CN201243348Y - Pick-up head and image conversion device - Google Patents
Pick-up head and image conversion device Download PDFInfo
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- CN201243348Y CN201243348Y CNU2008201165336U CN200820116533U CN201243348Y CN 201243348 Y CN201243348 Y CN 201243348Y CN U2008201165336 U CNU2008201165336 U CN U2008201165336U CN 200820116533 U CN200820116533 U CN 200820116533U CN 201243348 Y CN201243348 Y CN 201243348Y
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Abstract
The utility model discloses a camera and an image conversion device. The camera comprises a lens used for shooting video image information; the utility model also comprises an image collection module, an image rectification module and a rectification assignment module; wherein, the image collection module is connected with the lens and used for receiving image shot by the lens and analyzing the data information of the image; the image rectification module is connected with the image collection module and used for receiving the data information and calculating the conversion value of the image; the rectification assignment module is connected with the image rectification module and used for receiving the conversion value and processing rectification assignment towards the image and obtaining the rectified image. The image conversion device rectifies the distorted image to obtain and display the rectified image, so as to enable the surveillant to make correct judgment.
Description
Technical field
The utility model relates to image processing field, particularly a kind of camera and image conversion apparatus.
Background technology
Existing camera is generally used for images acquired, and image is done enhancing or just output of other processing.And the camera in the reversing automobile system adopts wide-angle lens usually, and image has bigger distortion, can not reflect the actual range of object, therefore is necessary fault image is revised conversion process, truly reflects the true form and the size of object.
Summary of the invention
One of the purpose of this utility model is for providing a kind of camera, and correcting image improves the accuracy of image, and the person makes correct judgement to make things convenient for the image monitoring.The utility model proposes a kind of camera, it comprises camera lens, also comprises: the image collection module, and it is connected with described camera lens, receives the image of camera lens picked-up, the data message of analysis image;
The image rectification module, it is connected with described image collection module, receives described data message, calculates the transforming numerical of described image;
Correct the assignment module, it is connected with the image rectification module, receives described transforming numerical image is corrected assignment, obtains correcting image.
Preferably, described camera also comprises:
Display module, it is connected with rectification assignment module, shows described correcting image.
Preferably, described image rectification module comprises:
Barrel-shaped correcting unit, its with the image collection module with correct the assignment module and be connected, receive described data message, calculate the geometrical relationship of barrel-shaped rectification, and described geometrical relationship is sent to rectification assignment module carries out barrel-shaped rectification assignment.
Preferably, described barrel-shaped correcting unit comprises:
Barrel-shaped coefficient is asked for assembly, and it is connected with the image collection module, receives described data message, calculates barrel-shaped compensation coefficient;
Barrel-shaped geometrical relationship is asked for assembly, and it is asked for assembly with barrel-shaped coefficient and is connected, and receives described barrel-shaped compensation coefficient, the geometrical relationship of the barrel-shaped rectification of computed image, and be sent to and correct the assignment module and carry out barrel-shaped rectification assignment.
Preferably, described image rectification module also comprises:
The trapezoidal correction unit, it is connected with rectification assignment module with barrel-shaped correcting unit, obtain the parameter of camera lens and the data message of barrel-shaped correcting image by barrel-shaped correcting unit, calculate the geometrical relationship of trapezoidal correction, and described geometrical relationship is sent to corrects the assignment module and carry out the trapezoidal correction assignment.
Preferably, described trapezoidal correction unit comprises:
The intercepting image component, it is connected with rectification assignment module, intercepts described barrel-shaped rectification back image, analyzes the data message of barrel-shaped correcting image;
Trapezoidal coefficient is asked for assembly, and it is connected with the intercepting image component with barrel-shaped correcting unit, receives the data message of lens parameters and described barrel-shaped correcting image, calculates the trapezoidal correction coefficient;
Trapezoidal geometrical relationship is asked for assembly, and it is asked for assembly with trapezoidal coefficient and is connected, according to described trapezoidal correction coefficient, and the geometrical relationship of computed image trapezoidal correction, and be sent to and correct the assignment module and carry out the trapezoidal correction assignment.
The utility model also proposes a kind of image conversion apparatus, and itself and external picture pick-up device are used in combination, and comprising:
The image collection module, it is connected with described external picture pick-up device, receives the image of this external picture pick-up device picked-up, the data message of analysis image;
The image rectification module, it is connected with described image collection module, receives described data message, the transforming numerical of computed image;
Correct the assignment module, it is connected with the image rectification module, receives described transforming numerical image is corrected assignment, obtains correcting image.
