CN111741228B - Exposure adjusting method and device for panoramic image - Google Patents
Exposure adjusting method and device for panoramic image Download PDFInfo
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- CN111741228B CN111741228B CN202010622197.8A CN202010622197A CN111741228B CN 111741228 B CN111741228 B CN 111741228B CN 202010622197 A CN202010622197 A CN 202010622197A CN 111741228 B CN111741228 B CN 111741228B
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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
- H04N23/70—Circuitry for compensating brightness variation in the scene
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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
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
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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
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/741—Circuitry for compensating brightness variation in the scene by increasing the dynamic range of the image compared to the dynamic range of the electronic image sensors
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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
- H04N23/80—Camera processing pipelines; Components thereof
- H04N23/81—Camera processing pipelines; Components thereof for suppressing or minimising disturbance in the image signal generation
Abstract
The invention relates to the technical field of cameras, and provides an exposure adjustment method and device for a panoramic image, which are used for solving the problems of uneven picture brightness, low exposure dynamic range and poor image definition of the panoramic image after exposure adjustment, wherein the method comprises the following steps: acquiring images to be spliced shot by cameras with different shooting angles, and carrying out exposure adjustment on the images to be spliced according to preset initial reference brightness; determining current reference brightness based on the brightness of each image to be spliced after exposure adjustment, and performing secondary exposure on part or all of the images to be spliced according to the current reference brightness; and finally, splicing the images to be spliced after the secondary exposure adjustment to obtain a panoramic image. The brightness of each image to be spliced is adjusted to be within an acceptable range, and then each exposed image to be spliced is spliced to obtain a panoramic image, so that the situations that dark areas are too dark and bright areas are too exposed in the panoramic image are avoided, and the exposure dynamic range and the image definition are improved.
Description
Technical Field
The invention relates to the technical field of cameras and provides an exposure adjusting method and device for a panoramic image.
Background
With the development of camera technology, people have made higher demands on the field angle of a vehicle-mounted camera, but the maximum field angle of an optical lens camera is less than 180 degrees, the maximum field angle of a non-wide-angle lens camera does not exceed 100 degrees, and in order to meet the demands of people on wider shooting field angles, a panoramic vehicle-mounted camera can be used for shooting. The panoramic vehicle-mounted camera is provided with a plurality of cameras, the shooting angles of the cameras are different, and spliced images shot by the cameras are spliced together to obtain corresponding panoramic images.
Because the shooting angles of all cameras on the panoramic vehicle-mounted camera are different, all the cameras respectively shoot different pictures in the same scene to obtain a plurality of images to be spliced, and the incidence rates of light rays entering all the cameras are different, so that the brightness of the images to be spliced obtained by all the cameras is different. Under the condition, when the spliced panoramic images are exposed according to the preset target brightness, the images to be spliced which belong to different areas in the panoramic images are divided, so that ideal exposure brightness cannot be obtained, the problem of uneven picture brightness of the panoramic images is caused, and the exposure dynamic range and the image definition of the panoramic images are reduced.
In view of this, the embodiment of the invention provides a new exposure adjustment method for a panoramic image.
Disclosure of Invention
The embodiment of the invention provides an exposure adjustment method and device of a panoramic image, which are used for solving the problems of uneven picture brightness, low exposure dynamic range and low image definition of the panoramic image after exposure adjustment.
The exposure adjustment method for the panoramic image, provided by the embodiment of the invention, comprises the following steps:
acquiring images to be spliced shot by cameras with different shooting angles;
respectively carrying out exposure adjustment on each image to be spliced according to preset initial reference brightness;
determining current reference brightness based on the brightness of each image to be spliced after exposure adjustment, and performing secondary exposure adjustment on part or all of the images to be spliced according to the current reference brightness;
and splicing the images to be spliced after the secondary exposure adjustment to obtain a panoramic image.
Optionally, the exposure adjustment is performed on each image to be stitched according to a preset initial reference brightness, including:
determining a brightness range according to the initial reference brightness;
and adjusting the brightness of each image to be spliced to be within the brightness range.
Optionally, the determining the current reference brightness based on the brightness of each image to be stitched after exposure adjustment includes:
taking the brightness of the image to be spliced with the minimum exposure adjustment parameter as the current reference brightness, wherein the exposure adjustment parameter comprises a shutter parameter and a gain parameter; or, adjusting the brightness of the image to be spliced with the minimum brightness as the current reference brightness; alternatively, the first and second electrodes may be,
selecting one image to be spliced from a plurality of images to be spliced with brightness adjustment meeting a preset exposure adjustment requirement, and taking the brightness of the image to be spliced as the current reference brightness; alternatively, the first and second electrodes may be,
and determining corresponding average brightness based on the brightness of each image to be spliced after exposure adjustment, and taking the average brightness as the current reference brightness.
