CN108270952B - Method and system for correcting image chromatic aberration of binocular camera - Google Patents
Method and system for correcting image chromatic aberration of binocular camera Download PDFInfo
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Abstract
The invention discloses a method and a system for correcting image chromatic aberration of a binocular camera, wherein the method comprises the following steps: performing OB correction test on the binocular camera to generate an OB offset parameter matrix; performing relative brightness correction test on the binocular camera to generate a brightness compensation parameter matrix; carrying out distortion correction test on the binocular camera to generate a distortion compensation parameter matrix; carrying out automatic white balance correction test on the binocular camera to generate an RGB compensation parameter matrix; and performing Gamma correction test on the binocular camera, and adjusting the brightness values of the master lens and the slave lens of the binocular camera. The invention can eliminate the color deviation of the output image caused by the self difference of the two lenses by correcting the image chromatic aberration of the binocular camera, greatly improves the image quality of the two lenses, and is convenient for developing and producing civil-grade and consumer-grade panoramic cameras with low cost.
Description
Technical Field
The invention relates to the technical field of image processing, in particular to a method and a system for correcting image chromatic aberration of a binocular camera.
Background
At present, the image correction process of the traditional monocular moving camera, OB correction, automatic white balance correction, Gamma correction, image data output, completes the correction. Specifically, Optical Black (OB) is theoretically photographed in a full black environment, and the obtained picture should be R ═ G ═ B ═ 0, but due to the characteristics of Sensor, the obtained RGB has an offset, which is commonly called offset; thus, when a picture is shot under a normal light source, the picture is relatively seen, and the OB adjustment is to subtract the offset, so that the picture obtained in the all-black shooting is ensured to be R-G-B-0. However, since it is impossible to achieve R ═ G ═ B ═ 0, it is only possible to approach as closely as possible.
Relative brightness (Relative luminance), the ratio of the brightness of the peripheral pixels of the image to the brightness of the central pixel of the image is called the Relative brightness value. The brightness of the image formed at the center of the lens is maximized because the light beam passing through the center of the lens is larger than the light beam passing around the center of the lens. The relative brightness value is thus generally less than 1 and ideally equal to 1. Image distortion (deviation) refers to the errors in spectral and geometric characteristics that occur between the remote-sensed image and the real scene of the earth's surface that it reflects. The image distortion is an important mark for testing the interpretation and drawing performance of the remote sensing image.
Automatic White Balance (WB), an image taken in a room of a fluorescent lamp looks green, a scene taken under indoor tungsten filament light is yellow, and a picture taken at a sunlight shadow is wonderfully blue, because the white balance is set to restore the normal color of the image in the scenes. Color correction (Color correction) adjusts the Color realism and vividness of an image. Gamma correction: the method changes the gamma value to match the intermediate gray scale of the monitor, compensates the color display difference existing in different output devices, and therefore enables the image to show the same effect on different monitors.
However, the colors of the two sides of the image splicing position of the binocular camera are inconsistent and have poor color, and a new method is urgently needed to be adopted to solve the problem of panoramic image chromatic aberration caused by the difference of the two lens modules.
Disclosure of Invention
The present invention provides a method and a system for correcting image chromatic aberration of a binocular camera, which aim to overcome the above-mentioned drawbacks of the prior art. The technical scheme adopted by the invention for solving the technical problems is as follows:
according to an aspect of the present invention, there is provided a method for correcting image chromatic aberration of a binocular camera, comprising the steps of:
performing OB correction test on the binocular camera to generate an OB offset parameter matrix;
performing relative brightness correction test on the binocular camera to generate a brightness compensation parameter matrix;
carrying out distortion correction test on the binocular camera to generate a distortion compensation parameter matrix;
carrying out automatic white balance correction test on the binocular camera to generate an RGB compensation parameter matrix;
and performing Gamma correction test on the binocular camera, and adjusting the brightness values of the master lens and the slave lens of the binocular camera.
Preferably, the relative brightness correction test is performed on the binocular camera, and the step of generating the brightness compensation parameter matrix includes:
acquiring a brightness actual parameter matrix of which N pixels are radius circles in a plane image shot by a binocular camera;
acquiring the central average value of 50 pixels of the central image of the circle of the image;
and calculating a brightness compensation parameter matrix, namely a brightness actual parameter matrix-central average value.
Preferably, the distortion correction test is performed on the binocular camera to generate a distortion compensation parameter matrix, and the method specifically comprises the following steps:
dividing the circle of the image into M circular ring areas according to the longitude and latitude;
and respectively calculating the average value of the brightness compensation parameters of all the pixels in the M circular ring areas to generate a distortion compensation parameter matrix.
