CN110611767A - Image processing method, device and electronic equipment - Google Patents

Image processing method, device and electronic equipment Download PDF

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CN110611767A
CN110611767A CN201910914273.XA CN201910914273A CN110611767A CN 110611767 A CN110611767 A CN 110611767A CN 201910914273 A CN201910914273 A CN 201910914273A CN 110611767 A CN110611767 A CN 110611767A
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袁梓瑾
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Force Map New Chongqing Technology Co ltd
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    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/207—Analysis of motion for motion estimation over a hierarchy of resolutions
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    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
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    • G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
    • G06V10/757—Matching configurations of points or features
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    • 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
    • H04N23/682—Vibration or motion blur correction
    • H04N23/685—Vibration or motion blur correction performed by mechanical compensation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/95—Computational photography systems, e.g. light-field imaging systems
    • H04N23/951—Computational photography systems, e.g. light-field imaging systems by using two or more images to influence resolution, frame rate or aspect ratio

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Abstract

The invention provides an image processing method, an image processing device and electronic equipment, wherein the image processing method comprises the following steps: extracting mutually matched feature points of the target object from the reference image and the image to be processed to obtain feature matching point pairs; performing translation compensation on the image to be processed and the feature points of the image to be processed based on the feature matching point pairs; calculating motion estimation parameters according to the characteristic points of the reference image and the characteristic points of the image to be processed after the translation compensation; and performing motion compensation on the image to be processed after the translational compensation based on the motion estimation parameters so as to align the target object in the image after the motion compensation with the target object in the reference image. According to the image processing method, after the image to be processed is processed, the target object in the obtained image can be aligned with the target object in the reference image, so that when pictures are switched among lenses with different focal lengths, the target object can be kept smooth and stable.

Description

图像处理方法、装置和电子设备Image processing method, device and electronic equipment

技术领域technical field

本发明涉及图像处理的技术领域，尤其是涉及一种图像处理方法、装置和电子设备。The present invention relates to the technical field of image processing, in particular to an image processing method, device and electronic equipment.

背景技术Background technique

Dollyzoom(滑动变焦)为摄影中的一种特效，可制造出被拍主体尺寸比例保持不变，而背景视场有较大变化(例如，背景视场被扩张或压缩)的效果。Dollyzoom (sliding zoom) is a special effect in photography, which can produce the effect that the size ratio of the subject being photographed remains unchanged, while the background field of view changes greatly (for example, the background field of view is expanded or compressed).

目前，在电影拍摄过程中，为使拍得的影像具有Dollyzoom效果，往往通过光学Dollyzoom产品实现。具体过程为：当对目标进行拍摄时，调节摄像机镜头的焦距，同时，还要使安装摄像机的轨道车(Dolly)做与镜头变焦方向相反的运动，从而达到所拍影像的Dollyzoom效果。而在实际的应用过程中，有些摄像机镜头的焦距无法调节(例如：搭载在无人机上的摄像机镜头)，而为使最终拍摄得到的影像也具有Dollyzoom效果，一般就需要通过多个不同焦距的镜头(其中，每个镜头的焦距都是固定的)进行拍摄，以达到变焦的目的，采用这种影像拍摄方式的产品称之为数字Dollyzoom产品。但是，因为各个镜头的焦距、光心位置等参数的不一致，导致了不同镜头间的成像画面在视场重叠部分存在视差现象，这样，在不同镜头间切换画面时，就会出现画面中前景目标的不连续、跳跃等不自然的效果，使得最终所拍摄的影像相较于光学Dollyzoom产品所拍摄的影像效果差。At present, in the process of filming, in order to make the captured images have the Dollyzoom effect, it is often realized by optical Dollyzoom products. The specific process is: when shooting the target, adjust the focal length of the camera lens, and at the same time, make the track car (Dolly) on which the camera is installed move in the opposite direction to the zoom direction of the lens, so as to achieve the Dollyzoom effect of the captured image. In the actual application process, the focal length of some camera lenses cannot be adjusted (for example: the camera lens mounted on a drone), and in order to make the final captured image also have the Dollyzoom effect, it is generally necessary to use multiple lenses with different focal lengths. lens (wherein the focal length of each lens is fixed) to achieve the purpose of zooming, and products using this image shooting method are called digital Dollyzoom products. However, due to the inconsistency of parameters such as the focal length and optical center position of each lens, there is a parallax phenomenon in the overlapping part of the field of view of the imaging pictures between different lenses. In this way, when switching pictures between different lenses, foreground objects in the picture will appear. Unnatural effects such as discontinuity and jumping make the final captured images inferior to those captured by optical Dollyzoom products.

现有技术针对上述不同镜头间切换画面时，所出现的画面中前景目标不连续、跳跃等不自然的现象还没有有效的解决方法。In the prior art, there is no effective solution to the above-mentioned unnatural phenomena such as discontinuity and jumping of foreground objects in the picture when switching pictures between different shots.

发明内容Contents of the invention

有鉴于此，本发明的目的在于提供一种图像处理方法、装置和电子设备，以使画面在不同镜头间切换时，画面中的前景目标连续自然。In view of this, the purpose of the present invention is to provide an image processing method, device and electronic equipment, so that when the picture is switched between different shots, the foreground objects in the picture are continuous and natural.

第一方面，本发明实施例提供了一种图像处理方法，包括：在参考图像和待处理图像中提取目标对象的相互匹配的特征点，得到特征匹配点对；所述参考图像和所述待处理图像为不同焦距的镜头在同一时刻对所述目标对象进行拍摄得到的图像；基于所述特征匹配点对，对所述待处理图像和所述特征匹配点对中的待处理图像的特征点进行平移补偿，得到平移补偿后的待处理图像和平移补偿后的待处理图像的特征点；根据所述特征匹配点对中的参考图像的特征点和所述平移补偿后的待处理图像的特征点计算运动估计参数；基于所述运动估计参数对所述平移补偿后的待处理图像进行运动补偿，以使运动补偿后的图像中的目标对象与所述参考图像中的目标对象对齐。In the first aspect, an embodiment of the present invention provides an image processing method, including: extracting matching feature points of a target object from a reference image and an image to be processed to obtain a pair of feature matching points; the reference image and the image to be processed The processed image is an image obtained by shooting the target object at the same time with lenses of different focal lengths; based on the feature matching point pair, the feature points of the image to be processed and the image to be processed in the feature matching point pair Perform translation compensation to obtain the image to be processed after translation compensation and the feature points of the image to be processed after translation compensation; according to the feature points of the reference image in the feature matching point pair and the feature points of the image to be processed after the translation compensation Calculating motion estimation parameters; performing motion compensation on the translation-compensated image to be processed based on the motion estimation parameters, so that the target object in the motion-compensated image is aligned with the target object in the reference image.

进一步的，所述特征匹配点对中的参考图像的特征点均匀分布于所述参考图像中目标对象的图像区域，且所述特征匹配点对中的待处理图像的特征点均匀分布于所述待处理图像中目标对象的图像区域。Further, the feature points of the reference image in the feature matching point pair are evenly distributed in the image area of the target object in the reference image, and the feature points of the image to be processed in the feature matching point pair are evenly distributed in the The image area of the target object in the image to be processed.

进一步的，基于所述特征匹配点对，对所述待处理图像和所述特征匹配点对中的待处理图像的特征点进行平移补偿的步骤包括：根据所述特征匹配点对确定图像平移量；按照所述图像平移量分别对所述待处理图像和所述待处理图像的特征点进行平移补偿。Further, based on the pair of feature matching points, the step of performing translation compensation on the image to be processed and the feature points of the image to be processed in the pair of feature matching points includes: determining an image translation amount according to the pair of feature matching points ; performing translation compensation on the image to be processed and the feature points of the image to be processed respectively according to the image translation amount.

进一步的，根据所述特征匹配点对确定图像平移量的步骤包括：根据所述特征匹配点对中参考图像的特征点确定所述参考图像的参考点，并根据所述特征匹配点对中待处理图像的特征点确定所述待处理图像的参考点；基于所述参考图像的参考点和所述待处理图像的参考点确定所述图像平移量。Further, the step of determining the image translation amount according to the feature matching point pair includes: determining the reference point of the reference image according to the feature points of the reference image in the feature matching point pair, and determining the reference point of the reference image according to the feature matching point pair to be The feature points of the processed image determine the reference point of the image to be processed; and the image translation amount is determined based on the reference point of the reference image and the reference point of the image to be processed.

进一步的，根据所述特征匹配点对中参考图像的特征点确定所述参考图像的参考点，并根据所述特征匹配点对中待处理图像的特征点确定所述待处理图像的参考点的步骤包括：根据所述参考图像的特征点的坐标计算所述参考图像中目标对象的质心，并根据所述待处理图像的特征点的坐标计算所述待处理图像中目标对象的质心；将计算得到的所述参考图像中目标对象的质心作为所述参考图像的参考点，并将计算得到的所述待处理图像中目标对象的质心作为所述待处理图像的参考点；Further, the reference point of the reference image is determined according to the feature points of the reference image in the feature matching point pair, and the reference point of the image to be processed is determined according to the feature points of the image to be processed in the feature matching point pair The steps include: calculating the centroid of the target object in the reference image according to the coordinates of the feature points of the reference image, and calculating the centroid of the target object in the image to be processed according to the coordinates of the feature points of the image to be processed; The obtained centroid of the target object in the reference image is used as the reference point of the reference image, and the calculated centroid of the target object in the image to be processed is used as the reference point of the image to be processed;

或者，根据所述参考图像的特征点的坐标计算所述参考图像中目标对象的中心，并根据所述待处理图像的特征点的坐标计算所述待处理图像中目标对象的中心；将计算得到的所述参考图像中目标对象的中心作为所述参考图像的参考点，并将计算得到的所述待处理图像中目标对象的中心作为所述待处理图像的参考点。Or, calculate the center of the target object in the reference image according to the coordinates of the feature points of the reference image, and calculate the center of the target object in the image to be processed according to the coordinates of the feature points of the image to be processed; The center of the target object in the reference image is used as the reference point of the reference image, and the calculated center of the target object in the image to be processed is used as the reference point of the image to be processed.

进一步的，基于所述参考图像的参考点和所述待处理图像的参考点确定所述图像平移量的步骤包括：根据图像平移量计算算式计算所述图像平移量；Tx表示X方向的图像平移量，Ty表示Y方向的图像平移量，表示所述参考图像的参考点的横坐标，表示所述待处理图像的参考点的横坐标，表示所述参考图像的参考点的纵坐标，表示所述待处理图像的参考点的纵坐标。Further, the step of determining the image translation amount based on the reference point of the reference image and the reference point of the image to be processed includes: according to the calculation formula of the image translation amount Calculate the image translation amount; T x represents the image translation amount in the X direction, and Ty represents the image translation amount in the Y direction, represents the abscissa of the reference point of the reference image, Indicates the abscissa of the reference point of the image to be processed, represents the ordinate of the reference point of the reference image, Indicates the ordinate of the reference point of the image to be processed.

进一步的，按照所述图像平移量分别对所述待处理图像和所述待处理图像的特征点进行平移补偿的步骤包括：将所述待处理图像中的每个像素点按照所述图像平移量进行平移；将所述待处理图像的特征点按照所述图像平移量进行平移。Further, the step of performing translation compensation on the image to be processed and the feature points of the image to be processed respectively according to the image translation amount includes: calculating each pixel in the image to be processed according to the image translation amount performing translation; performing translation on the feature points of the image to be processed according to the image translation amount.

进一步的，根据所述特征匹配点对中的参考图像的特征点和所述平移补偿后的待处理图像的特征点计算运动估计参数的步骤包括：根据相似变换拟合算式对所述参考图像的特征点和所述平移补偿后的待处理图像的特征点进行相似变换拟合，得到所述运动估计参数；s,θ表示所述运动估计参数，s表示所述运动估计参数中的尺寸参数，θ表示所述运动估计参数中的旋转角度参数，pAi表示所述参考图像的第i个特征点，p'Bi表示平移补偿后的待处理图像的第i个特征点。Further, the step of calculating the motion estimation parameters according to the feature points of the reference image in the feature matching point pair and the feature points of the translation-compensated image to be processed includes: according to the similarity transformation fitting formula Carrying out similar transformation fitting to the feature points of the reference image and the feature points of the image to be processed after translation compensation to obtain the motion estimation parameters; s, θ represent the motion estimation parameters, and s represents the motion estimation The size parameter in the parameter, θ represents the rotation angle parameter in the motion estimation parameter, p Ai represents the i-th feature point of the reference image, and p'Bi represents the i-th feature point of the image to be processed after translation compensation .

进一步的，基于所述运动估计参数对所述平移补偿后的待处理图像进行运动补偿的步骤包括：基于所述运动估计参数对所述平移补偿后的待处理图像进行逆相似变换补偿。Further, the step of performing motion compensation on the translation-compensated image to be processed based on the motion estimation parameter includes: performing inverse similarity transformation compensation on the translation-compensated image to be processed based on the motion estimation parameter.

进一步的，基于所述运动估计参数对所述平移补偿后的待处理图像进行逆相似变换补偿的步骤包括：根据所述运动估计参数确定逆相似变换补偿矩阵；通过所述逆相似变换补偿矩阵对所述平移补偿后的待处理图像进行处理，以使处理后的图像中的目标对象与所述参考图像中的目标对象对齐。Further, the step of performing inverse similarity transformation compensation on the translation-compensated image to be processed based on the motion estimation parameters includes: determining an inverse similarity transformation compensation matrix according to the motion estimation parameters; using the inverse similarity transformation compensation matrix to The translation-compensated image to be processed is processed so that the target object in the processed image is aligned with the target object in the reference image.

第二方面，本发明实施例还提供了一种图像处理装置，包括：特征点提取单元，用于在参考图像和待处理图像中提取目标对象的相互匹配的特征点，得到特征匹配点对；所述参考图像和所述待处理图像为不同焦距的镜头在同一时刻对所述目标对象进行拍摄得到的图像；平移补偿单元，用于基于所述特征匹配点对，对所述待处理图像和所述特征匹配点对中的待处理图像的特征点进行平移补偿，得到平移补偿后的待处理图像和平移补偿后的待处理图像的特征点；计算单元，用于根据所述特征匹配点对中的参考图像的特征点和所述平移补偿后的待处理图像的特征点计算运动估计参数；运动补偿单元，用于基于所述运动估计参数对所述平移补偿后的待处理图像进行运动补偿，以使运动补偿后的图像中的目标对象与所述参考图像中的目标对象对齐。In a second aspect, an embodiment of the present invention further provides an image processing device, including: a feature point extraction unit, configured to extract matching feature points of a target object in a reference image and an image to be processed, to obtain feature matching point pairs; The reference image and the image to be processed are images obtained by shooting the target object at the same time with lenses of different focal lengths; the translation compensation unit is configured to perform matching on the image to be processed and the image to be processed based on the feature matching point pair The feature points of the image to be processed in the feature matching point pair are subjected to translation compensation to obtain the image to be processed after translation compensation and the feature points of the image to be processed after translation compensation; the calculation unit is used for according to the feature matching point pair The feature points of the reference image in and the feature points of the translation-compensated image to be processed calculate motion estimation parameters; a motion compensation unit is used to perform motion compensation on the translation-compensated image to be processed based on the motion estimation parameters , so that the target object in the motion-compensated image is aligned with the target object in the reference image.

第三方面，本发明实施例还提供了一种电子设备，包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现上述第一方面任一项所述的方法的步骤。In a third aspect, an embodiment of the present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and operable on the processor, and the processor executes the computer program When implementing the steps of the method described in any one of the above-mentioned first aspects.

第四方面，本发明实施例提供了一种具有处理器可执行的非易失的程序代码的计算机可读介质，所述程序代码使所述处理器执行上述第一方面任一项所述的方法的步骤。In a fourth aspect, an embodiment of the present invention provides a computer-readable medium having non-volatile program code executable by a processor, the program code causing the processor to execute the method described in any one of the above-mentioned first aspects. method steps.

在本发明实施例中，先在参考图像和待处理图像中提取目标对象的相互匹配的特征点，得到特征匹配点对；然后，基于特征匹配点对，对待处理图像和特征匹配点对中的待处理图像的特征点进行平移补偿，得到平移补偿后的待处理图像和平移补偿后的待处理图像的特征点；进而，根据特征匹配点对中的参考图像的特征点和平移补偿后的待处理图像的特征点计算运动估计参数；最后，基于运动估计参数对平移补偿后的待处理图像进行运动补偿，以使运动补偿后的图像中的目标对象与参考图像中的目标对象对齐。通过上述描述可知，采用本发明实施例中的图像处理方法对待处理图像进行处理后，得到的图像中的目标对象与参考图像中的目标对象能够实现对齐，这样，画面由参考图像切换至处理后的图像时，能够保持目标对象的平滑连续，稳定自然，也就是在不同焦距的镜头之间进行画面的切换时，能够保持目标对象的平滑稳定，缓解了现有技术在不同焦距的镜头之间进行画面的切换时，画面中的前景目标不连续、跳跃等不自然的技术问题。In the embodiment of the present invention, the matching feature points of the target object are first extracted from the reference image and the image to be processed to obtain a feature matching point pair; then, based on the feature matching point pair, the image to be processed and the feature matching point pair are The feature points of the image to be processed are subjected to translation compensation to obtain the image to be processed after translation compensation and the feature points of the image to be processed after translation compensation; Process the feature points of the image to calculate motion estimation parameters; finally, perform motion compensation on the translation-compensated image to be processed based on the motion estimation parameters, so that the target object in the motion-compensated image is aligned with the target object in the reference image. It can be seen from the above description that after the image to be processed is processed by the image processing method in the embodiment of the present invention, the target object in the obtained image can be aligned with the target object in the reference image, so that the picture is switched from the reference image to the processed image. When the image is captured, the target object can be kept smooth, continuous, stable and natural, that is, when the screen is switched between lenses with different focal lengths, the target object can be kept smooth and stable, which alleviates the problem of the prior art between lenses with different focal lengths. Unnatural technical problems such as discontinuity and jumping of foreground objects in the screen when switching screens.

本发明的其他特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本发明而了解。本发明的目的和其他优点在说明书、权利要求书以及附图中所特别指出的结构来实现和获得。Additional features and advantages of the invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

为使本发明的上述目的、特征和优点能更明显易懂，下文特举较佳实施例，并配合所附附图，作详细说明如下。In order to make the above-mentioned objects, features and advantages of the present invention more comprehensible, preferred embodiments will be described in detail below together with the accompanying drawings.

附图说明Description of drawings

为了更清楚地说明本发明具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the specific embodiments or prior art. Obviously, the accompanying drawings in the following description The drawings show some implementations of the present invention, and those skilled in the art can also obtain other drawings based on these drawings without creative work.

图1为本发明实施例提供的电子设备的示意图；FIG. 1 is a schematic diagram of an electronic device provided by an embodiment of the present invention;

图2为本发明实施例提供的一种图像处理方法的流程图；FIG. 2 is a flowchart of an image processing method provided by an embodiment of the present invention;

图3为本发明实施例提供的对待处理图像和待处理图像的特征点进行平移补偿的方法流程图；3 is a flowchart of a method for performing translation compensation on an image to be processed and feature points of the image to be processed provided by an embodiment of the present invention;

图4为本发明实施例提供的基于运动估计参数对平移补偿后的待处理图像进行逆相似变换补偿的方法流程图；4 is a flowchart of a method for performing inverse similarity transformation compensation on a translation-compensated image to be processed based on motion estimation parameters provided by an embodiment of the present invention;

图5为本发明实施例提供的图像处理装置的示意图。FIG. 5 is a schematic diagram of an image processing device provided by an embodiment of the present invention.

具体实施方式Detailed ways

为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合附图对本发明的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. the embodiment. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

实施例1：Example 1:

首先，参照图1来描述用于实现本发明实施例的电子设备100，该电子设备可以用于运行本发明各实施例的图像处理方法。First, an electronic device 100 for implementing an embodiment of the present invention will be described with reference to FIG. 1 , and the electronic device can be used to run the image processing methods of various embodiments of the present invention.

如图1所示，电子设备100包括一个或多个处理器102、一个或多个存储器104、输入装置106、输出装置108以及摄像机110，这些组件通过总线系统112和/或其它形式的连接机构(未示出)互连。应当注意，图1所示的电子设备100的组件和结构只是示例性的，而非限制性的，根据需要，所述电子设备也可以具有其他组件和结构。As shown in FIG. 1 , an electronic device 100 includes one or more processors 102, one or more memories 104, an input device 106, an output device 108, and a camera 110. These components are connected via a bus system 112 and/or other forms of connection mechanisms (not shown) interconnects. It should be noted that the components and structure of the electronic device 100 shown in FIG. 1 are only exemplary rather than limiting, and the electronic device may also have other components and structures as required.

所述处理器102可以采用数字信号处理器(DSP，Digital Signal Processing)、现场可编程门阵列(FPGA，Field－Programmable Gate Array)、可编程逻辑阵列(PLA，Programmable Logic Array)和ASIC(Application Specific Integrated Circuit)中的至少一种硬件形式来实现，所述处理器102可以是中央处理单元(CPU，Central ProcessingUnit)或者具有数据处理能力和/或指令执行能力的其它形式的处理单元，并且可以控制所述电子设备100中的其它组件以执行期望的功能。The processor 102 can be a digital signal processor (DSP, Digital Signal Processing), a field programmable gate array (FPGA, Field-Programmable Gate Array), a programmable logic array (PLA, Programmable Logic Array) and an ASIC (Application Specific Integrated Circuit) in at least one form of hardware, the processor 102 can be a central processing unit (CPU, Central Processing Unit) or other forms of processing units with data processing capabilities and/or instruction execution capabilities, and can control other components in the electronic device 100 to perform desired functions.

所述存储器104可以包括一个或多个计算机程序产品，所述计算机程序产品可以包括各种形式的计算机可读存储介质，例如易失性存储器和/或非易失性存储器。所述易失性存储器例如可以包括随机存取存储器(RAM)和/或高速缓冲存储器(cache)等。所述非易失性存储器例如可以包括只读存储器(ROM)、硬盘、闪存等。在所述计算机可读存储介质上可以存储一个或多个计算机程序指令，处理器102可以运行所述程序指令，以实现下文所述的本发明实施例中(由处理器实现)的客户端功能以及/或者其它期望的功能。在所述计算机可读存储介质中还可以存储各种应用程序和各种数据，例如所述应用程序使用和/或产生的各种数据等。The memory 104 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and/or cache memory (cache). The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, and the like. One or more computer program instructions can be stored on the computer-readable storage medium, and the processor 102 can execute the program instructions to realize the client functions (implemented by the processor) in the embodiments of the present invention described below and/or other desired functionality. Various application programs and various data, such as various data used and/or generated by the application programs, may also be stored in the computer-readable storage medium.

所述输入装置106可以是用户用来输入指令的装置，并且可以包括键盘、鼠标、麦克风和触摸屏等中的一个或多个。The input device 106 may be a device used by a user to input instructions, and may include one or more of a keyboard, a mouse, a microphone, and a touch screen.

所述输出装置108可以向外部(例如，用户)输出各种信息(例如，图像或声音)，并且可以包括显示器、扬声器等中的一个或多个。The output device 108 may output various information (eg, images or sounds) to the outside (eg, a user), and may include one or more of a display, a speaker, and the like.

所述摄像机110用于进行参考图像和待处理图像的采集，其中，摄像机所采集的参考图像和待处理图像经过所述图像处理方法进行处理之后，得到的图像中的目标对象与参考图像中的目标对象对齐，例如，摄像机可以拍摄用户期望的图像(例如照片、视频等)，然后，将该图像经过所述图像处理方法进行处理之后，得到的图像中的目标对象与参考图像中的目标对象对齐，摄像机还可以将所拍摄的图像存储在所述存储器104中以供其它组件使用。The camera 110 is used to collect the reference image and the image to be processed, wherein, after the reference image and the image to be processed collected by the camera are processed by the image processing method, the target object in the obtained image is the same as the target object in the reference image Alignment of target objects, for example, the camera can capture an image desired by the user (such as a photo, video, etc.), and then, after the image is processed by the image processing method, the target object in the obtained image and the target object in the reference image Alignment, the camera can also store the captured images in the memory 104 for use by other components.

示例性地，用于实现根据本发明实施例的图像处理方法的电子设备可以被实现为诸如智能手机、平板电脑等智能移动终端，还可以被实现为其它任何具备计算能力的设备。Exemplarily, the electronic device used to implement the image processing method according to the embodiment of the present invention may be implemented as an intelligent mobile terminal such as a smart phone, a tablet computer, or any other device with computing capability.

实施例2：Example 2:

根据本发明实施例，提供了一种图像处理方法的实施例，需要说明的是，在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机系统中执行，并且，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。According to an embodiment of the present invention, an embodiment of an image processing method is provided. It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and, although A logical order is shown in the flowcharts, but in some cases the steps shown or described may be performed in an order different from that shown or described herein.

图2是根据本发明实施例的一种图像处理方法的流程图，如图2所示，该方法包括如下步骤：Fig. 2 is a flow chart of an image processing method according to an embodiment of the present invention. As shown in Fig. 2, the method includes the following steps:

步骤S202，在参考图像和待处理图像中提取目标对象的相互匹配的特征点，得到特征匹配点对。Step S202, extract matching feature points of the target object from the reference image and the image to be processed to obtain feature matching point pairs.

其中，参考图像和待处理图像为不同焦距的镜头在同一时刻对目标对象进行拍摄得到的图像。上述目标对象可以为人、动物、车等任意实物，且上述目标对象可以为一个，也可以为多个，当上述目标对象为多个时，将多个目标对象作为一个整体进行处理。Wherein, the reference image and the image to be processed are images obtained by shooting the target object at the same time with lenses of different focal lengths. The above-mentioned target object may be any physical object such as a person, an animal, or a vehicle, and the above-mentioned target object may be one or multiple. When there are multiple above-mentioned target objects, the multiple target objects are processed as a whole.

在通过不同焦距的镜头拍摄具有Dollyzoom效果的影像时，成像画面需要在不同焦距的镜头间进行切换，并且在现有技术中，已经可以确定在ts时刻(这里的ts时刻是指任一时刻)，应该从镜头A拍摄的成像画面(即参考图像)切换至镜头B拍摄的成像画面(即待处理图像)。但是，从镜头A拍摄的成像画面切换至镜头B拍摄的成像画面时，由于各个镜头的焦距、光心位置等参数的不一致，切换时会出现画面中前景目标的不连续。When shooting images with the Dollyzoom effect through lenses with different focal lengths, the imaging screen needs to be switched between lenses with different focal lengths, and in the prior art, it can be determined at time ts (the time ts here refers to any time) , should switch from the imaging frame captured by lens A (ie, the reference image) to the imaging frame captured by lens B (ie, the image to be processed). However, when switching from the imaging picture taken by lens A to the imaging picture taken by lens B, due to the inconsistency of parameters such as focal length and optical center position of each lens, there will be discontinuity of foreground objects in the picture when switching.

基于此，发明人设计了本实施例中的图像处理方法，该图像处理方法可以应用于处理器，该处理器分别与不同焦距的镜头通信连接，用于在线实时对不同焦距的镜头所拍摄的成像画面进行处理；也可以应用于计算机，通过计算机对不同焦距的镜头所拍摄的成像画面进行后处理，以实现在不同焦距的镜头间进行画面切换时，前景目标的平滑连续。本发明实施例对上述实现方式不进行具体限定。Based on this, the inventor designed the image processing method in this embodiment. The image processing method can be applied to a processor, and the processors are respectively connected to lenses with different focal lengths in communication, and are used for online real-time shooting of lenses with different focal lengths. It can also be applied to the computer to post-process the imaging pictures taken by lenses with different focal lengths to achieve smooth and continuous foreground targets when switching between lenses with different focal lengths. The embodiments of the present invention do not specifically limit the foregoing implementation manners.

上述特征匹配点对包括：参考图像的特征点、与参考图像的各特征点对应的待处理图像的特征点。具体的，参考图像的特征点为参考图像中目标对象的特征点，且待处理图像的特征点为待处理图像中目标对象的特征点。The above feature matching point pairs include: feature points of the reference image, and feature points of the image to be processed corresponding to each feature point of the reference image. Specifically, the feature points of the reference image are feature points of the target object in the reference image, and the feature points of the image to be processed are feature points of the target object in the image to be processed.

步骤S204，基于特征匹配点对，对待处理图像和特征匹配点对中的待处理图像的特征点进行平移补偿，得到平移补偿后的待处理图像和平移补偿后的待处理图像的特征点。Step S204, based on the feature matching point pair, perform translation compensation on the image to be processed and the feature points of the image to be processed in the feature matching point pair to obtain the image to be processed after translation compensation and the feature points of the image to be processed after translation compensation.

考虑到直接从参考图像切换至待处理图像时，会出现图像中目标对象的不连续，基于此，需要基于特征匹配点对，对待处理图像进行平移补偿，使得平移补偿后的待处理图像中目标对象的像素点与参考图像中目标对象的像素点在位置上实现整体对齐。Considering that when directly switching from the reference image to the image to be processed, there will be discontinuity of the target object in the image, based on this, it is necessary to perform translation compensation on the image to be processed based on the feature matching point pairs, so that the target in the image to be processed after translation compensation The pixel points of the object are aligned in position with the pixel points of the target object in the reference image.

但是，仅实现上述位置上的对齐后，还无法确保图像切换时目标对象的平滑连续，还需要保证最终图像中目标对象的像素点与参考图像中目标对象的像素点在形体上实现对齐。所以，还需要进行形体上的运动补偿，为实现形体上的运动补偿，需要先基于特征匹配点对，对待处理图像的特征点进行平移补偿，得到平移补偿后的待处理图像的特征点，下文中再对该过程进行详细描述。However, only after the above alignment is achieved, the smoothness and continuity of the target object cannot be ensured during image switching, and it is also necessary to ensure that the pixels of the target object in the final image are physically aligned with the pixels of the target object in the reference image. Therefore, it is also necessary to perform physical motion compensation. In order to achieve physical motion compensation, it is necessary to perform translation compensation on the feature points of the image to be processed based on the feature matching point pairs, and obtain the feature points of the image to be processed after translation compensation. Next, The process is described in detail in the text.

步骤S206，根据特征匹配点对中的参考图像的特征点和平移补偿后的待处理图像的特征点计算运动估计参数。Step S206, calculating motion estimation parameters according to the feature points of the reference image in the feature matching point pair and the feature points of the translation-compensated image to be processed.

得到平移补偿后的待处理图像的特征点后，进一步根据平移补偿后的待处理图像的特征点和参考图像的特征点计算运动估计参数。After the feature points of the translation-compensated image to be processed are obtained, motion estimation parameters are further calculated according to the feature points of the translation-compensated image to be processed and the feature points of the reference image.

上述运动估计参数用于对平移补偿后的待处理图像的像素点进行形体上的处理。The above motion estimation parameters are used to perform physical processing on the pixel points of the image to be processed after translation compensation.

步骤S208，基于运动估计参数对平移补偿后的待处理图像进行运动补偿，以使运动补偿后的图像中的目标对象与参考图像中的目标对象对齐。Step S208, performing motion compensation on the translation-compensated image to be processed based on the motion estimation parameter, so that the target object in the motion-compensated image is aligned with the target object in the reference image.

得到运动补偿后的图像后，在ts时刻，就可以将镜头A拍摄的参考图像直接切换至该运动补偿后的图像，从而实现在不同镜头间切换图像时，目标对象在同一显示区域上的平滑连续。上述对齐可看作是运动补偿后的图像中的目标对象与参考图像中的目标对象实现整体对齐。After the motion-compensated image is obtained, at time ts, the reference image taken by lens A can be directly switched to the motion-compensated image, so as to realize the smoothness of the target object on the same display area when switching images between different lenses continuous. The above alignment can be regarded as an overall alignment between the target object in the motion-compensated image and the target object in the reference image.

在本发明实施例中，先在参考图像和待处理图像中提取目标对象的相互匹配的特征点，得到特征匹配点对；然后，基于特征匹配点对，对待处理图像和特征匹配点对中的待处理图像的特征点进行平移补偿，得到平移补偿后的待处理图像和平移补偿后的待处理图像的特征点；进而，根据特征匹配点对中的参考图像的特征点和平移补偿后的待处理图像的特征点计算运动估计参数；最后，基于运动估计参数对平移补偿后的待处理图像进行运动补偿，以使运动补偿后的图像中的目标对象与参考图像中的目标对象对齐。通过上述描述可知，采用本发明实施例中的图像处理方法对待处理图像进行处理后，得到的图像中的目标对象与参考图像中的目标对象能够实现对齐，这样，画面由参考图像切换至处理后的图像时，能够保持目标对象的平滑连续，稳定自然，也就是在不同焦距的镜头之间进行画面的切换时，能够保持目标对象的平滑稳定，缓解了现有技术在不同焦距的镜头之间进行画面的切换时，画面中的前景目标不连续、跳跃等不自然的技术问题。In the embodiment of the present invention, the matching feature points of the target object are first extracted from the reference image and the image to be processed to obtain a feature matching point pair; then, based on the feature matching point pair, the image to be processed and the feature matching point pair are The feature points of the image to be processed are subjected to translation compensation to obtain the image to be processed after translation compensation and the feature points of the image to be processed after translation compensation; Process the feature points of the image to calculate motion estimation parameters; finally, perform motion compensation on the translation-compensated image to be processed based on the motion estimation parameters, so that the target object in the motion-compensated image is aligned with the target object in the reference image. It can be seen from the above description that after the image to be processed is processed by the image processing method in the embodiment of the present invention, the target object in the obtained image can be aligned with the target object in the reference image, so that the picture is switched from the reference image to the processed image. When the image is captured, the target object can be kept smooth, continuous, stable and natural, that is, when the screen is switched between lenses with different focal lengths, the target object can be kept smooth and stable, which alleviates the problem of the prior art between lenses with different focal lengths. Unnatural technical problems such as discontinuity and jumping of foreground objects in the screen when switching screens.

上述内容对本发明的图像处理方法进行了简要介绍，下面对其中涉及到的具体内容进行详细描述。The above content briefly introduces the image processing method of the present invention, and the specific content involved will be described in detail below.

在本实施例中，给出了上述步骤S202，在参考图像和待处理图像中提取目标对象的相互匹配的特征点的一种实现方式，包括：In this embodiment, the above step S202 is given, an implementation of extracting the matching feature points of the target object in the reference image and the image to be processed includes:

采用特征提取算法提取参考图像和待处理图像中目标对象的特征点，得到特征匹配点对。The feature extraction algorithm is used to extract the feature points of the target object in the reference image and the image to be processed to obtain feature matching point pairs.

其中，特征匹配点对中的参考图像的特征点均匀分布于参考图像中目标对象的图像区域，且特征匹配点对中的待处理图像的特征点均匀分布于待处理图像中目标对象的图像区域。Among them, the feature points of the reference image in the feature matching point pair are evenly distributed in the image area of the target object in the reference image, and the feature points of the image to be processed in the feature matching point pair are evenly distributed in the image area of the target object in the image to be processed .

在本发明实施例中，采用特征提取算法在对参考图像和待处理图像进行处理时，先提取得到参考图像中目标对象的特征点，再提取得到待处理图像中目标对象的特征点，算法中融合了mesh-flow技术，提取得到的参考图像的特征点和待处理图像的特征点能够均匀的分布在目标对象的区域中(这能够使后续的变换更加准确)，且提取得到的参考图像的特征点和目标对象的特征点一一对应，也就是最终得到的是特征匹配点对。In the embodiment of the present invention, when using the feature extraction algorithm to process the reference image and the image to be processed, first extract the feature points of the target object in the reference image, and then extract the feature points of the target object in the image to be processed. In the algorithm Integrating the mesh-flow technology, the extracted feature points of the reference image and the feature points of the image to be processed can be evenly distributed in the area of the target object (this can make the subsequent transformation more accurate), and the extracted reference image The feature points are in one-to-one correspondence with the feature points of the target object, that is, the final result is a pair of feature matching points.

为了便于描述，在本实施例中，参考图像可以为镜头A在ts时刻对目标对象进行拍摄得到的图像，记为IA,ts；待处理图像可以为镜头B在ts时刻对目标对象进行拍摄得到的图像，记为IB,ts。For the convenience of description, in this embodiment, the reference image can be the image captured by the lens A at the time ts of the target object, denoted as IA,ts ; the image to be processed can be the image captured by the lens B at the time ts of the target object The obtained image is denoted as I B,ts .

提取得到的特征匹配点对为：{pAi→pBi}，其中，{pAi}表示参考图像的特征点，{pBi}表示待处理图像的特征点，i＝1，2，3，…，n-1。The extracted feature matching point pair is: {p Ai →p Bi }, where {p Ai } represents the feature point of the reference image, {p Bi } represents the feature point of the image to be processed, i=1, 2, 3, ..., n-1.

在本实施例中，给出了上述步骤S204，基于特征匹配点对，对待处理图像和特征匹配点对中的待处理图像的特征点进行平移补偿的一种实现方式，参考图3，包括如下步骤：In this embodiment, the above step S204 is given, based on the feature matching point pair, an implementation of translation compensation for the image to be processed and the feature points of the image to be processed in the feature matching point pair, referring to FIG. 3, including the following step:

步骤S301，根据特征匹配点对确定图像平移量。Step S301, determining the image translation amount according to the feature matching point pairs.

具体的，确定图像平移量的过程包括如下(1)和(2)的步骤：Specifically, the process of determining the image translation amount includes the following steps (1) and (2):

(1)根据特征匹配点对中参考图像的特征点确定参考图像的参考点，并根据特征匹配点对中待处理图像的特征点确定待处理图像的参考点。(1) Determine the reference point of the reference image according to the feature points of the reference image in the feature matching point pair, and determine the reference point of the image to be processed according to the feature points of the image to be processed in the feature matching point pair.

在本发明实施例中，给出了两种确定参考点的方式，下面分别对这两种方式进行介绍。In the embodiment of the present invention, two ways of determining the reference point are given, and the two ways will be introduced respectively below.

方式一：参考点为目标对象的质心的情况：根据参考图像的特征点的坐标计算参考图像中目标对象的质心，并根据待处理图像的特征点的坐标计算待处理图像中目标对象的质心，进而将计算得到的参考图像中目标对象的质心作为参考图像的参考点，并将计算得到的待处理图像中目标对象的质心作为待处理图像的参考点。Mode 1: when the reference point is the centroid of the target object: calculate the centroid of the target object in the reference image according to the coordinates of the feature points of the reference image, and calculate the centroid of the target object in the image to be processed according to the coordinates of the feature points of the image to be processed, Furthermore, the calculated centroid of the target object in the reference image is used as the reference point of the reference image, and the calculated centroid of the target object in the image to be processed is used as the reference point of the image to be processed.

具体的，根据质心计算算式计算参考图像中目标对象的质心和待处理图像中目标对象的质心；Specifically, according to the centroid calculation formula Calculating the centroid of the target object in the reference image and the centroid of the target object in the image to be processed;

其中，Cx表示质心的横坐标，Cy表示质心的纵坐标，Pi x表示第i个特征点的横坐标，表示第i+1个特征点的横坐标，Pi y表示第i个特征点的纵坐标，表示第i+1个特征点的纵坐标，W表示权重系数，且 Among them, C x represents the abscissa of the centroid, C y represents the ordinate of the centroid, P i x represents the abscissa of the i-th feature point, Indicates the abscissa of the i+1 feature point, P i y indicates the ordinate of the i feature point, Represents the ordinate of the i+1th feature point, W represents the weight coefficient, and

将计算得到的参考图像中目标对象的质心作为参考图像的参考点，并将计算得到的待处理图像中目标对象的质心作为待处理图像的参考点。The calculated centroid of the target object in the reference image is used as the reference point of the reference image, and the calculated centroid of the target object in the image to be processed is used as the reference point of the image to be processed.