Optionally, the performing, according to the current reference brightness, secondary exposure adjustment on part or all of the images to be stitched includes:
carrying out secondary exposure adjustment on a target image in the images to be spliced according to the current reference brightness;
the target image is an image to be spliced, wherein the difference value between the brightness and the current reference brightness is larger than a preset brightness difference threshold value.
Optionally, the performing, according to the current reference brightness, a second exposure adjustment on the target image in the images to be stitched includes:
acquiring a difference value between the brightness of a target image in the images to be spliced and the current reference brightness;
and carrying out secondary exposure adjustment on the target image according to the exposure adjustment step length corresponding to the difference value.
Optionally, after obtaining the panoramic image, the method further includes:
determining a reference gain parameter for the panoramic image;
determining an image signal processing parameter of the panoramic image based on the reference gain parameter of the panoramic image and the reference gain parameter of the panoramic image of the previous frame;
and carrying out image signal processing operation on the panoramic image by adopting the image signal processing parameters of the panoramic image.
Optionally, the determining a reference gain parameter of the panoramic image includes:
comparing other gain parameters except the maximum gain parameter with the maximum gain parameter respectively, and taking the maximum gain parameter as a reference gain parameter of the panoramic image when determining that each comparison result accords with a preset gain parameter difference threshold value;
and when at least one comparison result is determined not to accord with the gain parameter difference threshold value, determining a reference gain parameter of the panoramic image according to the gray texture complexity of each image to be spliced and each corresponding gain parameter.
Optionally, determining the gray texture complexity of each image to be stitched further includes:
generating a corresponding gray statistical histogram according to the gray value of each pixel point in each image to be spliced;
and respectively determining the variance of each gray scale statistical histogram as the gray scale texture complexity of each image to be spliced.
Optionally, the determining, based on the reference gain parameter of the panoramic image and the reference gain parameter of the panoramic image of the previous frame, an image signal processing ISP parameter of the panoramic image includes:
if the difference value between the reference gain parameter of the panoramic image and the reference gain parameter of the previous frame of panoramic image is within a preset range, adopting the ISP parameter of the previous frame of panoramic image as the ISP parameter of the panoramic image;
otherwise, determining the ISP parameters of the panoramic image based on the reference gain parameters of the panoramic image.
The exposure adjusting device of the panoramic image provided by the embodiment of the invention comprises:
the acquiring unit is used for acquiring images to be spliced, which are shot by cameras with different shooting angles;
the exposure unit is used for respectively carrying out exposure adjustment on each image to be spliced according to preset initial reference brightness;
determining current reference brightness based on the brightness of each image to be spliced after exposure adjustment, and performing secondary exposure adjustment on part or all of the images to be spliced according to the current reference brightness;
and the splicing unit is used for splicing the images to be spliced after the secondary exposure adjustment to obtain the panoramic image.
Optionally, exposure adjustment is performed on each image to be stitched according to preset initial reference brightness, and the exposure unit is configured to:
determining a brightness range according to the initial reference brightness;
and adjusting the brightness of each image to be spliced to be within the brightness range.
Optionally, the current reference brightness is determined based on the brightness of each image to be stitched after exposure adjustment, and the exposure unit is configured to:
taking the brightness of the image to be spliced with the minimum exposure adjustment parameter as the current reference brightness, wherein the exposure parameter comprises a shutter parameter and a gain parameter; alternatively, the first and second liquid crystal display panels may be,
adjusting the brightness of the image to be spliced with the minimum brightness to be used as the current reference brightness; alternatively, the first and second electrodes may be,
selecting one image to be spliced from a plurality of images to be spliced with brightness adjustment meeting a preset exposure adjustment requirement, and taking the brightness of the image to be spliced as the current reference brightness; alternatively, the first and second electrodes may be,
and determining corresponding average brightness based on the brightness of each image to be spliced after exposure adjustment, and taking the average brightness as the current reference brightness.
Optionally, the second exposure adjustment is performed on part or all of the images to be stitched according to the current reference brightness, and the exposure unit is configured to:
carrying out secondary exposure adjustment on a target image in the images to be spliced according to the current reference brightness;
the target image is an image to be spliced, wherein the difference value between the brightness and the current reference brightness is larger than a preset brightness difference threshold value.
Optionally, the second exposure adjustment is performed on the target image in the image to be stitched according to the current reference brightness, and the exposure unit is configured to:
acquiring a difference value between the brightness of a target image in the images to be spliced and the current reference brightness;
and carrying out secondary exposure adjustment on the target image according to the exposure adjustment step length corresponding to the difference value.
