CN108198222A - A kind of wide-angle lens calibration and image correction method - Google Patents
A kind of wide-angle lens calibration and image correction method Download PDFInfo
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Abstract
The present invention discloses a kind of wide-angle lens calibration and image correction method, includes the following steps：Prepare the chessboard table images of one 4 × 4 and obtain spherical surface image as calibrating template, and through wide-angle lens shooting calibrating template, RGB conversion YUV operations are carried out to spherical surface image, gray level image is obtained, handles gray level image, obtain the image for including 9 boundary line angle points；Spherical radius is calculated by ellipse formula by the use of angle point information and is used as compensation coefficient, compensation coefficient is reused and the spherical surface image obtained during camera lens use is corrected.This method calculates simplicity, by embedded device direct solution calibrating parameters and can resolve correcting image, meet the needs of handling in real time.
Description
Technical field
The present invention relates to digital image processing techniques field more particularly to a kind of calibration of wide-angle lens and image flame detection sides
Method.
Background technology
The distortion correction mode for being currently known wide-angle lens is to build experimental provision mostly, and chessboard is acquired by camera
Table images, and image is transmitted in computer, lens distortion parameter is calculated by upper computer software, is distorted for flake circle
The reduction of image.Prior art is due to algorithm complexity, including polynomial solving, complex matrix operation, so can only be by upper
Machine software solves distortion parameter, it is impossible to the calculating of calibrating parameters is directly directly realized by by embedded device, it is impossible to meet real-time
The demand of processing.
Invention content
The present invention discloses a kind of wide-angle lens calibration and image correction method, which is characterized in that includes the following steps：
S1：Selecting the chessboard table images of a width n × n, the n is the even number more than 2 as calibrating template；
S2：The position of the wide-angle lens and the calibrating template is adjusted, shooting obtains spherical surface image；
S3：With formula (1), RGB conversion YUV operations are carried out to the spherical surface image, obtain gray level image Pg,
In formula (1), R, G, B represent the red, green, blue color value of pixel in the spherical surface image respectively, and Y represents the ash
The brightness value of pixel in image Pg is spent, U, V represent value of chromatism；
S4：The Pg is handled, includes the image HEp0 of a boundary line angle points of (n-1) × (n-1)；
S5：If the center angle point is located at the center of described image HEp0, remaining each angle point is symmetrical up and down, then suitable
Sequence carries out, otherwise return to step S2；
S6：Compensation coefficient R is calculated by ellipse formula (2),
In formula (2), the intermediate angle point of choosing the top line angle point of the HEp0 is upper central angle point, described in selection
The center angle point is set as coordinate original by angle point centered on the n-th/2 row angle point of HEp0 and the public angle point of the n-th/2 row angle point
Point, b are upper central the distance between the angle points and the center angle point, x1、y1It is the upper left angular coordinate value of the HEp0；
S7：The geometric center point of image of wide-angle lens shooting is set as coordinate origin, using the compensation coefficient R,
The image shot according to formula (3) to wide-angle lens carries out the image after correction operation is corrected；
In formula (3), u, v are the plane coordinate value of each pixel in the image that wide-angle lens is shot, and x, y are image after correction
Plane coordinate value, z according to formula (4) obtain,
In formula (4), H, L are horizontal pixel quantity, the vertical pixel quantity of wide-angle lens shooting image respectively.
Further, step S4 includes step in detail below：
S41：In the Pg pixel is taken to be denoted as Pgk, takes the surrounding pixel point of the Pgk and Pgk totally 9 points of Y
The matrix A of value composition 3 × 3 carries out the transverse direction and longitudinal direction brightness difference that convolution algorithm obtains the Pgk according to formula (5), formula (6)
Approximation GxAnd Gy,
Compare Gx、GyWith threshold value Vth1, if Gx<- Vth1 and Gy>Vth1, then output valve corresponding with pixel Pgk take
" 1 " is boundary point, and otherwise, output valve corresponding with pixel Pgk takes " 0 ", is non-boundary point, carries out traversal operation, wrapped
Containing from white lattice to the image E1 on black lattice boundary；
By comparing Gx、GyWith threshold value Vth1, if Gx>Vth1 and Gy<- Vth1, then output valve corresponding with pixel Pgk
" 1 " is taken, is boundary point, otherwise, output valve corresponding with pixel Pgk takes " 0 ", is non-boundary point, carries out traversal operation, obtains
Comprising from black lattice to the image E2 on white lattice boundary；
S42：Traversal AND operation is carried out to the E1 and E2 by complete " 1 " the matrix window of a 3x3, if AND operation
The value of any one pixel in rear hatch is " 1 ", then the value of the pixel currently traversed (i.e. the central pixel point of window)
" 1 " is taken, the value of the pixel otherwise currently traversed takes " 0 ", and boundary expanding image Ep1 and Ep2 are obtained after traversal；
S43：The Ep1 and Ep2 carries out with operation, includes the image HEp in a angle point regions of (n-1) × (n-1)；
S44：Coordinate is carried out to each angle point region of the HEp to average operation, includes (n-1) × (n-1)
The image HEp0 of a angle point.
