CN101188020A - Method for precisely getting pixel geometric location mapping relation between projector image and computer frame buffer image - Google Patents
Method for precisely getting pixel geometric location mapping relation between projector image and computer frame buffer image Download PDFInfo
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Abstract
The invention relates to a method correctly obtaining the corresponding relationship of the pixel geometric position between the projection image of a projector and the frame buffering image of a computer. The method includes the steps that: (1) a characteristic pattern of the projection image is determined, the circumference of the characteristic pattern is provided with a rectangle, and the center of the characteristic pattern is provided with a central symmetrical pattern that is uniformly arranged corresponding to a characteristic point; the parameter of the pattern is calculated; the characteristic pattern is projected on a displaying wall by a projector in an opposite color; the image of the characteristic pattern that is displayed on the displaying wall is shot with a digital camera; the shot image is segmented; every corner point of the rectangle surrounding the characteristic pattern is identified in the segmented image; every internal central symmetrical pattern is identified in the segmented image, and the center of the internal central symmetrical pattern of the characteristic pattern is calculated with the traditional statistical method; the two characteristic points are formed into a data matrix; the calculus of interpolation is carried out for the data matrix, thereby the matrix data after the interpolation establishes a corresponding geometric relationship with the original characteristic pattern on the pixel position.
Description
Technical field
The invention belongs to fields such as virtual reality, Flame Image Process and identification, computer vision.
Background technology
Along with constantly rising to the demand that the jumbotron high resolving power shows in fields such as commerce, amusement and scientific research, many Projection Display wall technology receives much concern.Especially the imaging circumstances of using projector to add dome in 360 degree cylinder display wall is carried out projection imaging can be allowed the people produce heavyly to invade the formula truly feels, become virtual reality imaging circumstances Study on Technology focus.
Yet, because the projection image that factors such as projector lens, camera lens, curved surface projection produce distortion is the stack of many Nonlinear Mapping, be difficult to set up model, can not satisfy the application prerequisite of present geometry correction algorithm with the mode of linearity or burst linearity.Simultaneously, on a large scale during curved surface projection, because the restriction of process technology can not guarantee that the projection continuing surface is a quadric surface.
If use certain mode accurately obtain frame buffer image in the computing machine and the geometric position corresponding relation of projector between the image pixel that produces on the screen can be so that the follow-up geometric correction of imagery and border image fusion will become simple possible.In order to narrate conveniently, if there is not other meaning of lay special stress on, corresponding relation between two images that this patent is mentioned later all refers to frame buffer image and the geometric position corresponding relation of projector between the image pixel that produces on the screen in the computing machine, two images unique point corresponding relations refer to frame buffer image in the computing machine and projector at the corresponding relation of visual character pair point between pixel geometric location mapping that produces on the screen, and the projector projection image refers to the image that the computer frame buffer image forms on screen by projector.
The corresponding relation that once intactly obtains between two images is almost not all right.Common way is that feature image is used on the full frame projection display wall of projector, takes with digital camera, utilizes image processing and analytical technology to obtain unique point, carries out data interpolating then between unique point, finally sets up the corresponding relation between two images.If data volume surpasses frame buffer image pixel data volume after the interpolation, even can set up the corresponding relation between inferior pixel level two images.Therefore the accurate positional recognition of unique point in the image is to set up this precise geometrical position to concern prerequisite.
Current in the multi-projector display systems technology, obtaining two images unique point corresponding relations by projection feature image on the shooting display wall mainly is at the plane display wall.For example generate and have energy Gaussian distribution circle and ask the method for barycenter to obtain two images unique point corresponding relation (Ruigang Yang, David Gotz, Justin Hensley, Herman Towles and Michael S.Brown, " PixelFlex:AReconfigurable Multi-Projector Display System; " IEEE Visualization 2001, October 2001.).A lot of system employs the technology projection gridiron pattern of announcing at website http://www.vision.caltech.edu/bouguetj, extract tessellated angle point and obtain two images unique point corresponding relations.Geometric position corresponding relation in curve surface display wall projection image pixel and the computer frame buffer between the image pixel can not simply be implanted in the correlation technique in the display wall of plane.For example, boundary straight line still is a straight line in the checkerboard image projection image in the plane, but the boundary line in the curve surface display wall projection image has become curve.Experiment shows uses simple gridiron pattern angle point recognition technology and infeasible.This patent has been invented new characteristic pattern and the unique point of a class and has been obtained scheme, can be used for accurately obtaining the geometric position corresponding relation between the image pixel in curved surface or plane display wall projection image pixel and the computer frame buffer.Characteristic pattern by this patent invention and unique point are obtained scheme and the projection image of curved surface and plane Projection Display wall and computer frame buffer image feature point correspondence can be obtained technology and reduce a kind of technology.
