CN108040242A - A kind of bearing calibration at angle of inclination of Double-camera device and device - Google Patents
A kind of bearing calibration at angle of inclination of Double-camera device and device Download PDFInfo
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- CN108040242A CN108040242A CN201711364581.7A CN201711364581A CN108040242A CN 108040242 A CN108040242 A CN 108040242A CN 201711364581 A CN201711364581 A CN 201711364581A CN 108040242 A CN108040242 A CN 108040242A
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Abstract
Bearing calibration and device the present invention provides a kind of angle of inclination of Double-camera device, including：Image to be corrected is obtained, and target area is determined in image to be corrected；Obtain angle of inclination during Double-camera device photographic subjects region；The direction of rotation of image is determined according to the ratio of width to height of target area, and angle of inclination when being shot according to target area calculates the rotation angle of target area, according to the rotation angle of target area, the corresponding image to be corrected of left camera in dual camera is rotated according to the rotation angle, and the corresponding image to be corrected of right camera of dual camera is rotated according to the rotation angle.It follows that being corrected to the photo shot according to certain angle of inclination, image or video have been adjusted to be adapted to the position of beholder's viewing.The problem of angle of inclination during this eliminates due to photograph taking, and the sense of discomfort of beholder's vision is caused, improve the Experience Degree of user.
Description
Technical field
The present invention relates to bearing calibration and the dress of optical field, more particularly to a kind of angle of inclination of Double-camera device
Put.
Background technology
Double-camera device, refers to the camera device for being provided with dual camera, such as：Binocular camera is provided with double
The mobile phone of camera, IPAD etc..Double-camera device, is usually made of two horizontally-parallel video cameras, can be from difference
Position is imaged Same Scene, and two video cameras for when as the make of human eye, copied by this
The method of human use's binocular vision perceived distance, it is possible to achieve the perception to three-dimensional information, when people takes VR (English full name：
VirtualReality, Chinese full name：Virtual reality) glasses or other 3D display equipment, it is possible to see the photograph of cameras record
The 3-D effect of piece or video.
But by Double-camera device shoot object when, if Double-camera device using certain angle of inclination into
Row shooting.When beholder is watched by the photo or video that VR glasses or other 3D display equipment obtain shooting,
If the angle of head inclination is different from angle during Double-camera device shooting photo, discomfort will be brought to beholder.Example
Such as：If Double-camera device is tilted certain angle, so works as sight by Double-camera device when being shot to a high building
When the person of seeing is watched using the photo that VR glasses or other s3D display devices obtain shooting, if beholder head does not have
Angle of inclination during double camera device shootings is tilted to, the photo that beholder sees is probably inclined, in this way, just reducing use
The Experience Degree at family.
The content of the invention
In view of this, the bearing calibration an embodiment of the present invention provides a kind of angle of inclination to Double-camera device and dress
Put, solve since dual camera shoots photo or during video, the problem of angle of inclination, cause beholder's viewing effect difference
Problem.
A kind of bearing calibration at the angle of inclination of Double-camera device, including：
Image to be corrected is obtained, and target area is determined in the image to be corrected；
Obtain the angle of inclination when Double-camera device shoots the target area；
The width at angle of inclination and the target area during according to the Double-camera device shooting target area is high
Than calculating the rotation angle of the target area；
According to the rotation angle of the target area, the corresponding image to be corrected of left camera in the dual camera is pressed
Rotated according to the rotation angle, and to the corresponding image to be corrected of right camera of the dual camera according to the rotation
Angle is rotated.
Optionally, the angle of inclination during shooting target area according to the Double-camera device and the target
The ratio of width to height in region, calculates the rotation angle of the target area, including：
Judge whether the depth-width ratio of the target area is less than 1；
If the ratio of width to height of the target area is less than 1, the rotation angle is equal to the complementary angle at the angle of inclination；
If the ratio of width to height of the target area is more than 1, the rotation angle is equal to the angle of inclination.