Optionally, after obtaining the panoramic image, the stitching unit is further configured to:
determining a reference gain parameter for the panoramic image;
determining an image signal processing parameter of the panoramic image based on the reference gain parameter of the panoramic image and the reference gain parameter of the panoramic image of the previous frame;
and carrying out image signal processing operation on the panoramic image by adopting the image signal processing parameters of the panoramic image.
Optionally, the determining a reference gain parameter of the panoramic image, and the stitching unit is further configured to:
comparing other gain parameters except the maximum gain parameter with the maximum gain parameter respectively, and taking the maximum gain parameter as a reference gain parameter of the panoramic image when determining that each comparison result accords with a preset gain parameter difference threshold value;
and when at least one comparison result is determined not to accord with the gain parameter difference threshold value, determining a reference gain parameter of the panoramic image according to the gray texture complexity of each image to be spliced and each corresponding gain parameter.
Optionally, the gray texture complexity of each image to be stitched is determined, and the stitching unit is further configured to:
generating a corresponding gray statistical histogram according to the gray value of each pixel point in each image to be spliced;
and determining the variance of each gray level statistical histogram as the gray level texture complexity of each image to be spliced.
Optionally, the determining, based on the reference gain parameter of the panoramic image and the reference gain parameter of the previous frame of panoramic image, an image signal processing ISP parameter of the panoramic image, where the splicing unit is further configured to:
if the difference value between the reference gain parameter of the panoramic image and the reference gain parameter of the previous frame of panoramic image is within a preset range, adopting the ISP parameter of the previous frame of panoramic image as the ISP parameter of the panoramic image;
otherwise, determining the ISP parameters of the panoramic image based on the reference gain parameters of the panoramic image.
An embodiment of the present invention provides an electronic device, which includes a processor and a memory, where the memory stores program codes, and when the program codes are executed by the processor, the processor is caused to execute any one of the steps of the exposure adjustment method for a panoramic image.
An embodiment of the present invention provides a computer-readable storage medium, which includes program code for causing an electronic device to execute any one of the steps of the exposure adjustment method for a panoramic image described above when the program product is run on the electronic device.
The invention has the following beneficial effects:
the exposure adjustment method and the device for the panoramic image, provided by the embodiment of the invention, are used for acquiring images to be spliced, which are shot by cameras with different shooting angles, and carrying out exposure adjustment on the images to be spliced according to preset initial reference brightness; determining current reference brightness based on the brightness of each image to be spliced after exposure adjustment, and performing secondary exposure on part or all of the images to be spliced according to the current reference brightness; and finally, splicing the images to be spliced after the secondary exposure adjustment to obtain a panoramic image. And respectively carrying out exposure adjustment on the images to be spliced to ensure that the brightness of each image to be spliced is adjusted to be within an acceptable range, and then splicing each exposed image to be spliced to obtain a panoramic image, so that the condition of uneven brightness of the image in the panoramic image is avoided, and the exposure dynamic range and the image definition of the panoramic image are improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious 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.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic flowchart of exposure adjustment of a panoramic image according to an embodiment of the present invention;
FIG. 2 is a diagram of a statistical histogram of gray levels according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a structure of an exposure adjustment apparatus for a panoramic image according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a hardware component of a computing device to which an embodiment of the invention is applied.
Detailed Description
In order to make the objects, 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 with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the technical solutions of the present invention. All other embodiments obtained by a person skilled in the art without any creative effort based on the embodiments described in the present document belong to the protection scope of the technical solution of the present invention.
In order to solve the problems of uneven picture brightness, low exposure dynamic range and low image definition of a panoramic image after exposure adjustment, the embodiment of the invention provides an exposure adjustment method of the panoramic image. The method specifically comprises the following steps: acquiring images to be spliced shot by cameras with different shooting angles, and carrying out exposure adjustment on each image to be spliced according to preset initial reference brightness; determining current reference brightness based on the brightness of each image to be spliced after exposure adjustment, and carrying out secondary exposure on part or all of the images to be spliced according to the current reference brightness; and finally, splicing the images to be spliced to obtain a panoramic image.
Referring to fig. 1, the exposure adjustment process of the panoramic image according to the embodiment of the present invention is as follows:
s101: and acquiring images to be spliced shot by the cameras with different shooting angles.
The vehicle-mounted panoramic camera is provided with a plurality of cameras, and the shooting angle of each camera is different, for example, the vehicle-mounted panoramic camera is provided with 4 cameras which respectively shoot the surrounding environment of the left side, the right side, the front side and the rear side of the vehicle.
S102: and respectively carrying out exposure adjustment on each image to be spliced according to the preset initial reference brightness.
Optionally, the process of performing the first exposure adjustment on each image to be stitched is as follows:
firstly, determining a brightness range according to initial reference brightness; then, the brightness of each image to be spliced is adjusted to be within the brightness range.
Due to the characteristic of exposure control, the brightness of each image to be spliced after exposure adjustment can not always reach the initial reference brightness, so that the brightness range is determined according to the initial reference brightness, and the brightness of each image to be spliced is adjusted to be within the brightness range.
Specifically, the shutter parameter and the gain parameter are adjusted along the set exposure line segment, so that the brightness of each image to be spliced is adjusted to be within the brightness range. The shutter parameter represents the exposure time, the gain parameter represents the multiple of an exposed brightness amplifier, and the difference between the brightness of the generated image to be spliced and the initial reference brightness is smaller when the environmental brightness of the shooting environment of the camera is higher, so that the shutter parameter and the gain parameter used in exposure adjustment of the image to be spliced are smaller; conversely, the larger the shutter parameter and the gain parameter.
S103: and determining the current reference brightness based on the brightness of each image to be spliced after exposure adjustment.
Optionally, the current reference brightness may be determined in four ways:
the first method is as follows: and taking the brightness of the image to be spliced with the minimum exposure adjusting parameter as the current reference brightness, wherein the exposure adjusting parameter comprises a shutter parameter and a gain parameter.
According to the above description, when the environmental brightness of the shooting environment of the camera is higher, the brightness of the generated image to be spliced is higher, and the exposure adjustment parameter used in the exposure adjustment of the image to be spliced is smaller; conversely, the larger the exposure adjustment parameter. The vehicle-mounted panoramic camera is generally applied to a road traffic scene, in the scene, the ambient brightness of the center of a road is brightest, the ambient brightness of green belt areas on two sides of the road is darker, and the center of the road is an area of interest shot by the vehicle-mounted panoramic camera, that is, when exposure adjustment is performed on an image to be spliced containing a road center picture, the shutter parameter and the gain parameter used by the vehicle-mounted panoramic camera are minimum. The brightness of the image to be spliced with the minimum exposure adjustment parameter is selected as the current reference brightness, and when secondary exposure is carried out on part or all of the images to be spliced, the brightness of the images to be spliced containing green belt images on two sides of a road can be improved, and the overexposure of the images to be spliced containing a road central image can be prevented, so that the mode is the optimal implementation mode of the embodiment of the invention.
For example, the initial reference brightness is 50, the corresponding brightness range is 45-55, the original brightness of the image to be stitched 1 is 40, the original brightness of the image to be stitched 2 is 31, the original brightness of the image to be stitched is 20, and after exposure adjustment, the brightness of the three images to be stitched is within the brightness range, wherein the shutter parameter corresponding to the image to be stitched 1 is 5, the gain parameter is 3, the shutter parameter corresponding to the image to be stitched 2 is 13, the gain parameter is 9, the shutter parameter corresponding to the image to be stitched 3 is 17, and the gain parameter is 12, so that the exposure adjustment parameter is the image to be stitched 1 at the minimum, and the brightness of the image to be stitched after exposure adjustment should be used as the current reference brightness, and secondary exposure adjustment is performed on part or all of the images to be stitched.
The second method comprises the following steps: and adjusting the brightness of the image to be spliced with the minimum brightness to be used as the current reference brightness.
The brightness adjustment refers to the brightness of the image to be spliced after exposure adjustment. As can be seen from the above description, before performing the exposure adjustment operation, when the brightness of the image to be stitched is closer to the brightness range determined based on the initial reference brightness, the corresponding exposure adjustment parameter is smaller, but as long as the brightness of the image to be stitched after the exposure adjustment is within the brightness range, it can be determined that the brightness of the image to be stitched is within the acceptable range, that is, the image to be stitched with the minimum exposure adjustment parameter is not necessarily the image to be stitched with the minimum brightness adjustment. Therefore, the brightness of the image to be spliced with the minimum brightness adjustment can be selected as the current reference brightness, secondary exposure can be carried out on part or all of the image to be spliced, the brightness of the image to be spliced containing green belt pictures on two sides of the road is improved, and overexposure of the image to be spliced containing a road central picture is prevented. For example, the initial reference brightness is 50, the corresponding brightness range is 45-55, the original brightness of the image to be stitched 1 is 40, the original brightness of the image to be stitched 2 is 31, the original brightness of the image to be stitched is 20, and after exposure adjustment, the brightness of the three images to be stitched is within the brightness range, where the brightness of the image to be stitched 1 is 47, the brightness of the image to be stitched 2 is 45, and the brightness of the image to be stitched 3 is 48, so that the brightness adjustment is the minimum brightness of the image to be stitched 2, and the brightness of the image to be stitched 2 after exposure adjustment should be used as the current reference brightness, and secondary exposure adjustment should be performed on part or all of the images to be stitched.
