CN107369132A - Obtain method, system and the terminal device of virtual reality device pattern distortion rule - Google Patents
Obtain method, system and the terminal device of virtual reality device pattern distortion rule Download PDFInfo
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Abstract
The present invention relates to field of virtual reality, and in particular to a kind of method, system and terminal device for obtaining virtual reality device pattern distortion rule, for the mutual conversion between the normal picture and fault image of virtual reality device.Obtaining the method for virtual reality device pattern distortion rule includes：Obtain the cartesian coordinate of the point of the normal picture randomly selected and the corresponding points of fault image；The cartesian coordinate is converted to by polar coordinates by a spherical model；Value before and after the distortion of radius vector in polar coordinates obtains the radius of curvature of the spherical model.The present invention distorts rule by calculating the picture of corresponding VR equipment, can be in the case of one kind in known normal picture or fault image, the coordinate of the quick point for drawing corresponding another image, facilitates the picture data of virtual reality device to measure, and the support to virtual reality device.
Description
Technical field
The present invention relates to field of virtual reality, and in particular to a kind of side for obtaining virtual reality device pattern distortion rule
Method, system and terminal device.
Background technology
VR (Virtual Reality, i.e. virtual reality technology), it is the void that a three dimensions is produced using computer simulation
Intend the world, there is provided simulation of the user on sense organs such as visions, allow user to feel seemingly to be personally on the scene, can not have with simulation of real scenes
The things in three dimensions is observed with limitation.
Its distortion principle for using of the hardware of different VR equipment is different, and many equipment use aspherical mirror, same VR
Experience of the picture presentation mode in distinct device is entirely different, and more serious deformation occurs in equipment component, makes one to produce
Spinning sensation.
Pattern distortion error caused by the optical lens such as lens can be divided into three kinds, radial distortion, decentering distortion, thin prism
Distortion, wherein the Main Factors for influenceing distortion are radial distortions, the influence very little of other factors, it can be neglected.
VR equipment all carries out advance distortion to image for the lens of itself in display image and handled, and human eye passes through light
Learn lens to be observed, optical lens also brings along the distortion of image in itself, distorts twice by this, user receives not deformed
Normal picture, it is right in advance the characteristics of for own hardware so there are a set of special pattern distortion algorithm in different VR manufacturers
Image is handled to offset the distortion that lens straps are come.Detailed process as shown in figure 1, VR equipment it is actual be considered as it is a kind of special
The normal picture that is shown in regular display of the virtual reality applications such as display, reality-virtualizing game by cutting, split screen,
Deformation is then displayed on the display of VR equipment, and the image shown on display is by the amplifications of convex lens and distorts again to make one
Eye can be seen and be changed into the image normally amplified.
In distortion Processing Algorithm in the prior art, the computational methods of " plane-spheroid " picture conversion are mainly various
Sciagraphy, such as Wen Keer triple planes (winkel tripel projection), azimuthal equidistant projection (azimuthal
Equidistant projection) etc., this computational methods can be used more in ground mapping etc..It is straight in sciagraphy
Connect picture distortion to calculate, mainly by traditional mathematical projection method, to carrying out the conversion from sphere to plane and passing through seat
Mark matrix integrally distorts picture.Prior art has the following disadvantages：1. mainly for what is commonly used in sphere to plane rather than VR
Plane is to sphere, and if being derived from the reverse calculating of sciagraphy merely, its computational complexity can strengthen；2.
Divide sciagraphy, such as Bonne's projection (bonne projection), its plane is a complicated heart rather than reality-virtualizing game
Etc. the rectangle needed in virtual reality applications, therefore the not use value in the virtual reality applications such as reality-virtualizing game.
Therefore, it is necessary to a kind of method of new acquisition virtual reality device pattern distortion rule.
Above- mentioned information is only used for strengthening the understanding of the background to the present invention, therefore it disclosed in the background section
It can include not forming the information to prior art known to persons of ordinary skill in the art.