Optionally, the angle of inclination obtained when the Double-camera device shoots the target area, including：
Binary conversion treatment is carried out to the target area, obtains the target area after binaryzation；
Straight line group is extracted from the target area after the binaryzation using default border detection algorithm；The straight line group
Including multiple straight-line segments；
By the method for Hough transformation, the straight line group is mapped in default distance-angle coordinate system；
In the default distance-angle coordinate system, the most target point of the mapping frequency is obtained；
The inclination during target area is shot using the first angle value of the target point as the Double-camera device
Angle.
Optionally, the angle of inclination obtained when the Double-camera device shoots the target area, including：
Calculate the gradient magnitude and gradient direction of each pixel in the target area image；
According to the gradient magnitude and gradient direction of each pixel, the histogram of gradient direction is calculated；
According to the gradient magnitude and gradient direction of each pixel, the histogram of gradient direction is calculated；
Determine gradient direction maximum in the histogram；
The target is shot using the corresponding second angle value of the maximum gradient direction as the Double-camera device
Angle of inclination during region.
Optionally, further include：
To being compensated without definition region for the postrotational image to be corrected.
Optionally, it is described to the postrotational image to be corrected without definition region compensate including：
Determine the position without definition region of the postrotational image to be corrected；
According to the position of the no definition region, cut off in the postrotational image to be corrected without definition
Domain, obtains first object image；
It is default size by the first object Image Adjusting.
Optionally, further include：
Image to be corrected is determined in default video.
Optionally, being compensated without definition region to the postrotational image to be corrected, including：
Obtain multiple video frame images adjacent with the image to be corrected in the default video；
The postrotational image to be corrected is carried out according to the multiple video frame images adjacent with the image to be corrected
Compensation.
A kind of means for correcting at the angle of inclination of Double-camera device, including：
First acquisition unit, for obtaining image to be corrected, and determines target area in the image to be corrected；
Second acquisition unit, for obtaining the angle of inclination when Double-camera device shoots the target area；
Computing unit, for according to the Double-camera device shoot the target area when angle of inclination and the mesh
The ratio of width to height in region is marked, calculates the rotation angle of the target area；
Rotary unit, for the rotation angle according to the target area, corresponds to left camera in the dual camera
Image to be corrected rotated according to the rotation angle, and to the corresponding figure to be corrected of right camera of the dual camera
As being rotated according to the rotation angle.
Optionally, the computing unit, including：
Judge whether the depth-width ratio of the target area is less than 1；
If the ratio of width to height of the target area is less than 1, the rotation angle is equal to the complementary angle at the angle of inclination；
If the ratio of width to height of the target area is more than 1, the rotation angle is equal to the angle of inclination.
A kind of bearing calibration at the angle of inclination of Double-camera device provided in an embodiment of the present invention and device, this method bag
Include：Image to be corrected is obtained, and target area is determined in the image to be corrected；And obtain the Double-camera device shooting
The angle of inclination during target area；The direction of rotation of image is determined according to the ratio of width to height of target area, and according to target area
Angle of inclination when domain is shot calculates the rotation angle of target area, according to the rotation angle of the target area, to described
The corresponding image to be corrected of left camera is rotated according to the rotation angle in dual camera, and to the dual camera
The corresponding image to be corrected of right camera is rotated according to the rotation angle.In this way, to being carried out according to certain angle of inclination
The photo of shooting is corrected, and image or video have been adjusted to be adapted to the position of beholder's viewing, so eliminated
The problem of angle of inclination during due to photograph taking, and the sense of discomfort of beholder's vision is caused, improve the Experience Degree of user.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 shows a kind of flow of the bearing calibration at the angle of inclination of Double-camera device provided in an embodiment of the present invention
Schematic diagram；
Fig. 2 shows the schematic diagram of angle of inclination and rotation angle；
Fig. 3 shows a kind of structure of the means for correcting at the angle of inclination of Double-camera device provided in an embodiment of the present invention
Schematic diagram.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
With reference to figure 1, a kind of bearing calibration at the angle of inclination of Double-camera device provided in an embodiment of the present invention is shown
Flow diagram, in the present embodiment, this method includes：
S101：Image to be corrected is obtained, and target area is determined in the image to be corrected；
In the present embodiment, on the one hand, image to be corrected can be that Double-camera device is shot, and on the other hand, treat
Correction chart picture can be that shooting got from video or direct obtains.