The third method comprises the following steps: and selecting one image to be spliced from the images to be spliced with the brightness adjustment meeting the preset exposure adjustment requirement, and taking the brightness of the image to be spliced as the current reference brightness.
The exposure adjustment requirement in the embodiment of the invention is that the brightness of the images to be spliced is adjusted within a set brightness adjustment threshold, when the brightness adjustment threshold is set to be small, a plurality of images to be spliced with small brightness adjustment can be screened out, one image to be spliced is selected from the spliced images, and when secondary exposure is carried out on part or all of the images to be spliced according to the brightness of the images to be spliced as the current reference brightness, the brightness of the images to be spliced containing green belt images on two sides of a road is improved, and the brightness of the images to be spliced containing a central image of the road is reduced, so that the brightness of each image to be spliced is adjusted within an acceptable range.
The method is as follows: and determining corresponding average brightness based on the brightness of each image to be spliced after exposure adjustment, and taking the average brightness as the current reference brightness.
The average brightness reflects the average brightness level of each image to be spliced, and the relationship between the excessively dark image to be spliced and the brighter image to be spliced can be better balanced when part or all of the images to be spliced are subjected to secondary exposure according to the average brightness serving as the current reference brightness, so that the brightness of the spliced panoramic images is consistent, and the image definition and the exposure dynamic range are improved.
S104: and carrying out secondary exposure adjustment on part or all of the images to be spliced according to the current reference brightness.
Optionally, performing secondary exposure adjustment on a target image in the image to be spliced according to the current reference brightness; the target image is an image to be spliced, wherein the difference value between the brightness and the current reference brightness is larger than a preset brightness difference value threshold.
When the difference value between the brightness of the image to be spliced and the current reference brightness is within a brightness difference value threshold, representing that the brightness of the image to be spliced after the first exposure adjustment is within an acceptable range without secondary exposure adjustment; and if the difference value between the brightness of the image to be spliced and the current reference brightness is larger than the brightness difference value threshold value, representing that the brightness of the image to be spliced after the first exposure adjustment is not adjusted to be within an acceptable range, requiring the second exposure adjustment, and further improving the brightness of the image to be spliced.
In the process of carrying out secondary exposure adjustment on the target image, firstly, obtaining the difference value between the brightness of the target image in the images to be spliced and the current reference brightness, and then carrying out secondary exposure adjustment on the target image according to the exposure adjustment step length corresponding to the difference value. Specifically, when determining the corresponding exposure adjustment step length according to the difference, if the difference is larger, the exposure adjustment step length can be appropriately increased so as to quickly adjust the brightness of the target image to the brightness range, but the exposure adjustment step length for the second time is not larger than the exposure adjustment step length for the first time; if the difference is smaller, the exposure adjustment step length is smaller, so that the brightness of the target image after the secondary exposure adjustment is prevented from exceeding the brightness range of the current reference brightness.
The following two ways can be adopted to perform the secondary exposure on part or all of the images to be spliced:
the first method is as follows: determining a brightness range according to the current reference brightness; and when one target image is determined, adjusting the shutter parameter and the gain parameter to enable the brightness of the target image to be within the current brightness range until all the target images are processed.
The second method comprises the following steps: determining a brightness range according to the current reference brightness; then determining all target images; and finally, sequentially carrying out secondary exposure on each target image.
S105: and splicing the images to be spliced after the secondary exposure adjustment to obtain a panoramic image.
Further, in order to increase the resolution of the generated panoramic Image, an Image Signal Processing (ISP) operation is also required for the panoramic Image. The specific process is as follows:
first, a reference gain parameter of the panoramic image is determined.
Optionally, the other gain parameters except the maximum gain parameter are respectively compared with the maximum gain parameter, and when it is determined that each comparison result meets a preset gain parameter difference threshold, the maximum gain parameter is used as a reference gain parameter of the panoramic image;
and when at least one comparison result is determined not to accord with the gain parameter difference threshold value, determining a reference gain parameter of the panoramic image according to the gray texture complexity of each image to be spliced and each corresponding gain parameter.