The content of the invention
It is an object of the invention to provide a kind of method, system and terminal for obtaining virtual reality device pattern distortion rule
Equipment, and then at least overcome one or more caused by the limitation of correlation technique and defect to ask to a certain extent
Topic.
Other characteristics and advantage of the present invention will be apparent from by following detailed description, or partially by the present invention
Practice and acquistion.
According to the first aspect of the invention, a kind of method for obtaining virtual reality device pattern distortion rule is disclosed, is used for
Mutual conversion between the normal picture and fault image of virtual reality device, it is characterised in that including：
Obtain the cartesian coordinate of the point of the normal picture randomly selected and the corresponding points of fault image；
The cartesian coordinate is converted to by polar coordinates by a spherical model；
Value before and after the distortion of radius vector in polar coordinates obtains the radius of curvature of the spherical model.
According to an embodiment of the present invention, known normal picture point it is polar in the case of, according to the song
Rate radius obtains the polar coordinates of the corresponding points of fault image.
According to an embodiment of the present invention, methods described also includes：In the polar coordinates of the corresponding points of known fault image
In the case of, according to the polar coordinates of the point of radius of curvature acquisition normal picture.
According to an embodiment of the present invention, it is described that the cartesian coordinate is converted to by polar coordinates by a spherical model
Including：The cartesian coordinate of the point of normal picture is converted to by polar coordinates by below equation (1)：
Wherein rpFor the radius vector in the polar coordinates of the point of normal picture, xp、ypRespectively the Descartes of the point of normal picture sits
Abscissa and ordinate in mark；And
The cartesian coordinate of the corresponding points of fault image is converted to by polar coordinates by below equation (2)：
Wherein rdFor the radius vector in the polar coordinates of the corresponding points of fault image, xd、ydHorizontal seat respectively in cartesian coordinate
Mark and ordinate.
According to an embodiment of the present invention, in the polar coordinates of the corresponding points of the point of the normal picture and fault image
Polar angle is equal.
According to an embodiment of the present invention, it is spherical to obtain this for the value before and after the distortion of the radius vector in polar coordinates
The radius of curvature of model is carried out by below equation (3)：
Wherein R is radius of curvature, rpFor the radius vector in the polar coordinates of the point of normal picture, rdFor the corresponding points of fault image
Polar coordinates in radius vector.
According to the second aspect of the invention, a kind of system for obtaining virtual reality device pattern distortion rule is disclosed, and it is special
Sign is, including：
Coordinate obtaining module, for obtaining the Descartes of the point of the normal picture randomly selected and the corresponding points of fault image
Coordinate；
Coordinate transferring, for the cartesian coordinate to be converted into polar coordinates by a spherical model；
Curvature radius calculation module, the spherical model is obtained for the value before and after the distortion of the radius vector in polar coordinates
Radius of curvature.
According to an embodiment of the present invention, it is described that the cartesian coordinate is converted to by polar coordinates by a spherical model
Including：The cartesian coordinate of the point of normal picture is converted to by polar coordinates by below equation (1)：
Wherein rpFor the radius vector in the polar coordinates of the point of normal picture, xp、ypRespectively the Descartes of the point of normal picture sits
Abscissa and ordinate in mark；And
The cartesian coordinate of the corresponding points of fault image is converted to by polar coordinates by below equation (2)：
Wherein rdFor the radius vector in the polar coordinates of the corresponding points of fault image, xd、ydHorizontal seat respectively in cartesian coordinate
Mark and ordinate.
According to an embodiment of the present invention, it is spherical to obtain this for the value before and after the distortion of the radius vector in polar coordinates
The radius of curvature of model is carried out by below equation (3)：
Wherein R is radius of curvature, rpFor the radius vector in the polar coordinates of the point of normal picture, rdFor the corresponding points of fault image
Polar coordinates in radius vector.
