CN106570842A - Fisheye image correcting method and device - Google Patents
Fisheye image correcting method and device Download PDFInfo
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- CN106570842A CN106570842A CN201610991058.6A CN201610991058A CN106570842A CN 106570842 A CN106570842 A CN 106570842A CN 201610991058 A CN201610991058 A CN 201610991058A CN 106570842 A CN106570842 A CN 106570842A
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Abstract
The invention discloses a fisheye image correcting method and device. The method comprises the steps that after a correction instruction is received, the position of the center point of an input sub-region which needs to be corrected and is indicated by the correction instruction is determined in a fisheye image; whether the center point of the input sub-region is located in a convergence region is judged, wherein the convergence region is in a region range determined based on the reference input sub-region of the x-axis and/or y-axis of the coordinate system where the fisheye image of the center point is located; if the center point of the input sub-region is located outside the convergent region, the input sub-region is moved along the ligature direction from the center point of the input sub-region to the center point of the convergence region until the center point of the moved input sub-region is located in the convergence region; and the image in the moved input sub-region is corrected. According to the embodiment of the invention, the mathematical model of the convergence region is established according to the imaging characteristics of the fisheye image, so as to reduce the black border region of the corrected fisheye image.
Description
Technical field
The present invention relates to technical field of image processing, the antidote and device of more particularly to a kind of fish eye images.
Background technology
With the development of camera lens and sensor technology, the wide-angle camera with larger field is developed.These are wide
The angular field of view of angle photographic head (also referred to as fish-eye camera) is big, 220 ° or 230 ° is typically can reach, when visual angle can more than 180 degree
To shoot all scenes around lower photographic head, such image is properly termed as omni-directional image, it is also possible to referred to as fish eye images.Many institutes
Known, focal length is shorter, and visual angle is bigger, because optical principle produce deformation it is also stronger, so fish eye images can be produced seriously
Deformation.Accordingly, it would be desirable to correction process is carried out to fish eye images, to reconstruct the plane picture that people easily recognize.
The active area of fish eye images is a circle, referred to as original circle.During correction fish eye images, it will usually select the original
Begin the subregion of circle, used as the input subregion of correction, the fault image correction with by input subregion is normally or to connect
Nearly normal image.Because data show as the matrix form of rule in calculator memory, therefore, input subregion is generally
Rectangular area.At present, in order to improve Consumer's Experience, user can arrange the position of input subregion and size, only to correct
User part interested in fish eye images.But, if input subregion is completely contained in original circle, after correction
Image will include invalid information outside original circle, show as that black region, i.e. black surround occurs in image border.
Therefore, when correcting fish eye images, black surround should be reduced as far as.
In sum, because the input subregion for needing correction not exclusively may be contained in original circle, so that correction
Image border afterwards occurs black surround.How black surround is reduced, be the problem of current urgent need to resolve.
The content of the invention
The antidote and device of a kind of fish eye images are embodiments provided, the image border after correction is reduced
The black surround of appearance.
In a first aspect, a kind of antidote of fish eye images, methods described includes：
After receiving corrective instruction, in fish eye images, what the needs according to indicated by the corrective instruction were corrected
Target area, determines the position of the corresponding input subregion in the target area；
Whether the reference point for judging the input subregion is located in convergence region, and the convergence region is based on central point
Positioned at the region that the x-axis of fish eye images place coordinate system and/or the reference input subregion of y-axis are determined；
If the reference point for judging the input subregion is located at outside the convergence region, by the input subregion in institute
The position of corresponding reference input subregion in convergence region is stated, the position being defined as after the input subregion convergence, and it is right
Image of the input subregion in the convergence region in corresponding reference input subregion carries out correction process；
If the reference point for judging the input subregion is located in the convergence region, in the input subregion
Image carries out correction process.
Optionally, the reference input subregion is rectangle, and the convergence region is determined in accordance with the following steps：
In the reference input subregion along the effective coverage of the fish eye images boundary line and with the effective district
When the maximum side of the distance of the central point in domain is tangent with the effective coverage, the convergence region determined is maximum；And
In the reference input subregion along the effective coverage boundary line and with the central point of the effective coverage
Two end points on distance maximum side when being located on the boundary line of the effective coverage, the convergence region determined is minimum.
Optionally, if the shooting direction for shooting the fish-eye camera of the fish eye images is vertical line direction, the convergence
Region is circle, and the least radius of the convergence region isThe maximum radius of the convergence region is
Wherein, R is the radius of the effective coverage, and w is along the footpath of the effective coverage in the reference input subregion
To the length of side, h be in the reference input subregion perpendicular to the effective coverage radial direction the length of side.
