METHOD AND APPARATUS FOR TRANSFORMING A NON-LINEAR LENS-DISTORTED IMAGE
First Claim
1. A method for image processing a lens-distorted image, the method comprising:
- partitioning coordinate points in a selected output image into tiles, wherein the output image is an undistorted rendition of a subset of the lens-distorted image;
selecting coordinate points on a border of the tiles in the output image;
for each tile, calculating coordinate points in the lens-distorted image corresponding to each selected coordinate point in the output image;
for each tile, selecting a bounding box on the lens-distorted image that includes the calculated coordinates in the lens-distorted image;
expanding the bounding boxes so that they encompass all coordinate points in the lens-distorted image that map to all coordinate points in their respective corresponding tiles; and
generating output pixel values for each tile from pixel values in their corresponding expanded bounding boxes.
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Abstract
A method and apparatus for image processing a lens-distorted image (e.g., a fisheye image) is provided. The method includes partitioning coordinate points in a selected output image into tiles. The output image is an undistorted rendition of a subset of the lens-distorted image. Coordinate points on a border of the tiles in the output image are selected. For each tile, coordinate points in the lens-distorted image corresponding to each selected coordinate point in the output image are calculated. In addition, for each tile, a bounding box on the lens-distorted image is selected. The bounding box includes the calculated coordinates in the lens-distorted image. The bounding boxes are expanded so that they encompass all coordinate points in the lens-distorted image that map to all coordinate points in their respective corresponding tiles. Output pixel values are generated for each tile from pixel values in their corresponding expanded bounding boxes.
52 Citations
20 Claims
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1. A method for image processing a lens-distorted image, the method comprising:
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partitioning coordinate points in a selected output image into tiles, wherein the output image is an undistorted rendition of a subset of the lens-distorted image; selecting coordinate points on a border of the tiles in the output image; for each tile, calculating coordinate points in the lens-distorted image corresponding to each selected coordinate point in the output image; for each tile, selecting a bounding box on the lens-distorted image that includes the calculated coordinates in the lens-distorted image; expanding the bounding boxes so that they encompass all coordinate points in the lens-distorted image that map to all coordinate points in their respective corresponding tiles; and generating output pixel values for each tile from pixel values in their corresponding expanded bounding boxes. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An imaging system for providing undistorted views of a selected portion of a lens-distorted optical image, comprising:
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a lens for obtaining a lens-distorted input optical image; a processor transforming a selected portion of the lens-distorted image to produce an undistorted output image, wherein the processor is configured to perform the transformation by dividing coordinates in the output image into a plurality of tiles, establishing bounding boxes on the input optical image that each correspond to one of the tiles, and generating output pixel values for each tile from pixel values in their corresponding bounding boxes. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification