WO2019041652A1 - 图像校正方法、装置、设备和计算机可读存储介质 - Google Patents

图像校正方法、装置、设备和计算机可读存储介质 Download PDF

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Publication number
WO2019041652A1
WO2019041652A1 PCT/CN2017/116732 CN2017116732W WO2019041652A1 WO 2019041652 A1 WO2019041652 A1 WO 2019041652A1 CN 2017116732 W CN2017116732 W CN 2017116732W WO 2019041652 A1 WO2019041652 A1 WO 2019041652A1
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Prior art keywords
image
coordinate
camera
tablet
blackboard
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PCT/CN2017/116732
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English (en)
French (fr)
Inventor
杨铭
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广州视源电子科技股份有限公司
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Publication of WO2019041652A1 publication Critical patent/WO2019041652A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N9/00—Details of colour television systems
    • H04N9/12—Picture reproducers
    • H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
    • H04N9/3179—Video signal processing therefor
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N9/00—Details of colour television systems
    • H04N9/12—Picture reproducers
    • H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
    • H04N9/3179—Video signal processing therefor
    • H04N9/3185—Geometric adjustment, e.g. keystone or convergence

Definitions

  • the present invention relates to image processing technology, and more particularly to an image correction method, apparatus, device, and computer readable storage medium.
  • the writing board on the electronic whiteboard provided by the touch screen terminal has the advantages of no dust, no effort and easy erasing, so the electronic whiteboard is gradually popularized in the teaching classroom.
  • the electronic whiteboard can not restore some details such as the pen, which may result in poor viewing of the saved blackboard, especially for courses that need to restore handwriting details, such as art, calligraphy, and so on.
  • auxiliary educational equipment such as a triangular board.
  • the touch screen will misjudge that the triangular board is the content of the board and display it, resulting in more unnecessary contents of the final displayed board.
  • the invention provides an image correction method, device, device and computer readable storage medium, so as to restore the real picture displayed by the writing board after automatically capturing an image of the book content on the classroom, and improve the readable image of the captured image. Sex.
  • an embodiment of the present invention provides an image correction method, including:
  • a target image of a tablet displaying a standard image is acquired by a camera in response to the triggering instruction, wherein the standard image includes a plurality of markers, and the projector is projected onto the tablet on the tablet display;
  • the image acquired by the camera After confirming that the image acquired by the camera includes the tablet on which the blackboard image is displayed, the image acquired by the camera is corrected to the blackboard image according to the coordinate mapping relationship.
  • an embodiment of the present invention further provides an image correction apparatus, including:
  • a photographing module configured to acquire, by the camera, a target image of the tablet on which the standard image is displayed, in response to the triggering instruction; wherein the standard image includes a plurality of identifiers, and is projected by the projector to the writing board Displayed on the writing board;
  • An acquiring module configured to acquire a first coordinate according to a preset algorithm, where the first coordinate is a coordinate of the identifier in the target image;
  • mapping module configured to obtain, according to the second coordinate and the first coordinate, a coordinate mapping relationship between an image displayed by the tablet and an image acquired by the camera; wherein the second coordinate is the identifier The coordinates in the standard image;
  • a correction module configured to correct the image acquired by the camera to the blackboard image according to the coordinate mapping relationship after the image obtained by the confirmation camera includes the tablet on which the blackboard image is displayed.
  • an embodiment of the present invention further provides an apparatus, where the apparatus includes:
  • One or more processors are One or more processors;
  • a memory for storing one or more programs
  • the one or more programs are executed by the one or more processors such that the one or more processors implement the image correction method described above.
  • an embodiment of the present invention further provides a computer readable storage medium having stored thereon a computer program, the program being implemented by the processor to implement the image correction method described above.
  • a standard image provided with the identifier is projected onto the writing board by the projector, and the image of the writing board is acquired by the camera, so that the coordinates of the identifier in the standard image and the coordinates in the image acquired by the camera can be obtained.
  • Embodiment 1 is a flowchart of an image correction method according to Embodiment 1 of the present invention.
  • FIG. 2a is a schematic diagram of an image taken by a camera in Embodiment 1 of the present invention.
  • 2b is a schematic diagram showing an image displayed on a tablet in the first embodiment of the present invention.
  • FIG. 3 is a flowchart of an image correction method according to Embodiment 2 of the present invention.
  • FIG. 4 is a schematic structural diagram of an image correcting apparatus according to Embodiment 3 of the present invention.
  • FIG. 5 is a schematic structural diagram of a device according to Embodiment 4 of the present invention.
  • Embodiment 1 is a flowchart of an image correction method according to Embodiment 1 of the present invention.
  • the present embodiment is applicable to a method for performing distortion correction on an image of a board book content captured by a camera.
  • the method may be performed by an image correction device, including The following steps 110 to 140 are performed.
  • Step 110 Acquire, in response to the triggering instruction, a target image of a tablet displaying a standard image by using a camera, wherein the standard image includes a plurality of markers, and the projector is projected to the tablet to implement the Displayed on the writing pad;
  • the target image of the writing board is acquired by the camera, that is, the image taken by the camera facing the writing board is as shown in FIG. 2a, and since the camera is facing the writing board, all the display contents on the writing board can be photographed, and the image displayed on the writing board is as Figure 2b shows.
  • Step 120 Acquire a first coordinate according to a preset algorithm, where the first coordinate is a coordinate of the identifier in the target image.
  • Step 130 Obtain a coordinate mapping relationship between an image displayed by the tablet and an image acquired by the camera according to the second coordinate and the first coordinate; wherein the second coordinate is the identifier The coordinates in the standard image.
  • Step 140 After confirming that the image acquired by the camera includes the tablet on which the blackboard image is displayed, correct the image acquired by the camera to the blackboard image according to the coordinate mapping relationship.