Optionally, if the shooting direction for shooting the fish-eye camera of the fish eye images is horizontal direction, the convergence
Region is ellipse, and the minimum axial length of an axle of the convergence region isAnd the convergence region
The minimum axial length of another axle isThe greatest axis of one axle of the convergence region are a length ofAnd
The greatest axis of another axle of the convergence region are a length of
Wherein, R is the radius of the effective coverage, and w is along the footpath of the effective coverage in the reference input subregion
To the length of side, h be in the reference input subregion perpendicular to the effective coverage radial direction the length of side.
Based on any of the above-described embodiment, optionally, after receiving corrective instruction, the reference point of the input subregion is judged
Whether before being located in convergence region, methods described also includes：
Selection instruction is received, the selection instruction is used to indicate selected convergence region gear, each described convergence
Region gear one convergence region of correspondence；
According to the shooting direction of the fish-eye camera for shooting the fish eye images, the convergence region that this correction is used is determined
Type；
According to the type and the convergence region gear, the convergence region that this correction is used is determined.
Second aspect, there is provided a kind of apparatus for correcting of fish eye images, described device includes：
Determining module, for after corrective instruction is received, in fish eye images, according to indicated by the corrective instruction
The target area that needs are corrected, determines the position of the corresponding input subregion in the target area；
Judge module, for judging whether the reference point of the input subregion is located in convergence region, the region of convergence
Domain is that the reference input subregion of the x-axis and/or y-axis that are located at fish eye images place coordinate system based on central point is determined
Region；
Correction process module, if judging that the reference point of the input subregion is located at the receipts for the judge module
Hold back outside region, by the position of input subregion corresponding reference input subregion in the convergence region, be defined as institute
The position after input subregion convergence is stated, and to input subregion corresponding reference input sub-district in the convergence region
Image in domain carries out correction process；If the judge module judges that the reference point of the input subregion is located at the convergence
In region, correction process is carried out to the image in the input subregion.
Optionally, the reference input subregion is rectangle, and the determining module determines in accordance with the following steps the receipts
Hold back region：
In the reference input subregion along the effective coverage of the fish eye images boundary line and with the effective district
When the maximum side of the distance of the central point in domain is tangent with the effective coverage, the convergence region determined is maximum；And
In the reference input subregion along the effective coverage boundary line and with the central point of the effective coverage
Two end points on distance maximum side when being located on the boundary line of the effective coverage, the convergence region determined is minimum.
Optionally, if the shooting direction for shooting the fish-eye camera of the fish eye images is vertical line direction, the convergence
Region is circle, and the least radius of the convergence region isThe maximum radius of the convergence region is
Wherein, R is the radius of the effective coverage, and w is along the footpath of the effective coverage in the reference input subregion
To the length of side, h be in the reference input subregion perpendicular to the effective coverage radial direction the length of side.
Optionally, if the shooting direction for shooting the fish-eye camera of the fish eye images is horizontal direction, the convergence
Region is ellipse, and the minimum axial length of an axle of the convergence region isAnd the convergence region
The minimum axial length of another axle isThe greatest axis of one axle of the convergence region are a length ofAnd
The greatest axis of another axle of the convergence region are a length of
Wherein, R is the radius of the effective coverage, and w is along the footpath of the effective coverage in the reference input subregion
To the length of side, h be in the reference input subregion perpendicular to the effective coverage radial direction the length of side.
Based on any of the above-described embodiment, optionally, the determining module is additionally operable to：
Selection instruction is received, the selection instruction is used to indicate selected convergence region gear, each described convergence
Region one region of gear correspondence；
According to the shooting direction of the fish-eye camera for shooting the fish eye images, the convergence region that this correction is used is determined
Type；
According to the type and the convergence region gear, the convergence region that this correction is used is determined.
In method and apparatus provided in an embodiment of the present invention, before correction process, first judge indicated by corrective instruction
Whether the reference point of the input subregion that needs are corrected is located in convergence region；If so, then directly to the input sub-district
Image in domain carries out correction process；If it is not, then first by it is described input subregion reference point converge in the convergence region,
Will it is described input subregion corresponding reference input subregion in the convergence region position, be defined as it is described input son
Position after region convergence, then to the figure in the input subregion (i.e. the corresponding reference subregion of the input subregion) after convergence
As carrying out correction process.Due to the convergence region based on reference point be located at fish eye images place coordinate system x-axis and/or
The region that the reference input subregion of y-axis is determined such that it is able to effectively reduce the black surround region of the fish eye images after correction.This
Inventive embodiments set up the mathematical model of convergence region according to the imaging characteristicses of fish eye images, to reduce the fish-eye image after correcting
The black surround region of picture.