The utility model obtains the accurately image of reflection actual object by image is carried out barrel-shaped conversion and trapezoidal correction, makes things convenient for the observer to make correct judgement.
Description of drawings
Fig. 1 is the utility model first embodiment camera structure principle schematic;
Fig. 2 is the utility model first embodiment camera workflow schematic diagram;
Fig. 3 is the utility model second embodiment camera structure schematic diagram;
Fig. 4 is the utility model second embodiment camera workflow schematic diagram;
Fig. 5 is the utility model the 3rd embodiment image conversion apparatus structural representation;
Fig. 6 is the utility model the 4th embodiment image conversion apparatus structural representation.
The realization of the utility model purpose, functional characteristics and advantage will be in conjunction with the embodiments, are described further with reference to accompanying drawing.
Embodiment
The perspective projection geometrical model of camera is that three-dimensional coordinate is projected to a sphere (looking ball), and then with described image projecting to a plane that is projected to sphere, ideally, described plane symmetry is in optical axis center, and the described perspective projection geometrical model of ideal situation is equivalent to pinhole imaging system.Described pinhole imaging system can be approximately the pin-hole model imaging.As: three dimensions arbitrfary point P is the pinhole imaging system of O by the photocentre position, and the position P ' of promptly any 1 P on described plane is the intersection point (this relation is also named the center photography) on photocentre O and P line OP of ordering and plane.If described three dimensions point P coordinate be (c, d, e), described plane projection point P ' coordinate be (a b), then has following proportionate relationship formula:
a＝fc/e；
b＝fd/e； (1)
Form principle as can be known by described camera perspective projection, restore the original shape of fluoroscopy images or from the information of fluoroscopy images, obtain the actual position of calibration point (can be the arbitrfary point that the user chooses), should eliminate the perspective effect of fluoroscopy images.
In described perspective projection, one group of parallel lines will disappear to a certain point in infinite distant place jointly, and this point is called the vanishing point of described parallel lines.If these group parallel lines are parallel with certain basic coordinates axle, claim that then this vanishing point is main vanishing point.According to the number of vanishing point, perspective projection includes the one-point perspective projection, promptly has only a main vanishing point, and this moment, fluoroscopy images was parallel to a coordinate plane of projection objects, therefore is also referred to as parallel perspective.
The projection that the camera 3-D graphic show to adopt is generally the one-point perspective projection, because on one point in the perspective projection transformation, a coordinate plane in the coordinate system is got on the plane of projection, thereby can represent perspective projection transformation with a coordinate system.Camera of the present invention determines that at first the characteristic point of object on the fluoroscopy images is to coordinate, adopt known image transform equation, according to characteristic point coordinate Calculation is gone out undetermined coefficient in the equation, obtain the one-to-one relationship of the pixel of fluoroscopy images and correcting image, reach the effect of restoring the fluoroscopy images true form.
The utility model proposes a kind of camera,, obtain the accurately image of reflection actual object by barrel-shaped rectification and trapezoidal correction.
The utility model proposes first embodiment, a kind of camera is provided, fault image can be converted to the image of accurate reflection actual object.
See also Fig. 1, described camera comprises camera lens 10, the picked-up video image information; This camera also comprises:
See also Fig. 2, present embodiment camera workflow comprises step:
S10, image collection module 30 receives the image of camera lens 10 picked-ups, the data message of analysis image;
S11, image rectification module 31 receives described data message, calculates the transforming numerical of described image;
S12 corrects the described transforming numerical of assignment module 32 receptions image is corrected assignment, obtains correcting image.
As described in step S10, the camera lens 10 of camera described in the present embodiment is a wide-angle lens, and chooses some points and sample on the fault image that the plane and the wide-angle lens of the projection corresponding with wide-angle lens produced, and the point coordinates of obtaining this point calculates; This point of sampling is a sampled point; Sampled point in the described fault image is the fault image sampled point.Draw the data message of the fault image sampled point of described wide-angle lens by image collection module 30 reception fault images that described camera absorbed and analysis.Sampled point on the described described plane corresponding with wide-angle lens is the plane sampled point, can be obtained by the parameter of wide-angle lens.
As described in step S11, image rectification module 31 calculates the transforming numerical of correcting image, comprising the geometrical relationship of correcting image according to the data message of described fault image sampled point peace surface sample point.
As described in step S12, correct assignment module 32 according to described transforming numerical, described fault image is carried out assignment correct assignment, obtain correcting image.