  • the standard image with the marker is projected onto the tablet by the projector, and after the target image is captured by the camera, the marker can be detected according to the image detection algorithm, and the coordinates are read.
  • the coordinate mapping relationship between the two images can be obtained, and with this relationship, the subsequently captured image can be restored to the image displayed on the tablet. That is, after the image including the board content is captured by the camera, the board image displayed by the tablet may be obtained according to the image acquired by the camera and the coordinate mapping relationship.
  • the specific reduction method is to use the mapping relationship to find the coordinates on the captured image corresponding to the coordinates in the image to be restored, and take the feature values (such as RGB values or gray values to represent the feature values of the colors on the coordinates). ) as the feature value of the coordinates in the image to be restored.
  • the marker with the coordinates P B (u B , v B , 0) in the standard image projected on the tablet has a coordinate of P I (u I , v I , 0) in the captured target image.
  • the conversion function between P B (u B , v B , 0) and P I (u I , v I , 0) be:
  • H is a matrix of 3*3, and one element can be used as the homogeneous coordinate.
  • at least 4 markers must be combined, and 8 sets of equations can be combined to solve the matrix H.
  • the coordinate mapping parameter between the standard image and the target image can be obtained by the Zhang's calibration method, that is, the internal and external parameters of the camera calibration are obtained; other more complicated calibration methods can also be used.
  • the conversion function can be directly used as a coordinate mapping relationship between the image displayed by the tablet and the image acquired by the camera, and the conversion function is used to find a corresponding coordinate for each coordinate on the image displayed on the tablet to be restored. The coordinates in the image taken by the camera.
  • the standard image projected by the projector in the embodiment of the present invention may be a checkerboard image, and the marker is a vertex of the lattice on the checkerboard image. Since the checkerboard image is projected onto the writing board, the projection ratio can be controlled so that the size ratio of the board can be ensured; the checkerboard image is not affected by printing accuracy and the like, and the spacing between the black and white grids is made, so that the calibration accuracy is achieved. improve. And as long as the angle and position of the projector are adjusted in advance, the tablet can be displayed with a standard image at any time without manual posting, so that the image displayed by the tablet and the camera can be obtained under normal use of the tablet. The coordinate mapping relationship between images can be recalibrated at any time to improve the reliability of saving the image of the blackboard in time.
  • the standard image projected by the projector can also be any image with a highly recognizable marker.
  • the feature value corresponding to each coordinate may be read under a specific color model, and the region pattern corresponding to the set feature value range is extracted by using the binarization method as the identifier. Things.
  • the edge detection method may also be used and the edge is obtained by fitting the edge with the set model, that is, step 120 includes: detecting an edge of the identifier in the target image; and searching for the identifier according to the detected edge
  • the coordinates of the specified corner point are taken as the first coordinate.
  • the embodiment further provides a preferred manner to implement step 130.
  • step 130 may use a Zhang's calibration method or other more complicated algorithm according to the coordinates of the identifier in the standard image and the coordinates of the identifier in the target image, that is, the second coordinate and the first coordinate.
  • Obtaining the internal and external parameters of the camera is equivalent to obtaining coordinate mapping parameters between the image displayed by the tablet and the image captured by the camera.
  • the blackboard image displayed by the tablet can be obtained from the image of the board content captured by the camera.
  • the internal parameters can be corrected. Specifically, after the camera is calibrated according to the first coordinate and the second coordinate, and the internal parameter and the external parameter of the camera are obtained, the method further includes:
  • Adjusting coordinates are calculated according to the theoretical parameters of the modified identifier according to the external parameters
  • the internal parameters of the camera are replaced with the coordinate mapping parameters.
  • the internal parameters of the camera include the camera main point, the focal length and the distortion parameter, etc., which can be represented by ⁇ ; the external parameters of the camera are the image obtained on the target panel and the distortion caused by the elimination of the internal parameters from the captured image.
  • the theoretical coordinate P' B of the marker can be obtained from the first coordinate P I (u I , v I , 0).
  • the coordinate mapping parameter between P C and P I is calculated, and the inner parameter ⁇ is replaced by the coordinate mapping parameter, so that the coordinate mapping relationship between the image displayed by the tablet that reduces the error and the image acquired by the camera is obtained.
  • the correction of the theoretical coordinates can be realized through human-computer interaction, avoiding errors caused by external environmental factors.
  • the theoretical coordinate of the identifier does not match the second coordinate
  • the theoretical coordinate of the identifier is modified to match the second coordinate, and specifically includes:
  • the above specific scheme allows the user to drag the marker to a position that the user thinks matches the coordinates of the marker in the standard image using an input device such as a mouse or a touch screen, and then correct the internal parameter ⁇ according to the position.
  • This method visualizes the parameters and allows the user to visually evaluate whether the current parameters are accurate enough and to make manual adjustments.
  • the standard image provided with the identifier is projected onto the writing board by the projector, and the image of the writing board is acquired by the camera so that the coordinates of the identifier in the standard image and the image acquired by the camera can be used.
  • the coordinates are obtained by the coordinate mapping relationship between the image displayed by the tablet and the image acquired by the camera, so that the real image displayed on the tablet can be restored after automatically capturing the image of the board content on the classroom. Solving the problem of automatic distortion of the image of the book is affected by the distortion of the image, and the effect of improving the readability of the captured image is achieved.
  • FIG. 3 is a flowchart of an image correction method according to Embodiment 2 of the present invention.
  • the present embodiment is applicable to a case where distortion correction is performed on an image of a board book content captured by a camera, and the method may be performed by an image correction device.
  • the difference between this embodiment and the first embodiment is that the first embodiment records the coordinate mapping relationship between the image displayed by the tablet and the image captured by the camera by using a coordinate mapping parameter or a conversion function, and the embodiment records in a list manner.
