CN110809781B - Image processing method, control terminal and storage medium - Google Patents
Image processing method, control terminal and storage medium Download PDFInfo
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
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Abstract
The embodiment of the invention discloses an image processing method, a control terminal and a storage medium, wherein the method comprises the following steps: determining correction parameters of the image acquisition device, wherein the correction parameters comprise camera parameters and/or distortion parameters; acquiring an image acquired by the image acquisition equipment; the correction parameters and the images are stored in an associated mode, and the image processing method provided by the embodiment of the invention can effectively improve the influence of lens distortion on shot images.
Description
Technical Field
The embodiment of the invention relates to the technical field of computers, in particular to an image processing method, a control terminal and a storage medium.
Background
Lens aberrations have a large impact on the quality of the photo and can cause large deviations in precision photo applications, causing errors in the construction of the map. Due to the inherent characteristics of the lens in the lens, the distortion of the lens can not be completely eliminated at present, and the correction effect of the distortion of the lens is limited.
Disclosure of Invention
The embodiment of the invention provides an image processing method, a control terminal and a storage medium, which can effectively improve the influence of lens distortion on a shot image.
A first aspect of an embodiment of the present invention provides an image processing method, including:
determining correction parameters of the image acquisition device, wherein the correction parameters comprise camera parameters and/or distortion parameters;
acquiring an image acquired by the image acquisition equipment;
and storing the correction parameters and the image in an associated mode.
A second aspect of the embodiment of the present invention provides a control terminal, including a memory, a processor, and an image acquisition device;
the memory is used for storing program codes;
the processor invokes the program code, which when executed, is operable to:
determining correction parameters of the image acquisition device, wherein the correction parameters comprise camera parameters and/or distortion parameters;
acquiring an image acquired by the image acquisition equipment;
and storing the correction parameters and the image in an associated mode.
A third aspect of an embodiment of the present invention provides a control terminal, which is characterized by including:
a body;
the power system is arranged on the machine body and used for providing power for the control terminal;
the image acquisition equipment is arranged on the machine body and is used for acquiring images;
and a processor as described in the second aspect.
In the embodiment of the invention, after the correction parameters of the image acquisition device, namely, the camera parameters and/or the distortion parameters are determined, the control terminal can acquire the image through the image acquisition device and store the correction parameters and the image in an associated mode, so that when the image is subjected to distortion correction later, the image can be subjected to distortion correction according to the correction parameters stored in an associated mode with the image, and therefore an accurate corrected image is obtained. Because the correction parameters and the images are stored in a correlated way, the separation of the correction parameters and the images can be effectively avoided. That is, even if an image is subjected to a process such as transfer or clipping, in the process of reconstructing the image by the control terminal or other external devices, the correction parameters stored in association with the image can be acquired at the same time as the image is acquired based on the association storage relationship, thereby realizing distortion correction of the image.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1a is a schematic illustration of an undistorted image provided by an embodiment of the invention;
FIG. 1b is a schematic illustration of radial distortion based on the image of FIG. 1a, according to an embodiment of the present invention;
FIG. 1c is a schematic illustration of tangential distortion based on the image of FIG. 1a, according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of an image processing method according to an embodiment of the present invention;
FIG. 3a is a schematic diagram of a calibration plate according to an embodiment of the present invention;
FIG. 3b is a schematic diagram of an image captured by a calibration plate of the calibration plate according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of an image processing method according to another embodiment of the present invention;
FIG. 5a is a schematic illustration of an image provided by an embodiment of the present invention before and after cropping;
FIG. 5b is a schematic diagram of an image with an image center as an origin of coordinates before and after clipping according to an embodiment of the present invention;
FIG. 5c is a schematic diagram of an image with the vertex of the upper left corner of the image as the origin of coordinates before and after clipping according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a control terminal according to an embodiment of the present invention.
Detailed Description
Due to manufacturing accuracy and assembly process variations, the lens introduces distortions in the manufacture of the image capturing device, resulting in distortions of the original image, which distortions are referred to in photogrammetry as lens distortions, wherein lens distortions include radial and tangential distortions. The radial distortion is the distortion distributed along the radial direction of the lens, mainly comprises barrel distortion and pincushion distortion, and tangential distortion is generated due to the fact that the lens is not parallel to an imaging plane or an image plane. If an image without lens distortion is shown in fig. 1a, an image with radial distortion based on the image can be seen in fig. 1b, and an image with tangential distortion can be seen in fig. 1c.
Currently, in order to eliminate the distortion of the lens, the lens group is optimally designed and high-quality optical glass is selected to manufacture the lens, but the method can cause the increase of the production cost and has limited improvement of the distortion of the lens.
The existing image distortion correction method is to correct distortion by setting a plurality of dot matrixes with equal distance according to the optical design distortion parameters built in a camera, correct the corresponding dot on the dot matrix by adopting the optical design distortion parameters, correct the pixels between the dot matrixes by interpolation, and have poor correction effect on the image distortion by adopting the correction mode. However, due to the difference between the lens manufacturing and assembling processes, even if the degree of distortion of the camera lenses in the same manufacturing lot or manufactured by the same manufacturer is not exactly the same, if the distortion correction is performed on the image by the same optical design distortion parameter, a better distortion correction effect cannot be obtained.
Based on the above, the embodiment of the invention provides an image processing method, which is used for carrying out distortion correction on shot images.
In the post-processing process, the camera parameters and distortion parameters in the XMP field in the photo are directly extracted, so that the pixel-by-pixel distortion correction can be performed on the photo. By adopting the image processing method provided by the embodiment of the invention, the distortion correction precision can be effectively improved, and the production cost can be reduced. By recording the camera parameters and/or distortion parameters in the image, there is no concern about the problem of correction parameters and image separation. That is, even if the image is subjected to a process such as transfer or cropping, the image can be directly subjected to distortion correction by acquiring correction parameters stored in association with the image.
Referring to fig. 2, a schematic flowchart of an image processing method according to an embodiment of the present invention is shown in fig. 2, where the method may include:
s201, determining correction parameters of the image acquisition apparatus.
The image capturing device may be a camera, a video camera or a device with a camera function, optionally, the image capturing device may be mounted on a control terminal, and the control terminal may be a movable platform, for example, an unmanned aerial vehicle, an automobile or the like configured with the image capturing device.
When the image acquisition equipment of the control terminal leaves the factory, the correction parameters of the image acquisition equipment can be determined through a preset algorithm, such as a Zhang calibration method. When the correction parameters of the image acquisition equipment are determined through a Zhang calibration method, the correction parameters can be determined through a preset calibration plate, the correction parameters comprise camera parameters and/or distortion parameters, the distortion parameters comprise at least one of radial distortion parameters and tangential distortion parameters, and the camera parameters comprise at least one of principal point coordinates and focal distances.
In one embodiment, the calibration plate is shown in FIG. 3a, comprising a checkerboard pattern. Further, the calibration plate captured image of the calibration plate may be acquired by an image acquisition device, and in one embodiment, the calibration plate captured image is obtained by the image acquisition device by performing multiple angle capturing based on the calibration plate, and the calibration plate captured image may include one or more images, where fig. 3b is an example of the calibration plate captured image, and it can be seen from fig. 3a and 3b that the calibration plate captured image is distorted with respect to the calibration plate.
In one embodiment, when a preset algorithm (such as a Zhang's calibration method) is adopted to determine the correction parameters of the image acquisition device according to the image shot by the calibration plate, the coordinates of the corner points in the image shot by the calibration plate can be extracted first, and the coordinate positions of the corner points before distortion are calculated according to a pinhole imaging principle so as to determine the correction parameters of the image acquisition device. Optionally, the number of the checkers contained in the long side and the wide side of the calibration plate is different, and the checkers are in an asymmetric form, so that the extraction of corner points is facilitated.
Specifically, assuming that the pixel point has a pre-distortion coordinate of (x, y), the post-distortion coordinate is (x 1 ，y 1 ) Thus, based on the unknown variable distortion parameters (including the radial distortion parameter k i And tangential distortion parameter p i ) A mathematical model may be built and solved to obtain the distortion parameters.
In one embodiment, according to the radial distortion parameter k i Pixel point pre-distortion coordinates (x, y) and post-distortion coordinates (x) 1 ，y 1 ) A radial distortion model may be established:
in a further embodiment, according to said tangential distortion parameter p i Pixel point pre-distortion coordinates (x, y) and post-distortion coordinates (x) 1 ，y 1 ) Can be used forEstablishing a tangential distortion model:
wherein r is the distance from the pixel point before distortion to the principal point of the image, and r is 2 ＝x 2 +y 2 。
Solving the radial distortion model and the tangential distortion model to determine the distortion parameters { k } 1 ，k 2 ，k 3 ，p 1 ，p 2 }，
In one embodiment, when determining the camera parameters of the image acquisition device according to the image captured by the calibration plate, the control terminal may determine the camera parameters of the image acquisition device according to the coordinate position of a certain point in the calibration plate in the geographic space and the coordinate position of the corresponding pixel point in the image captured by the calibration plate, that is, may determine the camera parameters of the image acquisition device according to the imaging constraint relationship of the image acquisition device.
Specifically, if X, Y, Z is the coordinate position of any point in the calibration plate in the image space coordinate system, f x 、f y Is the focal length in the unit of the pixel point, c x 、c y The pixel coordinate is the principal point coordinate of the image in pixel units, x, y and z are homogeneous coordinates in the pixel coordinate system, and when z=1, x and y are the pixel coordinates of the pixel point with the top left corner vertex of the image as the origin.
Based on the imaging constraint relationship of the image acquisition device, the following formula can be established:
the camera parameters f of the image acquisition device can be derived according to equation 1.3 x 、f y 、c x C y 。
After obtaining the camera parameters and/or distortion parameters included in the correction parameters, the correction parameters may be stored in a memory preset in the control terminal, where the preset memory may be, for example, a solid state memory Flash. The camera parameters obtained based on equation 1.3 take the top-left corner vertex of the image as the origin of coordinates. Optionally, before the correction parameters and the image are stored in an associated manner, the reference point of the camera parameters is converted into the image center of the image shot by the calibration plate.
S202, acquiring an image acquired by the image acquisition equipment.
Optionally, after the image acquired by the image acquisition device is acquired, the correction parameters may be acquired from a preset memory, and step S203 may be performed.
And S203, storing the correction parameters and the images in a correlated way.
After the control terminal acquires an image through the image acquisition device and acquires a correction parameter from a preset memory of the image acquisition device, when the correction parameter and the acquired image are stored in a correlated manner, the correction parameter can be written into original data of the image, for example, the correction parameter can be written into a preset field of the image, wherein the preset field can be an XMP field.
In writing the correction parameters to the XMP field of the image, writing may be performed in a format of "calculate_data, fx, fx, cx, cy, k1, k2, p1, p2, k 3". Wherein, calicate_data is the calibration date of the correction parameter, fx, fy is the focal length in pixel units, cx, cy is the principal point coordinates of the image in pixel units, k1, k2, k3 are radial distortion parameters, and p1, p2 are tangential distortion parameters. It will be appreciated that the person skilled in the art may set the form and order in which the correction parameters are stored in the preset fields, or add other relevant information, according to the actual requirements. Optionally, the other relevant information includes whether distortion correction has been performed, and by reading the information, image distortion caused by repeated distortion correction can be effectively avoided.
After the control terminal stores the correction parameters and the image in a correlated manner, the acquired image can be corrected based on the correction parameters, specifically, the coordinates of each pixel point of the image can be obtained first, and the image can be subjected to pixel-by-pixel distortion correction according to the coordinates of each pixel point and the correction parameters. In one embodiment, the correction may be performed by the control terminal or by an external device (e.g., a terminal or server having processing capabilities) that establishes a communication connection with the control terminal when the image is subjected to distortion correction.
In one embodiment, if the control terminal performs distortion correction on an image, the control terminal may automatically read correction parameters stored in association with the image, or may also receive manually input correction parameters of the image acquisition device, and after the control terminal determines the correction parameters, the control terminal may correct the image pixel by pixel based on the correction parameters, so as to obtain an accurate corrected image, where the corrected image is the image for improving the influence of lens distortion.
In still another embodiment, in order to relieve the data processing pressure of the control terminal, the image may also be distortion corrected by an external device. When the external device performs distortion correction, the control terminal may transmit the image and the correction parameter stored in association with the image to the external device (i.e., the receiving end) together, and then the external device performs distortion correction on the image. Optionally, when the external device performs distortion correction on the image, the image is corrected pixel by pixel according to the read correction parameters stored in association with the image, so that the distortion correction on the image can be realized, and the influence of lens distortion on the image is improved.
In one embodiment, based on the association storage relationship between the image and the correction parameter, in the process of transmitting the image to the external device by the control terminal, the control terminal transmits the correction parameter to the external device at the same time of transmitting the image, so that the external device corrects the image according to the correction parameter. The control terminal may transmit the image to the external device through a wireless transmission manner, or may transmit the image through a wired transmission manner, which is not limited in this embodiment.
When the external device corrects the image according to the image transmitted by the control terminal, the connection state between the external device and the control terminal may be a state of being connected or a state of being disconnected.
After the external equipment completes the distortion correction of the image, the image after the distortion correction can be transmitted back to the control terminal based on the communication connection between the external equipment and the control terminal, so that the control terminal can display the image after the distortion correction in a display interface; or when the control terminal does not have a use requirement (such as the aforementioned display requirement) for the distortion-corrected image, the distortion-corrected image may not be returned to the control terminal.
When the control terminal or the external device performs distortion correction on the image, since the image is a distorted image, the coordinates of any point of the image can be determined to be the coordinates after distortion, and the coordinates of each pixel point before the image is distorted can be determined in an iterative manner according to the correction parameters and formulas 1.1, 1.2 and 1.3, so that the pre-distortion image corresponding to the image can be determined according to the coordinates, and the distortion correction on the image can be realized.
In the embodiment of the invention, after the correction parameters of the image acquisition equipment, namely, the camera parameters and/or the distortion parameters are determined, the control terminal can acquire the image through the image acquisition equipment and store the correction parameters and the image in an associated mode, so that when the image is subjected to distortion correction in the follow-up mode, the image can be subjected to distortion correction according to the correction parameters stored in an associated mode with the image, and therefore an accurate corrected image is obtained, and as the correction parameters and the image are stored in an associated mode, separation of the correction parameters and the image can be effectively avoided. That is, even if an image is subjected to a process such as transfer or clipping, in the process of reconstructing the image by the control terminal or other external devices, correction parameters stored in association with the image can be acquired at the same time when the image is acquired based on the association storage relationship, thereby realizing distortion correction of the image.
Referring to fig. 4, a schematic flowchart of an image processing method according to an embodiment of the present invention is shown in fig. 4, where the method may include:
s401, acquiring a calibration plate shooting image obtained by shooting the calibration plate by the image acquisition equipment.
S402, determining correction parameters according to the image shot by the calibration plate.
In one embodiment, step S401 to step S402 are specific details of step S201 in the foregoing embodiment, where the calibration board may be as shown in fig. 3a, and correspondingly, a calibration board photographed image obtained by photographing the calibration board by the image capturing device may be as shown in fig. 3 b. Before the control terminal obtains a calibration plate shooting image obtained by shooting the calibration plate by the image acquisition equipment, the control terminal can also determine the calibration image corresponding to the calibration plate, so that the correction parameters can be determined according to the calibration image and the calibration plate shooting image. In another embodiment, the control terminal may further obtain a network lattice corresponding to the calibration board, so that correction parameters may be determined according to the network lattice and the image captured by the calibration board.
In one embodiment, the calibration image corresponding to the calibration plate may be generated according to a preset algorithm, or a network lattice corresponding to the calibration plate may be generated, where the generated calibration image or the network lattice is not distorted.
S403, converting the reference point of the camera parameter into an image center of the image shot by the calibration plate.
S404, storing the correction parameters into a preset memory.
S405, acquiring an image acquired by the image acquisition device.
S406, acquiring the correction parameters from the preset memory.
And S407, storing the correction parameters and the image in a correlated way.
In one embodiment, in step S403 to step S407, before the control terminal stores the correction parameters in a preset memory, the reference point of the camera parameters may be converted into the image center of the image captured by the calibration board, so that after the image is modified (e.g. cropped), distortion correction may still be performed on the image pixel by pixel according to the camera parameters, and further, the correction parameters may be stored in a preset memory, such as the Flash memory described above in advance.
When the image acquisition device is detected to acquire an image, the correction parameters can be acquired from a preset memory after the acquired image is acquired, and the correction parameters and the image are associated and stored, so that the correction parameters can be acquired together according to the association and storage relation when the image is acquired for correction, the separation of the correction parameters and the image is avoided, and the accuracy of distortion correction of the image is improved. When the image and the correction parameters are stored in association, the correction parameters may be written into the original data of the image, where the original data may be a preset field of the image, such as an XMP field, and then step S408 is performed.
And S408, carrying out distortion correction on the image according to the correction parameters.
