CN109660718A - Image processing method and device, electronic equipment, computer readable storage medium - Google Patents
Image processing method and device, electronic equipment, computer readable storage medium Download PDFInfo
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- CN109660718A CN109660718A CN201811455313.0A CN201811455313A CN109660718A CN 109660718 A CN109660718 A CN 109660718A CN 201811455313 A CN201811455313 A CN 201811455313A CN 109660718 A CN109660718 A CN 109660718A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
- H04N23/681—Motion detection
- H04N23/6811—Motion detection based on the image signal
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Abstract
This application involves a kind of image processing method, device, electronic equipment, computer readable storage mediums, which comprises obtains the original image of camera shooting；The gravity angle that the camera shoots the stabilization component when original image is obtained, the corresponding image shift amount of the original image is obtained according to the gravity angle；The first correction process is carried out to the original image according to described image offset, obtains intermediate image；The corresponding calibration information of the camera is obtained, and the second correction process is carried out to the intermediate image according to the calibration information, obtains target image.The accuracy of image can be improved in above-mentioned image processing method, device, electronic equipment, computer readable storage medium.
Description
Technical field
This application involves image technology fields, more particularly to a kind of image processing method, device, electronic equipment, calculating
Machine readable storage medium storing program for executing.
Background technique
During shooting image, electronic equipment may generate certain offsets or shake.Since camera is being shot
When image, exposure needs certain duration, if camera produces offset or shake when exposure, will result in into
As the movement of object, so that the image generated generates the problems such as fuzzy.
Summary of the invention
The embodiment of the present application provides a kind of image processing method, device, electronic equipment, computer readable storage medium, can
To improve the accuracy of image.
A kind of image processing method, comprising:
Obtain the original image of camera shooting, wherein the camera is correspondingly arranged stabilization component；
The gravity angle that the camera shoots the stabilization component when original image is obtained, according to the gravity angle
Degree obtains the corresponding image shift amount of the original image, wherein the gravity angle is used to indicate the flat of the stabilization component
Shifting face and gravity direction are formed by the angle of angle；
The first correction process is carried out to the original image according to described image offset, obtains intermediate image；
The corresponding calibration information of the camera is obtained, and second is carried out to the intermediate image according to the calibration information
Correction process obtains target image.
A kind of image processing apparatus, comprising:
Image collection module, for obtaining the original image of camera shooting, wherein the camera is correspondingly arranged stabilization
Component；
Image shift amount obtains model, for obtaining the stabilization component when camera shoots the original image
Gravity angle obtains the corresponding image shift amount of the original image according to the gravity angle, wherein the gravity angle is used
The angle of angle is formed by the translational plane and gravity direction for indicating the stabilization component；
First correction module is obtained for carrying out the first correction process to the original image according to described image offset
To intermediate image；
Second correction module, for obtaining the corresponding calibration information of the camera, and according to the calibration information to institute
It states intermediate image and carries out the second correction process, obtain target image.
A kind of electronic equipment, including memory and processor store computer program, the calculating in the memory
When machine program is executed by the processor, so that the processor executes following steps:
Obtain the original image of camera shooting, wherein the camera is correspondingly arranged stabilization component；
The gravity angle that the camera shoots the stabilization component when original image is obtained, according to the gravity angle
Degree obtains the corresponding image shift amount of the original image, wherein the gravity angle is used to indicate the flat of the stabilization component
Shifting face and gravity direction are formed by the angle of angle；
The first correction process is carried out to the original image according to described image offset, obtains intermediate image；
The corresponding calibration information of the camera is obtained, and second is carried out to the intermediate image according to the calibration information
Correction process obtains target image.
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
Following steps are realized when row:
Obtain the original image of camera shooting, wherein the camera is correspondingly arranged stabilization component；
The gravity angle that the camera shoots the stabilization component when original image is obtained, according to the gravity angle
Degree obtains the corresponding image shift amount of the original image, wherein the gravity angle is used to indicate the flat of the stabilization component
Shifting face and gravity direction are formed by the angle of angle；
The first correction process is carried out to the original image according to described image offset, obtains intermediate image；
The corresponding calibration information of the camera is obtained, and second is carried out to the intermediate image according to the calibration information
Correction process obtains target image.
Image processing method provided by the embodiments of the present application, device, electronic equipment, computer readable storage medium, can be with
The original image of camera shooting is obtained, and obtains the gravity angle of stabilization component when camera shoots original image,
The image shift amount of original image is obtained according to gravity angle.Then the first correction is carried out to original image according to image shift amount
Processing, obtains intermediate image.The calibration information of camera is finally obtained, and intermediate image is carried out by the second school according to calibration information
Positive processing, obtains target image.Error brought by image of the gravity of stabilization component to shooting, and root can thus be reduced
Image is further compensated according to calibration information, to improve the accuracy of image.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of application for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the application environment schematic diagram of image processing method in one embodiment；
Fig. 2 is the flow chart of image processing method in one embodiment；
Fig. 3 is the operation principle schematic diagram of stabilization component in one embodiment；
Fig. 4 is the flow chart of image processing method in another embodiment；
Fig. 5 is the schematic diagram that reference offset amount is marked in one embodiment；
Fig. 6 is the schematic diagram of the offset of stabilization component in one embodiment；
Fig. 7 is the schematic diagram of gravity angle and the corresponding relationship of image shift amount in one embodiment；
Fig. 8 is the flow chart of image processing method in another embodiment；
Fig. 9 is the structural block diagram of the image processing apparatus of one embodiment；
Figure 10 is the schematic diagram of image processing circuit in one embodiment.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, and
It is not used in restriction the application.
