CN111462247B - Cursor position calibration method and device for screen interaction - Google Patents
Cursor position calibration method and device for screen interaction Download PDFInfo
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Abstract
The embodiment of the invention discloses a cursor position calibration method for screen interaction, which comprises the following steps: displaying a calibration graph on a screen through a signal source, wherein a plurality of calibration points are arranged on the calibration graph, and the coordinates of the plurality of calibration points are screen coordinates of signals displayed on the screen by the signal source; acquiring an image of a screen where the calibration graph is located through a camera, and sending the image to a server for analysis and calculation to obtain image coordinates of the calibration points; according to the screen coordinates and the image coordinates of a plurality of calibration points, establishing a first mapping relation between the image coordinates of each pixel point of the image acquired by the camera and the screen coordinates of each pixel point of the signal displayed on the screen by the signal source; and calibrating the cursor of the signal source on the screen according to the first mapping relation. The embodiment of the invention also discloses a cursor position calibration device for screen interaction.
Description
Technical Field
The embodiment of the invention relates to the field of screen interaction, in particular to a cursor position calibration method and device for screen interaction.
Background
In the field of screen interaction, one of the modes is that a remote controller is used for directly carrying out interaction operation on a screen, a transmitter capable of transmitting laser/infrared rays with certain wavelength is held by hand, light emitted by the transmitter generates corresponding light spots on the screen, and a camera is used for carrying out image shooting on the screen according to certain frequency; for the shot picture, the image processing is carried out according to a certain algorithm, the coordinate position of the light spot on the image can be calculated, and because a certain distance and an angle exist between the image imaging surface and the actual screen surface, the shot image can be distorted and deformed to a certain extent. It is critical to calculate the exact location of the spot on the screen so that the screen interaction can be performed accurately.
The existing technology only calibrates four vertexes of a screen, and interprets a screen area or a part of the screen area as a plane defined by four points, namely, the screen is assumed to be an ideal plane; the method can not simulate the concave-convex part in the screen well, and if the method is used for a curved screen or a special-shaped screen, the deviation of the coordinate position of the cursor caused by the curved surface of the screen can not be solved well, so that the calculated deviation of the coordinate position of the cursor is larger.
Disclosure of Invention
The technical scheme disclosed by the embodiment of the invention greatly improves the accuracy of cursor position calculation.
In a first aspect, an embodiment of the present invention provides a method for calibrating a cursor position for screen interaction, including:
displaying a calibration graph on a screen through a signal source, wherein a plurality of calibration points are arranged on the calibration graph, and the coordinates of the plurality of calibration points are screen coordinates of signals displayed on the screen by the signal source;
acquiring an image of a screen where the calibration graph is located through a camera, and sending the image to a server for analysis and calculation to obtain image coordinates of the calibration points;
according to the screen coordinates and the image coordinates of a plurality of calibration points, establishing a first mapping relation between the image coordinates of each pixel point of the image acquired by the camera and the screen coordinates of each pixel point of the signal displayed on the screen by the signal source;
and calibrating the cursor of the signal source on the screen according to the first mapping relation.
Preferably, the establishing a first mapping relationship between the image coordinates of each pixel point from which the camera acquires the image and the screen coordinates of each pixel point of the signal source displaying the signal on the screen according to the screen coordinates and the image coordinates of the plurality of calibration points includes:
acquiring a calibration equation, wherein the calibration equation is used for expressing the mapping relation between screen coordinates and image coordinates of a plurality of calibration points, and the number of the calibration points is larger than the number of calibration parameters of the determined calibration equation, so that an overdetermined equation can be obtained;
taking one of the screen coordinates and the image coordinates of the calibration points into the overdetermined equation to obtain a plurality of groups of coefficients of the overdetermined equation, and obtaining a plurality of calibration equations according to the plurality of groups of coefficients of the overdetermined equation;
and selecting an equation with the smallest calibration error from the plurality of calibration equations, and establishing a first mapping relation between image coordinates of each pixel point of the image acquired by the camera and screen coordinates of each pixel point of the signal displayed on the screen by the signal source.
Preferably, the calibration equation is:
X S (X,Y)＝K 0 *X n +K 1 *Y n +K 2 *X n-1 *Y+ K3 *X*Y n-1 +K 4 *X n-1 +K 5 *Y n-1 +K 6 *X n-2 *Y n-2 …+K c-3 X*Y+K c-2 X+K c-1 Y+K c ；
Y S (X,Y)＝K 00 *X n +K1*Y n +K 02 *X n-1 *Y+K 03 *X*Y n-1 +K 04 *X n-1 +K 05 *Y n-1 +K 06 *X n-2 *Y n-2 …K b- 3 X*Y+K b-2 X+K b-1 Y+K b ；
wherein n is more than or equal to 3, n is an integer, K 0 … Kc and K 00 …K b For calibration parameters, (X, Y) is the image coordinates and (Xs, ys) is the screen coordinates.
Preferably, the calibrating the on-screen cursor of the signal source according to the first mapping relationship includes:
transmitting light with a certain wavelength to a screen, and forming a light spot on the screen;
acquiring an image of a screen where the light spot is located, and sending the image to a server for analysis and calculation to obtain an image coordinate for displaying the light spot on the image;
bringing the image coordinates into a first mapping relation, and calculating screen coordinates of a cursor of a signal source on a screen;
and sending the calculated screen coordinates to a signal source, wherein the signal source moves a cursor to the calculated screen coordinates.