Description of the drawings
Fig. 1 is a kind of schematic flow sheet of the antidote of fish eye images provided in an embodiment of the present invention；
Fig. 2A is the schematic diagram of the input subregion in a kind of fish eye images provided in an embodiment of the present invention and effective coverage；
Fig. 2 B are a kind of schematic diagram of the track of the central point of the input subregion determined based on Fig. 2A；
Fig. 2 C are the schematic diagram of the track of the central point of another kind of input subregion determined based on Fig. 2A；
Fig. 3 A are the signal of the input subregion in another kind of fish eye images provided in an embodiment of the present invention and effective coverage
Figure；
Fig. 3 B are a kind of schematic diagram of the track of the central point of the input subregion determined based on Fig. 3 A；
Fig. 3 C are the schematic diagram of the track of the central point of another kind of input subregion determined based on Fig. 3 A；
Fig. 4 is a kind of schematic diagram of choice box provided in an embodiment of the present invention；
Fig. 5 is a kind of schematic diagram of the apparatus for correcting of fish eye images provided in an embodiment of the present invention.
Specific embodiment
To make purpose, technical scheme and the advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described.Obviously, described embodiment is
The a part of embodiment of the present invention, rather than the embodiment of whole.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
The embodiment of the present invention is described in further detail with reference to Figure of description.It should be appreciated that described herein
Embodiment be merely to illustrate and explain the present invention, be not intended to limit the present invention.
In embodiment shown in Fig. 1, there is provided a kind of antidote of fish eye images, methods described includes：
S11, receive after corrective instruction, in fish eye images, the needs according to indicated by the corrective instruction are rectified
Positive target area, determines the position of the corresponding input subregion in the target area.
Optionally, the corrective instruction can indicate the reference point of the input subregion for needing to be corrected.Wherein, refer to
Point can be that any point in convergence region or in convergence region is located at after the target area convergence.A kind of preferred realization side
In formula, the reference point is the central point of the target area.
Optionally, it is rectangle to be input into subregion.Certainly, the embodiment of the present invention does not limit the shape of input subregion, also may be used
To adopt other shapes, its processing procedure is similar to, and no longer illustrates one by one herein.
Wherein, if the shape of input subregion is optional, the shape of the input subregion used in this correcting process can
Be pre-configured with, or by user select after notify.
Optionally, used in this correcting process input subregion the length of side can be pre-configured with, or
Notify after being selected by user.
S12, judge that whether the reference point of the input subregion is located in convergence region, the convergence region is to be based on
The region that the reference input subregion of x-axis and/or y-axis that heart point is located at fish eye images place coordinate system is determined.
Wherein, the central point of the convergence region is located at same position with the central point of the effective coverage of the fish eye images
Put.
Optionally, the reference subregion is rectangle, and the size of the reference subregion and the input subregion
Size is identical.The regional extent is predetermined, and the track of the central point of the reference subregion is the region of convergence
Domain.The input subregion that arbitrary reference point is located at outside the convergence region corresponds to one and refers to subregion, the input subregion
Position after convergence is the position of corresponding reference subregion.
Optionally, the effective coverage of the fish eye images is circle.Certainly, the embodiment of the present invention does not limit fish eye images
The shape of effective coverage, it would however also be possible to employ other shapes, its processing procedure is similar to, and no longer illustrates one by one herein.If described
The effective coverage of fish eye images is non-circular.
If S13, judge it is described input subregion central point be located at the convergence region outside, by the input subregion
The position of corresponding reference input subregion in the convergence region, the position being defined as after the input subregion convergence,
And the image to the input subregion in the convergence region in corresponding reference input subregion carries out correction process；
Specifically, when being restrained, can directly by input subregion corresponding ginseng in the convergence region
The input subregion after input subregion is examined as convergence, it is also possible to by the input subregion along the input subregion
Central point to the central point of the convergence region line direction, the movement input subregion, until move to stating input
The position of subregion corresponding reference input subregion in the convergence region.
Wherein, the reference point of the input subregion is located at outside the convergence region reference for referring to the input subregion
Point does not occur simultaneously with the convergence region, i.e., the reference point of described input subregion is located at beyond the border of the convergence region.
Optionally, the reference point of the input subregion after convergence is located in the convergence region and refers to the input after restraining
The reference point of subregion is the proper subclass of the convergence region, that is, the reference point of the input subregion after restraining is located at the convergence
On the border in region or within the border of the convergence region.
If S14, judge it is described input subregion reference point be located at the convergence region in, to the input subregion
Interior image carries out correction process.
