CN107808367B - Fisheye image correction method and device, unmanned aerial vehicle and storage medium - Google Patents
Fisheye image correction method and device, unmanned aerial vehicle and storage medium Download PDFInfo
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Abstract
The invention relates to the technical field of unmanned aerial vehicles, and provides a fisheye image correction method, a fisheye image correction device, an unmanned aerial vehicle and a storage medium, wherein the fisheye image correction method, the unmanned aerial vehicle and the storage medium are applied to the unmanned aerial vehicle, the unmanned aerial vehicle is provided with a fisheye lens, and the method comprises the following steps: acquiring a fisheye image collected by a fisheye lens; and correcting the fisheye image by using the field angle data of the fisheye lens to obtain the corrected fisheye image. The embodiment of the invention can correct the fisheye image collected by the fisheye lens, eliminates the distortion effect of the fisheye image, and simultaneously corrects by using software, thereby being easy to realize and high in correction efficiency.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a fisheye image correction method and device, an unmanned aerial vehicle and a storage medium.
Background
The common camera adopts a plane projection design, the visual angle of the shot video or image is small, if the video or image with a large visual angle is to be shot, a plurality of cameras are required to shoot simultaneously, and the cost is obviously increased. The fisheye lens can well solve the problem, the fisheye lens is a lens with short focal length and the visual angle is close to or equal to 180 degrees, in order to enable the lens to achieve the maximum shooting visual angle, the front lens of the photographic lens is short in diameter and protrudes towards the front of the lens in a parabolic shape, 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 greatly 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 exceeds the scope, so that a distorted picture effect is presented.
Disclosure of Invention
An object of the embodiments of the present invention is to provide a fisheye image correction method, apparatus, unmanned aerial vehicle, and storage medium, so as to improve the above problems.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present invention provides a fisheye image correction method, which is applied to an unmanned aerial vehicle, where the unmanned aerial vehicle is equipped with a fisheye lens, and the method includes: acquiring a fisheye image collected by the fisheye lens; and correcting the fisheye image by using the field angle data of the fisheye lens to obtain the corrected fisheye image.
In a second aspect, an embodiment of the present invention further provides a fisheye image correction device, which is applied to an unmanned aerial vehicle, where the unmanned aerial vehicle is equipped with a fisheye lens, and the device includes a fisheye image acquisition module and a fisheye lens correction module. The fisheye image acquisition module is used for acquiring a fisheye image acquired by the fisheye lens; the fisheye image correction module is used for correcting the fisheye image by using the field angle data of the fisheye lens to obtain a corrected fisheye image.
In a third aspect, an embodiment of the present invention further provides an unmanned aerial vehicle, where the unmanned aerial vehicle is equipped with a fisheye lens, and the unmanned aerial vehicle includes: a memory; the processor is electrically connected with the fisheye lens; and the fisheye image correction device is arranged in the memory and comprises one or more software function modules executed by the processor. The device comprises a fisheye image acquisition module and a fisheye lens correction module, wherein the fisheye image acquisition module is used for acquiring a fisheye image acquired by the fisheye lens; the fisheye image correction module is used for correcting the fisheye image by using the field angle data of the fisheye lens to obtain a corrected fisheye image.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the fisheye image correction method as described above.
Compared with the prior art, the fisheye image correction method, the fisheye image correction device, the unmanned aerial vehicle and the storage medium provided by the embodiment of the invention have the advantages that firstly, a fisheye image collected by a fisheye lens is obtained; and then, correcting the fisheye image by using the field angle data of the fisheye lens to obtain the corrected fisheye image. The embodiment of the invention can correct the fisheye image collected by the fisheye lens, eliminates the distortion effect of the fisheye image, and simultaneously corrects by using software, thereby being easy to realize and high in correction efficiency.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 shows a block schematic diagram of an unmanned aerial vehicle provided in an embodiment of the present invention.