需要说明的是：当i＝n-1(即Pi＝Pn-1为最后一个特征点)时，Pi+1为第一个特征点P1(即Pn＝P1)。It should be noted that: when i=n-1 (ie P i =P n-1 is the last feature point), P i+1 is the first feature point P 1 (ie P n =P 1 ).

当参考图像为IA,ts，待处理图像为IB,ts，参考图像的特征点为{pAi}，待处理图像的特征点为{pBi}时，对参考图像中目标对象的质心和待处理图像中目标对象的质心的计算过程进行说明：When the reference image is I A,ts , the image to be processed is I B,ts , the feature point of the reference image is {p Ai }, and the feature point of the image to be processed is {p Bi }, the centroid of the target object in the reference image And the calculation process of the centroid of the target object in the image to be processed is described:

当计算参考图像IA,ts中目标对象的质心时，根据质心计算算式进行计算，此时，Cx表示参考图像中目标对象的质心的横坐标，Cy表示参考图像中目标对象的质心的纵坐标，Pi x表示参考图像的特征点中第i个特征点的横坐标，表示参考图像的特征点中第i+1个特征点的横坐标，Pi y表示参考图像的特征点中第i个特征点的纵坐标，表示参考图像的特征点中第i+1个特征点的纵坐标，W表示权重系数，且 When calculating the centroid of the target object in the reference image I A,ts , calculate the formula according to the centroid At this time, C x represents the abscissa of the center of mass of the target object in the reference image, Cy represents the ordinate of the center of mass of the target object in the reference image, P i x represents the i-th feature point in the feature points of the reference image abscissa, Represents the abscissa of the i+1th feature point in the feature points of the reference image, P i y represents the ordinate of the i-th feature point in the feature points of the reference image, Represents the ordinate of the i+1th feature point in the feature point of the reference image, W represents the weight coefficient, and

当计算待处理图像IB,ts中目标对象的质心时，根据质心计算算式进行计算，此时，Cx表示待处理图像中目标对象的质心的横坐标，Cy表示待处理图像中目标对象的质心的纵坐标，Pi x表示待处理图像的特征点中第i个特征点的横坐标，表示待处理图像的特征点中第i+1个特征点的横坐标，Pi y表示待处理图像的特征点中第i个特征点的纵坐标，表示待处理图像的特征点中第i+1个特征点的纵坐标，W表示权重系数，且 When calculating the center of mass of the target object in the image I B,ts to be processed, the formula is calculated according to the center of mass At this time, C x represents the abscissa of the centroid of the target object in the image to be processed, C y represents the ordinate of the center of mass of the target object in the image to be processed, and P i x represents the i-th feature point of the image to be processed The abscissa of the feature point, Represents the abscissa of the i+1th feature point in the feature points of the image to be processed, P i y represents the ordinate of the i-th feature point in the feature points of the image to be processed, Represents the ordinate of the i+1th feature point in the feature points of the image to be processed, W represents the weight coefficient, and

进而，将计算得到的参考图像中目标对象的质心作为参考图像的参考点，并将计算得到的待处理图像中目标对象的质心作为待处理图像的参考点。Furthermore, the calculated centroid of the target object in the reference image is used as the reference point of the reference image, and the calculated centroid of the target object in the image to be processed is used as the reference point of the image to be processed.

方式二：参考点为目标对象的中心的情况：根据参考图像的特征点的坐标计算参考图像中目标对象的中心，并根据待处理图像的特征点的坐标计算待处理图像中目标对象的中心；将计算得到的参考图像中目标对象的中心作为参考图像的参考点，并将计算得到的待处理图像中目标对象的中心作为待处理图像的参考点。Mode 2: when the reference point is the center of the target object: calculate the center of the target object in the reference image according to the coordinates of the feature points of the reference image, and calculate the center of the target object in the image to be processed according to the coordinates of the feature points of the image to be processed; The calculated center of the target object in the reference image is used as the reference point of the reference image, and the calculated center of the target object in the image to be processed is used as the reference point of the image to be processed.

具体的，根据中心计算算式计算参考图像中目标对象的中心和待处理图像中目标对象的中心；Specifically, according to the center calculation formula calculating the center of the target object in the reference image and the center of the target object in the image to be processed;

其中，Cx表示中心的横坐标，Cy表示中心的纵坐标，Pi x表示第i个特征点的横坐标，Pi y表示第i个特征点的纵坐标。Among them, C x represents the abscissa of the center, C y represents the ordinate of the center, P i x represents the abscissa of the i-th feature point, and P i y represents the ordinate of the i-th feature point.

将计算得到的参考图像中目标对象的中心作为参考图像的参考点，并将计算得到的待处理图像中目标对象的中心作为待处理图像的参考点。The calculated center of the target object in the reference image is used as the reference point of the reference image, and the calculated center of the target object in the image to be processed is used as the reference point of the image to be processed.

当参考图像为IA,ts，待处理图像为IB,ts，参考图像的特征点为{pAi}，待处理图像的特征点为{pBi}时，对参考图像中目标对象的中心和待处理图像中目标对象的中心的计算过程进行说明：When the reference image is I A,ts , the image to be processed is I B,ts , the feature point of the reference image is {p Ai }, and the feature point of the image to be processed is {p Bi }, the center of the target object in the reference image And the calculation process of the center of the target object in the image to be processed is described:

当计算参考图像IA,ts中目标对象的质心时，根据中心计算算式进行计算，此时，Cx表示参考图像中目标对象的中心的横坐标，Cy表示参考图像中目标对象的中心的纵坐标，Pi x表示参考图像的特征点中第i个特征点的横坐标，Pi y表示参考图像的特征点中第i个特征点的纵坐标。When calculating the center of mass of the target object in the reference image I A,ts , the formula is calculated according to the center At this time, C x represents the abscissa of the center of the target object in the reference image, C y represents the ordinate of the center of the target object in the reference image, and P i x represents the i-th feature point in the feature points of the reference image The abscissa, P i y represents the ordinate of the i-th feature point among the feature points of the reference image.

当计算待处理图像IB,ts中目标对象的中心时，根据中心计算算式进行计算，此时，Cx表示待处理图像中目标对象的中心的横坐标，Cy表示待处理图像中目标对象的中心的纵坐标，Pi x表示待处理图像的特征点中第i个特征点的横坐标，Pi y表示待处理图像的特征点中第i个特征点的纵坐标。When calculating the center of the target object in the image to be processed I B,ts , calculate the formula according to the center At this time, C x represents the abscissa of the center of the target object in the image to be processed, C y represents the ordinate of the center of the target object in the image to be processed, and P i x represents the i-th feature point of the image to be processed The abscissa of the feature point, P i y represents the ordinate of the i-th feature point among the feature points of the image to be processed.

进而，将计算得到的参考图像中目标对象的中心作为参考图像的参考点，并将计算得到的待处理图像中目标对象的中心作为待处理图像的参考点。Furthermore, the calculated center of the target object in the reference image is used as the reference point of the reference image, and the calculated center of the target object in the image to be processed is used as the reference point of the image to be processed.

(2)基于参考图像的参考点和待处理图像的参考点确定图像平移量。(2) Determine the image translation amount based on the reference point of the reference image and the reference point of the image to be processed.

具体的，根据图像平移量计算算式计算图像平移量；其中，Tx表示X方向的图像平移量，Ty表示Y方向的图像平移量，表示参考图像的参考点的横坐标，表示待处理图像的参考点的横坐标，表示参考图像的参考点的纵坐标，表示待处理图像的参考点的纵坐标。Specifically, calculate the formula according to the image translation amount Calculate the image translation amount; wherein, T x represents the image translation amount in the X direction, T y represents the image translation amount in the Y direction, represents the abscissa of the reference point of the reference image, Indicates the abscissa of the reference point of the image to be processed, Indicates the ordinate of the reference point of the reference image, Indicates the ordinate of the reference point of the image to be processed.

步骤S302，按照图像平移量分别对待处理图像和待处理图像的特征点进行平移补偿。Step S302, performing translation compensation on the image to be processed and the feature points of the image to be processed according to the amount of image translation.

具体的，将待处理图像中的每个像素点按照图像平移量进行平移；并将待处理图像的特征点按照图像平移量进行平移。Specifically, each pixel point in the image to be processed is translated according to the image translation amount; and the feature points of the image to be processed are translated according to the image translation amount.

在对待处理图像进行平移补偿时：根据图像平移补偿算式I'B,ts(x,y)＝IB,ts(x-Tx,y-Ty)对待处理图像进行平移补偿。When performing translation compensation on the image to be processed: perform translation compensation on the image to be processed according to the image translation compensation formula I′ B,ts (x, y)= IB,ts (xT x , yT y ).

其中，I'B,ts(x,y)表示平移补偿后的待处理图像，Tx表示X方向的图像平移量，Ty表示Y方向的图像平移量。Wherein, I' B,ts (x, y) represents the image to be processed after translation compensation, T x represents the image translation amount in the X direction, and Ty represents the image translation amount in the Y direction.

当图像平移量是基于质心计算得到的平移补偿量时，在对待处理图像进行平移补偿后，平移补偿后的待处理图像中目标对象的质心与参考图像中目标对象的质心重叠；When the image translation amount is a translation compensation amount calculated based on the centroid, after translation compensation is performed on the image to be processed, the centroid of the target object in the image to be processed after translation compensation overlaps with the center of mass of the target object in the reference image;

而当图像平移量是基于中心计算得到的平移补偿量时，在对待处理图像进行平移补偿后，平移补偿后的待处理图像中目标对象的中心与参考图像中目标对象的中心重叠。However, when the image translation amount is the translation compensation amount calculated based on the center, after translation compensation is performed on the image to be processed, the center of the target object in the image to be processed after translation compensation overlaps with the center of the target object in the reference image.