Preferably, the step of performing an automatic white balance correction test on the binocular camera to generate an RGB compensation parameter matrix includes:
acquiring an RGB standard value of an Alice standard 24 color card;
acquiring an RGB actual value of an Alice standard 24 color card image shot by a binocular camera;
and calculating an RGB compensation parameter matrix which is an RGB actual value-an RGB standard value.
Preferably, the Gamma correction test is performed on the binocular camera, and the adjusting of the brightness values of the master lens and the slave lens of the binocular camera specifically includes:
when the difference of the brightness values acquired by the two sensors of the binocular camera is less than 30%, the two sensors are in a master-slave mode; the master-slave mode is that the image of the master lens is taken as a standard, and the chromatic aberration of the slave lens is adjusted to follow the image of the master lens; the image color difference value of the main lens is the actual image color difference value obtained from the lens, the OB offset parameter matrix, the distortion compensation parameter matrix and the RGB compensation parameter matrix;
when the difference of the brightness values acquired by the two sensors of the binocular camera is more than 30% and less than 80%, the two sensors are in an equilibrium mode; the balance mode is that the luminance of the sensor with high luminance value of the binocular camera offsets the partial compensation effect of the OB offset parameter matrix, the distortion compensation parameter matrix and the RGB compensation parameter matrix by adjusting the Gamma value of the image; the sensor with low brightness value enhances the compensation effect of the OB offset parameter matrix, the distortion compensation parameter matrix and the RGB compensation parameter matrix by adjusting the Gamma value of the image;
when the difference of the brightness values acquired by the two sensors of the binocular camera is more than 80%, the two sensors are in an independent mode; the independent mode is that the sensors of the binocular camera respectively work on the OB offset parameter matrix, the distortion compensation parameter matrix and the RGB compensation parameter matrix which are actually acquired.
According to another aspect of the present invention, there is provided a binocular camera image chromatic aberration correction system for performing a correction test of image chromatic aberration of a binocular camera, comprising a test darkroom, an optical integrating sphere placed in the test darkroom for setting the binocular camera, and a control device connected to the binocular camera for the purpose of; wherein the control device is configured to:
performing OB correction test on the binocular camera to generate an OB offset parameter matrix;
performing relative brightness correction test on the binocular camera to generate a brightness compensation parameter matrix;
carrying out distortion correction test on the binocular camera to generate a distortion compensation parameter matrix;
carrying out automatic white balance correction test on the binocular camera to generate an RGB compensation parameter matrix;
and performing Gamma correction test on the binocular camera, and adjusting the brightness values of the master lens and the slave lens of the binocular camera.
Preferably, the relative brightness correction test is performed on the binocular camera, and the step of generating the brightness compensation parameter matrix includes:
acquiring a brightness actual parameter matrix of which N pixels are radius circles in a plane image shot by a binocular camera;
acquiring the central average value of 50 pixels of the central image of the circle of the image;
and calculating a brightness compensation parameter matrix, namely a brightness actual parameter matrix-central average value.
Preferably, the distortion correction test is performed on the binocular camera, and the step of generating the distortion compensation parameter matrix includes:
dividing the circle of the image into M circular ring areas according to the longitude and latitude;
and respectively calculating the average value of the brightness compensation parameters of all the pixels in the M circular ring areas to generate a distortion compensation parameter matrix.
Preferably, the binocular camera performs an automatic white balance correction test to generate an RGB compensation parameter matrix, and specifically includes the steps of:
acquiring an RGB standard value of an Alice standard 24 color card;
acquiring an RGB actual value of an Alice standard 24 color card image shot by a binocular camera;
and calculating an RGB compensation parameter matrix which is an RGB actual value-an RGB standard value.
Preferably, the Gamma correction test is performed on the binocular camera, and the adjusting of the brightness values of the master lens and the slave lens of the binocular camera specifically includes:
when the difference of the brightness values acquired by the two sensors of the binocular camera is less than 30%, the two sensors are in a master-slave mode; the master-slave mode is that the image of the master lens is taken as a standard, and the chromatic aberration of the slave lens is adjusted to follow the image of the master lens; the image color difference value of the main lens is the actual image color difference value obtained from the lens, the OB offset parameter matrix, the distortion compensation parameter matrix and the RGB compensation parameter matrix;
when the difference of the brightness values acquired by the two sensors of the binocular camera is more than 30% and less than 80%, the two sensors are in an equilibrium mode; the balance mode is that the luminance of the sensor with high luminance value of the binocular camera offsets the partial compensation effect of the OB offset parameter matrix, the distortion compensation parameter matrix and the RGB compensation parameter matrix by adjusting the Gamma value of the image; the sensor with low brightness value enhances the compensation effect of the OB offset parameter matrix, the distortion compensation parameter matrix and the RGB compensation parameter matrix by adjusting the Gamma value of the image;
when the difference of the brightness values acquired by the two sensors of the binocular camera is more than 80%, the two sensors are in an independent mode; the independent mode is that the sensors of the binocular camera respectively work on the OB offset parameter matrix, the distortion compensation parameter matrix and the RGB compensation parameter matrix which are actually acquired.