  • the image correction method provided in this embodiment includes:
  • Step 310 Acquire, in response to the triggering instruction, a target image of a tablet displaying a standard image by using a camera, wherein the standard image includes a plurality of identifiers, and the projector is projected to the tablet to implement the Displayed on the writing pad;
  • Step 320 Acquire a first coordinate according to a preset algorithm, where the first coordinate is a coordinate of the identifier in the target image;
  • Step 330 Calculate a conversion function between the first coordinate and the second coordinate
  • Step 340 Establish a mapping list between each coordinate in the image displayed by the tablet and the coordinates in the image acquired by the camera according to the conversion function.
  • the above steps 330 and 340 first calculate a conversion function between the coordinates of the marker in the standard image and the coordinates in the target image, and then establish a mapping list of coordinates according to the conversion function.
  • the coordinates on the captured image corresponding to the coordinate points on the board image can be directly obtained by looking up the table, and the feature value is read as its own feature value.
  • the method further includes:
  • Step 350 After confirming that the image acquired by the camera includes the writing board displaying the blackboard image, querying the mapping list to obtain coordinates in the image acquired by the camera corresponding to each coordinate of the blackboard image;
  • Step 360 Read the feature value of the queried coordinate as the feature value of the corresponding coordinate in the blackboard image.
  • Steps 350 and 360 enable the captured image to be corrected in time during the teaching process, and further displayed in the classroom through the display terminal in real time.
  • the standard image provided with the identifier is projected onto the writing board by the projector, and the image of the writing board is acquired by the camera so that the coordinates of the identifier in the standard image and the image acquired by the camera can be used.
  • the coordinates are obtained by a conversion function between the image displayed by the tablet and the image acquired by the camera, thereby obtaining a mapping list between the two images, so that the automatic conversion of the image containing the contents of the book on the classroom does not require a conversion function.
  • Calculate the corresponding coordinate values only need to look up the table and pixel interpolation, you can restore the real picture displayed on the tablet.
  • FIG. 4 is a schematic structural diagram of an image correction apparatus according to Embodiment 3 of the present invention, where the apparatus includes:
  • the photographing module 410 is configured to acquire, by the camera, a target image of the tablet on which the standard image is displayed, in response to the triggering instruction; wherein the standard image includes a plurality of identifiers, and is projected by the projector onto the tablet Displayed on the writing pad;
  • the obtaining module 420 is configured to acquire a first coordinate according to a preset algorithm, where the first coordinate is a coordinate of the identifier in the target image;
  • the mapping module 430 is configured to obtain, according to the second coordinate and the first coordinate, a coordinate mapping relationship between the image displayed by the tablet and the image acquired by the camera; wherein the second coordinate is the identifier The coordinates of the object in the standard image;
  • the correction module 440 is configured to correct the image acquired by the camera to the blackboard image according to the coordinate mapping relationship after the image obtained by the confirmation camera includes the tablet on which the blackboard image is displayed.
  • mapping module 430 includes:
  • a calculating unit configured to calculate a conversion function between the first coordinate and the second coordinate
  • a table building unit configured to establish, according to the conversion function, a mapping list between each coordinate in the image displayed by the tablet and coordinates in the image acquired by the camera;
  • the correction module 440 includes:
  • a table lookup unit configured to query the map list after the image obtained by the confirmation camera includes the tablet with the blackboard image, and obtain coordinates in the image acquired by the camera corresponding to each coordinate of the blackboard image;
  • a replacement unit configured to read the feature value of the queried coordinate as a feature value of the corresponding coordinate in the blackboard image displayed by the tablet.
  • the reading module 420 comprises:
  • a detecting unit configured to detect an edge of the identifier in the target image
  • a searching unit configured to search for coordinates of the specified corner point in the identifier as the first coordinate according to the detected edge.
  • the mapping module 430 includes a calibration unit, configured to calibrate the camera according to the first coordinate and the second coordinate to obtain an internal parameter and an external parameter of the camera.
  • the mapping module 430 further includes:
  • a prediction unit configured to calculate, by the first coordinate, a theoretical coordinate of the identifier according to the inner parameter and the outer parameter;
  • a correction unit configured to modify a theoretical coordinate of the identifier to match the second coordinate if the theoretical coordinate of the identifier does not match the second coordinate
  • An adjusting unit configured to calculate an adjusted coordinate according to the theoretical parameter of the modified identifier according to the external parameter
  • a correction parameter calculation unit configured to calculate a coordinate mapping parameter between the adjustment coordinate and the first coordinate
  • a second replacement unit configured to replace the internal parameter of the camera by using the coordinate mapping parameter.
  • the modifying unit specifically includes:
  • a display unit configured to obtain an image displayed by the tablet according to an image captured by the camera and an internal parameter and an external parameter of the camera; display the obtained image through the touch screen terminal, and correspond to a theoretical coordinate of the identifier on the image
  • the location provides a drag handle
  • a detecting unit configured to detect whether the drag control point is dragged by a user to a position corresponding to another coordinate
  • a modifying unit if yes, determining that the theoretical coordinate of the identifier does not match the second coordinate; modifying a theoretical coordinate of the identifier to a coordinate of the touch drag control point;
  • a maintaining unit if not, determining that the theoretical coordinate of the identifier matches the second coordinate.
  • the image correction device provided by the embodiment of the present invention may perform an image correction method provided by any embodiment of the present invention, and has a function module and a beneficial effect corresponding to the execution method.
  • FIG. 5 is a schematic structural diagram of a device according to Embodiment 4 of the present invention.
