CN101673160A - Screen calibration method based on camera positioning system - Google Patents
Screen calibration method based on camera positioning system Download PDFInfo
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- CN101673160A CN101673160A CN200910192838A CN200910192838A CN101673160A CN 101673160 A CN101673160 A CN 101673160A CN 200910192838 A CN200910192838 A CN 200910192838A CN 200910192838 A CN200910192838 A CN 200910192838A CN 101673160 A CN101673160 A CN 101673160A
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Abstract
The invention provides a screen calibration method based on camera positioning system, including: selecting a first touch point P1 and a second touch point P2, recording the same position T1 in real time image shooting of P1 and P2, connecting P1 and P2 to form a straight line L1; selecting a third touch point P3 and a fourth touch point P4, recording the same position T2 in real time image shooting of P3 and P4, and connecting P3 and P4 to form a straight line L2; calculating focus point position of the camera according to the straight lines L1 and L2, calculating included angle A of L1 and L2 according to the focus point position, and calculating distance D between T1 and T2; obtaining lens deformation rate eta by iteration calculation according to the included angle A and distance D, recording the lens deformation rate eta, and calibrating the camera according to the record lens deformation rate eta. The invention can realize accurate regulation of lens deformation rate by manual means, automatic means and manual-automatic means, can calibrate each camera independently and can achieve better calibration effect.
Description
Technical field
The present invention relates to the touch screen technology field, be specially a kind of screen calibration method based on camera positioning system.
Background technology
Along with the development of touching technique and popularizing of internet, applications, giant-screen touch-screen products such as a new generation's commercial affairs, exhibitions, demonstration and audio-visual education programme occur in succession, and its touch accuracy, dirigibility, reaction velocity become crucial technical indicator.At present, the back projection type touch-screen system of taking the touch objects location in screen surface based on camera with its accurate positioning, response speed is fast, structural manufacturing process is simple etc., and advantage is used widely.Existing multi-cam positioning system generally comprises at least 2 cameras, the side that is installed in screen surface or screen edge is respectively finished the location to take entire display screen scene plot face and front region by touch objects position and angle information that each camera photographs.
General technical scheme all is to set up a mathematical model to carry out conversion Calculation, and what result of calculation was had the greatest impact is the deformation rate of camera lens, and the deformation rate of different camera lenses, different focal is also different.Because the camera lens deformation rate can cause location calibration can't finish and correct aiming screen, makes that the location of whole touch screen is inaccurate, so the deformation rate of camera lens can have a strong impact on location calibration generation.And in the prior art, generally be not independent calibration to the calibration of camera lens, the camera number that participates in the location is many more, and the error of bringing is just big more.And under this situation about can't independently calibrate,, then need the whole joint calibration again of all camera lenses as long as have one in moving process or because other reasons and occurrence positions change.
Summary of the invention
The objective of the invention is to, propose a kind of screen calibration method, can accurately regulate the camera lens deformation rate, and can realize each camera is independently calibrated based on camera positioning system.
The screen calibration method based on camera positioning system that the present invention proposes comprises:
Step S100, selecting a touch point arbitrarily is the first touch point P1;
Step S200 selects the second touch point P2, and described P2 satisfies condition: described P1 and described P2 are same position T1 in the image of taking in real time;
Step S300 connects described P1 and described P2, constitutes straight line L1;
Step S400, selecting not arbitrarily, a touch point on described straight line L1 is the 3rd touch point P3;
Step S500 selects the 4th touch point P4, and described P4 satisfies condition: described P3 and described P4 are same position T2 in the image of taking in real time, described T2 is not identical with described T1;
Step S600 connects described P3 and described P4, constitutes straight line L2;
Step S700 according to the focal position of described straight line L1 and L2 calculating and record camera, calculates the included angle A that obtains described straight line L1 and L2 according to described focal position; And calculate the distance D between the T1 and T2 in the image of taking in real time;
Step S800 carries out iterative computation acquisition camera lens deformation rate η according to described included angle A and described distance D, and record camera lens deformation rate η calibrates camera according to the camera lens deformation rate η that writes down; Wherein, described iterative computation process comprises associating equation η=kA
2With equation kA
2=(D-H)/and H calculates, and k represents coefficient of relationship, and H represents the ideal image height.