It is appreciated that term " first " used in this application, " second " etc. can be used to describe various elements herein,
But these elements should not be limited by these terms.These terms are only used to distinguish the first element from the other element.Citing comes
It says, in the case where not departing from scope of the present application, the first correction process can be known as the second correction process, and similarly,
Second correction process can be known as the first correction process.First correction process and the second correction process both correction process,
But it is not same correction process.
Fig. 1 is the application environment schematic diagram of image processing method in one embodiment.As shown in Figure 1, the application environment packet
Electronic equipment 10 is included, camera 102 is installed on electronic equipment 10, camera 102 is correspondingly arranged stabilization component.Specifically, electronics
Then the original image 12 of the available camera 102 of equipment 10 acquisition obtains stabilization when camera 102 shoots original image 12
The gravity angle of component；The first assembly offset of stabilization component is obtained according to gravity angle, and according to first assembly offset
Obtain image shift amount；The first correction process is carried out to original image 12 according to image shift amount, obtains target image.In this reality
It applies in example, electronic equipment 102 can be for mobile phone, computer, wearable device, personal digital assistant etc., it is not limited here.
Fig. 2 is the flow chart of image processing method in one embodiment.As shown in Fig. 2, the camera calibration method includes
Step 202 is to step 208.Wherein:
Step 202, the original image of camera shooting is obtained, wherein camera is correspondingly arranged stabilization component.
In one embodiment, camera can be set in electronic equipment, and the quantity of the camera of setting is unlimited.For example, setting
1,2,3,5 etc. is set, it is not limited here.The form that camera is set to electronic equipment is unlimited, for example, it may be interior
It is placed in the camera of electronic equipment, the camera of electronic equipment can also be placed outside；It can be front camera, after being also possible to
Set camera.Electronic equipment installation can be any type of camera.For example, it may be colour imagery shot, black and white image
Head, Laser video camera head, depth camera head etc., it is without being limited thereto.
Camera shooting during, electronic equipment may generate shake or offset situations such as.Since camera is adopted
When collecting image, certain time for exposure is needed, if electronic equipment produces shake or offset in exposure process, is taken the photograph
As head acquire image may generate it is fuzzy.Electronic equipment can be improved by stabilization component to be obscured caused by shake, is prevented
Trembling component is OIS (Optical Image Stabilization, optical anti-vibration) component, can be in the feelings for having shake or offset
Under condition, control lens relative to Image sensor shift and the image shift caused by shake compensates.
Step 204, the gravity angle of stabilization component, obtains former according to gravity angle when obtaining camera shooting original image
The corresponding image shift amount of beginning image, wherein gravity angle is for indicating that the translational plane of stabilization component is formed with gravity direction
Angle angle.
In embodiment provided by the present application, stabilization component can produce the offset on position, by factors such as gravity
When influence, stabilization component may also can generate offset, and this offset is not that can thus to image caused by shake
The image inaccuracy of head acquisition, to influence the calibration result of camera.Therefore, during to camera calibration, every time
When collecting uncalibrated image, the gravity angle for obtaining stabilization component can be corresponded to, then according to the gravity angle of acquisition to shooting
Image be corrected.
Fig. 3 is the operation principle schematic diagram of stabilization component in one embodiment.As shown in figure 3, working as the gravity of stabilization component
When angle is predetermined angle, the center of stabilization component is in position 302；When the gravity angle of stabilization component is not default
When angle, the central point of stabilization component is moved to position 304 from position 302, i.e. the central point of stabilization component produces offset.Circle
The range mobile for the central point of stabilization component of circle 306, the i.e. central point of stabilization component can only be in the range of circle 306 be illustrated
Offset.Position offset according to position 304 relative to position 302, so that it may the position offset for calculating stabilization component, from
And the offset of the image shot.
In one embodiment, gravity angle can indicate that the translational plane of stabilization component and gravity direction are formed by angle
Angle, translational plane be stabilization component drive camera generate translation the formed plane in direction.Specifically, in electronic equipment
Gyro sensor (angular-rate sensor) can be installed, gravity angle is obtained by gyro sensor.
In the case where no shake and when gravity angle is predetermined angle, the position of stabilization component will not produce stabilization component
Raw offset.When the gravity angle of stabilization component is not predetermined angle, even if not shaking, the position of stabilization component may also can
It is affected by gravity and generates certain offset.Therefore, it when acquiring image, needs to deviate gravity bring the certain benefit of progress
It repays.
In one embodiment, the corresponding relationship that can pre-establish gravity angle and image shift amount is collecting mark
When determining image, the gravity angle of stabilization component is obtained, image shift amount is then determined according to gravity angle, and according to image
Offset is corrected the uncalibrated image of acquisition.For example, corresponding image is inclined when gravity angle is 20 °, 40 °, 60 ° and 80 °
Shifting amount is respectively 1,4,9,12 pixel.
Step 206, the first correction process is carried out to original image according to image shift amount, obtains intermediate image.