  • the device includes a processor 510, a memory 520, an input device 530, an output device 540, and a camera 550 for capturing an image;
  • the number of the processors 510 may be one or more, and one processor 510 is taken as an example in FIG. 5; the processor 510, the memory 520, the input device 530, and the output device 540 in the device may be connected by a bus or other manner. In 5, the bus connection is taken as an example.
  • the memory 520 is used as a computer readable storage medium, and can be used for storing a software program, a computer executable program, and a module, such as a program instruction/module corresponding to the image correction method in the embodiment of the present invention (for example, a shooting module in the image correction device) 410.
  • a program instruction/module corresponding to the image correction method in the embodiment of the present invention (for example, a shooting module in the image correction device) 410.
  • the processor 510 performs various functional applications and data processing of the device by executing software programs, instructions, and modules stored in the memory 520, that is, implementing the image correction method described above.
  • the memory 520 may mainly include a storage program area and an storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to usage of the terminal, and the like. Further, the memory 520 may include a high speed random access memory, and may also include a nonvolatile memory such as at least one magnetic disk storage device, flash memory device, or other nonvolatile solid state storage device. In some examples, memory 520 can further include memory remotely located relative to processor 510, which can be connected to the device over a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • Input device 530 can be used to receive input numeric or character information and to generate key signal inputs related to user settings and function control of the device.
  • the output device 540 can include a display device such as a display screen.
  • a fifth embodiment of the present invention further provides a computer readable storage medium storing a computer program, where the program is implemented by a computer processor to implement an image correction method, the method comprising:
  • a target image of a tablet displaying a standard image is acquired by a camera in response to the triggering instruction, wherein the standard image includes a plurality of markers, and the projector is projected onto the tablet on the tablet display;
  • the image acquired by the camera After confirming that the image acquired by the camera includes the tablet on which the blackboard image is displayed, the image acquired by the camera is corrected to the blackboard image according to the coordinate mapping relationship.
  • the computer readable storage medium storing the computer program, the computer executable instructions are not limited to the method operations as described above, and may also perform the image correction method provided by any embodiment of the present invention. Related operations in .