Wherein, the reference point of the input subregion is located in the convergence region reference for referring to the input subregion
Point be the convergence region proper subclass, i.e., it is described input subregion reference point be located at the convergence region border on or
Within the border of the convergence region.
In the embodiment of the present invention, before correction process, first judge that the needs indicated by corrective instruction are corrected defeated
Whether the reference point for entering subregion is located in convergence region；If so, then directly to it is described input subregion in image rectify
Just process；If it is not, then first by it is described input subregion reference point converge in the convergence region, will the input sub-district
The position of domain corresponding reference input subregion in the convergence region, the position being defined as after the input subregion convergence
Put, then the image in the input subregion (i.e. the corresponding reference subregion of the input subregion) after convergence is carried out at correction
Reason.Due to the convergence region based on reference point be located at fish eye images place coordinate system x-axis and/or y-axis reference it is defeated
Enter the region that subregion is determined such that it is able to effectively reduce the black surround region of the fish eye images after correction.The embodiment of the present invention
According to the imaging characteristicses of fish eye images, the mathematical model of convergence region is set up, to reduce the black surround area of the fish eye images after correcting
Domain.
It should be noted that " interior " and " outward " in the embodiment of the present invention is comparatively, towards the effective coverage
Central point direction for interior, be outer away from the direction of the central point of the effective coverage.
In the embodiment of the present invention, the reference input subregion is rectangle, can in accordance with the following steps determine the receipts
Hold back region：
In the reference input subregion along the effective coverage boundary line and with the reference point of the effective coverage
The maximum side of distance it is tangent with the effective coverage when, the convergence region determined is maximum；And
It is described with reference to it is defeated in the reference input subregion along the effective coverage boundary line and with it is described effectively
When two end points on the maximum side of the distance of the reference point in region are located on the boundary line of the effective coverage, the convergence determined
Region is minimum.
In the embodiment of the present invention, based on the shooting direction of the fish-eye camera for shooting the fish eye images, set up different
Data model, specifically includes：
First, the shooting direction of fish-eye camera is the camera lens of vertical line direction, i.e. fish-eye camera using top dress or ground dress side
Formula, direction of visual lines when shooting direction is stood with people is vertical, and the fish eye images for photographing radially converge to having for fish eye images
The central point in region, the i.e. center of circle of original circle are imitated, now reference input subregion is directed to the effective coverage of the fish eye images
Radial direction, as shown in Figure 2 A.Border circular areas in figure are original circle, and multiple rectangular areas are reference input subregion.It can be seen that, should
Each convergence region under mode in the regional extent is circle.
Because the fish eye images for photographing radially converge to the central point of the effective coverage of fish eye images, therefore, will join
Examine input subregion to move along half radial direction central point direction of the effective coverage, it is possible to reduce the size in black surround region.Due to
Each convergence region in the regional extent is circle, therefore, it can be located at the reference input sub-district of x-axis based on central point
The convergence region that domain is determined, it is also possible to the convergence region that the reference input subregion for being located at y-axis based on central point is determined.Its
In, reference input subregion includes following two limiting cases：
Situation 1, by taking Fig. 2A as an example, when in reference input subregion along the effective coverage of the fish eye images boundary line and
When maximum side is tangent with the effective coverage with the distance of the central point of the effective coverage, the position of reference input subregion
Extreme position on the premise of not lose the visual field.
In this case, it may be determined that go out the value of the maximum radius of the convergence region, speciallyWherein, R is
The radius of the effective coverage, w be in the reference input subregion along the effective coverage radial direction the length of side, h is for described
In reference input subregion perpendicular to the effective coverage radial direction the length of side.
Illustrate, as shown in Figure 2 B, rectangle Q in figure1Q2Q3Q4For the position of the reference input subregion before movement,
Rectangle P1P2P3P4For the position after the reference input subregion movement.Because the equal radial direction of reference input subregion is referred both to
To the distance between the center of circle of original circle, the central point of each reference input subregion and center of circle of original circle, i.e. A points are to B points
Distance, the always half of w, then AB=w/2.Therefore, the track of the central point of reference input subregion is one and original circle
Concentric circle, as shown in dotted line in Fig. 2 B.The radius for defining original circle is R, i.e. R=OA.Reference input sub-district is calculated below
The equation of locus of the central point in domain.The radius of the track of the central point of reference input subregion is designated as r, then：
According to circular normal equation, obtain reference input subregion and be moved to rectangle P1P2P3P4When central point rail
Mark equation is：
It should be noted that the w in the embodiment of the present invention can be more than h, it is also possible to less than h, h can also be equal to, this
The size of w and h is not defined in bright embodiment.
