CN107346530B - Projection method and system for correcting fisheye image - Google Patents
Projection method and system for correcting fisheye image Download PDFInfo
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Abstract
The invention provides a projection method for correcting a fisheye image, which comprises the following steps: performing projection transformation on the fisheye image to obtain an index table; and mapping the index table to the surface of the cube to obtain the position relation of the surface in the index table. The invention also provides a corresponding system. The fisheye image is projected and transformed to obtain the index table, and the index table is mapped to the surface of the cube, so that the pixel points in the fisheye image can find the pixel points corresponding to the fisheye image in the cube, namely, the fisheye image is projected to the cube, when the fisheye image correction method is applied to the fisheye image correction, only the mapping relation from the fisheye image to the top point of the cube needs to be calculated and stored, namely, the maximum mapping relation of 24 mapping relations is calculated, and compared with the method for projecting the fisheye image to the surface of a sphere, the method greatly reduces the calculation amount, improves the calculation efficiency, optimizes the occupation size of a memory, and improves the image processing efficiency. Meanwhile, when the method is applied to correcting the fisheye image, the identifiability of human eyes is improved.
Description
Technical Field
The invention relates to the technical field of image processing, in particular to a projection method and system for correcting a fisheye image.
Background
The fisheye lens is a lens having a focal length of 16mm or less and a viewing angle close to or equal to 180 °. It is an extreme wide-angle lens. In order to maximize the angle of view of the lens, the front lens of the lens is short in diameter and is parabolic and convex toward the front of the lens, much like the fish eye, so called "fish-eye lens". As shown in fig. 1, the viewing angle of the fisheye lens is very wide, and the fisheye lens generates a severely distorted image including radial distortion and tangential distortion due to the projection of the scene in a hemispherical region onto a plane. Tangential distortion is insignificant, radial distortion distorts a real straight line into a curve, and the position of a point may deviate from the correct position in the radial direction. With the distance from the center of the fisheye image, these distortions are enhanced, which not only affect the observation, but also have poor visibility.
In the existing projection mode of correcting the fisheye image, the fisheye image is projected to the surface of a sphere, in the projection process, the whole spherical surface is firstly divided into a plurality of small grids according to longitude lines and latitude lines, each grid is provided with four vertexes, then the mapping from the vertexes on each grid to the original fisheye image is calculated, and finally the whole spherical surface is rendered according to the calculated mapping relation. In the process, about 2000 vertices of the whole sphere need to calculate the mapping between points, and each calculated result needs to be stored, so that the time consumption for calculating the mapping between points in the projection process is large, and the memory resource is consumed.
Disclosure of Invention
The present invention provides a projection method and system for correcting a fisheye image, which can solve the above-mentioned shortcomings of the existing projection method for correcting a fisheye image.
The technical scheme adopted by the invention for solving the technical problems is to provide a projection method for correcting a fisheye image, and the method comprises the following steps:
performing projection transformation on the fisheye image to obtain an index table;
and mapping the index table to the surface of the cube to obtain the position relation of the surface in the index table.
In the above projection method for correcting the fisheye image, the index table is obtained by performing projection transformation on the fisheye image through equivalent rectangular projection.
In the above projection method for modifying a fisheye image, the pixel point (x) of the fisheye imagef,yf) And pixel point (x) of said fisheye imagef,yf) Corresponding point (x) in the index tablep,yp) Satisfies the following formula:
wherein θ is an angle between the incident light and the main optical axis.
In the above-mentioned projection method for modifying a fisheye image, the step of mapping the index table onto a surface of a cube to obtain a positional relationship of the surface in the index table includes:
expanding the 6 surfaces of the cube to obtain an expanded plane, and acquiring vertex coordinates of the cube when a plane coordinate system is established on the expanded plane;
dividing the index table into planar regions corresponding to 6 of the faces of the cube;
and calculating the coordinate position of any point on each surface in the index table according to the vertex coordinate of each surface on the expansion plane and the corresponding point coordinate of the vertex coordinate in the index table.
In the above projection method for correcting a fisheye image, a difference method is adopted to calculate the coordinate position of any point on each surface in the index table according to the vertex coordinates on the diagonal line on each surface and the corresponding point coordinates of the vertex coordinates on the diagonal line in the index table.
The invention also provides a projection system for correcting a fisheye image, the system comprising:
the transformation module is used for carrying out projection transformation on the fisheye image to obtain an index table;
and the mapping module is used for mapping the index table to the surface of the cube to obtain the position relation of the surface in the index table.
In the above projection system for correcting a fisheye image, the transformation module performs projection transformation on the fisheye image through equivalent rectangular projection to obtain the index table.