Illustrate：User can shoot photo by Double-camera device such as binocular camera and obtain image to be corrected,
Or can also be the video that user is shot by binocular camera, corresponding video two field picture is obtained in the video frame that shooting obtains
As image to be corrected.
In the present embodiment, in image to be corrected, including some and the object of predeterminated position either vertically or horizontally, such as set
Wood, cabinet, building etc., under normal circumstances, these objects are vertical with ground, in this way, the rotation for image to be corrected provides
How reference direction, specifically treat correction chart picture according to reference direction and be adjusted, be hereinafter discussed in greater detail, herein
No longer master repeats.
S102：Obtain the angle of inclination when Double-camera device shoots the target area；
In the present embodiment, Double-camera device shoots angle of inclination during image to be corrected, can pass through following two sides
Formula obtains, including：
Mode one：During the angle of inclination of Double-camera device of the user when knowing image taking to be corrected, it will can treat
Angle of inclination when correcting image taking is input in relevant processor.
Mode two：Automatically the angle of inclination of image to be corrected Double-camera device in shooting is calculated.
Be directed to mode two, can be calculated in several ways, specifically, in the present embodiment, can include with
Under two kinds of way of example：
Embodiment one：Binary conversion treatment is carried out to the target area, obtains the target area after binaryzation；
Straight line group is extracted from the target area after the binaryzation using default border detection algorithm；
By the method for Hough transformation, the straight line group is mapped in default distance-angle coordinate system；
In the default distance-angle coordinate system, the most target point of the mapping frequency is obtained；
The inclination during target area is shot using the first angle value of the target point as the Double-camera device
Angle.
Wherein, default border detection algorithm can be Canny operators, Roberts operators, Sobel, Prewitt operator
Deng.
In the present embodiment, it is necessary to first by target area binaryzation before border detection is carried out to target area, two are obtained
Target area after value, then carries out border detection to target area using default border detection algorithm, passes through this kind of side
Method can detect a plurality of straight line, and a plurality of straight line to detecting carries out Hough transformation, that is, will be more in x-y coordinate system
Bar straight line, is mapped to ρ-θ coordinate systems, i.e. distance-angle coordinate system, the highest peak in ρ-θ coordinate spaces, that is, x-y is sat
Straight line in mark system is mapped to the highest target point of the frequency in ρ-θ coordinate systems, and the corresponding first angle value θ of the target point is mesh
The angle of inclination of Double-camera device when marking region shooting.
Real-time mode two：
Count the horizontal gradient and vertical gradient of each pixel in the target area image；
According to the horizontal gradient and vertical gradient of each pixel, the histogram of gradient direction is calculated；
Determine the gradient direction in the histogram；
The target is shot using the corresponding second angle value of the maximum gradient direction as the Double-camera device
Angle of inclination during region.
In the present embodiment, the horizontal gradient G of each pixel in target area is calculated firstxThe G of (x, y) and vertical gradienty
(x, y), then using formula below 1) and formula 2) calculate the size of gradient and the direction of gradient.
Formula 1):Gradient magnitude
Formula 2):Gradient direction α (x, y)=Gx (x, y)/Gy (x, y)；
After again, the weight using the gradient magnitude of each pixel as gradient direction, the histogram in statistical gradient direction, vacation
If the angle of gradient direction is 45 degree, if the gradient magnitude of the gradient direction is 2, then counted on 45 degree of the gradient direction
Pixel number be 2, be not 1.
S103：Angle of inclination and the target area when shooting the target area according to the Double-camera device
The ratio of width to height, calculates the rotation angle of the target area
In the present embodiment, rotation angle and the angle of inclination and target area during shooting image to be corrected of target area
The ratio of width to height it is related, specifically, S103 includes：
Judge whether the depth-width ratio of the target area is less than 1；
If the ratio of width to height of the target area is less than 1, the rotation angle is equal to the complementary angle at the angle of inclination；
If the ratio of width to height of the target area is more than 1, the rotation angle is equal to the angle of inclination.