After getting image shift amount, the first correction process can be carried out to original image according to image shift amount.Tool
Body, the original image of acquisition is the two-dimensional pixel matrix being made of several pixels, and image shift amount can be will be original
Image can thus carry out original image to the mobile one or more pixels in some direction according to image shift amount
Offset correction.
Step 208, the corresponding calibration information of camera is obtained, and the second correction is carried out to intermediate image according to calibration information
Processing, obtains target image.
Specifically, calibration information may include the parameters such as internal reference, outer ginseng, the distortion factor of camera, if electronic equipment
More than two cameras are installed, then calibration information can also include the outer ginseng between different cameras.Calibration information be
It obtains when carrying out to camera and demarcate and handle, after carrying out calibration to camera and handling to obtain calibration information, can will mark
Determine information storage in the electronic device.In the shooting process of image, so that it may according to the calibration information stored in electronic equipment
Second correction process is carried out to the image taken.
During handling camera calibration, electronic equipment, which can control camera and shoot to scaling board, to be demarcated
Image carries out calibration processing to camera by shooting obtained uncalibrated image.Electronic equipment can search the spy of uncalibrated image
Point is levied, the corresponding calibration information of camera is sought according to characteristic point.Specifically, electronic equipment can be demarcated using traditional camera
Method, camera self-calibrating method, Zhang Zhengyou scaling method between traditional scaling method and self-calibrating method etc. are to camera shooting
Head carries out calibration processing, without being limited thereto.
After obtaining intermediate image, so that it may carry out the second correction process to intermediate image according to calibration information, obtain mesh
Logo image.
Image processing method provided by the above embodiment, the original image of available camera shooting, and in camera
The gravity angle that stabilization component is obtained when shooting original image, the image shift of original image is obtained according to gravity angle
Amount.Then the first correction process is carried out to original image according to image shift amount, obtains intermediate image.Finally obtain camera
Calibration information, and intermediate image is carried out by the second correction process according to calibration information, obtain target image.It can thus reduce
Error brought by image of the gravity of stabilization component to shooting, and image is further compensated according to calibration information,
To improve the accuracy of image.
Fig. 4 is the flow chart of image processing method in another embodiment.As shown in figure 4, the camera calibration method packet
Step 402 is included to step 416.Wherein:
Step 402, the angle of the translational plane and gravity direction that control stabilization component reaches at least two and refers to angle, and remembers
Record each reference offset amount with reference to stabilization component under angle.
Before capturing the image, it can first determine the first model of fit, stabilization group can be determined according to the first model of fit
The gravity angle of part and the corresponding relationship of component drift amount.Specifically, can control the translational plane and gravity direction of stabilization component
Angle reach at least two refer to angle, be then recorded in each reference offset amount with reference to stabilization component under angle.According to
The reference angle and reference offset amount of the record of acquisition obtain the first model of fit.
Step 404, fitting parameter is obtained according to reference angle and reference offset amount, and establishes first according to fitting parameter and intends
Molding type.
In embodiment provided by the present application, one can be pre-defined with reference to model of fit, then by the reference of record
Angle and corresponding reference offset amount are brought into reference to model of fit, solve the fitting parameter referred in model of fit, then root
The first model of fit can be established according to obtained fitting parameter.
For example, can be expressed as with reference to model of fitWherein, x indicates stabilization component
Gravity angle indicates the offset of the position of stabilization component, wjFor constant, j can be random natural number, it is not limited here.
Electronic equipment is got to be brought into reference to the reference angle and reference offset amount that after angle and reference offset amount, can be will acquire
In above-mentioned reference model of fit, the above-mentioned w with reference in model of fit is then solvedj, obtain fitting parameter.Then by the quasi- of solution
It closes parameter to bring into above-mentioned reference model of fit, obtains the first model of fit.
Fig. 5 is the schematic diagram that reference offset amount is marked in one embodiment.As shown in figure 5, control stabilization component is flat
The angle of shifting face and gravity direction arrives separately at 0 °, 10 °, 30 °, 50 ° and 90 ° etc. five with reference to angle, is then separately recorded in
Above-mentioned five with reference to stabilization component under angle in a coordinate system corresponding coordinate be respectively coordinate 502, coordinate 504, coordinate 506,
Coordinate 508 and coordinate 510.The above-mentioned coordinate of record is offset of the stabilization component relative to the position of coordinate origin, then
The first model of fit is determined according to the coordinate recorded in coordinate system and with reference to angle.
In one embodiment, electronic equipment before capturing the image, can also establish the second model of fit.It can control
The position of stabilization mould group generates offset, then records stabilization mould group under each deviation post, the image of camera acquisition
Offset establishes the second model of fit according to the offset of stabilization mould group of record and the offset of image.Specifically, in stabilization
Camera is controlled under at least two reference component offsets of mould group and shoots reference picture, identifies the spy in the reference picture of shooting
Sign point；The reference picture offset of each reference picture is determined according to the characteristic point recognized；It is inclined according to above-mentioned reference component
Shifting amount and reference picture offset are fitted, and generate the second model of fit.
It is understood that when generating the second model of fit according to reference component offset and reference picture offset,
A multinomial model can be initially set up, the reference component offset and reference picture offset that then will acquire are brought into multinomial
In formula model, the constant in multinomial model is solved, the second model of fit is then established according to the constant that solution obtains.
Step 406, the original image of camera shooting is obtained, wherein camera is correspondingly arranged stabilization component.