In the above projection system for modifying a fisheye image, the pixel point (x) of the fisheye imagef,yf) And pixel point (x) of said fisheye imagef,yf) Corresponding point (x) in the index tablep,yp) Satisfies the following formula:
wherein θ is an angle between the incident light and the main optical axis.
In the above projection system for modifying a fisheye image, the mapping module comprises:
the unfolding unit is used for unfolding the 6 surfaces of the cube to obtain an unfolded plane and acquiring vertex coordinates of the cube when a plane coordinate system is established on the unfolded plane;
a dividing unit configured to divide the index table into planar regions corresponding to 6 of the surfaces of the cube;
and the calculation module is used for calculating the coordinate position of any point on each surface in the index table according to the vertex coordinate of each surface on the expansion plane and the corresponding point coordinate of the vertex coordinate in the index table.
In the above projection system for modifying a fisheye image, the calculating unit calculates the coordinate position of any point on each surface in the index table by using a difference method according to the vertex coordinates on the diagonal of each surface and the corresponding point coordinates of the vertex coordinates on the diagonal in the index table.
The projection method and the system for correcting the fisheye image have the beneficial effects that:
through carrying out the projection transform with fisheye image and obtaining the index table, and then map the index table to the surface of cube, thereby pixel in the fisheye image all can find the pixel rather than corresponding in the cube, realize fisheye image to the projection of cube promptly, when being applied to the correction fisheye image, only need calculate and save fisheye image to the mapping relation on the summit of cube, the calculation of 24 mapping relations at most promptly, when on the surface for the projection to the spheroid, the calculation volume has significantly reduced, the calculation efficiency is improved, the size that occupies of optimizing the memory, thereby improve image processing's efficiency. Meanwhile, when the method is applied to correcting the fisheye image, the identifiability of human eyes is improved.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a schematic view of a viewing angle of a fisheye lens;
FIG. 2 is a flowchart of an embodiment of a method for modifying a fisheye image according to the invention;
FIG. 3 is a flow diagram of a preferred embodiment of the present invention for mapping an index table onto a surface of a cube;
FIG. 4 is a plan view of an unfolded plane of the cube after unfolding;
FIG. 5 is a partition diagram of an index table corresponding to the expansion plane of FIG. 4;
FIG. 6 is a schematic diagram of a projection system for modifying a fisheye image according to an embodiment of the invention;
fig. 7 is a schematic structural diagram of an embodiment of the mapping module in fig. 6.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
According to the method, the fisheye image is subjected to projection transformation to obtain the index table, and then the index table is mapped to the surface of the cube, so that the pixel points in the fisheye image can find the pixel points corresponding to the fisheye image in the cube, namely, the fisheye image is projected to the cube.
Fig. 2 is a flowchart illustrating a method for projecting a corrected fisheye image according to an embodiment of the present invention. In the present embodiment, referring to fig. 2, the projection method includes the steps of:
in step S102, carrying out projection transformation on the fisheye image to obtain an index table;
in this step, the fisheye image is subjected to projective transformation by Equirectangular projection to obtain an index table, and the fisheye image captured by the fisheye lens satisfies the following equations (1) and (2):
Rf＝2f tan(θ) (2)
in the above formulas (1) and (2), RfThe distance from the pixel point P on the fisheye image to the center of the fisheye image is f, the effective focal length is f, and theta is the included angle between the incident light and the main optical axis.
According to the Equirectangular projection, the pixel point P on the fisheye image and the corresponding point in the index table satisfy the following formula (3):
in the above formula (3), the coordinate of the pixel point P on the fisheye image is (x)f,yf) The coordinate of the corresponding point of the P point on the fisheye image in the index table is (x)p,yp)。
As can be seen from the above equations (1), (2) and (3), the relationship between the pixel point P of the fisheye image and the corresponding point in the index table satisfies the following equations (4), (5) and (6):
in the above formula (6), image-width represents the width of the fisheye image, FOVhorzHorizontal view for representing fisheye imageThe field angle. In the present invention, the fisheye image may be projected and transformed by other projection methods to obtain the index table, such as Miller cylindrical projection.
In step S104, the index table is mapped onto the surface of the cube to obtain the position relationship of the surface in the index table.
In this step, mapping the index table to the surface of the cube correspondingly corresponds to overlapping the index table with the surface of the cube, and the index table is in one-to-one correspondence with the surface of the cube. Specifically, as shown in FIG. 3, a flow diagram of a preferred embodiment for mapping an index table onto a face of a cube is shown.
Referring to fig. 3, first, in step S1041, 6 surfaces of a cube are expanded to obtain an expanded plane, and vertex coordinates of the cube are acquired while a plane coordinate system is established on the expanded plane. The 6 surfaces of the cube are respectively an inner surface, an outer surface, a left surface, a right surface, an upper surface and a lower surface, after the unfolding, the unfolding plane is a plane figure formed by the 6 surfaces, the vertex coordinates of the cube are also in the unfolding plane, as shown in fig. 4, the plane figure is a plane figure of the unfolding plane, then a plane coordinate system is established by taking the plane figure as a plane, and the vertex coordinates of the cube, including the vertex coordinates of the inner surface, the outer surface, the left surface, the right surface, the upper surface and the lower surface, are obtained.