In the present embodiment, if as shown in Fig. 2, the depth-width ratio of target area is less than 1, it can be understood as the target area is real
Border should be direction perpendicular to the ground, it is assumed that angle during obtained target area shooting is θ, then image to be corrected needs to change
Angle be 90- θ；If the depth-width ratio of target area be more than 1, it can be understood as the target area actually should and the surface water
It is flat, it is assumed that angle during obtained target area shooting is θ, then it is θ that correction chart picture, which needs rotating angle,.
S104：It is corresponding to be corrected to left camera in the dual camera according to the rotation angle of the target area
Image is rotated according to the rotation angle, and to the corresponding image to be corrected of right camera of the dual camera according to institute
Rotation angle is stated to be rotated.
In the present embodiment, the photo shot using Double-camera device includes left and right image, wherein in dual camera
The corresponding image of left camera be left image, the corresponding image to be corrected of right camera is right image in dual camera.
In the present embodiment, since the position of two video cameras in Double-camera device is relatively-stationary, so rotation
Angle is also the same, therefore left image and right image can be rotated according to the rotation angle.
In the present embodiment, the rotation that correction chart picture is treated by taking left image as an example illustrates, it is assumed that before correction in left image
Pixel be (x, y), the position of each pixel is (xNew, yNew) after correction, can specifically pass through formula below
3) calculate：
Wherein, the size of rotated image can be predefined before rotation, travels through each pixel in postrotational image
Point, then calculates the position of pixel corresponding with postrotational image in the image before rotation.
But the pixel position (x, y) of image may not be integer before the rotation calculated by method above, because
This can also be modified (x, y) by the method for interpolation.
Wherein, the method for interpolation can include：The method of neighbor interpolation, the method for bilinear interpolation or cubic interpolation
Method etc..
In the present embodiment, after being rotated to image, no definition region, that is, the clear area obtained after rotating may be obtained
Domain, these white spaces are not belonging to the content in image before rotating.These can influence vision during user's viewing without definition region
Experience, therefore postrotational image can be compensated, eliminate no definition region.
Wherein, image to be corrected can directly be intercepted by shooting obtained image or can also be from video
Video frame, being directed to image and video in different ways can compensate postrotational image, specifically, including：
It is directed to image：
Determine the position without definition region of the postrotational image to be corrected；
According to the position of the no definition region, cut off in the postrotational image to be corrected without definition
Domain, obtains first object image；
It is default size by the first object Image Adjusting.
In the present embodiment, it can will cut off, only retain with image before rotation without definition region in postrotational image
The rectangular area of the image of content, and the rectangular area is adjusted to the size before image rotation.
It is directed to video：
Obtain multiple video frame images adjacent with the image to be corrected in the default video frame；
The postrotational image to be corrected is carried out according to the multiple video frame images adjacent with the image to be corrected
Compensation.
In the present embodiment, in a video, it is probably same or similar to perform front and rear several frames of rotating image
Image, can compensate postrotational image to be corrected according to these images, eliminates no definition region.
Further, when object before no definition region is there are sport foreground, movement can be used to restore the method for compensation,
Local motion expansion is done by calculating optical flow field, realizes that movement is restored.
In the present embodiment, by obtaining target area in image to be corrected, the inclination angle during shooting of target area is obtained
Degree, and according to the ratio of width to height at the angle of inclination and target area, the rotation angle of target area is calculated, and according to the anglec of rotation
Degree, left and right image corresponding to Double-camera device are adjusted.In this way, to the photograph shot according to certain angle of inclination
Piece is corrected, and image or video have been adjusted to be adapted to the position of beholder's viewing, so eliminated due to photo
The problem of angle of inclination during shooting, and the sense of discomfort of beholder's vision is caused, improve the Experience Degree of user.
