CN107633489A - The fish eye lens center of circle, which is brought up again, takes reflection method distortion correction method - Google Patents
The fish eye lens center of circle, which is brought up again, takes reflection method distortion correction method Download PDFInfo
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- CN107633489A CN107633489A CN201710842111.0A CN201710842111A CN107633489A CN 107633489 A CN107633489 A CN 107633489A CN 201710842111 A CN201710842111 A CN 201710842111A CN 107633489 A CN107633489 A CN 107633489A
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Abstract
Brought up again the invention provides a kind of glasses head center of circle and take reflection method distortion correction method, comprised the following steps：S1, fish eye lens is demarcated, obtain fish-eye parameter；S2, the extraction for carrying out picture centre；S3, using fish-eye parameter carry out re-projection, obtain the design sketch of distortion correction.The beneficial effects of the invention are as follows：Brought up again using the center of circle and take reflection method to carry out the distortion correction of fish eye images, by the effect of photo captured by the image restoring to general camera captured by fish eye lens.
Description
Technical field
The present invention relates to image correction method, more particularly to a kind of fish eye lens center of circle to bring up again and take reflection method distortion correction
Method.
Background technology
Fisheye camera is widely used in the application such as monitoring, robot vision, vehicle-mounted viewing system, and fish eye lens is usual
There is a big visual field (Field of View) (120-180 degree), therefore be used to catch large area in a single figure
Picture.However, such image is hemispherical or circle, image has very big barrel distortion and produced.In the state of distortion
Under, the straight line in fish eye images is bending, and all objects can all have certain deformation.Further away from picture centre, the feelings of distortion
Condition will be more serious.
The content of the invention
In order to solve the problems of the prior art, brought up again the invention provides a kind of fish eye lens center of circle and take reflection method abnormal
Become antidote.
Brought up again the invention provides a kind of fish eye lens center of circle and take reflection method distortion correction method, comprised the following steps：
S1, fish eye lens is demarcated, obtain fish-eye parameter；
S2, the extraction for carrying out picture centre；
S3, using fish-eye parameter carry out re-projection, obtain the design sketch of distortion correction.
As a further improvement on the present invention, step S1 includes：Picture point is represented using spherical model, obtains flake
The internal reference of camera lens.
As a further improvement on the present invention, step S1 includes：Between projector space model coordinate systems and image coordinate system
Relation expressed with formula (1),
Wherein, coordinate (u, v) is the coordinate of image coordinate system, the coordinate of (x, y, z) projector space model coordinate systems, and θ is
The angle of incident ray and fish eye lens optical axis, it is formula (2) that the fish-eye projection model of standard, which arranges,：
Wherein, r is distance of the image coordinate to picture centre, (cx,cy) it is picture centre coordinate；
Add the factor a of a correction1, it is formula (3) that final projection model, which arranges,：
Fish-eye internal reference includes cx,cy,a0,a1。
As a further improvement on the present invention, step S2 includes：
S21, it is loaded into artwork；
S22, the image to loading carry out binary conversion treatment by certain threshold value；
S23, expansion process is carried out to binary image；
S24, averaged using horizontal direction coordinate；
S25, to the ascending sequence of average data, and travel through the average data, find most long plateau region
Data segment, as most reliable data boundary, plateau region is that average is essentially equal；
S26, the circle being fitted after getting the most data of plateau region section using Kasa circle fitting process and the center of circle.
As a further improvement on the present invention, step S2 also includes step S27：Drawn on gray-scale map the circle of fitting with
And the center of circle.
As a further improvement on the present invention, step S22 is：Shown in binary conversion treatment such as formula (4)：
When image slices vegetarian refreshments gray scale is more than T, it is completely black to set this point, otherwise to be complete white.
As a further improvement on the present invention, step S26 is：
Assuming that { (x1,y1),(x2,y2),…,(xn,yn) it is the point of contact coordinate data being fitted for circle, ranks are entered to it and filled out
Extension is filled, constructs two following matrixes：
Make P=(q1,q2,q3)T, it is calculated as follows：P=P1 -1P2
, wherein A-1It is A pseudo inverse matrix；
Then central coordinate of circle (the c of fitting circlex,cy) and radius R be：
So far, the extraction of circular effective coverage is completed.