Subsequently, in step S1042, the index table is divided into planar regions corresponding to 6 surfaces of the cube. Since the index table corresponds to the surfaces of the cube one to one, each of the 6 surfaces of the cube can find a corresponding planar area in the index table, as shown in fig. 5, the index table is divided into 6 planar areas, and the inner planar area, the outer planar area, the left planar area, the right planar area, the upper planar area, and the lower planar area correspond to the inner surface, the outer surface, the left surface, the right surface, the upper surface, and the lower surface of the cube shown in fig. 4, respectively.
Finally, in step S1043, the coordinates of the vertex of each surface on the expansion plane and the coordinates of the corresponding point in the index table of the vertex coordinates are used to calculate the random point on the surfaceThe coordinate positions in the table are referenced. The coordinate position of any point on each surface in the index table is the position relationship of each surface in the index table, and preferably, the coordinate position of any point on each surface in the index table is calculated by a difference method according to the vertex coordinates on the diagonal line on each surface and the corresponding point coordinates of the vertex coordinates on the diagonal line in the index table, for example, the vertex coordinate on the upper left corner of the left plane is (x) the vertex coordinate on the upper left corner of the left plane is1,y1) The corresponding point coordinate in the index table is (α)1,β1) The vertex coordinate of the lower right corner is (x)2,y2) The corresponding point coordinate in the index table is (α)2,β2) According to the difference method, the coordinates (x, y) of an arbitrary point on the left plane and its corresponding point coordinates (α) in the index table2,β2) Satisfies the following equations (7) and (8):
in the invention, the position relation of each surface in the index table can be calculated by other methods according to the vertex coordinates on each surface, and it can be seen that only the position relation of the vertex coordinates on each surface in the index table needs to be calculated, that is, the mapping relation from 24 vertexes to the index table is calculated at most, so that the calculation efficiency is improved.
Fig. 6 is a schematic structural diagram of a projection system for correcting a fisheye image according to an embodiment of the invention. In this embodiment, referring to fig. 6, the projection system 100 includes a transformation module 102 and a mapping module 104.
The transformation module 102 is configured to perform projection transformation on the fisheye image to obtain an index table. Specifically, the transformation module 104 performs projection transformation on the fisheye image through Equirectangular projection to obtain an index table, and the fisheye image shot by the fisheye lens can satisfy the above formulas (1) and (2), and further can be known according to Equirectangular projection, and the pixel point P on the fisheye image and the corresponding point in the index table satisfy the above formula (3). Further, as can be seen from the above equations (1), (2) and (3), the relationship between the pixel point P of the fisheye image and the corresponding point in the index table satisfies the following equations (4), (5) and (6). In the present invention, the transformation module 104 may also perform projection transformation on the fisheye image by other projection methods to obtain an index table, for example, Miller cylindrical projection (Miller cylindrical projection).
The mapping module 104 is configured to map the index table onto a surface of the cube to obtain a positional relationship of the surface in the index table. And correspondingly mapping the index table to the surface of the cube, namely overlapping the index table and the surface of the cube, wherein the index table and the surface of the cube are in one-to-one correspondence. Specifically, as shown in fig. 7, the mapping module 104 is a schematic structural diagram, and includes an expansion unit 1041, a dividing unit 1042, and a calculating unit 1043.
The unfolding unit 1041 is configured to unfold 6 surfaces of the cube to obtain an unfolded plane, and acquire vertex coordinates of the cube when a plane coordinate system is established on the unfolded plane. The 6 surfaces of the cube are respectively an inner surface, an outer surface, a left surface, a right surface, an upper surface and a lower surface, after the unfolding, the unfolding plane is a plane figure formed by the 6 surfaces, the vertex coordinates of the cube are also in the unfolding plane, as shown in fig. 4, the plane figure is a plane figure of the unfolding plane, then a plane coordinate system is established by taking the plane figure as a plane, and the vertex coordinates of the cube, including the vertex coordinates of the inner surface, the outer surface, the left surface, the right surface, the upper surface and the lower surface, are obtained.
The dividing unit 1042 is configured to divide the index table into planar regions corresponding to 6 surfaces of the cube. Since the index table corresponds to the surfaces of the cube one to one, each of the 6 surfaces of the cube can find a corresponding planar area in the index table, as shown in fig. 5, the index table is divided into 6 planar areas, and the inner planar area, the outer planar area, the left planar area, the right planar area, the upper planar area, and the lower planar area correspond to the inner surface, the outer surface, the left surface, the right surface, the upper surface, and the lower surface of the cube shown in fig. 4, respectively.