Situation 2, reference input subregion position on the basis of the visual field is not lost, by the reference input subregion along described
The radial direction of the effective coverage of fish eye images continues to be moved to central point, until two summits on the outside of the reference input subregion
(along the boundary line and with the distance of the central point of the effective coverage most of the effective coverage in i.e. described reference input subregion
Two end points on big side) it is located on the edge of the effective coverage, in this manner it is possible to black surround is completely eliminated, now with reference to defeated
The position for entering subregion is extreme position when black surround is completely eliminated.
In this case, it may be determined that go out the value of the least radius of the convergence region, specially
Illustrate, as shown in Figure 2 C, rectangle Q1Q2Q3Q4 is the position of the reference input subregion before movement in figure,
Rectangle P1P2P3P4 is the position after the reference input subregion movement.The radius for defining original circle is R；2 points of OC of connection,
Then OCD forms a right angled triangle, wherein, OC=R, CD=h/2, then according to Pythagorean theorem, are obtained：
According to circular normal equation, the rail of central point when reference input subregion is moved to rectangle P1P2P3P4 is obtained
Mark equation is：
It should be noted that the shooting direction of fish-eye camera for vertical line direction include perpendicular to horizontal direction, with
And perpendicular to horizontal line and offset the direction in error allowed band, i.e., [90 ° of-△ θ, 90 ° of+△ θ].For example, 90 ° ± 5 °.
2nd, the shooting direction for shooting the fish-eye camera of the fish eye images is the mirror of horizontal direction, i.e. fish-eye camera
Head adopts wall mode, and direction of visual lines when shooting direction is stood with people is parallel, all objects in the fish eye images for photographing
For natural direction, now reference input subregion is directed to vertical direction, as shown in Figure 3A.Circle in figure is the fish-eye image
The effective coverage of picture, i.e. original circle, multiple rectangular areas are reference input subregion.
Reference input subregion includes following two limiting cases：
Situation A, by taking Fig. 3 A as an example, when in reference input subregion along the effective coverage of the fish eye images boundary line and
When maximum side is tangent with the effective coverage with the distance of the central point of the effective coverage, the position of reference input subregion
Extreme position on the premise of not lose the visual field.Because reference input subregion is directed to vertical direction, therefore in difference
The distance between the central point of the reference input sub-district on position and central point of the effective coverage may not be waited, under which
Each convergence region is ellipse.Therefore, it is based respectively on x-axis and y-axis of the central point positioned at fish eye images place coordinate system
Reference input subregion determine maximum convergence region and minimum convergence region.
Specifically, as shown in Figure 3 B, central point is located at the reference input subregion in x-axis tangent with the effective coverage
When, the distance between its central point and central point of effective coverage maximum, and the distance is the half of w；And central point position
When reference input subregion in y-axis is tangent with the effective coverage, the central point of its central point and the effective coverage it
Between distance it is minimum, and the distance is the half of h.Therefore, the track of the central point of reference input subregion is ellipse.
In this case, it may be determined that go out maximum convergence region, an axle (axle i.e. on x directions) of the maximum convergence region
Value beThe value of another axle (axle i.e. on y directions) isWherein, R is the half of the effective coverage
Footpath, w be in the reference input subregion along the effective coverage radial direction the length of side, h be the reference input subregion in
Perpendicular to the length of side of the radial direction of the effective coverage.
Illustrate, as shown in Figure 3 C, rectangle Q in figure1Q2Q3Q4For the position of the reference input subregion before movement,
Rectangle P1P2P3P4For the position after the reference input subregion movement；Rectangle M1M2M3M4For reference input before movement
The position in region, rectangle N1N2N3N4For the position after the reference input subregion movement.Reference input subregion is calculated below
It is moved to rectangle N1N2N3N4When central point equation of locus.Assume oval axial length both horizontally and vertically point
Not Wei 2a and 2b, then：
According to oval normal equation, the equation of locus for obtaining the central point of reference input subregion is：
It should be noted that in this case, if the w of reference input subregion is equal to h, the center of reference input subregion
The track of point is the circle concentric with the effective coverage of the fish eye images.Because circle is regarded as one kind spy of ellipse
Example, therefore, still can model according to ellipse.
Situation B, on the basis of the visual field is not lost, the reference input subregion is continued the effective district to the fish eye images
Domain is moved, and two summits on the outside of the reference input subregion are (along the effective district in i.e. described reference input subregion
The boundary line in domain and two end points on the side maximum with the distance of the central point of the effective coverage) it is located at the fish eye images
On the edge of effective coverage, in this manner it is possible to black surround is completely eliminated, now the position of reference input subregion is black to be completely eliminated
Extreme position during side.
