CN102123290A - Method and device for correcting translation error between images shot by two cameras - Google Patents
Method and device for correcting translation error between images shot by two cameras Download PDFInfo
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- CN102123290A CN102123290A CN2011100012630A CN201110001263A CN102123290A CN 102123290 A CN102123290 A CN 102123290A CN 2011100012630 A CN2011100012630 A CN 2011100012630A CN 201110001263 A CN201110001263 A CN 201110001263A CN 102123290 A CN102123290 A CN 102123290A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
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- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
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Abstract
The invention discloses a method for correcting a translation error between images shot by two cameras, and the method comprises the following steps: simultaneously shooting a calibrated object by two cameras so as to respectively obtain a left-eye calibrated image and a right-eye calibrated image; determining a translation error between the two cameras according to the positions of the calibrated object in the two calibrated images, and then storing the translation error; and correcting the images shot by the two cameras according to the stored translation error. The invention also discloses a device for correcting a translation error of images shot by two cameras. By utilizing the method and device disclosed by the invention, the translation error between the two cameras can be eliminated effectively, so that a viewer can see clear stereo images.
Description
Technical field
The present invention relates to dual camera stereoscopic shooting technology, be meant a kind of method and apparatus of correcting the translation error of the captured image of dual camera especially.
Background technology
In the prior art, the stereo display of picture or image all is to have utilized the parallax characteristic of eyes to realize that its mode mainly contains: look point-score, light point-score, time-sharing procedure and raster method etc.Though specific implementation has nothing in common with each other, basic point of departure is identical, and the principle broadly similar, promptly utilizes two video cameras of settling side by side commissarial left eye and right eye respectively, utilizes two cameras to shoot two slightly pictures of horizontal parallax synchronously.During projection left eye film and right eye film are respectively charged into left eye projecting device and right eye projecting device, picture presentation is come out in left eye projecting device and the run-in synchronism of right eye projecting device, forms the slur image that comprises left-eye image, eye image.Spectators are by some special installations, and for example polaroid glasses make spectators' left eye can only see left-eye image, and right eye can only be seen eye image.By the aggregation feature of spectators' eyes, respectively that left-eye image and eye image is superimposed on retina again, by the visual effect of cerebral nerve generation 3 D stereo.
The technology of above-mentioned four kinds of stereo displays and shooting, all require to use dual camera to take, the schematic diagram of left-eye image and eye image when Fig. 1 correctly installs for dual camera, as shown in Figure 1, two images are respectively the left-eye image and the eye image of left eye video camera and the shooting of right eye video camera.Yet, may there be error in the position of dual camera when being installed to dual camera on the filming apparatus, perhaps there is error in the dual camera position that also may make filming apparatus of colliding with of the vibrations in the use, for example: about dual camera exists, skew etc. up and down.Certain camera in two cameras, when being offset about for example the right eye camera occurs, taking the image that comes out will be offset, the schematic diagram of the image that dual camera was taken when Fig. 2 was offset for the right eye camera position, as shown in Figure 2, because the skew of right eye camera is offset eye image slightly left.The schematic diagram of left-eye image and eye image stack when Fig. 3 is offset for the right eye camera position, as shown in Figure 3, skew has appearred in the image of stack makes the beholder feel that edge of image is smudgy, even ghost image.
Current, the dual camera filming apparatus all can carry out the demarcation of camera before dispatching from the factory, correct problems such as camera radial distortion, and the image that shooting is come out is unlikely to obvious distortion.Commonly used biplane scaling method, Tsai two-step method are arranged, from standardization etc.Yet these calibration techniques all are that an independent camera self is demarcated in general, rather than camera is demarcated each other.Therefore, can not eliminate alignment error between the dual camera fully.
Summary of the invention
In view of this, main purpose of the present invention is to provide a kind of method and apparatus of correcting the translation error of the captured image of dual camera, can eliminate the site error between the dual camera fully, causes superimposed image the problem of skew to occur.
For achieving the above object, technical scheme of the present invention is achieved in that
The invention provides a kind of method of correcting the translation error of the captured image of dual camera, described method comprises:
Use dual camera to take the demarcation object simultaneously, obtain left eye uncalibrated image and right eye uncalibrated image respectively;
Determine translation error between the dual camera according to demarcating the position of object in two uncalibrated images, and preserve described translation error;
Correct the image that dual camera is taken according to the translation error of preserving.