The present invention is by selecting 4 touch point P1, P2, P3 and P4 in the camera coverage, with these 4 angled information of touch point position information translation etc., finally utilize these information to calculate the camera lens deformation rate, realize accurately regulating the camera deformation rate, and the present invention can also independently calibrate each camera, increases this convenience and ease for use based on the screen calibration method of camera positioning system.
Description of drawings
Fig. 1 is a kind of calibration steps process flow diagram based on camera positioning system;
Fig. 2 is the principle schematic of computed range D;
Fig. 3 is an imaging model synoptic diagram;
The principle schematic that Fig. 4 independently calibrates a camera for the present invention;
Fig. 5 is for being selected in P1 the synoptic diagram on the camera optical axis;
Fig. 6 utilizes difference approach to find the method synoptic diagram of P2 position, second touch point;
Fig. 7 is the approximate matched curve synoptic diagram of a camera deformation rate;
Fig. 8 carries out the synoptic diagram that iterative computation is determined camera lens deformation rate curve among the embodiment 2.
Embodiment
In the prior art, generally consist of the following components based on camera positioning system: comprise a back projection or front projection principle giant-screen, around the surface of giant-screen, install some be used to distinguish touch objects and background color dark light absorbent or light source, be installed in the giant-screen side with or one or more cameras of different edge, have the optical lens and the computing module of other functions such as wide-angle or optical filtering on one side.Positioning Principle is: one or more camera is taken the touch objects touch action and the positional information on giant-screen surface, and fill order or relative position information that touch action that camera is photographed and positional information change into broad screen projective system are finished the location.So, use one or more camera to finish the location, degree of accuracy not only depends on the localization method of employing, the calibration that more crucial is to camera itself.
The present invention is achieved through the following technical solutions: the positional information that camera is taken converts angle information etc. to, realizes the adjusting of camera lens deformation rate, to reach the purpose of calibration camera.The present invention is applicable to that the side takes all camera targeting schemes of touch screen surface touch objects, and each camera can both independently calibrate, and is irrelevant with the camera number.The deformation rate that factor causes when the deformation rate that the present invention mentions comprises perspective distortion, pincushion distortion, barrel distortion, the focal length variations of camera lens etc.
Embodiment 1:
Present embodiment is the independent calibration at a camera, as shown in Figure 1, and a kind of calibration steps process flow diagram that Fig. 1 proposes for present embodiment based on camera positioning system, specific as follows:
Step S100, selecting a touch point arbitrarily is the first touch point P1.Camera is taken the first touch point P1, and the position T1 of P1 in the image of taking in real time carried out record.
Step S200 selects the second touch point P2, and P2 need meet the following conditions: P1 and P2 are same position T1 in the image of taking in real time.That is to say that the position of the second touch point P2 overlaps with the position T1 at P1 place, first touch point in the image that camera is taken.
Step S300 connects P1 and P2, constitutes straight line L1.This straight line L1 passes P1 and 2 of P2 and extends to the entire display screen curtain and shows.
Step S400, selecting not arbitrarily, a touch point on straight line L1 is the 3rd touch point P3.Camera is taken the 3rd touch point P3, and the position T2 of P3 in the image of taking in real time carried out record.This position T2 is different with position T1, promptly is not same position.
Step S500 selects the 4th touch point P4, and P4 need meet the following conditions: P3 and P4 are same position T2 in the image of taking in real time.The position that is the 4th touch point P4 in the image taken of camera overlaps with the position T2 at P3 place, the 3rd touch point.
Step S600 connects P3 and P4, constitutes straight line L2.This straight line L2 passes P3 and 2 of P4 and extends to whole screen display.Can exist the physics of two straight lines to fabricate intersection point between straight line L1 and the L2,, prolong, can obtain the intersection point of straight line straight line L1 and L2 by fabricating though display screen only shows the straight length that pixel is represented.