At the described camera of present embodiment, if the fixed angle of placing can not be provided with described image rectification module 31, insert described rectification assignment module 32 and will calculate good geometrical relationship, correct assignment, obtain correcting image, reduce the data processing load of camera.
Present embodiment is obtained the data message of collected fault image sampled point by analysis, calculates the transforming numerical of fault image, utilizes this transforming numerical to obtain correcting image.
Based on described embodiment, second embodiment of the present utility model is proposed.See also Fig. 3, the present embodiment camera comprises camera lens 10, image collection module 30, image rectification module 31 and corrects assignment module 32, also comprises display module 33, shows the correcting image that described rectification assignment module 32 is obtained.
And described image rectification module 31 comprises: barrel-shaped correcting unit 310, it is connected with rectification assignment module 32 with image collection module 30, receive the data message of sampled point, calculate the geometrical relationship of barrel-shaped rectification, and the geometrical relationship of this barrel-shaped rectification is sent to corrects assignment module 32 and carry out barrel-shaped rectification assignment.
Described barrel-shaped correcting unit 310 comprises: barrel-shaped coefficient is asked for assembly 3100, and it is connected with image collection module 30, receives the data message of described sampled point, calculates barrel-shaped compensation coefficient.
Barrel-shaped geometrical relationship is asked for assembly 3101, and it is asked for assembly 3100 with barrel-shaped coefficient and is connected, and receives described barrel-shaped compensation coefficient, the geometrical relationship of the barrel-shaped rectification of computed image, and be sent to and correct the barrel-shaped rectification assignment that assignment module 32 is carried out fault image.
Described image rectification module 31 also comprises: trapezoidal correction unit 311, it is connected with rectification assignment module 32 with barrel-shaped correcting unit 310, obtain the parameter of camera lens 10 and through barrel-shaped rectification and by the data message of correcting the barrel-shaped correcting image that assignment module 32 obtains by barrel-shaped correcting unit 310, calculate the geometrical relationship of trapezoidal correction, and geometrical relationship that will described this barrel-shaped rectification is sent to rectification assignment module 32 and carries out the trapezoidal correction assignment.Wherein, described parameter comprises the apex coordinate of maximum magnitude image at least.
Described trapezoidal correction unit 311 comprises: intercepting image component 3110, it is connected with rectification assignment module 32, intercepts described barrel-shaped correcting image, analyzes the data message of this barrel-shaped correcting image.
Trapezoidal coefficient is asked for assembly 3111, and it is connected with intercepting image component 3110 with barrel-shaped correcting unit 310, receives the data message of camera lens 10 parameters and described barrel-shaped correcting image, calculates the trapezoidal correction coefficient.
Trapezoidal geometrical relationship is asked for assembly 3112, and it is asked for assembly 3111 with trapezoidal coefficient and is connected, according to described trapezoidal correction coefficient, and the geometrical relationship of computed image trapezoidal correction, and be sent to and correct assignment module 32 and carry out the trapezoidal correction assignment.
See also Fig. 4, present embodiment camera workflow comprises step:
S10, described image collection module 30 receives the fault image of camera lens 10 picked-ups, analyzes the data message of fault image;
S101, described barrel-shaped correcting unit 310 receives the data message of described fault image, calculates the geometrical relationship of barrel-shaped rectification;
S102, the geometrical relationship that described rectification assignment module 32 receives described barrel-shaped rectification obtains barrel-shaped correcting image;
S103, described trapezoidal correction unit 311 intercepts described barrel-shaped correcting image, analyzes the data message of this barrel-shaped correcting image;
S104, the parameter of camera lens 10 and the data message of described barrel-shaped correcting image are obtained by barrel-shaped correcting unit 310 in described trapezoidal correction unit 311, calculate the geometrical relationship of trapezoidal correction;
S105, the geometrical relationship that described rectification assignment module 32 receives described trapezoidal correction obtains the trapezoidal correction image;
S106, described display module 33 shows the trapezoidal correction image.
As described in step S10, described image collection module 30 receives the fault image of camera lens 10 picked-ups, analyzes the data message of fault image.The camera lens 10 of camera described in the present embodiment is a wide-angle lens, and camera lens 10 is provided with some sampled points, image collection module 30 receives the fault image that described camera absorbed, analysis draws the data message of the fault image sampled point peace surface sample point of described wide-angle lens, and is sent to described barrel-shaped correcting unit 310.This sampled point comprises the fault image summit at least.