Summary of the invention
The purpose of this invention is to provide corresponding relation accurate acquisition methods in geometric position between a kind of projector projection image and the computer frame buffer image pixel, to realize seamless spliced between the multi-projector image, make multi-projector display system full-automatic how much and color rectification more practical.
The object of the present invention is achieved like this: the accurate acquisition methods of pixel geometric location mapping corresponding relation between a kind of projector projection image and the computer frame buffer image, determine characteristic pattern: the figure that distributes around the characteristic pattern is a rectangle, intermediate pattern is the figure that is symmetrically distributed about the center, all figures being distributed as about unique point on the geometric position evenly distributes, visually can not adhesion between each figure, and can not adhesion in the image of taking with camera; The unique point of rectangle is four angle points around in the characteristic pattern, and the unique point of enclose pattern is the center;
Figure number in the characteristic pattern is determined according to the actual conditions on the resolution of computer frame buffer image and actual displayed plane and is calculated;
Pattern parameter in the characteristic pattern calculates according to following formula:
Suppose in graphical presentation system, the pixel of a computer frame buffer image SerComm W, height is H; The characteristic point data that needs is a matrix, and characteristic point matrix column data number is M, and the line data number is N, and the pixel SerComm high score of the rectangle around the characteristic pattern Wei w
0, h
0, the lateral separation number of picture elements on border is w between the rectangle
0, the longitudinal separation number of picture elements is h
0, middle long axis of ellipse and minor axis radius pixel number are respectively a, b; The oval center of circle of first of the upper left corner is 2w to the number of picture elements distance of left margin
0, be 2h to the number of picture elements distance of coboundary
0Laterally the distance of the number of picture elements between the adjacent ellipses center of circle is w
0, vertically the distance of the number of picture elements between the adjacent ellipses center of circle is h
0
Relation between the above-mentioned variable satisfies:
W∶H＝M∶N
w
0＝W÷(M-1)
h
0＝H÷(N-1)
a＜W÷[2×(M-1)]
b＜H÷[2×(N-1)]
(2) relation of the pixel location precise geometrical between projection image and the computer frame buffer image is obtained scheme
(2-1) the characteristic pattern inverse is projected to display wall with projector;
(2-2) with the characteristic pattern image on the digital camera shooting display wall;
(2-3) image of taking in (2-2) is cut apart;
(2-4) split image is identified characteristic pattern rectangle and angle point thereof on every side, wherein each rectangle has 4 angle points;
(2-5) each inside center symmetric figure of identification in split image utilizes statistical method to calculate the center of characteristic pattern inside center symmetric figure then;
(2-6) above-mentioned two kinds of feature point group are made into a data matrix;
(2-7) data matrix that obtains in (2-6) is carried out interpolation, the interpolated data amount is according to the resolution of primitive character pattern and obtain matrix data and calculate, and the matrix data and the primitive character pattern that obtain after the last interpolation are set up corresponding one by one geometric relationship on pixel location.
Set up in giant-screen (plane or the curved surface) display system utilizing multi-projector, accurately determining of geometric position mapping relations in projection image pixel and the computing machine between the frame buffer image pixel, it is more practical to make full-automatic geometry of multi-projector display system and color correct, and is gordian technique seamless spliced between each screen.The invention solves multi-projector and set up this gordian technique of giant-screen (plane or curved surface) display system.
The present invention has invented the new characteristic pattern of a class, the characteristics of pattern be around be the equally distributed rectangular patterns in angle point geometric position, inside is to have the regular figure that the center is symmetrically distributed, for example standard round, ellipse, rectangles etc., inner these figures evenly distribute according to the geometric position of central point.In fact the centre of figure here is exactly the figure barycenter on the physical significance.This class pattern is projected on the display wall with digital camera with projector takes image, utilization image processing and recognition technology, outer rectangular can accurately calculate the boundary geometrical position of projection image by the angle point recognition methods.Inner regular figure can use the physical equation that calculates object mass center to calculate the barycenter of figure.Use this pattern advantage to be, (1) for enclose pattern, can utilize the statistical calculation method of simple and robust to calculate the barycenter of enclose pattern; (2) the angle point recognizer of the projection rectangle of external graphics utilization on curved surface or plane identifies the boundary characteristic that angle point obtains projection image.What rectangle was not used in the inside of image is because the angle point recognizer of rectangle is higher at algorithm complex, consuming time more.Therefore adopt this pattern to discern calculating, combine the advantage of the barycenter recognition methods of identification of rectangle angle point and centrosymmetric image, can reach consuming time few, the characteristics that degree of accuracy is high.Utilize the unique point of projection image and computer frame buffer image can set up one-to-one relationship, adopt interpolation technique can set up geometrical correspondence between projector projection image and the computer frame buffer image pixel coordinate again.