As a further improvement on the present invention, step S3 includes：
The size of fish-eye image after S31, selection correction；
The new curved projection surfaces of S32, construction；
S33, remapped.
As a further improvement on the present invention, step S32 includes：
New curved projection surfaces select a plane perpendicular to fish eye lens primary optical axis, and all new light pass through neotectonics
Plane, the curved surface of construction is converted into the coordinate under projector space model coordinate systems, first by standardization of coordinates,
The beneficial effects of the invention are as follows：Brought up again using the center of circle and take reflection method to carry out the distortion correction of fish eye images, by fish
The effect of photo captured by image restoring to general camera captured by glasses head.
Brief description of the drawings
Fig. 1 is that the fish-eye imaging for taking reflection method distortion correction method is brought up again in a kind of fish eye lens center of circle of the present invention
Model schematic.
Fig. 2 be a kind of fish eye lens center of circle of the present invention bring up again take reflection method distortion correction method take image coordinate information
Pattern.
Embodiment
The invention will be further described for explanation and embodiment below in conjunction with the accompanying drawings.
A kind of fish eye lens center of circle, which is brought up again, takes reflection method distortion correction method, is brought up again using the center of circle and takes reflection method to carry out
The distortion correction of fish eye images, the effect of photo captured by the image restoring to general camera captured by fish eye lens is schemed
As the deformation that is not stretched, it is originally that the part of straight line remains in that straight line.It is that the part of curve remains in that curve, specific bag
Include herein below：
The first step：It is that fish eye lens is demarcated, it is therefore an objective to obtain fish-eye parameter.Fish-eye parameter
It is divided into internal reference and outer ginseng.Internal reference is some parameters of the fish-eye imaging model of description and digitized process.And it is to retouch to join outside
State the parameter of fish eye lens relative position.Because the effect that distorted caused by the picture of fish eye lens shooting is due to fish eye lens
Caused by the structure of itself, so only needing to obtain fish-eye internal reference.Because the imaging region of camera exceeds
90 °, it is impossible to use the radial direction perspective distortion model of standard.Therefore we represent picture point using spherical model.Ask
Topic is to find a coordinate transformation relation from space, will arrive image coordinate and diameter of Spherical Volume model coordinate is linked together.We
Projector space model coordinate systems are proposed with image coordinate system to solve this problem.Projector space model coordinate systems and image
Relation between coordinate system can be expressed with formula (1).
Wherein coordinate (u, v) is the coordinate of image coordinate system, the coordinate of (x, y, z) projector space model coordinate systems.θ is
The angle of incident ray and fish eye lens optical axis.It can be seen that the fish-eye projection model of standard can be arranged as formula
(2)：
Wherein r is distance of the image coordinate to picture centre.(cx,cy) it is picture centre coordinate.This point coordinates it is accurate
Spend critically important, accurate picture centre coordinate can obtain more preferable distortion correction effect.In order to which model can be more accurate
Fish-eye distortion situation is described, we add the factor a of a correction1.Rank such as a can also be added2、a3.But test
As a result understand second order effect can reach requirement, and calculate the time can or can not be oversize, if exponent number is too high, may
The time calculated can be influenceed.Then final projection model can be arranged as formula (3)：
So far, we can clearly observe that fish-eye internal reference includes cx,cy,a0,a1。
Fish-eye imaging model schematic diagram is as shown in Figure 1.
Formula (1) is observed to understand.There are four unknown numbers at least to need four equations to solve relevant parameter.It can determine
Obtained coordinate data has projector space model coordinate systems and the coordinate under image coordinate system, then according to the property of equation extremely
Need to know that four pairs of coordinates can be to solve the internal reference of fisheye camera less.In order to facilitate obtain these coordinate informations, it is necessary to make
Make special pattern, conventional pattern is exactly gridiron pattern, and the pattern that image coordinate information is obtained in this scaling method uses
5x7 black and white gridiron pattern.The requirement that gridiron pattern makes is chequered with black and white, and each grid is square, and the length of side of each grid is
5cm.As shown in Figure 2.