  • the present invention can be implemented by software and necessary general hardware, and can also be implemented by hardware, but in many cases, the former is a better implementation. .
  • the technical solution of the present invention which is essential or contributes to the prior art, may be embodied in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk of a computer. , Read-Only Memory (ROM), Random Access Memory (RAM), Flash (FLASH), hard disk or optical disk, etc., including a number of instructions to make a computer device (can be a personal computer)
  • the server, or network device, etc. performs the methods described in various embodiments of the present invention.
  • the included units and modules are only divided according to functional logic, but are not limited to the above-mentioned partitioning, as long as the corresponding functions can be implemented;
  • the specific names of the functional units are also for convenience of distinguishing from each other and are not intended to limit the scope of the present invention.

Abstract

一种图像校正方法，包括：响应于触发指令，通过摄像机获取显示有标准图像的书写板的目标图像（110）；依据预设算法获取第一坐标，其中第一坐标为所述标识物在所述目标图像中的坐标（120）；根据第二坐标和所述第一坐标，获得所述书写板显示的图像与所述摄像机获取的图像之间的坐标映射关系，其中第二坐标为所述标识物在所述标准图像中的坐标（130）；在确认摄像机获取的图像中包含显示有板书图像的书写板之后，根据所述坐标映射关系，将所述摄像机获取的图像校正为所述板书图像（140）。相应地，还公开了一种图像校正装置、设备和计算机可读存储介质。从而解决自动拍摄板书图像会有图形畸变影响阅读的问题，实现提高拍摄的图像的可读性的效果。

Description

图像校正方法、装置、设备和计算机可读存储介质 技术领域
本发明涉及图像处理技术，尤其涉及一种图像校正方法、装置、设备和计算机可读存储介质。
背景技术
在触摸屏终端提供的电子白板上书写板书具有无粉尘、书写不费力和方便擦除等优势，因此电子白板逐渐在教学课堂上普及使用。但其并不能替代传统黑板，因为电子白板不能还原出笔锋等一些细节，可能导致保存的板书观看效果不佳，特别对一些需要还原笔迹细节的课程，如美术、书法课等。而且无法排除辅助教育设备(如三角板等)的干扰，例如使用三角板在黑板进行量测时，触摸屏会误判此三角板是板书内容，并进行显示，导致最终显示的板书多了多余的内容。
而传统的书写板，如黑板和白板，不便于保存老师在书写板上书写的板书内容。如果学生或老师需要记录板书内容，则要对书写板进行拍照。人工进行拍照影响上课质量，但如果设置自动拍照的摄像机进行自动拍照，则采集到的图像会有畸变，不方便阅读。
发明内容
本发明提供一种图像校正方法、装置、设备和计算机可读存储介质，以实现在自动拍摄课堂上的包含板书内容的图像后可还原出书写板显示的真实画面， 提高拍摄的图像的可读性。
第一方面，本发明实施例提供了一种图像校正方法，包括：
响应于触发指令，通过摄像机获取显示有标准图像的书写板的目标图像，其中，所述标准图像中包括有多个标识物，且由投影仪投影至所述书写板实现在所述书写板上显示；
依据预设算法获取第一坐标；其中，所述第一坐标为所述标识物在所述目标图像中的坐标；
根据第二坐标和所述第一坐标，获得所述书写板显示的图像与所述摄像机获取的图像之间的坐标映射关系；其中，所述第二坐标为所述标识物在所述标准图像中的坐标；
在确认摄像机获取的图像中包含显示有板书图像的书写板之后，根据所述坐标映射关系，将所述摄像机获取的图像校正为所述板书图像。
第二方面，本发明实施例还提供了一种图像校正装置，包括：
拍摄模块，用于响应于触发指令，通过摄像机获取显示有标准图像的书写板的目标图像；其中，所述标准图像中包括有多个标识物，且由投影仪投影至所述书写板实现在所述书写板上显示；
获取模块，用于依据预设算法获取第一坐标；其中，所述第一坐标为所述标识物在所述目标图像中的坐标；
映射模块，用于根据第二坐标和所述第一坐标，获得所述书写板显示的图像与所述摄像机获取的图像之间的坐标映射关系；其中，所述第二坐标为所述标识物在所述标准图像中的坐标；
校正模块，用于在确认摄像机获取的图像中包含显示有板书图像的书写板 之后，根据所述坐标映射关系，将所述摄像机获取的图像校正为所述板书图像。
第三方面，本发明实施例还提供了一种设备，该设备包括：
一个或多个处理器；
存储器，用于存储一个或多个程序；
摄像机，用于拍摄图像；
当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现上述的图像校正方法。
第四方面，本发明实施例还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现上述的图像校正方法。
本发明实施例通过投影仪将设有标识物的标准图像投影到书写板，通过摄像机获取书写板的图像，使得可以根据标识物在标准图像中的坐标和在摄像机获取的图像中的坐标，得到书写板显示的图像与摄像机获取的图像之间的坐标映射关系，从而可以在自动拍摄课堂上的包含板书内容的图像后，还原出书写板显示的真实画面。解决自动拍摄板书图像会有图形畸变影响阅读的问题，实现提高拍摄的图像的可读性的效果。
附图说明
图1是本发明实施例一提供的图像校正方法的流程图；
图2a是本发明实施例一中摄像机拍摄的图像示意图；
图2b是本发明实施例一中书写板显示的图像示意图；
图3是本发明实施例二提供的图像校正方法的流程图；
图4是本发明实施例三提供的图像校正装置的结构示意图；
图5是本发明实施例四提供的设备的结构示意图。
具体实施方式
下面结合附图和实施例对本发明作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本发明，而非对本发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本发明相关的部分而非全部结构。
