WO2024119619A1

WO2024119619A1 - Correction method and apparatus for picture captured underwater, and storage medium

Info

Publication number: WO2024119619A1
Application number: PCT/CN2023/076736
Authority: WO
Inventors: 邓辉中; 高方奇
Original assignee: 深圳看到科技有限公司
Priority date: 2022-12-05
Filing date: 2023-02-17
Publication date: 2024-06-13
Also published as: CN115797210A

Abstract

Provided in the present application are a correction method and apparatus for a picture captured underwater, and a storage medium. The method comprises: acquiring a picture to be corrected that is captured underwater by a panoramic camera; on the basis of a preset division angle, performing region division on the picture to be corrected, so as to obtain a first distribution region; unfolding the picture to be corrected to obtain an unfolded picture, and performing region division on the unfolded picture on the basis of a black-edge distribution location in the unfolded picture, so as to obtain a second distribution region; detecting distribution locations of pixels in the picture to be corrected in the first distribution region and the second distribution region, and setting angle-of-view coefficients corresponding to the pixels; and on the basis of the angle-of-view coefficients corresponding to the pixels, adjusting the angles of view of the pixels in the picture to be corrected, so as to obtain a corrected picture.

Description

Correction method, device and storage medium for underwater photography

Technical Field

The present application relates to the field of image processing technology, and in particular to a correction method, device and storage medium for underwater photography.

Background technique

In underwater shooting scenes, since the refractive index of water is greater than that of air, the light entering the lens is refracted, resulting in a reduction in the lens FOV. In order to ensure that the panoramic camera can be used normally underwater, it is necessary to protect the panoramic camera with a diving shell.

technical problem

However, when using the underwater shell mode, optical flow stitching cannot be used. Only the camera parameters calibrated by the original factory can be used for stitching. In addition, the pictures taken in the underwater shell mode will lose part of the scene at the stitching seams, that is, black border areas will appear, resulting in an incomplete picture.

Technical Solutions

The present application provides a correction method, device and storage medium for underwater pictures, aiming to eliminate the black edge area of underwater pictures to improve the stitching quality of panoramic pictures taken underwater.

In a first aspect, the present application provides a correction method for underwater pictures, the correction method for underwater pictures comprising the following steps:

Obtaining the picture to be corrected taken by the panoramic camera underwater;

Based on a preset division angle, the image to be corrected is divided into regions to obtain a first distribution region;

Expanding the image to be corrected to obtain an expanded image, and dividing the expanded image into regions based on the distribution positions of black edges in the expanded image to obtain a second distribution region;

Detecting the distribution position of each pixel in the to-be-corrected image in the first distribution area and the second distribution area, and setting the field angle coefficient corresponding to each pixel;

Based on the field angle coefficient corresponding to each pixel, the field angle of each pixel in the image to be corrected is adjusted to obtain a corrected image.

In a second aspect, the present application further provides a correction device for underwater photographing, the correction device for underwater photographing comprising:

An image acquisition module is used to acquire the image to be corrected taken underwater by the panoramic camera;

A picture area division module, used for dividing the picture to be corrected into areas based on a preset division angle to obtain a first distribution area;

A picture expansion module, used for expanding the picture to be corrected to obtain an expanded picture, and dividing the expanded picture into regions based on the distribution positions of black edges in the expanded picture to obtain a second distribution region;

A viewing angle coefficient setting module, used to detect the distribution position of each pixel in the image to be corrected in the first distribution area and the second distribution area, and set the viewing angle coefficient corresponding to each pixel;

The image correction module is used to adjust the field angle of each pixel in the image to be corrected based on the field angle coefficient corresponding to each pixel to obtain a corrected image.

In a third aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps of the correction method for underwater photography are implemented as described above.

