CN117114977A - Image registration method and device - Google Patents
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Abstract
The embodiment of the application provides an image registration method and device, wherein the method comprises the following steps: and obtaining initial registration parameters aiming at the calibration of the lens to be registered. And determining an adjustment coefficient according to the first real-time multiplying power when the lens to be registered acquires the first image and the second real-time multiplying power when the reference lens is registered to acquire the second image. And updating the initial registration parameters according to the adjustment coefficients to obtain target registration parameters. And carrying out image registration processing on the first image to the second image according to the target registration parameters. The technical scheme of the application can accurately and effectively realize the double-light image registration aiming at the zoom camera.
Description
Technical Field
The embodiment of the application relates to a camera technology, in particular to an image registration method and device.
Background
For an image pickup apparatus that can collect two paths of images, two lenses are usually disposed to realize that imaging bands of the two paths of images are different or collection focal lengths are different.
The optical angular resolutions of the two paths of images are different, and the lens installation corresponding to the two paths of images has deviation, so that the imaging size and the imaging position of the two paths of images have deviation, and in order to realize accurate pairing of the two paths of images, double-light registration is required for the two paths of images.
Currently, in the related art, only fixed dual-light registration processing can be performed based on pre-calibrated registration parameters, so that dual-light registration of the zoom camera is lack of accuracy.
Disclosure of Invention
The embodiment of the application provides an image registration method and device, which are used for solving the problem that the dual-light registration of a zoom camera lacks accuracy.
In a first aspect, an embodiment of the present application provides an image registration method, which is applied to a zoom camera, where the zoom camera includes a lens to be registered and a registration reference lens, and includes:
acquiring initial registration parameters aiming at lens calibration to be registered;
determining an adjustment coefficient according to a first real-time multiplying power when the lens to be registered acquires a first image and a second real-time multiplying power when the registration reference lens acquires a second image;
updating the initial registration parameters according to the adjustment coefficients to obtain target registration parameters;
and carrying out image registration processing on the first image to the second image according to the target registration parameters.
In a second aspect, an embodiment of the present application provides an image registration apparatus, including:
the acquisition module is used for acquiring initial registration parameters calibrated for the lens to be registered;
The determining module is used for determining an adjustment coefficient according to the first real-time multiplying power when the lens to be registered acquires the first image and the second real-time multiplying power when the reference lens to be registered acquires the second image;
the updating module is used for updating the initial registration parameters according to the adjustment coefficients to obtain target registration parameters;
and the processing module is used for carrying out image registration processing on the first image to the second image according to the target registration parameters.
In a third aspect, an embodiment of the present application provides an electronic device, including:
a memory for storing a program;
a processor for executing the program stored by the memory, the processor being adapted to perform the method of the first aspect and any of the various possible designs of the first aspect as described above when the program is executed.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium comprising instructions which, when run on a computer, cause the computer to perform the method of the first aspect above and any of the various possible designs of the first aspect.
In a fifth aspect, embodiments of the present application provide a computer program product comprising a computer program which, when executed by a processor, implements a method as described in the first aspect and any of the various possible designs of the first aspect.
The embodiment of the application provides an image registration method and device, wherein the method comprises the following steps: and obtaining initial registration parameters aiming at the calibration of the lens to be registered. And determining an adjustment coefficient according to the first real-time multiplying power when the lens to be registered acquires the first image and the second real-time multiplying power when the reference lens is registered to acquire the second image. And updating the initial registration parameters according to the adjustment coefficients to obtain target registration parameters. And carrying out image registration processing on the first image to the second image according to the target registration parameters. The method comprises the steps of obtaining real-time multiplying power of images acquired by a lens to be registered and a reference lens to be registered, determining an adjustment coefficient of an initial registration parameter obtained based on initial multiplying power calibration, updating the initial registration parameter according to the adjustment coefficient, so that a target registration parameter which can be accurately reflected under the current real-time multiplying power can be obtained, and then carrying out image registration processing on a first image acquired by the lens to be registered according to the target registration parameter, so that double-light image registration of a zoom camera can be accurately and effectively realized.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions of the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it will be obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.
Fig. 1 is a schematic diagram of implementation of dual optical registration provided in an embodiment of the present application;
fig. 2 is a flowchart of an image registration method according to an embodiment of the present application;
fig. 3 is a second flowchart of an image registration method according to an embodiment of the present application;
FIG. 4 is a schematic view of a calibration process according to an embodiment of the present application;
FIG. 5 is an imaging schematic diagram of a calibration process provided by an embodiment of the present application;
fig. 6 is a schematic diagram of an implementation of an image registration process according to an embodiment of the present application;
FIG. 7 is a diagram illustrating compensation of the offset of the zoom optical axis according to an embodiment of the present application;
FIG. 8 is a second schematic diagram of compensation of the zoom optical axis offset provided by the embodiment of the present application;
fig. 9 is a schematic structural diagram of a zoom camera according to an embodiment of the present application;
fig. 10 is a schematic diagram of a zoom camera according to a second embodiment of the present application;
fig. 11 is a schematic structural diagram of an image registration apparatus according to an embodiment of the present application;
fig. 12 is a schematic hardware structure of an electronic device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In order to better understand the technical scheme of the application, the related technology related to the application is further described in detail.
For an image capturing apparatus that can capture two-way images, two image capturing units are typically disposed, where the image capturing units may include a lens and a sensor, where the two-way images may also be referred to as a dual-light image.
The imaging wave bands of the two images acquired by the image capturing device may be different, for example, one image is a visible light image, and the other image is a thermal imaging image. In this case, a visible light image capturing unit including a visible light lens and a visible light sensor and a thermal imaging image capturing unit including a thermal imaging lens and a thermal imaging sensor are disposed in the image capturing apparatus.
Alternatively, the imaging wavelength bands of the two images acquired by the image capturing apparatus may be the same, but the focal lengths when the images are acquired are different, for example, one image is a visible light image with a small focal length and the other image is a visible light image with a large focal length. In this case, a first visible light image capturing unit and a second visible light image capturing unit are disposed in the image capturing apparatus, and a visible light lens and a visible light sensor are included in any of the visible light image capturing units.
And the condition that the focal lengths are different can also be that one path of image is a thermal imaging image with a small focal length, and the other path of image is a thermal imaging image with a large focal length, and the implementation manner is similar to that described above, and the description is omitted here.
A further explanation of a visible light sensor, which is a sensor for capturing images of visible light, which are images captured in the visible light (visible light being the part of the electromagnetic spectrum that is perceivable by the human eye, such as wavelengths between 400 and 760 nm), and a thermal imaging sensor, is provided herein.
While a thermal imaging sensor is a sensor for acquiring a thermal imaging image, which is not an image acquired in the visible light range, but an image related to the temperature of the object surface. For example, an object in nature may radiate infrared rays, and by detecting a signal in a specific wavelength band of the infrared rays, the signal is converted into an image that can be resolved by human eyes, and the image is a thermal imaging image, and the thermal imaging image can reflect a temperature value of the surface of the object.
Based on the above description, if the visible light image and the thermal imaging image are subjected to double-light fusion, a fusion image is obtained. Compared with the visible light image and the thermal imaging image, the fusion image has more abundant information, can reflect the temperature value of the surface of the object, and can also comprise the related information of the visible light image. Therefore, the double-light fusion has good application value.
However, since the optical angular resolutions corresponding to the two images are different, the same object is imaged in the frames of the two images with different sizes, wherein the optical angular resolution can be understood as an imaging angle on a single pixel, i.e. IFOV (Instantaneous Field Of View, instantaneous field angle).
And because the mounting positions of the lenses corresponding to the two paths of images are different to a certain extent (can be understood as pupil distance and is a fixed value of equipment), the imaging positions of the same target in the pictures of the two paths of images are different because the optical axes of the lenses of the two paths of images are not coincident.
The two-path image can not be directly fused due to the differences of imaging sizes and imaging positions in the two-path image, so that in order to realize double-light fusion, accurate pairing of two-path imaging information is needed, namely double-light registration introduced in the application.
For example, the dual optical registration may be understood with reference to fig. 1, and fig. 1 is a schematic diagram illustrating implementation of dual optical registration according to an embodiment of the present application.
As shown in fig. 1, it is assumed that the current image capturing apparatus performs image capturing for the same target (tree), and two paths of images are obtained, 101 and 102 in fig. 1, respectively. And referring to fig. 1, it can be determined that for this same object, the imaging sizes in image 101 and image 102 are not uniform, and the imaging positions in image 101 and image 102 are also not uniform.
In order to achieve the dual-light fusion, the two paths of images are precisely paired, for example, based on the image 102, the image 101 is subjected to dual-light registration processing to obtain a registered image 103 shown in fig. 1, and it can be determined with reference to fig. 1 that the registered image 103 can be coincident with the tree serving as the same target in the image 102 serving as the registration base, so that the purpose of dual-light registration is effectively achieved.