Wherein, described demarcation object specifically is to be in conplane four to demarcate object, and this plane parallel is in the line of dual camera photocentre, the first abscissa spacing of demarcating the object and the second demarcation object equals the spacing of dual camera photocentre, and the 3rd abscissa spacing of demarcating object and the 4th demarcation object also equals the spacing of dual camera photocentre.
Wherein, the translation error between described definite dual camera, specifically: determine to demarcate longitudinal error and the lateral error of object in left eye uncalibrated image and right eye uncalibrated image respectively.
Wherein, described longitudinal error is demarcated object and the 3rd demarcation object left eye ordinate mean value by calculating first, and the difference of demarcating object right eye ordinate mean value with the second demarcation object and the 4th obtains;
Described lateral error is demarcated object and the 3rd demarcation object left eye abscissa mean value by calculating first, and the difference of demarcating object right eye abscissa mean value with the second demarcation object and the 4th obtains.
Wherein, the image that described correction dual camera is taken, specifically: to left-eye image, and/or eye image carries out vertically according to translation error, and/or transverse translation.
The present invention also provides a kind of device of correcting the translation error of the captured image of dual camera, and described device comprises: uncalibrated image acquisition module, translation error determination module and image rectification module, wherein,
Described uncalibrated image acquisition module is used for gathering and uses dual camera to take the demarcation object simultaneously, obtains left eye uncalibrated image and right eye uncalibrated image respectively, and two uncalibrated images are sent to the translation error determination module;
Described translation error determination module is used for determining translation error between the dual camera in the position of two uncalibrated images according to demarcating object, and preserves described translation error;
Described image rectification module is used for correcting the image that dual camera is taken according to the translation error of preserving.
Wherein, the demarcation object that the dual camera of described uncalibrated image acquisition module collection is taken simultaneously is specifically: be in conplane four and demarcate objects, and this plane parallel is in the line of dual camera photocentre, the first abscissa spacing of demarcating the object and the second demarcation object equals the spacing of dual camera photocentre, and the 3rd abscissa spacing of demarcating object and the 4th demarcation object also equals the spacing of dual camera photocentre.
The method and apparatus of the translation error of the captured image of correction dual camera provided by the present invention uses dual camera to take the demarcation object simultaneously, obtains left eye uncalibrated image and right eye uncalibrated image respectively; Determine translation error between the dual camera according to demarcating the position of object in two uncalibrated images, and preserve described translation error; Correct the image that dual camera is taken according to the translation error of preserving.Can effectively eliminate dual camera translation error each other, make the beholder can see stereopsis clearly.Further, if filming apparatus in use collides with, cause dual camera to be offset, utilize method and apparatus of the present invention to demarcate again by user oneself, do not need to send manufacturer back to and keep in repair, made things convenient for the maintenance in using of later stage of user.
Description of drawings
The schematic diagram of left-eye image and eye image when Fig. 1 correctly installs for dual camera;
The schematic diagram of the image that dual camera was taken when Fig. 2 was offset for the right eye camera position;
The schematic diagram of left-eye image and eye image stack when Fig. 3 is offset for the right eye camera position;
Fig. 4 is a kind of method flow schematic diagram of correcting the translation error of the captured image of dual camera of the present invention;
Fig. 5 is the effect schematic diagram of left eye uncalibrated image in the embodiment of the invention;
Fig. 6 is the effect schematic diagram of right eye uncalibrated image in the embodiment of the invention;
Fig. 7 is a kind of apparatus structure schematic diagram of correcting the translation error of the captured image of dual camera of the present invention.
Embodiment
In the prior art, camera all adopts lens as camera lens, to reach the purpose of imaging.During the rays pass through lens of all directions, all can produce deviation, the light ray propagation direction is changed.But have on the lens a bit, when the light of any direction passed through this, the direction of propagation of light was constant, and promptly exit direction and incident direction are parallel to each other, and this point is called for short photocentre the optical centre of lens.The calibration position of definite camera is as the criterion with the photocentre of lens among the present invention.
Basic thought of the present invention is: use dual camera to take the demarcation object simultaneously, obtain left eye uncalibrated image and right eye uncalibrated image respectively; Determine translation error between the dual camera according to demarcating the position of object in two uncalibrated images, and preserve described translation error; Correct the image that dual camera is taken according to the translation error of preserving.
The technical solution of the present invention is further elaborated below in conjunction with the drawings and specific embodiments.
Fig. 4 is a kind of method flow schematic diagram of correcting the translation error of the captured image of dual camera of the present invention, and as shown in Figure 4, the method for the translation error of the captured image of described correction dual camera may further comprise the steps:
Step 401 uses dual camera to take the demarcation object simultaneously, obtains left eye uncalibrated image and right eye uncalibrated image respectively;
Concrete, described demarcation object is in same plane, and this plane parallel is in the line of dual camera photocentre, and simultaneously, the first abscissa spacing and the 3rd of demarcating the object and the second demarcation object is demarcated object and the 4th and demarcated the spacing that object is equal to the dual camera photocentre.
Step 402 is determined translation error between the dual camera according to demarcating the position of object in two uncalibrated images, and is preserved described translation error;
Concrete, the translation error between described definite dual camera, specifically: determine to demarcate longitudinal error and the lateral error of object in left eye uncalibrated image and right eye uncalibrated image respectively.Concrete implementation is: calculate first and demarcate object and the 3rd demarcation object left eye ordinate mean value, demarcate the difference of object right eye ordinate mean value as longitudinal error with the second demarcation object and the 4th; Calculate first and demarcate object and the 3rd demarcation object left eye abscissa mean value, demarcate the difference of object right eye abscissa mean value as lateral error with the second demarcation object and the 4th.
Step 403 is corrected the image that dual camera is taken according to the translation error of preserving.
Concrete, the image that described correction dual camera is taken, specifically be according to translation error to left-eye image, and/or eye image carries out vertically, and/or transverse translation, with the translation error of remedial frames.In the prior art, digital image processing techniques are very ripe, therefore, can carry out translation to digital picture fully, reverse, stretching, convergent-divergent, cutting handle.The deformation transformation of digital picture, for example compressed transform or stretching conversion are exactly the coordinate transform of original image to target image, briefly, exactly the coordinate of each point of original image are transferred to the new coordinate of the respective point of target image by the distortion computing.Therefore, can realize fully digital picture is carried out compressed transform processing or stretching conversion processing.The cutting techniques of digital picture just is based on the coordinate of pixel, and digital picture according to certain rule, is formed partial pixel point the technology of a new width of cloth digital picture.The folding of digital picture just is based on the coordinate of pixel, and two width of cloth or several digital pictures according to certain rule, are formed the technology of a new width of cloth digital picture.Can be by above-mentioned digital image processing techniques easily with the image translation that needs to correct, further can also be optimized the image of correcting by technology such as cutting apart.
Below in conjunction with a specific embodiment method of the present invention is described in detail.
Fig. 5 is the effect schematic diagram of left eye uncalibrated image in the embodiment of the invention, as shown in Figure 5, abscissa is 31 in the left eye uncalibrated image, ordinate is 32, the first demarcation object, 1 coordinate is (x11, y11), the second demarcation object, 2 coordinates are (x12, y12), the 3rd demarcate object 3 coordinates be (x13, y13), the 4th demarcation object 4 coordinates be (x14, y14).Fig. 6 is the effect schematic diagram of right eye uncalibrated image in the embodiment of the invention, as shown in Figure 6, abscissa is 41 in the right eye uncalibrated image, ordinate is 42, the first demarcation object, 1 coordinate is (x21, y21), the second demarcation object, 2 coordinates are (x22, y22), the 3rd demarcate object 3 coordinates be (x23, y23), the 4th demarcation object 4 coordinates be (x24, y24).Simultaneously, x12-x11=x14-x13=x22-x21=x24-x23 equals the photocentre spacing of left camera 15 and right camera 16.
Suppose that the dual camera installation is correct, promptly do not have offset problem, then demarcate objects in two uncalibrated images coordinate system separately for 4, Y value is identical, promptly has: y11=y21; Y12=y22; Y13=y23; Y14=y24.
Because the first demarcation object 1, second is demarcated the spacing of object 2 on left eye abscissa 31 and is equaled the dual camera spacing of photocentre separately, then in left eye uncalibrated image and the right eye uncalibrated image, first demarcates object 1, second demarcates object 2 in two uncalibrated images coordinate system separately, abscissa is identical, promptly has: x11=x22.
Because the 3rd demarcation object the 3, the 4th is demarcated the spacing of object 4 on right eye abscissa 41 and is equaled the dual camera spacing of photocentre separately, then in left eye uncalibrated image and the right eye uncalibrated image, the 3rd demarcates object the 3, the 4th demarcates object 4 in two pictures coordinate system separately, abscissa is identical, promptly has: x13=x24.
When supposing that right camera is installed, be offset the error of 2 pixels to the right, the coordinate of demarcation object in the left eye uncalibrated image that then left camera photographs is as follows:
First demarcates object 1, coordinate be (x11, y11), i.e. (75,2000),
Second demarcates object 2, coordinate be (x12, y12), i.e. (140,1800),
The 3rd demarcates object 3, coordinate be (x13, y13), i.e. (1075,210),
The 4th demarcates object 4, coordinate be (x14, y14), i.e. (1140,10).