The gray texture complexity represents the richness of the texture details of the picture in the image to be spliced, and the higher the richness of the texture details is, the higher the corresponding gray texture complexity is, which indicates that the picture in the image to be spliced is more important. Optionally, the process of determining the gray texture complexity of each image to be stitched is as follows:
firstly, generating a gray statistical histogram according to the gray value of each pixel point in each image to be spliced, wherein the gray statistical histogram of one image to be spliced is shown in FIG. 2; and determining the variance of each gray level statistical histogram as the gray level texture complexity of each image to be spliced.
The reference gain parameter of the panoramic image is determined by adopting the formula (1), so that the problem that the noise point or the smear of the panoramic image is too large after the gain parameter of one of the images to be spliced is used as the reference gain parameter to determine the ISP parameter of the panoramic image and the ISP operation is carried out on the panoramic image based on the ISP parameter can be avoided. Wherein k is1～knRespectively representing the gray texture complexity, Gain of the 1 st to the n th images to be spliced1～GainnRespectively representing the gain parameters of the 1 st to the n th images to be spliced.
k1Gain1+k2Gain2+k3Gain3+knGainnFormula (1);
and secondly, determining the ISP parameters of the panoramic image based on the reference gain parameters of the panoramic image and the reference gain parameters of the panoramic image of the previous frame.
Optionally, if the difference between the reference gain parameter of the panoramic image and the reference gain parameter of the previous frame of panoramic image is within the preset range, the ISP parameter of the previous frame of panoramic image is used as the ISP parameter of the panoramic image;
otherwise, determining the ISP parameters of the panoramic image based on the reference gain parameters of the panoramic image.
The ISP parameter corresponding to the reference gain parameter is predetermined, and therefore, the corresponding ISP parameter can be directly called as the ISP parameter of the panoramic image based on the reference gain parameter of the panoramic image.
And finally, performing ISP operation on the panoramic image by adopting the ISP parameters of the panoramic image.
As shown in fig. 3, the schematic configuration diagram of the exposure adjustment apparatus for panoramic images may include:
the acquiring unit 301 is configured to acquire images to be stitched, which are shot by cameras with different shooting angles;
the exposure unit 302 is configured to perform exposure adjustment on each image to be stitched according to a preset initial reference brightness;
determining current reference brightness based on the brightness of each image to be spliced after exposure adjustment, and performing secondary exposure adjustment on part or all of the images to be spliced according to the current reference brightness;
and the splicing unit 303 is configured to splice the images to be spliced after the secondary exposure adjustment to obtain a panoramic image.
Optionally, the exposure adjustment is performed on each image to be stitched according to a preset initial reference brightness, and the exposure unit 302 is configured to:
determining a brightness range according to the initial reference brightness;
and adjusting the brightness of each image to be spliced to be within the brightness range.
Optionally, the current reference brightness is determined based on the brightness of each image to be stitched after exposure adjustment, and the exposure unit 302 is configured to:
taking the brightness of the image to be spliced with the minimum exposure adjustment parameter as the current reference brightness, wherein the exposure adjustment parameter comprises a shutter parameter and a gain parameter; alternatively, the first and second electrodes may be,
adjusting the brightness of the image to be spliced with the minimum brightness to be used as the current reference brightness; alternatively, the first and second electrodes may be,
selecting one image to be spliced from a plurality of images to be spliced with brightness adjustment meeting the preset exposure adjustment requirement, and taking the brightness of the image to be spliced as the current reference brightness; alternatively, the first and second electrodes may be,
and determining corresponding average brightness based on the brightness of each image to be spliced after exposure adjustment, and taking the average brightness as the current reference brightness.
Optionally, the second exposure adjustment is performed on part or all of the images to be stitched according to the current reference brightness, and the exposure unit 302 is configured to:
carrying out secondary exposure adjustment on a target image in the images to be spliced according to the current reference brightness;
the target image is an image to be spliced, wherein the difference value between the brightness and the current reference brightness is larger than a preset brightness difference threshold value.
Optionally, the second exposure adjustment is performed on the target image in the images to be stitched according to the current reference brightness, and the exposure unit 302 is configured to:
acquiring a difference value between the brightness of a target image in the images to be spliced and the current reference brightness;
and carrying out secondary exposure adjustment on the target image according to the exposure adjustment step length corresponding to the difference value.
Optionally, after obtaining the panoramic image, the stitching unit 303 is further configured to:
determining a reference gain parameter for the panoramic image;
determining an image signal processing ISP parameter of the panoramic image based on the reference gain parameter of the panoramic image and the reference gain parameter of the panoramic image of the previous frame;
and carrying out image signal processing operation on the panoramic image by adopting the image signal processing parameters of the panoramic image.
