Distortion correction method and device of fisheye lens, computer equipment and storage medium

Abstract

The invention provides a distortion correction method and device for a fisheye lens, computer equipment and a storage medium, and the method comprises the steps: calibrating the fisheye lens, and obtaining a current internal parameter; obtaining a factory test distortion table of the fisheye lens, performing distortion verification on the factory test distortion table, and determining target internal parameters of the fisheye lens according to a distortion verification result; and performing distortion correction on image data acquired by the fisheye lens according to the target internal parameter. According to the invention, accurate distortion correction can be carried out according to the factory test distortion table of the fisheye lens, the target internal reference parameters of the fisheye lens are determined more accurately, and distortion correction is carried out according to the target internal reference parameters to reduce image distortion.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of fisheye lens calibration, and specifically to a fisheye lens distortion correction method, device, computer equipment and storage medium. Background Art

[0002] Fisheye lens is a lens with a focal length of 16mm or less and a viewing angle close to or equal to 180°. It is an extreme wide-angle lens and a special lens among ultra-wide-angle lenses. Due to its large field of view, fisheye lens is widely used in scene monitoring, satellite positioning, robot navigation, micro intelligent systems and engineering measurement.

[0003] However, due to the special imaging principle of the fisheye lens, the fisheye lens compresses the image into a smaller space by compressing the light within a large angle range, thereby achieving a wide viewing angle. This compression causes significant distortion and deformation of the image at the edge, resulting in significant distortion of the image. In order to obtain an image at a normal viewing angle, the fisheye lens needs to be calibrated. The fisheye lens will have a distortion table provided by the manufacturer when it leaves the factory, but since the distortion table may be unreliable, it needs to be calibrated, and the final more accurate internal reference parameters are determined based on the calibration results, so as to perform image distortion correction. Summary of the invention

[0004] The embodiments of the present application provide a method, apparatus, computer equipment and storage medium for fisheye lens distortion correction. The technical problem to be solved is that, in view of the defects of the prior art, the distortion table provided by the manufacturer when the existing fisheye lens leaves the factory may be unreliable, and directly using the distortion table provided by the manufacturer for distortion correction will result in a large distortion error.

[0005] In order to solve the above technical problems, a technical solution adopted by the present application is: to provide a fisheye lens distortion correction method, device, computer equipment and storage medium, the distortion correction method comprising:

[0006] Calibrate the fisheye lens to obtain current internal reference parameters;

[0007] Obtaining a factory test distortion table of the fisheye lens, performing a distortion check on the factory test distortion table, and determining a target internal reference parameter of the fisheye lens according to a distortion check result;

[0008] Distortion correction is performed on the image data collected by the fisheye lens according to the target internal reference parameters.

[0009] In a specific implementation, determining the target intrinsic parameter of the fisheye lens according to the distortion verification result includes:

[0010] Determining the distortion correction error of the factory test distortion table according to the distortion verification result, and when the distortion correction error is less than a target threshold, calculating initial internal reference parameters according to the factory test distortion table, and determining the initial internal reference parameters as the target internal reference parameters of the fisheye lens;

[0011] When the distortion correction error is greater than the target threshold, the current intrinsic parameter is determined to be the target intrinsic parameter of the fisheye lens.

[0012] In a specific implementation, the step of performing distortion calibration on the factory test distortion table includes:

[0013] Distortion correction is performed on a plurality of calibration images acquired by the fisheye lens according to the factory test distortion table, wherein the calibration images are black and white checkerboard images and have a plurality of corner points.

[0014] In a specific implementation, the step of performing distortion correction on a plurality of calibration images acquired by the fisheye lens according to the factory test distortion table includes:

[0015] Calculate the incident angle θ of the corner point in the calibration image in the camera coordinate system according to the corner point detection algorithm;

[0016] The distortion error e of the corner point under the projection model is calculated according to the incident angle, and the distortion error e is the distortion verification result.

[0017] In a specific implementation, the calculating the distortion error e of the corner point under the projection model according to the incident angle θ includes:

[0018] The projection model is the Kannala-brandt model, and the distortion error e satisfies: e=|R d -r d |;

[0019] Among them, the R d =θ+K1θ 3 +K2θ 5 +K3θ 7 +K4θ 9 , K1, K2, K3 and K4 are projection coefficients calculated by fitting according to the factory test distortion table, and R d is the distance between the projection point of the corner point in the projection plane after distortion correction according to the projection coefficient and the center of the projection plane, and r d is the distance between the projection point of the corner point in the projection plane before distortion correction and the center of the projection plane.