实施例一
图1为本发明实施例一提供的图像校正方法的流程图，本实施例可适用于对摄像机拍摄的包含板书内容的图像进行畸变校正的情况，该方法可以由图像校正装置来执行，具体包括如下步骤110至140。
步骤110、响应于触发指令，通过摄像机获取显示有标准图像的书写板的目标图像，其中，所述标准图像中包括有多个标识物，且由投影仪投影至所述书写板实现在所述书写板上显示；
其中，通过摄像机获取书写板的目标图像，即通过朝向书写板的摄像机拍摄的图像如图2a所示，由于摄像机朝向书写板，因此能拍摄书写板上所有显示内容，书写板上显示的图像如图2b所示。
步骤120、依据预设算法获取第一坐标；其中，所述第一坐标为所述标识物在所述目标图像中的坐标。
步骤130、根据所述第二坐标和所述第一坐标，获得所述书写板显示的图像与所述摄像机获取的图像之间的坐标映射关系；其中，所述第二坐标为所述标识物在所述标准图像中的坐标。
步骤140、在确认摄像机获取的图像中包含显示有板书图像的书写板之后，根据所述坐标映射关系，将所述摄像机获取的图像校正为所述板书图像。
该图像校正方法的工作原理：
通过投影仪将设有标识物的标准图像投向书写板，通过摄像机拍摄目标图像后，依据图像检测算法可以检测出标识物，读取其坐标。根据标识物在两个图像中的坐标，可以求取两个图像之间的坐标映射关系，利用该关系，可以将后续拍摄的图像，还原为书写板上显示的图像。即在通过所述摄像机拍摄包含板书内容的图像之后，可根据所述摄像机获取的图像和所述坐标映射关系，获得所述书写板显示的板书图像。具体还原的方法是，利用该映射关系找到待还原的图像中的坐标对应的在拍摄的图像上的坐标，取其特征值(如RGB值或灰度值等表征该坐标上的色彩的特征值)作为待还原的图像中该坐标的特征值。
简单地，投影在书写板上的标准图像中坐标为P B(u B，v B，0)的标识物，在拍摄的目标图像中坐标为P I(u I，v I，0)，可设P B(u B，v B，0)与P I(u I，v I，0)之间的转换函数为：
Figure PCTCN2017116732-appb-000001
利用多个标识物的坐标值联立，可以求解出矩阵H的各个元素的值，从而获得该转换函数，在具体实施时，H是3*3的矩阵，并且有一个元素可作为齐次坐标，则至少须有4个标识物，联立8组方程，可求解出矩阵H。此外，还可以用张氏标定法求标准图像与所述目标图像之间的坐标映射参数，即获得摄像机标定的内外参数；还可以用其他更复杂的标定方法。
在具体实施时，可以直接使用该转换函数作为书写板显示的图像与摄像机获取的图像之间的坐标映射关系，对于待还原的书写板显示的图像上的每一坐标，利用该转换函数找到对应在摄像机拍摄的图像中的坐标。
本发明实施例投影仪投影的标准图像可以是棋盘格图像，标识物为棋盘格 图像上的格子的顶点。由于棋盘格图像是投影至书写板上的，因此投影比例可以控制，使得可以保证与书写板尺寸比例一致；棋盘格图像不受打印精度等问题影响其黑白格之间的间距，使得标定准确性提高。且只要事先调整好投影仪的角度和位置，就可以随时不需要人工张贴操作就可以使书写板显示标准图像，使得可以在正常使用书写板的情况下求取书写板显示的图像和摄像机拍摄的图像之间的坐标映射关系，即随时可以重新标定，提高及时保存板书图像的可靠性。
投影仪投影的标准图像还可以是设有辨识度高的标识物的任意图像。对于自定义的标识物，需要设定相应的图像检测算法读取标识物的坐标。对于颜色与书写板背景色彩反差较大的标识物，可在特定的颜色模型下，读取各坐标对应的特征值，使用二值化方法提取设定的特征值范围所对应的区域图案作为标识物。也可以采用边缘检测方法并用设定的模型拟合边缘得到标识物坐标，即步骤120包括：在所述目标图像中检测所述标识物的边缘；根据检测到的所述边缘，查找所述标识物中指定角点的坐标，作为所述第一坐标。
在上述技术方案的基础上，本实施例还提供一种优选的方式实现步骤130。
具体地，步骤130根据所述标识物在标准图像中的坐标和所述标识物在目标图像中的坐标，即第二坐标和第一坐标，采用张氏标定法或其他更复杂的算法，可以获得摄像机的内参数和外参数，相当于获得所述书写板显示的图像与所述摄像机拍摄的图像之间的坐标映射参数。根据所述内参数和外参数，可以从摄像机拍摄的包含板书内容的图像，获得书写板显示的板书图像。
进一步地，为了减小误差，可对内参数进行校正。具体地，在根据第一坐标和第二坐标，标定摄像机，获得摄像机的内参数和外参数后，还包括：
由所述第一坐标根据所述内参数和外参数计算得到标识物的理论坐标；
如果所述标识物的理论坐标与所述第二坐标不匹配，则修改所述标识物的理论坐标，使其与第二坐标匹配；
由修改后的所述标识物的理论坐标根据所述外参数计算得到调整坐标；
计算所述调整坐标和所述第一坐标之间的坐标映射参数；
使用所述坐标映射参数替换所述摄像机的内参数。
在上述进一步方案中，摄像机的内参数包括相机主点、焦距和畸变参数等，可用θ表示；摄像机的外参数为目标面板上的图像与由拍摄的图像消除内参数引起的畸变后得到的图像之间的单应性矩阵，可用M表示，则H＝θ*M。根据该转换函数可以从第一坐标P I(u I，v I，0)获得标识物的理论坐标P′ B。如果该理论坐标P′ B和第二坐标不匹配，则将其修改为匹配的坐标P B(即在无误差的情况下由P I根据内参数θ和外参数M计算应得的准确的坐标值)，由修改后的理论坐标根据外参数M可得到调整坐标P C＝MP B。计算P C和P I之间的坐标映射参数，使用该坐标映射参数替换内参数θ，即可得到降低误差的书写板显示的图像与所述摄像机获取的图像之间的坐标映射关系。
在具体实施时，对理论坐标的修正可以通过人机交互实现，避免由外部环境因素引起的误差。
具体地，所述如果所述标识物的理论坐标与所述第二坐标不匹配，则修改所述标识物的理论坐标，使其与第二坐标匹配，具体包括：
根据摄像机拍摄的图像和摄像机的内参数、外参数，获得所述书写板显示的图像；
通过触摸屏终端显示获得的图像，并在该图像上所述标识物的理论坐标所 对应的位置提供拖拽控点；
检测所述拖拽控点是否被用户拖拽至其他坐标所对应的位置；
若是，则判定所述标识物的理论坐标与所述第二坐标不匹配；将所述标识物的理论坐标修改为所述拖拽控点的坐标；
若否，则判定所述标识物的理论坐标与所述第二坐标匹配。
上述具体方案允许用户使用输入设备，例如鼠标或触摸屏，将标识物拖拽到用户认为与标识物在标准图像中的坐标匹配的位置，然后根据该位置修正内参数θ。这种方法使得参数可视化，能够让用户直观地评价当前参数是否足够精准，并实现人工调整。
本实施例的技术方案，通过投影仪将设有标识物的标准图像投影到书写板，通过摄像机获取书写板的图像，使得可以根据标识物在标准图像中的坐标和在摄像机获取的图像中的坐标，得到书写板显示的图像与摄像机获取的图像之间的坐标映射关系，从而可以在自动拍摄课堂上的包含板书内容的图像后，还原出书写板显示的真实画面。解决自动拍摄板书图像会有图形畸变影响阅读的问题，实现提高拍摄的图像的可读性的效果。
实施例二
图3为本发明实施例二提供的图像校正方法的流程图，本实施例可适用于对摄像机拍摄的包含板书内容的图像进行畸变校正的情况，该方法可以由图像校正装置来执行。本实施例与实施例一的区别点在于，实施例一以坐标映射参数或转换函数记录书写板显示的图像与所述摄像机拍摄的图像之间的坐标映射关系，本实施例以列表的方式记录该坐标映射关系。本实施例提供的图像校正 方法包括：