实际上，在完成上述平移补偿后，平移补偿后的待处理图像中目标对象的各像素点与参考图像中目标对象的各像素点相对于参考点实现了位置上的对齐。In fact, after the above-mentioned translation compensation is completed, each pixel of the target object in the translation-compensated image to be processed and each pixel of the target object in the reference image are aligned in position with respect to the reference point.

在对待处理图像的特征点进行平移补偿时：根据特征点平移补偿算式对待处理图像的特征点进行平移补偿。When performing translation compensation on the feature points of the image to be processed: according to the feature point translation compensation formula Perform translation compensation on the feature points of the image to be processed.

其中，表示平移补偿后的待处理图像的第i个特征点的横坐标，表示平移补偿后的待处理图像的第i个特征点的纵坐标，表示待处理图像的第i个特征点的横坐标，表示待处理图像的第i个特征点的纵坐标，Tx表示X方向的图像平移量，Ty表示Y方向的图像平移量，i的取值为1，2，3，…，n-1。in, Indicates the abscissa of the i-th feature point of the image to be processed after translation compensation, Indicates the ordinate of the i-th feature point of the image to be processed after translation compensation, Indicates the abscissa of the i-th feature point of the image to be processed, Represents the ordinate of the i-th feature point of the image to be processed, T x represents the image translation amount in the X direction, Ty represents the image translation amount in the Y direction, and the value of i is 1, 2, 3, ..., n-1 .

在得到平移补偿后的待处理图像的特征点后，就能进一步根据平移补偿后的待处理图像的特征点和特征匹配点对中的参考图像的特征点计算运动估计参数，在一种可选的实现方式中，计算运动估计参数的过程包括如下步骤：After obtaining the feature points of the image to be processed after translation compensation, the motion estimation parameters can be further calculated according to the feature points of the image to be processed after translation compensation and the feature points of the reference image in the feature matching point pair, in an optional In the implementation manner of , the process of calculating motion estimation parameters includes the following steps:

根据相似变换拟合算式对参考图像的特征点和平移补偿后的待处理图像的特征点进行相似变换拟合，得到运动估计参数。Fitting formula according to similarity transformation Perform similar transformation fitting on the feature points of the reference image and the feature points of the image to be processed after translation compensation to obtain motion estimation parameters.

其中，s,θ表示运动估计参数，s表示运动估计参数中的尺寸参数，θ表示运动估计参数中的旋转角度参数，pAi表示参考图像的第i个特征点，p'Bi表示平移补偿后的待处理图像的第i个特征点。Among them, s, θ represent the motion estimation parameters, s represents the size parameter in the motion estimation parameter, θ represents the rotation angle parameter in the motion estimation parameter, p Ai represents the i-th feature point of the reference image, and p' Bi represents the translation compensation The i-th feature point of the image to be processed.

在本发明实施例中，运动估计采用的是相似变换拟合，按照对参考图像的特征点和平移补偿后的待处理图像的特征点进行相似变换拟合，实质上就是求最小时，对应的s,θ的值，其中， 表示参考图像的第i个特征点的横坐标，表示参考图像的第i个特征点的纵坐标，表示平移补偿后的待处理图像的第i个特征点的横坐标，表示平移补偿后的待处理图像的第i个特征点的纵坐标。In the embodiment of the present invention, motion estimation adopts similar transformation fitting, according to Similarity transformation fitting is performed on the feature points of the reference image and the feature points of the image to be processed after translation compensation, which is essentially to find When the minimum, the corresponding value of s, θ, where, Indicates the abscissa of the i-th feature point of the reference image, Indicates the ordinate of the i-th feature point of the reference image, Indicates the abscissa of the i-th feature point of the image to be processed after translation compensation, Indicates the ordinate of the i-th feature point of the image to be processed after translation compensation.

需要说明的是，运动估计除了采用上述的相似变换拟合以外，还可以采用其它的运动估计。例如，仿射、透视、投影等，但相似变换拟合的运动估计方式是可靠性最好的一种运动估计方式，本发明实施例对上述运动估计不进行具体限定。It should be noted that, besides the above-mentioned similar transformation fitting, other motion estimation methods may also be used for motion estimation. For example, affine, perspective, projection, etc., but the motion estimation method of similar transformation fitting is the most reliable motion estimation method, and the embodiment of the present invention does not specifically limit the above motion estimation.

在得到运动估计参数后，就能进一步基于该运动估计参数对平移补偿后的待处理图像的像素点进行形体上的纠正(即运动补偿)，上述步骤S208，基于运动估计参数对平移补偿后的待处理图像进行运动补偿的步骤包括：基于运动估计参数对平移补偿后的待处理图像进行逆相似变换补偿，参考图4，包括如下步骤。After the motion estimation parameter is obtained, the pixels of the translation-compensated image to be processed can be further physically corrected based on the motion estimation parameter (that is, motion compensation). The above step S208 is based on the motion estimation parameter. The step of performing motion compensation on the image to be processed includes: performing inverse similarity transformation compensation on the image to be processed after translation compensation based on motion estimation parameters, referring to FIG. 4 , including the following steps.

步骤S401，根据运动估计参数确定逆相似变换补偿矩阵。Step S401, determining an inverse similarity transformation compensation matrix according to motion estimation parameters.

步骤S402，通过逆相似变换补偿矩阵对平移补偿后的待处理图像进行处理，以使处理后的图像中的目标对象与参考图像中的目标对象对齐。Step S402, process the translation-compensated image to be processed by using the inverse similarity transformation compensation matrix, so that the target object in the processed image is aligned with the target object in the reference image.

具体的，逆相似变换补偿矩阵可以为：进而，通过逆相似变换补偿矩阵对平移补偿后的待处理图像进行处理，处理结果如下：Specifically, the inverse similarity transformation compensation matrix can be: Furthermore, the image to be processed after translation compensation is processed through the inverse similarity transformation compensation matrix, and the processing results are as follows:

I″B,ts(x,y)＝I'B,ts(x',y')，其中，I″B,ts(x,y)表示处理后的图像，且 I″ B, ts (x, y)=I′ B, ts (x′, y′), wherein, I″ B, ts (x, y) represents the processed image, and

这样，得到的I″B,ts(x,y)即为与IA,ts中目标对象对齐的图像，进而，便能实现数字Dollyzoom处理中，在ts时刻，从镜头A向镜头B的切换时，画面中目标对象的平滑稳定。In this way, the obtained I″ B, ts (x, y) is the image aligned with the target object in I A, ts , and then, in the digital Dollyzoom processing, at the time ts, the switch from shot A to shot B can be realized , the target object in the screen is smooth and stable.

实施例3：Example 3:

本发明实施例还提供了一种图像处理装置，该图像处理装置主要用于执行本发明实施例上述内容所提供的图像处理方法，以下对本发明实施例提供的图像处理装置做具体介绍。The embodiment of the present invention also provides an image processing device, the image processing device is mainly used to execute the image processing method provided in the above content of the embodiment of the present invention, and the image processing device provided in the embodiment of the present invention will be described in detail below.

图5是根据本发明实施例的一种图像处理装置的示意图，如图5所示，该图像处理装置主要包括：特征点提取单元10、平移补偿单元20、计算单元30和运动补偿单元40，其中：5 is a schematic diagram of an image processing device according to an embodiment of the present invention. As shown in FIG. 5 , the image processing device mainly includes: a feature point extraction unit 10, a translation compensation unit 20, a calculation unit 30 and a motion compensation unit 40, in:

特征点提取单元，用于在参考图像和待处理图像中提取目标对象的相互匹配的特征点，得到特征匹配点对；参考图像和待处理图像为不同焦距的镜头在同一时刻对目标对象进行拍摄得到的图像；The feature point extraction unit is used to extract the matching feature points of the target object in the reference image and the image to be processed to obtain a pair of feature matching points; the reference image and the image to be processed are lenses with different focal lengths to shoot the target object at the same time the resulting image;

平移补偿单元，用于基于特征匹配点对，对待处理图像和特征匹配点对中的待处理图像的特征点进行平移补偿，得到平移补偿后的待处理图像和平移补偿后的待处理图像的特征点；The translation compensation unit is used to perform translation compensation on the image to be processed and the feature points of the image to be processed in the feature matching point pair based on the feature matching point pair, so as to obtain the features of the image to be processed after translation compensation and the image to be processed after translation compensation point;

计算单元，用于根据特征匹配点对中的参考图像的特征点和平移补偿后的待处理图像的特征点计算运动估计参数；A computing unit, configured to calculate motion estimation parameters according to the feature points of the reference image in the feature matching point pair and the feature points of the translation-compensated image to be processed;

运动补偿单元，用于基于运动估计参数对平移补偿后的待处理图像进行运动补偿，以使运动补偿后的图像中的目标对象与参考图像中的目标对象对齐。The motion compensation unit is configured to perform motion compensation on the translation-compensated image to be processed based on the motion estimation parameter, so that the target object in the motion-compensated image is aligned with the target object in the reference image.