As described in step S101, described barrel-shaped correcting unit 310 receives the data message of described sampled point, calculates barrel-shaped compensation coefficient, asks for the geometrical relationship of barrel-shaped rectification according to this coefficient.Ask barrel-shaped compensation coefficient method to be: barrel-shaped coefficient is asked for the data message of assembly 3100 according to fault image sampled point peace surface sample point, adopt monobasic high-order (present embodiment is 9 rank) equation to carry out match, obtain coefficient and be sent to barrel-shaped geometrical relationship and ask for assembly 3101.
Present embodiment can be found the solution according to the matrix R of formula (2) to barrel-shaped compensation coefficient.Described formula (2) is: M*R=b (2)
Can get M by M*R=b
T* M*R=M
T* b tries to achieve R=(M
T* M)
-1* M
T* b.
Wherein, M is a plane sampled point data matrix, M
TTransposition for Metzler matrix.Guarantee M
T* M is a square formation.B is a fault image sampled point data matrix then, and R is the matrix of barrel-shaped compensation coefficient.
Described matrix M and b can be respectively:
Wherein, raw[] be plane sampling number certificate, chraw[] be fault image sampling number certificate.
For obtaining better fitting effect, can also adjust exponent number match or described data are carried out piecewise fitting again.
Barrel-shaped coefficient is asked for the data message that assembly 3100 receives described fault image sampled point peace surface sample point earlier, tries to achieve the matrix R and the R of barrel-shaped compensation coefficient
-1The accuracy of described barrel-shaped compensation coefficient is how many decisions by sampling point.
Ask the method for the geometrical relationship of barrel-shaped rectification to be: barrel-shaped geometrical relationship is asked for assembly 3101 according to the obtained barrel-shaped compensation coefficient and the point coordinates of fault image, and described fault image is carried out the nonlinear fitting conversion, obtains the geometrical relationship of barrel-shaped rectification; Be point coordinates and described barrel-shaped compensation coefficient in the present embodiment, ask for the point coordinates of barrel-shaped correcting image, and be sent to described rectification assignment module 32 according to fault image.
The nonlinear fitting shift step is as follows in the present embodiment: place, one side straight line with described fault image is an X-axis, and its tie point that is connected with another side is the origin of coordinates, forms coordinate.
Present embodiment can be asked for the geometrical relationship of barrel-shaped rectification according to calculating formula (3).Described calculating formula (3) is:
(x′-newwidth/2)
2+(y′-newheigth/2)
2＝Fx[(i-width/2)
2+(j-heigth/2)
2] (3)
Can get by described calculating formula (2):
ang＝atan[(j-heigth/2)/(i-width/2)]；
x′＝newwidth/2±Fx[]*cos(ang)；
y′＝newheigth/2±Fx[]*sin(ang)；
Can ask the point coordinates of getting of barrel-shaped correcting image with this.
Wherein, (i j) is the fault image point coordinates; (x ', y ') be barrel-shaped correcting image point coordinates; Fx[] for obtaining the matrix R and the R of barrel-shaped compensation coefficient
-1High-order fit equation (being equivalent to fixed value); Ang is the line and the X-axis angulation of fault image point coordinates and initial point, can measurement obtain; Width and height are respectively the width and the height of fault image, can measurement obtain; Newwidth and newheight are respectively the width and the height of barrel-shaped correcting image, according to calculating.
The calculating of present embodiment point coordinates is example with the first quartile.Earlier according to the fault image apex coordinate: (0,0), (width, 0), (0, height), (width, height), utilize formula (1) to calculate the apex coordinate of barrel-shaped correcting image, try to achieve the width (newwidth) and the height (newheight) of barrel-shaped correcting image.
Then, from the initial point of fault image, be the value that unit increases i and j successively with the pixel, get that different (i, point coordinates j) utilize calculating formula (3) to calculate, and obtain the point coordinates of barrel-shaped each pixel of correcting image.The value of described i and j is respectively less than newwidth and newheight.The calculating of described point coordinates can with the form of each increase by one pixel, increase and carry out successively earlier from row, in like manner is listed as again.Make barrel-shaped correcting image corresponding one by one with the coordinate points between fault image (to reduce the ignore in the barrel-shaped correcting image).
As described in step S102, described rectification assignment module 32 receives the geometrical relationship of described barrel-shaped rectification, carries out barrel-shaped rectification assignment, obtains barrel-shaped correcting image.
As described in step S103, the described barrel-shaped correcting image of intercepting image component 3110 interceptings of described trapezoidal correction unit 311 is analyzed and is drawn the data message of this barrel-shaped correcting image, and is sent to described trapezoidal correction unit 311.This data message comprises the four limit length of sides of barrel-shaped correcting image at least.