The technical scheme for implementing the binocular camera image chromatic aberration correction method and system has the following advantages or beneficial effects: the correction of the image chromatic aberration of the binocular camera can eliminate the color deviation of the output image caused by the self difference of the two lenses, improve the image quality of the two lenses, and facilitate the low-cost research and development and production of civil-grade and consumer-grade panoramic cameras.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
FIG. 1 is a schematic flow chart of an embodiment of a method for correcting chromatic aberration of images of a binocular camera according to the present invention;
FIG. 2 is a schematic diagram of an original image according to the present invention;
FIG. 3 is a schematic view of a circular image according to the present invention;
FIG. 4 is a schematic undistorted view of the present invention;
FIG. 5 is a schematic illustration of barrel distortion of the present invention;
FIG. 6 is a schematic illustration of pincushion distortion of the present invention;
FIG. 7 is a schematic view of a flat image according to the present invention;
FIG. 8 is a schematic representation of an Alice Standard 24 color card photograph of the present invention;
FIG. 9 is a graph illustrating luminance values of an equalizing mode according to the present invention;
fig. 10 is a schematic structural diagram of a binocular camera image chromatic aberration correction system according to an embodiment of the present invention.
Detailed Description
In order that the objects, aspects and advantages of the invention will become more apparent, the various embodiments described hereinafter refer to the accompanying drawings which form a part hereof, and in which are shown by way of illustration various embodiments in which the invention may be practiced. It is to be understood that other embodiments may be utilized and structural and functional modifications may be made to the embodiments set forth herein without departing from the scope and spirit of the present invention.
Example one
As shown in fig. 1, an embodiment of the method for correcting chromatic aberration of images of a binocular camera according to the present invention is provided, and the correction method of the present embodiment is specifically implemented by the correction system for chromatic aberration of images of a binocular camera according to the second embodiment, and the equipment configuration, the test environment, and the specific operation of the correction system are described in the second embodiment. The correction method specifically comprises the following steps:
performing OB correction test on the binocular camera to generate an OB offset parameter matrix;
performing relative brightness correction test on the binocular camera to generate a brightness compensation parameter matrix;
carrying out distortion correction test on the binocular camera to generate a distortion compensation parameter matrix;
carrying out automatic white balance correction test on the binocular camera to generate an RGB compensation parameter matrix;
and performing Gamma correction test on the binocular camera, and adjusting the brightness values of the master lens and the slave lens of the binocular camera.
In this embodiment, the OB correction test, the relative brightness correction test, the distortion correction test and the automatic white balance correction test are all performed on 2 lenses in the binocular camera, and in the Gamma correction test, the brightness values of the master lens and the slave lens of the binocular camera are adjusted comprehensively and uniformly by using the corresponding parameters obtained in the 4 steps. After the correction operation is completed, the binocular camera after correction is used for shooting and outputting images to a video encoder for H.264 image coding.
In this embodiment, the step of performing an OB correction test on the binocular camera to generate an OB offset parameter matrix specifically includes:
acquiring an RGB actual parameter matrix output by a sensor shot by a binocular camera;
calculate OB offset parameter matrix 0-RGB actual parameter matrix.
The OB correction aims at correcting that when no light (namely, all-black environment) is emitted to a Sensor (Sensor, which may be called as a Sensor or a photosensitive chip), the data output by the Sensor should be R ═ G ═ B ═ 0; if the data output by the Sensor is not R-G-B-0, then the compensation parameter is added so that R-G-B-0. For example: assuming that R is 1, G is 1, and B is 2, and the OB offset parameter matrix is RGB _ offset { -1, -1, -2 on that side, the error of the Sensor itself is calculated and cancelled, i.e., R + RGB _ offset [0] ═ 0, G + RGB _ offset [1] ═ 0, and B + RGB _ offset [2] ═ 0.