Fig. 2 shows a flowchart of a fisheye image correction method provided by an embodiment of the invention.
Fig. 3 is a flowchart illustrating sub-steps of step S102 shown in fig. 2.
Fig. 4 is a flowchart illustrating sub-steps of step S1022 shown in fig. 3.
Fig. 5 is a block diagram schematically illustrating a fisheye image correction apparatus according to an embodiment of the invention.
Fig. 6 is a block diagram of a fisheye image correction module in the fisheye image correction apparatus shown in fig. 5.
Fig. 7 is a block diagram of a scene model rendering unit in the fisheye image correction module shown in fig. 6.
Icon: 100-unmanned aerial vehicle; 101-a memory; 102-a memory controller; 103-a processor; 104-peripheral interfaces; 105-fisheye lens; 200-fisheye image correction means; 201-fish-eye image acquisition module; 202-fisheye image correction module; 2021-field angle data acquisition unit; 2022-a scene model rendering unit; 20221-vertex coordinates calculation unit; 20222-texture coordinate calculation unit; 2023-rotation matrix calculation unit; 2024-correction unit.
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. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, fig. 1 is a block schematic diagram illustrating an unmanned aerial vehicle 100 according to an embodiment of the present invention. The drone 100 may be, but is not limited to, a fixed wing drone, an unmanned helicopter and multi-rotor drone, an umbrella wing drone, a flapping wing drone, an unmanned spacecraft, and the like. The drone 100 includes a fisheye image correction device 200, a memory 101, a memory controller 102, a processor 103, a peripheral interface 104, and a fisheye lens 105.
The memory 101, the memory controller 102, the processor 103, the peripheral interface 104 and the fisheye lens 105 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The fisheye image correction device 200 includes at least one software functional module which may be stored in the memory 101 in the form of software or firmware (firmware) or solidified in an Operating System (OS) of the drone 100. The processor 103 is configured to execute an executable module stored in the memory 101, such as a software functional module or a computer program included in the fisheye image correction device 200.
The Memory 101 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like. The memory 101 is configured to store a program, and the processor 103 executes the program after receiving the execution instruction.
The processor 103 may be an integrated circuit chip having signal processing capabilities. The processor 103 may be a general-purpose processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), a voice processor, a video processor, and the like; but may also be a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor 103 may be any conventional processor or the like.
The peripheral interface 104 is used to couple various input/output devices to the processor 103 as well as to the memory 101. In some embodiments, the peripheral interface 104, the processor 103, and the memory controller 102 may be implemented in a single chip. In other examples, they may be implemented separately from the individual chips.
The fisheye lens 105 is electrically connected to the processor 103, and the fisheye lens 105 is used for collecting fisheye images, so that the fisheye image correction device 200 corrects the fisheye images.
First embodiment
Referring to fig. 2, fig. 2 is a flowchart illustrating a fisheye image correction method according to an embodiment of the invention. The rotation matrix calculation method comprises the following steps:
and step S101, acquiring a fisheye image collected by the fisheye lens.
In the embodiment of the present invention, the fisheye lens 105 is a lens with a focal length of 16mm or less and an angle of view close to or equal to 180 °, and the fisheye lens 105 belongs to a special lens in an ultra-wide angle lens, and its angle of view is required to reach or exceed the range that human eyes can see, and the fisheye image collected by the fisheye lens is greatly different from the real world scene in human eyes, and the fisheye image needs to be corrected.
And S102, correcting the fisheye image by using the field angle data of the fisheye lens to obtain the corrected fisheye image.
In the embodiment of the present invention, the method for correcting the fisheye image may include, but is not limited to, first, acquiring field angle data of the fisheye lens 105, where the field angle data includes an initial light incident angle and an initial projection focal length; then, according to the field angle data, a preset vertex shader and a preset fragment shader are used for rendering a preset scene model to obtain a rendered scene, and as an implementation mode, the vertex shader, the fragment shader and the scene model can be created in advance by using OpenGL ES 2.0. After a vertex shader, a fragment shader and a scene model are created, firstly utilizing the vertex shader to calculate vertex coordinates of the preset scene model, then utilizing the fragment shader to calculate texture coordinates of the vertex coordinates on the fisheye image, and obtaining a rendered scene, namely, according to an optical principle, utilizing the fragment shader to calculate light incident angles of the vertex coordinates on the fisheye image, then calculating projection focal lengths of the vertex coordinates on the fisheye image according to the light incident angles, and then calculating the texture coordinates of the vertex coordinates on the fisheye image according to the projection focal lengths, so that the colors of vertexes are calculated, and the rendered scene is obtained; finally, since a three-dimensional rendering scene is obtained in the previous step, the three-dimensional rendering scene needs to be corrected into a two-dimensional fisheye image according to a preset visual angle space direction, that is, a rotation matrix of the rendering scene is calculated according to the preset visual angle space direction, and then the fisheye image is corrected by using the rotation matrix, so that the corrected fisheye image is obtained.
Referring to fig. 3, step S102 may include the following sub-steps:
in the substep S1021, the field angle data of the fisheye lens is acquired.
In an embodiment of the present invention, the field angle data includes an initial ray angle of incidence and an initial projected focal length.
In the substep S1022, a preset vertex shader and a preset fragment shader are used to render the preset scene model according to the field angle data, so as to obtain a rendered scene.
In the embodiment of the present invention, the vertex shader, the fragment shader, and the scene model may be created in advance by using OpenGL ES 2.0. After a vertex shader, a fragment shader and a scene model are created, a vertex coordinate of the preset scene model is calculated by the vertex shader, a texture coordinate of the vertex coordinate on the fisheye image is calculated by the fragment shader, and a rendered scene is obtained.
Referring to fig. 4, step S1022 may include the following sub-steps:
in the substep S10221, vertex coordinates of the predetermined scene model are calculated by using a vertex shader according to the field angle data.
In the substep S10222, the fragment shader is used to calculate texture coordinates of the vertex coordinates on the fisheye image, and a rendered scene is obtained.
In the sub-step S1023, a rotation matrix of the rendered scene is calculated according to a preset view angle space direction.
In the embodiment of the present invention, the three-dimensional rendered scene obtained in step S102 is required to be corrected into a two-dimensional fisheye image according to the preset viewing angle spatial direction.
And a substep S1024 of correcting the fisheye image by using the rotation matrix to obtain the corrected fisheye image.
In the embodiment of the present invention, first, a fisheye image collected by the fisheye lens 105 is obtained; then, the fisheye image is corrected by using the field angle data of the fisheye lens 105 to obtain a corrected fisheye image, so that the fisheye image collected by the fisheye lens 105 can be corrected to eliminate the distortion effect of the fisheye image, and meanwhile, the correction is performed by using software, so that the correction is easy to realize and high in correction efficiency.
Second embodiment
Referring to fig. 5, fig. 5 is a block diagram illustrating a fisheye image correction apparatus 200 according to an embodiment of the invention. The fisheye image correction apparatus 200 includes a fisheye image acquisition module 201 and a fisheye image correction module 202.
The fisheye image acquisition module 201 is configured to acquire a fisheye image acquired by a fisheye lens.
In the embodiment of the present invention, the fisheye image acquisition module 201 may be configured to perform step S101.
The fisheye image correction module 202 is configured to correct the fisheye image by using the field angle data of the fisheye lens, so as to obtain a corrected fisheye image.
In the embodiment of the present invention, the fisheye image correction module 202 may be configured to perform step S102.
Referring to fig. 6, fig. 6 is a block diagram illustrating a fisheye image correction module 202 of the fisheye image correction apparatus 200 shown in fig. 5. The fisheye image correction module 202 includes a field angle data acquisition unit 2021, a scene model rendering unit 2022, a rotation matrix calculation unit 2023, and a correction unit 2024.