在本发明实施例中，先在参考图像和待处理图像中提取目标对象的相互匹配的特征点，得到特征匹配点对；然后，基于特征匹配点对，对待处理图像和特征匹配点对中的待处理图像的特征点进行平移补偿，得到平移补偿后的待处理图像和平移补偿后的待处理图像的特征点；进而，根据特征匹配点对中的参考图像的特征点和平移补偿后的待处理图像的特征点计算运动估计参数；最后，基于运动估计参数对平移补偿后的待处理图像进行运动补偿，以使运动补偿后的图像中的目标对象与参考图像中的目标对象对齐。通过上述描述可知，采用本发明实施例中的图像处理方法对待处理图像进行处理后，得到的图像中的目标对象与参考图像中的目标对象能够实现对齐，这样，画面由参考图像切换至处理后的图像时，能够保持目标对象的平滑连续，稳定自然，也就是在不同焦距的镜头之间进行画面的切换时，能够保持目标对象的平滑稳定，缓解了现有技术在不同焦距的镜头之间进行画面的切换时，画面中的前景目标不连续、跳跃等不自然的技术问题。In the embodiment of the present invention, the matching feature points of the target object are first extracted from the reference image and the image to be processed to obtain a feature matching point pair; then, based on the feature matching point pair, the image to be processed and the feature matching point pair are The feature points of the image to be processed are subjected to translation compensation to obtain the image to be processed after translation compensation and the feature points of the image to be processed after translation compensation; Process the feature points of the image to calculate motion estimation parameters; finally, perform motion compensation on the translation-compensated image to be processed based on the motion estimation parameters, so that the target object in the motion-compensated image is aligned with the target object in the reference image. It can be seen from the above description that after the image to be processed is processed by the image processing method in the embodiment of the present invention, the target object in the obtained image can be aligned with the target object in the reference image, so that the picture is switched from the reference image to the processed image. When the image is captured, the target object can be kept smooth, continuous, stable and natural, that is, when the screen is switched between lenses with different focal lengths, the target object can be kept smooth and stable, which alleviates the problem of the prior art between lenses with different focal lengths. Unnatural technical problems such as discontinuity and jumping of foreground objects in the screen when switching screens.

可选地，特征匹配点对中的参考图像的特征点均匀分布于参考图像中目标对象的图像区域，且特征匹配点对中的待处理图像的特征点均匀分布于待处理图像中目标对象的图像区域。Optionally, the feature points of the reference image in the feature matching point pair are evenly distributed in the image area of the target object in the reference image, and the feature points of the image to be processed in the feature matching point pair are evenly distributed in the image area of the target object in the image to be processed image area.

可选地，平移补偿单元还用于：根据特征匹配点对确定图像平移量；按照图像平移量分别对待处理图像和待处理图像的特征点进行平移补偿。Optionally, the translation compensation unit is further configured to: determine the image translation amount according to the feature matching point pairs; perform translation compensation on the image to be processed and the feature points of the image to be processed according to the image translation amount.

可选地，平移补偿单元还用于：根据特征匹配点对中参考图像的特征点确定参考图像的参考点，并根据特征匹配点对中待处理图像的特征点确定待处理图像的参考点；基于参考图像的参考点和待处理图像的参考点确定图像平移量。Optionally, the translation compensation unit is also used to: determine the reference point of the reference image according to the feature points of the reference image in the feature matching point pair, and determine the reference point of the image to be processed according to the feature points of the image to be processed in the feature matching point pair; An image translation amount is determined based on the reference point of the reference image and the reference point of the image to be processed.

可选地，平移补偿单元还用于：根据参考图像的特征点的坐标计算参考图像中目标对象的质心，并根据待处理图像的特征点的坐标计算待处理图像中目标对象的质心；将计算得到的参考图像中目标对象的质心作为参考图像的参考点，并将计算得到的待处理图像中目标对象的质心作为待处理图像的参考点；Optionally, the translation compensation unit is also used to: calculate the centroid of the target object in the reference image according to the coordinates of the feature points of the reference image, and calculate the centroid of the target object in the image to be processed according to the coordinates of the feature points of the image to be processed; The centroid of the target object in the obtained reference image is used as the reference point of the reference image, and the calculated centroid of the target object in the image to be processed is used as the reference point of the image to be processed;

或者，根据参考图像的特征点的坐标计算参考图像中目标对象的中心，并根据待处理图像的特征点的坐标计算待处理图像中目标对象的中心；将计算得到的参考图像中目标对象的中心作为参考图像的参考点，并将计算得到的待处理图像中目标对象的中心作为待处理图像的参考点。Or, calculate the center of the target object in the reference image according to the coordinates of the feature points of the reference image, and calculate the center of the target object in the image to be processed according to the coordinates of the feature points of the image to be processed; the center of the target object in the calculated reference image As the reference point of the reference image, and the calculated center of the target object in the image to be processed is used as the reference point of the image to be processed.

可选地，平移补偿单元还用于：根据图像平移量计算算式计算图像平移量；Tx表示X方向的图像平移量，Ty表示Y方向的图像平移量，表示参考图像的参考点的横坐标，表示待处理图像的参考点的横坐标，表示参考图像的参考点的纵坐标，表示待处理图像的参考点的纵坐标。Optionally, the translation compensation unit is also used to: calculate the formula according to the translation amount of the image Calculate the amount of image translation; T x represents the amount of image translation in the X direction, Ty represents the amount of image translation in the Y direction, represents the abscissa of the reference point of the reference image, Indicates the abscissa of the reference point of the image to be processed, Indicates the ordinate of the reference point of the reference image, Indicates the ordinate of the reference point of the image to be processed.

可选地，平移补偿单元还用于：将待处理图像中的每个像素点按照图像平移量进行平移；将待处理图像的特征点按照图像平移量进行平移。Optionally, the translation compensation unit is further configured to: translate each pixel in the image to be processed according to the image translation amount; translate the feature points of the image to be processed according to the image translation amount.

可选地，计算单元还用于：根据相似变换拟合算式对参考图像的特征点和平移补偿后的待处理图像的特征点进行相似变换拟合，得到运动估计参数；s,θ表示运动估计参数，s表示运动估计参数中的尺寸参数，θ表示运动估计参数中的旋转角度参数，pAi表示参考图像的第i个特征点，p'Bi表示平移补偿后的待处理图像的第i个特征点。Optionally, the calculation unit is also used to: fit the formula according to the similarity transformation Perform similar transformation fitting on the feature points of the reference image and the feature points of the image to be processed after translation compensation to obtain the motion estimation parameters; s, θ represent the motion estimation parameters, s represents the size parameter in the motion estimation parameters, and θ represents the motion estimation The rotation angle parameter in the parameters, p Ai represents the i-th feature point of the reference image, and p' Bi represents the i-th feature point of the image to be processed after translation compensation.

可选地，运动补偿单元还用于：基于运动估计参数对平移补偿后的待处理图像进行逆相似变换补偿。Optionally, the motion compensation unit is further configured to perform inverse similarity transformation compensation on the translation-compensated image to be processed based on the motion estimation parameter.

可选地，运动补偿单元还用于：根据运动估计参数确定逆相似变换补偿矩阵；通过逆相似变换补偿矩阵对平移补偿后的待处理图像进行处理，以使处理后的图像中的目标对象与参考图像中的目标对象对齐。Optionally, the motion compensation unit is also used to: determine the inverse similarity transformation compensation matrix according to the motion estimation parameter; process the translation-compensated image to be processed through the inverse similarity transformation compensation matrix, so that the target object in the processed image is consistent with Align the target object in the reference image.

本发明实施例所提供的装置，其实现原理及产生的技术效果和前述方法实施例相同，为简要描述，装置实施例部分未提及之处，可参考前述方法实施例中相应内容。The implementation principles and technical effects of the device provided by the embodiment of the present invention are the same as those of the foregoing method embodiment. For brief description, for the parts not mentioned in the device embodiment, reference may be made to the corresponding content in the foregoing method embodiment.

在本发明的另一个实施中，还提供了一种计算机存储介质，其上存储有计算机程序，所述计算机运行所述计算机程序时执行上述方法实施例2中任一项所述的方法的步骤。In another implementation of the present invention, a computer storage medium is also provided, on which a computer program is stored, and when the computer runs the computer program, it executes the steps of the method described in any one of the above method embodiment 2 .

另外，在本发明实施例的描述中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。In addition, in the description of the embodiments of the present invention, unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

在本发明的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, or in a specific orientation. construction and operation, therefore, should not be construed as limiting the invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，又例如，多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些通信接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods may be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.

所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个处理器可执行的非易失的计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium executable by a processor. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes. .

最后应说明的是：以上所述实施例，仅为本发明的具体实施方式，用以说明本发明的技术方案，而非对其限制，本发明的保护范围并不局限于此，尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，其依然可以对前述实施例所记载的技术方案进行修改或可轻易想到变化，或者对其中部分技术特征进行等同替换；而这些修改、变化或者替换，并不使相应技术方案的本质脱离本发明实施例技术方案的精神和范围，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应所述以权利要求的保护范围为准。Finally, it should be noted that: the above-described embodiments are only specific implementations of the present invention, used to illustrate the technical solutions of the present invention, rather than limiting them, and the scope of protection of the present invention is not limited thereto, although referring to the foregoing The embodiment has described the present invention in detail, and those skilled in the art should understand that any person familiar with the technical field can still modify the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention Changes can be easily thought of, or equivalent replacements are made to some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the scope of the present invention within the scope of protection. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (13)