[0020] In a specific implementation, determining the distortion correction error of the factory test distortion table according to the distortion verification result includes:

[0021] The distortion error e calculated for all the corner points is used to obtain a distortion correction error through a data statistics method.

[0022] In a specific implementation, determining the target intrinsic parameter of the fisheye lens according to the distortion verification result includes:

[0023] The current internal parameter parameters include a current internal parameter matrix and a current distortion coefficient queue;

[0024] When the distortion correction error is less than the target threshold, initial internal parameter parameters are calculated according to the factory test distortion table, the initial internal parameter parameters include an initial internal parameter matrix and an initial distortion coefficient queue H, and the initial internal parameter matrix and the initial distortion coefficient queue H are determined as the target internal parameter parameters of the fisheye lens, and the initial distortion coefficient queue H is {K1, K2, K3, K4};

[0025] When the distortion correction error is greater than the target threshold, the current intrinsic parameter matrix and the current distortion coefficient array are determined as the target intrinsic parameter parameters of the fisheye lens.

[0026] In a specific embodiment, a fisheye lens distortion correction device is also provided, and the distortion correction device includes:

[0027] A calibration module, wherein the calibration module is used to calibrate the fisheye lens to obtain current internal reference parameters;

[0028] A distortion calibration module, the distortion calibration module is used to obtain a factory test distortion table of the fisheye lens, perform distortion calibration on the factory test distortion table, and determine a target internal reference parameter of the fisheye lens according to the distortion calibration result;

[0029] A distortion correction module is used to perform distortion correction on the image data collected by the fisheye lens according to the target internal reference parameters.

[0030] In a specific embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the fisheye lens distortion correction method described in any of the above specific embodiments are implemented.

[0031] In a specific embodiment, a computer-readable storage medium is further provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the fisheye lens distortion correction method described in any of the above specific embodiments are implemented.

[0032] The beneficial effects of the present application are as follows: Different from the prior art, the present application provides a fisheye lens distortion correction method, device, computer equipment and storage medium, wherein the distortion correction method includes:

[0033] Calibrate the fisheye lens to obtain current internal reference parameters;

[0034] Obtaining a factory test distortion table of the fisheye lens, performing a distortion check on the factory test distortion table, and determining a target internal reference parameter of the fisheye lens according to a distortion check result;

[0035] Distortion correction is performed on the image data collected by the fisheye lens according to the target internal reference parameters.

[0036] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages:

[0037] The present application performs distortion calibration on the obtained factory test distortion table of the fisheye lens, determines the target internal reference parameters of the fisheye lens according to the distortion calibration result, and then performs distortion correction on the image data collected by the fisheye lens according to the target internal reference parameters. The present application can perform accurate distortion correction according to the factory test distortion table of the fisheye lens, judge whether the factory test distortion table is reliable, so as to more accurately determine the target internal reference parameters of the fisheye lens, and perform distortion correction according to the target internal reference parameters to reduce image distortion. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the implementation modes of the present application, the drawings required for use in the description of the implementation modes will be briefly introduced below. Obviously, the drawings described below are only some implementation modes of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0039] Figure 1 This is a schematic diagram of the implementation process of a fisheye lens distortion correction method provided in Example 1 of the present application;

[0040] Figure 2 It is a schematic diagram of the imaging principle of a fisheye lens according to a method for correcting fisheye lens distortion provided in Embodiment 1 of the present application;

[0041] Figure 3 This is a schematic diagram of the module composition of a fisheye lens distortion correction device provided in the second embodiment of the present application;

[0042] Figure 4 It is a schematic diagram of the internal structure of a computer device provided in Example 3 of the present application. DETAILED DESCRIPTION

[0043] The present application is further described in detail below in conjunction with the accompanying drawings and implementation methods. It is particularly noted that the following implementation methods are only used to illustrate the present application, but do not limit the scope of the present application. Similarly, the following implementation methods are only some implementation methods of the present application rather than all implementation methods. All other implementation methods obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0044] The terms "including" and "having" and any variations thereof in this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or modules is not limited to the listed steps or modules, but may optionally include steps or modules not listed, or may optionally include other steps or modules inherent to these processes, methods, products or devices.

[0045] The above terms are only for the convenience of description and should not be construed as limitations on the present technical solution.

[0046] Reference to "embodiment" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0047] The specific implementation of this application is described in detail below in conjunction with specific embodiments:

[0048] Embodiment 1:

[0049] Figure 1 The implementation process of a fisheye lens distortion correction method provided in the first embodiment of the present application is shown. For the convenience of explanation, only the part related to the embodiment of the present application is shown, which is described in detail as follows.