Beneficial Effects

The present application provides a correction method, device and storage medium for underwater pictures, the method comprising obtaining a picture to be corrected taken by a panoramic camera underwater; dividing the picture to be corrected into regions based on a preset division angle to obtain a first distribution region; unfolding the picture to be corrected to obtain an unfolded picture, and dividing the unfolded picture into regions based on the distribution position of the black edges in the unfolded picture to obtain a second distribution region; detecting the distribution position of each pixel in the picture to be corrected in the first distribution region and the second distribution region, setting the field of view angle coefficient corresponding to each pixel; adjusting the field of view angle of each pixel in the picture to be corrected based on the field of view angle coefficient corresponding to each pixel to obtain a corrected picture. In the above manner, by dividing the picture area of the picture to be corrected, the areas that are affected by the distribution position of the black edges differently are distinguished, thereby facilitating targeted field of view angle adjustment for each distribution region. By detecting the position of each pixel in the image to be corrected in the first distribution area and the second distribution area, different field angle coefficient adjustments are performed on pixels in different distribution positions, so that each pixel close to the black edge distribution position is expanded, thereby avoiding the appearance of a black edge area, and realizing a buffered gradient from the expanded pixel area to the normal area, avoiding obvious visual differences in the corrected image, thereby improving the stitching quality of the panoramic image.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

FIG1 is a correction system for underwater photography provided in an embodiment of the present application.

FIG2 is a schematic flow chart of a first embodiment of a correction method for underwater pictures provided in the present application.

FIG3 is a schematic diagram of area division for underwater spherical image shooting provided in an embodiment of the present application.

FIG. 4 is a schematic diagram of the area division of a rectangular expansion diagram of an underwater picture provided in an embodiment of the present application.

FIG5 is a flow chart of a second embodiment of a correction method for underwater pictures provided in the present application.

FIG6 is a schematic block diagram of a correction device for underwater photography provided in an embodiment of the present application.

FIG. 7 is a schematic block diagram of the structure of a computer device provided in an embodiment of the present application.

The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings.

Best Mode for Carrying Out the Invention

The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations/steps, nor must they be executed in the order described. For example, some operations/steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

The embodiments of the present application provide a correction method for underwater pictures, a correction device for underwater pictures, and a storage medium for underwater pictures, which are used to eliminate black edge areas of underwater pictures to improve the stitching quality of panoramic pictures taken underwater.

As shown in FIG. 1 , FIG. 1 is a correction system for underwater photography provided by an embodiment of the present application, the system comprising a terminal and a server, the terminal and the server are communicatively connected, and the server is communicatively connected to an underwater photography application terminal.

The terminals include electronic devices such as mobile phones, tablet computers, laptop computers, desktop computers, personal digital assistants and wearable devices.

The server includes an independent server or a server cluster.

Among them, the underwater shooting application end includes panoramic camera equipment, diving shells and communication equipment.

Hereinafter, the correction method for underwater photographing provided by the embodiment of the present application will be described in detail based on the correction system for underwater photographing.

Please refer to Figure 2, which is a flow chart of a first embodiment of a method for correcting underwater pictures provided by the present application. The method for correcting underwater pictures can be used in a terminal of a correction system for underwater pictures.

As shown in FIG. 2 , the correction method for underwater photographs includes steps S101 to S105 .

Step S101, obtaining a picture to be calibrated taken underwater by a panoramic camera;

In this embodiment, the pictures taken by the panoramic camera underwater can be sent to the server through remote communication; or after the underwater shooting is completed, the pictures can be downloaded from the memory of the panoramic camera, which can be wired transmission, such as USB, or wireless transmission, such as WIFI.

In one embodiment, the panoramic camera includes at least two cameras; the pictures taken by the multiple cameras need to be stitched, but each picture to be corrected is generally calibrated separately, that is, stitched after correction.

Step S102: dividing the image to be corrected into regions based on a preset division angle to obtain a first distribution region;

In this embodiment, as shown in FIG3 , the imaging of the fisheye lens usually requires spherical perspective projection first, that is, projecting a point in three-dimensional space along a straight line passing through the optical center of the lens onto the inner surface of a unit radius sphere with the optical center as the origin, thus forming a circular image. According to the location of the black edge area, the circular image to be corrected can be divided into regions.

In one embodiment, generally, a picture taken by a panoramic camera in a diving shell may have part of the bottom of the picture cut off. In this case, a certain angle range of the center position of the circular picture to be corrected can be used as the first distribution area.

In one embodiment, the area within 90° directly below the center of the circular image to be corrected may be used as the first distribution area, and the first distribution area may completely include the cropped image.

Step S103, unfolding the image to be corrected to obtain an expanded image, and dividing the expanded image into regions based on the distribution positions of black edges in the expanded image to obtain a second distribution region;

In this embodiment, the circular fisheye image can be expanded into a rectangular plane image according to longitude and latitude. At this time, the part of the picture that is cut out in the circular figure is displayed as the black-border area on the rectangular plane image. According to the distribution position of the black-border area, the image to be corrected is divided into regions to obtain a second distribution area.

In one embodiment, the second distribution area includes a black edge connection area, a buffer area and a normal area.

In one embodiment, as shown in FIG. 4 , the center of the expanded rectangular image to be corrected can be used as the vertex, and the image area can be divided according to the angle. For example, the image screen in the 100° angle range (-40° - -140°) directly below the vertex is used as the black border connection area 10, which includes most of the black border area; 15° angle ranges are divided on both sides of the black border connection area, that is, -25° - -40° and -140° - -155° angle ranges are used as buffer areas 20, and other image areas are used as normal areas 30.

In one embodiment, because the fisheye lens imaging is performed through spherical perspective projection, each picture pixel point on the spherical surface can be represented by the corresponding longitude and latitude. For the points projected onto the spherical surface, they can be further projected onto the imaging plane according to a certain fisheye projection model to obtain the corresponding fisheye image. Therefore, the correction process of the fisheye image is actually to find out the fisheye image coordinates corresponding to each longitude and latitude on the spherical surface, so that the pixel information of the longitude and latitude can be obtained by interpolation, and then the spherical surface is expanded into the required plane image.

In one embodiment, the spherical surface is usually unfolded based on an equirectangular model, also called an equidistant cylindrical projection model, that is, the sphere is unfolded into a rectangular grid, wherein the size of the grid is proportional to the size of the corresponding longitude and latitude interval.

In one embodiment, the process of projecting a point on the spherical surface onto the camera imaging plane through a fisheye lens to obtain a fisheye image is usually based on the principle of light refraction, that is, light will be refracted after entering the fisheye lens, and the distance r between the landing point on the imaging plane and the optical axis is related to the angle between the incident light and the optical axis, that is, the incident angle θ, and the landing point is on the plane formed by the incident light and the optical axis. Different functional relationships r = f (θ) correspond to different fisheye projection models.

In one embodiment, the distance from the landing point to the optical axis in an equidistant projection or an equiangular projection is linearly proportional to the incident angle, so that the same angle difference corresponds to the same distance difference.

It can be understood that in this embodiment, only the equidistant projection method is cited for specific explanation to facilitate understanding by those skilled in the art. It does not mean that the image expansion method described in this embodiment can only be these two methods, and other methods that can be used for expanding images taken with a fisheye lens can also be used.

Step S104, detecting the distribution position of each pixel in the to-be-corrected image in the first distribution area and the second distribution area, and setting the field angle coefficient corresponding to each pixel;

In this embodiment, the distribution position of each pixel in the image to be corrected in the first distribution area and the second distribution area is detected, and different field angle coefficients are set for each pixel according to the different positions of each pixel.

In one embodiment, when the distribution position of each pixel is located in the first distribution area and in the black-border connection area, the field angle coefficient corresponding to each pixel is set to the first coefficient; when the distribution position of each pixel is located in the first distribution area and in the buffer area, the field angle coefficient corresponding to each pixel is set to the buffer coefficient, wherein the buffer coefficient is a field angle coefficient between the first coefficient and the second coefficient; when the distribution position of each pixel is located in the normal area, the field angle coefficient corresponding to each pixel is set to 1.

In one embodiment, the first coefficient is greater than 1 and less than the second coefficient.

In one embodiment, the actual FOV of the fisheye lens when shooting underwater is smaller than the FOV in the air, so the actual FOV value of underwater shooting needs to be expanded when unfolding. The field angle coefficient of the picture shot by the fisheye lens in the air can be set to 1, and the second coefficient is the field angle coefficient of the fisheye lens when shooting underwater.

In one embodiment, the position of each pixel is judged when the panoramic expansion is performed. If the pixel falls within the first distribution area and is located in the black edge connection area, the focal length is multiplied by the first coefficient Y (X>Y>1) to ensure that no black edge is exposed; if the pixel is within the first distribution area and within the buffer area, the coefficient is smoothly transitioned between the second coefficient X and the first coefficient Y to ensure the continuity of the stitching.