Based on the association storage relation between the image and the correction parameters, when the control terminal acquires the image, the control terminal can also acquire the correction parameters stored in association, so that the correction of pixel points can be carried out on the image based on the correction parameters, and the distortion influence on the image caused by lens distortion is improved. When the image is subjected to distortion correction based on the correction parameters, the coordinates before the distortion of each pixel point in the image can be determined according to the coordinates of each pixel point in the image, the correction parameters and the above formulas 1.1, 1.2 and 1.3, so that the distortion correction of the image is realized.
In the embodiment of the invention, the control terminal can determine the correction parameters according to the calibration plate shooting image obtained by shooting the calibration plate, convert the reference points of the camera parameters included in the correction parameters into the image center of the calibration shooting image, and store the correction parameters into a preset memory. After the control terminal acquires the image acquired by the image acquisition device, the correction parameters can be acquired from the preset memory, and the correction parameters and the image are associated and stored, so that distortion correction is carried out on the image based on the correction parameters, and the influence of lens distortion on the image is improved.
In one embodiment, when determining the camera parameter according to the calibration plate captured image, the camera parameter calculated based on the above formula 1.3 is calculated by using the top left corner vertex of the calibration plate captured image as the origin of coordinates, and before storing the correction parameter and the image in association, the method further includes: and converting the reference point of the camera parameter into an image center of the image shot by the calibration plate. So that the correction parameters thus obtained can be adapted to cropping photographs of different proportions.
In one embodiment, as shown in fig. 5a, the original image is a region image 501 shown by a black box, the cropped image region 502 is marked by a gray region, and the black dot P is the principal point of the image. If the positions of the principal points in the original image 501 and the cropped image 502 are calculated by using the coordinate system shown in fig. 5b, it is known that the coordinates of the principal points in the original image 501 and the cropped image 502 are the same because the origin of coordinates of the coordinate system is the center of the image. Therefore, when the image is distortion-corrected based on the correction parameter, the coordinate position corresponding to the principal point does not change even if the image is cropped.
In another embodiment, if the coordinate system shown in fig. 5c, that is, the top left corner vertex in the image is used as the origin of the coordinate system, the positions of the principal point P in the original image 501 and the post-clipping image 502 are calculated, and it is known that the coordinates of the principal point P in the original image 501 and the post-clipping image 502 are different due to the change of the positions of the origin of the coordinate systems before and after clipping, so that if distortion correction is required for the post-clipping image, the coordinates of the principal point P in the post-clipping image can be calculated according to the coordinates of the principal point P in the original image and the clipping width and/or length, that is, the coordinates of the principal point P in the post-clipping image cannot be directly obtained according to the coordinates of the principal point P in the original image. The correction parameters described above can be applied to images cropped at different scales using the image center as a reference point (i.e., origin of coordinates). For the cropped image, the user can directly calculate the coordinates of the principal point of the image without looking up the change history of the image, and calculate the cropping width and/or length.
An embodiment of the present invention provides a control terminal, fig. 6 is a structural diagram of the control terminal provided by the embodiment of the present invention, and as shown in fig. 6, a control terminal 600 includes a memory 601, a processor 602, and an image acquisition device 603, where the memory 602 stores program codes, the processor 602 invokes the program codes in the memory, and when the program codes are executed, the processor 602 performs the following operations:
determining correction parameters of the image acquisition device 603, the correction parameters comprising camera parameters and/or distortion parameters;
acquiring an image acquired by the image acquisition device 603;
and storing the correction parameters and the image in an associated mode.
In one embodiment, the camera parameters include at least one of focal length and image principal point coordinates, and the distortion parameters include at least one of radial distortion parameters and tangential distortion parameters.
In one embodiment, the processor 602 is further configured to perform: and carrying out distortion correction on the image according to the correction parameters.
In one embodiment, the processor 602 performs the following operations when performing distortion correction on the image according to the correction parameters:
acquiring coordinates of each pixel point of the image;
and correcting the distortion of the image pixel by pixel according to the coordinates of each pixel point and the correction parameters.
In one embodiment, the processor 602, when determining the correction parameters of the image acquisition device 603, performs the following operations:
acquiring a calibration plate shooting image obtained by shooting the calibration plate by the image acquisition equipment 603;
and determining correction parameters according to the image shot by the calibration plate.
In one embodiment, the processor 602 performs the following operations when the calibration plate includes a checkerboard pattern, and the image capturing device 603 captures the calibration plate:
and shooting the calibration plate at a plurality of angles to obtain shooting images of the calibration plate at different angles.