Step S700 according to the focal position of straight line L1 and L2 calculating and record camera, calculates the included angle A that obtains straight line L1 and L2 according to the focal position; And calculate the distance D between the T1 and T2 in the image of taking in real time.The focal position of camera is the intersection point of straight line L1 and L2, after calculating the information of this focal position, can utilize the angle formula of two straight lines to try to achieve included angle A according to this focal position; Distance D between T1 and T2 is meant two distances that touch between the striped in the real-time image of taking of camera, can calculate distance D by the pixel number between two stripeds, and as shown in Figure 2, Fig. 2 is the principle schematic of computed range D.
Step S800 carries out iterative computation acquisition camera lens deformation rate η according to included angle A and distance D, and record camera lens deformation rate η calibrates camera according to the camera lens deformation rate η that writes down.After obtaining A and two values of D, the process of iterative computation comprises multiple implementation, and the computation process implementation that promptly obtains this camera lens deformation rate η is varied, and present embodiment proposes a kind of associating equation η=k θ
2=kA
2With equation kA
2=(D-H)/H carries out the implementation of iterative computation, below the process of interative computation done concise and to the point description:
K represents coefficient of relationship, and field angle θ is the aforementioned included angle A that calculates, and the relation of field angle θ and deformation rate η satisfies:
η＝kθ
2＝kA
2
And have according to the definition of deformation rate:
η＝(D-H)/H
Wherein, D is the actual imaging height, just calculates two interfringe distances of touch that obtain; H is the ideal image height.
Wherein, for the ideal image model following relation is arranged:
H＝A*(Hmax/2)/(Amax/2)+Hmax
In the imaging model synoptic diagram as shown in Figure 3, the maximum imaging length of imaging surface is Hmax, is Amax in the maximum visual angle of the edge of this imaging surface correspondence, can regard constant for these two, after promptly the image device of Cai Yonging was determined, Hmax and Amax are also corresponding to be determined.
So unite two equations:
Can calculate η, write down this camera lens deformation rate η then, just can camera be calibrated according to the camera lens deformation rate η of record.Unite above-mentioned two equations and carry out iterative computation, computational accuracy can be higher, makes to calibrate better effects if.
After the independent calibration of finishing single camera, can in like manner finish the independent calibration of other cameras in this camera positioning system, and then finish the calibration of whole touch screen curtain.As shown in Figure 4, Fig. 4 principle schematic of independently calibrating a camera for the present invention.The deformation rate that factor causes when the present invention comprises perspective distortion, pincushion distortion, barrel distortion, the focal length variations of camera lens by analog computation etc. produces corresponding calibration data, finally finishes calibration operation.
Embodiment 2:
Present embodiment proposes a kind of screen calibration method based on camera positioning system, comprising:
Step S100 selects a touch point on the camera optical axis as the first touch point P1 arbitrarily.By selecting close camera optical axis or the touch point on the camera optical axis as the first touch point P1, can calculate the camera lens deformation rate better, calibrate camera more accurately.As shown in Figure 5, Fig. 5 is for being selected in P1 the synoptic diagram on the camera optical axis.Camera is taken the position T1 of P1 and is kept a record, and at first obtains the geometric center position of the striped of camera shooting, and with high bright pixel or other marks this location mark is gone out; Mobile then P1 makes P1 drop on the geometric center location of pixels of sign, realizes that so promptly P1 is selected on the camera optical axis.
Step S200 selects the second touch point P2, and P2 must satisfy condition: P1 and P2 are same position T1 in the image of taking in real time.Select P2 that two kinds of methods can be arranged, a kind of is whether the striped of observing image in the real-time photographic images of camera overlaps, but can there be error in the observation of human eye; Another kind is to select a touch point P2 arbitrarily and write down this touch point P2 position T in the image of taking in real time, and mobile P2 sets up until equation T-T1=0, determines that this touch point P2 is the second touch point P2.Because among the step S100, P1 is selected on the camera optical axis, and the position of the second touch point P2 that photographs of conditional request camera and the position T1 of the first touch point P1 overlap, so P2 also is selected on the camera optical axis.As shown in Figure 6, Fig. 6 finds the method synoptic diagram of P2 position, second touch point for present embodiment utilizes difference approach, can adopt position coordinates that P2 moves and T1 position coordinates the method for calculating this moment apart from difference, if difference is for just, the geometric center position of the stripe pattern that does not also move to the camera shooting is described, the then prompting that moves right of screen display cursor, if difference is for negative, the geometric center position of the stripe pattern that moves past the camera shooting is described, then display highlighting prompting left of screen, until difference just in time is 0, and promptly equation T-T1=0 sets up.