In this embodiment, the step of performing a relative brightness correction test on the binocular camera to generate a brightness compensation parameter matrix specifically includes:
acquiring an actual image matrix of a circle with N pixels as radiuses in a plane image shot by a binocular camera; specifically, the value of N ranges from 480-Sensor (Sensor) maximum longitudinal resolution pixels, each Sensor has a maximum length and width, here the width of the Sensor's light sensing, and the Sensor's effective pixel element is 2688 x 1520; therefore, 1080 × 720(720P) and 1920 × 1080(1080P) images can be displayed, the pixels of the general video image are based on the standard video output of h.264, and the resolution is actually the precise pixels cut off from the Sensor. Preferably, N is generally 960 pixels, for example, the effective pixel element of Sensor is 2688 × 1520, and the value range of N may be 480-.
Acquiring a central average value of 50 pixels at the center of a circle of the image; specifically, the central pixel may be 50, 60, 70, 80, 90, 100, etc.
And calculating a brightness compensation parameter matrix, wherein the brightness compensation parameter matrix is an actual image matrix-center average value.
In order to obtain the brightness compensation parameter matrix, the brightness compensation parameter matrix is mainly used for compensating the problem that the peripheral part of the image is darker than the central part of the image due to the fact that the light flux amount is decreased from the center to the outer edge caused by the physical characteristics of the lens.
Raw Data (Raw Data) output by a binocular camera is acquired, as shown in fig. 2, the circle is actually effective image Data, as shown in fig. 3, the brightness of the image center is higher than that of the periphery, and the difference is caused by the physical and optical characteristics of the lens. Specifically, in this embodiment, a circle with 480 Sensor pixels as a radius is used, and an example of a luminance actual parameter matrix is as follows:
[...
{0x00,0x00,0x01,0x01,0x02,0x02,0x03,...,0x03,0x02,0x02,0x01,0x00,0x00,}
{0x00,0x00,0x01,0x01,0x02,0x02,0x03,...,0x03,0x02,0x02,0x01,0x00,0x00,}
{0x00,0x00,0x01,0x01,0x02,0x02,0x03,...,0x03,0x02,0x02,0x01,0x00,0x00,}
{0x00,0x00,0x02,0x04,0x02,0x78,0xEE,...,0xEE,0x78,0x02,0x01,0x00,0x00,}
{0x00,0x00,0x02,0x01,0x02,0x86,0xEF,...,0xEF,0x86,0x02,0x01,0x00,0x00,}
{0x00,0x00,0x01,0x01,0x02,0x87,0xFE,...,0xFE,0x87,0x02,0x01,0x00,0x00,}
...
{0x00,0x00,0x01,0x01,0x02,0x87,0xFE,...,0xFE,0x87,0x02,0x01,0x00,0x00,}
{0x00,0x00,0x02,0x01,0x02,0x86,0xEF,...,0xEF,0x86,0x02,0x01,0x00,0x00,}
{0x00,0x00,0x02,0x04,0x02,0x78,0xEE,...,0xEE,0x78,0x02,0x01,0x00,0x00,}
{0x00,0x00,0x01,0x01,0x02,0x02,0x03,...,0x03,0x02,0x02,0x01,0x00,0x00,}
{0x00,0x00,0x01,0x01,0x02,0x02,0x03,...,0x03,0x02,0x02,0x01,0x00,0x00,}
{0x00,0x00,0x01,0x01,0x02,0x02,0x03,...,0x03,0x02,0x02,0x01,0x00,0x00,}
...]
specifically, each parameter of the luminance compensation parameter matrix is a difference between its own luminance actual parameter matrix and an average value of 50 pixels of the central image, and the luminance compensation parameter matrix is exemplified as follows:
[...
{0xEE,0xED,0xEC,0xEB,0xEA,0xDD,...,0xDC,0xDD,0xEA,0xEB,0xED,0xEE,}
{0xDE,0xDD,0xDC,0xDB,0xDA,0xCE,...,0xCE,0xDA,0xDB,0xDC,0xDD,0xDE,}
{0xCE,0xCD,0xCC,0xCB,0xCA,0xBE,...,0xBE,0xCA,0xCB,0xCC,0xCD,0xCE,}
{0xBE,0xBD,0xBC,0xBA,0xAE,0xAD,...,0xAD,0xAE,0xBA,0xBC,0xBD,0xBE,}
{0x9E,0x9D,0x9C,0x9A,0x9E,0x8D,...,0x8D,0x8E,0x9A,0x9C,0x9D,0x9E,}
{0x60,0x58,0x56,0x55,0x51,0x09,0x04,...,0x04,0x0A,0x58,0x57,0x59,0x60,}
{0x30,0x29,0x27,0x25,0x21,0x10,0x01,...,0x10,0x21,0x25,0x27,0x28,0x30,}
...