In this case, it may be determined that go out minimum convergence region, an axle of the minimum convergence region is (i.e. on x-axis direction
Axle) value beAnd the value of another axle (axle i.e. on y-axis direction) is
Illustrate, as shown in Figure 3 B, rectangle Q in figure1Q2Q3Q4For the position of the reference input subregion before movement,
Rectangle P1P2P3P4For the position after the reference input subregion movement；Rectangle M1M2M3M4For reference input before movement
The position in region, rectangle N1N2N3N4For the position after the reference input subregion movement.Reference input subregion is calculated below
It is moved to rectangle N1N2N3N4When central point equation of locus.Assume oval axial length both horizontally and vertically point
Not Wei 2a and 2b, then connect 2 points of OG, then OEG formed a right angled triangle, wherein, OG=R, EG=h/2, then according to hook stock
Theorem, can obtain
In the same manner,
According to oval normal equation, the equation of locus for obtaining the central point of reference input subregion is：
It should be noted that the shooting direction of fish-eye camera is horizontal direction includes that horizontal line direction and horizontal line are inclined
The direction of set angle is moved, i.e., [180 ° of-△ θ, 180 ° of+△ θ].For example, 180 ° ± 5 °.
Based on any of the above-described embodiment, in a kind of possible embodiment, after receiving corrective instruction, the input is judged
Before whether the reference point of subregion is located in convergence region, methods described also includes：
Selection instruction is received, the selection instruction is used to indicate selected convergence region gear, each described convergence
Region gear one convergence region of correspondence；
According to the shooting direction of the fish-eye camera for shooting the fish eye images, the convergence region that this correction is used is determined
Type；
According to the type and the convergence region gear, the convergence region that this correction is used is determined.
In which, be pre-configured with multiple convergence region gears for user select, so as to user can absolute visual field with
Flexibly select between minimum black surround, to select required convergence region gear such that it is able to according to user's request to being input into sub-district
Domain is restrained, to meet the different demands of different user, so as to improve Consumer's Experience.For example, it is possible to provide choosing as shown in Figure 4
Item frame, for user's selection.
In alternatively possible embodiment, the convergence region that this correction is used is determined as follows：
According to the shooting direction of the fish-eye camera for shooting the fish eye images, the convergence region that this correction is used is determined
Type；
According to the type of convergence region, the corresponding acquiescence convergence region of the type is determined, and by the acquiescence region of convergence
Domain, is defined as the convergence region that this correction is used.
In which, each type configures the convergence region of an acquiescence.
Said method handling process can realize that the software program can be stored in storage medium with software program, when
When the software program of storage is called, said method step is performed.
It is described based on same inventive concept, in the embodiment shown in Fig. 5, there is provided a kind of apparatus for correcting of fish eye images
Device includes：
Determining module 51, for after corrective instruction is received, in fish eye images, according to indicated by the corrective instruction
The target area corrected of needs, determine the position of the corresponding input subregion in the target area；
Judge module 52, for judging whether the reference point of the input subregion is located in convergence region, the convergence
Region is that the reference input subregion of the x-axis and/or y-axis that are located at fish eye images place coordinate system based on central point is determined
Region；
Correction process module 53, if it is described to judge that the reference point of the input subregion is located at for the judge module
Outside convergence region, the position of input subregion corresponding reference input subregion in the convergence region is defined as
Position after the input subregion convergence, and it is sub to input subregion corresponding reference input in the convergence region
Image in region carries out correction process；If the judge module judges that the reference point of the input subregion is located at the receipts
Hold back in region, correction process is carried out to the image in the input subregion.
In a kind of possible embodiment, the reference input subregion be rectangle, the determining module be additionally operable to according to
Following steps determine the convergence region：
In the reference input subregion along the effective coverage of the fish eye images boundary line and with the effective district
When the maximum side of the distance of the central point in domain is tangent with the effective coverage, the convergence region determined is maximum；And
In the reference input subregion along the effective coverage boundary line and with the central point of the effective coverage
Two end points on distance maximum side when being located on the boundary line of the effective coverage, the convergence region determined is minimum.
In a kind of possible embodiment, if the shooting direction for shooting the fish-eye camera of the fish eye images is vertical line side
To then the convergence region is circle, and the least radius of the convergence region isThe convergence region
Maximum radius be
Wherein, R is the radius of the effective coverage, and w is along the footpath of the effective coverage in the reference input subregion
To the length of side, h be in the reference input subregion perpendicular to the effective coverage radial direction the length of side.