Step S105: Based on the field angle coefficient corresponding to each pixel, adjust the field angle of each pixel in the image to be corrected to obtain a corrected image.

In this embodiment, the field of view of each pixel is adjusted according to the field of view angle parameter corresponding to each pixel, so as to obtain a rectangular corrected image without black edges.

This embodiment provides a correction method for underwater pictures, which divides the picture area of the picture to be corrected to distinguish the areas that are affected by the black edge distribution position, so as to facilitate targeted field of view adjustment for each distribution area. By detecting the position of each pixel in the picture to be corrected in the first distribution area and the second distribution area, different field of view angle coefficient adjustments are performed on pixels in different distribution positions, so that each pixel close to the black edge distribution position is expanded, thereby avoiding the appearance of a black edge area, and realizing a buffered gradient from the expanded pixel area to the normal area, avoiding obvious visual differences in the corrected picture, so as to improve the stitching quality of the panoramic image.

Please refer to FIG. 5 , which is a flow chart of a second embodiment of a correction method for underwater pictures provided by the present application.

Based on the embodiment shown in FIG. 2 , in this embodiment, before step S101, the following steps are specifically included:

Step S201, obtaining the pictures to be stitched taken by the two underwater cameras of the panoramic camera;

Step S202: determining stitching field angle parameters corresponding to each of the images to be stitched based on the shooting distance between the main shooting object in the normal area of each of the images to be stitched and the corresponding shooting lens;

In this embodiment, each FOV (field of view) will match an optimal shooting distance, at which the image deformation in the picture will be less than a set value, and the deformation is determined by the difference between the image shot in the middle of the lens and shot at the edge.

In one embodiment, in the pictures to be stitched taken by an underwater camera, the pixel deformation amount in the normal area is the smallest, which means that the shooting distance corresponding to the main shooting object in the normal area is more accurate. Therefore, for the pictures to be stitched taken by the underwater camera, the normal area in the picture is used as the basis for alignment, and the stitching effect and stitching quality will be better.

In one embodiment, before setting the target field of view angle parameters corresponding to each image to be stitched, it is necessary to detect the shooting distance between the main shooting object in the normal area of each image to be stitched and the corresponding shooting lens, and find the optimal field of view angle parameter corresponding to the shooting distance according to the preset field of view angle parameter table.

The field of view is also called the field of view in optical engineering, which refers to the angle range of the image that the camera can receive in a general environment. The size of the field of view determines the field of view of the optical instrument. The larger the field of view, the larger the field of view and the smaller the optical magnification. The field of view can also be expressed by FOV, and its relationship with the focal length is as follows: image height = EFL*tan (0.5FOV); EFL is the focal length; FOV is the field of view.

Further, based on the embodiment described in FIG. 3 , step S202 specifically includes:

When there are a plurality of the main photographing objects in the normal area of each of the pictures to be stitched, determining the priority of each of the main photographing objects based on the position of each of the main photographing objects in each of the pictures to be stitched;

Determining the priority shooting distances corresponding to the pictures to be stitched based on the priorities of the main shooting objects and the shooting distances between the main shooting objects and the corresponding shooting lenses;

Based on the priority shooting distance and the preset field of view angle parameter table, the field of view angle parameter corresponding to the priority shooting distance is determined as the stitching field of view angle parameter corresponding to each of the pictures to be stitched.

In this embodiment, there will be multiple feature objects in the field of view captured by the camera, namely, the main photographed objects, which are distributed in different positions in the image to be stitched. For the fisheye lens, the main photographed objects at different positions will have greatly different deformation amounts, and their influence on the calculation of the field of view angle parameters will also be different. Therefore, it is necessary to determine the priority of each main photographed object according to the degree of influence of each main photographed object on the stitching effect.

In one embodiment, the priority of the main photographed object gradually increases from the center position of each of the to-be-joined pictures to the seam position of each of the to-be-joined pictures, wherein the main photographed object located at the seam position has the highest priority.