{0x30,0x29,0x27,0x25,0x21,0x10,0x01,...,0x10,0x21,0x25,0x27,0x28,0x30,}
{0x60,0x58,0x56,0x55,0x51,0x09,0x04,...,0x04,0x0A,0x58,0x57,0x59,0x60,}
{0x9E,0x9D,0x9C,0x9A,0x9E,0x8D,...,0x8D,0x8E,0x9A,0x9C,0x9D,0x9E,}
{0xBE,0xBD,0xBC,0xBA,0xAE,0xAD,...,0xAD,0xAE,0xBA,0xBC,0xBD,0xBE,}
{0xCE,0xCD,0xCC,0xCB,0xCA,0xBE,...,0xBE,0xCA,0xCB,0xCC,0xCD,0xCE,}
{0xDE,0xDD,0xDC,0xDB,0xDA,0xCE,...,0xCE,0xDA,0xDB,0xDC,0xDD,0xDE,}
{0xEE,0xED,0xEC,0xEB,0xEA,0xDD,...,0xDC,0xDD,0xEA,0xEB,0xED,0xEE,}
...]
in this embodiment, the step of performing distortion correction test on the binocular camera to generate a distortion compensation parameter matrix specifically includes:
dividing the circle of the image into M circular ring areas according to the longitude and latitude; why is the compensation average of a plurality of circular ring regions to be extracted, not the compensation read by each pixel? The main reason is that the current CPU can not complete the compensation calculation of all pixel points in 1/60 seconds. The example here is 6 regions, which can be divided into 36 regions or even more, and the more the calculation circular ring regions are divided, the better the distortion brightness correction effect will be. And respectively calculating the average value of the brightness compensation parameter matrixes of all the pixels in the M circular ring areas to generate a distortion compensation parameter matrix. Specifically, the value of M may be 6, 24, 36, 42, 72, and so on.
In reality, the lenses are all optically distorted, especially the fisheye lenses, and the distortion forms are two types: barrel distortion and pincushion distortion as shown in figures 4-6. It is considered that in order to obtain good image quality, distortion of the image must be taken into account as well. First, the optical integrating sphere is divided into annular regions of M levels of longitude and latitude in a manner of a globe, and preferably, the value of M is 6, but may be other values. An image in which an image photographed by a binocular camera falls on a plane is shown in fig. 7. Then, the values in the compensation matrix for brightness correction are divided according to the 6 circular ring areas in fig. 7, and according to the area where each compensation value falls in the 6 circular ring areas, the average value of the distortion compensation parameters in the 6 circular ring areas is calculated, which is the distortion compensation parameter matrix, for example: [0x02,0x11,0x35,0x45,0xA0,0xDE ]. The set of parameters is applied to image shooting in real time, and the brightness difference of the image is repaired in real time.
In this embodiment, the step of performing an automatic white balance correction test on the binocular camera to generate an RGB compensation parameter matrix specifically includes:
acquiring an RGB standard value of an Alice standard 24 color card;
acquiring an RGB actual value of an Alice standard 24 color card image shot by a binocular camera;
and calculating an RGB compensation parameter matrix which is an RGB actual value-an RGB standard value.
The purpose of the automatic white balance correction is to ensure that under normal circumstances and light sources, a white object takes a white image.
Specifically, the alice standard 24 color card is placed in a standard light source light box (e.g., a standard light source light box of tianyouli). A binocular camera was used to capture the alice standard 24 color card image. And a binocular camera was used to take a picture of the alice standard 24 color card. And analyzing the shot Alice standard 24 color card image. As shown in fig. 8. And carrying out color analysis on the shot image, acquiring and recording the RGB actual value of the 24 color cards through a color extraction function, and calculating an RGB compensation parameter matrix which is an RGB actual value-RGB standard value. And the obtained RGB actual value is corresponding to the corresponding color gamut. The standard 24-color-card value is then complemented in the present color gamut. And finally, manually adjusting and complementing the difference between the actual 24-color value and the standard 24-calorie value. So that the display gamut models a closed state. The generated gamut bit map needs a white balance parameter table, but actually the Bitmap is converted into a hexadecimal array.
In this embodiment, a Gamma correction test is performed on the binocular camera, and the luminance values of the master lens and the slave lens of the binocular camera are adjusted. The Gamma correction mainly adjusts the contrast and brightness of the image. Because the binocular camera has two lenses, the adjustment of the image is to adjust the input data of the two lenses at the same time, and the adjustment mainly has three working modes: master-slave mode, equalization mode, and independent mode. After the binocular camera completes the four steps, the equipment shooting is bound to meet the conditions of forward light and backward light in the same use scene, so three mode switching programs in the Gamma correction process are designed according to the difference of the photosensitive brightness values acquired by the front Sensor and the rear Sensor.