And it should be noted that after the double-light registration, two paths of images with accurate matching are obtained, and the two paths of images with accurate matching can be used for realizing the double-light fusion described above, and also can be used for realizing any image processing purpose, so that the scene of the two paths of images needing registration is suitable for the technical scheme described by the application.
Currently, in the related art, when dual-light fusion is implemented, usually, the registration parameters of the image capturing device are predetermined in the calibration process, and then, in the process of using the image capturing device to perform image capturing, fixed dual-light registration processing is performed based on the predetermined registration parameters, that is, the dual-light registration processing is performed by adopting the predetermined registration parameters no matter what parameters are used for capturing the image.
However, this implementation can effectively achieve dual-light registration for a fixed focal length lens, but for a zoom camera, the focal length value may change during use of the zoom camera. The change of the focal length value may cause the imaging size of the target to change, and may cause the optical axis of the lens to change (due to assembly tolerances between the lens and the detector) and further cause the imaging position of the target to also change. At the same time, the change of the mounting pupil distance and the object distance of the lens can also cause the imaging position to change. Therefore, for the zoom camera, the registration parameters determined by initial calibration cannot accurately and effectively realize double-light registration processing.
For example, there is currently a zoom lens, which is a zoom lens that is a camera having a zoom function, and a user can perform a zoom process according to the size of target information in an imaging screen, after which the focal length of the lens changes. Then the implementation of the prior art cannot accurately and effectively achieve dual-light registration for such a continuous zoom lens.
Aiming at the technical problems in the prior art, the application provides the following technical conception: the real-time multiplying power of the lens in the zoom camera can be acquired, then the initial multiplying power parameter obtained through calibration is updated according to the change condition of the real-time multiplying power of the lens relative to the initial multiplying power when the registering parameter is calibrated, the target registering parameter adapting to the current real-time multiplying power is obtained, and then the image registering is carried out based on the target registering parameter, so that the double-light registering processing of the image acquired by the zoom lens can be accurately and effectively realized.
The image registration method provided by the present application is described below with reference to specific embodiments, and it should be noted that an execution body of each embodiment of the present application is a zoom camera, and further, may be a processor, a control module, etc. in the zoom camera.
In the present application, a plurality of lenses including a lens to be registered and a registration reference lens are mounted in a zoom camera. The number of the reference lens to be registered is usually 1, and the number of the lenses to be registered may be 1 or more. In the application, the image collected by the lens to be registered is registered to the image collected by the reference lens, when a plurality of lenses to be registered exist, the image registration processing is respectively carried out on each lens to be registered, and the basis of registration is always the image collected by the reference lens.
For example, when the zoom camera is in a double-light path, there is a registration reference lens and a lens to be registered, and then the image collected by the lens to be registered is registered to the image collected by the registration reference lens.
For example, when the zoom camera is in a three-optical path, there is one registration reference lens and two lenses to be registered, and then the images acquired by the two lenses to be registered are registered to the images acquired by the registration reference lens respectively.
The implementation of the zoom camera for four or even more light paths is similar and will not be described here. Since the image registration processing of each lens to be registered is similar, the image registration manner of the lens to be registered is directly described below without emphasizing the case where a plurality of lenses to be registered are processed separately.
In one possible implementation, the lens to be registered may be a visible light lens and the registration reference lens may be a thermal imaging lens. Alternatively, the lens to be registered may be a thermal imaging lens, and the registration reference lens may be a visible light lens. Alternatively, the lens to be registered and the registration reference lens are both visible light lenses, but the focal lengths are different when the images are acquired. Alternatively, the lens to be registered and the reference lens to be registered are thermal imaging lenses, but the focal lengths are different when the images are acquired.
Scalable, implementations of the lens to be registered and the registration reference lens include, but are not limited to: ultraviolet light lens, visible light lens, near infrared light lens, short wave infrared light lens, medium wave infrared light lens, long wave infrared light lens, etc.
In the actual implementation process, the specific setting modes of the lens to be registered and the registration reference lens can be selected and set according to actual requirements, and only the double-light image introduced above can be acquired according to any one lens to be registered and the registration reference lens.
And, the zoom camera means a camera in which the focal length of a lens can be changed, and is the zoom camera introduced in the present application as long as the focal length of any one of the lenses can be changed for a plurality of lenses in the zoom camera.
The image registration method provided by the present application will be described with reference to fig. 2, and fig. 2 is a flowchart of the image registration method provided by the embodiment of the present application.
As shown in fig. 2, the method includes:
s201, acquiring initial registration parameters aiming at lens calibration to be registered.
In this embodiment, the zoom camera may shoot the same scene through the lens to be registered and the registration reference lens at the same time, so as to obtain two images. Wherein, the same target is positioned in the same shooting scene, and the positions and the sizes of the same target in the two images may have certain differences.
Then the first image and the second image need to be subjected to an image registration process in order to correct the positional deviation and the magnitude deviation between the first image and the second image. In the embodiment, when image registration is performed, the first image collected by the lens to be registered is registered to the second image collected by the registration reference lens, that is, the lens to be registered is used as the lens for performing registration processing, and the registration reference lens is used as the lens for registration reference.
In the actual implementation process, however, for the dual lenses in the zoom camera, which is specifically taken as the lens to be registered and which is taken as the registration reference lens, the selection and the setting are performed according to the actual requirements. That is, for a dual lens in a zoom camera, any one of them may be used as a lens in which an acquired image needs to be subjected to image registration, and this lens is referred to as a lens to be registered in this embodiment. And for the other lens in the double lenses, the acquired image is used as a reference of registration processing, and the lens is called a registration reference lens in the embodiment.
Before the zoom camera leaves the factory, calibration processing is usually carried out on the lens to be registered so as to obtain initial registration parameters of the lens to be registered.
For example, because the focal length of the zoom camera is adjustable, when performing calibration processing, an initial magnification is generally selected for the lens to be registered and the reference lens to be registered, and then image acquisition is performed on the calibration object under the initial magnification of each of the two lenses. A target is typically provided in the calibration object, wherein the target may be understood as a specific marker point in the calibration object, including but not limited to a cross, a polygon, a profile, etc.
And then acquiring the position and the size of the special mark point in the image acquired by the lens to be registered through image identification, acquiring the position and the size of the special mark point in the image acquired by the registration reference lens, and determining the initial calibration parameters of the lens to be registered according to the position difference and the size difference of the special mark point in the two images.
S202, determining an adjustment coefficient according to a first real-time multiplying power when a lens to be registered acquires a first image and a second real-time multiplying power when a reference lens is registered to acquire a second image.
While the initial registration parameters described above are determined at a specific initial magnification, in the zoom camera of this embodiment, the magnification of the image acquired by the lens may change during actual use, which results in that the calibrated initial registration parameters cannot accurately indicate the difference in position and the difference in size between the two images acquired in real time by the lens to be registered and the registration reference lens.
Therefore, in this embodiment, a first real-time magnification of the lens to be registered when collecting the first image and a second real-time magnification of the lens to be registered when collecting the second image can be obtained, and then the adjustment coefficient is determined according to the first real-time magnification and the second real-time magnification. Wherein the adjustment coefficient is used to reflect the degree to which the initial registration parameters are required to be adjusted due to the change in real-time magnification compared to the initial magnification.
And S203, updating the initial registration parameters according to the adjustment coefficients to obtain target registration parameters.
Therefore, after the adjustment coefficient is determined, the initial registration parameter can be updated according to the adjustment coefficient, so that the correct target registration parameter corresponding to the lens to be registered is obtained under the current first real-time multiplying power and second real-time multiplying power.
S204, performing image registration processing on the first image to the second image according to the target registration parameters.
The target registration parameters in this embodiment are determined for the lens to be registered, and when the image registration processing is performed, the image registration is performed on the image acquired by the lens to be registered and the image acquired by the reference lens to be registered. Therefore, according to the target registration parameters, the second image is taken as a registration reference, and the first image acquired by the lens to be registered is subjected to image registration processing on the second image.
The image registration method provided by the embodiment of the application comprises the following steps: and obtaining initial registration parameters aiming at the calibration of the lens to be registered. And determining an adjustment coefficient according to the first real-time multiplying power when the lens to be registered acquires the first image and the second real-time multiplying power when the reference lens is registered to acquire the second image. And updating the initial registration parameters according to the adjustment coefficients to obtain target registration parameters. And carrying out image registration processing on the first image to the second image according to the target registration parameters. The method comprises the steps of obtaining real-time multiplying power of images acquired by a lens to be registered and a reference lens to be registered, determining an adjustment coefficient of an initial registration parameter obtained based on initial multiplying power calibration, updating the initial registration parameter according to the adjustment coefficient, so that a target registration parameter which can be accurately reflected under the current real-time multiplying power can be obtained, and then carrying out image registration processing on a first image acquired by the lens to be registered according to the target registration parameter, so that double-light image registration of a zoom camera can be accurately and effectively realized.
Based on the above description, it may be determined that, in this embodiment, the initial registration parameter is to be adjusted according to the change condition of the real-time magnification relative to the initial magnification, and for better understanding the specific implementation of the following description, the magnification of the lens is first described briefly herein.
In general, a magnification table is stored in the camera, and the magnification table includes correspondence relationships between three parameters, namely a magnification value, a focal length value, and a zoom value. Illustratively, the power table may be understood with reference to table 1 below:
table 1:
| multiple value | Focal length value | Zoom value |
| 1× | 35mm | … |
| 2× | 70mm | … |
| … | … | … |
Wherein the zoom value is a value obtained from a software driver board in the zoom camera, which is used to indicate the position of the zoom motor. The position of the zoom motor also determines the focal length value of the lens, so that the purpose of adjusting the focal length value is realized by actually adjusting the position of the zoom motor when the zoom camera adjusts the focal length value.
And the focal length value refers to the distance from the optical center of the lens to the focal point where light is condensed when parallel light is incident, and in the zoom camera, the focal length value can be adjusted by adjusting the position of the zoom motor.
And the magnification value is the ratio of the target focal length value to the minimum focal length value, for example, in table 1, assuming that the minimum focal length value is 35mm, when the target focal length value is 35mm, the corresponding magnification value is 1 time; when the target focal length value is 70mm, the corresponding multiplying power value is 2 times, and so on. And 1.1 times, 1.2 times the equivalent value may also be present in the actual implementation.
It will be appreciated that a lensThe maximum multiplying power value is determined and can be marked as Z max The numerical value is determined by the optical design of the lens; and the minimum magnification of the lens can be recorded as Z min The value is usually 1. In the actual implementation process, the ratio of each target focal length value to the minimum focal length in the multiple rate table can be determined as the corresponding multiplying power value of each target focal length value based on the data in the multiple rate table.
Thus, during use of the zoom camera, the zoom camera may change the position of the zoom motor in response to an adjustment operation by a user, and the zoom value on the corresponding software driver board may change in response to the change in the position of the zoom motor. And then, reading the real-time focal length value and the real-time magnification value corresponding to the real-time zoom value through the magnification table.
On this basis, the image registration method provided by the present application is described in further detail below with reference to fig. 3 to 6. Fig. 3 is a flowchart two of an image registration method provided by an embodiment of the present application, fig. 4 is a schematic view of a calibration process scene provided by an embodiment of the present application, fig. 5 is an imaging schematic view of the calibration process provided by an embodiment of the present application, and fig. 6 is a schematic view of an implementation of the image registration process provided by an embodiment of the present application.
As shown in fig. 3, the method includes:
s301, acquiring initial registration parameters aiming at lens calibration to be registered.
The implementation of S301 is similar to the implementation introduced in S201, and will not be repeated here.
Further, the calibration process of the initial registration parameters may be further understood in conjunction with fig. 4 and 5.
As shown in fig. 5, the initial object distance D may be preset init And an initial object distance D in front of the zoom camera init Wherein the calibration object may be, for example, an image, in which there is at least one marking point.
And referring to fig. 6, assume that there are a lens to be registered (denoted by a) and a registration reference lens (denoted by B) in the zoom camera) A first initial multiplying power Z is set for the lens A to be registered init_A And a second initial magnification Z is set for the registration reference lens B init_B . T in fig. 6 may be, for example, a marker point in the calibration object, which marker point T is located, for example, at T in fig. 6 in the first image acquired by the lens a to be registered A The position shown, and the marking point T in the second image acquired by the lens B to be registered, for example T in fig. 6 B The position shown.
Then, the imaging point T in the first image can be used A Imaging point T in the second image B Is used to determine initial registration parameters of the first image relative to the second image.
Illustratively, the initial registration parameters may include at least one of: an initial scaling factor, an initial horizontal offset factor, and an initial vertical offset factor.
The scaling factor is used for scaling the image to be registered in equal proportion, so that the imaging angle resolution of the image to be registered is consistent with the size of a reference image serving as a registration reference, and the size of a pixel matrix imaged by the same target on the two images is the same, so that the registration of the double-light image in the size dimension is ensured.
And the offset coefficient is used for determining an offset value, and the offset value is used for moving the image to be registered, the offset value is actually the same target, and the number of pixel offsets required for overlapping the imaging pixel matrix in the image to be registered with the position of the image pixel matrix in the reference image can be divided into a horizontal offset value and a vertical offset value. Accordingly, the offset coefficients are also horizontal offset coefficients and vertical offset coefficients.
Based on the calibration procedure described in the above embodiments, the initial scaling factor may be determined based on the difference in the sizes of the special marker points in the two images.
And according to the position difference of the special mark point in the two images, an initial horizontal offset value and an initial vertical offset value are actually obtained, so that to obtain the initial horizontal offset coefficient and the initial vertical offset coefficient described in the embodiment, further analysis of the linear relationship between the initial horizontal offset value and the specific parameter is required to determine the initial horizontal offset coefficient, and the initial vertical offset coefficient is similar.
The implementation of determining the initial horizontal offset coefficient and the initial vertical offset coefficient is described further below.
S302, when the calibrated initial registration parameters are obtained, a first initial multiplying power corresponding to the lens to be registered and a second initial multiplying power corresponding to the registration reference lens are obtained.
When the initial registration parameters are calibrated for the lens to be registered, a first initial magnification is set for the lens to be registered, and a second initial magnification is set for the registration reference lens, so that the first initial magnification and the second initial magnification can be acquired in the embodiment, and respective magnification changes of the two lenses can be determined conveniently.
In the actual implementation process, the specific values of the first initial multiplying power and the second initial multiplying power can be selected and set according to actual requirements, and the embodiment is not limited to this.
S303, determining a first magnification change parameter corresponding to the lens to be registered according to the first real-time magnification and the first initial magnification.
Let the lens to be registered be lens a and the registration reference lens be lens B. When the initial registration parameters are calibrated, a first initial multiplying power Z is set for the lens A to be registered init-A When the lens A to be registered acquires the first image, a first real-time multiplying power Z is set for the lens A to be registered cur-A In this embodiment, a first magnification change parameter corresponding to the lens a to be registered may be determined according to the first real-time magnification and the first initial magnification.
Wherein the first magnification change parameter is used for indicating a first real-time magnification Z cur-A Compared with the first initial multiplying power Z init-A Is a degree of variation of (a). For example, the ratio of the first real-time magnification to the first initial magnification may beIs determined asA first magnification variation parameter. Or the first rate-change parameter may be determined by multiplying the corresponding coefficient by the ratio.
The specific implementation manner of the first magnification change parameter is not limited in this embodiment, as long as the first magnification change parameter can reflect the change degree of the real-time magnification compared with the initial magnification when the initial magnification is calibrated when the lens to be registered captures an image.
S304, determining a second magnification change parameter corresponding to the registration reference lens according to the second real-time magnification and the second initial magnification.
Similarly, for registration reference lens B, the second real-time magnification Z may be used cur-B A second initial multiplying power Z init-B A second magnification variation parameter corresponding to the registration reference lens is determined, which is similar to the first magnification variation parameter described in step S303, and will not be described again.
S305, determining the ratio of the second multiplying power change parameter to the first multiplying power change parameter as a first adjustment coefficient corresponding to the initial scaling coefficient.
In this embodiment, the initial registration parameters include an initial scaling coefficient and an initial offset coefficient, and there are some differences in the manners of determining the adjustment coefficients for the scaling coefficient and the offset coefficient, so the description of determining the adjustment coefficients is performed for each item of data in the initial registration parameters.
As for the scaling factor, the scaling factor indicates a scale at which an image is reduced or enlarged, and a change in magnification itself affects the imaging size of an object in the image (the magnification becomes larger, the imaging size of the object becomes larger, and vice versa). Meanwhile, it is obvious that in the zoom system, the change proportion of the imaging size in the image to be registered can be directly represented by the change proportion of the multiplying power, that is, the real-time multiplying power of the lens is changed by more than the initial multiplying power, and then the imaging size in the corresponding image to be registered is changed by more than the initial multiplying power. Therefore, the adjustment coefficient can be directly determined according to the multiplying power change degree of the lens, and then the initial scaling coefficient is directly updated according to the adjustment coefficient, so that the target scaling coefficient capable of accurately realizing the two-light image registration of the size dimension is obtained.
For example, the registration rule in the application is to register the image acquired by the lens A to be registered to the image acquired by the reference lens B, and then set the first initial multiplying power Z for the lens A to be registered when the calibration processing is assumed init-A And assuming that the second initial magnification is set to Z for the registration reference lens B init-B For example, the initial scaling factor K is obtained by calibrating on the basis 0 。
For a zoom camera, the magnification of the lens may change during actual use, and it is assumed that the first real-time magnification of the lens a to be registered in the zoom camera is adjusted to Z cur-B And registering the second real-time magnification adjustment of the reference lens B to Z cur-B 。
It can be determined that the magnification of the lens a to be registered has changedThe imaging size in the corresponding first image is also changed +.>Magnification (as compared to the case where images were acquired according to the first initial magnification). Thus, the initial scaling factor K obtained by calibration is needed 0 Also change->Multiple times. In this embodiment, the image captured by the lens a to be registered is registered to the image captured by the reference lens B, so that the magnification change degree of the lens a to be registered is equal to the initial scaling factor K 0 The effect of (a) is inversely proportional, that is to say how much the magnification of the lens a to be registered is increased, the corresponding initial zoom factor needs to be reduced.
And, it can be determined that the magnification of the registration reference lens B is changedMultiple of, and corresponding to, the first imageImaging size is also changed +.>The magnification (compared with the case of acquiring the image according to the second initial magnification) thus requires an initial scaling factor K to be obtained by calibration 0 Also change->Multiple times. And, in this embodiment, the image captured by the lens to be registered a is registered to the image captured by the reference lens B, so that the magnification change degree of the reference lens B is compared with the initial scaling factor K 0 The effect of (a) is proportional, that is, how much the magnification of the registration reference lens B is increased, the corresponding initial scaling factor needs to be increased.
Based on this, when the initial scaling factor is updated according to the first adjustment factor, the following formula one may be satisfied:
wherein K is 0 For the initial scaling factor to be used,to adjust the coefficient, K cur Scaling the coefficients for the targets.
Therefore, in this embodiment, the ratio of the second magnification variation parameter to the first magnification variation parameter may be determined as the first adjustment coefficient corresponding to the initial scaling factor, and the first adjustment coefficient may be, for example, as described in formula one
It will be further understood that, based on the first formula, if the first initial magnification of the lens to be registered and the second initial magnification of the reference lens are both selected to be the minimum magnification (i.e., 1), the first formula is simplified to This effectively reduces the amount of computation, so in one possible implementation, both the first initial magnification and the second initial magnification may be set to 1.
Or in another possible implementation manner, the first initial multiplying power of the lens to be registered and the second initial multiplying power of the reference lens to be registered can be selected to be the maximum multiplying power, so that error influence caused by distortion during initial calibration can be effectively eliminated. In the actual implementation process, the selection of the first initial magnification and the second initial magnification may be set according to actual requirements, which is not particularly limited in this embodiment.
S306, determining a second multiplying power change parameter corresponding to the registration reference lens as a second adjustment coefficient corresponding to the initial horizontal offset coefficient and the initial vertical offset coefficient.
The second adjustment coefficient corresponding to the offset coefficient is used to determine the offset value.
For the offset value, in the registration process, the position difference of the special mark point in the two images actually reflects the offset value, wherein the change of the lens magnification directly affects the imaging size, but the offset value indicates the imaging position deviation, so that the relationship between the change of the offset value and the change of the magnification is not direct, and then the relationship between the change of the offset value and the change of the magnification is required to be clarified.
Based on this, the concept of the offset coefficient is introduced in the present application, and the analysis and determination of the offset coefficient are described below
When an image is acquired, the lens parameters which can be adjusted include the magnification of the lens and the object distance between the lens and the shooting object, and the object distance can be acquired through laser ranging.
When a certain initial magnification is fixed for the lens, the change of the object distance may cause the change of the offset value, and in order to facilitate finding the rule, the inverse of the object distance D may be expressed as L (i.e., l=1/D).
For example, for a zoom camera with dual lenses, one fixed initial focal length may be selected for the lens to be registered, and one fixed initial focal length may also be selected for the reference lens to be registered, and the pupil distance between the two lenses is fixed, after which a plurality of sample object distances, for example 0.1m, 0.2m, 0.3m, 0.4m, 0.5m, 1m, 2m, 4m, 10m, 100m, 1000m, 10000m, etc., are pre-selected.
It should be noted that, the setting of the object distance is not required to be performed for a specific focal length, and the object distance of the above sample can be used to determine the rule under any lens or any magnification of the lens. The sample object distance in this embodiment is thus set directly for the zoom camera, and then the plurality of lenses in the zoom camera correspond to the same sample object distance.
The calibration process described above is then performed separately based on these sample object distances to determine respective offset values (e.g., including horizontal offset values and vertical offset values) for the dual-light image at each sample object distance. Then, for the horizontal offset value and the vertical offset value corresponding to each sample object distance, the linear proportional relation between the offset value and the object distance reciprocal L of the lens to be registered can be defined, for example, the following formulas two and three can be expressed:
in equation II, ΔN h As the value of the horizontal offset,setting the initial magnification of the lens B to be registered as Z init-A Initial magnification of registration reference lens a is set to Z init-B The horizontal offset coefficient is L is the reciprocal of the object distance of the lens to be registered, delta N 0-h Is horizontally fixed in the horizontal directionOffset value. />
In equation three, ΔN v As the value of the vertical offset,setting the initial magnification of the lens B to be registered as Z init-A Initial magnification of registration reference lens a is set to Z init-B The vertical offset coefficient is L is the reciprocal of the object distance of the lens to be registered, delta N 0-v Is a vertical fixed offset value in the vertical direction.
In equations two and three, the horizontal offset coefficientCoefficient of vertical offsetHorizontal fixed offset value ΔN 0-h Vertical fixed offset value ΔN 0-v For quantification, L is a variable, the horizontal offset value ΔN h Vertical offset value Δn v The final offset value is the dependent variable.
In the present application, therefore, by performing the acquisition of the two-shot image at a plurality of sample object distances and determining the offset value of the respective corresponding two-shot image at each sample object distance, a linear relationship between the offset value and the reciprocal of the object distance can be determined, for which a coefficient of offset (k h K v ). The offset coefficient (k h K v ) Corresponding to a first initial magnification of the lens to be registered and a second initial magnification of the registration reference lens, e.g. the first initial magnification or the second initial magnification is adjusted, then the corresponding determined offset coefficient (k h K v ) Changes may also occur.
In this embodiment, since the influence of the change in magnification on the offset value is determined, the change in magnification is performed, and what the specific influence is studied.
Then to further study the offset value and object at different multiplying powersThe law of the reciprocal of the distance can fix the multiplying power of the registering reference lens B, then select different multiplying powers for the lens A to be registered, and perform calibration processing under the fixed object distance to find the linear proportionality coefficient (k h K v ) There is no change. It is also shown that under the rule of registering the image acquired by the lens a to be registered to the image acquired by the reference lens B, the offset component is independent of the magnification of the lens a to be registered (because the image acquired by the reference lens B is the calibrated reference).
Similarly, the multiplying power of the lens A to be registered is fixed, then different multiplying powers are selected for the registration reference lens B, and calibration is carried out under the fixed object distance, so that the offset value and the reciprocal of the object distance are always in linear proportion relation under the different multiplying powers of the registration reference lens B, and the linear proportion coefficient (k h K v ) The ratio of the linear scaling factor is proportional to the ratio of the registration reference lens B, namely, the larger the ratio of the registration reference lens B is, the larger the corresponding offset value is.
As is clear from the above-described research and reasoning process, under the rule of registering the image acquired by the lens to be registered a to the image acquired by the reference lens B, the change of magnification of the reference lens B affects the offset coefficient (and is a proportional effect), and thus affects the offset value, and the effects of the offset value for the horizontal direction and the offset value for the vertical direction are similar.
In one possible implementation, the second magnification variation parameter of the registration reference lens B may be directly determined as the second adjustment coefficient corresponding to the initial horizontal offset coefficient and the initial vertical offset coefficient. For example, the following formula four and formula five can be expressed:
in the fourth formula of the present invention,to register the second magnification variation parameter (i.e. the second adjustment coefficient) of the reference lens B, L cur First object distance D when acquiring first image for lens to be registered cur Is the inverse of (c).
It can be determined by reference to the above description that in this embodiment, the images of the same object on different lenses are fused, so that the first object distance when the first image is acquired by the lens to be registered is the same as the second object distance when the second image is acquired by the reference lens (all can be D cur Representation), thus D cur It can also be understood directly as the object distance set for the zoom camera, on the basis of which both the lens to be registered and the registration reference lens then undergo subsequent image processing.
Then the meaning represented by equation four is that is, at the initial horizontal offset coefficient k h-[Zinit-A,Zinit-B] Is multiplied by a second multiplying power change parameterA target horizontal offset coefficient can be obtained. Then according to the target horizontal offset coefficient, the reciprocal L of the first object distance when the lens to be registered acquires the first image cur Horizontal fixed offset value ΔN 0-h To obtain a target horizontal offset value.
In the fifth formula of the present invention,to register the second magnification variation parameter (i.e. the second adjustment coefficient) of the reference lens B, L cur For the reciprocal of the first object distance when the lens to be registered captures the first image (similarly, the first object distance of the lens to be registered and the second object distance of the registration reference lens are identical), then the meaning represented by equation five is that is, at the initial vertical offset coefficient k v-[Zinit-A,Zinit-B] Multiplying the second multiplying power change parameter on the basis of (2)>The target vertical offset coefficient can be obtained. Then according to the target vertical offset coefficient, the reciprocal L of the first object distance when the lens to be registered acquires the first image cur Vertical fixed offset value ΔN 0-v To obtain a target horizontal offset value.