During image taking, when electronic equipment detects image capture instruction, so that it may control camera acquisition
Original image.Image capture instruction is the instruction for triggering electronic equipment shooting image, for example, pacifying on electronic equipment when user opens
Then the camera application program of dress clicks the shooting button in camera application program.When electronic equipment detects shooting button quilt
When pressing, image capture instruction is generated.
Step 408, the gravity angle of stabilization component when obtaining camera shooting original image.
In one embodiment, when camera acquires original image, the gravity of the available stabilization component of electronic equipment
Angle, then obtains the offset of stabilization component according to gravity angle, and determines original image according to the offset of stabilization component
Offset.
Step 410, stabilization component corresponding first assembly offset under gravity angle is obtained according to the first model of fit,
And the corresponding image shift amount of first assembly offset is obtained according to the second model of fit.
Component drift amount refers to offset of the stabilization component relative to initial position.It the position of stabilization component can be according to anti-
The position for trembling any point in the plane where component determines.For example, the position where stabilization component can be according to stabilization group
The central point of part determines, can also be determined according to other on stabilization component point.Specifically, being built to the plane where stabilization component
Then vertical coordinate system determines the coordinate of stabilization component in the coordinate system according to the point in the plane of stabilization component, that is, determines anti-
Tremble the position where component.Plane where above-mentioned stabilization component generally refers to the plane that stabilization component generates translation, i.e. stabilization
The plane of the imaging sensor for being parallel to camera where component.
Specifically, the initial bit of stabilization component can be defined after the plane where according to stabilization component establishes coordinate system
It is set to the position where origin, the offset of such stabilization component also can be regarded as stabilization component respectively in each of coordinate system
Offset on component.
Fig. 6 is the schematic diagram of the offset of stabilization component in one embodiment.As shown in Figure 6, it is assumed that first position 602 is
It is that origin establishes coordinate system with first position 602, then the second position 604 can be passed through for the initial position of stabilization component
Coordinate determine the offset of stabilization component.The offset of stabilization component can be expressed as the offset in positive direction of the x-axis
For-Px, the offset in positive direction of the y-axis is-Py.
In one embodiment, first assembly offset is stabilization component generated offset under the effect of gravity.Electricity
Sub- equipment can pre-establish the first model of fit of first assembly offset and gravity angle, get gravity angle it
Afterwards, so that it may which the corresponding first assembly offset of gravity angle is obtained according to first model of fit.
There are certain corresponding relationships for the offset of stabilization component and the offset of shooting image, are getting stabilization component
Offset after, the offset of original image is just determined according to the offset of stabilization component.Specifically, being obtained according to gravity angle
The first assembly offset for taking stabilization component obtains the image shift amount of original image according to first assembly offset.First group
The unit of part offset is code, and the unit of image shift amount is pixel (pixel).It can be by first according to the second model of fit
Component drift amount is converted to image shift amount.Wherein it is possible to by first assembly offset along the offset of x-axis in above-mentioned coordinate system
Amount is brought into the offset along y-axis into the second model of fit, and corresponding image shift amount is obtained by calculation.
For example, the second model of fit can be Binary quadratic functions model, can be indicated with following formula:
F (Δ X, Δ Y)=ax2+by2+cxy+dx+ey+f
In above formula, a, b, c, d, e, f are respectively constant, that is, known coefficient.F (Δ X, Δ Y) is for indicating currently to scheme
As offset, x, y respectively indicate the corresponding horizontal axis coordinate of component drift amount, ordinate of orthogonal axes.Bring component drift amount into above-mentioned public affairs
In formula, so that it may acquire image shift amount.For example current component drift amount is p (2,1), then corresponding image shift amount F (Δ
X, Δ Y) 4a+b+2c+2d+e+f can be expressed as.It is understood that above-mentioned second model of fit can be with other forms
Function model, it is not limited here.
Step 412, the first correction process is carried out to original image according to image shift amount, obtains intermediate image.
After getting image shift amount, the first correction process can be carried out to original image according to image shift amount, it is right
The Gravity changer of stabilization component is compensated to original image bring deviation, obtains intermediate image.
In one embodiment, the two-dimensional pixel matrix that original image is made of several pixels, image shift amount
It may include the first image shift amount on first direction and the second image shift amount in second direction, original image carried out
First correction process specifically includes: original image being moved the first image shift amount in a first direction, and will mobile first figure
As the original image after offset in a second direction move the second image shift amount, obtain intermediate image.
According to the corresponding image shift amount of the available first assembly offset of the second model of fit, image shift amount can be with
Determine that image generates the displacement of the pixel of offset, to compensate according to original image of the image shift amount to shooting.Tool
Body, the offset of original image respectively in the first direction and a second direction can be determined according to image shift amount, so as to
Original image is moved from first direction and the enterprising line position of second direction respectively according to image shift amount, to realize to original image
Compensation.
Original image is moved into the first image shift amount in a first direction first, it then again will mobile first image shift
Original image after amount moves the second image shift amount in a second direction, to obtain intermediate image.For example, can basis
Original image establishes coordinate system, the coordinate system and the above-mentioned coordinate system pair established according to stabilization component established according to original image
It answers.After establishing coordinate system according to original image, so that it may determine that first direction is the x-axis of the coordinate system where original image
Positive direction, second direction are the positive direction of the y-axis of the coordinate system where original image.Assuming that the first image shift amount is 30 pixels
Point, the second image shift amount be 21 pixels, then to original image compensate as by original image in a first direction
30 pixels of upper movement move 21 pixels, to obtain intermediate image in a second direction.