In a kind of possible embodiment, if the shooting direction for shooting the fish-eye camera of the fish eye images is level side
To then the convergence region is ellipse, and the minimum axial length of an axle of the convergence region isAnd
The minimum axial length of another axle of the convergence region isThe greatest axis of one axle of the convergence region
It is a length ofAnd the greatest axis of another axle of the convergence region are a length of
Wherein, R is the radius of the effective coverage, and w is along the footpath of the effective coverage in the reference input subregion
To the length of side, h be in the reference input subregion perpendicular to the effective coverage radial direction the length of side.
Based on any of the above-described embodiment, in a kind of possible embodiment, the determining module is additionally operable to：
Selection instruction is received, the selection instruction is used to indicate selected convergence region gear, each described convergence
Region gear one convergence region of correspondence；
According to the shooting direction of the fish-eye camera for shooting the fish eye images, the convergence region that this correction is used is determined
Type；
According to the type and the convergence region gear, the convergence region that this correction is used is determined.
In alternatively possible embodiment, the determining module is additionally operable to：
According to the shooting direction of the fish-eye camera for shooting the fish eye images, the convergence region that this correction is used is determined
Type；
According to the type of convergence region, the corresponding acquiescence convergence region of the type is determined, and by the acquiescence region of convergence
Domain, is defined as the convergence region that this correction is used.
In the present embodiment, determining module 51, judge module 52 and correction process module 53 are in the form of functional module
To present.Here " module " can refer to ASIC (application-specific integrated
Circuit, ASIC), circuit performs the processor and memorizer of one or more softwares or firmware program, integrated logic circuit,
And/or other can provide the device of above-mentioned functions.In a simple embodiment, those skilled in the art is contemplated that
Determining module 51 can be realized by the processor of computer equipment, memorizer and input interface, judge module 52 and correction
Processing module 53 can be realized by the processor of computer equipment and memorizer.
Those skilled in the art are it should be appreciated that embodiments of the invention can be provided as method, system or computer program
Product.Therefore, the present invention can be using complete hardware embodiment, complete software embodiment or with reference to the reality in terms of software and hardware
Apply the form of example.And, the present invention can be adopted and wherein include the computer of computer usable program code at one or more
The computer program implemented in usable storage medium (including but not limited to disk memory, CD-ROM, optical memory etc.) is produced
The form of product.
The present invention is the flow process with reference to method according to embodiments of the present invention, equipment (system) and computer program
Figure and/or block diagram are describing.It should be understood that can be by computer program instructions flowchart and/or each stream in block diagram
The combination of journey and/or square frame and flow chart and/or the flow process in block diagram and/or square frame.These computer programs can be provided
The processor of general purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced for reality by the instruction of computer or the computing device of other programmable data processing devices
The device of the function of specifying in present one flow process of flow chart or one square frame of multiple flow processs and/or block diagram or multiple square frames.
These computer program instructions may be alternatively stored in can guide computer or other programmable data processing devices with spy
In determining the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory is produced to be included referring to
Make the manufacture of device, the command device realize in one flow process of flow chart or one square frame of multiple flow processs and/or block diagram or
The function of specifying in multiple square frames.
These computer program instructions also can be loaded in computer or other programmable data processing devices so that in meter
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented process, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow process of flow chart or multiple flow processs and/or block diagram one
The step of function of specifying in individual square frame or multiple square frames.
, but those skilled in the art once know basic creation although preferred embodiments of the present invention have been described
Property concept, then can make other change and modification to these embodiments.So, claims are intended to be construed to include excellent
Select embodiment and fall into having altered and changing for the scope of the invention.
Obviously, those skilled in the art can carry out the essence of various changes and modification without deviating from the present invention to the present invention
God and scope.So, if these modifications of the present invention and modification belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising these changes and modification.
Claims (10)
1. a kind of antidote of fish eye images, it is characterised in that methods described includes：
After receiving corrective instruction, in fish eye images, the target that the needs according to indicated by the corrective instruction are corrected
Region, determines the position of the corresponding input subregion in the target area；
Whether the reference point for judging the input subregion is located in convergence region, and the convergence region is located at based on central point
The region that the x-axis of fish eye images place coordinate system and/or the reference input subregion of y-axis are determined；
If the reference point for judging the input subregion is located at outside the convergence region, by the input subregion in the receipts
The position of corresponding reference input subregion on region is held back, the position being defined as after the input subregion convergence, and to described
Image of the input subregion in the convergence region in corresponding reference input subregion carries out correction process；
If the reference point for judging the input subregion is located in the convergence region, to the image in the input subregion
Carry out correction process.