It can be further understood on the basis of the fourth and fifth formulas that if the first initial magnification of the lens to be registered and the second initial magnification of the registration reference lens are both selected to be the minimum magnification (i.e. 1), the fourth and fifth formulas are correspondingly simplified, so that the calculation amount can be effectively reduced, and therefore, in a possible implementation manner, the first initial magnification and the second initial magnification can be set to be 1.
Similarly, the first initial multiplying power of the lens to be registered and the second initial multiplying power of the reference lens to be registered can be selected to be the maximum multiplying power, so that error influence caused by distortion during initial calibration can be effectively eliminated. In the actual implementation process, the selection of the first initial magnification and the second initial magnification may be set according to actual requirements, which is not particularly limited in this embodiment.
S307, updating the initial scaling factor according to the first adjustment factor to obtain a target scaling factor.
For example, the first adjustment coefficient may be calculated by referring to equation one described aboveAnd an initial scaling factor K 0 Multiplying to update the initial scaling factor to obtain target scaling factor K cur 。
And S308, updating the initial horizontal offset coefficient according to the second adjustment coefficient to obtain a target horizontal offset coefficient, and determining a target horizontal offset value according to the target horizontal offset coefficient and a first object distance when the lens to be registered acquires an image.
For example, referring to equation four described above, the second adjustment system may be, for exampleNumber of digitsOffset from the original horizontal by a factor->Multiplying to update the initial horizontal offset coefficient and obtain the target horizontal offset coefficient +. >
The final objective in this embodiment is to obtain an offset value, and the offset coefficient is used to indicate the linear relationship between the offset value and the inverse of the object distance, so that the target horizontal offset coefficient may be further multiplied by the inverse of the first object distance when the lens to be registered captures an image, thereby determining the target horizontal offset value.
Further, in the horizontal direction, there are some horizontal fixed offset values caused by factors such as lens installation, which can be understood as being caused by installation problems of the device itself and not caused by magnification change of the lens, so that the determined target horizontal offset value can be further corrected according to the horizontal fixed offset value, thereby obtaining a corrected more accurate target horizontal offset value.
Referring to the above formula IV, after multiplying the target horizontal offset coefficient by the inverse of the first object distance when the lens to be registered captures an image, a horizontal fixed offset value ΔN may be further added 0-h Thereby obtaining a target horizontal offset value delta N corresponding to the real-time multiplying power cur-h . The accuracy of the finally determined target horizontal offset value can be further improved by considering the horizontal fixed offset value.
The determination of the horizontal fixed offset value is briefly described herein, and referring to the formula II described above, it will be appreciated that if the object distance is set to infinity, the reciprocal L of the object distance is infinitesimalThis term should be equal to 0, corresponding to a horizontal offset value ΔN h Should be equal to 0. But it is the presence of a horizontal fixed offset value due to installation problems that results in a horizontal offset value ΔN h Equal to the naturally occurring horizontal fixed offset value deltan 0-h Rather than 0.
Accordingly, the above-described calibration process can be performed on the basis of setting the object distance to infinity and then setting the magnifications of the two lenses to the respective corresponding initial magnifications. The horizontal offset value determined from the difference in the positions of the special mark points in the two images in this case is in fact a horizontal fixed offset value. In the actual implementation process, an infinite object distance can be simulated by adopting a collimator mode or a distance-increasing mirror optical tool.
S309, updating the initial vertical offset coefficient according to the second adjustment coefficient to obtain a target vertical offset coefficient, and determining a target vertical offset value according to the target vertical offset coefficient and a first object distance when the lens to be registered acquires an image.
For example, referring to equation five described above, the second adjustment coefficient may be, for exampleCoefficient of vertical offset from the initial>Multiplying to update the initial vertical offset coefficient and obtain the target vertical offset coefficient +.>
Similarly, the final objective in this embodiment is to obtain the offset value, and the offset coefficient is used to indicate the linear relationship between the offset value and the inverse of the object distance, so that the target vertical offset coefficient may be further multiplied by the inverse of the first object distance when the lens to be registered captures the image, so as to determine the target vertical offset value.
Further, in the vertical direction, there are also some vertical fixed offset values caused by factors such as lens installation, which can be understood as being caused by installation problems of the device itself and not caused by magnification change of the lens, so that the determined target vertical offset value can be further corrected according to the vertical fixed offset value, thereby obtaining a corrected more accurate target vertical offset value.
Referring to the above formula five, after multiplying the target vertical offset coefficient and the reciprocal of the first object distance when the lens to be registered captures an image, a vertical fixed offset value Δn may be further added 0-v Thereby obtaining a target vertical offset value delta N corresponding to the real-time multiplying power cur-v . The accuracy of the finally determined target vertical offset value can be further improved by considering the vertical fixed offset value.
The vertical fixed offset value may be determined in a similar manner to that described above, and the calibration process described above may be performed on the basis of setting the object distance to infinity, and then setting the magnification of the two lenses to the initial magnification corresponding to each other. The vertical offset value determined from the difference in the positions of the special mark points in the two images in this case is in fact a vertical fixed offset value.
And S310, scaling the first image according to the target scaling coefficient to obtain an intermediate processing image.
The above steps describe an implementation manner of determining the target registration parameter, and the target registration parameter in this embodiment includes at least one of a target scaling factor, a target horizontal offset value, and a target vertical offset value. The target registration parameter is adaptive to a first real-time multiplying power when the current lens to be registered acquires a first image and a second real-time multiplying power when the registration reference lens acquires a second image, so that the registration processing of the images can be correctly and effectively realized.
In this embodiment, the first image acquired by the lens to be registered is registered to the second image acquired by the reference lens, so that the image registration processing can be performed on the first image according to the target registration parameter, where the image registration processing can include image scaling processing and image moving processing.
For example, the first image may be scaled according to the target scaling factor, so as to obtain an intermediate processed image, so that the registration processing of the first image and the second image in the size dimension is realized.
As shown in fig. 6, assuming that there are a first image 601 and a second image 602 currently, the first image 601 is first subjected to a scaling process according to a target scaling coefficient, resulting in an intermediate processed image 603 illustrated in fig. 6. As can be determined with reference to fig. 6, the size of the same object in the intermediate processing image 603 and the second image 602 as registration references is identical, so that the registration processing in the size dimension is realized.
And S311, performing horizontal movement on the intermediate processing image according to the target horizontal offset value, and performing vertical movement on the intermediate processing image according to the target vertical offset value, so as to obtain a registered first image.
Further, the intermediate processing image may be moved in the horizontal direction according to the target horizontal offset value, and the intermediate processing image may be moved in the vertical direction according to the target vertical offset value, so as to obtain a registered first image, which also implements registration processing of the first image and the second image in the position dimension.
As shown in fig. 6, for the intermediate processing image 603, a shift process is performed according to the target horizontal offset value and the target vertical offset value, thereby obtaining a registered first image 604 shown in fig. 6, and it can be confirmed with reference to fig. 6 that the registered first image and the second image as registration references also realize that the positions of the same targets are identical, so that the registration process in the position dimension is realized.
In the actual implementation process, the specific sequence of the three operations of zooming, moving in the horizontal direction and moving in the vertical direction can be selected and set according to actual requirements, and the purpose of image registration can be achieved no matter how the three operations are executed according to the sequence.
According to the image registration method provided by the embodiment of the application, the first magnification change parameter of the lens to be registered is determined through the first initial magnification and the first real-time magnification of the lens to be registered, and the second magnification change parameter of the reference lens to be registered is determined through the second initial magnification and the second real-time magnification of the reference lens to be registered, so that the magnification change degree of the lens to be registered and the reference lens to be registered can be quantized. Because the magnification change degree of the lens and the change degree of the imaging size in the image are equivalent, the ratio of the second magnification change parameter to the first magnification change parameter can be directly determined as the first adjustment coefficient, and then the initial scaling factor is updated according to the first adjustment coefficient, so that the target scaling factor corresponding to the current real-time magnification can be accurately and effectively obtained. And by determining the linear relation between the offset value and the reciprocal of the object distance and determining the influence of the magnification change of the registration reference lens on the offset coefficient for representing the linear relation, the second magnification change parameter can be used as a second adjustment coefficient to update the initial offset coefficient to obtain a target offset coefficient, and then the accurate target offset value corresponding to the current real-time magnification can be obtained according to the target offset coefficient.
The above embodiment describes that the position of the zoom motor affects the focal length of the lens, so that the real-time focal length and the real-time magnification corresponding to the real-time zoom value in the magnification table can be obtained by accessing the magnification table. However, the focal length value of the lens is affected by the change in temperature and the object distance in addition to the position of the magnification motor.
Therefore, when generating the rate table, the related processing is generally performed at a fixed preset temperature and a fixed preset object distance, so as to obtain the rate table described above. The preset temperature may be, for example, 25 ℃, and the preset object distance may be, for example, an infinitely distant object distance, which may be selected and set according to actual requirements, which is not limited in this embodiment.
However, during the use of the zoom camera, the temperature and the object distance may change, which may further affect the actual focal length.