As described in step S104, the parameter of camera lens 10 and the data message of described barrel-shaped correcting image are obtained by barrel-shaped correcting unit 310 in described trapezoidal correction unit 311, calculate the trapezoidal correction coefficient, ask for the geometrical relationship of trapezoidal correction according to this trapezoidal correction coefficient.
The method that the trapezoidal correction coefficient is asked in the present embodiment is: by the parameter of camera lens 10 and the data message of described barrel-shaped correcting image, calculate.The parameter of described camera lens 10 is meant four apex coordinates demarcating square in camera lens 10 imagings, can directly obtain by photographic images.Trapezoidal coefficient is asked for assembly 3111 and is carried out conversion according to the apex coordinate of described demarcation square and the length and width of described barrel-shaped correcting image, obtains the trapezoidal correction coefficient, and is sent to described trapezoidal geometrical relationship and asks for assembly 3112.
The length and width of described barrel-shaped correcting image is respectively width, height, the apex coordinate of described demarcation square (x1, y1), (x2, y2), (x3, y3), (x4 y4) can directly obtain by photographic images.At present embodiment, can before camera, put 4 control points as demarcating thing, form square and demarcate square, described 4 control points are taken described demarcation square and are obtained described apex coordinate for demarcating the summit of square.
(x, (u v), asks for trapezoidal correction coefficient A, B, C, D, E, F, G, H, I y) to be transformed into trapezoidal correction picture point coordinate will to demarcate the square point according to image transform equation (4) then.Described image transform equation (4) is:
u＝(Ax+By+C)/(Gx+Hy+I)；
v＝(Dx+Ey+F)/(Gx+Hy+I)； (4)
Wherein, x, y are the point coordinates of demarcating square; U, v are the point coordinates of described demarcation square trapezoidal correction image; A, B, C, D, E, F, G, H, I are the trapezoidal correction coefficients; Establish I=1 at present embodiment, so formula becomes equation (5), this equation (5) is:
u＝(Ax+By+C)/(Gx+Hy+1)；
v＝(Dx+Ey+F)/(Gx+Hy+1)； (5)
With 4 apex coordinate substitution equations (5) of described demarcation square, obtain described coefficient A, B, C, D, E, F, G, H.Method for solving is as follows:
If f (x, y)=(Ax+By+C)/(Gx+Hy+1);
g(u，v)＝(Dx+Ey+F)/(Gx+Hy+1)；
U then
i=f (x
i, y
i);
v
i＝g(u
i，v
i)；
Simultaneous Equations:
[u
1]＝[x
1?y
1?1?0?0?0?-u
1×x
1 -u
1×y
1]×[A]
[u
2]＝[x
2?y
2?1?0?0?0?-u
2×x
2 -u
2×y
2] [B]
[u
3]＝[x
3?y
3?1?0?0?0?-u
3×x
3 -u
3×y
3] [C]
[u
4]＝[x
4?y
4?1?0?0?0?-u
4×x
4 -u
4×y
4] [D]
[v
1]＝[0?0?0?x
1?y
1?1?-u
1×x
1 -u
1×y
1] [E]
[v
2]＝[0?0?0?x
2?y
2?1?-u
2×x
2 -u
2×y
2] [F]
[v
3]＝[0?0?0?x
3?y
3?1?-u
3×x
3 -u
3×y
3] [G]
[v
4]＝[0?0?0?x
4?y
4?1?-u
4×x
4 -u
4×y
4] [H]
Order:
Wherein, X demarcates square point coordinates relational matrix; A is the trapezoidal correction coefficient matrix; U, V are transposes of a matrix.By on can get:
Owing to demarcate thing for demarcating square, so (u, value v) can directly be set at (u1, v1)=(0,0), (u2, v2)=(100,0), (u3, v3)=(0,100), (u4, v4)=(100,100), we have tried to achieve that (x y) converts (u, corresponding relation v) to this.Equally, we can obtain also that (u v) converts (x, corresponding relation y) to.
Ask the method for the geometrical relationship of trapezoidal correction to be: trapezoidal geometrical relationship is asked for assembly 3112 and according to obtained trapezoidal correction coefficient described barrel-shaped correcting image is carried out the nonlinear fitting conversion, obtains the geometrical relationship of trapezoidal correction; Be point coordinates and described trapezoidal correction coefficient in the present embodiment, ask for the point coordinates of trapezoidal correction image, and be sent to described rectification assignment module 32 according to barrel-shaped correcting image.