Coordinate under spatial model coordinate system is exactly with first, the upper right corner angle point origin of coordinates the most, according to gridiron pattern
Physical size obtain real physical coordinates.And it is with first upper right of gridiron pattern that the coordinate of image coordinate system, which is chosen,
The angle point at angle is as the origin of coordinates.(angle point is exactly gridiron pattern black and white lattice point of intersection).
Second step:The extraction of picture centre.
The internal reference of fisheye camera is had been obtained in the first step.But the picture centre coordinate in the internal reference of fisheye camera
Need to optimize, because the effect for directly affecting distortion correction of the two parameters.The extraction process of picture centre approximately as：
1. it is loaded into artwork.
2. because there is obvious gray difference effective information part and marginal portion, effective information is exactly fish eye lens institute
Image section in the image of shooting, edge are black without image information portion.The image of loading is carried out by certain threshold value
Binary conversion treatment.Binary conversion treatment is for region disconnecting inside and outside border is justified.Shown in binary conversion treatment such as formula (4)：
When image slices vegetarian refreshments gray scale is more than T, this point is set to be completely black, otherwise to be complete white, can thus be selected
Select our regions interested.
3. due to inevitably having the relatively low part of gray value in around scene, border circle is distinguished in order to as far as possible obvious,
Reduce interference, the stain that border is justified to internal adhesion as far as possible melts, to binary image expansion process.
Although 4. the image boundary after expansion has obvious differentiation, but there will still likely be unsmooth and interference information,
Therefore this symmetrical rule should be kept using the point on the circle of horizontal direction border, Screening Treatment is carried out to endpoint data.Tool
Body, averaged using horizontal direction coordinate.
5. the ascending sequence of pair average data, and the data are traveled through, the data segment of most long plateau region is found,
As most reliable data boundary.Plateau region defined in this program is essentially equal for average.6. get most plateau region
After the data of section, fitting process is justified using Kasa, his convergence rate is than very fast.
Assuming that { (x1,y1),(x2,y2),…,(xn,yn) it is the point of contact coordinate data being fitted for circle, ranks are entered to it and filled out
Extension is filled, constructs two following matrixes：
Make P=(q1,q2,q3)T, (wherein A is calculated as follows-1It is A pseudo inverse matrix)：P=P1 -1P2
Then central coordinate of circle (the c of fitting circlex,cy) and radius R be：
So far, the extraction work of circular effective coverage is completed.
7. circle and the center of circle of fitting are drawn on gray-scale map.
3rd step：Re-projection, which is carried out, using fish eye lens parameter carries out distortion correction.
(1) size for first having to the fish-eye image after selection is corrected of re-projection, image size is pair after correction
Display effect has what is necessarily influenceed, and if too small, some pixels may be missed, and image can be may be such that if excessive
In there is no the blank black region of pixel excessive.
(2) new curved projection surfaces are constructed.New curved projection surfaces select a plane perpendicular to fish eye lens primary optical axis.
All new light can be Jing Guo neotectonics plane.The curved surface of construction is converted into the coordinate under projector space model coordinate systems, it is first
First by standardization of coordinates,
(3) according to the internal reference above demarcated, it is to bring up again to take using the center of circle to pay special attention to the picture centre coordinate among internal reference
Method optimize after parameter.Formula (1) is recycled to recalculate to obtain the coordinate distribution of new image.New coordinate calculates
Obtained numerical value is probably floating number, it is necessary to carry out mathematic interpolation.Herein be bilinearity differential technique.Bilinear interpolation
For a purpose pixel, setting the floating-point coordinate that coordinate is obtained by reciprocal transformation, (wherein i, j are floating for (i+u, j+v)
The integer part of point coordinates, u, v are the fractional part of floating-point coordinate, be value [0,1) floating number in section), then this pixel
Obtain value f (i+u, j+v) can be (i, j) by coordinate in original image, (i+1, j), (i, j+1), corresponding to (i+1, j+1) around
The value of four pixels determines.
F (i+u, j+v)=(1-u) (1-v) f (i, j)+(1-u) vf (i, j+1)+u (1-v) f (i+1, j)+uvf (i+1, j+
1) (8)
Wherein f (i, j) represents the pixel value at source images (i, j) place, by that analogy.