That is, the theoretical focal length value is read from the power table according to the zoom value, but the actual focal length value is affected by the temperature change and the object distance change, and there may be a certain difference in the theoretical focal length value, so that the accuracy of the corresponding read power value is necessarily affected.
Therefore, in order to compensate for the influence of the temperature change and the object distance change on the magnification value, in this embodiment, the real-time magnification of the lens is corrected according to the influence coefficients corresponding to the temperature and the object distance, so as to ensure the accuracy of the real-time magnification of the lens.
The following describes the implementation manner of the influence coefficient and the multiplying power correction according to the influence coefficient:
assume that a current focal length value corresponding to a current zoom value of the lens A to be registered, which is queried through a magnification table, is denoted as f cur-A [zoom cur-A ]And the current focal length value corresponding to the current zoom value of the registration reference lens B queried through the magnification table is expressed as f cur-B [zoom cur-B ]。
Wherein the magnification value is generated at a preset temperature and a preset object distance, and accordingly, the current focal length value f of the lens A to be registered cur-A [zoom cur-A ]And registering the current focal length value f of the reference lens B cur-B [zoom cur-B ]Accuracy can only be ensured under the conditions of preset temperature and preset object distance.
However, in the actual use process of the zoom camera, if the temperature acquired by the temperature sensor when the lens to be registered acquires the first image is the first temperature and the object distance when the lens to be registered acquires the first image is the first object distance, the temperature and the change of the object distance will affect the real focal length value of the lens to be registered.
For the influence of temperature and object distance changes on focal length values, there is a solution that multiple preset temperatures and preset object distances are preset, then corresponding multiplying power tables are generated for each preset temperature and each preset object distance combination, and then the corresponding multiplying power tables are queried according to real-time temperatures and first object distances, so that the correct real-time focal length and real-time multiplying power are obtained.
However, in order to avoid the problem, in the technical scheme of the application, optical design software is adopted in advance to respectively simulate and calculate the lens A to be registered and the reference lens B to be registered, and the influence coefficients of the focus distance values of the temperature variation and the object distance variation are fitted.
The first influence coefficient corresponding to the lens to be registered a may be expressed as the following formula six:
M A [ΔT,ΔD]＝α 0-A +α 1-A ×ΔT+…α n-A ×(ΔT) n +β 0-A +β 1-A ×ΔD+…β n-A ×(ΔD) n formula six
Wherein alpha is 0-A 、α 1-A 、α n-A 、β 0-A 、β 1-A 、β n-A Are polynomial coefficients (constant value after fitting), n represents the number of times of mathematical fitting (generally, the fitting accuracy of 5 times of the term basically meets the error requirement), deltaT is the first temperature difference between the first temperature and the preset temperature, deltaD is the first object distance difference between the first object distance and the preset object distance, M A [ΔT,ΔD]And the first influence coefficient corresponding to the lens A to be registered is obtained.
In one possible implementation, a first temperature difference between the first temperature and the preset temperature may be determined, a first object distance difference between the first object distance and the preset object distance may be determined, and then the first temperature difference and the first object distance difference may be input into a first preset function, so as to obtain a first influence coefficient corresponding to the lens to be registered. The first preset function may be, for example, a function expressed by the above formula six.
And, the second influence coefficient corresponding to the registration reference lens B may be expressed as the following formula seven:
M B [ΔT,ΔD]＝α 0-B +α 1-B ×ΔT+…α n-B ×(ΔT) n +β 0-B +β 1-B ×ΔD+…β n-B ×(ΔD) n equation seven
Wherein alpha is 0-B 、α 1-B 、α n-B 、β 0-B 、β 1-B 、β n-B Are polynomial coefficients (constant value after fitting), n represents the number of times of mathematical fitting, deltaT is the second temperature difference between the second temperature and the preset temperature, deltaD is the second distance difference between the second distance and the preset object distance, M A [ΔT,ΔD]And registering a second influence coefficient corresponding to the reference lens B.
In one possible implementation, a second temperature difference between the second temperature and the preset temperature may be determined, a second distance difference between the second distance and the preset object distance may be determined, and then the second temperature difference and the second distance difference may be input into a second preset function, so as to obtain a second influence coefficient corresponding to the registration reference lens. The second preset function may be, for example, a function expressed by the above formula seven.
Then, the real-time focal length of the lens to be registered can be corrected according to the first influence coefficient, so that a current real focal length value of the lens to be registered can be obtained, and the current real focal length value can be expressed as the following formula eight:
f cur-A ＝f cur-A [zoom cur-A ]×M A [ΔT,ΔD]equation eight
Wherein f cur-A [zoom cur-A ]M is the real-time focal length of the lens to be registered read from the magnification table A [ΔT,ΔD]F is the first influence coefficient of the lens to be registered cur-A And (5) the real-time focal length of the corrected lens to be registered.
Similarly, for the registration reference lens, the real-time focal length of the registration reference lens may be corrected according to the second influence coefficient, so as to obtain the current real focal length value of the registration reference lens, which may be expressed as the following formula nine:
f cur-B ＝f cur-B [zoom cur-B ]×M B [ΔT,ΔD]formula nine
Wherein f cur-B [zoom cur-B ]M is the real-time focal length of the registration reference lens read from the magnification table B [ΔT,ΔD]For registering reference mirrorsSecond influence coefficient of head, f cur-B And (5) the real-time focal length of the corrected registration reference lens.
And it is understood that the temperature change and the object distance change are equivalent to the effect on the real-time focal length and the effect on the real-time magnification. For example, the two sides of the equation of the above formula eight are divided by the minimum focal length value of the lens to be registered, so as to obtain an expression for correcting the real-time magnification of the lens to be registered. And dividing the two sides of the equation of the formula nine by the minimum focal length value of the registration reference lens simultaneously to obtain an expression for correcting the real-time multiplying power of the registration reference lens.
Accordingly, the above-described formula for updating the initial scaling factor according to the first adjustment factor may be expressed as the following formula ten:
wherein Z is cur-A The current zoom value zoom of the lens A to be registered read from the magnification table cur-A Corresponding real-time multiplying power M A [ΔT,ΔD]Z is a first influence coefficient corresponding to the first temperature difference and the first object distance difference cur-A ×M A [ΔT,ΔD]The first real-time multiplying power of the corrected lens A to be registered is the first real-time multiplying power, and the influence caused by temperature change and object distance change is eliminated, so that the accuracy is higher.
Z is as follows cur-B Current zoom value zoom for registration reference lens B read from magnification table cur-B Corresponding real-time multiplying power M B [ΔT,ΔD]A second influence coefficient corresponding to the second temperature difference and the second distance difference, Z cur-B ×M B [ΔT,ΔD]The second real-time multiplying power of the corrected registration reference lens B eliminates the influence caused by temperature change and object distance change, so that the accuracy is higher.
And, the above-described formula IV for updating the initial horizontal offset coefficient according to the second adjustment coefficient can be expressed as the following formula eleven correspondingly:
the above-described formula five for updating the initial vertical offset coefficient according to the second adjustment coefficient can be expressed as the following formula twelve:
Similarly, because the second real-time magnification of the registration reference lens B is corrected according to the second influence coefficient, the influence of the temperature change and the object distance change is eliminated, and the accuracy is higher.
Therefore, in this embodiment, the image registration process described in the foregoing embodiment is performed according to the corrected first real-time magnification and the corrected second real-time magnification, so that the accuracy of image registration may be further improved.
The above embodiments introduce the implementation of determining the target registration parameter corresponding to the real-time magnification after the zoom camera performs focal length adjustment of the lens, so that the target registration parameter is adapted to the real-time magnification of the lens, thereby ensuring the accuracy of the image registration process.
However, this action of adjusting the focal length of the lens causes an offset of the optical axis of the lens, which also has a certain influence on the imaging position in the image, and thus it is also necessary to correct the influence of the offset of the optical axis of the lens.
For example, a zoom optical axis offset value caused by the optical axis offset of the lens may be predetermined, and then the first image and the second image may be first preprocessed according to the zoom optical axis offset value, and then the subsequent image registration may be performed, so as to implement correction of the influence generated by the optical axis offset of the lens.
The following description is directed to possible implementations of determining the zoom optical axis offset value of a lens, e.g., a distance may be specified in front of a zoom cameraD 0 After that, the lens A to be registered and the reference lens B to be registered are respectively set as the respective maximum multiplying power, and the image of the test object is acquired on the basis of the maximum multiplying power, so as to obtain the imaging position (X tele-A ,Y tele-A ) And obtaining the imaging position (X tele-B ,Y tele-B )。
And still maintaining the distance between the test object and the zoom camera at the specified distance D 0 Then the lens A to be registered and the reference lens B to be registered are respectively set as respective minimum multiplying power, and the image acquisition is carried out on the test object on the basis of the minimum multiplying power to obtain the imaging position (X wide-A ,Y wide-A ) And obtaining the imaging position (X wide-B ,Y wide-B )。
Then, the imaging position (X tele-A ,Y tele-A ) Mapping to imaging position (X wide-A ,Y wide-A ) NamelyWherein f tele-A F is the maximum focal length of lens A wide-A Is the minimum focal length of lens a.