Utilize this category feature pattern of this patent invention and the identifying schemes of unique point can high-precisionly identify curved surface or plane projection image unique point, set up the precise geometrical relation of pixel location between projection image and the computer frame buffer image.It is feasible to make seamless spliced between the multi-projector image become.Fig. 5. (c) identify the unique point image that the frame buffer image set up behind the row interpolation and the pixel level corresponding relation between the projection image recover of going forward side by side for utilizing.From the accuracy of the method that this patent proposes visually is described.Analysis of experimental data shows that the accuracy of identification difference of unique point can be controlled in 1 pixel.This category feature pattern of this patent invention and the identifying schemes of unique point be just tentative to be used in river of new generation and to get the better of greatly in the robotization geometry correction system of control tower visual simulation machine product of software company.
Description of drawings
Fig. 1 is characteristic pattern sample of the present invention (for rectangle is used for carrying out angle point identification at projection image, inner centrosymmetric image is that ellipse is used for carrying out center identification at projection image around among the figure);
Fig. 2 is the image of taking with digital camera to the curve screens with projector projects behind the pattern inverse among Fig. 1;
The image that Fig. 3 takes image segmentation technique to generate for the image among Fig. 2;
Fig. 4 is for to carry out the unique point (wherein unique point has used red cross to mark) that pattern recognition identifies to Fig. 3;
Fig. 5 is the computer frame buffer image;
Fig. 6 is the characteristic image inverse after the image that projector projects is taken with digital camera to the curve surface display wall;
Fig. 7 identifies the unique point image that the frame buffer image set up behind the row interpolation and the pixel level corresponding relation between the projection image recover of going forward side by side for utilizing.
Embodiment
Corresponding relation accurate acquisition methods in plain geometric position between a kind of projector projection image and the computer frame buffer image, the pattern detailed design: the explanation of (1) characteristic pattern: the figure that distributes around the characteristic pattern is a rectangle, intermediate pattern can be all figures that are symmetrically distributed about the center, as rectangle, circle, ellipse etc.All figures being distributed as about unique point on the geometric position evenly distributes, visually can not adhesion between each figure, and can not adhesion in the image of taking with camera.The unique point of rectangle is four angle points around in the characteristic pattern, and the unique point of enclose pattern is the center.Can use calculating object mass center physical equation commonly used to calculate; Figure number in the characteristic pattern is determined: the figure number in the characteristic pattern can be determined and calculates according to the actual conditions on the resolution of projector projects image and actual displayed plane.
We are that example describes with Fig. 1 characteristic pattern sample.Fig. 1 characteristic pattern sample is to design for picture resolution the ratio of width to height is generally 4: 3 projection image.Each outer rectangular has 4 unique points, and inner ellipse has only a unique point.All characteristic point data can form a matrix data.Matrix column is capable to be 4: 3 than still.
The calculation of parameter of figure in the pattern.
We are that example describes with Fig. 1 characteristic pattern sample.For pattern inside is that other figure that the center is symmetrically distributed can calculate by similar approach.
Unique point in the pattern should evenly distribute, so pattern parameter can calculate according to following formula.
Suppose in graphical presentation system, the pixel of a projector projection image SerComm W, height is H; The characteristic point data that needs is a matrix, and characteristic point matrix column data number is M, and the line data number is N, and the pixel SerComm high score of the rectangle among Fig. 1 around the pattern Wei w
0, h
0, the lateral separation number of picture elements on border is w between the rectangle
0, the longitudinal separation number of picture elements is h
0, middle long axis of ellipse and minor axis radius pixel number are respectively a, b; The oval center of circle of first of the upper left corner is 2w to the number of picture elements distance of left margin
0, be 2h to the number of picture elements distance of coboundary
0Laterally the distance of the number of picture elements between the adjacent ellipses center of circle is w
0, vertically the distance of the number of picture elements between the adjacent ellipses center of circle is h
0
Relation between the above-mentioned variable satisfies:
W∶H＝M∶N (1)
w
0＝W÷(M-1) (2)
h
0＝H÷(N-1) (3)
a＜W÷[2×(M-1)] (4)
b＜H÷[2×(N-1)] (5)
(2) relation of the pixel location precise geometrical between projection image and the computer frame buffer image is obtained scheme:
(2-1) the characteristic pattern inverse is projected to display wall with projector, inverse mainly is in order to strengthen the difference in brightness of figure and rear projection screen in the characteristic pattern;
(2-2) with the characteristic pattern image on the digital camera shooting display wall;
(2-3) image of taking in (2) is cut apart;
(2-4) split image is identified characteristic pattern rectangle and angle point thereof on every side, wherein each rectangle has 4 angle points;
(2-5) each inside center symmetric figure of identification in split image is utilized the center that goes out characteristic pattern inside center symmetric figure in the statistical method calculating then;
(2-6) above-mentioned two kinds of feature point group are made into a data matrix;
(2-7) data matrix that obtains in (6) is carried out interpolation, the interpolated data amount is according to the resolution of primitive character pattern and obtain matrix data and calculate, and the matrix data and the primitive character pattern that obtain after the last interpolation are set up corresponding one by one geometric relationship on pixel location.