According to the third aspect of the invention we, a kind of terminal device is disclosed, it is characterised in that including：
Processor；
Memory, store the instruction that following operation is controlled for the processor：
Obtain the cartesian coordinate of the point of the normal picture randomly selected and the corresponding points of fault image；
The cartesian coordinate is converted to by polar coordinates by a spherical model；
Value before and after the distortion of radius vector in polar coordinates obtains the radius of curvature of the spherical model.
According to certain embodiments of the present invention, the algorithm model to be distorted by calculating corresponding hardware epigraph, makes void
The picture distortion of adaptive hardware should be made on different virtual reality devices by intending the virtual reality applications such as reality game, to support
A variety of virtual reality devices.
According to certain embodiments of the present invention, distortion correspondence can be calculated one by one by scalloping algorithm
Coordinate, facilitate the measuring and calculating of the picture of the virtual reality applications such as reality-virtualizing game.
It should be appreciated that the general description and following detailed description of the above are only exemplary, this can not be limited
Invention.
Brief description of the drawings
Its example embodiment is described in detail by referring to accompanying drawing, above and other target of the invention, feature and advantage will
Become more fully apparent.
Fig. 1 shows in the prior art to carry out image in the schematic diagram of distortion processing in advance.
Fig. 2 shows the method for obtaining virtual reality device pattern distortion rule according to an example embodiment of the invention
Flow chart.
Fig. 3 shows the schematic diagram of spherical coordinate.
Fig. 4 is shown according to the one of another example embodiment of the present invention side for obtaining virtual reality device pattern distortion rule
The flow chart of method.
Fig. 5 shows the system for obtaining virtual reality device pattern distortion rule according to an example embodiment of the invention
Block diagram.
Fig. 6 shows the terminal device according to an example embodiment of the invention.
Embodiment
Example embodiment is described more fully with referring now to accompanying drawing.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to example set forth herein；On the contrary, these embodiments are provided so that description of the invention
Will more fully and completely, and the design of example embodiment is comprehensively communicated to those skilled in the art.Accompanying drawing is only
The schematic illustrations of the present invention, are not necessarily drawn to scale.Identical reference represents same or similar portion in figure
Point, thus repetition thereof will be omitted.
In addition, described feature, structure or characteristic can be incorporated in one or more implementations in any suitable manner
In mode.In the following description, there is provided many details fully understand so as to provide to embodiments of the present invention.So
And it will be appreciated by persons skilled in the art that technical scheme can be put into practice and omit one in the specific detail
Or more, or other methods, constituent element, step etc. can be used.In other cases, it is not shown in detail or describes known knot
Structure, method, realization or operation are to avoid that a presumptuous guest usurps the role of the host and so that each aspect of the present invention thickens.
Some block diagrams shown in accompanying drawing are functional entitys, not necessarily must be with physically or logically independent entity phase
It is corresponding.These functional entitys can be realized using software form, or in one or more hardware modules or integrated circuit in fact
These existing functional entitys, or these functions reality is realized in heterogeneous networks and/or processor device and/or microcontroller device
Body.
The present invention discloses a kind of method, system and terminal device for obtaining virtual reality device pattern distortion rule, is used for
Mutual conversion between the normal picture and fault image of virtual reality device, the acquisition virtual reality device pattern distortion rule
The method of rule includes：Obtain the cartesian coordinate of the point of the normal picture randomly selected and the corresponding points of fault image；Pass through one
The cartesian coordinate is converted to polar coordinates by spherical model；Value before and after the distortion of radius vector in polar coordinates obtains the ball
The radius of curvature of shape model.The present invention distorts rule by calculating the picture of corresponding VR equipment, can be in known normal picture
Or in the case of one kind in fault image, the coordinate of the point of corresponding another image is quickly drawn, facilitates virtual reality to set
Standby picture data measurement, and the support to virtual reality device.
The method for just obtaining virtual reality device pattern distortion rule with reference to accompanying drawing first is specifically described.
Fig. 2 shows the method for obtaining virtual reality device pattern distortion rule according to an example embodiment of the invention
Flow chart.This method can be used for the application program of terminal device.Terminal device can be virtual reality helmet etc., but this hair
Bright not limited to this.
As a rule, the distortion as caused by lens is a kind of nonlinear geometry conversion of radial distortion form in VR equipment,
The coordinate corresponding relation that can be established by distortion factor between fault image and normal picture.
Distortion factor in VR scallopings is on the occasion of as pincushion distortion, the present invention further uses spherical model table
Diagram can be calculated the radius of curvature of the spherical model by the data before and after the change of radius vector, so as to obtain as the polar coordinates of each point
Go out corresponding VR equipment picture distortion rule, accordingly can in the case of one kind in known normal picture or fault image,
The coordinate of the quick point for drawing corresponding another image.
Polar coordinates are used for the distortion algorithm of VR equipment to obtain the image of virtual reality device by the method for the present invention first
Distortion Law；And this method has versatility, suitable in all VR equipment, either based on pc ends or mobile terminal, i.e.,
No matter the virtual reality device is to produce image by PC or mobile phone.
Specifically, as shown in Fig. 2 the method for the present invention is as follows in detail.
In S202, the cartesian coordinate of the point of the normal picture randomly selected and the corresponding points of fault image is obtained.
The partial dot of the PC ends/mobile terminal (orthoscopic image i.e. normal picture) randomly selected and its corresponding is obtained first
The cartesian coordinate value of VR ends (fault image) picture position：
Distortion caused by the convex lens of VR equipment, it is the nonlinear geometry distortion based on radial distortion, is distorted in this kind
In model, the relation in cartesian coordinate system between orthoscopic image coordinate and fault image coordinate is represented by：
Wherein xp, ypFor orthoscopic image coordinate, xd, ydFor fault image coordinate, the origin of coordinates is symmetrical centre, and k is
Distortion factor, k>0 represents pincushion distortion, k<It is barrel distortion when 0.
Maximal accuracy is all pixels point of the images of virtual reality applications such as reality-virtualizing game in theory, but reality should
In, as long as intercepting sufficiently small image-region, more accurate k values just can be obtained, but current equipment component k values are in difference
Point it is not unique (not being simply to distort).But results of calculation proves, the VR equipment using convex lens as main optical device
Scalloping K values, always in K<0 result, that is, it is barrel distortion.
In S204, the cartesian coordinate is converted to by polar coordinates by a spherical model.VR equipment is understood by S202
Distortion is barrel distortion in advance, meets the radial distortion of spherical model expression, and any point in spherical model can be used such as Fig. 3 institutes
Coordinate (r, φ, θ) in the spherical coordinate shown represents, the wherein radius of a ball (radius of curvature) r be this apart from the centre of sphere away from
From φ is angle (with polar coordinates) of the radius of a ball in the projector distance x-axis of x/y plane, and θ is the angle (title apart from z-axis
Make colatitude or drift angle, angle is from 0 to 180 °).It is considered that spherical coordinate, which is polar coordinate system, expands to shape in three dimensions
Into, vice versa.
In spherical model, the position distortion at image midpoint is only relevant with the radius vector coordinate in the polar coordinates, and polar coordinates are public
Formula is：
Wherein rp, θpIt is the radius vector and polar angle of normogram picture point for metapole, rd, θdFor the radius vector and polar angle of distortion point,
R is the radius of a ball (i.e. radius of curvature), x0, y0For center of distortion.
Value before and after S206, the distortion of the radius vector in polar coordinates obtains the radius of curvature of the spherical model.
Because center of distortion is the geometric center in VR display images, i.e. x0=0, y0=0, above-mentioned value is substituted into S204
In polar coordinates formula can draw the radius of a ball (radius of curvature) R calculation formula, R is directed to twisting center point symmetry, and it is calculated
Formula is：
The value of radius of curvature R is calculated according to above-mentioned formula, you can fault image is calculated according to each point coordinates of normal picture
Each point coordinates, to judge the distortion position in VR images, so as to be adjusted to image.It can be seen that formulaIt is real
The virtual reality device i.e. Distortion Law of VR equipment drawings picture is just represented on border.