The calculating unit 1043 is configured to calculate a coordinate position of any point on each surface in the index table according to the vertex coordinate of each surface on the expansion plane and the corresponding point coordinate of the vertex coordinate in the index table. The coordinate position of any point on each surface in the index table is preferably calculated by the calculating unit using a difference method based on the vertex coordinates on the diagonal line on each surface and the corresponding point coordinates in the index table of the vertex coordinates on the diagonal line, for example, the vertex coordinates in the upper left corner of the left plane are (x) and the vertex coordinates in the upper left corner of the left plane are (x)1,y1) The corresponding point coordinate in the index table is (α)1,β1) The vertex coordinate of the lower right corner is (x)2,y2) The corresponding point coordinate in the index table is (α)2,β2) According to the difference method, the coordinates (x, y) of an arbitrary point on the left plane and its corresponding point coordinates (α) in the index table2,β2) Satisfies the above equations (7) and (8).
In the invention, the position relation of each surface in the index table can be calculated by other methods according to the vertex coordinates on each surface, and it can be seen that only the position relation of the vertex coordinates on each surface in the index table needs to be calculated, that is, the mapping relation from 24 vertexes to the index table is calculated at most, so that the calculation efficiency is improved.
In summary, the projection method and system for correcting the fisheye image project the fisheye image to the cube, when the fisheye image is applied to correcting the fisheye image, only the mapping relation from the fisheye image to the vertex of the cube needs to be calculated and stored, and further, compared with the projection method and system for correcting the fisheye image to the surface of the sphere, the method and system for correcting the fisheye image greatly reduce the operation amount, improve the calculation efficiency, optimize the occupation size of the memory and further improve the image processing efficiency. Meanwhile, when the method is applied to correcting the fisheye image, the identifiability of human eyes is improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. A method for modifying a projection of a fisheye image, the method comprising the steps of:
performing projection transformation on the fisheye image to obtain an index table;
mapping the index table to the surface of the cube to obtain the position relation of the surface in the index table; the step of mapping the index table onto a surface of a cube to obtain a position relation of the surface in the index table comprises:
expanding the 6 surfaces of the cube to obtain an expanded plane, and acquiring vertex coordinates of the cube when a plane coordinate system is established on the expanded plane;
dividing the index table into planar regions corresponding to 6 of the faces of the cube;
and calculating the coordinate position of any point on each surface in the index table according to the vertex coordinate of each surface on the expansion plane and the corresponding point coordinate of the vertex coordinate in the index table.
2. The method of claim 1, wherein the index table is obtained by performing projective transformation on the fisheye image through equal-amount rectangular projection.
3. The method of claim 1, wherein a difference method is used to calculate the coordinate position of any point on each surface in the index table according to the vertex coordinates on the diagonal line on each surface and the corresponding point coordinates of the vertex coordinates on the diagonal line in the index table.
4. A projection system for modifying a fisheye image, the system comprising a transform module and a mapping module:
the transformation module is used for carrying out projection transformation on the fisheye image to obtain an index table;
the mapping module is used for mapping the index table to the surface of the cube to obtain the position relation of the surface in the index table; the mapping module comprises an expansion module, a division module and a calculation module:
the unfolding unit is used for unfolding the 6 surfaces of the cube to obtain an unfolded plane and acquiring vertex coordinates of the cube when a plane coordinate system is established on the unfolded plane;
a dividing unit configured to divide the index table into planar regions corresponding to 6 of the surfaces of the cube;
and the calculation module is used for calculating the coordinate position of any point on each surface in the index table according to the vertex coordinate of each surface on the expansion plane and the corresponding point coordinate of the vertex coordinate in the index table.
5. The system of claim 4, wherein the transformation module performs a projective transformation on the fisheye image by equal rectangular projection to obtain the index table.
6. The fisheye image modifying projection system of claim 4 wherein said computing unit computes the coordinate position of any point on each of said surfaces in said index table using a difference method based on said vertex coordinates on the diagonal of each of said surfaces and the corresponding point coordinates of said vertex coordinates on the diagonal in said index table.
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| CN108053385A (en) * | 2018-01-24 | 2018-05-18 | 桂林电子科技大学 | A kind of real-time correction system of flake video and method |
| US10922783B2 (en) * | 2018-03-02 | 2021-02-16 | Mediatek Inc. | Cube-based projection method that applies different mapping functions to different square projection faces, different axes, and/or different locations of axis |
| CN109308686B (en) * | 2018-08-16 | 2022-06-24 | 北京市商汤科技开发有限公司 | Fisheye image processing method, device, equipment and storage medium |
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