The Gamma correction test specifically comprises a master-slave mode, an equalization mode and an independent mode, and specifically comprises the following steps:
(1) master-slave mode
When the difference of the brightness values acquired by the two sensors of the binocular camera is less than 30%, the two sensors are in a master-slave mode; the master-slave mode is that the image of the master lens is taken as a standard, and the chromatic aberration of the slave lens is adjusted to follow the image of the master lens; the image color difference value of the main lens is the actual image color difference value obtained from the lens, the OB offset parameter matrix, the distortion compensation parameter matrix and the RGB compensation parameter matrix. Specifically, the actual color difference value of the image obtained from the lens is the color difference value after the compensation brightness value adjustment from the lens. One lens of the binocular camera is a master lens, the other lens of the binocular camera is a slave lens, and the brightness adjusting parameters and the white balance parameters of the slave lens follow the master lens. More specifically, two sensors work in a master-slave mode, one Sensor is the master (defining that the lens facing to the direction of the Sensor is the master and the lens facing to the light is the master), and the other Sensor is the slave. The brightness adjusting parameter and the white balance parameter of the slave lens follow the master lens.
(2) Equalization mode
When the difference of the brightness values acquired by the two sensors of the binocular camera is more than 30% and less than 80%, the two sensors are in an equilibrium mode; the balance mode is that the luminance of the sensor with high luminance value of the binocular camera offsets the partial compensation effect (namely, reduces the compensation value) of the OB offset parameter matrix, the distortion compensation parameter matrix and the RGB compensation parameter matrix by adjusting the Gamma value (Gamma curve) of the image; the sensor with low brightness value can enhance the compensation effect (i.e. increase the compensation value) of the OB offset parameter matrix, the distortion compensation parameter matrix and the RGB compensation parameter matrix by adjusting the Gamma value (Gamma curve) of the image. More specifically, when two sensors work in an equalization mode, the brightness compensation of the Sensor image with high brightness value is reduced and inhibited; the compensation value of the brightness of the Sensor image with low brightness value is increased and enhanced, as shown in fig. 9.
(3) Independent mode
When the difference of the brightness values acquired by the two sensors of the binocular camera is more than 80%, the two sensors are in an independent mode; the independent mode is that the sensors of the binocular camera respectively work on the OB offset parameter matrix, the distortion compensation parameter matrix and the RGB compensation parameter matrix which are actually acquired. The two sensors are in independent mode and work on the actually acquired brightness value.
According to the binocular camera image chromatic aberration correction method, the chromatic aberration of the output image caused by the self-difference of the two lenses can be eliminated by correcting the binocular camera image chromatic aberration, so that the image quality of the two lenses is improved, basic parameters and data are provided for the recent multi-view panoramic video image processing, the low-cost research and development and the production of civil-grade and consumer-grade binocular cameras are facilitated, and the rapid development and progress of the binocular panoramic camera shooting technology are promoted.
Example two
As shown in fig. 10, the embodiment of the present invention provides a system for correcting chromatic aberration of images of a binocular camera, which is used for performing a correction test on chromatic aberration of images of the binocular camera, and includes a test darkroom, an optical integrating sphere disposed in the test darkroom for setting the binocular camera, and a control device connected to the binocular camera. The binocular camera may be a general binocular camera or a binocular panoramic camera. The control device is connected with the binocular camera through a wire, specifically, the control device can be a USB data line, other data lines and the like, and the control device can be a computer and the like. Wherein the control device is configured to:
performing OB correction test on the binocular camera to generate an OB offset parameter matrix;
performing relative brightness correction test on the binocular camera to generate a brightness compensation parameter matrix;
carrying out distortion correction test on the binocular camera to generate a distortion compensation parameter matrix;
carrying out automatic white balance correction test on the binocular camera to generate an RGB compensation parameter matrix;
and performing Gamma correction test on the binocular camera, and adjusting the brightness values of the master lens and the slave lens of the binocular camera.
In this embodiment, the correction system performs OB correction test on the binocular camera, and the specific test conditions are as follows:
and (3) testing environment: the indoor temperature is 25 ℃ and the humidity is 60%.
Testing equipment: the device comprises a test darkroom, an optical integrating sphere, a control device, a binocular camera and a USB data line.
And (3) correcting specific operation: the binocular camera is placed in the optical integrating sphere, the binocular camera and the control device are connected through the USB data line, and the OB offset parameter matrix of the Sensor is obtained through the control device. More specific OB calibration tests are described in detail in the corresponding steps of example one.