In one embodiment, the degrees of offset that original image can be determined according to image shift amount, when original image is inclined
When moving larger, it is believed that the error of the original image of acquisition is larger；When original image offset is smaller, it is believed that the error of original image
It is smaller, at this moment target image can be obtained according to original image.Specifically, inclined according to the first image shift amount and the second image
The error amount of shifting amount calculating original image；When error amount is less than error threshold, original image is moved the in a first direction
One image shift amount, and the original image after mobile first image shift amount is moved into the second image shift in a second direction
Amount, obtains intermediate image.
Error amount is used to indicate the error size of original image, that is, generates the degree of offset.According to the first image shift amount
It can indicate that the offset of original image in a first direction, the second image shift amount can indicate original image in second direction
On offset, the overall offset amount of original image can be determined according to the first image shift amount and the second image shift amount.
Specifically, obtain error amount method can there are many, for example, by the first image shift amount and the second image shift
Amount is overlapped, and obtains error amount；Can also using the weighted average of the first image shift amount and the second image shift amount as
Error refers to；First image shift amount and the second image shift amount can also be weighted superposition, it is not limited here.Firstly,
The weight that the first image shift amount and the second image shift amount are determined according to the resolution ratio of original image, according to the weight by first
Image shift amount and the second image shift amount are weighted superposition, obtain error amount.
In one embodiment, for example, the resolution ratio of original image is 320*680, i.e., the width of original image is 320 pictures
Vegetarian refreshments, a height of 680 pixels.Assuming that first direction is the wide extending direction of original image, second direction is original image
High extending direction, then can be calculated corresponding first weight of first direction be 320/ (320+680)=0.32, second
Corresponding second weight in direction is 680/ (320+680)=0.68.
Step 414, the corresponding calibration information of camera is obtained, wherein including self-calibration information and relatively in calibration information
Calibration information.
It is understood that the original image of camera shooting can generally generate distortion, after collecting original image,
It needs definitely to be corrected original image and can just obtain final image.For example, due to the reasons in structure of lens, acquisition
Original image may generate optical distortion, therefore need to be corrected the distortion of image when collecting original image.Cause
This needs to carry out camera calibration to obtain the calibration information of camera, in this way before using camera shooting image
It can be corrected by the original image that obtained calibration information shoots camera.
In one embodiment, it during demarcating camera, needs to acquire uncalibrated image by camera,
Then the calibration processing to camera is completed according to uncalibrated image.Specifically, electronic equipment can be fixed on bracket, with
The fixed scaling board in the position of bracket certain distance, then the camera of controlling electronic devices is shot against scaling board, is obtained
The uncalibrated image of shooting.
Step 416, self-correcting processing is carried out to intermediate image according to self-calibration information, and according to relative Calibration information to certainly
Intermediate image after correction process carries out registration process, obtains target image.
It in one embodiment, may include self-calibration information and relative Calibration information, self-calibration information in calibration information
It may include internal reference, outer ginseng and the distortion factor of camera, wherein internal reference is for determining camera from three-dimensional space to X-Y scheme
The projection relation of picture, outer ginseng for determining the positional relationship for being transformed into world coordinate system from camera coordinate system, use by distortion factor
It distorts caused by optical deformation in correcting.
The second correction process is carried out to intermediate image according to calibration information, may include being carried out at self-correcting to intermediate image
Reason and relative correction processing.Self-correcting processing is carried out to intermediate image according to self-calibration information, i.e., according to the internal reference of camera, outer
Ginseng and distortion factor carry out self-correcting processing to intermediate image.If electronic equipment is mounted with multiple cameras, then multiple camera shootings
Parallax, the place that the image that different cameras acquire is aligned by relative correction processing will be generated between the image of head acquisition
Reason, so that the pixel in the image of different camera acquisitions is corresponding.
Image processing method provided by the above embodiment, the original image of available camera shooting, and in camera
The gravity angle that stabilization component is obtained when shooting original image, the image shift of original image is obtained according to gravity angle
Amount.Then the first correction process is carried out to original image according to image shift amount, obtains intermediate image.Finally obtain camera
Calibration information, and intermediate image is carried out by the second correction process according to calibration information, obtain target image.It can thus reduce
Error brought by image of the gravity of stabilization component to shooting, and image is further compensated according to calibration information,
To improve the accuracy of image.
Fig. 7 is the schematic diagram of gravity angle and the corresponding relationship of image shift amount in one embodiment.As shown in fig. 7, weight
Power angle [alpha] can be formed by what angle determined by stabilization component translational plane 706 and gravity direction 702, specifically can be logical
The arbitrary line 704 and gravity direction 702 crossed in stabilization component translational plane 706 are formed by what angle determined.As gravity angle α
At=90 °, the optic center point of stabilization component is located at position 712, optic center point corresponding feature in the image 708 of shooting
Point is located at position 722；When 0 ° < α < 90 ° of gravity angle, the optic center point of stabilization component is located at position 714, optic center point
Corresponding characteristic point is located at position 724 in the image 708 of shooting；When gravity angle α=0 °, the optical centre of stabilization component
Point is located at position 716, and optic center point corresponding characteristic point in the image 708 of shooting is located at position 726.