With reference to figure 3, a kind of means for correcting at the angle of inclination of Double-camera device provided in an embodiment of the present invention is shown
Structure diagram, in the present embodiment, which includes：
First acquisition unit 201, for obtaining image to be corrected, and determines target area in the image to be corrected；
Second acquisition unit 202, the angle of inclination that the Double-camera device shoots the target area obtain described pair
Cam device shoots the angle of inclination during target area；
Computing unit 203, the angle of inclination of the target area is shot according to described double for the Double-camera device
The ratio of width to height at angle of inclination and the target area during cam device shooting target area, calculates the target area
Rotation angle；
Rotary unit 204, for the rotation angle according to the target area, to left camera pair in the dual camera
The image to be corrected answered is rotated according to the rotation angle, and corresponding to be corrected to the right camera of the dual camera
Image is rotated according to the rotation angle.
Optionally, the computing unit, including：
Whether judgment sub-unit, the depth-width ratio for judging the target area are less than 1；
First rotation angle determination subelement, if the ratio of width to height for the target area is less than 1, described rotation angle etc.
Complementary angle in the angle of inclination；
Second rotation angle determination subelement, if the ratio of width to height for the target area is more than 1, described rotation angle etc.
In the angle of inclination.
Optionally, the second acquisition unit, including：
Binaryzation subelement, for carrying out binary conversion treatment to the target area, obtains the target area after binaryzation；
Subelement is extracted, for being extracted using default border detection algorithm from the target area after the binaryzation directly
Line group；The straight line group includes multiple straight-line segments；
Subelement is mapped, for the method by Hough transformation, the straight line group is mapped to default distance-angle and is sat
In mark system；
Subelement is obtained, the target most in the default distance-angle coordinate system, obtaining the mapping frequency
Point；
First angle of inclination determination subelement, for the first angle value of the target point to be filled as the dual camera
Put the angle of inclination for shooting the target area.
Optionally, the second acquisition unit, including：
First computation subunit, for calculating the gradient magnitude of each pixel and gradient side in the target area image
To；
Second computation subunit, for the gradient magnitude and gradient direction according to each pixel, calculates gradient side
To histogram；
3rd computation subunit, for the gradient magnitude and gradient direction according to each pixel, calculates gradient direction
Histogram；
First determination subelement, for determining gradient direction maximum in the histogram；
Second angle of inclination determination subelement, for using the corresponding second angle value of the maximum gradient direction as institute
State the angle of inclination that Double-camera device shoots the target area.
Optionally, further include：
Compensating unit, for being compensated without definition region to the postrotational image to be corrected.
Optionally, the compensating unit, including：
Second determination subelement, for determining the position without definition region of the postrotational image to be corrected；
Subelement is cut off, for the position according to the no definition region, cuts off the postrotational figure to be corrected
As in without definition region, obtain first object image；
Subelement is adjusted, for being default size by the first object Image Adjusting.
Optionally, further include：
3rd acquiring unit, for determining to obtain positive image in default video.
Optionally, the compensating unit, including：
Subelement is obtained, for obtaining multiple video frame figures adjacent with the image to be corrected in the default video
Picture；
Subelement is compensated, for the foundation multiple video frame images adjacent with the image to be corrected to postrotational described
Image to be corrected compensates.
Device through this embodiment, in this way, the photo shot according to certain angle of inclination is corrected, will
Image or video have been adjusted to be adapted to the position of beholder's viewing, angle of inclination when so eliminating due to photograph taking
The problem of, and the sense of discomfort of beholder's vision is caused, improve the Experience Degree of user.
It should be noted that each embodiment in this specification is described by the way of progressive, each embodiment weight
Point explanation is all difference with other embodiment, between each embodiment identical similar part mutually referring to.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or use the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and the principles and novel features disclosed herein phase one
The most wide scope caused.