And, registering the imaging position (X tele-B ,Y tele-B ) Mapping to imaging position (X wide-B ,Y wide-B ) NamelyWherein f tele-B F is the maximum focal length of lens B wide-B Is the minimum focal length of lens B.
It can be understood that the mapping described herein is that in an ideal case where the zoom optical axis has no deviation, the imaging coordinate position corresponding to the maximum magnification is mapped to the coordinate position of the image after optical zooming.
Then it can be determined that the zoom optical axis offset values corresponding to lens a are respectively:
and the zoom optical axis offset values corresponding to the lens B are respectively:
assuming that image registration is performed with reference to the registration reference lens B, before performing the image registration processing described above on the first image acquired by the lens a to be registered, it is necessary to compensate the respective magnification-varying optical axis offset values for the first image and the second image in advance, and then perform the image registration processing.
The pre-compensation of the variable magnification optical axis offset can be understood with reference to fig. 7 and 8, fig. 7 is a first compensation schematic diagram of the variable magnification optical axis offset provided by the embodiment of the present application, and fig. 8 is a second compensation schematic diagram of the variable magnification optical axis offset provided by the embodiment of the present application.
As shown in fig. 7, assuming that the original center of the first image acquired by the lens to be registered a is the geometric center of the sensor pixel matrix, defined as (0, 0), the image center of the compensated first image becomes (Δx) shown in fig. 7 after the variable magnification optical axis offset compensation correction is performed on the first image A ，△Y A ). Also shown in FIG. 7 (X) tele-A ,Y tele-A ) And (X) wide-A ,Y wide-A ) Is a position of (c).
And as shown in fig. 8, assuming that the original center of the second image acquired by the registration reference lens B is also the geometric center of the sensor pixel matrix, defined as (0, 0), the image center of the compensated second image becomes (Δx) shown in fig. 8 after the variable magnification optical axis offset compensation correction is performed on the second image B ，△Y B ). Also shown in FIG. 8 (X tele-B ,Y tele-B ) And (X) wide-B ,Y wide-B ) Is a position of (c).
And then, the pixel coordinate center of the first image after the variable-magnification optical axis offset correction and the pixel coordinate center of the second image after the variable-magnification optical axis offset correction can be aligned by taking the pixel matrix of the second image after the variable-magnification optical axis offset correction as a reference, and the image registration processing is performed after alignment.
Therefore, in the technical scheme of the application, before the image registration processing is carried out, the image center of the double-light image can be compensated in advance so as to correct the zoom optical axis offset value existing due to lens change caused by zoom in advance, thereby further improving the accuracy of the image registration.
On the basis of the description of the above embodiments, the internal structure of the zoom camera according to the present application will be described in further detail with reference to fig. 9 and 10. Fig. 9 is a schematic structural diagram of a zoom camera according to an embodiment of the present application, and fig. 10 is a schematic structural diagram of a zoom camera according to an embodiment of the present application.
As shown in fig. 9, the zoom camera includes a lens a to be registered, an image detector a corresponding to the lens a to be registered, a driving board a corresponding to the lens a to be registered, a lens B to be registered, an image detector B corresponding to the lens B to be registered, a driving board B corresponding to the lens B to be registered, an image collector, an image display, a range finder, a temperature sensing board, an upper computer, and a memory.
The distance measuring machine is used for measuring the object distance according to the embodiment, and the temperature sensing plate is used for measuring the temperature according to the embodiment, so that the upper computer can be understood as equipment used when relevant calibration processing is performed before the zoom camera leaves the factory, and the equipment can be a processing unit inside the zoom camera or an external processing unit connected with the zoom camera. The upper computer can acquire image data acquired by the zoom camera, and perform image recognition and complete calculation of the initial registration parameters and the zoom optical axis offset values based on the image data.
It will be appreciated that the architecture shown in fig. 9 may be used to process the zoom camera before it is shipped to a final use, so as to pre-determine data such as initial registration parameters and zoom optical axis offset values.
The architecture of a zoom camera can be understood with reference to fig. 10 when the zoom camera is actually used.
As shown in fig. 10, the zoom camera includes a lens a to be registered, an image detector a corresponding to the lens a to be registered, a driving board a corresponding to the lens a to be registered, a lens B to be registered, an image detector B corresponding to the lens B to be registered, a driving board B corresponding to the lens B to be registered, an image collector, an image display, a range finder, a temperature sensing board, a processor, and a memory.
The difference from fig. 9 is that, during the actual use of the zoom camera, the processor inside the zoom camera performs the corresponding image processing operation, for example, the image registration processing described above is implemented by the processor inside the zoom camera.
In summary, the technical scheme of the application provides an implementation scheme for real-time registration of multi-optical-path images of a continuous-zoom optical imaging system, and particularly provides equipment for cameras of one visible-light zoom system and one thermal-imaging zoom system. The scaling factor of the scheme takes into account the compensation of temperature and object distance, and the offset takes into account the compensation of temperature, object distance and zoom optical axis offset. Based on initial registration parameters before delivery of the zoom camera, accurate target registration parameters can be determined through acquisition of real-time focal length, real-time temperature and real-time object distance in the use process of the camera, and then real-time image registration is carried out based on the target registration parameters, so that the application of superposition, pairing, complex judgment and the like of multi-optical path target information is facilitated.
Fig. 11 is a schematic structural diagram of an image registration apparatus according to an embodiment of the present application. As shown in fig. 11, the apparatus 110 includes: an acquisition module 1101, a determination module 1102, an update module 1103, and a processing module 1104.
An obtaining module 1101, configured to obtain initial registration parameters calibrated for a lens to be registered;
a determining module 1102, configured to determine an adjustment coefficient according to a first real-time magnification when the lens to be registered acquires a first image and a second real-time magnification when the registration reference lens acquires a second image;
an updating module 1103, configured to update the initial registration parameter according to the adjustment coefficient to obtain a target registration parameter;
a processing module 1104, configured to perform image registration processing on the first image to the second image according to the target registration parameter.
In one possible design, the determining module 1102 is specifically configured to:
when the initial registration parameters are obtained and calibrated, a first initial multiplying power corresponding to the lens to be registered and a second initial multiplying power corresponding to the registration reference lens are obtained;
determining a first magnification change parameter corresponding to the lens to be registered according to the first real-time magnification and the first initial magnification;
Determining a second magnification change parameter corresponding to the registration reference lens according to the second real-time magnification and the second initial magnification;
and determining the adjustment coefficient according to the first multiplying power change parameter and the second multiplying power change parameter.
In one possible design, the initial registration parameters include at least one of: the device comprises an initial scaling coefficient, an initial horizontal offset coefficient and an initial vertical offset coefficient, wherein the initial horizontal offset coefficient is used for representing the linear relation between an offset value in the horizontal direction and the inverse of the object distance, and the initial vertical offset coefficient is used for representing the linear relation between an offset value in the vertical direction and the inverse of the object distance.
In one possible design, the determining module 1102 is specifically configured to:
determining the ratio of the second rate change parameter to the first rate change parameter as a first adjustment coefficient corresponding to the initial scaling coefficient;
and determining a second multiplying power change parameter corresponding to the registration reference lens as a second adjustment coefficient corresponding to the initial horizontal offset coefficient and the initial vertical offset coefficient.
In one possible design, the processing module 1104 is further configured to:
Before determining an adjustment coefficient according to the first magnification change parameter and the second magnification change parameter, acquiring a first influence coefficient corresponding to the lens to be registered and a second influence coefficient corresponding to the registration reference lens, wherein the influence coefficient is used for indicating the influence of the change of temperature and object distance on the magnification;
correcting the first real-time multiplying power according to a first influence coefficient corresponding to the lens to be registered;
and correcting the second real-time multiplying power according to a second influence coefficient corresponding to the registration reference lens.
In one possible design, the processing module 1104 is specifically configured to:
determining a first temperature difference value between a first temperature and a preset temperature, wherein the first temperature is the temperature acquired by a temperature sensor when the lens to be registered acquires the first image;
determining a first object distance difference value between a first object distance and a preset object distance, wherein the first object distance is the object distance when the lens to be registered acquires the first image;
and inputting the first temperature difference value and the first object distance difference value into a first preset function to obtain a first influence coefficient corresponding to the lens to be registered.
In one possible design, the updating module 1103 is specifically configured to:
Updating the initial scaling factor according to the first adjustment factor to obtain a target scaling factor;
updating the initial horizontal offset coefficient according to the second adjustment coefficient to obtain a target horizontal offset coefficient, and determining a target horizontal offset value according to the target horizontal offset coefficient and a first object distance when an image is acquired by a lens to be registered;
updating the initial vertical offset coefficient according to the second adjustment coefficient to obtain a target vertical offset coefficient, and determining a target vertical offset value according to the target vertical offset coefficient and a first object distance when an image is acquired by a lens to be registered;
the target registration parameters include the target scaling factor, a target horizontal offset value, and a target vertical offset value.