In one embodiment, the pixel deformation amount at the edge position of the fisheye lens is greater than the pixel deformation amount at the center position of the image, that is, the main photographed object at the center position is located, and its distance from the photographing lens is calculated most accurately; and the pixel deformation amount is larger the closer to the edge position, among which the pixel deformation amount at the seam position is the largest, that is, the shooting distance corresponding to the main photographed object at the seam position is less accurate, so it is necessary to focus on optimizing the main photographed object at the seam position. At the same time, the main photographed object at the seam position is also the main reference object when stitching two adjacent pictures to be stitched. In order to improve the stitching effect, the main photographed object at the seam position needs to be corrected first, so the main photographed object at the seam position has the highest priority.

In one embodiment, when determining the main photographed object in each picture to be stitched, the shooting distance between the main photographed object in each picture to be stitched and the corresponding shooting lens is comprehensively considered, so as to calculate a shooting distance that can adjust all pictures to be stitched to the closest deformation amount, and use it as the only priority shooting distance for all pictures to be stitched.

Step S203: Based on the preset field angle parameter table and the stitching field angle parameter, adjust the field angle parameter of the to-be-stitched pictures corresponding to the respective shooting lenses to obtain the to-be-corrected pictures corresponding to the respective shooting lenses.

In one embodiment, the preset field angle parameter table is compared to find the field angle parameter corresponding to the priority shooting distance, and the field angle parameter is the target field angle parameter corresponding to each of the pictures to be stitched.

In one embodiment, each of the images to be spliced may be adjusted using the target field angle parameter, so that the seams of each of the images to be spliced can be aligned after the field angle parameter adjustment.

In one embodiment, in the preset field angle parameter table, each field angle parameter table corresponds to an optimal shooting distance and depth of field range, forming a shooting distance range, and the shooting distances within the shooting distance range all correspond to the field angle parameter. For example, if the field angle parameter is 193°, the corresponding optimal shooting distance is 2.25m, and the depth of field is 0.1m, then the corresponding shooting distance range is 2.2m-2.3m, and the shooting distances within the shooting distance range (such as 2.23m) all correspond to the field angle parameter 193°.

In order to further optimize the stitched picture, based on the shooting distance between the main shooting object in the normal area of each picture to be stitched and the corresponding shooting lens, the step of determining the stitching field angle parameters corresponding to each picture to be stitched may also include:

Based on the shooting distance between the main shooting object in the normal area of the adjacent pictures to be stitched and the corresponding shooting lens, the shooting distance difference between the adjacent pictures to be stitched is obtained; when the shooting distance difference between the adjacent pictures to be stitched is less than the preset distance difference (or preset FOV value difference), the target field of view angle parameters corresponding to the normal area of the adjacent pictures to be stitched can be determined based on the shooting distance corresponding to each of the adjacent pictures to be stitched and the preset field of view angle parameter table. That is, the FOV values of the two adjacent pictures to be stitched are different, which can better guarantee the image display quality of each picture to be stitched; at the same time, the shooting distance difference or FOV value difference of the two adjacent pictures to be stitched is small, which can better guarantee the stitching quality between the two adjacent pictures to be stitched.

In one embodiment, after the FOV of the pictures to be stitched is optimized, the pictures to be stitched are stitched together by an image stitching module to obtain a target picture, that is, a panoramic picture.

In one embodiment, the image stitching module may include an image stitching algorithm, or may be an existing visual module, such as an image stitching module.

In one embodiment, the steps of image stitching basically include: feature point extraction and matching, image registration, projection transformation, stitching calculation, image fusion, etc. First, robust feature points are extracted from the input image, and feature point matching is completed according to feature descriptors. Then, the positional relationship of adjacent images is obtained according to the matched feature point pairs to perform image registration. Since direct image registration will destroy the consistency of the field of view, the image is first projected on a spherical or cylindrical surface, and finally the stitching of adjacent images is calculated and the fusion of the overlapping area is completed to obtain the final panoramic image.

Please refer to FIG6 , which is a schematic block diagram of a correction device for underwater photographing provided in an embodiment of the present application. The correction device for underwater photographing is used to execute the aforementioned correction method for underwater photographing. The correction device for underwater photographing can be configured in a server and a terminal.