Step S300 connects P1 and P2, constitutes straight line L1.This straight line L1 passes P1 and 2 of P2 and extends to the entire display screen curtain and shows.
Step S400, in any side of straight line L1, in the distance scope of 200 pixels, selecting not, a touch point on straight line L1 is the 3rd touch point P3.This position T2 is not identical with position T1, promptly is not same position.Camera is taken the position T2 of P3 and the position T2 of P3 in the image of taking is in real time carried out record.In the scope of distance L 1 about 200 pixels, the P3 of selection can make operation and calculate more convenient.
Step S500 selects the 4th touch point P4, and P4 must satisfy condition: P3 and P4 are same position T2 in the image of taking in real time.Select the method for the 4th touch point P4 also can follow among the step S200 the same, select a touch point P4 arbitrarily and write down this touch point P4 position T in the image of taking in real time, mobile P4 sets up until equation T-T2=0, determines that this touch point P4 is the second touch point P4.
Step S600 connects P3 and P4, constitutes straight line L2.This straight line L2 passes P3 and 2 of P4 and extends to whole screen display.Can exist the physics of two straight lines to fabricate intersection point between straight line L1 and the L2,, prolong, can obtain the intersection point of straight line straight line L1 and L2 by fabricating though display screen only shows the straight length that pixel is represented.
Different with embodiment 1, between step S600 and step S700, also increase step and make up the 3rd straight line L3, if three straight line L1, L2, L3 intersect at a point, then can this intersection point of accurate Calculation; If make up situation about occurring behind the 3rd the straight line L3 is that these three straight lines intersect in twos, then to the certain error of selected existence of L2 and L3.Specific implementation process is as follows:
Step S601, selecting not arbitrarily, a touch point on straight line L1 and straight line L2 is the 5th touch point P5.
Step S602 selects the 6th touch point P6, must satisfy condition by P6: P5 and P6 are same position T3 in the image of taking in real time.Also can be when equally, selecting P6 with reference to the way of step S200 in the present embodiment.
Step S603 connects P5 and P6,, constitute straight line L3.This straight line L3 passes P5 and 2 of P6 and extends to whole screen display.
Step S604 judges whether three straight line L1, L2, L3 intersect at a point, if three straight line L1, L2, L3 intersect at a point execution in step S700; Otherwise, repeat to carry out in order step S400, step S500, step S600, step S601, step S602, step S603 and step S604, intersect at a point until described three straight line L1, L2, L3, again execution in step S700.Repeat step S400 to S600 herein, and step S601 only is the straight line that meets the demands in order to find to step S604, to reach the requirement of accurate Calculation.
Carrying out above step S601 to step S604, continuing execution in step S700,, calculating the included angle A that obtains straight line L1 and L2 according to the focal position according to the focal position of straight line L1 and L2 calculating and record camera; And calculate the distance D between the T1 and T2 in the image of taking in real time.The calculating of focal position and included angle A, distance D, the corresponding step in can reference example 1 repeats no more herein.
Step S800 carries out iterative computation acquisition camera lens deformation rate η according to included angle A and distance D, and record camera lens deformation rate η calibrates camera according to the camera lens deformation rate η that writes down.In the present embodiment, this step specifically comprises following three steps:
Step S801: reach generation calculating acquisition camera lens deformation rate η according to included angle A and distance D, the iterative computation process comprises associating equation η=k θ
2=kA
2With equation kA
2=(D-H)/H calculates.Equally, carry out the process that iterative computation obtains camera lens deformation rate η according to A and D and comprise multiple implementation, the counterpart of the whole iterative computation process of present embodiment in can reference example 1 described.