Further, the calibrating template chooses 4 × 4 chessboard table images.
Further, Vth1 takes the average value of full lime angle value and completely black gray value.
Further, in S43, the specific decision process in angle point region is as follows：If seat of the pixel value for the pixel of " 1 "
Mark is smaller than threshold value Vth2, then belongs to same angle point region, otherwise, then belong to different angle point regions.
Further, in the traversal operation of S41 and S42, when the pixel for handling two row of image border or two row, with
The respective value of the pixel of the row or column of opposed outer edge is filled to the edge of 3 × 3 matrixes.
Wide-angle lens calibration provided by the invention and image correction method, calculate simply, can be straight by embedded device
The calculating for realizing calibrating parameters is connect, using spherical radius as compensation coefficient, correction calculation amount is very low, and effect is also satisfactory, can
To carry out hardware realization in FPGA image capturing systems, meets the needs of handling in real time.Due to not needing to build calibration in fact
It tests equipment and host computer calculates, so, the scaling method is at low cost, easy to operate.
Description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Some bright embodiments, for those of ordinary skill in the art, without having to pay creative labor, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the calculation flow chart of the present invention；
Fig. 2 is 4 × 4 gridiron pattern calibrating template image that the present invention uses；
Fig. 3 is that wide-angle lens shoots the spherical surface image obtained after calibrating template；
Fig. 4 is the image after spherical surface image correction process；
Fig. 5 is ball surface projection model figure；
Fig. 6 is compensation coefficient calculation flow chart of the present invention；
Fig. 7 is white lattice to black lattice boundary schematic diagram；
Fig. 8 is black lattice to white lattice boundary schematic diagram；
Fig. 9 is 9 angle point area schematics；
Figure 10 is 9 angle point schematic diagrames.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
All other embodiments obtained without creative efforts shall fall within the protection scope of the present invention.
Demarcated and image correction method as shown in Figure 1, the present invention disclose a kind of wide-angle lens, which is characterized in that including with
Lower step：
S1：Selecting the chessboard table images of a width n × n, the n is the even number more than 2 as calibrating template；
S2：The position of the wide-angle lens and the calibrating template is adjusted, shooting obtains spherical surface image；
S3：With formula (1), RGB conversion YUV operations are carried out to the spherical surface image, obtain gray level image Pg,
In formula (1), R, G, B represent the red, green, blue color value of pixel in the spherical surface image respectively, and Y represents the ash
The brightness value of pixel in image Pg is spent, U, V represent value of chromatism；
S4：The Pg is handled, includes the image HEp0 of a boundary line angle points of (n-1) × (n-1)；
S5：If the center angle point is located at the center of described image HEp0, remaining each angle point is symmetrical up and down, then suitable
Sequence carries out, otherwise return to step S2
S6：Compensation coefficient R is calculated by ellipse formula (2),
In formula (2), the intermediate angle point of choosing the top line angle point of the HEp0 is upper central angle point, described in selection
The center angle point is set as coordinate original by angle point centered on the n-th/2 row angle point of HEp0 and the public angle point of the n-th/2 row angle point
Point, b are upper central the distance between the angle points and the center angle point, x1、y1It is the upper left angular coordinate value of the HEp0；
S7：The geometric center point of image of wide-angle lens shooting is set as coordinate origin, using the compensation coefficient R,
The image shot according to formula (4) to wide-angle lens carries out image after correction operation is corrected；
When the n values 4, the calibrating template, take spherical surface image, correction after image respectively such as Fig. 2, Fig. 3, Fig. 4.
Specific derivation calculating process is as follows：
As shown in figure 5, the ball surface projection formula that correction coordinate uses：x2+y2+z2=R2, a point A (x, y, z) in space
Origin O is directed toward, this ray meets at A with ball surface/, and A/Xoy planes are projected in A//(u,v,o).Then A//(u, v, o) is exactly
The spherical projection coordinate of A (x, y, z).By spherical projection model can obtain space coordinates (x, y, z) and imaging coordinate system (u,
V, o) correspondence formula：
The formula (4) that image coordinate (x, y) after correction is converted into from spherical imaging coordinate (u, v) is derived by above formula.