Preferably, the calibration pattern is a curved surface provided with 16 calibration points.
Preferably, the screen coordinates and the image coordinates are represented by pixel values.
Compared with the prior art, the embodiment of the invention provides a method for calibrating the position of a cursor on a screen, which comprises the steps of displaying a calibration graph with a plurality of calibration points on the screen through a signal source, obtaining screen coordinates of the plurality of calibration points, and obtaining an image of the screen on which the calibration graph is positioned through a camera, so as to obtain image coordinates of the plurality of calibration points displayed on the image; the method comprises the steps of establishing a first mapping relation between image coordinates of all pixel points of an image acquired by a camera and screen coordinates of all pixel points of a signal source display signal on a screen, calibrating a cursor of the signal source on the screen according to the first mapping relation, and greatly improving the accuracy of cursor position calculation through the technical scheme of the embodiment of the invention.
In a second aspect, an embodiment of the present invention further provides a method for calibrating a position of a cursor on a screen, including:
dividing the screen into a plurality of areas;
establishing a second mapping relation between screen coordinates and image coordinates of a plurality of calibration points in the calibration graph in each region;
determining a position of a light spot formed on a screen by emitting light with a certain wavelength through an emitter, and determining an area where the light spot is located according to the position of the light spot;
and calibrating a cursor of the signal source on the screen according to the second mapping relation.
Preferably, the determining the spot position formed on the screen by the emitter emitting light of a certain wavelength comprises:
establishing a third mapping relation between screen coordinates and image coordinates of a plurality of calibration points in a calibration graph in the whole screen;
acquiring an image of a screen where the light spot is located through a camera, and sending the image to a server for analysis and calculation to obtain an image coordinate for displaying the light spot on the image;
bringing the image coordinates into a third mapping relation, and calculating screen coordinates of a cursor of a signal source on a screen;
and determining the light spot position through the screen coordinates.
Preferably, the second mapping relation and the third mapping relation are determined by:
acquiring a calibration equation, wherein the calibration equation is used for expressing the mapping relation between screen coordinates and image coordinates of a plurality of calibration points in the whole screen or each area in the whole screen, and the number of the calibration points is larger than the number of calibration coefficients for determining the calibration equation, so that an overdetermined equation can be obtained;
taking screen coordinates of the whole screen or each area in the whole screen of the calibration point and corresponding image coordinates into the overdetermined equation to obtain a plurality of groups of coefficients of the overdetermined equation of each area in the whole screen or the whole screen, and obtaining a plurality of calibration equations of the whole screen or each area in the whole screen according to the plurality of groups of coefficients of the overdetermined equation;
the equation with the smallest calibration error is selected from the plurality of calibration equations as the calibration equation expressing the second and third mappings.
Preferably, the calibration equation of the whole screen is:
X S (X,Y)＝K 0 *X n +K 1 *Y n +K 2 *X n-1 *Y+ K3 *X*Y n-1 +K 4 *X n-1 +K 5 *Y n-1 +K 6 *X n-2 *Y n-2 …+K c-3 X*Y+K c-2 X+K c-1 Y+K c
Y S (X,Y)＝K 00 *X n +K1*Y n +K 02 *X n-1 *Y+K 03 *X*Y n-1 +K 04 *X n-1 +K 05 *Y n-1 +K 06 *X n-2 *Y n-2 …K b- 3 X*Y+K b-2 X+K b-1 Y+K b
the calibration equation of each area in the whole screen is as follows:
X S1 (X,Y)＝K 0 *X n1 +K 1 *Y n1 +K 2 *X n1-1 *Y+ K3 *X*Y n1-1 +K 4 *X n1-1 +K 5 *Y n1-1 +K 6 *X n1-2 *Y n1-2 …+K c-3 X*Y+K c-2 X+K c-1 Y+K c
Y S1 (X,Y)＝K 00 *X n1 +K1*Y n1 +K 02 *X n1-1 *Y+K 03 *X*Y n1-1 +K 04 *X n1-1 +K 05 *Y n1-1 +K 06 *X n-2 *Y n -2 …K b-3 X*Y+K b-2 X+K b-1 Y+K b
wherein n1, n is more than or equal to 3, n1 is less than or equal to n, n1, n is an integer, K 0 … Kc and K 00 … Kb is the calibration parameter, (X, Y) is the image coordinates, (Xs, ys), (Xs 1 ，Ys 1 ) Is the screen coordinates.
Compared with the prior art, the embodiment of the invention provides a cursor position calibration method for screen interaction, which is characterized in that a screen is divided into a plurality of areas, namely, the screen is discretized, multi-point calibration is respectively carried out on each discrete area to form a plurality of groups of mapping relations, the corresponding mapping relations are determined according to the area where the light spot positions are located, and then the cursor position is calculated.
In a third aspect, an embodiment of the present invention further provides a cursor position calibration device for screen interaction, including:
the display module is used for displaying a calibration graph on a screen through the signal source, wherein a plurality of calibration points are arranged on the calibration graph, and the coordinates of the plurality of calibration points are screen coordinates of signals displayed on the screen by the signal source;
the calculation module is used for acquiring an image of a screen where the calibration graph is located through the camera, and sending the image to the server for analysis and calculation to obtain image coordinates of the calibration points;
the establishing module is used for establishing a first mapping relation between the image coordinates of each pixel point of the image acquired by the camera and the screen coordinates of each pixel point of the signal displayed by the signal source on the screen according to the screen coordinates and the image coordinates of a plurality of calibration points;
and the calibration module is used for calibrating the cursor of the signal source on the screen according to the first mapping relation.