步骤310、响应于触发指令，通过摄像机获取显示有标准图像的书写板的目标图像，其中，所述标准图像中包括有多个标识物，且由投影仪投影至所述书写板实现在所述书写板上显示；
步骤320、依据预设算法获取第一坐标；其中，所述第一坐标为所述标识物在所述目标图像中的坐标；
步骤330、计算所述第一坐标与所述第二坐标之间的转换函数；
步骤340、根据所述转换函数，建立所述书写板显示的图像中每一坐标与所述摄像机获取的图像中的坐标之间的映射列表。
上述步骤330和340先计算标识物在标准图像中的坐标和在目标图像中的坐标之间的转换函数，再根据转换函数建立坐标的映射列表。这种方法使得在后续还原书写板显示的板书图像时，可直接查表获得板书图像上各坐标点对应的在拍摄图像上的坐标，读取其特征值作为自身的特征值。在还原图像的时候无需根据转换函数计算，提高处理速度，即在步骤340后，还包括：
步骤350、在确认摄像机获取的图像中包含显示有板书图像的书写板之后，查询所述映射列表，获得所述板书图像的每一坐标所对应的摄像机获取的图像中的坐标；
步骤360、读取查询到的坐标的特征值，作为所述板书图像中对应坐标的特征值。
步骤350和步骤360使得在教学过程中，可以及时地对拍摄的图像进行校正处理，进一步可实时地通过显示终端展示在课堂上。
本实施例的技术方案，通过投影仪将设有标识物的标准图像投影到书写板， 通过摄像机获取书写板的图像，使得可以根据标识物在标准图像中的坐标和在摄像机获取的图像中的坐标，得到书写板显示的图像与摄像机获取的图像之间的转换函数，进而获得两张图像之间的映射列表，从而可以在自动拍摄课堂上的包含板书内容的图像后，不需要根据转换函数计算对应的坐标值，只需要查表以及像素插值，即可还原出书写板显示的真实画面。
实施例三
图4为本发明实施例三提供的图像校正装置的结构示意图，该装置包括：
拍摄模块410，用于响应于触发指令，通过摄像机获取显示有标准图像的书写板的目标图像；其中，所述标准图像中包括有多个标识物，且由投影仪投影至所述书写板实现在所述书写板上显示；
获取模块420，用于依据预设算法获取第一坐标；其中，所述第一坐标为所述标识物在所述目标图像中的坐标；
映射模块430，用于根据第二坐标和所述第一坐标，获得所述书写板显示的图像与所述摄像机获取的图像之间的坐标映射关系；其中，所述第二坐标为所述标识物在所述标准图像中的坐标；
校正模块440，用于在确认摄像机获取的图像中包含显示有板书图像的书写板之后，根据所述坐标映射关系，将所述摄像机获取的图像校正为所述板书图像。
作为一种实施方式，映射模块430包括：
计算单元，用于计算所述第一坐标与所述第二坐标之间的转换函数；
建表单元，用于根据所述转换函数，建立所述书写板显示的图像中每一坐 标与所述摄像机获取的图像中的坐标之间的映射列表；
则校正模块440包括：
查表单元，用于在确认摄像机获取的图像中包含显示有板书图像的书写板之后，查询所述映射列表，获得所述板书图像的每一坐标所对应的摄像机获取的图像中的坐标；
替换单元，用于读取查询到的坐标的特征值，作为所述书写板显示的板书图像中对应坐标的特征值。
优选地，读取模块420包括：
检测单元，用于在所述目标图像中检测所述标识物的边缘；
查找单元，用于根据检测到的所述边缘，查找所述标识物中指定角点的坐标，作为所述第一坐标。
作为另一种实施方式，所述映射模块430包括标定单元，用于根据所述第一坐标和所述第二坐标，标定摄像机，获得所述摄像机的内参数和外参数。
所述映射模块430还包括：
预测单元，用于由所述第一坐标根据所述内参数和外参数计算得到标识物的理论坐标；
修正单元，用于如果所述标识物的理论坐标与所述第二坐标不匹配，则修改所述标识物的理论坐标，使其与第二坐标匹配；
调整单元，用于由修改后的所述标识物的理论坐标根据所述外参数计算得到调整坐标；
修正参数计算单元，用于计算所述调整坐标和所述第一坐标之间的坐标映射参数；
第二替换单元，用于使用所述坐标映射参数替换所述摄像机的内参数。
进一步地，所述修正单元具体包括：
显示单元，用于根据摄像机拍摄的图像和摄像机的内参数、外参数，获得所述书写板显示的图像；通过触摸屏终端显示获得的图像，并在该图像上所述标识物的理论坐标所对应的位置提供拖拽控点；
检测单元，用于检测所述拖拽控点是否被用户拖拽至其他坐标所对应的位置；
修改单元，用于若是，则判定所述标识物的理论坐标与所述第二坐标不匹配；将所述标识物的理论坐标修改为所述触摸拖拽控点的坐标；
维持单元，用于若否，则判定所述标识物的理论坐标与所述第二坐标匹配。
本发明实施例所提供的图像校正装置可执行本发明任意实施例所提供的图像校正方法，具备执行方法相应的功能模块和有益效果。
实施例四
图5为本发明实施例四提供的一种设备的结构示意图，如图5所示，该设备包括处理器510、存储器520、输入装置530、输出装置540和用于拍摄图像的摄像机550；设备中处理器510的数量可以是一个或多个，图5中以一个处理器510为例；设备中的处理器510、存储器520、输入装置530和输出装置540可以通过总线或其他方式连接，图5中以通过总线连接为例。
存储器520作为一种计算机可读存储介质，可用于存储软件程序、计算机可执行程序以及模块，如本发明实施例中的图像校正方法对应的程序指令/模块(例如，图像校正装置中的拍摄模块410、获取模块420、映射模块430和校正 模块440)。处理器510通过运行存储在存储器520中的软件程序、指令以及模块，从而执行设备的各种功能应用以及数据处理，即实现上述的图像校正方法。
存储器520可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序；存储数据区可存储根据终端的使用所创建的数据等。此外，存储器520可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实例中，存储器520可进一步包括相对于处理器510远程设置的存储器，这些远程存储器可以通过网络连接至设备。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
输入装置530可用于接收输入的数字或字符信息，以及产生与设备的用户设置以及功能控制有关的键信号输入。输出装置540可包括显示屏等显示设备。
实施例五
本发明实施例五还提供一种存储有计算机程序的计算机可读存储介质，所述程序在由计算机处理器执行时用于实现一种图像校正方法，该方法包括：
响应于触发指令，通过摄像机获取显示有标准图像的书写板的目标图像，其中，所述标准图像中包括有多个标识物，且由投影仪投影至所述书写板实现在所述书写板上显示；
依据预设算法获取第一坐标；其中，所述第一坐标为所述标识物在所述目标图像中的坐标；
根据第二坐标和所述第一坐标，获得所述书写板显示的图像与所述摄像机获取的图像之间的坐标映射关系；其中，所述第二坐标为所述标识物在所述标 准图像中的坐标；
在确认摄像机获取的图像中包含显示有板书图像的书写板之后，根据所述坐标映射关系，将所述摄像机获取的图像校正为所述板书图像。
当然，本发明实施例所提供的一种存储有计算机程序的计算机可读存储介质，其计算机可执行指令不限于如上所述的方法操作，还可以执行本发明任意实施例所提供的图像校正方法中的相关操作.