Optionally, the determining a reference gain parameter of the panoramic image, and the stitching unit 303 is further configured to:
determining exposure adjustment parameters of all images to be spliced in the panoramic image, wherein the exposure adjustment parameters comprise shutter parameters and gain parameters;
comparing other gain parameters except the maximum gain parameter with the maximum gain parameter respectively, and taking the maximum gain parameter as a reference gain parameter of the panoramic image when determining that each comparison result accords with a preset gain parameter difference threshold value;
and when at least one comparison result is determined not to accord with the gain parameter difference threshold value, determining a reference gain parameter of the panoramic image according to the gray texture complexity of each image to be spliced and each corresponding gain parameter.
Optionally, the gray texture complexity of each image to be stitched is determined, and the stitching unit 303 is further configured to:
generating a corresponding gray statistical histogram according to the gray value of each pixel point in each image to be spliced;
and determining the variance of each gray scale statistical histogram as the gray scale texture complexity of each image to be spliced.
Optionally, the determining, based on the reference gain parameter of the panoramic image and the reference gain parameter of the panoramic image of the previous frame, an image signal processing ISP parameter of the panoramic image, and the splicing unit 303 is further configured to:
if the difference value between the reference gain parameter of the panoramic image and the reference gain parameter of the previous frame of panoramic image is within a preset range, adopting the ISP parameter of the previous frame of panoramic image as the ISP parameter of the panoramic image;
otherwise, determining the ISP parameters of the panoramic image based on the reference gain parameters of the panoramic image.
As will be appreciated by one skilled in the art, aspects of the present invention may be embodied as a system, method or program product. Thus, various aspects of the invention may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.) or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "circuit," module "or" system.
In some possible implementations, embodiments of the present invention further provide an electronic device, which, referring to fig. 4, may include at least one processor 401 and at least one memory 402. In which the memory 402 stores program codes that, when executed by the processor 401, cause the processor 401 to perform the steps in the exposure adjustment method for a panoramic image according to various exemplary embodiments of the present invention described above in this specification. For example, processor 401 may perform the steps as shown in fig. 1.
In some possible embodiments, a computing device according to the present invention may comprise at least one processing unit, and at least one memory unit. Wherein the storage unit stores program code which, when executed by the processing unit, causes the processing unit to perform the steps of the service invocation method according to various exemplary embodiments of the present invention described above in the present specification. For example, the processing unit may perform the steps as shown in fig. 1.
A computing device according to this embodiment of the invention is described below with reference to fig. 5. The computing device of fig. 5 is only an example, and should not impose any limitations on the scope of use or functionality of embodiments of the invention.
As shown in fig. 5, the computing device is in the form of a general purpose computing device. Components of the computing device may include, but are not limited to: the at least one processing unit 501, the at least one memory unit 502, and a bus 503 connecting various system components (including the memory unit 502 and the processing unit 501).
The storage unit 502 may include readable media in the form of volatile memory, such as Random Access Memory (RAM)5021 and/or cache storage unit 5022, and may further include read-only memory (ROM) 5023.
The storage unit 502 may also include a program/utility 5025 having a set (at least one) of program modules 5024, such program modules 5024 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.
The computing device may also communicate with one or more external devices 504 (e.g., keyboard, pointing device, etc.), with one or more devices that enable a user to interact with the computing device, and/or with any devices (e.g., router, modem, etc.) that enable the computing device to communicate with one or more other computing devices. Such communication may be through input/output (I/O) interfaces 505. Also, the computing device may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) through the network adapter 506. As shown, the network adapter 506 communicates with the other modules for the computing device 500 over the bus 503. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with computing device 500, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
In some possible embodiments, the aspects of the service control method provided by the present invention may also be implemented in the form of a program product comprising program code for causing a computer device to perform the steps in the service control method according to various exemplary embodiments of the present invention described above in this specification when the program product is run on a computer device, for example, the computer device may perform the steps as shown in fig. 3.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The program product for traffic control of embodiments of the present invention may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a computing device. However, the program product of the present invention is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with a command execution system, apparatus, or device.