Compared with the prior art, the embodiment of the invention provides a cursor position calibration device for screen interaction, which is characterized in that a calibration graph with a plurality of calibration points is displayed on a screen through a signal source, screen coordinates of the plurality of calibration points are obtained, and an image of the screen on which the calibration graph is positioned is obtained through a camera, so that image coordinates of the plurality of calibration points displayed on the image are obtained; establishing a first mapping relation between screen coordinates and image coordinates of a plurality of calibration points; and calibrating the cursor of the signal source on the screen according to the first mapping relation, and greatly improving the accuracy of cursor position calculation through the technical scheme of the embodiment of the invention.
In a fourth aspect, an embodiment of the present invention further provides a cursor position calibration device for screen interaction, including:
a dividing module for dividing the screen into a plurality of areas;
the establishing module is used for establishing a second mapping relation between screen coordinates and image coordinates of a plurality of calibration points in the calibration graph in each area;
the determining module is used for determining the position of a light spot formed on a screen by emitting light with a certain wavelength through the emitter, and determining the area where the light spot is positioned according to the position of the light spot;
and the calibration module is used for calibrating the cursor of the signal source on the screen according to the second mapping relation.
Compared with the prior art, the embodiment of the invention provides a cursor position calibration device for screen interaction, which is characterized in that a screen is divided into a plurality of areas, namely, the screen is discretized, multi-point calibration is respectively carried out on each discrete area to form a plurality of groups of mapping relations, the corresponding mapping relations are determined according to the area where the light spot positions are located, and then the cursor position is calculated.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. Some specific embodiments of the present application will be described in detail hereinafter by way of example and not by way of limitation with reference to the accompanying drawings. The same reference numbers in the drawings denote the same or similar parts or portions, and it will be understood by those skilled in the art that the drawings are not necessarily drawn to scale, in which:
FIG. 1 is a schematic diagram of a cursor position calibration system for screen interaction according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a method for calibrating a cursor position for screen interaction according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a calibration graph according to an embodiment of the present invention;
FIG. 4 is a flowchart of another method for calibrating a cursor position for screen interaction according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a cursor position calibration device for screen interaction according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of another cursor position calibration device for screen interaction according to an embodiment of the present invention.
Detailed Description
In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the embodiments of the present invention and the above-described drawings are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein.
The applicant finds that the conventional method can not simulate the concave-convex part in the screen well, and if the screen is a curved screen or a special-shaped screen, the position deviation of the coordinates caused by the curved surface of the screen can not be solved well, so that the calculated coordinate position deviation is larger.
In order to solve the technical problems, the embodiment of the invention establishes the mapping relation between the coordinates of the light spot image and the cursor position by adopting the multi-point calibration and solving the overdetermined equation set to form a most suitable calibration equation of the curved surface which can cover all calibration points, and the technical scheme of the embodiment of the invention can greatly improve the accuracy of the calculated cursor position.
As shown in fig. 1, the embodiment of the invention discloses a cursor position calibration method for screen interaction, which is required to be applied to a screen interaction system when being implemented; the basic equipment of the system comprises: a screen (flat or curved or shaped screen), a signal source (a computer for providing a signal to the screen), a camera (for capturing images of the screen in real time), a server (for receiving image information and calculating the position of a cursor, etc.), and a transmitter (for transmitting light of a certain wavelength to form a light spot on the screen).
As shown in fig. 2, the embodiment of the invention discloses a cursor position calibration method for screen interaction, which specifically comprises the following steps:
step S01, displaying a calibration graph on a screen through a signal source, wherein a plurality of calibration points are arranged on the calibration graph, and the coordinates of the plurality of calibration points are screen coordinates of a signal displayed on the screen by the signal source;
it should be noted that, as shown in fig. 3, in the embodiment of the present invention, by simulating the screen into a curved surface defined by 16 points, and calibrating the position of the cursor on the screen according to the curved surface, a calibration graph needs to be displayed (but is not limited to the present graph) on the screen at first; the calibration graph is displayed on a screen through a signal source; the coordinates of each calibration point in the calibration graph are known, namely the pixel coordinate values on the corresponding signal source display signals, namely the screen coordinates.
In the embodiment of the invention, 16 calibration points are adopted, more or less than 16 calibration points can be adopted, and the more the calibration points are selected, the better the effect.
Step S02, obtaining an image of a screen where the calibration graph is located through a camera, and sending the image to a server for analysis and calculation to obtain image coordinates of the calibration points;
it should be noted that, the camera shoots the screen image at a certain distance and height from the screen, the camera transmits the image to the server, and the server analyzes the image according to the algorithm to obtain the pixel value coordinates of a plurality of calibration points displayed on the image, namely, the image coordinates.
Step S03, establishing a first mapping relation between the image coordinates of each pixel point of the image acquired by the camera and the screen coordinates of each pixel point of the signal displayed by the signal source on the screen according to the screen coordinates and the image coordinates of a plurality of calibration points;
the method specifically comprises the following steps:
acquiring a calibration equation, wherein the calibration equation is used for expressing the mapping relation between screen coordinates and image coordinates of a plurality of calibration points, and the number of the calibration points is larger than the number of calibration parameters of the determined calibration equation, so that an overdetermined equation can be obtained;
taking one of the screen coordinates and the image coordinates of the calibration points into the overdetermined equation to obtain a plurality of groups of coefficients of the overdetermined equation, and obtaining a plurality of calibration equations according to the plurality of groups of coefficients of the overdetermined equation;
and selecting an equation with the smallest calibration error from the plurality of calibration equations, and establishing a first mapping relation between image coordinates of each pixel point of the image acquired by the camera and screen coordinates of each pixel point of the signal displayed on the screen by the signal source.