In formula (4), u, v are the plane coordinate value of each pixel in the image that wide-angle lens is shot, and x, y are image after correction
Plane coordinate value, in order to make the picture size of spherical projection consistent with the picture size after correction, the z values in formula (4)
It is obtained according to formula (5),
In formula (5), H is image level pixel number, and L is image Vertical number of pixels.
Wide-angle lens calibration provided by the invention and image correction method, calculate simply, can be straight by embedded device
The calculating for realizing calibrating parameters is connect, using spherical radius as compensation coefficient, correction calculation amount is very low, and effect is also satisfactory, can
To carry out hardware realization in FPGA image capturing systems, meets the needs of handling in real time.Due to not needing to build calibration in fact
It tests equipment and host computer calculates, so, the scaling method is at low cost, easy to operate.
Further, as shown in fig. 6, step S4 includes step in detail below：
S41：In the Pg pixel is taken to be denoted as Pgk, takes the surrounding pixel point of the Pgk and Pgk totally 9 points of Y
The matrix A of value composition 3 × 3 carries out the transverse direction and longitudinal direction brightness difference that convolution algorithm obtains the Pgk according to formula (6), formula (7)
Approximation GxAnd Gy,
Compare Gx、GyWith threshold value Vth1, if Gx<- Vth1 and Gy>Vth1, then output valve corresponding with pixel Pgk take
" 1 " is boundary point, and otherwise, output valve corresponding with pixel Pgk takes " 0 ", is non-boundary point, carries out traversal operation, wrapped
Containing the image E1 (such as Fig. 7) from white lattice to black lattice boundary；
By comparing Gx、GyWith threshold value Vth1, if Gx>Vth1 and Gy<- Vth1, then output valve corresponding with pixel Pgk
" 1 " is taken, is boundary point, otherwise, output valve corresponding with pixel Pgk takes " 0 ", is non-boundary point, carries out traversal operation, obtains
Include the image E2 (such as Fig. 8) from black lattice to white lattice boundary；
S42：Traversal AND operation is carried out to the E1 and E2 by complete " 1 " the matrix window of a 3x3, if AND operation
The value of any one pixel in rear hatch is " 1 ", then the value of the pixel currently traversed (i.e. the central pixel point of window)
" 1 " is taken, the value of the pixel otherwise currently traversed takes " 0 ", and boundary expanding image Ep1 and Ep2 are obtained after traversal；
S43：The Ep1 and Ep2 carries out with operation, includes the image HEp in a angle point regions of (n-1) × (n-1)
(such as Fig. 9)；
S44：Coordinate is carried out to each angle point region of the HEp to average operation, includes (n-1) × (n-1)
The image HEp0 (such as Figure 10) of a angle point.
It obtains and includes from white lattice to the image E1 on black lattice boundary, comprising from black lattice to the image on white lattice boundary
E2, is expanded, intersecting acquisition angle point region successively, and last average computation obtains angle point so that result of calculation is stablized, and drops as possible
Low calculating error lays the foundation to obtain accurately compensation coefficient.
Further, the calibrating template chooses 4 × 4 chessboard table images.4 × 4 chessboard table images calculation amount is small, real
Required precision can be met by testing the compensation coefficient obtained after shooting calculates.
Further, Vth1 takes the average value of full lime angle value and completely black gray value.Be averaged can make result of calculation compared with
For stabilization.
Further, in S43, the specific decision process in angle point region is as follows：If seat of the pixel value for the pixel of " 1 "
Mark is smaller than threshold value Vth2, then belongs to same angle point region, otherwise, then belongs to different angle point regions, the usual values 20 of Vth2,
It can also be adjusted according to actual effect.