A field angle data acquisition unit 2021 for acquiring field angle data of the fisheye lens.
In the embodiment of the present invention, the field angle data acquiring unit 2021 may be configured to perform the sub-step S1021.
The scene model rendering unit 2022 is configured to render the preset scene model by using a preset vertex shader and a preset fragment shader according to the field angle data, so as to obtain a rendered scene.
In an embodiment of the present invention, the scene model rendering unit 2022 may be configured to perform the sub-step S1022.
Referring to fig. 7, fig. 7 is a block diagram of the scene model rendering unit 2022 in the fisheye image correction module 202 shown in fig. 6. The scene model rendering unit 2022 includes a vertex coordinate calculation unit 20221 and a texture coordinate calculation unit 20222.
The vertex coordinate calculating unit 20221 is configured to calculate vertex coordinates of the preset scene model by using a vertex shader according to the field angle data.
In an embodiment of the present invention, the vertex coordinate calculation unit 20221 may be configured to perform the substep S10221.
The texture coordinate calculating unit 20222 is configured to calculate texture coordinates of the vertex coordinates on the fisheye image by using the fragment shader, so as to obtain a rendered scene.
In an embodiment of the present invention, the texture coordinate calculation unit 20222 may be configured to perform the substep S10222.
The rotation matrix calculation unit 2023 is configured to calculate a rotation matrix of the rendered scene according to a preset view angle spatial direction.
In an embodiment of the present invention, the rotation matrix calculation unit 2023 may be configured to perform the sub-step S1023.
The correcting unit 2024 is configured to correct the fisheye image by using the rotation matrix, so as to obtain a corrected fisheye image.
In an embodiment of the present invention, the correction unit 2024 may be configured to perform sub-step S1024.
Embodiments of the present invention further disclose a computer-readable storage medium, on which a computer program is stored, which, when being executed by the processor 103, implements the fisheye image correction method disclosed in the foregoing embodiments of the present invention.
In summary, the fisheye image correction method, apparatus, unmanned aerial vehicle and storage medium provided by the present invention are applied to an unmanned aerial vehicle, the unmanned aerial vehicle is provided with a fisheye lens, and the method includes: acquiring a fisheye image collected by a fisheye lens; and correcting the fisheye image by using the field angle data of the fisheye lens to obtain the corrected fisheye image. The embodiment of the invention can correct the fisheye image collected by the fisheye lens, eliminates the distortion effect of the fisheye image, and simultaneously corrects by using software, thereby being easy to realize and high in correction efficiency.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. 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.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Claims (4)
1. The fisheye image correction method is applied to an unmanned aerial vehicle, the unmanned aerial vehicle is provided with a fisheye lens, and the method comprises the following steps:
acquiring a fisheye image collected by the fisheye lens;
acquiring the field angle data of the fisheye lens;
calculating vertex coordinates of a preset scene model by using a preset vertex shader according to the field angle data;
calculating the light ray incidence angle of the vertex coordinate on the fisheye image by using a preset fragment shader;
calculating the projection focal length of the vertex coordinate on the fisheye image according to the light incidence angle;
calculating texture coordinates of the vertex coordinates on the fisheye image according to the projection focal length to obtain a rendered scene;
calculating a rotation matrix of the rendered scene according to a preset visual angle space direction;
and correcting the fisheye image by using the rotation matrix to obtain a corrected fisheye image.