It should be noted that, first, a calibration equation for expressing the mapping relationship between the screen coordinates and the image coordinates of a plurality of calibration points is obtained:
X S (X,Y)＝K 0 *X n +K 1 *Y n +K 2 *X n-1 *Y+ K3 *X*Y n-1 +K 4 *X n-1 +K 5 *Y n-1 +K 6 *X n-2 *Y n-2 …+K c-3 X*Y+K c-2 X+K c-1 Y+K c ；
Y S (X,Y)＝K 00 *X n +K1*Y n +K 02 *X n-1 *Y+K 03 *X*Y n-1 +K 04 *X n-1 +K 05 *Y n-1 +K 06 *X n-2 *Y n-2 …K b- 3 X*Y+K b-2 X+K b-1 Y+K b ；
wherein n is more than or equal to 3, n is an integer, K 0 … Kc and K 00 …K b For calibration parameters, (X, Y) is the image coordinates and (Xs, ys) is the screen coordinates.
The higher the order n of the calibration equation is, the more accurate the calibration is, but the larger the calculated amount is, the number of the calibration points is larger than the number of the calibration parameters of the determined calibration equation, so that an overdetermined equation can be obtained;
in the embodiment of the present invention, 16 calibration points are used to determine the calibration equation, and the order n=3 is used to describe the embodiment of the present invention in detail.
If the order n=3, the calibration equation is:
X S (X,Y)＝K 0 *X 3 +K1*Y 3 +K 2 *X 2 *Y+K 3 *X*Y 2 +K 4 *X 2 +K 5 *Y 2 +K 6 *X*Y+K 7 *X+K 8 *Y+K 9
Y S (X,Y)＝K 00 *X 3 +K 01 *Y 3 +K 02 *X 2 *Y+K 03 *X*Y 2 +K 04 *X 2 +K 05 *Y 2 +K 06 *X*Y+K 07 *X+K 08 *Y+K 09
wherein K is 0 …K c And K 00 …K b For calibration parameters, (X, Y) is the image coordinates and (Xs, ys) is the screen coordinates.
Due to the above-mentioned calibration parameter K 0 …K 9 And K00 …K 09 is smaller than the number of calibration points, so that an overdetermined equation can be obtained, so that the screen coordinates (X S ，Y S ) And the camera shoots image coordinates (X, Y) of 16 calibration points on a screen image, 16 groups of coordinate points which are in one-to-one correspondence are brought into the overdetermined equation to obtain coefficients of a plurality of groups of overdetermined equations, a plurality of calibration equations are obtained according to the coefficients of the plurality of groups of overdetermined equations, an equation with the smallest calibration error is selected from the plurality of calibration equations, and a first mapping relation between the image coordinates of each pixel point of an image acquired by the camera and the screen coordinates of each pixel point of a signal displayed by a signal source on the screen is established, namely, the calibration equation with the determined calibration parameters is determined.
And S04, calibrating the cursor of the signal source on the screen according to the first mapping relation.
The method specifically comprises the following steps:
transmitting light with a certain wavelength to a screen through a transmitter, and forming a light spot on the screen;
acquiring an image of a screen where the light spot is located through a camera, and sending the image to a server for analysis and calculation to obtain an image coordinate for displaying the light spot on the image;
bringing the image coordinates into a first mapping relation, and calculating screen coordinates of a cursor of a signal source on a screen;
and sending the calculated screen coordinates to a signal source, wherein the signal source moves a cursor to the calculated screen coordinates.
It should be noted that, the emitter emits light with a certain wavelength to the screen to generate a light spot, the light can be laser or infrared light, the camera shoots a screen image, the image is transmitted to the server, and the server calculates the image coordinates of the light spot on the screen image; the image coordinates are then taken into the calibration equation with the determined calibration parameters determined in step S03, the position coordinates of the cursor on the screen of the signal source, i.e. the screen coordinates (X, Y), are calculated, and the screen coordinates are then transmitted to the signal source, which moves the cursor to this screen coordinates (X, Y) position.
Compared with the prior art, the embodiment of the invention provides a method for calibrating the position of a cursor on a screen, which comprises the steps of displaying a calibration graph with a plurality of calibration points on the screen through a signal source, obtaining screen coordinates of the plurality of calibration points, and obtaining an image of the screen on which the calibration graph is positioned through a camera, so as to obtain image coordinates of the plurality of calibration points displayed on the image; the method comprises the steps of establishing a first mapping relation between image coordinates of all pixel points of an image acquired by a camera and screen coordinates of all pixel points of a signal source display signal on a screen, calibrating a cursor of the signal source on the screen according to the first mapping relation, and greatly improving the accuracy of cursor position calculation through the technical scheme of the embodiment of the invention.
In a second aspect, as shown in fig. 4, an embodiment of the present invention discloses another method for calibrating a cursor position for screen interaction, which specifically includes the following steps:
step S21, dividing the screen into a plurality of areas;
step S22, establishing a second mapping relation between screen coordinates and image coordinates of a plurality of calibration points in the calibration graph in each region;
step S23, determining the position of a light spot formed on a screen by emitting light with a certain wavelength through an emitter, and determining the area of the light spot according to the position of the light spot;
and step S24, calibrating a cursor of the signal source on the screen according to the second mapping relation.
It should be noted that, the screen may be divided into a plurality of areas, that is, the screen is discretized, the multi-point calibration is performed for each discrete area, so as to form a plurality of groups of mapping relationships, the corresponding mapping relationships are determined according to the area where the light spot positions are located, and then the cursor coordinate positions are calculated, in this case, the multi-point calibration is also necessary for the whole screen, because the coordinate positions where the light spots are located need to be determined first, and the area of the screen where the light spot is located is determined according to the positions where the light spots are located; if the discrete degree is higher and the discrete area is smaller, firstly, carrying out high-order multipoint calibration on the whole screen to establish a primary mapping relation, and respectively carrying out low-order point calibration on each discrete small area to establish a secondary mapping relation; and determining a discrete small area to which the light spot belongs through primary mapping, and determining the final position of the cursor according to corresponding secondary mapping.
Step S23, the determining a spot position formed on the screen by emitting light with a certain wavelength through the emitter, includes:
establishing a third mapping relation between screen coordinates and image coordinates of a plurality of calibration points in a calibration graph in the whole screen;
acquiring an image of a screen where the light spot is located through a camera, and sending the image to a server for analysis and calculation to obtain an image coordinate for displaying the light spot on the image;
bringing the image coordinates into a third mapping relation, and calculating screen coordinates of a cursor of a signal source on a screen;
and determining the light spot position through the screen coordinates.
It should be noted that, the calibration equation for specifically obtaining the second mapping relationship and the third mapping relationship is determined by the following manner:
acquiring a calibration equation, wherein the calibration equation is used for expressing the mapping relation between screen coordinates and image coordinates of a plurality of calibration points in the whole screen or each area in the whole screen, and the number of the calibration points is larger than the number of calibration coefficients for determining the calibration equation, so that an overdetermined equation can be obtained;
taking the screen coordinates of the calibration points in the whole screen or each area in the whole screen and the corresponding image coordinates into the overdetermined equation to obtain a plurality of groups of coefficients of the overdetermined equation of each area in the whole screen or the whole screen, and obtaining a plurality of calibration equations of each area in the whole screen or the whole screen according to the plurality of groups of coefficients of the overdetermined equation;
and respectively selecting an equation with the smallest calibration error from the whole screen or a plurality of calibration equations of each area in the whole screen as a calibration equation expressing the second mapping relation and the third mapping relation.
The calibration equation for the whole screen is:
X S (X,Y)＝K 0 *X n +K 1 *Y n +K 2 *X n-1 *Y+ K3 *X*Y n-1 +K 4 *X n-1 +K 5 *Y n-1 +K 6 *X n-2 *Y n-2 …+K c-3 X*Y+K c-2 X+K c-1 Y+K c
Y S (X,Y)＝K 00 *X n +K1*Y n +K 02 *X n-1 *Y+K 03 *X*Y n-1 +K 04 *X n-1 +K 05 *Y n-1 +K 06 *X n-2 *Y n-2 …K b- 3 X*Y+K b-2 X+K b-1 Y+K b
the calibration equation of each area in the whole screen is as follows:
X S1 (X,Y)＝K 0 *X n1 +K 1 *Y n1 +K 2 *X n1-1 *Y+ K3 *X*Y n1-1 +K 4 *X n1-1 +K 5 *Y n1-1 +K 6 *X n1-2 *Y n1-2 …+K c-3 X*Y+K c-2 X+K c-1 Y+K c
Y S1 (X,Y)＝K 00 *X n1 +K1*Y n1 +K 02 *X n1-1 *Y+K 03 *X*Y n1-1 +K 04 *X n1-1 +K 05 *Y n1-1 +K 06 *X n-2 *Y n -2 …K b-3 X*Y+K b-2 X+K b-1 Y+K b
wherein n1, n is more than or equal to 3, n1 is less than or equal to n, n1, n is an integer,K 0 … Kc and K 00 … Kb is the calibration parameter, (X, Y) is the image coordinates, (Xs, ys), (Xs 1 ，Ys 1 ) Is the screen coordinates.
The order n1 of the whole screen is larger than the order n of each area of the whole screen.
Specific steps for determining the second mapping relationship and the third mapping relationship are consistent with the first aspect of the embodiment of the present invention, and are described in detail herein.
After the third mapping relation is determined according to the steps, the image coordinates of the light spots calculated by the server on the image shot by the camera are brought into the third mapping relation, namely brought into a determined calibration equation, so that the screen coordinates of the light spots for displaying signals on the screen by the signal source can be calculated; and determining the light spot position according to the screen coordinate position, and calibrating a cursor of the signal source on the screen according to the second mapping relation.
Compared with the prior art, the embodiment of the invention provides a method for calibrating the position of a cursor on a screen, which is characterized in that the screen is divided into a plurality of areas, namely, the screen is discretized, multi-point calibration is respectively carried out on each discrete area to form a plurality of groups of mapping relations, the position of the cursor is recalculated according to the mapping relation determined by the area where the position of the light spot is located, and the accuracy of calculating the position of the cursor is greatly improved through the technical scheme of the embodiment of the invention.