The recycling formula of present embodiment (4) is asked for the geometrical relationship of trapezoidal correction.Described formula (4) is:
u＝(Ax+By+C)/(Gx+Hy+I)；
v＝(Dx+Ey+F)/(Gx+Hy+I)； (4)
Wherein, x, y are the point coordinates of barrel-shaped correcting image; U, v are the point coordinates of trapezoidal correction image; A, B, C, D, E, F, G, H are the trapezoidal correction coefficients; Present embodiment is established I=1.Utilize the point coordinates and the corresponding relation of barrel-shaped rectification, ask for the corresponding relation of trapezoidal correction.
At first, according to the apex coordinate of barrel-shaped correcting image: (0,0), (width, 0), (0, height), (width height), obtains the width (newwidth) and the height (newheight) of the image of trapezoidal correction.
Then, from the initial point of barrel-shaped correcting image, be the value that unit increases x and y successively with the pixel, get that different (x, point coordinates y) utilize calculating in the formula (4), obtain the point coordinates of each pixel of image of trapezoidal correction.The value of described x and y is respectively less than newwidth and newheight.The calculating of described point coordinates can with the form of each increase by one pixel, increase and carry out successively earlier from row, in like manner is listed as again.Make the image of trapezoidal correction corresponding one by one (to reduce the ignore in the trapezoidal correction image) with the coordinate points between barrel-shaped correcting image.
As described in step S105, the point coordinates that the described trapezoidal geometrical relationship of described rectification assignment module 32 receptions is asked for assembly 3112 transmission carries out the trapezoidal correction assignment, produces the trapezoidal correction image.
As described in step S106, described display module 33 receives the trapezoidal correction image that described rectification assignment module 32 produces, and shows this trapezoidal correction image.
At the described camera of present embodiment, if the fixed angle of placing, described barrel-shaped coefficient can be set ask for that assembly 3100, barrel-shaped geometrical relationship are asked for assembly 3101, trapezoidal coefficient asks for assembly 3111 and trapezoidal geometrical relationship is asked for assembly 3112, insert described rectification assignment module 32 and will calculate good geometrical relationship, correct assignment, obtain correcting image, reduce the data processing load of camera.
The present embodiment camera is by utilizing barrel-shaped correcting unit 310 earlier and correcting 32 pairs of fault images of assignment module and carry out barrel-shaped rectification, utilize trapezoidal correction unit 311 and 32 pairs of fault images of rectification assignment module to carry out trapezoidal correction again, obtain trapezoidal correction image and demonstration, make things convenient for the observer to make correct judgement.
The utility model proposes the 3rd embodiment.See also Fig. 5, a kind of image conversion apparatus 40 is provided, itself and external picture pick-up device 50 are used in combination, and comprising:
At the described image conversion apparatus 40 of present embodiment, if the fixed angle of placing can not be provided with described image rectification module 31, insert described rectification assignment module 32 and will calculate good geometrical relationship, correct assignment, obtain correcting image, reduce the data processing load of camera.
Present embodiment is obtained the data message of collected fault image sampled point by analysis, calculates the transforming numerical of fault image, utilizes this transforming numerical to obtain correcting image.
Based on the foregoing description, the utility model proposes the 4th embodiment.See also Fig. 6, present embodiment image conversion apparatus 40 is connected with external picture pick-up device 50, it comprises image collection module 30, image rectification module 31 and corrects assignment module 32, also comprises display module 33, shows the correcting image that described rectification assignment module 32 is obtained.
And described image rectification module 31 comprises: barrel-shaped correcting unit 310, it is connected with rectification assignment module 32 with image collection module 30, receive the data message of described sampled point, calculate the geometrical relationship of barrel-shaped rectification, and described geometrical relationship is sent to corrects assignment module 32 and carry out barrel-shaped rectification assignment.
Described barrel-shaped correcting unit 310 comprises: barrel-shaped coefficient is asked for assembly 3100, and it is connected with image collection module 30, receives the data message of described sampled point, calculates barrel-shaped compensation coefficient.
Barrel-shaped geometrical relationship is asked for assembly 3101, and it is asked for assembly 3100 with barrel-shaped coefficient and is connected, and receives described barrel-shaped compensation coefficient, the geometrical relationship of the barrel-shaped rectification of computed image, and be sent to and correct the barrel-shaped rectification assignment that assignment module 32 is carried out fault image.