In one possible design, the processing module 1104 is further configured to:
acquiring a horizontal fixed offset value in the horizontal direction, and correcting the target horizontal offset value according to the horizontal fixed offset value;
and obtaining a vertical fixed offset value in the vertical direction, and correcting the target vertical offset value according to the vertical fixed offset value.
In one possible design, the processing module 1104 is specifically configured to:
Scaling the first image according to the target scaling coefficient to obtain an intermediate processing image;
and moving the intermediate processing image in the horizontal direction according to the target horizontal offset value, and moving the intermediate processing image in the vertical direction according to the target vertical offset value to obtain a registered first image.
The device provided in this embodiment may be used to implement the technical solution of the foregoing method embodiment, and its implementation principle and technical effects are similar, and this embodiment will not be described herein again.
Fig. 12 is a schematic hardware structure of an electronic device according to an embodiment of the present application, as shown in fig. 12, an electronic device 120 of the present embodiment includes: a processor 1201 and a memory 1202; wherein the method comprises the steps of
A memory 1202 for storing computer-executable instructions;
a processor 1201 for executing computer-executable instructions stored in a memory to perform the steps performed by the image registration method in the above embodiments. Reference may be made in particular to the relevant description of the embodiments of the method described above.
Alternatively, the memory 1202 may be separate or integrated with the processor 1201.
When the memory 1202 is provided separately, the electronic device further comprises a bus 1203 for connecting said memory 1202 and the processor 1201.
The embodiment of the application also provides a computer readable storage medium, wherein computer execution instructions are stored in the computer readable storage medium, and when the processor executes the computer execution instructions, the image registration method executed by the electronic equipment is realized.
It should be noted that, the user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are information and data authorized by the user or fully authorized by each party, and the collection, use and processing of the related data need to comply with related laws and regulations and standards, and provide corresponding operation entries for the user to select authorization or rejection.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple modules may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or modules, which may be in electrical, mechanical, or other forms.
The integrated modules, which are implemented in the form of software functional modules, may be stored in a computer readable storage medium. The software functional module is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (english: pro-aosor) to perform some of the steps of the methods according to the embodiments of the present application.
It should be understood that the above-mentioned processor may be a central processing unit (english: aentrBl ProAessing Unit, abbreviated as APU), or may be other general-purpose processors, digital signal processors (english: digitBl SignBl ProAessor, abbreviated as DSP), application specific integrated circuits (english: bppliABtion SpeAifiAIntegrBted AirAuit, abbreviated as BSIA), or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present application may be embodied directly in a hardware processor for execution, or in a combination of hardware and software modules in a processor for execution.
The memory may comprise a high-speed RBM memory, and may further comprise a nonvolatile memory NVM, such as at least one magnetic disk memory, and may also be a U-disk, a removable hard disk, a read-only memory, a magnetic disk or optical disk, etc.
The bus may be an industry standard architecture (Industry StBndBrd BrAhiteAture, ISB) bus, an external device interconnect (PeripherBl Aomponent, PAI) bus, or an extended industry standard architecture (Extended Industry StBndBrd BrAhiteAture, EISB) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, the buses in the drawings of the present application are not limited to only one bus or to one type of bus.
The storage medium may be implemented by any type or combination of volatile or nonvolatile memory devices such as static random access memory (SRBM), electrically Erasable Programmable Read Only Memory (EEPROM), erasable Programmable Read Only Memory (EPROM), programmable Read Only Memory (PROM), read Only Memory (ROM), magnetic memory, flash memory, magnetic or optical disk. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media capable of storing program codes, such as ROM, RBM, magnetic disk or optical disk.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.
Claims (13)
1. An image registration method, applied to a zoom camera, the zoom camera including a lens to be registered and a registration reference lens, the method comprising:
acquiring initial registration parameters aiming at lens calibration to be registered;
determining an adjustment coefficient according to a first real-time multiplying power when the lens to be registered acquires a first image and a second real-time multiplying power when the registration reference lens acquires a second image;
updating the initial registration parameters according to the adjustment coefficients to obtain target registration parameters;
and carrying out image registration processing on the first image to the second image according to the target registration parameters.
2. The method of claim 1, wherein determining the adjustment factor based on a first real-time magnification when the lens to be registered captures a first image and a second real-time magnification when the reference lens is registered captures a second image comprises:
when the initial registration parameters are obtained and calibrated, a first initial multiplying power corresponding to the lens to be registered and a second initial multiplying power corresponding to the registration reference lens are obtained;
determining a first magnification change parameter corresponding to the lens to be registered according to the first real-time magnification and the first initial magnification;
determining a second magnification change parameter corresponding to the registration reference lens according to the second real-time magnification and the second initial magnification;
and determining the adjustment coefficient according to the first multiplying power change parameter and the second multiplying power change parameter.
3. The method of claim 2, wherein the initial registration parameters include at least one of: the device comprises an initial scaling coefficient, an initial horizontal offset coefficient and an initial vertical offset coefficient, wherein the initial horizontal offset coefficient is used for representing the linear relation between an offset value in the horizontal direction and the inverse of the object distance, and the initial vertical offset coefficient is used for representing the linear relation between an offset value in the vertical direction and the inverse of the object distance.
4. A method according to claim 3, wherein said determining an adjustment factor from said first and second rate-change parameters comprises:
determining the ratio of the second rate change parameter to the first rate change parameter as a first adjustment coefficient corresponding to the initial scaling coefficient;
and determining a second multiplying power change parameter corresponding to the registration reference lens as a second adjustment coefficient corresponding to the initial horizontal offset coefficient and the initial vertical offset coefficient.
5. The method according to any one of claims 2 to 4, wherein before determining the adjustment coefficient from the first magnification change parameter and the second magnification change parameter, the method further comprises:
acquiring a first influence coefficient corresponding to the lens to be registered and a second influence coefficient corresponding to the registration reference lens, wherein the influence coefficient is used for indicating the influence of temperature and object distance change on multiplying power;
correcting the first real-time multiplying power according to a first influence coefficient corresponding to the lens to be registered;
and correcting the second real-time multiplying power according to a second influence coefficient corresponding to the registration reference lens.
6. The method of claim 5, wherein the obtaining the first influence coefficient corresponding to the lens to be registered includes:
determining a first temperature difference value between a first temperature and a preset temperature, wherein the first temperature is the temperature acquired by a temperature sensor when the lens to be registered acquires the first image;
determining a first object distance difference value between a first object distance and a preset object distance, wherein the first object distance is the object distance when the lens to be registered acquires the first image;
and inputting the first temperature difference value and the first object distance difference value into a first preset function to obtain a first influence coefficient corresponding to the lens to be registered.
7. The method according to any one of claims 3-5, wherein updating the initial registration parameters according to the adjustment coefficients to obtain target registration parameters comprises:
updating the initial scaling factor according to the first adjustment factor to obtain a target scaling factor;
updating the initial horizontal offset coefficient according to the second adjustment coefficient to obtain a target horizontal offset coefficient, and determining a target horizontal offset value according to the target horizontal offset coefficient and a first object distance when an image is acquired by a lens to be registered;
Updating the initial vertical offset coefficient according to the second adjustment coefficient to obtain a target vertical offset coefficient, and determining a target vertical offset value according to the target vertical offset coefficient and a first object distance when an image is acquired by a lens to be registered;
the target registration parameters include the target scaling factor, a target horizontal offset value, and a target vertical offset value.
8. The method of claim 7, wherein the method further comprises:
acquiring a horizontal fixed offset value in the horizontal direction, and correcting the target horizontal offset value according to the horizontal fixed offset value;
and obtaining a vertical fixed offset value in the vertical direction, and correcting the target vertical offset value according to the vertical fixed offset value.
9. The method according to claim 7 or 8, wherein said performing image registration processing on the first image to the second image according to the target registration parameter comprises:
scaling the first image according to the target scaling coefficient to obtain an intermediate processing image;
and moving the intermediate processing image in the horizontal direction according to the target horizontal offset value, and moving the intermediate processing image in the vertical direction according to the target vertical offset value to obtain a registered first image.
10. An image registration apparatus, comprising:
the acquisition module is used for acquiring initial registration parameters calibrated for the lens to be registered;
the determining module is used for determining an adjustment coefficient according to the first real-time multiplying power when the lens to be registered acquires the first image and the second real-time multiplying power when the reference lens to be registered acquires the second image;
the updating module is used for updating the initial registration parameters according to the adjustment coefficients to obtain target registration parameters;
and the processing module is used for carrying out image registration processing on the first image to the second image according to the target registration parameters.
11. An electronic device, comprising:
a memory for storing a program;
a processor for executing the program stored by the memory, the processor being for performing the method of any one of claims 1 to 9 when the program is executed.
12. A computer readable storage medium comprising instructions which, when run on a computer, cause the computer to perform the method of any one of claims 1 to 9.
13. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the method of any of claims 1 to 9.
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