Fig. 5 has showed and utilizes the one-to-one relationship of setting up between primitive frame buffer memory image and the projection image pixel after the characteristic that identifies and the interpolation to recover image process: be the computer frame buffer image; The image inverse is after the image that projector projects is taken with digital camera to the curve surface display wall; Utilization identifies the unique point image that the frame buffer image set up behind the row interpolation and the pixel level corresponding relation between the projection image recover of going forward side by side, from the accuracy of the method that this patent proposes visually is described.Analysis of experimental data shows that the accuracy of identification difference of unique point can be controlled in 1 pixel.
Claims (2)
1. the accurate acquisition methods of pixel geometric location mapping corresponding relation between projector projection image and the computer frame buffer image is characterized in that:
(1) determines characteristic pattern
The figure that distributes around the characteristic pattern is a rectangle, intermediate pattern is the figure that is symmetrically distributed about the center, all figures being distributed as about unique point on the geometric position evenly distributes, visually can not adhesion between each figure, and can not adhesion in the image of taking with camera; The unique point of rectangle is four angle points around in the characteristic pattern, and the unique point of enclose pattern is the center;
Figure number in the characteristic pattern is determined according to the actual conditions of the resolution of projector projects image and actual displayed wall and is calculated;
Pattern parameter in the characteristic pattern calculates according to following formula:
Suppose in graphical presentation system, the pixel of a computer frame buffer image SerComm W, height is H; The characteristic point data that needs is a matrix, and characteristic point matrix column data number is M, and the line data number is N, and the pixel SerComm high score of the rectangle around the characteristic pattern Wei w
0, h
0, the lateral separation number of picture elements on border is w between the rectangle
0, the longitudinal separation number of picture elements is h
0, middle long axis of ellipse and minor axis radius pixel number are respectively a, b; The oval center of circle of first of the upper left corner is 2w to the number of picture elements distance of left margin
0, be 2h to the number of picture elements distance of coboundary
0Laterally the distance of the number of picture elements between the adjacent ellipses center of circle is w
0, vertically the distance of the number of picture elements between the adjacent ellipses center of circle is h
0
Relation between the above-mentioned variable satisfies:
W∶H＝M∶N
w
0＝W÷(M-1)
h
0＝H÷(N-1)
a＜W[2×(M-1)]
b＜H÷[2×(N-1)]
(2) relation of the pixel location precise geometrical between projection image and the computer frame buffer image is obtained scheme
(2-1) the characteristic pattern inverse is projected to display wall with projector;
(2-2) with the characteristic pattern image on the digital camera shooting display wall;
(2-3) image of taking in (2-2) is cut apart;
(2-4) split image is identified the angle point of the rectangle around the characteristic pattern, wherein each rectangle has 4 angle points;
(2-5) each inside center symmetric figure of identification in split image is utilized the center that goes out characteristic pattern inside center symmetric figure in the statistical method calculating then;
(2-6) above-mentioned two kinds of feature point group are made into a data matrix;
(2-7) data matrix that obtains in (2-6) is carried out interpolation, the interpolated data amount is according to the resolution of primitive character pattern and obtain matrix data and calculate, and the matrix data and the primitive character pattern that obtain after the last interpolation are set up corresponding one by one geometric relationship on pixel location.
2. according to the accurate acquisition methods of pixel geometric location mapping corresponding relation between described projector projection image of claim 1 and the computer frame buffer image, it is characterized in that: it is capable of identical that described characteristic pattern is that the characteristic for all figures in picture resolution the ratio of width to height and this pattern forms the row of a matrix data.Usually the image resolution ratio the ratio of width to height that adopts in projection display system is 4: 3, and the characteristic of all figures forms the matrix of a row row than 4: 3 in the therefore common pattern.
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