According to another embodiment of the present invention acquisition virtual reality device pattern distortion rule method, it is known just
The point of normal image it is polar in the case of obtained according to the radius of curvature fault image corresponding points polar coordinates, Huo Zhe
The corresponding points of known fault image it is polar in the case of, according to the radius of curvature obtain normal picture point pole sit
Mark, idiographic flow are as shown in Figure 4.
Wherein S402-S406 is identical with S202-S206, will not be repeated here.
In S408, known normal picture point it is polar in the case of fault image obtained according to the radius of curvature
Corresponding points polar coordinates, or known fault image corresponding points it is polar in the case of, according to the radius of curvature
Obtain the polar coordinates of the point of normal picture.By the formula of radius of curvature
It can be seen that the formula has 3 variables, radius of curvature R this variable is being calculated by S402-S406
Value on the premise of, if learning the value of one in another two variable, it is clear that according to the formula with regard to the 3rd variable can be obtained
Value, that is to say, that can quickly be drawn correspondingly in the case of a kind of coordinate of point in known normal picture or fault image
Another image point coordinate.
Fig. 5 is shown according to the one of the example embodiment of the present invention system side for obtaining virtual reality device pattern distortion rule
Block diagram.
The system for obtaining virtual reality device pattern distortion rule can be used for virtual reality helmet etc..Such as figure
Shown in 5, obtaining the system 500 of virtual reality device pattern distortion rule may include coordinate obtaining module 502, coordinate transferring
504.In addition, system 500 may also include curvature radius calculation module 506.
Coordinate obtaining module 502 is used for the flute card of the corresponding points for the point and fault image for obtaining the normal picture randomly selected
That coordinate.
Coordinate transferring 504 is used to the cartesian coordinate is converted into polar coordinates by a spherical model.
Value before and after the distortion for the radius vector that curvature radius calculation module 506 is used in polar coordinates obtains the spherical model
Radius of curvature.
According to an embodiment of the present invention, it is described that the cartesian coordinate is converted to by polar coordinates by a spherical model
Including the cartesian coordinate of the point of normal picture is converted into polar coordinates by following formula：
Wherein rpFor the radius vector in the polar coordinates of the point of normal picture, xp、ypRespectively the Descartes of the point of normal picture sits
Abscissa and ordinate in mark；And
The cartesian coordinate of the corresponding points of fault image is converted to by polar coordinates by below equation：
Wherein rdFor the radius vector in the polar coordinates of the corresponding points of fault image, xd、ydHorizontal seat respectively in cartesian coordinate
Mark and ordinate.
According to an embodiment of the present invention, it is spherical to obtain this for the value before and after the distortion of the radius vector in polar coordinates
The radius of curvature of model is carried out by below equation：
Wherein R is radius of curvature, rpFor the radius vector in the polar coordinates of the point of normal picture, rdFor the corresponding points of fault image
Polar coordinates in radius vector.
Fig. 6 shows the terminal device according to an example embodiment of the invention.
As shown in fig. 6, terminal device 600 may include processor 610, memory 620.In addition, according to an embodiment, terminal
Equipment may also include transmitter and receiver.
Processor 610 can call the instruction stored in memory 620 to control associative operation, such as control transmitter and receiver
Carry out signal transmitting and receiving etc..
According to an embodiment, memory 620 stores controls the instruction operated below for processor 610：Obtain random choosing
The cartesian coordinate of the point of the normal picture taken and the corresponding points of fault image；By a spherical model by the cartesian coordinate
Be converted to polar coordinates；Value before and after the distortion of radius vector in polar coordinates obtains the radius of curvature of the spherical model.Processor
610 can call the instruction stored in memory 620 to control associative operation.It can be readily appreciated that memory 620 can be also stored for handling
Device 610 controls the instruction of other operations according to embodiments of the present invention, repeats no more here.
