fish eye imagesf, yf) corresponding in the concordance list
Point (xp,yp) relation meet below equation：
With
Wherein, θ is incident ray and primary optical axis angle.
9. according to the optical projection system for correcting fish eye images described in claim 6, it is characterised in that described
Mapping block includes：
Deploy unit, for by cubical 6 unfolded surfaces with obtain deploy plane, and
The cubical apex coordinate is obtained when establishing plane coordinate system in the expansion plane；
Division unit, it is corresponding with cubical 6 surfaces for the concordance list to be divided into
Plane domain；
Computing module, for the apex coordinate according to each surface in the expansion plane and institute
State apex coordinate corresponding point coordinates in the concordance list and calculate on each surface arbitrfary point in institute
State the coordinate position in concordance list.
10. according to the optical projection system for correcting fish eye images described in claim 9, it is characterised in that institute
Computing unit is stated using difference approach according to the apex coordinate on each surface on diagonal
Point coordinates corresponding in the concordance list calculates every with the apex coordinate on diagonal
Coordinate position of the arbitrfary point in the concordance list on the individual surface.
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| CN109308686A (en) * | 2018-08-16 | 2019-02-05 | 北京市商汤科技开发有限公司 | A kind of fish eye images processing method and processing device, equipment and storage medium |
| CN111492654A (en) * | 2018-03-02 | 2020-08-04 | 联发科技股份有限公司 | Cube-based projection method with different mapping functions applied to different square projection surfaces, different axes and/or different positions of the axes |
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| CN107346530B (en) | 2020-09-04 |
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