In this embodiment, the calibration system performs a relative brightness calibration test on the binocular camera, and the specific test conditions are as follows:
and (3) testing environment: the indoor temperature is 25 ℃ and the humidity is 60%.
Testing equipment: the device comprises a test darkroom, an optical integrating sphere, a control device, a binocular camera and a USB data line.
The specific calibration operation is to place the binocular camera in the optical integrating sphere, connect the binocular camera and the control device by a USB data line, turn on the D65 light source of the optical integrating sphere, and describe the specific relative brightness calibration test with the ambient illumination of 1000-.
In this embodiment, a distortion correction test is performed on a binocular camera, and specific test conditions are as follows:
and (3) testing environment: the indoor temperature is 25 ℃ and the humidity is 60%.
Testing equipment: the test darkroom, optics integrating sphere, computer, binocular camera, USB data line.
The calibration operation is to place the binocular camera in the optical integrating sphere, connect the binocular camera with the computer by the USB data cable, turn on the D65 light source of the optical integrating sphere, and the more specific distortion calibration test with the environmental illumination of 1000-.
In this embodiment, an automatic white balance correction test is performed on a binocular camera, and specific test conditions are as follows:
and (3) testing environment: the indoor temperature is 25 ℃ and the humidity is 60%.
Testing equipment: the test darkroom, optics integrating sphere, controlling means, binocular camera, USB data line, standard lamp source case, the beautiful 24 colour cards of love.
The calibration operation is to place the binocular camera in the optical integrating sphere, connect the binocular camera with the computer by the USB data line, turn on the D65 light source of the optical integrating sphere, place the Alice 24 color card in the standard light source box (such as the standard light source box of Tian Youli) with the ambient illumination of 1000-.
In this embodiment, a Gamma correction test is performed on the binocular camera, and more specifically, the Gamma correction test is described in detail in the corresponding steps of embodiment 1.
The invention mainly relates to a correction flow method and a system which are designed based on an IQ correction principle of a monocular camera and according to the actual requirement of a binocular camera, the requirement of chromatic aberration of a double lens is eliminated. The correction of the image chromatic aberration of the binocular camera can eliminate the color deviation of the output image caused by the self difference of the two lenses, improve the image quality of the two lenses, and facilitate the rapid development and progress of developing and producing civil-grade and consumer-grade panoramic cameras at low cost.
After reading the following description, it will be apparent to one skilled in the art that various features described herein can be implemented in a method, data processing system, or computer program product. Accordingly, these features are presented in terms of software, or a combination of hardware and software. Furthermore, the above-described features may also be embodied in the form of a computer program product stored on one or more computer-readable storage media having computer-readable program code segments or instructions embodied in the storage medium. Any use of a computer-readable storage medium may be utilized including hard disks, CD-ROMs, optical storage devices, magnetic storage devices, and/or any combination of the foregoing.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (8)
1. A binocular camera image chromatic aberration correction method is characterized by comprising the following steps:
performing OB correction test on the binocular camera to generate an OB offset parameter matrix;
performing relative brightness correction test on the binocular camera to generate a brightness compensation parameter matrix;
carrying out distortion correction test on the binocular camera to generate a distortion compensation parameter matrix;
carrying out automatic white balance correction test on the binocular camera to generate an RGB compensation parameter matrix;
performing Gamma correction test on the binocular camera, and adjusting the brightness values of a master lens and a slave lens of the binocular camera; the method specifically comprises the following steps:
when the difference of the brightness values acquired by the two sensors of the binocular camera is less than 30%, the two sensors are in a master-slave mode; the master-slave mode is that the image of the master lens is taken as a standard, and the chromatic aberration adjustment of the slave lens follows the image of the master lens; the image color difference value of the main lens is the actual image color difference value obtained from the lens, the OB offset parameter matrix, the distortion compensation parameter matrix and the RGB compensation parameter matrix;
when the difference of the brightness values acquired by the two sensors of the binocular camera is more than 30% and less than 80%, the two sensors are in an equalization mode, and the equalization mode is that the brightness of the sensor with the high brightness value of the binocular camera offsets the compensation effect of the OB offset parameter matrix, the distortion compensation parameter matrix and the RGB compensation parameter matrix by adjusting the Gamma value of the image; the sensor with low brightness value enhances the compensation effect of the OB offset parameter matrix, the distortion compensation parameter matrix and the RGB compensation parameter matrix by adjusting the Gamma value of the image;
when the difference of the brightness values acquired by the two sensors of the binocular camera is greater than 80%, the two sensors are in an independent mode, and the independent mode is that the sensors of the binocular camera work in the OB offset parameter matrix, the distortion compensation parameter matrix and the RGB compensation parameter matrix which are actually acquired.