Detailed description more than, those skilled in the art it can be readily appreciated that system according to embodiments of the present invention and
Method has one or more of the following advantages.
First, according to certain embodiments of the present invention, the algorithm model to be distorted by calculating corresponding hardware epigraph,
The virtual reality applications such as reality-virtualizing game are made to make the picture distortion of adaptive hardware on different virtual reality devices, with
Support a variety of virtual reality devices.
In addition, according to certain embodiments of the present invention, before and after can calculating distortion one by one by scalloping algorithm
Corresponding coordinate, facilitate the measuring and calculating of the picture of the virtual reality applications such as reality-virtualizing game.
Those skilled in the art will readily occur to the present invention its after considering specification and putting into practice invention disclosed herein
Its embodiment.The application be intended to the present invention any modification, purposes or adaptations, these modifications, purposes or
Person's adaptations follow the general principle of the present invention and including undocumented common knowledges in the art of the invention
Or conventional techniques.Description and embodiments are considered only as exemplary, and true scope and spirit of the invention are by following
Claim is pointed out.
It should be appreciated that the invention is not limited in the precision architecture for being described above and being shown in the drawings, and
And various modifications and changes can be being carried out without departing from the scope.The scope of the present invention is only limited by appended claim.
Claims (10)
1. a kind of method for obtaining virtual reality device pattern distortion rule, normal picture and distortion for virtual reality device
Mutual conversion between image, it is characterised in that including：
Obtain the cartesian coordinate of the point of the normal picture randomly selected and the corresponding points of fault image；
The cartesian coordinate is converted to by polar coordinates by a spherical model；
Value before and after the distortion of radius vector in polar coordinates obtains the radius of curvature of the spherical model.
2. the method as described in claim 1, in addition to：Known normal picture point it is polar in the case of, according to institute
State the polar coordinates that radius of curvature obtains the corresponding points of fault image.
3. the method as described in claim 1, in addition to：Known fault image corresponding points it is polar in the case of, root
The polar coordinates of the point of normal picture are obtained according to the radius of curvature.
4. the method as described in claim 1, described that the cartesian coordinate is converted into polar coordinates bag by a spherical model
Include：The cartesian coordinate of the point of normal picture is converted to by polar coordinates by below equation (1)：
<mrow>
<msub>
<mi>r</mi>
<mi>p</mi>
</msub>
<mo>=</mo>
<msqrt>
<mrow>
<msup>
<msub>
<mi>x</mi>
<mi>p</mi>
</msub>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<msub>
<mi>y</mi>
<mi>p</mi>
</msub>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mrow>
Wherein rpFor the radius vector in the polar coordinates of the point of normal picture, xp、ypRespectively in the cartesian coordinate of the point of normal picture
Abscissa and ordinate；And
The cartesian coordinate of the corresponding points of fault image is converted to by polar coordinates by below equation (2)：
<mrow>
<msub>
<mi>r</mi>
<mi>d</mi>
</msub>
<mo>=</mo>
<msqrt>
<mrow>
<msup>
<msub>
<mi>x</mi>
<mi>d</mi>
</msub>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<msub>
<mi>y</mi>
<mi>d</mi>
</msub>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mrow>
Wherein rdFor the radius vector in the polar coordinates of the corresponding points of fault image, xd、ydAbscissa respectively in cartesian coordinate and
Ordinate.
5. the pole in the polar coordinates of the method as described in claim 1, the point of the normal picture and the corresponding points of fault image
Angle is equal.