Then the Pixel Information of original image, the coordinate filled it into obtained by new calculating are indexed.This completes
Remap.Whole fish-eye distortion correction also completes.More also explanation be the plane that remaps perpendicular to
The distance of the sensor plane of primary optical axis, random new plane and fisheye camera can also influence the effect of correction.We are by distance
It is set to d, rectification effect can be relatively good when d=5.According to can not with camera and shooting angle may need adjust d values with
Obtain more preferable distortion correction effect.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to is recognized
The specific implementation of the fixed present invention is confined to these explanations.For general technical staff of the technical field of the invention,
Without departing from the inventive concept of the premise, some simple deduction or replace can also be made, should all be considered as belonging to the present invention
Protection domain.
Claims (9)
1. a kind of fish eye lens center of circle, which is brought up again, takes reflection method distortion correction method, it is characterised in that comprises the following steps：
S1, fish eye lens is demarcated, obtain fish-eye parameter；
S2, the extraction for carrying out picture centre；
S3, using fish-eye parameter carry out re-projection, obtain the design sketch of distortion correction.
2. the fish eye lens center of circle according to claim 1, which is brought up again, takes reflection method distortion correction method, it is characterised in that step
S1 includes：Picture point is represented using spherical model, obtains fish-eye internal reference.
3. the fish eye lens center of circle according to claim 2, which is brought up again, takes reflection method distortion correction method, it is characterised in that step
S1 includes：Relation between projector space model coordinate systems and image coordinate system is expressed with formula (1),
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Wherein, coordinate (u, v) is the coordinate of image coordinate system, and the coordinate of (x, y, z) projector space model coordinate systems, θ is incident
The angle of light and fish eye lens optical axis, it is formula (2) that the fish-eye projection model of standard, which arranges,：
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Wherein, r is distance of the image coordinate to picture centre, (cx,cy) it is picture centre coordinate；
Add the factor a of a correction1, it is formula (3) that final projection model, which arranges,：
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Fish-eye internal reference includes cx,cy,a0,a1。
4. the fish eye lens center of circle according to claim 2, which is brought up again, takes reflection method distortion correction method, it is characterised in that step
S2 includes：
S21, it is loaded into artwork；
S22, the image to loading carry out binary conversion treatment by certain threshold value；
S23, expansion process is carried out to binary image；
S24, averaged using horizontal direction coordinate；
S25, to the ascending sequence of average data, and travel through the average data, find the data of most long plateau region
Section, as most reliable data boundary, plateau region is that average is essentially equal；
S26, the circle being fitted after getting the most data of plateau region section using Kasa circle fitting process and the center of circle.
5. the fish eye lens center of circle according to claim 4, which is brought up again, takes reflection method distortion correction method, it is characterised in that step
S2 also includes step S27：Circle and the center of circle of fitting are drawn on gray-scale map.
6. the fish eye lens center of circle according to claim 4, which is brought up again, takes reflection method distortion correction method, it is characterised in that step
S22 is：Shown in binary conversion treatment such as formula (4)：
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7. the fish eye lens center of circle according to claim 4, which is brought up again, takes reflection method distortion correction method, it is characterised in that step
S26 is：
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</msub>
<mn>2</mn>
</msup>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mrow>
<mi>n</mi>
<mo>&times;</mo>
<mn>1</mn>
</mrow>
</msub>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>5</mn>
<mo>)</mo>
</mrow>
</mrow>
Make P=(q1,q2,q3)T, it is calculated as follows：P=P1 -1P2,
Wherein A-1It is A pseudo inverse matrix；
Then central coordinate of circle (the c of fitting circlex,cy) and radius R be：
<mrow>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
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<mi>c</mi>
<mi>x</mi>
</msub>
<mo>=</mo>
<mfrac>
<msub>
<mi>q</mi>
<mn>1</mn>
</msub>
<mn>2</mn>
</mfrac>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>c</mi>
<mi>y</mi>
</msub>
<mo>=</mo>
<mfrac>
<msub>
<mi>q</mi>
<mn>2</mn>
</msub>
<mn>2</mn>
</mfrac>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<mi>R</mi>
<mo>=</mo>
<msqrt>
<mrow>
<mfrac>
<mrow>
<msup>
<msub>
<mi>q</mi>
<mn>1</mn>
</msub>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<msub>
<mi>q</mi>
<mn>2</mn>
</msub>
<mn>2</mn>
</msup>
</mrow>
<mn>4</mn>
</mfrac>
<mo>+</mo>
<msub>
<mi>q</mi>
<mn>3</mn>
</msub>
</mrow>
</msqrt>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
<mo>-</mo>
<mo>-</mo>
<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>6</mn>
<mo>)</mo>
</mrow>
</mrow>
So far, the extraction of circular effective coverage is completed.