Described image rectification module 31 also comprises: trapezoidal correction unit 311, it is connected with rectification assignment module 32 with barrel-shaped correcting unit 310, obtain the parameter of external picture pick-up device 50 and through barrel-shaped rectification and by the data message of correcting assignment module 32 barrel-shaped correcting images by barrel-shaped correcting unit 310, calculate the geometrical relationship of trapezoidal correction, and described geometrical relationship is sent to rectification assignment module 32 carries out the trapezoidal correction assignment, obtain the trapezoidal correction image.
Described trapezoidal correction unit 311 comprises: intercepting image component 3110, it is connected with rectification assignment module 32, intercepts described barrel-shaped correcting image, analyzes the data message of this barrel-shaped correcting image.
Trapezoidal coefficient is asked for assembly 3111, and it is connected with intercepting image component 3110 with barrel-shaped correcting unit 310, receives the data message of external picture pick-up device 50 parameters and described barrel-shaped correcting image, calculates the trapezoidal correction coefficient.
Trapezoidal geometrical relationship is asked for assembly 3112, and it is asked for assembly 3111 with trapezoidal coefficient and is connected, according to described trapezoidal correction coefficient, and the geometrical relationship of computed image trapezoidal correction, and be sent to and correct assignment module 32 and carry out the trapezoidal correction assignment.
At present embodiment image conversion apparatus 40, if the fixed angle of placing, described barrel-shaped coefficient can be set ask for that assembly 3100, barrel-shaped geometrical relationship are asked for assembly 3101, trapezoidal coefficient asks for assembly 3111 and trapezoidal geometrical relationship is asked for assembly 3112, insert described rectification assignment module 32 and will calculate good geometrical relationship, correct assignment, obtain correcting image, reduce the data processing load of camera.
Present embodiment image conversion apparatus 40 is by utilizing barrel-shaped correcting unit 310 earlier and correcting 32 pairs of fault images of assignment module and carry out barrel-shaped rectification, utilize trapezoidal correction unit 311 and 32 pairs of fault images of rectification assignment module to carry out trapezoidal correction again, obtain trapezoidal correction image and demonstration, make things convenient for the observer to make correct judgement.
The above only is a preferred embodiment of the present utility model; be not so limit claim of the present utility model; every equivalent structure or equivalent flow process conversion that utilizes the utility model specification and accompanying drawing content to be done; or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present utility model.
Claims (11)
1. camera, it comprises camera lens, it is characterized in that, also comprises:
The image collection module, it is connected with described camera lens, receives the image of camera lens picked-up, the data message of analysis image;
The image rectification module, it is connected with described image collection module, receives described data message, calculates the transforming numerical of described image;
Correct the assignment module, it is connected with the image rectification module, receives described transforming numerical image is corrected assignment, obtains correcting image.
2. according to the described camera of claim 1, it is characterized in that described camera also comprises:
Display module, it is connected with rectification assignment module, shows described correcting image.
3. according to the described camera of claim 1, it is characterized in that described image rectification module comprises:
Barrel-shaped correcting unit, its with the image collection module with correct the assignment module and be connected, receive described data message, calculate the geometrical relationship of barrel-shaped rectification, and described geometrical relationship is sent to rectification assignment module carries out barrel-shaped rectification assignment.
4. according to the described camera of claim 3, it is characterized in that described barrel-shaped correcting unit comprises:
Barrel-shaped coefficient is asked for assembly, and it is connected with the image collection module, receives described data message, calculates barrel-shaped compensation coefficient;
Barrel-shaped geometrical relationship is asked for assembly, and it is asked for assembly with barrel-shaped coefficient and is connected, and receives described barrel-shaped compensation coefficient, the geometrical relationship of the barrel-shaped rectification of computed image, and be sent to and correct the assignment module and carry out barrel-shaped rectification assignment.
5. according to any described camera in claim 1 or 3 or 4, it is characterized in that described image rectification module also comprises:
The trapezoidal correction unit, it is connected with rectification assignment module with barrel-shaped correcting unit, obtain the parameter of camera lens and the data message of barrel-shaped correcting image by barrel-shaped correcting unit, calculate the geometrical relationship of trapezoidal correction, and described geometrical relationship is sent to corrects the assignment module and carry out the trapezoidal correction assignment.
6. according to camera described in the claim 5, it is characterized in that described trapezoidal correction unit comprises:
The intercepting image component, it is connected with rectification assignment module, intercepts described barrel-shaped rectification back image, analyzes the data message of barrel-shaped correcting image;
Trapezoidal coefficient is asked for assembly, and it is connected with the intercepting image component with barrel-shaped correcting unit, receives the data message of lens parameters and described barrel-shaped correcting image, calculates the trapezoidal correction coefficient;
Trapezoidal geometrical relationship is asked for assembly, and it is asked for assembly with trapezoidal coefficient and is connected, according to described trapezoidal correction coefficient, and the geometrical relationship of computed image trapezoidal correction, and be sent to and correct the assignment module and carry out the trapezoidal correction assignment.