In one embodiment, the processor 602 performs the following operations when determining correction parameters from the calibration plate captured image:
and processing the image shot by the calibration plate through a preset algorithm to obtain a correction parameter, wherein the preset algorithm comprises a Zhang's calibration method.
In one embodiment, the processor 602 further performs the following operations prior to storing the correction parameters and the image in association:
and converting the reference point of the camera parameter into an image center of the image shot by the calibration plate.
In one embodiment, the processor 602 further performs the following operations prior to acquiring the image acquired by the image acquisition device 603:
and storing the correction parameters into a preset memory.
In one embodiment, the processor 602 performs the following operations when storing the correction parameters and the image in association:
acquiring the correction parameters from the preset memory;
and storing the correction parameters and the image in an associated mode.
In one embodiment, the processor 602 performs the following operations when storing the correction parameters and the image in association:
writing the correction parameters into the original data of the image.
In one embodiment, the processor 602 performs the following operations when writing the correction parameters into the raw data of the image:
writing the correction parameters into preset fields of the image.
In one embodiment, the processor 602 transmits the correction parameters to the receiving end along with the image when the image is transmitted by wireless transmission.
The control terminal provided in this embodiment can execute the image processing method shown in fig. 2 provided in the foregoing embodiment, and the execution manner and the beneficial effects thereof are similar, and are not repeated here.
An embodiment of the present invention provides a control terminal, including:
a body;
the power system is arranged on the machine body and used for providing power for the control terminal;
the image acquisition equipment is arranged on the machine body and is used for acquiring images;
and a processor as shown in fig. 6.
In one embodiment, the control terminal further includes:
and the communication equipment is arranged on the machine body and used for carrying out information interaction with external equipment.
In one embodiment, the control terminal includes at least one of: unmanned plane, car.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (24)
1. An image processing method, comprising:
determining correction parameters of the image acquisition device, wherein the correction parameters comprise camera parameters and/or distortion parameters;
acquiring an image acquired by the image acquisition equipment;
writing the correction parameters into preset fields of original data of the image so as to store the correction parameters and the image in an associated manner;
when the image is transmitted in a wired transmission or wireless transmission mode, the correction parameters are transmitted to a receiving end along with the image, so that the receiving end corrects the image according to the correction parameters.
2. The method of claim 1, wherein the camera parameters include at least one of focal length and principal point coordinates, and the distortion parameters include at least one of radial distortion parameters and tangential distortion parameters.
3. The method according to claim 1, wherein the method further comprises:
and carrying out distortion correction on the image according to the correction parameters.
4. A method according to claim 3, wherein said distortion correcting of said image in accordance with said correction parameters comprises:
acquiring coordinates of each pixel point of the image;
and correcting the distortion of the image pixel by pixel according to the coordinates of each pixel point and the correction parameters.
5. The method of claim 1, wherein determining correction parameters of an image acquisition device comprises:
acquiring a calibration plate shooting image obtained by shooting the calibration plate by the image acquisition equipment;
and determining correction parameters according to the image shot by the calibration plate.
6. The method of claim 5, wherein the calibration plate comprises a checkerboard pattern, and wherein the image capture device captures the calibration plate comprises:
and shooting the calibration plate at a plurality of angles to obtain shooting images of the calibration plate at different angles.
7. The method of claim 5, wherein determining correction parameters from the calibration plate captured image comprises:
and processing the image shot by the calibration plate through a preset algorithm to obtain a correction parameter, wherein the preset algorithm comprises a Zhang's calibration method.
8. The method of claim 5, wherein prior to storing the correction parameters and the image in association, further comprising:
and converting the reference point of the camera parameter into an image center of the image shot by the calibration plate.
9. The method of claim 1, wherein prior to acquiring the image acquired by the image acquisition device, further comprising:
and storing the correction parameters into a preset memory.
10. The method of claim 9, wherein the storing the correction parameters in association with the image comprises:
acquiring the correction parameters from the preset memory;
and storing the correction parameters and the image in an associated mode.
11. The control terminal is characterized by comprising a memory, a processor and an image acquisition device;
the memory is used for storing program codes;
the processor invokes the program code, which when executed, is operable to:
determining correction parameters of the image acquisition equipment, wherein the correction parameters comprise camera parameters and/or distortion parameters;
acquiring an image acquired by the image acquisition equipment;
writing the correction parameters into preset fields of original data of the image so as to store the correction parameters and the image in an associated manner;
when the image is transmitted in a wired transmission or wireless transmission mode, the correction parameters are transmitted to a receiving end along with the image, so that the receiving end corrects the image according to the correction parameters.