In a third aspect, as shown in fig. 5, an embodiment of the present invention further discloses a cursor position calibration device for screen interaction, which is characterized in that the device includes:
the display module 31 displays a calibration graph on a screen through a signal source, wherein a plurality of calibration points are arranged on the calibration graph, and the coordinates of the plurality of calibration points are screen coordinates of a signal displayed on the screen by the signal source;
the calculation module 32 is configured to obtain an image of a screen where the calibration graph is located through the camera, send the image to the server for analysis and calculation, and obtain image coordinates of the calibration point;
a building module 33, configured to build a first mapping relationship between the image coordinates of each pixel point from which the camera acquires an image and the screen coordinates of each pixel point from which the signal source displays a signal on the screen according to the screen coordinates and the image coordinates of a plurality of calibration points;
and the calibration module 34 is configured to calibrate the on-screen cursor of the signal source according to the first mapping relationship.
The specific execution process of the cursor position calibration device for screen interaction disclosed in the third aspect of the embodiment of the present invention is consistent with the execution process of the first aspect of the embodiment of the present invention, and will not be described herein again.
Compared with the prior art, the embodiment of the invention provides a method for calibrating the position of a cursor on a screen, which comprises the steps of displaying a calibration graph with a plurality of calibration points on the screen through a signal source, obtaining screen coordinates of the plurality of calibration points, and obtaining an image of the screen on which the calibration graph is positioned through a camera, so as to obtain image coordinates of the plurality of calibration points displayed on the image; the method comprises the steps of establishing a first mapping relation between image coordinates of all pixel points of an image acquired by a camera and screen coordinates of all pixel points of a signal source display signal on a screen, calibrating a cursor of the signal source on the screen according to the first mapping relation, and greatly improving the accuracy of cursor position calculation through the technical scheme of the embodiment of the invention.
In a fourth aspect, as shown in fig. 6, an embodiment of the present invention further discloses a cursor position calibration device for screen interaction, which is characterized in that the device includes:
a dividing module 41 for dividing the screen into a plurality of areas;
a building module 42, configured to build a second mapping relationship between screen coordinates and image coordinates of a plurality of calibration points in the calibration graph in each region;
a determining module 43, configured to determine a position of a light spot formed on a screen by emitting light with a certain wavelength through an emitter, and determine an area where the light spot is located according to the position of the light spot;
and the calibration module 44 is configured to calibrate the cursor of the signal source on the screen according to the second mapping relationship.
The specific execution process of the cursor position calibration device for screen interaction disclosed in the fourth aspect of the embodiment of the present invention is consistent with the execution process of the second aspect of the embodiment of the present invention, and will not be described herein again.
Compared with the prior art, the embodiment of the invention provides a method for calibrating the position of a cursor on a screen, which is characterized in that the screen is divided into a plurality of areas, namely, the screen is discretized, multi-point calibration is respectively carried out on each discrete area to form a plurality of groups of mapping relations, the position of the cursor is recalculated according to the mapping relation determined by the area where the position of the light spot is located, and the accuracy of calculating the position of the cursor is greatly improved through the technical scheme of the embodiment of the invention.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the embodiments of the present invention, and are not limited thereto; although embodiments of the present invention have been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. A method for calibrating a cursor position for screen interaction, comprising:
displaying a calibration graph on a screen through a signal source, wherein a plurality of calibration points are arranged on the calibration graph, and the coordinates of the plurality of calibration points are screen coordinates of signals displayed on the screen by the signal source;
acquiring an image of a screen where the calibration graph is located through a camera, and sending the image to a server for analysis and calculation to obtain image coordinates of the calibration points;
according to the screen coordinates and the image coordinates of a plurality of calibration points, establishing a first mapping relation between the image coordinates of each pixel point of the image acquired by the camera and the screen coordinates of each pixel point of the signal displayed on the screen by the signal source;
calibrating a cursor of the signal source on a screen according to the first mapping relation;
the establishing a first mapping relation between the image coordinates of each pixel point of the image acquired by the camera and the screen coordinates of each pixel point of the signal displayed by the signal source on the screen according to the screen coordinates and the image coordinates of a plurality of calibration points comprises the following steps:
acquiring a calibration equation, wherein the calibration equation is used for expressing the mapping relation between screen coordinates and image coordinates of a plurality of calibration points, and the number of the calibration points is larger than the number of calibration parameters of the determined calibration equation, so that an overdetermined equation can be obtained;
taking one of the screen coordinates and the image coordinates of the calibration points into the overdetermined equation to obtain a plurality of groups of coefficients of the overdetermined equation, and obtaining a plurality of calibration equations according to the plurality of groups of coefficients of the overdetermined equation;
selecting an equation with the smallest calibration error from a plurality of calibration equations, and establishing a first mapping relation between image coordinates of each pixel point of an image acquired by a camera and screen coordinates of each pixel point of a signal displayed on a screen by a signal source;
the calibration equation is:
X S (X,Y)＝K 0 *X n +K 1 *Y n +K 2 *X n-1 *Y+K 3 *X*Y n-1 +K 4 *X n-1 +K 5 *Y n-1 +K 6 *X n-2 *Y n-2 …+K c-3 X*Y+K c-2 X+K c-1 Y+K c
Y S (X,Y)＝K 00 *X n +K 01 *Y n +K 02 *X n-1 *Y+K 03 *X*Y n-1 +K 04 *X n-1 +K 05 *Y n-1 +K 06 *X n-2 *Y n-2 …K b-3 X*Y+K b-2 X+K b-1 Y+K b
wherein n is more than or equal to 3, n is an integer, K 0 …K c And K 00 …K b Is the calibration parameter, (X, Y) is the image coordinate, (X S ，Y S ) Is the screen coordinates.