2. method according to claim 1, it is characterised in that the reference input subregion is rectangle, according to following step
Suddenly the convergence region is determined：
In the reference input subregion along the effective coverage of the fish eye images boundary line and with the effective coverage
When the maximum side of the distance of central point is tangent with the effective coverage, the convergence region determined is maximum；And
In the reference input subregion along the effective coverage boundary line and with the central point of the effective coverage away from
When two end points from maximum side are located on the boundary line of the effective coverage, the convergence region determined is minimum.
3. method according to claim 2, it is characterised in that if shooting the shooting of the fish-eye camera of the fish eye images
Direction is vertical line direction, then the convergence region is circle, and the least radius of the convergence region is
The maximum radius of the convergence region is
Wherein, R is the radius of the effective coverage, and w is along the radial direction of the effective coverage in the reference input subregion
The length of side, h be in the reference input subregion perpendicular to the effective coverage radial direction the length of side.
4. method according to claim 2, it is characterised in that if shooting the shooting of the fish-eye camera of the fish eye images
Direction is horizontal direction, then the convergence region is ellipse, and the minimum axial length of an axle of the convergence region isAnd the minimum axial length of another axle of the convergence region isThe region of convergence
The greatest axis of one axle in domain are a length ofAnd the greatest axis of another axle of the convergence region are a length of
Wherein, R is the radius of the effective coverage, and w is along the radial direction of the effective coverage in the reference input subregion
The length of side, h be in the reference input subregion perpendicular to the effective coverage radial direction the length of side.
5. the method according to any one of Claims 1 to 4, it is characterised in that after receiving corrective instruction, judge described defeated
Enter subregion reference point whether be located in convergence region before, methods described also includes：
Selection instruction is received, the selection instruction is used to indicate selected convergence region gear, each described convergence region
Gear one convergence region of correspondence；
According to the shooting direction of the fish-eye camera for shooting the fish eye images, the class of the convergence region that this correction is used is determined
Type；
According to the type and the convergence region gear, the convergence region that this correction is used is determined.
6. a kind of apparatus for correcting of fish eye images, it is characterised in that described device includes：
Determining module, the needs for after corrective instruction is received, in fish eye images, according to indicated by the corrective instruction
The target area corrected, determines the position of the corresponding input subregion in the target area；
Judge module, for judging whether the reference point of the input subregion is located in convergence region, the convergence region is
The area that the reference input subregion of the x-axis and/or y-axis that are located at fish eye images place coordinate system based on central point is determined
Domain；
Correction process module, if judging that the reference point of the input subregion is located at the region of convergence for the judge module
It is overseas, the position of input subregion corresponding reference input subregion in the convergence region is defined as described defeated
Enter the position after subregion convergence, and to the input subregion in the convergence region in corresponding reference input subregion
Image carry out correction process；If the judge module judges that the reference point of the input subregion is located at the convergence region
It is interior, correction process is carried out to the image in the input subregion.
7. device according to claim 6, it is characterised in that the reference input subregion is rectangle, the determination mould
Block determines in accordance with the following steps the convergence region：
In the reference input subregion along the effective coverage of the fish eye images boundary line and with the effective coverage
When the maximum side of the distance of central point is tangent with the effective coverage, the convergence region determined is maximum；And
In the reference input subregion along the effective coverage boundary line and with the central point of the effective coverage away from
When two end points from maximum side are located on the boundary line of the effective coverage, the convergence region determined is minimum.
8. device according to claim 7, it is characterised in that if shooting the shooting of the fish-eye camera of the fish eye images
Direction is vertical line direction, then the convergence region is circle, and the least radius of the convergence region is
The maximum radius of the convergence region is
Wherein, R is the radius of the effective coverage, and w is along the radial direction of the effective coverage in the reference input subregion
The length of side, h be in the reference input subregion perpendicular to the effective coverage radial direction the length of side.
9. device according to claim 7, it is characterised in that if shooting the shooting of the fish-eye camera of the fish eye images
Direction is horizontal direction, then the convergence region is ellipse, and the minimum axial length of an axle of the convergence region isAnd the minimum axial length of another axle of the convergence region isThe region of convergence
The greatest axis of one axle in domain are a length ofAnd the greatest axis of another axle of the convergence region are a length of
Wherein, R is the radius of the effective coverage, and w is along the radial direction of the effective coverage in the reference input subregion
The length of side, h be in the reference input subregion perpendicular to the effective coverage radial direction the length of side.
10. the device according to any one of claim 6～9, it is characterised in that the determining module is additionally operable to：
Selection instruction is received, the selection instruction is used to indicate selected convergence region gear, each described convergence region
One region of gear correspondence；
According to the shooting direction of the fish-eye camera for shooting the fish eye images, the class of the convergence region that this correction is used is determined
Type；
According to the type and the convergence region gear, the convergence region that this correction is used is determined.
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