[0050] The fisheye lens is calibrated to obtain current internal reference parameters.

[0051] It should be noted that the calibration algorithm for the fisheye lens may include but is not limited to the Zhang Zhengyou calibration method, the stereo calibration plate calibration method, etc.

[0052] A factory test distortion table of the fisheye lens is obtained, a distortion check is performed on the factory test distortion table, and a target internal reference parameter of the fisheye lens is determined according to the distortion check result.

[0053] It should be noted that the factory test distortion table is provided by the manufacturer of the fisheye lens and is used to describe the height information of the image formed by the light passing through the lens on the camera sensor plane. However, the factory test distortion table may be unreliable, so it is necessary to calibrate the factory test distortion table and re-determine the target intrinsic parameters of the fisheye lens based on the distortion calibration results.

[0054] One specific implementation method is that determining the target intrinsic parameter of the fisheye lens according to the distortion verification result includes:

[0055] Determining the distortion correction error of the factory test distortion table according to the distortion verification result, and when the distortion correction error is less than a target threshold, calculating initial internal reference parameters according to the factory test distortion table, and determining the initial internal reference parameters as the target internal reference parameters of the fisheye lens;

[0056] When the distortion correction error is greater than the target threshold, the current intrinsic parameter is determined to be the target intrinsic parameter of the fisheye lens.

[0057] It should be noted that the distortion correction error of the factory test distortion table is determined based on the distortion verification result. When the distortion correction error is less than the target threshold, it means that there is no problem with the data of the factory test distortion table. Since the factory test distortion table is obtained by the manufacturer of the fisheye lens when the fisheye lens leaves the factory, the detection accuracy will be higher. Therefore, the initial intrinsic parameter can be calculated based on the factory test distortion table, and the initial intrinsic parameter is determined to be the target intrinsic parameter of the fisheye lens.

[0058] One specific implementation method is that the distortion calibration of the factory test distortion table includes:

[0059] Distortion correction is performed on a plurality of calibration images acquired by the fisheye lens according to the factory test distortion table, wherein the calibration images are black and white checkerboard images and have a plurality of corner points.

[0060] One specific implementation method is that the distortion correction is performed on a plurality of calibration images acquired by the fisheye lens according to the factory test distortion table, including:

[0061] Calculate the incident angle θ of the corner point in the calibration image in the camera coordinate system according to the corner point detection algorithm;

[0062] The distortion error e of the corner point under the projection model is calculated according to the incident angle θ, and the distortion error e is the distortion verification result.

[0063] It should be noted that if Figure 2 As shown, Figure 2The imaging principle diagram of the fisheye camera. According to the projection law of the fisheye lens, the target is point P in the camera coordinate system, where O c is the optical center of the fisheye lens, and the incident angle is θ. The projection point of the target on the projection plane (OXY coordinate system) before distortion correction is P', and P' is 1.5 m from the optical center O c The projection distance is rd, and the projection point of the target on the projection plane (OXY coordinate system) after distortion correction is P0. At this time, P0 is the projection point obtained by point P according to the pinhole imaging law. The distance between P0 and the optical center is r, and the exit angle and incident angle of P0 are equal to θ, and f is the focal length of the fisheye camera. It is calculated according to the trigonometric relationship:

[0064] θ = arctan(r / f).

[0065] The distortion error e of the corner point under the projection model is calculated according to the incident angle θ, and the distortion error e is the distortion verification result.

[0066] One specific implementation manner is that calculating the distortion error e of the corner point under the projection model according to the incident angle θ includes:

[0067] The projection model is the Kannala-brandt model, and the distortion error e satisfies: e=|R d -r d |;

[0068] Among them, the R d =θ+K1θ 3 +K2θ 5 +K3θ 7 +K4θ 9 , K1, K2, K3 and K4 are projection coefficients calculated by fitting according to the factory test distortion table, and R d is the distance between the projection point of the corner point in the projection plane after distortion correction according to the projection coefficient and the center of the projection plane, and r d is the distance between the projection point of the corner point in the projection plane before distortion correction and the center of the projection plane.

[0069] It should be noted that the projection model may also be a Division model or a Scaramuzza model, and the error e of the distortion table may also be expressed by common mathematical methods such as Euclidean distance and Manhattan distance.

[0070] One specific implementation method is that determining the distortion correction error of the factory test distortion table according to the distortion verification result includes:

[0071] The distortion error e calculated for all the corner points is used to obtain a distortion correction error through a data statistics method.

[0072] It should be noted that the data statistical method includes but is not limited to using statistical methods such as average value, maximum value, normal distribution, etc.