In one embodiment, as shown in figure 8, the step of obtaining image shift amount in above-mentioned image processing method specifically may be used
To include:
Step 802, the jitter parameter of stabilization component when obtaining camera shooting original image, and obtained according to jitter parameter
Second component drift amount of stabilization component.
In one embodiment, when camera shooting image, the gravity of stabilization component can make stabilization component generate offset, prevent
The shake for trembling component also results in the offset of stabilization component.Therefore, need to consider the gravity of stabilization component in calibration process
It is deviated with common bring is shaken.
Jitter parameter is to indicate the parameter of the degree of jitter of stabilization component, specifically can be camera in a certain direction
Mobile distance.Gyro sensor, acceleration transducer etc. can be installed in electronic equipment.When gyro sensor, accelerate
When degree sensor etc. detects that camera is shaken, the buffeting speed and jitter direction of real-time acquisition camera, according to acquisition
Buffeting speed and jitter direction determine the jitter parameter of camera.Electronic equipment can control horse according to determining jitter parameter
Up to drive the camera lens of camera mobile, the moving direction of camera lens is with jitter direction on the contrary, deviating caused by eliminate because of shake.
Therefore, after obtaining gravity angle and jitter parameter, gravity can be compensated according to gravity angle and is missed to caused by uncalibrated image
Difference, according to jitter parameter compensation shake to error caused by uncalibrated image.
Specifically, electronic equipment can pre-establish the third model of fit of the offset of jitter parameter and stabilization component.
Then, first assembly offset of the stabilization component under gravity angle is obtained according to the first model of fit, mould is fitted according to third
Type obtains the corresponding second component drift amount of jitter parameter, and first assembly offset and the second component drift amount are superimposed and are prevented
Tremble the total drift amount of component, i.e. component drift amount.
Step 804, component drift amount is measured according to first assembly offset and the second component drift, and quasi- according to second
The corresponding image shift amount of molding type securing component offset.
After obtaining component drift amount, electronic equipment can obtain corresponding image shift amount according to component drift amount, so
The first correction process is carried out to original image according to image shift amount afterwards.
It should be understood that although each step in the flow chart of Fig. 2,4,8 is successively shown according to the instruction of arrow,
It is these steps is not that the inevitable sequence according to arrow instruction successively executes.Unless expressly stating otherwise herein, these steps
There is no stringent sequences to limit for rapid execution, these steps can execute in other order.Moreover, in Fig. 2,4,8 extremely
Few a part of step may include that perhaps these sub-steps of multiple stages or stage are not necessarily same to multiple sub-steps
Moment executes completion, but can execute at different times, and the execution sequence in these sub-steps or stage is also not necessarily
It successively carries out, but in turn or can be handed over at least part of the sub-step or stage of other steps or other steps
Alternately execute.
Fig. 9 is the structural block diagram of the image processing apparatus of one embodiment.As shown in figure 9, the image processing apparatus 900 wraps
It includes uncalibrated image and obtains module 902, image shift amount acquisition model 904, the first correction module 906 and the second correction module 908.
Wherein:
Image collection module 902, for obtaining the original image of camera shooting, wherein camera is correspondingly arranged stabilization
Component；
Image shift amount obtains model 904, the gravity angle of stabilization component when for obtaining camera shooting original image,
The corresponding image shift amount of original image is obtained according to gravity angle, wherein gravity angle is used to indicate the translation of stabilization component
Face and gravity direction are formed by the angle of angle；
First correction module 906 obtains centre for carrying out the first correction process to original image according to image shift amount
Image；
Second correction module 908, for obtaining the corresponding calibration information of camera, and according to calibration information to intermediate image
The second correction process is carried out, target image is obtained.
Image processing apparatus provided by the above embodiment, the original image of available camera shooting, and in camera
The gravity angle that stabilization component is obtained when shooting original image, the image shift of original image is obtained according to gravity angle
Amount.Then the first correction process is carried out to original image according to image shift amount, obtains intermediate image.Finally obtain camera
Calibration information, and intermediate image is carried out by the second correction process according to calibration information, obtain target image.It can thus reduce
Error brought by image of the gravity of stabilization component to shooting, and image is further compensated according to calibration information,
To improve the accuracy of image.
In one embodiment, image shift amount obtains model 904 and is also used to obtain stabilization group according to the first model of fit
Part corresponding first assembly offset under gravity angle, and it is corresponding according to the second model of fit acquisition first assembly offset
Image shift amount.
In one embodiment, image shift amount obtains when model 904 is also used to obtain camera shooting original image and prevents
The jitter parameter of component is trembled, and obtains the second component drift amount of stabilization component according to jitter parameter；It is deviated according to first assembly
Amount and the second component drift measure component drift amount, and inclined according to the corresponding image of the second model of fit securing component offset
Shifting amount.
In one embodiment, image shift amount includes in the first image shift amount and the second direction on first direction
Second image shift amount, the first correction module 906 are also used to original image moving the first image shift amount in a first direction,
And the original image after mobile first image shift amount is moved into the second image shift amount in a second direction, obtain middle graph
Picture.
In one embodiment, the first correction module 906 is also used to according to the first image shift amount and the second image shift
Amount calculates the error amount of original image；When error amount is less than error threshold, original image is moved first in a first direction
Image shift amount, and the original image after mobile first image shift amount is moved into the second image shift in a second direction
Amount, obtains intermediate image.
In one embodiment, the second correction module 908 is also used to carry out self-correcting to intermediate image according to self-calibration information
Positive processing, and according to relative Calibration information, to self-correcting, treated that intermediate image carries out registration process, obtains target image.
In one embodiment, above-mentioned image processing apparatus 900 further includes model building module, for controlling stabilization component
Translational plane and the angle of gravity direction reach at least two and refer to angle, and record each ginseng with reference to stabilization component under angle
Examine offset；Fitting parameter is obtained according to reference angle and reference offset amount, and the first model of fit is established according to fitting parameter.
The division of modules is only used for for example, in other embodiments, can will scheme in above-mentioned image processing apparatus
As processing unit is divided into different modules as required, to complete all or part of function of above-mentioned image processing apparatus.
Realizing for the modules in image processing apparatus provided in the embodiment of the present application can be the shape of computer program
Formula.The computer program can be run in terminal or server.The program module that the computer program is constituted is storable in terminal
Or on the memory of server.When the computer program is executed by processor, method described in the embodiment of the present application is realized
Step.
The embodiment of the present application also provides a kind of electronic equipment.It include image processing circuit in above-mentioned electronic equipment, at image
Reason circuit can use hardware and or software component realization, it may include define ISP (Image Signal Processing, figure
As signal processing) the various processing units of pipeline.Figure 10 is the schematic diagram of image processing circuit in one embodiment.Such as Figure 10 institute
Show, for purposes of illustration only, only showing the various aspects of image processing techniques relevant to the embodiment of the present application.
As shown in Figure 10, image processing circuit includes ISP processor 1040 and control logic device 1050.Imaging device 1010
The image data of capture is handled by ISP processor 1040 first, and ISP processor 1040 analyzes image data can with capture
Image statistics for determining and/or imaging device 1010 one or more control parameters.Imaging device 1010 can wrap
Include the camera with one or more lens 1012 and imaging sensor 1014.Imaging sensor 1014 may include colour filter
Array (such as Bayer filter), imaging sensor 1014 can obtain the light captured with each imaging pixel of imaging sensor 1014
Intensity and wavelength information, and the one group of raw image data that can be handled by ISP processor 1040 is provided.1020 (such as top of sensor
Spiral shell instrument) parameter (such as stabilization parameter) of the image procossing of acquisition can be supplied to ISP processing based on 1020 interface type of sensor
Device 1040.1020 interface of sensor can use SMIA, and (Standard Mobile Imaging Architecture, standard are moved
Dynamic Imager Architecture) interface, other serial or parallel utilizing camera interfaces or above-mentioned interface combination.
In addition, raw image data can also be sent to sensor 1020 by imaging sensor 1014, sensor 1020 can base
Raw image data is supplied to ISP processor 1040 or sensor 1020 for original graph in 1020 interface type of sensor
As data storage is into video memory 1030.
ISP processor 1040 handles raw image data pixel by pixel in various formats.For example, each image pixel can
Bit depth with 8,10,12 or 14 bits, ISP processor 1040 can carry out raw image data at one or more images
Reason operation, statistical information of the collection about image data.Wherein, image processing operations can be by identical or different bit depth precision
It carries out.
ISP processor 1040 can also receive image data from video memory 1030.For example, 1020 interface of sensor will be former
Beginning image data is sent to video memory 1030, and the raw image data in video memory 1030 is available to ISP processing
Device 1040 is for processing.Video memory 1030 can be only in a part, storage equipment or electronic equipment of memory device
Vertical private memory, and may include DMA (Direct Memory Access, direct direct memory access (DMA)) feature.
1014 interface of imaging sensor is come from or from 1020 interface of sensor or from video memory when receiving
When 1030 raw image data, ISP processor 1040 can carry out one or more image processing operations, such as time-domain filtering.Place
Image data after reason can be transmitted to video memory 1030, to carry out other processing before shown.ISP processor
1040 from video memory 1030 receive processing data, and to the processing data progress original domain in and RGB and YCbCr face
Image real time transfer in the colour space.Treated that image data may be output to display 1070 for ISP processor 1040, for
Family is watched and/or is further processed by graphics engine or GPU (Graphics Processing Unit, graphics processor).This
Outside, the output of ISP processor 1040 also can be transmitted to video memory 1030, and display 1070 can be from video memory 1030
Read image data.In one embodiment, video memory 1030 can be configured to realize one or more frame buffers.This
Outside, the output of ISP processor 1040 can be transmitted to encoder/decoder 1060, so as to encoding/decoding image data.Coding
Image data can be saved, and decompress before being shown in 1070 equipment of display.Encoder/decoder 1060 can be by
CPU or GPU or coprocessor are realized.
The statistical data that ISP processor 1040 determines, which can be transmitted, gives control logic device Unit 1050.For example, statistical data can
It is passed including the images such as automatic exposure, automatic white balance, automatic focusing, flicker detection, black level compensation, 1012 shadow correction of lens
1014 statistical information of sensor.Control logic device 1050 may include execute one or more routines (such as firmware) processor and/or
Microcontroller, one or more routines can statistical data based on the received, determine at control parameter and the ISP of imaging device 1010
Manage the control parameter of device 1040.For example, the control parameter of imaging device 1010 may include that 1020 control parameter of sensor (such as increases
Benefit, the time of integration of spectrum assignment, stabilization parameter etc.), camera flash of light control parameter, 1012 control parameter of lens it is (such as poly-
Burnt or zoom focal length) or these parameters combination.ISP control parameter may include for automatic white balance and color adjustment (example
Such as, RGB processing during) 1012 shadow correction parameter of gain level and color correction matrix and lens.