2. The method for calibrating a cursor position for screen interaction according to claim 1, wherein the calibrating the on-screen cursor of the signal source according to the first mapping relationship comprises:
transmitting light with a certain wavelength to a screen, and forming a light spot on the screen;
acquiring an image of a screen where the light spot is located, and sending the image to a server for analysis and calculation to obtain an image coordinate for displaying the light spot on the image;
bringing the image coordinates into a first mapping relation, and calculating screen coordinates of a cursor of a signal source on a screen;
and sending the calculated screen coordinates to a signal source, wherein the signal source moves a cursor to the calculated screen coordinates.
3. A cursor position calibration method for screen interaction according to any one of claims 1 to 2, characterized in that the calibration pattern is a curved surface provided with 16 calibration points.
4. A cursor position calibration method for screen interaction according to any one of claims 1 to 2, characterized in that the screen coordinates and image coordinates are represented by pixel values.
5. A method for calibrating a cursor position for screen interaction, comprising:
dividing the screen into a plurality of areas;
establishing a second mapping relation between screen coordinates and image coordinates of a plurality of calibration points in the calibration graph in each region;
determining the position of a light spot formed on a screen by emitting light with a certain wavelength, and determining the area where the light spot is located according to the position of the light spot;
calibrating a cursor of the signal source on a screen according to the second mapping relation; determining a location of a spot formed on a screen by the emitter emitting light of a wavelength, comprising:
establishing a third mapping relation between screen coordinates and image coordinates of a plurality of calibration points in a calibration graph in the whole screen;
acquiring an image of a screen where the light spot is located through a camera, and sending the image to a server for analysis and calculation to obtain an image coordinate for displaying the light spot on the image;
bringing the image coordinates into a third mapping relation, and calculating screen coordinates of a cursor of a signal source on a screen;
determining a light spot position through the screen coordinates;
the second and third mappings are determined by:
acquiring a calibration equation, wherein the calibration equation is used for expressing the mapping relation between screen coordinates and image coordinates of a plurality of calibration points in the whole screen or each area in the whole screen, and the number of the calibration points is larger than the number of calibration coefficients for determining the calibration equation, so that an overdetermined equation can be obtained;
taking the screen coordinates of the calibration points in the whole screen or each area in the whole screen and the corresponding image coordinates into the overdetermined equation to obtain a plurality of groups of coefficients of the overdetermined equation of each area in the whole screen or the whole screen, and obtaining a plurality of calibration equations of the whole screen or each area in the whole screen according to the plurality of groups of coefficients of the overdetermined equation;
respectively selecting an equation with the smallest calibration error from the whole screen or a plurality of calibration equations of each area in the whole screen as a calibration equation expressing the second mapping relation and the third mapping relation;
the calibration equation of the whole screen is as follows:
X S (X,Y)＝K 0 *X n +K 1 *Y n +K 2 *X n-1 *Y+K 3 *X*Y n-1 +K 4 *X n-1 +K 5 *Y n-1 +K 6 *X n-2 *Y n-2 …+K c-3 X*Y+K c-2 X+K c-1 Y+K c
Y S (X,Y)＝K 00 *X n +K 01 *Y n +K 02 *X n-1 *Y+K 03 *X*Y n-1 +K 04 *X n-1 +K 05 *Y n-1 +K 06 *X n-2 *Y n-2 …K b-3 X*Y+K b-2 X+K b-1 Y+K b
the calibration equation of each area in the whole screen is as follows:
X S1 (X,Y)＝K 0 *X n1 +K 1 *Y n1 +K 2 *X n1-1 *Y+K 3 *X*Y n1-1 +K 4 *X n1-1 +K 5 *Y n1-1 +K 6 *X n1-2 *Y n1-2 …+K c-3 X*Y+K c-2 X+K c-1 Y+K c
Y S1 (X,Y)＝K 00 *X n1 +K 01 *Y n1 +K 02 *X n1-1 *Y+K 03 *X*Y n1-1 +K 04 *X n1-1 +K 05 *Y n1-1 +K 06 *X n-2 *Y n-2 …K b-3 X*Y+K b-2 X+K b-1 Y+K b
wherein n1, n is more than or equal to 3, n1 is less than or equal to n, n1, n is an integer, K 0 …K c And K 00 …K b Is the calibration parameter, (X, Y) is the image coordinate, (X S ，Y S )，(X S1 ，Y S1 ) Is the screen coordinates.