As shown in FIG. 6 , the correction device 300 for underwater picture shooting includes: a picture acquisition module 301 , a picture area division module 302 , a picture expansion module, a field angle coefficient setting module 304 , and a picture correction module 305 .

The picture acquisition module 301 is used to acquire the picture to be corrected taken underwater by the panoramic camera;

The image region division module 302 is used to divide the image to be corrected into regions based on a preset division angle to obtain a first distribution region;

The picture expansion module 303 is used to expand the picture to be corrected to obtain an expanded picture, and divide the expanded picture into regions based on the distribution positions of black edges in the expanded picture to obtain a second distribution region;

A viewing angle coefficient setting module 304 is used to detect the distribution position of each pixel in the image to be corrected in the first distribution area and the second distribution area, and set the viewing angle coefficient corresponding to each pixel;

The image correction module 305 is used to adjust the field angle of each pixel in the image to be corrected based on the field angle coefficient corresponding to each pixel to obtain a corrected image.

In one embodiment, the field angle coefficient setting module 304 is further used to set the field angle coefficient corresponding to each pixel to the first coefficient when the distribution position of each pixel is located in the first distribution area and in the black border connection area; set the field angle coefficient corresponding to each pixel to the buffer coefficient when the distribution position of each pixel is located in the first distribution area and in the buffer area, wherein the buffer coefficient is a field angle coefficient between the first coefficient and the second coefficient; and set the field angle coefficient corresponding to each pixel to 1 when the distribution position of each pixel is located in the normal area.

In one embodiment, the underwater picture correction device 300 also includes an image stitching correction module, which is used to obtain the pictures to be stitched taken by the two underwater cameras of the panoramic camera; based on the shooting distance between the main shooting object in the normal area of each picture to be stitched and the corresponding shooting lens, determine the stitching field angle parameters corresponding to each picture to be stitched; based on the preset field angle parameter table and the stitching field angle parameters, adjust the field angle parameters of the pictures to be stitched corresponding to each shooting lens to obtain the pictures to be corrected corresponding to each shooting lens.

In one embodiment, the image stitching correction module is further used to determine the priority of each main photographic object based on the position of each main photographic object in each of the pictures to be stitched when there are multiple main photographic objects in the normal area of each of the pictures to be stitched; determine the priority shooting distance corresponding to each of the pictures to be stitched based on the priority of each main photographic object and the shooting distance between each main photographic object and the corresponding shooting lens; and determine the field of view angle parameter corresponding to the priority shooting distance based on the priority shooting distance and the preset field of view angle parameter table as the stitching field of view angle parameter corresponding to each of the pictures to be stitched.

In one embodiment, the image stitching correction module is further used to gradually increase the priority of the main photographed object from the central position of each to-be-stitched image to the seam position of each to-be-stitched image, wherein the main photographed object located at the seam position has the highest priority.

It should be noted that technicians in the relevant field can clearly understand that for the convenience and conciseness of description, the specific working process of the above-described device and each module can refer to the corresponding process in the aforementioned correction method embodiment for underwater picture taking, and will not be repeated here.

The apparatus provided in the above embodiment may be implemented in the form of a computer program, and the computer program may be run on a computer device as shown in FIG. 7 .

Please refer to Fig. 7, which is a schematic block diagram of the structure of a computer device provided in an embodiment of the present application. The computer device may be a terminal.

Referring to FIG. 7 , the computer device includes a processor, a memory, and a network interface connected via a system bus, wherein the memory may include a non-volatile storage medium and an internal memory.

The non-volatile storage medium can store an operating system and a computer program. The computer program includes program instructions, and when the program instructions are executed, the processor can execute any correction method for underwater photography.

The processor is used to provide computing and control capabilities and support the operation of the entire computer equipment.

The internal memory provides an environment for the operation of the computer program in the non-volatile storage medium. When the computer program is executed by the processor, the processor can execute any correction method for underwater photography.