通过以上关于实施方式的描述，所属领域的技术人员可以清楚地了解到，本发明可借助软件及必需的通用硬件来实现，当然也可以通过硬件实现，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如计算机的软盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、闪存(FLASH)、硬盘或光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述的方法。
值得注意的是，上述图像校正装置的实施例中，所包括的各个单元和模块只是按照功能逻辑进行划分的，但并不局限于上述的划分，只要能够实现相应的功能即可；另外，各功能单元的具体名称也只是为了便于相互区分，并不用于限制本发明的保护范围。
注意，上述仅为本发明的较佳实施例及所运用技术原理。本领域技术人员会理解，本发明不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本发明的保护范围。因此，虽然通过以上实施例对本发明进行了较为详细的说明，但是本发明不仅仅限于以 上实施例，在不脱离本发明构思的情况下，还可以包括更多其他等效实施例，而本发明的范围由所附的权利要求范围决定。

Claims (10)

  1. 一种图像校正方法，其特征在于，包括：
    响应于触发指令，通过摄像机获取显示有标准图像的书写板的目标图像，其中，所述标准图像中包括有多个标识物，且由投影仪投影至所述书写板实现在所述书写板上显示；
    依据预设算法获取第一坐标；其中，所述第一坐标为所述标识物在所述目标图像中的坐标；
    根据第二坐标和所述第一坐标，获得所述书写板显示的图像与所述摄像机获取的图像之间的坐标映射关系；其中，所述第二坐标为所述标识物在所述标准图像中的坐标；
    在确认摄像机获取的图像中包含显示有板书图像的书写板之后，根据所述坐标映射关系，将所述摄像机获取的图像校正为所述板书图像。
  2. 如权利要求1所述的图像校正方法，其特征在于，所述根据第二坐标和所述第一坐标，获得所述书写板显示的图像与所述摄像机获取的图像之间的坐标映射关系，具体包括：
    计算所述第一坐标与所述第二坐标之间的转换函数；
    根据所述转换函数，建立所述书写板显示的图像中每一坐标与所述摄像机获取的图像中的坐标之间的映射列表；
    则所述在确认摄像机获取的图像中包含显示有板书图像的书写板之后，根据所述坐标映射关系，将所述摄像机获取的图像校正为所述板书图像，具体包括：
    在确认摄像机获取的图像中包含显示有板书图像的书写板之后，查询所述映射列表，获得所述板书图像的每一坐标所对应的摄像机获取的图像中的坐标；
    读取查询到的坐标的特征值，作为所述板书图像中对应坐标的特征值。
  3. 如权利要求1或2所述的图像校正方法，其特征在于，所述标准图像为棋盘格图像；所述标识物为棋盘格图像上的格子的顶点。
  4. 如权利要求1或2所述的图像校正方法，其特征在于，所述依据预设算法获取第一坐标，具体包括：
    在所述目标图像中检测所述标识物的边缘；
    根据检测到的所述边缘，查找所述标识物中指定角点的坐标，作为所述第一坐标。
  5. 一种图像校正装置，其特征在于，包括：
    拍摄模块，用于响应于触发指令，通过摄像机获取显示有标准图像的书写板的目标图像；其中，所述标准图像中包括有多个标识物，且由投影仪投影至所述书写板实现在所述书写板上显示；
    获取模块，用于依据预设算法获取第一坐标；其中，所述第一坐标为所述标识物在所述目标图像中的坐标；
    映射模块，用于根据第二坐标和所述第一坐标，获得所述书写板显示的图像与所述摄像机获取的图像之间的坐标映射关系；其中，所述第二坐标为所述标识物在所述标准图像中的坐标；
    校正模块，用于在确认摄像机获取的图像中包含显示有板书图像的书写板之后，根据所述坐标映射关系，将所述摄像机获取的图像校正为所述板书图像。
  6. 如权利要求5所述的图像校正装置，其特征在于，所述映射模块包括：
    计算单元，用于计算所述第一坐标与所述第二坐标之间的转换函数；
    建表单元，用于根据所述转换函数，建立所述书写板显示的图像中每一坐 标与所述摄像机获取的图像中的坐标之间的映射列表；
    则所述校正模块包括：
    查表单元，用于在确认摄像机获取的图像中包含显示有板书图像的书写板之后，查询所述映射列表，获得所述板书图像的每一坐标所对应的摄像机获取的图像中的坐标；
    替换单元，用于读取查询到的坐标的特征值，作为所述板书图像中对应坐标的特征值。
  7. 如权利要求5或6所述的图像校正装置，其特征在于，所述标准图像为棋盘格图像；所述标识物为棋盘格图像上的格子的顶点。
  8. 如权利要求5或6所述的图像校正装置，其特征在于，所述获取模块包括：
    检测单元，用于在所述目标图像中检测所述标识物的边缘；
    查找单元，用于根据检测到的所述边缘，查找所述标识物中指定角点的坐标，作为所述第一坐标。
  9. 一种设备，其特征在于，所述设备包括：
    一个或多个处理器；
    存储器，用于存储一个或多个程序；
    摄像机，用于拍摄图像；
    当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如权利要求1-4中任一所述的图像校正方法。
  10. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现如权利要求1-4中任一所述的图像校正方法。
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