The embodiment of the present application also provides a kind of computer readable storage mediums.One or more is executable comprising computer
The non-volatile computer readable storage medium storing program for executing of instruction, when the computer executable instructions are executed by one or more processors
When, so that the step of processor executes image processing method provided by the above embodiment.
A kind of computer program product comprising instruction, when run on a computer, so that computer execution is above-mentioned
The image processing method that embodiment provides.
It may include non-to any reference of memory, storage, database or other media used in the embodiment of the present application
Volatibility and/or volatile memory.Suitable nonvolatile memory may include read-only memory (ROM), programming ROM
(PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include
Random access memory (RAM), it is used as external cache.By way of illustration and not limitation, RAM in a variety of forms may be used
, such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDR SDRAM),
Enhanced SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM
(RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM).
The several embodiments of the application above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
The limitation to the application the scope of the patents therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the concept of this application, various modifications and improvements can be made, these belong to the guarantor of the application
Protect range.Therefore, the scope of protection shall be subject to the appended claims for the application patent.
Claims (10)
1. a kind of image processing method characterized by comprising
Obtain the original image of camera shooting, wherein the camera is correspondingly arranged stabilization component；
The gravity angle that the camera shoots the stabilization component when original image is obtained, is obtained according to the gravity angle
Take the corresponding image shift amount of the original image, wherein the gravity angle is used to indicate the translational plane of the stabilization component
The angle of angle is formed by with gravity direction；
The first correction process is carried out to the original image according to described image offset, obtains intermediate image；
The corresponding calibration information of the camera is obtained, and the second correction is carried out to the intermediate image according to the calibration information
Processing, obtains target image.
2. the method according to claim 1, wherein described obtain the original image according to the gravity angle
Corresponding image shift amount, comprising:
Stabilization component corresponding first assembly offset under the gravity angle, and root are obtained according to the first model of fit
The corresponding image shift amount of the first assembly offset is obtained according to the second model of fit.
3. according to the method described in claim 2, it is characterized in that, the method also includes:
The angle of the translational plane and gravity direction that control the stabilization component reaches at least two with reference to angle, and records each institute
State the reference offset amount with reference to the stabilization component under angle；
Fitting parameter is obtained with reference to angle and reference offset amount according to described, and the first fitting mould is established according to the fitting parameter
Type.
4. according to the method described in claim 2, it is characterized in that, the method also includes:
The jitter parameter that the camera shoots the stabilization component when original image is obtained, and according to the jitter parameter
Obtain the second component drift amount of the stabilization component；
It is described that the corresponding image shift amount of the first assembly offset is obtained according to the second model of fit, comprising:
Component drift amount is measured according to the first assembly offset and the second component drift, and is obtained according to the second model of fit
Take the corresponding image shift amount of the component drift amount.
5. the method according to claim 1, wherein described image offset includes the first figure on first direction
As the second image shift amount in offset and second direction；
It is described that first correction process is carried out to the original image according to described image offset, obtain intermediate image, comprising:
The original image is moved into the first image offset in said first direction, and will mobile the first image
Original image after offset moves the second image shift amount in this second direction, obtains intermediate image.
6. the method according to claim 1, wherein described move the original image in said first direction
Dynamic the first image offset, and in this second direction by the original image after mobile the first image offset
The mobile second image shift amount, obtains intermediate image, comprising:
The error amount of the original image is calculated according to the first image offset and the second image shift amount；
When the error amount is less than error threshold, the original image is moved into the first image in said first direction
Offset, and the original image after mobile the first image offset is moved into second figure in this second direction
As offset, intermediate image is obtained.
7. method according to any one of claim 1 to 6, which is characterized in that include self-calibration in the calibration information
Information and relative Calibration information；
It is described that second correction process is carried out to the intermediate image according to the calibration information, obtain target image, comprising:
Self-correcting processing is carried out to the intermediate image according to the self-calibration information, and according to the relative Calibration information to institute
It states self-correcting treated that intermediate image carries out registration process, obtain target image.
8. a kind of image processing apparatus characterized by comprising
Image collection module, for obtaining the original image of camera shooting, wherein the camera is correspondingly arranged stabilization group
Part；
Image shift amount obtains model, for obtaining the gravity of the stabilization component when camera shoots the original image
Angle obtains the corresponding image shift amount of the original image according to the gravity angle, wherein the gravity angle is used for table
Show that the translational plane of the stabilization component is formed by the angle of angle with gravity direction；
First correction module, used in, to the original image the first correction process of progress, being obtained according to described image offset
Between image；
Second correction module, for obtaining the corresponding calibration information of the camera, and according to the calibration information in described
Between image carry out the second correction process, obtain target image.
9. a kind of electronic equipment, including memory and processor, computer program, the computer are stored in the memory
When program is executed by the processor, so that the processor executes the step of the method as described in any one of claims 1 to 7
Suddenly.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of method as described in any one of claims 1 to 7 is realized when being executed by processor.
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