Step S802: adjust straight line L1 and L2 according to camera lens deformation rate η, pass touch point P1, P2 until straight line L1, and straight line L2 passes touch point P3, P4; Write down this camera lens deformation rate η.Method of the present invention both can manual adjustments, also can regulate automatically, can also be manually regulate with combining automatically.For example, according to the mathematical relation η=k θ between field angle θ and the camera lens deformation rate η
2Can draw the quafric curve of a deformation rate, as shown in Figure 7, Fig. 7 is the approximate matched curve synoptic diagram of a camera deformation rate, and the horizontal ordinate angle among Fig. 7 is promptly represented field angle θ, and the ordinate deformation rate among Fig. 7 is promptly represented camera lens deformation rate η.According to two equations among the step S801, the mathematical relation A=f (D) that can draw between included angle A and the distance D is a function about camera lens deformation rate η.For the touch point, the camera lens deformation rate is the touch point position distortion that camera photographs.If manually regulate, can utilize the anti-deformation rate of releasing of iterative computation according to known touch point position coordinates, promptly manually import different deformation rate values, the position coordinates of substitution P1, P2, P3, P4 is set up A=f (D), obtain required camera lens deformation rate η thus, as shown in Figure 8, Fig. 8 carries out the synoptic diagram that iterative computation is determined camera lens deformation rate curve.But the meaning of this step S802 is, to automatic adjusting, need not to import different deformation rate values, can adjust the position, touch point that camera photographs automatically according to the camera lens deformation rate η that obtains, because in the process of adjusting, camera lens deformation rate η is also changing thereupon, so last record is to adjust the final camera lens deformation rate η that determines in end back, adjusting end is to pass touch point P1, P2 up to straight line L1, and straight line L2 passes touch point P3, P4.For manually with the control method that combines automatically, use regulate automatically make two straight line L1 and L2 approach the touch point of reality after, shot change rate that can the manual adjustments trace makes two straight lines all pass the actual touch point.Like this, both the time that can save the input of manual adjustments and watch regulating effect, can also finely tune the camera lens deformation rate and reduce the interior minimum side-play amount of automatic regulating error scope.
Step S803: the camera lens deformation rate η according to record calibrates camera.
After the independent calibration of finishing single camera, can in like manner finish the independent calibration of other cameras in this camera positioning system, and then finish the calibration of whole touch screen curtain.
Above-described embodiment of the present invention does not constitute the qualification to protection domain of the present invention.Any modification of being done within the spirit and principles in the present invention, be equal to and replace and improvement etc., all should be included within the claim protection domain of the present invention.
Claims (8)
1. the screen calibration method based on camera positioning system is characterized in that, comprising:
Step S100, selecting a touch point arbitrarily is the first touch point P1;
Step S200 selects the second touch point P2, and described P2 satisfies condition: described P1 and described P2 are same position T1 in the image of taking in real time;
Step S300 connects described P1 and described P2, constitutes straight line L1;
Step S400, selecting not arbitrarily, a touch point on described straight line L1 is the 3rd touch point P3;
Step S500 selects the 4th touch point P4, and described P4 satisfies condition: described P3 and described P4 are same position T2 in the image of taking in real time, described T2 is not identical with described T1;
Step S600 connects described P3 and described P4, constitutes straight line L2;
Step S700 according to the focal position of described straight line L1 and L2 calculating and record camera, calculates the included angle A that obtains described straight line L1 and L2 according to described focal position; And calculate the distance D between the T1 and T2 in the image of taking in real time;
Step S800 carries out iterative computation acquisition camera lens deformation rate η according to described included angle A and described distance D, and record camera lens deformation rate η calibrates camera according to the camera lens deformation rate η that writes down.
2. the screen calibration method based on camera positioning system according to claim 1 is characterized in that step S100 specifically comprises: select a touch point on the camera optical axis as the first touch point P1 arbitrarily.