The coordinate of demarcation object in the right eye uncalibrated image that right camera photographs is as follows:
First demarcates object 1, coordinate be (x21, y21), i.e. (8,2000),
Second demarcates object 2, coordinate be (x22, y22), i.e. (73,1800),
The 3rd demarcates object 3, coordinate be (x23, y23), i.e. (1008,210),
The 4th demarcates object 4, coordinate be (x24, y24), i.e. (1073,10).
Calculate first and demarcate object 1, the 3rd left eye ordinate mean value Y_No1 of demarcation object 3 on left eye ordinate 32, calculate the second demarcation object the 2, the 4th and demarcate the right eye ordinate mean value Y_No2 of object 4 on right eye ordinate 42;
Y_No1＝(y11+y13)/2＝(2000+210)/2＝1105
Y_No2＝(y21+y23)/2＝(2000+210)/2＝1105
Calculate first and demarcate object 1, the 3rd left eye abscissa mean value X_No1 of demarcation object 3 on left eye abscissa 31, calculate the second demarcation object the 2, the 4th and demarcate the right eye abscissa mean value X_No2 of object 4 on right eye abscissa 41;
X_No1＝(x11+x13)/2＝(75+1075)/2＝575
X_No2＝(x21+x23)/2＝(73+1073)/2＝573
Right eye ordinate mean value is deducted left eye ordinate mean value, and the ordinate difference DY that is obtained is a longitudinal error, and right eye abscissa mean value is deducted left eye abscissa mean value, and the abscissa difference DX that is obtained is a lateral error.Image rectification when simultaneously, the preservation translation error is used for photographic images.
DY＝Y_No2-Y_No1＝1105-1105＝0
DX＝X_No2-X_No1＝575-573＝2
Along the ordinate positive direction, DY unit of translation ordinate difference makes progress with eye image; Eye image along the abscissa positive direction, to DX unit of right translation Diff E value, is about to eye image translation 0 pixel that makes progress; With eye image along abscissa to 2 pixels of right translation, then finished according to the translation error of preserving and corrected the image that dual camera is taken.
Fig. 7 is a kind of apparatus structure schematic diagram of correcting the translation error of the captured image of dual camera of the present invention, as shown in Figure 7, the device of the translation error of the captured image of described correction dual camera comprises: uncalibrated image acquisition module 71, translation error determination module 72 and image rectification module 73, wherein
Described uncalibrated image acquisition module 71 is used for gathering and uses dual camera to take the demarcation object simultaneously, obtains left eye uncalibrated image and right eye uncalibrated image respectively, and two uncalibrated images are sent to translation error determination module 72;
Concrete, described demarcation object is in same plane, and this plane parallel is in the line of dual camera photocentre, and simultaneously, the first abscissa spacing and the 3rd of demarcating the object and the second demarcation object is demarcated object and the 4th and demarcated the spacing that object is equal to the dual camera photocentre.
Described translation error determination module 72 is used for determining translation error between the dual camera in the position of two uncalibrated images according to demarcating object, and preserves described translation error;
Concrete, the translation error that translation error determination module 72 is determined between the dual camera, specifically: determine to demarcate longitudinal error and the lateral error of object in left eye uncalibrated image and right eye uncalibrated image respectively.Concrete implementation is: calculate first and demarcate object and the 3rd demarcation object left eye ordinate mean value, demarcate the difference of object right eye ordinate mean value as longitudinal error with the second demarcation object and the 4th; Calculate first and demarcate object and the 3rd demarcation object left eye abscissa mean value, demarcate the difference of object right eye abscissa mean value as lateral error with the second demarcation object and the 4th.
Described image rectification module 73 is used for correcting the image that dual camera is taken according to the translation error of preserving.
Concrete, described image rectification module 73 is corrected the image that dual cameras are taken, specifically be according to translation error to left-eye image, and/or eye image carries out vertically, and/or transverse translation, with the translation error of remedial frames.In the prior art, digital image processing techniques are very ripe, therefore, can carry out translation to digital picture fully, reverse, stretching, convergent-divergent, cutting handle.The deformation transformation of digital picture, for example compressed transform or stretching conversion are exactly the coordinate transform of original image to target image, briefly, exactly the coordinate of each point of original image are transferred to the new coordinate of the respective point of target image by the distortion computing.Therefore, can realize fully digital picture is carried out compressed transform processing or stretching conversion processing.The cutting techniques of digital picture just is based on the coordinate of pixel, and digital picture according to certain rule, is formed partial pixel point the technology of a new width of cloth digital picture.The folding of digital picture just is based on the coordinate of pixel, and two width of cloth or several digital pictures according to certain rule, are formed the technology of a new width of cloth digital picture.Can be by above-mentioned digital image processing techniques easily with the image translation that needs to correct, further can also be optimized the image of correcting by technology such as cutting apart.
The above is preferred embodiment of the present invention only, is not to be used to limit protection scope of the present invention, all any modifications of being done within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a method of correcting the translation error of the captured image of dual camera is characterized in that, described method comprises:
Use dual camera to take the demarcation object simultaneously, obtain left eye uncalibrated image and right eye uncalibrated image respectively;
Determine translation error between the dual camera according to demarcating the position of object in two uncalibrated images, and preserve described translation error;
Correct the image that dual camera is taken according to the translation error of preserving.
2. method according to claim 1, it is characterized in that, described demarcation object specifically is to be in conplane four to demarcate object, and this plane parallel is in the line of dual camera photocentre, the first abscissa spacing of demarcating the object and the second demarcation object equals the spacing of dual camera photocentre, and the 3rd abscissa spacing of demarcating object and the 4th demarcation object also equals the spacing of dual camera photocentre.
3. method according to claim 2 is characterized in that, the translation error between described definite dual camera, specifically: determine to demarcate longitudinal error and the lateral error of object in left eye uncalibrated image and right eye uncalibrated image respectively.
4. method according to claim 3 is characterized in that, described longitudinal error is demarcated object and the 3rd demarcation object left eye ordinate mean value by calculating first, and the difference of demarcating object right eye ordinate mean value with the second demarcation object and the 4th obtains;
Described lateral error is demarcated object and the 3rd demarcation object left eye abscissa mean value by calculating first, and the difference of demarcating object right eye abscissa mean value with the second demarcation object and the 4th obtains.
5. method according to claim 1 and 2 is characterized in that, the image that described correction dual camera is taken, and specifically: to left-eye image, and/or eye image carries out vertically according to translation error, and/or transverse translation.
6. a device of correcting the translation error of the captured image of dual camera is characterized in that, described device comprises: uncalibrated image acquisition module, translation error determination module and image rectification module, wherein,
Described uncalibrated image acquisition module is used for gathering and uses dual camera to take the demarcation object simultaneously, obtains left eye uncalibrated image and right eye uncalibrated image respectively, and two uncalibrated images are sent to the translation error determination module;
Described translation error determination module is used for determining translation error between the dual camera in the position of two uncalibrated images according to demarcating object, and preserves described translation error;
Described image rectification module is used for correcting the image that dual camera is taken according to the translation error of preserving.
7. device according to claim 6, it is characterized in that, the demarcation object that the dual camera of described uncalibrated image acquisition module collection is taken simultaneously is specifically: be in conplane four and demarcate objects, and this plane parallel is in the line of dual camera photocentre, the first abscissa spacing of demarcating the object and the second demarcation object equals the spacing of dual camera photocentre, and the 3rd abscissa spacing of demarcating object and the 4th demarcation object also equals the spacing of dual camera photocentre.
8. device according to claim 7, it is characterized in that, described translation error determination module is determined the translation error between the dual camera, specifically: determine to demarcate longitudinal error and the lateral error of object in left eye uncalibrated image and right eye uncalibrated image respectively.
9. device according to claim 8, it is characterized in that, described translation error determination module determines that longitudinal error is to demarcate object and the 3rd demarcation object left eye ordinate mean value by calculating first, obtains with second difference of demarcating object and the 4th demarcation object right eye ordinate mean value;
Described translation error determination module determines that lateral error is to demarcate object and the 3rd demarcation object left eye abscissa mean value by calculating first, obtains with second difference of demarcating object and the 4th demarcation object right eye abscissa mean value.
10. according to claim 6 or 7 described devices, it is characterized in that described image rectification module is corrected the image that dual camera is taken, specifically: to left-eye image, and/or eye image carries out vertically according to translation error, and/or transverse translation.
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| PCT/CN2011/076160 WO2012092758A1 (en) | 2011-01-05 | 2011-06-22 | Method and device for correcting translation error of images picked up by two cameras |
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| WO2012092758A1 (en) | 2012-07-12 |
| CN102123290B (en) | 2014-12-10 |
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