Further, in the traversal operation of S41 and S42, when the pixel for handling two row of image border or two row, with
The respective value of the pixel of the row or column of opposed outer edge is filled to the edge of 3 × 3 matrixes..Because angle point is the key that calculating is required
Information, and angle point does not take the mode of direct extension filling at the edge of image, therefore during processing image edge pixels point not
The accuracy calculated is influenced, and advantageously reduces calculation amount.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe is described in detail the present invention with reference to foregoing embodiments, it will be understood by those of ordinary skill in the art that：Its according to
Can so modify to the technical solution recorded in foregoing embodiments either to which part or all technical features into
Row equivalent replacement；And these modifications or replacement, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (6)
1. a kind of wide-angle lens calibration and image correction method, which is characterized in that include the following steps：
S1：Selecting the chessboard table images of a width n × n, the n is the even number more than 2 as calibrating template；
S2：The position of the wide-angle lens and the calibrating template is adjusted, shooting obtains spherical surface image；
S3：With formula (1), RGB conversion YUV operations are carried out to the spherical surface image, obtain gray level image Pg,
In formula (1), R, G, B represent the red, green, blue color value of pixel in the spherical surface image respectively, and Y represents the gray-scale map
As the brightness value of pixel in Pg, U, V represent value of chromatism；
S4：The Pg is handled, includes the image HEp0 of a boundary line angle points of (n-1) × (n-1)；
S5：If the center angle point is located at the center of described image HEp0, remaining each angle point is symmetrical up and down, then sequence into
It goes, otherwise return to step S2；
S6：Compensation coefficient R is calculated by ellipse formula (2),
In formula (2), the intermediate angle point for choosing the top line angle point of the HEp0 is upper central angle point, chooses the HEp0's
The center angle point is set as coordinate origin by angle point centered on the public angle point of the n-th/2 row angle point and the n-th/2 row angle point, and b is
Upper central the distance between the angle point and the center angle point, x1、y1It is the coordinate value of the upper left angle point of the HEp0；
S7：The geometric center point of image of wide-angle lens shooting is set as coordinate origin, using the compensation coefficient R, according to
The image that formula (3) shoots wide-angle lens carries out image after correction operation is corrected,
In formula (3), u, v are the plane coordinate value of each pixel in the image that wide-angle lens is shot, and x, y are the flat of image after correcting
Areal coordinate value, z are obtained according to formula (4),
In formula (4), H, L are horizontal pixel quantity, the vertical pixel quantity of wide-angle lens shooting image respectively.
2. a kind of wide-angle lens calibration according to claim 1 and image correction method, which is characterized in that step S4 includes
Step in detail below：
S41：In the Pg pixel is taken to be denoted as Pgk, takes the surrounding pixel point of the Pgk and Pgk totally 9 points of Y value group
Into 3 × 3 matrix A, the transverse direction and longitudinal direction brightness difference approximation that convolution algorithm obtains the Pgk is carried out according to formula (5), formula (6)
Value GxAnd Gy,
Compare Gx、GyWith threshold value Vth1, if Gx<- Vth1 and Gy>Vth1, then output valve corresponding with pixel Pgk take " 1 ", be side
Boundary's point, otherwise, output valve corresponding with pixel Pgk take " 0 ", are non-boundary point, carry out traversal operation, obtain and include from white
Lattice are to the image E1 on black lattice boundary；
By comparing Gx、GyWith threshold value Vth1, if Gx>Vth1 and Gy<- Vth1, then output valve corresponding with pixel Pgk take " 1 ",
For boundary point, otherwise, output valve corresponding with pixel Pgk takes " 0 ", is non-boundary point, carries out traversal operation, obtain include from
Black lattice are to the image E2 on white lattice boundary；
S42：Traversal AND operation is carried out to the E1 and E2 by complete " 1 " the matrix window of a 3x3, if AND operation rear window
The value of any one pixel in mouthful is " 1 ", then the value of the pixel currently traversed takes " 1 ", the pixel otherwise currently traversed
The value of point takes " 0 ", and boundary expanding image Ep1 and Ep2 are obtained after traversal；
S43：The Ep1 and Ep2 carries out with operation, includes the image HEp in a angle point regions of (n-1) × (n-1)；
S44：Coordinate is carried out to each angle point region of the HEp to average operation, obtains a angle points of (n-1) × (n-1)
Image HEp0.
3. a kind of wide-angle lens calibration according to claim 2 and image correction method, which is characterized in that the calibration mold
Plate chooses 4 × 4 chessboard table images.
4. a kind of wide-angle lens calibration according to claim 3 and image correction method, which is characterized in that Vth1 takes complete white
The average value of gray value and completely black gray value.
5. a kind of wide-angle lens calibration according to claim 4 and image correction method, which is characterized in that in S43, angle
The specific decision process in point region is as follows：If pixel value is smaller than threshold value Vth2 for the coordinate of the pixel of " 1 ", belong to same
Otherwise one angle point region, then belongs to different angle point regions.
6. a kind of wide-angle lens calibration according to claim 5 and image correction method, which is characterized in that in S41 and S42
Traversal operation in, when handle two row of image border or two row pixel when, with pair of the pixel of the row or column of opposed outer edge
Filling should be worth to the edge of 3 × 3 matrixes.
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| CN112734721A (en) * | 2021-01-08 | 2021-04-30 | 昆山丘钛微电子科技股份有限公司 | Optical axis deflection angle detection method, device, equipment and medium |
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| CN112734721A (en) * | 2021-01-08 | 2021-04-30 | 昆山丘钛微电子科技股份有限公司 | Optical axis deflection angle detection method, device, equipment and medium |
| CN112734721B (en) * | 2021-01-08 | 2024-01-16 | 昆山丘钛微电子科技股份有限公司 | Optical axis deflection angle detection method, device, equipment and medium |
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