A readable signal medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with a command execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user computing device, partly on the user's equipment, as a stand-alone software package, partly on the user computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. An exposure adjustment method for a panoramic image, comprising:
acquiring images to be spliced shot by cameras with different shooting angles;
carrying out exposure adjustment on each image to be spliced according to preset initial reference brightness;
determining current reference brightness based on the brightness of each image to be spliced after exposure adjustment;
respectively carrying out secondary exposure adjustment on part or all of the images to be spliced according to the current reference brightness;
splicing the images to be spliced after the secondary exposure adjustment to obtain a panoramic image;
comparing other gain parameters except the maximum gain parameter with the maximum gain parameter respectively, and taking the maximum gain parameter as a reference gain parameter of the panoramic image when determining that each comparison result accords with a preset gain parameter difference threshold value;
when at least one comparison result is determined not to accord with the gain parameter difference threshold, determining a reference gain parameter of the panoramic image according to the gray texture complexity of each image to be spliced and each corresponding gain parameter;
determining an image signal processing parameter of the panoramic image based on the reference gain parameter of the panoramic image and the reference gain parameter of the panoramic image of the previous frame;
and carrying out image signal processing operation on the panoramic image by adopting the image signal processing parameters of the panoramic image.
2. The method as claimed in claim 1, wherein the performing exposure adjustment on each image to be stitched according to the preset initial reference brightness comprises:
determining a brightness range according to the initial reference brightness;
and adjusting the brightness of each image to be spliced to be within the brightness range.
3. The method of claim 1, wherein the current reference brightness is also determined by: selecting one image to be spliced from a plurality of images to be spliced with brightness adjustment meeting a preset exposure adjustment requirement, and taking the brightness of the image to be spliced as the current reference brightness; alternatively, the first and second electrodes may be,
and determining corresponding average brightness based on the brightness of each image to be spliced after exposure adjustment, and taking the average brightness as the current reference brightness.
4. The method as claimed in claim 1, wherein the adjusting of the second exposure for part or all of the images to be stitched according to the current reference brightness comprises:
carrying out secondary exposure adjustment on a target image in the images to be spliced according to the current reference brightness;
the target image is an image to be spliced, wherein the difference value between the brightness and the current reference brightness is larger than a preset brightness difference threshold value.
5. The method as claimed in claim 4, wherein the performing the second exposure adjustment on the target image in the images to be stitched according to the current reference brightness comprises:
acquiring a difference value between the brightness of a target image in the images to be spliced and the current reference brightness;
and carrying out secondary exposure adjustment on the target image according to the exposure adjustment step length corresponding to the difference value.
6. The method of claim 1, wherein determining a grayscale texture complexity for each of the images to be stitched further comprises:
generating a corresponding gray statistical histogram according to the gray value of each pixel point in each image to be spliced;
and respectively determining the variance of each gray scale statistical histogram as the gray scale texture complexity of each image to be spliced.
7. The method of claim 1, wherein the determining an image signal processing ISP parameter for the panoramic image based on the reference gain parameter for the panoramic image and the reference gain parameter for the panoramic image of the previous frame comprises:
if the difference value between the reference gain parameter of the panoramic image and the reference gain parameter of the previous frame of panoramic image is within a preset range, adopting the ISP parameter of the previous frame of panoramic image as the ISP parameter of the panoramic image;
otherwise, determining the ISP parameters of the panoramic image based on the reference gain parameters of the panoramic image.
8. An exposure adjustment device for a panoramic image, comprising:
the acquiring unit is used for acquiring images to be spliced, which are shot by cameras with different shooting angles;
the exposure unit is used for respectively carrying out exposure adjustment on each image to be spliced according to preset initial reference brightness;
determining the current reference brightness based on the brightness of each image to be spliced after exposure adjustment;
performing secondary exposure adjustment on part or all of the images to be spliced according to the current reference brightness;
the splicing unit is used for splicing the images to be spliced after the secondary exposure adjustment to obtain a panoramic image;
comparing other gain parameters except the maximum gain parameter with the maximum gain parameter respectively, and taking the maximum gain parameter as a reference gain parameter of the panoramic image when determining that each comparison result accords with a preset gain parameter difference threshold;
when at least one comparison result is determined not to accord with the gain parameter difference threshold value, determining a reference gain parameter of the panoramic image according to the gray texture complexity of each image to be spliced and each corresponding gain parameter;
determining an image signal processing parameter of the panoramic image based on the reference gain parameter of the panoramic image and the reference gain parameter of the panoramic image of the previous frame;
and carrying out image signal processing operation on the panoramic image by adopting the image signal processing parameters of the panoramic image.
9. An electronic device, comprising a processor and a memory, wherein the memory stores program code which, when executed by the processor, causes the processor to perform the steps of the method of any of claims 1 to 7.
10. Computer-readable storage medium, characterized in that it comprises program code for causing an electronic device to carry out the steps of the method according to any one of claims 1 to 7, when said program product is run on said electronic device.
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| CN115861079B (en) * | 2023-02-24 | 2023-05-12 | 和普威视光电股份有限公司 | Panoramic image stitching method and system without overlapping area and stitching terminal |
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