2. The binocular camera image chromatic aberration correction method according to claim 1, wherein the step of performing a relative brightness correction test on the binocular camera to generate a brightness compensation parameter matrix comprises:
acquiring a brightness actual parameter matrix with N pixels as radius circles in an image shot by the binocular camera;
acquiring a central average value of 50 pixels at the center of a circle of the image;
and calculating the brightness compensation parameter matrix, namely the brightness actual parameter matrix and the central average value.
3. The binocular camera image chromatic aberration correction method of claim 2, wherein the step of performing a distortion correction test on the binocular camera to generate a distortion compensation parameter matrix comprises:
dividing the circle of the image into M circular ring areas according to the longitude and latitude;
and respectively calculating the average value of the brightness compensation parameters of all the pixels in the M circular ring areas to generate the distortion compensation parameter matrix.
4. The binocular camera image chromatic aberration correction method of claim 1, wherein the step of performing an automatic white balance correction test on the binocular camera to generate an RGB compensation parameter matrix comprises:
acquiring an RGB standard value of an Alice standard 24 color card;
acquiring the RGB actual value of the Alice standard 24 color card image shot by the binocular camera;
and calculating the RGB compensation parameter matrix as the RGB actual value-the RGB standard value.
5. A binocular camera image chromatic aberration correction system is used for performing image chromatic aberration correction test on a binocular camera and is characterized by comprising a test darkroom, an optical integrating sphere arranged in the test darkroom and used for arranging the binocular camera, and a control device connected with the binocular camera;
the control device is used for:
performing OB correction test on the binocular camera to generate an OB offset parameter matrix;
performing relative brightness correction test on the binocular camera to generate a brightness compensation parameter matrix;
carrying out distortion correction test on the binocular camera to generate a distortion compensation parameter matrix;
carrying out automatic white balance correction test on the binocular camera to generate an RGB compensation parameter matrix;
performing Gamma correction test on the binocular camera, and adjusting the brightness values of a master lens and a slave lens of the binocular camera; the method specifically comprises the following steps:
when the difference of the brightness values acquired by the two sensors of the binocular camera is less than 30%, the two sensors are in a master-slave mode; the master-slave mode is that the image of the master lens is taken as a standard, and the chromatic aberration adjustment of the slave lens follows the image of the master lens; the image color difference value of the master lens is the actual image color difference value of the slave lens, the OB offset parameter matrix, the distortion compensation parameter matrix and the RGB compensation parameter matrix;
when the difference of the brightness values acquired by the two sensors of the binocular camera is more than 30% and less than 80%, the two sensors are in an equalization mode, and the equalization mode is that the brightness of the sensor with the high brightness value of the binocular camera offsets partial compensation effects of the OB offset parameter matrix, the distortion compensation parameter matrix and the RGB compensation parameter matrix by adjusting the Gamma value of an image; the sensor with low brightness value enhances the compensation effect of the OB offset parameter matrix, the distortion compensation parameter matrix and the RGB compensation parameter matrix by adjusting the Gamma value of the image;
when the difference of the brightness values acquired by the two sensors of the binocular camera is greater than 80%, the two sensors are in an independent mode, and the independent mode is that the sensors of the binocular camera work in the OB offset parameter matrix, the distortion compensation parameter matrix and the RGB compensation parameter matrix which are actually acquired.
6. The binocular camera image chromatic aberration correction system of claim 5, wherein the step of performing a relative luminance correction test on the binocular camera to generate a luminance compensation parameter matrix comprises:
acquiring a brightness actual parameter matrix with N pixels as radius circles in a plane image shot by the binocular camera;
acquiring a central average value of 50 pixels of a central image of a circle of the image;
and calculating the brightness compensation parameter matrix, namely the brightness actual parameter matrix and the central average value.
7. The binocular camera image chromatic aberration correction system of claim 6, wherein the step of performing a distortion correction test on the binocular camera to generate a distortion compensation parameter matrix comprises:
dividing the circle of the image into M circular ring areas according to the longitude and latitude;
and respectively calculating the average value of the brightness compensation parameters of all the pixels in the M circular ring areas to generate the distortion compensation parameter matrix.
8. The binocular camera image chromatic aberration correction system of claim 5, wherein performing an automatic white balance correction test on the binocular camera, the generating of the RGB compensation parameter matrix comprises:
acquiring an RGB standard value of an Alice standard 24 color card;
acquiring the RGB actual value of the Alice standard 24 color card image shot by the binocular camera;
and calculating the RGB compensation parameter matrix as the RGB actual value-the RGB standard value.
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