Claims (10)
- A kind of 1. bearing calibration at the angle of inclination of Double-camera device, it is characterised in that including：Image to be corrected is obtained, and target area is determined in the image to be corrected；Obtain the angle of inclination when Double-camera device shoots the target area；The ratio of width to height at angle of inclination and the target area during according to the Double-camera device shooting target area, meter Calculate the rotation angle of the target area；According to the rotation angle of the target area, to the corresponding image to be corrected of left camera in the dual camera according to institute Rotation angle is stated to be rotated, and to the corresponding image to be corrected of right camera of the dual camera according to the rotation angle Rotated.
- 2. according to the method described in claim 1, it is characterized in that, described shoot the target according to the Double-camera device The ratio of width to height at angle of inclination and the target area during region, calculates the rotation angle of the target area, including：Judge whether the depth-width ratio of the target area is less than 1；If the ratio of width to height of the target area is less than 1, the rotation angle is equal to the complementary angle at the angle of inclination；If the ratio of width to height of the target area is more than 1, the rotation angle is equal to the angle of inclination.
- 3. according to the method described in claim 2, it is characterized in that, described obtain the Double-camera device shooting target Angle of inclination during region, including：Binary conversion treatment is carried out to the target area, obtains the target area after binaryzation；Straight line group is extracted from the target area after the binaryzation using default border detection algorithm；The straight line group includes Multiple straight-line segments；By the method for Hough transformation, the straight line group is mapped in default distance-angle coordinate system；In the default distance-angle coordinate system, the most target point of the mapping frequency is obtained；The angle of inclination during target area is shot using the first angle value of the target point as the Double-camera device.
- 4. according to the method described in claim 2, it is characterized in that, described obtain the Double-camera device shooting target Angle of inclination during region, including：Calculate the gradient magnitude and gradient direction of each pixel in the target area image；According to the gradient magnitude and gradient direction of each pixel, the histogram of gradient direction is calculated；According to the gradient magnitude and gradient direction of each pixel, the histogram of gradient direction is calculated；Determine gradient direction maximum in the histogram；The target area is shot using the corresponding second angle value of the maximum gradient direction as the Double-camera device When angle of inclination.
- 5. according to the method described in claim 1, it is characterized in that, further include：To being compensated without definition region for the postrotational image to be corrected.
- 6. according to the method described in claim 5, it is characterized in that, it is described to the postrotational image to be corrected without definition Region compensate including：Determine the position without definition region of the postrotational image to be corrected；According to the position of the no definition region, cut off in the postrotational image to be corrected without definition region, obtain To first object image；It is default size by the first object Image Adjusting.
- 7. according to the method described in claim 5, it is characterized in that, further include：Image to be corrected is determined in default video.
- 8. according to the method described in claim 5, it is characterized in that, it is described to the postrotational image to be corrected without definition Region compensates, including：Obtain multiple video frame images adjacent with the image to be corrected in the default video；The postrotational image to be corrected is compensated according to the multiple video frame images adjacent with the image to be corrected.
- A kind of 9. means for correcting at the angle of inclination of Double-camera device, it is characterised in that including：First acquisition unit, for obtaining image to be corrected, and determines target area in the image to be corrected；Second acquisition unit, for obtaining the angle of inclination when Double-camera device shoots the target area；Computing unit, for according to the Double-camera device shoot the target area when angle of inclination and the target area The ratio of width to height in domain, calculates the rotation angle of the target area；Rotary unit, for the rotation angle according to the target area, is treated to left camera is corresponding in the dual camera Correction chart picture is rotated according to the rotation angle, and the corresponding image to be corrected of right camera of the dual camera is pressed Rotated according to the rotation angle.
- 10. device according to claim 9, it is characterised in that the computing unit, including：Judge whether the depth-width ratio of the target area is less than 1；If the ratio of width to height of the target area is less than 1, the rotation angle is equal to the complementary angle at the angle of inclination；If the ratio of width to height of the target area is more than 1, the rotation angle is equal to the angle of inclination.
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| CN111385560A (en) * | 2018-12-28 | 2020-07-07 | 北京图森智途科技有限公司 | Method and device for adjusting inclination angle of camera, storage medium and camera |
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