The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art will appreciate that the structure shown in FIG. 7 is only a block diagram of a portion of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

It should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

In one embodiment, the processor is used to run a computer program stored in the memory to implement the following steps:

Obtaining the picture to be corrected taken by the panoramic camera underwater;

In one embodiment, when the processor detects the distribution position of each pixel in the image to be corrected in the first distribution area and the second distribution area and sets the field angle coefficient corresponding to each pixel, it further implements:

When the distribution position of each pixel is located in the first distribution area and in the black border connection area, setting the field angle coefficient corresponding to each pixel to the first coefficient;

When the distribution position of each pixel is located in the first distribution area and in the buffer area, setting the field angle coefficient corresponding to each pixel as the buffer coefficient, wherein the buffer coefficient is a field angle coefficient between the first coefficient and the second coefficient;

When the distribution position of each pixel is located in the normal area, the field angle coefficient corresponding to each pixel is set to 1.

In one embodiment, before acquiring the picture to be corrected taken underwater by the panoramic camera, the processor further implements:

Obtaining pictures to be stitched taken by two underwater cameras of the panoramic camera;

Determine the stitching field angle parameters corresponding to each of the images to be stitched based on the shooting distance between the main shooting object in the normal area of each of the images to be stitched and the corresponding shooting lens;

Based on the preset field angle parameter table and the stitching field angle parameters, the field angle parameters of the to-be-stitched pictures corresponding to the respective shooting lenses are adjusted to obtain the to-be-corrected pictures corresponding to the respective shooting lenses.

In one embodiment, when the processor determines the stitching field angle parameters corresponding to each corrected image based on the shooting distance between the main shooting object in the normal area of each image to be stitched and the corresponding shooting lens, it further implements:

In one embodiment, when the processor determines the priority of each main photographed object based on the position of each main photographed object in each of the to-be-stitched pictures, the processor further implements:

From the center position of each of the to-be-joined pictures to the seam position of each of the to-be-joined pictures, the priority of the main photographed object gradually increases, wherein the main photographed object located at the seam position has the highest priority.

A computer-readable storage medium is also provided in an embodiment of the present application, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and the processor executes the program instructions to implement any one of the correction methods for underwater photography provided in the embodiments of the present application.

The computer-readable storage medium may be an internal storage unit of the computer device described in the foregoing embodiment, such as a hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc., equipped on the computer device.

The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

A correction method for underwater photography, comprising:

Obtaining the picture to be corrected taken by the panoramic camera underwater;

Based on a preset division angle, the image to be corrected is divided into regions to obtain a first distribution region;

Expanding the image to be corrected to obtain an expanded image, and dividing the expanded image into regions based on the distribution positions of black edges in the expanded image to obtain a second distribution region;

Detecting the distribution position of each pixel in the to-be-corrected image in the first distribution area and the second distribution area, and setting the field angle coefficient corresponding to each pixel;

Based on the field angle coefficient corresponding to each pixel, the field angle of each pixel in the image to be corrected is adjusted to obtain a corrected image.
The correction method for underwater pictures according to claim 1, wherein the second distribution area includes a black edge connection area, a buffer area and a normal area.
The correction method for underwater pictures according to claim 2, wherein the detecting the distribution position of each pixel in the picture to be corrected in the first distribution area and the second distribution area, and setting the field angle coefficient corresponding to each pixel, comprises:

When the distribution position of each pixel is located in the first distribution area and in the black border connection area, setting the field angle coefficient corresponding to each pixel to the first coefficient;

When the distribution position of each pixel is located in the first distribution area and in the buffer area, setting the field angle coefficient corresponding to each pixel as the buffer coefficient, wherein the buffer coefficient is a field angle coefficient between the first coefficient and the second coefficient;

When the distribution position of each pixel is located in the normal area, the field angle coefficient corresponding to each pixel is set to 1.
The correction method for underwater photography according to claim 3, wherein the first coefficient is greater than 1 and less than the second coefficient.
The method for correcting underwater pictures according to claim 2, wherein before obtaining the picture to be corrected taken by the panoramic camera underwater, the method further comprises:

Obtaining pictures to be stitched taken by two underwater cameras of the panoramic camera;

Determine the stitching field angle parameters corresponding to each of the images to be stitched based on the shooting distance between the main shooting object in the normal area of each of the images to be stitched and the corresponding shooting lens;

Based on the preset field angle parameter table and the stitching field angle parameters, the field angle parameters of the to-be-stitched pictures corresponding to the respective shooting lenses are adjusted to obtain the to-be-corrected pictures corresponding to the respective shooting lenses.
According to the correction method for underwater pictures according to claim 5, the determining of the stitching field angle parameters corresponding to each of the corrected pictures based on the shooting distance between the main shooting object in the normal area of each of the pictures to be stitched and the corresponding shooting lens comprises:

When there are a plurality of the main photographing objects in the normal area of each of the pictures to be stitched, determining the priority of each of the main photographing objects based on the position of each of the main photographing objects in each of the pictures to be stitched;

Determining the priority shooting distances corresponding to the pictures to be stitched based on the priorities of the main shooting objects and the shooting distances between the main shooting objects and the corresponding shooting lenses;

Based on the priority shooting distance and the preset field of view angle parameter table, the field of view angle parameter corresponding to the priority shooting distance is determined as the stitching field of view angle parameter corresponding to each of the pictures to be stitched.
The method for correcting underwater pictures according to claim 6, wherein the step of determining the priority of each main photographed object based on the position of each main photographed object in each of the pictures to be stitched comprises:

From the center position of each of the to-be-joined pictures to the seam position of each of the to-be-joined pictures, the priority of the main photographed object gradually increases, wherein the main photographed object located at the seam position has the highest priority.
A correction device for underwater photography, comprising:

An image acquisition module is used to acquire the image to be corrected taken underwater by the panoramic camera;

A picture area division module, used for dividing the picture to be corrected into areas based on a preset division angle to obtain a first distribution area;

A picture expansion module, used for expanding the picture to be corrected to obtain an expanded picture, and dividing the expanded picture into regions based on the distribution positions of black edges in the expanded picture to obtain a second distribution region;

A viewing angle coefficient setting module, used to detect the distribution position of each pixel in the image to be corrected in the first distribution area and the second distribution area, and set the viewing angle coefficient corresponding to each pixel;

The image correction module is used to adjust the field angle of each pixel in the image to be corrected based on the field angle coefficient corresponding to each pixel to obtain a corrected image.
The correction device for underwater photography according to claim 8, wherein the second distribution area includes a black edge connection area, a buffer area and a normal area.
According to the correction device for underwater photography according to claim 9, the field angle coefficient setting module is further used to set the field angle coefficient corresponding to each pixel to the first coefficient when the distribution position of each pixel is located in the first distribution area and in the black edge connection area; when the distribution position of each pixel is located in the first distribution area and in the buffer area, the field angle coefficient corresponding to each pixel is set to the buffer coefficient, wherein the buffer coefficient is a field angle coefficient between the first coefficient and the second coefficient; when the distribution position of each pixel is located in the normal area, the field angle coefficient corresponding to each pixel is set to 1.
The correction device for underwater photography according to claim 10, wherein the first coefficient is greater than 1 and less than the second coefficient.
According to claim 9, the correction device for underwater pictures further comprises an image stitching correction module for obtaining pictures to be stitched taken by the two underwater cameras of the panoramic camera; determining stitching field angle parameters corresponding to each picture to be stitched based on the shooting distance between the main shooting object in the normal area of each picture to be stitched and the corresponding shooting lens; and adjusting the field angle parameters of the pictures to be stitched corresponding to each shooting lens based on a preset field angle parameter table and the stitching field angle parameters to obtain the pictures to be stitched corresponding to each shooting lens.
According to the correction device for underwater photography according to claim 12, the image stitching correction module is further used to determine the priority of each main shooting object based on the position of each main shooting object in each picture to be stitched when there are multiple main shooting objects in the normal area of each picture to be stitched; determine the priority shooting distance corresponding to each picture to be stitched based on the priority of each main shooting object and the shooting distance between each main shooting object and the corresponding shooting lens; based on the priority shooting distance and the preset field of view angle parameter table, determine the field of view angle parameter corresponding to the priority shooting distance as the stitching field of view angle parameter corresponding to each picture to be stitched.
According to the correction device for underwater photography according to claim 13, the image stitching correction module is also used to gradually increase the priority of the main photographed object from the central position of each image to be stitched to the seam position of each image to be stitched, wherein the main photographed object located at the seam position has the highest priority.
A computer-readable storage medium stores a correction program for underwater pictures, wherein when the correction program for underwater pictures is executed by a processor, the steps of the correction method for underwater pictures as claimed in claim 1 are implemented.