1.一种图像处理方法，其特征在于，包括：1. An image processing method, characterized in that, comprising: 在参考图像和待处理图像中提取目标对象的相互匹配的特征点，得到特征匹配点对；所述参考图像和所述待处理图像为不同焦距的镜头在同一时刻对所述目标对象进行拍摄得到的图像；Extract matching feature points of the target object from the reference image and the image to be processed to obtain feature matching point pairs; the reference image and the image to be processed are obtained by shooting the target object at the same time with lenses of different focal lengths Image; 基于所述特征匹配点对，对所述待处理图像和所述特征匹配点对中的待处理图像的特征点进行平移补偿，得到平移补偿后的待处理图像和平移补偿后的待处理图像的特征点；Based on the pair of feature matching points, performing translation compensation on the image to be processed and the feature points of the image to be processed in the pair of feature matching points, to obtain the image to be processed after translation compensation and the image to be processed after translation compensation Feature points; 根据所述特征匹配点对中的参考图像的特征点和所述平移补偿后的待处理图像的特征点计算运动估计参数；calculating motion estimation parameters according to the feature points of the reference image in the feature matching point pair and the feature points of the translation-compensated image to be processed; 基于所述运动估计参数对所述平移补偿后的待处理图像进行运动补偿，以使运动补偿后的图像中的目标对象与所述参考图像中的目标对象对齐。Performing motion compensation on the translation-compensated image to be processed based on the motion estimation parameters, so that the target object in the motion-compensated image is aligned with the target object in the reference image. 2.根据权利要求1所述的方法，其特征在于，所述特征匹配点对中的参考图像的特征点均匀分布于所述参考图像中目标对象的图像区域，且所述特征匹配点对中的待处理图像的特征点均匀分布于所述待处理图像中目标对象的图像区域。2. The method according to claim 1, wherein the feature points of the reference image in the feature matching point pair are evenly distributed in the image area of the target object in the reference image, and the feature matching point pair is The feature points of the image to be processed are evenly distributed in the image area of the target object in the image to be processed. 3.根据权利要求1所述的方法，其特征在于，基于所述特征匹配点对，对所述待处理图像和所述特征匹配点对中的待处理图像的特征点进行平移补偿的步骤包括：3. The method according to claim 1, wherein, based on the pair of feature matching points, the step of performing translation compensation to the feature points of the image to be processed and the image to be processed in the pair of feature matching points comprises : 根据所述特征匹配点对确定图像平移量；determining the image translation amount according to the feature matching point pair; 按照所述图像平移量分别对所述待处理图像和所述待处理图像的特征点进行平移补偿。Perform translation compensation on the image to be processed and the feature points of the image to be processed according to the image translation amount. 4.根据权利要求3所述的方法，其特征在于，根据所述特征匹配点对确定图像平移量的步骤包括：4. The method according to claim 3, wherein the step of determining the image translation amount according to the feature matching point pair comprises: 根据所述特征匹配点对中参考图像的特征点确定所述参考图像的参考点，并根据所述特征匹配点对中待处理图像的特征点确定所述待处理图像的参考点；determining the reference point of the reference image according to the feature points of the reference image in the feature matching point pair, and determining the reference point of the image to be processed according to the feature points of the image to be processed in the feature matching point pair; 基于所述参考图像的参考点和所述待处理图像的参考点确定所述图像平移量。The image translation amount is determined based on a reference point of the reference image and a reference point of the image to be processed. 5.根据权利要求4所述的方法，其特征在于，根据所述特征匹配点对中参考图像的特征点确定所述参考图像的参考点，并根据所述特征匹配点对中待处理图像的特征点确定所述待处理图像的参考点的步骤包括：5. The method according to claim 4, characterized in that, according to the feature points of the reference image in the feature matching point pair, determine the reference point of the reference image, and center the image to be processed according to the feature matching point The step of determining the reference point of the image to be processed by the feature point comprises: 根据所述参考图像的特征点的坐标计算所述参考图像中目标对象的质心，并根据所述待处理图像的特征点的坐标计算所述待处理图像中目标对象的质心；calculating the centroid of the target object in the reference image according to the coordinates of the feature points of the reference image, and calculating the centroid of the target object in the image to be processed according to the coordinates of the feature points of the image to be processed; 将计算得到的所述参考图像中目标对象的质心作为所述参考图像的参考点，并将计算得到的所述待处理图像中目标对象的质心作为所述待处理图像的参考点；using the calculated centroid of the target object in the reference image as a reference point of the reference image, and using the calculated centroid of the target object in the image to be processed as the reference point of the image to be processed; 或者，or, 根据所述参考图像的特征点的坐标计算所述参考图像中目标对象的中心，并根据所述待处理图像的特征点的坐标计算所述待处理图像中目标对象的中心；calculating the center of the target object in the reference image according to the coordinates of the feature points of the reference image, and calculating the center of the target object in the image to be processed according to the coordinates of the feature points of the image to be processed; 将计算得到的所述参考图像中目标对象的中心作为所述参考图像的参考点，并将计算得到的所述待处理图像中目标对象的中心作为所述待处理图像的参考点。The calculated center of the target object in the reference image is used as the reference point of the reference image, and the calculated center of the target object in the image to be processed is used as the reference point of the image to be processed. 6.根据权利要求4所述的方法，其特征在于，基于所述参考图像的参考点和所述待处理图像的参考点确定所述图像平移量的步骤包括：6. The method according to claim 4, wherein the step of determining the image translation amount based on the reference point of the reference image and the reference point of the image to be processed comprises: 根据图像平移量计算算式计算所述图像平移量；Tx表示X方向的图像平移量，Ty表示Y方向的图像平移量，表示所述参考图像的参考点的横坐标，表示所述待处理图像的参考点的横坐标，表示所述参考图像的参考点的纵坐标，表示所述待处理图像的参考点的纵坐标。Calculation formula based on image translation amount Calculate the image translation amount; T x represents the image translation amount in the X direction, and Ty represents the image translation amount in the Y direction, represents the abscissa of the reference point of the reference image, Indicates the abscissa of the reference point of the image to be processed, represents the ordinate of the reference point of the reference image, Indicates the ordinate of the reference point of the image to be processed. 7.根据权利要求3所述的方法，其特征在于，按照所述图像平移量分别对所述待处理图像和所述待处理图像的特征点进行平移补偿的步骤包括：7. The method according to claim 3, wherein the step of performing translation compensation on the image to be processed and the feature points of the image to be processed according to the image translation amount comprises: 将所述待处理图像中的每个像素点按照所述图像平移量进行平移；Translating each pixel in the image to be processed according to the image translation amount; 将所述待处理图像的特征点按照所述图像平移量进行平移。The feature points of the image to be processed are translated according to the image translation amount. 8.根据权利要求1所述的方法，其特征在于，根据所述特征匹配点对中的参考图像的特征点和所述平移补偿后的待处理图像的特征点计算运动估计参数的步骤包括：8. The method according to claim 1, wherein the step of calculating motion estimation parameters according to the feature points of the reference image in the feature matching point pair and the feature points of the translation-compensated image to be processed comprises: 根据相似变换拟合算式对所述参考图像的特征点和所述平移补偿后的待处理图像的特征点进行相似变换拟合，得到所述运动估计参数；s,θ表示所述运动估计参数，s表示所述运动估计参数中的尺寸参数，θ表示所述运动估计参数中的旋转角度参数，pAi表示所述参考图像的第i个特征点，p'Bi表示平移补偿后的待处理图像的第i个特征点。Fitting formula according to similarity transformation Carry out similar transformation fitting to the feature points of the reference image and the feature points of the image to be processed after the translation compensation to obtain the motion estimation parameters; s, θ represent the motion estimation parameters, and s represents the motion estimation The size parameter in the parameter, θ represents the rotation angle parameter in the motion estimation parameter, p Ai represents the i-th feature point of the reference image, and p'Bi represents the i-th feature point of the image to be processed after translation compensation . 9.根据权利要求1所述的方法，其特征在于，基于所述运动估计参数对所述平移补偿后的待处理图像进行运动补偿的步骤包括：9. The method according to claim 1, wherein the step of performing motion compensation to the translation-compensated image to be processed based on the motion estimation parameters comprises: 基于所述运动估计参数对所述平移补偿后的待处理图像进行逆相似变换补偿。Performing inverse similarity transformation compensation on the translation-compensated image to be processed based on the motion estimation parameter. 10.根据权利要求9所述的方法，其特征在于，基于所述运动估计参数对所述平移补偿后的待处理图像进行逆相似变换补偿的步骤包括：10. The method according to claim 9, wherein the step of performing inverse similarity transformation compensation to the translation-compensated image to be processed based on the motion estimation parameters comprises: 根据所述运动估计参数确定逆相似变换补偿矩阵；determining an inverse similarity transformation compensation matrix according to the motion estimation parameters; 通过所述逆相似变换补偿矩阵对所述平移补偿后的待处理图像进行处理，以使处理后的图像中的目标对象与所述参考图像中的目标对象对齐。The image to be processed after the translation compensation is processed by the inverse similarity transformation compensation matrix, so that the target object in the processed image is aligned with the target object in the reference image. 11.一种图像处理装置，其特征在于，包括：11. An image processing device, characterized in that, comprising: 特征点提取单元，用于在参考图像和待处理图像中提取目标对象的相互匹配的特征点，得到特征匹配点对；所述参考图像和所述待处理图像为不同焦距的镜头在同一时刻对所述目标对象进行拍摄得到的图像；The feature point extraction unit is used to extract the matching feature points of the target object in the reference image and the image to be processed to obtain a pair of feature matching points; the reference image and the image to be processed are lenses with different focal lengths at the same time The image obtained by shooting the target object; 平移补偿单元，用于基于所述特征匹配点对，对所述待处理图像和所述特征匹配点对中的待处理图像的特征点进行平移补偿，得到平移补偿后的待处理图像和平移补偿后的待处理图像的特征点；A translation compensation unit, configured to perform translation compensation on the image to be processed and the feature points of the image to be processed in the feature matching point pair based on the feature matching point pair, to obtain a translation compensated image to be processed and translation compensation The feature points of the image to be processed after; 计算单元，用于根据所述特征匹配点对中的参考图像的特征点和所述平移补偿后的待处理图像的特征点计算运动估计参数；A calculation unit, configured to calculate motion estimation parameters according to the feature points of the reference image in the feature matching point pair and the feature points of the translation-compensated image to be processed; 运动补偿单元，用于基于所述运动估计参数对所述平移补偿后的待处理图像进行运动补偿，以使运动补偿后的图像中的目标对象与所述参考图像中的目标对象对齐。A motion compensation unit, configured to perform motion compensation on the translation-compensated image to be processed based on the motion estimation parameter, so that the target object in the motion-compensated image is aligned with the target object in the reference image. 12.一种电子设备，包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时实现上述权利要求1至10中任一项所述的方法。12. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and operable on the processor, characterized in that, when the processor executes the computer program, the above claims are realized The method described in any one of 1 to 10. 13.一种计算机存储介质，其特征在于，其上存储有计算机程序，所述计算机运行所述计算机程序时执行上述权利要求1至10中任一项所述的方法的步骤。13. A computer storage medium, characterized in that a computer program is stored thereon, and the computer executes the steps of the method according to any one of claims 1 to 10 when running the computer program.
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