8. the fish eye lens center of circle according to claim 2, which is brought up again, takes reflection method distortion correction method, it is characterised in that step
S3 includes：
The size of fish-eye image after S31, selection correction；
The new curved projection surfaces of S32, construction；
S33, remapped.
9. the fish eye lens center of circle according to claim 2, which is brought up again, takes reflection method distortion correction method, it is characterised in that step
S32 includes：
New curved projection surfaces select a plane perpendicular to fish eye lens primary optical axis, and all new light are by the flat of neotectonics
Face, the curved surface of construction is converted into the coordinate under projector space model coordinate systems, first by standardization of coordinates,
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<mrow>
<mi>r</mi>
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<msup>
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</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
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<mi>y</mi>
<mrow>
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<mi>e</mi>
<mi>w</mi>
</mrow>
</msub>
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<mi>y</mi>
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</mtr>
<mtr>
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<mrow>
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<mo>-</mo>
<mrow>
<mo>(</mo>
<mn>7</mn>
<mo>)</mo>
</mrow>
<mo>.</mo>
</mrow>
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| CN109448041A (en) * | 2018-10-29 | 2019-03-08 | 重庆金山医疗器械有限公司 | A kind of capsule endoscope 3-dimensional reconstruction method and system |
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| CN110197466A (en) * | 2019-05-30 | 2019-09-03 | 河海大学常州校区 | A kind of wide-angle fish eye images antidote |
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| CN108305231A (en) * | 2018-02-09 | 2018-07-20 | 西安电子科技大学 | A kind of lens distortion antidote in mask-free photolithography technology |
| CN108305231B (en) * | 2018-02-09 | 2021-08-27 | 西安电子科技大学 | Lens distortion correction method in maskless photoetching technology |
| CN109448041B (en) * | 2018-10-29 | 2021-10-22 | 重庆金山医疗技术研究院有限公司 | Capsule endoscope image three-dimensional reconstruction method and system |
| CN109448041A (en) * | 2018-10-29 | 2019-03-08 | 重庆金山医疗器械有限公司 | A kind of capsule endoscope 3-dimensional reconstruction method and system |
| CN109472750A (en) * | 2018-10-29 | 2019-03-15 | 湖南优象科技有限公司 | A kind of intelligent patterning process based on conspicuousness detection |
| CN109472750B (en) * | 2018-10-29 | 2021-11-30 | 湖南优象科技有限公司 | Intelligent composition method based on significance detection |
| CN110197466A (en) * | 2019-05-30 | 2019-09-03 | 河海大学常州校区 | A kind of wide-angle fish eye images antidote |
| CN110197466B (en) * | 2019-05-30 | 2022-09-16 | 河海大学常州校区 | Wide-angle fisheye image correction method |
| CN111260567A (en) * | 2020-01-10 | 2020-06-09 | 昆山丘钛微电子科技有限公司 | Method and device for correcting image distortion |
| CN111260567B (en) * | 2020-01-10 | 2024-01-19 | 昆山丘钛微电子科技有限公司 | Image distortion correction method and device |
| CN112465915A (en) * | 2020-11-26 | 2021-03-09 | 广州敏视数码科技有限公司 | Vehicle-mounted panoramic system calibration method |
| CN112614194B (en) * | 2021-01-29 | 2021-09-03 | 北京经纬恒润科技股份有限公司 | Data processing method, system and device of image acquisition equipment |
| CN112614194A (en) * | 2021-01-29 | 2021-04-06 | 北京经纬恒润科技股份有限公司 | Data processing method, system and device of image acquisition equipment |
| CN113947638A (en) * | 2021-10-04 | 2022-01-18 | 桂林理工大学 | Image orthorectification method for fisheye camera |
| CN115272124A (en) * | 2022-08-04 | 2022-11-01 | 北京斯年智驾科技有限公司 | Distorted image correction method and device |
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