6. the method as described in claim 1, the value before and after the distortion of the radius vector in polar coordinates obtains the spherical mold
The radius of curvature of type is carried out by below equation (3)：
<mrow>
<mi>R</mi>
<mo>=</mo>
<mfrac>
<msub>
<mi>r</mi>
<mi>d</mi>
</msub>
<msup>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>-</mo>
<mfrac>
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<msup>
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<mi>r</mi>
<mi>d</mi>
</msub>
<mn>2</mn>
</msup>
</mrow>
<mrow>
<msup>
<msub>
<mi>r</mi>
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</msub>
<mn>2</mn>
</msup>
</mrow>
</mfrac>
<mo>)</mo>
</mrow>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
</msup>
</mfrac>
</mrow>
Wherein R is radius of curvature, rpFor the radius vector in the polar coordinates of the point of normal picture, rdFor the pole of the corresponding points of fault image
Radius vector in coordinate.
A kind of 7. system for obtaining virtual reality device pattern distortion rule, it is characterised in that including：
Coordinate obtaining module, the Descartes for obtaining the point of the normal picture randomly selected and the corresponding points of fault image sit
Mark；
Coordinate transferring, for the cartesian coordinate to be converted into polar coordinates by a spherical model；
Curvature radius calculation module, the curvature of the spherical model is obtained for the value before and after the distortion of the radius vector in polar coordinates
Radius.
8. system as claimed in claim 7, described that the cartesian coordinate is converted into polar coordinates bag by a spherical model
Include：The cartesian coordinate of the point of normal picture is converted to by polar coordinates by below equation (1)：
<mrow>
<msub>
<mi>r</mi>
<mi>p</mi>
</msub>
<mo>=</mo>
<msqrt>
<mrow>
<msup>
<msub>
<mi>x</mi>
<mi>p</mi>
</msub>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<msub>
<mi>y</mi>
<mi>p</mi>
</msub>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mrow>
Wherein rpFor the radius vector in the polar coordinates of the point of normal picture, xp、ypRespectively in the cartesian coordinate of the point of normal picture
Abscissa and ordinate；And
The cartesian coordinate of the corresponding points of fault image is converted to by polar coordinates by below equation (2)：
<mrow>
<msub>
<mi>r</mi>
<mi>d</mi>
</msub>
<mo>=</mo>
<msqrt>
<mrow>
<msup>
<msub>
<mi>x</mi>
<mi>d</mi>
</msub>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<msub>
<mi>y</mi>
<mi>d</mi>
</msub>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
</mrow>
Wherein rdFor the radius vector in the polar coordinates of the corresponding points of fault image, xd、ydAbscissa respectively in cartesian coordinate and
Ordinate.
9. system as claimed in claim 7, the value before and after the distortion of the radius vector in polar coordinates obtains the spherical mold
The radius of curvature of type is carried out by below equation (3)：
<mrow>
<mi>R</mi>
<mo>=</mo>
<mfrac>
<msub>
<mi>r</mi>
<mi>d</mi>
</msub>
<msup>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>-</mo>
<mfrac>
<mrow>
<msup>
<msub>
<mi>r</mi>
<mi>d</mi>
</msub>
<mn>2</mn>
</msup>
</mrow>
<mrow>
<msup>
<msub>
<mi>r</mi>
<mi>p</mi>
</msub>
<mn>2</mn>
</msup>
</mrow>
</mfrac>
<mo>)</mo>
</mrow>
<mfrac>
<mn>1</mn>
<mn>2</mn>
</mfrac>
</msup>
</mfrac>
</mrow>
Wherein R is radius of curvature, rpFor the radius vector in the polar coordinates of the point of normal picture, rdFor the pole of the corresponding points of fault image
Radius vector in coordinate.
A kind of 10. terminal device, it is characterised in that including：
Processor；
Memory, store the instruction that following operation is controlled for the processor：
Obtain the cartesian coordinate of the point of the normal picture randomly selected and the corresponding points of fault image；
The cartesian coordinate is converted to by polar coordinates by a spherical model；
Value before and after the distortion of radius vector in polar coordinates obtains the radius of curvature of the spherical model.
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