7. image conversion apparatus, itself and external picture pick-up device are used in combination, and it is characterized in that, comprising:
The image collection module, it is connected with described external picture pick-up device, receives the image of this external picture pick-up device picked-up, the data message of analysis image;
The image rectification module, it is connected with described image collection module, receives described data message, the transforming numerical of computed image;
Correct the assignment module, it is connected with the image rectification module, receives described transforming numerical image is corrected assignment, obtains correcting image.
8. according to the described image conversion apparatus of claim 7, it is characterized in that described image rectification module comprises:
Barrel-shaped correcting unit, its with the image collection module with correct the assignment module and be connected, receive described data message, calculate the geometrical relationship of barrel-shaped rectification, and described geometrical relationship is sent to rectification assignment module carries out barrel-shaped rectification assignment.
9. described according to Claim 8 image conversion apparatus is characterized in that, described barrel-shaped correcting unit comprises:
Barrel-shaped coefficient is asked for assembly, and it is connected with the image collection module, receives described data message, calculates barrel-shaped compensation coefficient;
Barrel-shaped geometrical relationship is asked for assembly, and it is asked for assembly with barrel-shaped coefficient and is connected, and receives described barrel-shaped compensation coefficient, the geometrical relationship of the barrel-shaped rectification of computed image, and be sent to and correct the assignment module and carry out barrel-shaped rectification assignment.
10. any described image conversion apparatus according to Claim 8 or in 9 is characterized in that described image rectification module comprises:
The trapezoidal correction unit, it is connected with rectification assignment module with barrel-shaped correcting unit, obtain the parameter of external picture pick-up device and the data message of barrel-shaped correcting image by barrel-shaped correcting unit, calculate the geometrical relationship of trapezoidal correction, and described geometrical relationship is sent to corrects the assignment module and carry out the trapezoidal correction assignment.
11., it is characterized in that described trapezoidal correction unit comprises according to the described image conversion apparatus of claim 10:
The intercepting image component, it is connected with rectification assignment module, intercepts described barrel-shaped correcting image, analyzes the data message of barrel-shaped correcting image;
Trapezoidal coefficient is asked for assembly, and it is connected with the intercepting image component with barrel-shaped correcting unit, receives the parameter of external picture pick-up device and the data message of described barrel-shaped correcting image, calculates the trapezoidal correction coefficient;
Trapezoidal geometrical relationship is asked for assembly, and it is asked for assembly with trapezoidal coefficient and is connected, according to described trapezoidal correction coefficient, and the geometrical relationship of computed image trapezoidal correction, and be sent to and correct the assignment module and carry out the trapezoidal correction assignment.
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| Application Number | Priority Date | Filing Date | Title |
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| CNU2008201165336U CN201243348Y (en) | 2008-06-06 | 2008-06-06 | Pick-up head and image conversion device |
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| Application Number | Priority Date | Filing Date | Title |
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| CNU2008201165336U CN201243348Y (en) | 2008-06-06 | 2008-06-06 | Pick-up head and image conversion device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102830802A (en) * | 2012-08-28 | 2012-12-19 | 无锡海森诺科技有限公司 | Electronic filing method for blackboards and whiteboards |
| CN102867288A (en) * | 2011-07-07 | 2013-01-09 | 三星电子株式会社 | Depth image conversion apparatus and method |
| CN109089416A (en) * | 2015-12-22 | 2018-12-25 | 海沃机械（中国）有限公司 | For providing the guidance system and method for guidance |
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2008
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102867288A (en) * | 2011-07-07 | 2013-01-09 | 三星电子株式会社 | Depth image conversion apparatus and method |
| CN102867288B (en) * | 2011-07-07 | 2017-04-12 | 三星电子株式会社 | Depth image conversion apparatus and method |
| CN102830802A (en) * | 2012-08-28 | 2012-12-19 | 无锡海森诺科技有限公司 | Electronic filing method for blackboards and whiteboards |
| CN109089416A (en) * | 2015-12-22 | 2018-12-25 | 海沃机械（中国）有限公司 | For providing the guidance system and method for guidance |
| CN109089416B (en) * | 2015-12-22 | 2021-08-03 | 海沃机械（中国）有限公司 | Guidance system and method for providing guidance |
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