2. The utility model provides a fisheye image correcting unit, its characterized in that is applied to unmanned aerial vehicle, unmanned aerial vehicle installs the fisheye camera lens, the device includes:
the fisheye image acquisition module is used for acquiring the fisheye image acquired by the fisheye lens;
a field angle data acquisition unit for acquiring field angle data of the fisheye lens;
the vertex coordinate calculation unit is used for calculating vertex coordinates of a preset scene model by using a preset vertex shader according to the field angle data;
the texture coordinate calculation unit is used for calculating the light ray incidence angle of the vertex coordinate on the fisheye image by utilizing a preset fragment shader;
the texture coordinate calculation unit is further used for calculating the projection focal length of the vertex coordinate on the fisheye image according to the light incidence angle;
the texture coordinate calculation unit is further used for calculating texture coordinates of the vertex coordinates on the fisheye image according to the projection focal length to obtain a rendered scene;
the rotation matrix calculation unit is used for calculating a rotation matrix of the rendered scene according to a preset visual angle space direction;
and the correction unit is used for correcting the fisheye image by using the rotation matrix to obtain a corrected fisheye image.
3. The utility model provides an unmanned aerial vehicle, its characterized in that, unmanned aerial vehicle installs the fisheye camera lens, unmanned aerial vehicle includes:
a memory;
the processor is electrically connected with the fisheye lens; and
a fisheye image correction device installed in the memory and including one or more software function modules executed by the processor, comprising:
the fisheye image acquisition module is used for acquiring the fisheye image acquired by the fisheye lens;
a field angle data acquisition unit for acquiring field angle data of the fisheye lens;
the vertex coordinate calculation unit is used for calculating vertex coordinates of a preset scene model by using a preset vertex shader according to the field angle data;
the texture coordinate calculation unit is used for calculating the light ray incidence angle of the vertex coordinate on the fisheye image by utilizing a preset fragment shader;
the texture coordinate calculation unit is further used for calculating the projection focal length of the vertex coordinate on the fisheye image according to the light incidence angle;
the texture coordinate calculation unit is further used for calculating texture coordinates of the vertex coordinates on the fisheye image according to the projection focal length to obtain a rendered scene;
the rotation matrix calculation unit is used for calculating a rotation matrix of the rendered scene according to a preset visual angle space direction;
and the correction unit is used for correcting the fisheye image by using the rotation matrix to obtain a corrected fisheye image.
4. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of claim 1.
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| GB0818277D0 (en) * | 2008-10-06 | 2008-11-12 | Advanced Risc Mach Ltd | Graphics processing system |
| CN102509098B (en) * | 2011-10-08 | 2013-05-15 | 天津大学 | Fisheye image vehicle identification method |
| CN103677828B (en) * | 2013-12-10 | 2017-02-22 | 华为技术有限公司 | Coverage drawing method, drawing engine and terminal equipment |
| CN103971396B (en) * | 2014-05-24 | 2017-02-15 | 哈尔滨工业大学 | OpenGL ES (open graphics library for embedded system) implementation method for ray casting algorithm under ARM+GPU (advanced RISC machine+graphic processing unit) heterogeneous architecture |
| CN106157256A (en) * | 2015-04-22 | 2016-11-23 | Tcl集团股份有限公司 | A kind of fisheye image correcting method and correcting fisheye image device |
| GB2540983B (en) * | 2015-08-03 | 2017-11-29 | Advanced Risc Mach Ltd | Graphics processing |
| CN105488766B (en) * | 2015-11-23 | 2018-06-19 | 上海汽车集团股份有限公司 | Fisheye image bearing calibration and device |
| CN105550984B (en) * | 2015-12-30 | 2019-04-12 | 北京奇艺世纪科技有限公司 | A kind of method and device of correcting fisheye image and Navigation display |
| CN105957048A (en) * | 2016-01-26 | 2016-09-21 | 优势拓展（北京）科技有限公司 | 3D panorama display method and system of shooting image through fish eye lens |
| CN106327587B (en) * | 2016-11-16 | 2019-06-28 | 北京航空航天大学 | A kind of accurate fusion method of laparoscope video for augmented reality surgical navigational |
| CN106780389B (en) * | 2016-12-23 | 2021-06-15 | 浙江宇视科技有限公司 | Fisheye image correction method and device based on coordinate transformation |
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