[0073] One specific implementation method is that determining the target intrinsic parameter of the fisheye lens according to the distortion verification result includes:

[0074] The current internal parameter parameters include a current internal parameter matrix and a current distortion coefficient queue;

[0075] When the distortion correction error is less than the target threshold, initial internal parameter parameters are calculated according to the factory test distortion table, the initial internal parameter parameters include an initial internal parameter matrix and an initial distortion coefficient queue H, and the initial internal parameter matrix and the initial distortion coefficient queue H are determined as the target internal parameter parameters of the fisheye lens, and the initial distortion coefficient queue H is {K1, K2, K3, K4};

[0076] When the distortion correction error is greater than the target threshold, the current intrinsic parameter matrix and the current distortion coefficient array are determined as the target intrinsic parameter parameters of the fisheye lens.

[0077] Embodiment 2:

[0078] Figure 3 A schematic diagram of the module composition of a fisheye lens distortion correction device provided in the second embodiment of the present application is shown. For the sake of convenience of explanation, only the parts related to the embodiment of the present application are shown.

[0079] The distortion correction device provided in the embodiment of the present application includes:

[0080] A calibration module, wherein the calibration module is used to calibrate the fisheye lens to obtain current internal reference parameters;

[0081] A distortion calibration module, the distortion calibration module is used to obtain a factory test distortion table of the fisheye lens, perform distortion calibration on the factory test distortion table, and determine a target internal reference parameter of the fisheye lens according to the distortion calibration result;

[0082] A distortion correction module is used to perform distortion correction on the image data collected by the fisheye lens according to the target internal reference parameters.

[0083] It should be noted that each module in the above-mentioned distortion correction device can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each of the above modules.

[0084] It should be noted that, for technical details that are not described in detail in this embodiment of the present application, reference can be made to the fisheye lens distortion correction method provided in any specific implementation manner in the above-mentioned embodiment 1, and will not be repeated here.

[0085] Embodiment three:

[0086] In an embodiment of the present application, a computer device is provided. Figure 4 A schematic diagram of the internal structure of a computer device.

[0087] The computer device includes a memory and a processor, the memory stores a computer program, and the processor executes the computer program to implement the steps of the fisheye lens distortion correction method provided in any specific implementation manner in the first embodiment of the present application:

[0088] Calibrate the fisheye lens to obtain current internal reference parameters;

[0089] Obtaining a factory test distortion table of the fisheye lens, performing a distortion check on the factory test distortion table, and determining a target internal reference parameter of the fisheye lens according to a distortion check result;

[0090] Distortion correction is performed on the image data collected by the fisheye lens according to the target internal reference parameters.

[0091] It should be noted that the computer device may be a terminal, and its internal structure diagram may be as follows: Figure 4As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a video generation method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covered on the display screen, or a button, a trackball or a touch pad set on the computer device housing, or an external keyboard, touch pad or mouse, etc.

[0092] Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of a part 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.

[0093] It should be noted that, for technical details not fully described in this embodiment, reference may be made to the fisheye lens distortion correction method provided in any specific implementation manner in the above-mentioned embodiment 1, and will not be described in detail here.

[0094] Embodiment 4:

[0095] In an embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the fisheye lens distortion correction method provided in any specific implementation manner in Embodiment 1 of the present application are implemented:

[0096] Calibrate the fisheye lens to obtain current internal reference parameters;

[0097] Obtaining a factory test distortion table of the fisheye lens, performing a distortion check on the factory test distortion table, and determining a target internal reference parameter of the fisheye lens according to a distortion check result;

[0098] Distortion correction is performed on the image data collected by the fisheye lens according to the target internal reference parameters.

[0099] It should be noted that, for technical details that are not described in detail in the embodiments of the present application, reference can be made to the fisheye lens distortion correction method provided in any specific implementation manner in the above-mentioned embodiment 1, and will not be repeated here.

[0100] Different from the prior art, the present application provides a method, device, computer equipment and storage medium for fisheye lens distortion correction, wherein the distortion correction method includes:

[0101] Calibrate the fisheye lens to obtain current internal reference parameters;

[0102] Obtaining a factory test distortion table of the fisheye lens, performing a distortion check on the factory test distortion table, and determining a target internal reference parameter of the fisheye lens according to a distortion check result;

[0103] Distortion correction is performed on the image data collected by the fisheye lens according to the target internal reference parameters.

[0104] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages:

[0105] The present application performs distortion calibration on the obtained factory test distortion table of the fisheye lens, determines the target internal reference parameters of the fisheye lens according to the distortion calibration result, and then performs distortion correction on the image data collected by the fisheye lens according to the target internal reference parameters. The present application can perform accurate distortion correction according to the factory test distortion table of the fisheye lens, judge whether the factory test distortion table is reliable, so as to more accurately determine the target internal reference parameters of the fisheye lens, and perform distortion correction according to the target internal reference parameters to reduce image distortion.

[0106] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0107] In addition, each functional module in each embodiment of the present application can be integrated into a processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware or software functional modules.

[0108] If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a terminal device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

[0109] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for correcting distortion of a fisheye lens, characterized in that: The method comprises: Calibrate the fisheye lens to obtain current internal reference parameters; Obtaining a factory test distortion table of the fisheye lens, performing a distortion check on the factory test distortion table, and determining a target internal reference parameter of the fisheye lens according to a distortion check result; Distortion correction is performed on the image data collected by the fisheye lens according to the target internal reference parameters.

2. The method for correcting fisheye lens distortion according to claim 1, wherein: The step of determining the target internal parameter of the fisheye lens according to the distortion verification result includes: Determining the distortion correction error of the factory test distortion table according to the distortion verification result, and when the distortion correction error is less than a target threshold, calculating initial internal reference parameters according to the factory test distortion table, and determining the initial internal reference parameters as the target internal reference parameters of the fisheye lens; When the distortion correction error is greater than the target threshold, the current intrinsic parameter is determined to be the target intrinsic parameter of the fisheye lens.

3. The method for correcting fisheye lens distortion according to claim 2, wherein: The step of performing distortion calibration on the factory test distortion table includes: Distortion correction is performed on a plurality of calibration images acquired by the fisheye lens according to the factory test distortion table, wherein the calibration images are black and white checkerboard images and have a plurality of corner points.

4. The method for correcting fisheye lens distortion according to claim 3, characterized in that: The step of performing distortion correction on a plurality of calibration images acquired by the fisheye lens according to the factory test distortion table comprises: Calculate the incident angle θ of the corner point in the calibration image in the camera coordinate system according to the corner point detection algorithm; The distortion error e of the corner point under the projection model is calculated according to the incident angle θ, and the distortion error e is the distortion verification result.

5. The method for correcting fisheye lens distortion according to claim 4, characterized in that: The calculating the distortion error e of the corner point under the projection model according to the incident angle θ comprises: The projection model is the Kannala-brandt model, and the distortion error e satisfies: e=|R d -r d |; Among them, the R d =θ+K1θ 3 +K2θ 5 +K3θ 7 +K4θ 9 , K1, K2, K3 and K4 are projection coefficients calculated by fitting according to the factory test distortion table, and R d is the distance between the projection point of the corner point in the projection plane after distortion correction according to the projection coefficient and the center of the projection plane, and r d is the distance between the projection point of the corner point in the projection plane before distortion correction and the center of the projection plane.

6. The method for correcting fisheye lens distortion according to claim 4, characterized in that: Determining the distortion correction error of the factory test distortion table according to the distortion verification result includes: The distortion error e calculated for all the corner points is used to obtain a distortion correction error through a data statistics method.

7. The method for correcting fisheye lens distortion according to claim 5, characterized in that: The step of determining the target internal parameter of the fisheye lens according to the distortion verification result includes: The current internal parameter parameters include a current internal parameter matrix and a current distortion coefficient queue; When the distortion correction error is less than the target threshold, initial internal parameter parameters are calculated according to the factory test distortion table, the initial internal parameter parameters include an initial internal parameter matrix and an initial distortion coefficient queue H, and the initial internal parameter matrix and the initial distortion coefficient queue H are determined as the target internal parameter parameters of the fisheye lens, and the initial distortion coefficient queue H is {K1, K2, K3, K4}; When the distortion correction error is greater than the target threshold, the current intrinsic parameter matrix and the current distortion coefficient array are determined as the target intrinsic parameter parameters of the fisheye lens.

8. A fisheye lens distortion correction device, characterized in that: The distortion correction device comprises: A calibration module, wherein the calibration module is used to calibrate the fisheye lens to obtain current internal reference parameters; A distortion calibration module, the distortion calibration module is used to obtain a factory test distortion table of the fisheye lens, perform distortion calibration on the factory test distortion table, and determine a target internal reference parameter of the fisheye lens according to the distortion calibration result; A distortion correction module is used to perform distortion correction on the image data collected by the fisheye lens according to the target internal reference parameters.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method for correcting distortion of a fisheye lens according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for correcting distortion of a fisheye lens according to any one of claims 1 to 7 are implemented.

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