12. The control terminal of claim 11, wherein the camera parameters include at least one of focal length and principal point coordinates, and the distortion parameters include at least one of radial distortion parameters and tangential distortion parameters.
13. The control terminal of claim 11, wherein the processor further performs the following:
and carrying out distortion correction on the image according to the correction parameters.
14. The control terminal according to claim 13, wherein the processor performs the following operations when performing distortion correction on the image according to the correction parameter:
acquiring coordinates of each pixel point of the image;
and correcting the distortion of the image pixel by pixel according to the coordinates of each pixel point and the correction parameters.
15. The control terminal of claim 11, wherein the processor, when determining correction parameters for the image acquisition device, performs the following operations:
acquiring a calibration plate shooting image obtained by shooting the calibration plate by the image acquisition equipment;
and determining correction parameters according to the image shot by the calibration plate.
16. The control terminal of claim 15, wherein the calibration plate comprises a checkerboard pattern, and the image capture device performs the following operations when the calibration plate is photographed:
the image acquisition equipment shoots the calibration plates at a plurality of angles to obtain the shooting images of the calibration plates at different angles.
17. The control terminal of claim 15, wherein the processor performs the following operations when determining correction parameters from the calibration plate captured image:
and processing the image shot by the calibration plate through a preset algorithm to obtain a correction parameter, wherein the preset algorithm comprises a Zhang's calibration method.
18. The control terminal of claim 15, wherein the processor further performs the following before storing the correction parameters and the image in association:
and converting the reference point of the camera parameter into an image center of the image shot by the calibration plate.
19. The control terminal of claim 11, wherein prior to acquiring the image acquired by the image acquisition device, the processor further performs the following:
and storing the correction parameters into a preset memory.
20. The control terminal of claim 19, wherein the processor, when storing the correction parameters and the image in association, performs the following operations:
acquiring the correction parameters from the preset memory;
and storing the correction parameters and the image in an associated mode.
21. A control terminal, characterized by comprising:
a body;
the power system is arranged on the machine body and used for providing power for the control terminal;
the image acquisition equipment is arranged on the machine body and is used for acquiring images;
and a processor as claimed in any one of claims 11 to 20.
22. The control terminal of claim 21, wherein the control terminal further comprises:
and the communication equipment is arranged on the machine body and used for carrying out information interaction with external equipment.
23. The control terminal of claim 21, wherein the control terminal comprises at least one of: unmanned plane, car.
24. A computer storage medium, characterized in that the computer storage medium has stored therein computer program instructions for performing the image processing method according to any of claims 1-10 when being executed by a processor.
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| PCT/CN2018/115630 WO2020097851A1 (en) | 2018-11-15 | 2018-11-15 | Image processing method, control terminal and storage medium |
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| CN113168677A (en) * | 2020-04-20 | 2021-07-23 | 深圳市大疆创新科技有限公司 | Image processing method, image processing apparatus, calibration board, and computer-readable storage medium |
| WO2021237574A1 (en) * | 2020-05-28 | 2021-12-02 | 深圳市大疆创新科技有限公司 | Camera parameter determination method and apparatus, and readable storage medium |
| CN113490966B (en) * | 2020-10-13 | 2024-01-12 | 深圳市大疆创新科技有限公司 | Calibration method, image processing method, device and storage medium for camera parameters |
| CN112598751A (en) * | 2020-12-23 | 2021-04-02 | Oppo（重庆）智能科技有限公司 | Calibration method and device, terminal and storage medium |
| CN114765660B (en) * | 2020-12-30 | 2024-07-23 | 浙江舜宇智能光学技术有限公司 | Image calibration method for TOF camera module and FPGA chip |
| CN113129238B (en) * | 2021-04-29 | 2023-01-06 | 青岛海信移动通信技术股份有限公司 | Photographing terminal and image correction method |
| CN113870146B (en) * | 2021-10-15 | 2024-06-25 | 中国大恒(集团)有限公司北京图像视觉技术分公司 | Correction method for false color of color camera image edge |
| CN116309868A (en) * | 2023-03-02 | 2023-06-23 | 北京瑞控信科技股份有限公司 | Calibration method of fish eye imaging system |
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