3. the screen calibration method based on camera positioning system according to claim 1, it is characterized in that, select the process of the second touch point P2 specifically to comprise among the step S200: to select a touch point P2 arbitrarily and write down this touch point P2 position T in the image of taking in real time, move described P2 and set up, determine that this touch point P2 is the second touch point P2 until equation T-T1=0.
4. the screen calibration method based on camera positioning system according to claim 1, it is characterized in that, step S400 specifically comprises: in any side of described straight line L1, in the distance scope of 200 pixels, selecting not, a touch point on described straight line L1 is the 3rd touch point P3.
5. the screen calibration method based on camera positioning system according to claim 1, it is characterized in that, select the process of the 4th touch point P4 specifically to comprise among the step S500: to select a touch point P4 arbitrarily and write down this touch point P4 position T in the image of taking in real time, move described P4 and set up, determine that this touch point P4 is the second touch point P4 until equation T-T2=0.
6. the screen calibration method based on camera positioning system according to claim 1 is characterized in that, between step S600 and step S700, also comprises following steps:
Step S601, selecting not arbitrarily, a touch point on described straight line L1 and described straight line L2 is the 5th touch point P5;
Step S602 selects the 6th touch point P6, and described P6 satisfies condition: described P5 and P6 are same position T3 in the image of taking in real time;
Step S603 connects described P5 and P6,, constitute straight line L3;
Step S604 judges whether three straight line L1, L2, L3 intersect at a point, if described three straight line L1, L2, L3 intersect at a point execution in step S700; Otherwise, repeat to carry out in order step S 400, step S500, step S600, step S601, step S602, step S603 and step S604, intersect at a point until described three straight line L1, L2, L3, again execution in step S700.
7. the screen calibration method based on camera positioning system according to claim 1, it is characterized in that, carrying out the process that iterative computation obtains camera lens deformation rate η according to described included angle A and described distance D among the step S800 specifically comprises: according to described included angle A and described distance D, and associating equation η=k θ
2=kA
2With equation kA
2=(D-H)/and H carries out iterative computation, obtains camera lens deformation rate η, and wherein, k represents coefficient of relationship, and θ represents field angle, and H represents the ideal image height.
8. the screen calibration method based on camera positioning system according to claim 7 is characterized in that step S800 specifically comprises:
Step S801: according to described included angle A and described distance D, associating equation η=k θ
2=kA
2With equation kA
2=(D-H)/H carries out iterative computation, obtains camera lens deformation rate η;
Step S802: adjust described straight line L1 and L2 according to described camera lens deformation rate η, pass touch point P1, P2, and described straight line L2 passes touch point P3, P4 until described straight line L1; Write down this camera lens deformation rate η;
Step S803: the camera lens deformation rate η according to record calibrates camera.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102023763A (en) * | 2010-12-09 | 2011-04-20 | 广东威创视讯科技股份有限公司 | Positioning method of touch system camera |
| CN107995486A (en) * | 2017-12-11 | 2018-05-04 | 珠海格力电器股份有限公司 | A kind of camera bearing calibration and device |
| CN108021289A (en) * | 2015-01-08 | 2018-05-11 | 青岛海信电器股份有限公司 | A kind of response method of touch-screen |
-
2009
- 2009-09-29 CN CN2009101928384A patent/CN101673160B/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102023763A (en) * | 2010-12-09 | 2011-04-20 | 广东威创视讯科技股份有限公司 | Positioning method of touch system camera |
| CN102023763B (en) * | 2010-12-09 | 2012-12-26 | 广东威创视讯科技股份有限公司 | Positioning method of touch system camera |
| CN108021289A (en) * | 2015-01-08 | 2018-05-11 | 青岛海信电器股份有限公司 | A kind of response method of touch-screen |
| CN108021289B (en) * | 2015-01-08 | 2020-09-15 | 海信视像科技股份有限公司 | Response method of touch screen |
| CN107995486A (en) * | 2017-12-11 | 2018-05-04 | 珠海格力电器股份有限公司 | A kind of camera bearing calibration and device |
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|---|---|
| CN101673160B (en) | 2011-11-30 |
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