6. A cursor position calibration device for screen interaction, comprising:
the display module is used for displaying a calibration graph on a screen through the signal source, wherein a plurality of calibration points are arranged on the calibration graph, and the coordinates of the plurality of calibration points are screen coordinates of signals displayed on the screen by the signal source;
the calculation module is used for acquiring an image of a screen where the calibration graph is located through the camera, and sending the image to the server for analysis and calculation to obtain image coordinates of the calibration points;
the establishing module is used for establishing a first mapping relation between the image coordinates of each pixel point of the image acquired by the camera and the screen coordinates of each pixel point of the signal displayed by the signal source on the screen according to the screen coordinates and the image coordinates of a plurality of calibration points;
the calibration module is used for calibrating the cursor of the signal source on the screen according to the first mapping relation;
the establishing a first mapping relation between the image coordinates of each pixel point of the image acquired by the camera and the screen coordinates of each pixel point of the signal displayed by the signal source on the screen according to the screen coordinates and the image coordinates of a plurality of calibration points comprises the following steps:
acquiring a calibration equation, wherein the calibration equation is used for expressing the mapping relation between screen coordinates and image coordinates of a plurality of calibration points, and the number of the calibration points is larger than the number of calibration parameters of the determined calibration equation, so that an overdetermined equation can be obtained;
taking one of the screen coordinates and the image coordinates of the calibration points into the overdetermined equation to obtain a plurality of groups of coefficients of the overdetermined equation, and obtaining a plurality of calibration equations according to the plurality of groups of coefficients of the overdetermined equation;
selecting an equation with the smallest calibration error from a plurality of calibration equations, and establishing a first mapping relation between image coordinates of each pixel point of an image acquired by a camera and screen coordinates of each pixel point of a signal displayed on a screen by a signal source;
the calibration equation is:
X S (X,Y)＝K 0 *X n +K 1 *Y n +K 2 *X n-1 *Y+K 3 *X*Y n-1 +K 4 *X n-1 +K 5 *Y n-1 +K 6 *X n-2 *Y n-2 …+K c-3 X*Y+K c-2 X+K c-1 Y+K c ；
Y S (X,Y)＝K 00 *X n +K 01 *Y n +K 02 *X n-1 *Y+K 03 *X*Y n-1 +K 04 *X n-1 +K 05 *Y n-1 +K 06 *X n-2 *Y n-2 …K b-3 X*Y+K b-2 X+K b-1 Y+K b ；
wherein n is more than or equal to 3, n is an integer, K 0 …K c And K 00 …K b Is the calibration parameter, (X, Y) is the image coordinate, (X S ，Y S ) Is the screen coordinates.
7. A cursor position calibration device for screen interaction, comprising:
a dividing module for dividing the screen into a plurality of areas;
the establishing module is used for establishing a second mapping relation between screen coordinates and image coordinates of a plurality of calibration points in the calibration graph in each area;
the determining module is used for determining the position of a light spot formed on a screen by emitting light with a certain wavelength through the emitter, and determining the area where the light spot is positioned according to the position of the light spot;
the calibration module is used for calibrating a cursor of the signal source on the screen according to the second mapping relation;
determining a location of a spot formed on a screen by the emitter emitting light of a wavelength, comprising:
establishing a third mapping relation between screen coordinates and image coordinates of a plurality of calibration points in a calibration graph in the whole screen;
acquiring an image of a screen where the light spot is located through a camera, and sending the image to a server for analysis and calculation to obtain an image coordinate for displaying the light spot on the image;
bringing the image coordinates into a third mapping relation, and calculating screen coordinates of a cursor of a signal source on a screen;
determining a light spot position through the screen coordinates;
the second and third mappings are determined by:
acquiring a calibration equation, wherein the calibration equation is used for expressing the mapping relation between screen coordinates and image coordinates of a plurality of calibration points in the whole screen or each area in the whole screen, and the number of the calibration points is larger than the number of calibration coefficients for determining the calibration equation, so that an overdetermined equation can be obtained;
taking the screen coordinates of the calibration points in the whole screen or each area in the whole screen and the corresponding image coordinates into the overdetermined equation to obtain a plurality of groups of coefficients of the overdetermined equation of each area in the whole screen or the whole screen, and obtaining a plurality of calibration equations of the whole screen or each area in the whole screen according to the plurality of groups of coefficients of the overdetermined equation;
respectively selecting an equation with the smallest calibration error from the whole screen or a plurality of calibration equations of each area in the whole screen as a calibration equation expressing the second mapping relation and the third mapping relation;
the calibration equation of the whole screen is as follows:
X S (X,Y)＝K 0 *X n +K 1 *Y n +K 2 *X n-1 *Y+K 3 *X*Y n-1 +K 4 *X n-1 +K 5 *Y n-1 +K 6 *X n-2 *Y n-2 …+K c-3 X*Y+K c-2 X+K c-1 Y+K c
Y S (X,Y)＝K 00 *X n +K 01 *Y n +K 02 *X n-1 *Y+K 03 *X*Y n-1 +K 04 *X n-1 +K 05 *Y n-1 +K 06 *X n-2 *Y n-2 …K b-3 X*Y+K b-2 X+K b-1 Y+K b
the calibration equation of each area in the whole screen is as follows:
X S1 (X,Y)＝K 0 *X n1 +K 1 *Y n1 +K 2 *X n1-1 *Y+K 3 *X*Y n1-1 +K 4 *X n1-1 +K 5 *Y n1-1 +K 6 *X n1-2 *Y n1-2 …+K c-3 X*Y+K c-2 X+K c-1 Y+K c
Y S1 (X,Y)＝K 00 *X n1 +K 01 *Y n1 +K 02 *X n1-1 *Y+K 03 *X*Y n1-1 +K 04 *X n1-1 +K 05 *Y n1-1 +K 06 *X n-2 *Y n-2 …K b-3 X*Y+K b-2 X+K b-1 Y+K b
wherein n1, n is more than or equal to 3, n1 is less than or equal to n, n1, n is an integer, K 0 …K c And K 00 …K b Is the calibration parameter, (X, Y) is the image coordinate, (X S ，Y S )，(X S1 ，Y S1 ) Is the screen coordinates.
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