CN102111561A - Three-dimensional model projection method for simulating real scenes and device adopting same - Google Patents
Three-dimensional model projection method for simulating real scenes and device adopting same Download PDFInfo
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Abstract
The invention discloses a three-dimensional model projection method for simulating real scenes. The method comprises the following steps: the coordinate point of a three-dimensional model in a world coordinate system is changed into a coordinate point in a camera coordinate system; the changed coordinate point is normalized to obtain normalized image coordinates (x and y); the distorted normalized image coordinate is calculated according to the normalized image coordinates (x and y), and the distorted normalized image coordinates are projected to an image plane; and the three-dimensional model is stacked to a real two-dimensional image by the distorted image coordinates after being projected to the distorted image coordinates. By adopting the invention, the three-dimensional model can be matched with the real scenes in the images, and more real and natural combination of void and solid is realized.
Description
Technical field
The present invention relates to the technical field of television program designing, particularly relate to a kind of threedimensional model projecting method of simulation of real scenes and a kind of threedimensional model projection arrangement of simulation of real scenes.
Background technology
Virtual studio is the television program designing technology of developed recently a kind of uniqueness of getting up.It is digitized synthetic in real time that its essence is that the object movement image with the virtual three-dimensional model of computer manufacture and video camera shooting carries out, subject image and virtual background can be changed synchronously, thereby realize both fusions, to obtain perfectly synthetic picture.Virtual Studio Technology is to scratch on the basis of picture technology at traditional chroma key, Computerized three-dimensional graph technology and video synthetic technology have been made full use of, position and parameter according to video camera, the perspective relation and the prospect of three-dimensional virtual scene are consistent, after the process chroma key is synthetic, in the three-dimensional virtual scene that makes image in the prospect seem to be in computer fully to be produced, and can move therein, thereby create television stadio effect true to nature, that third dimension is very strong.
Correspondingly, in Virtual Studio System, we need project to virtual threedimensional model in the two dimensional image according to the attitude of current video camera and go, thereby realize the combination of actual situation.For the attitude of video camera, the perspective projection image-forming principle that generally all is based on pin-hole model in the machine vision is determined, is well known that it has shines upon straight characteristics to straight line.
Yet in fact real camera lens and nonideal pin-hole model have small distortion toward contact, and as shown in Figure 1, real camera lens tends to the linear projection in the reality scene is become the curve of the arc of strip on the image.At this moment, if directly virtual threedimensional model being projected to image gets on, straight line is still straight line, will seem inharmonious with the scene in the image, lacks the sense of reality.
Summary of the invention
Technical problem to be solved by this invention provides a kind of threedimensional model projecting method of simulation of real scenes, so that the real scene in threedimensional model and the image is complementary, realizes truer, natural actual situation combination.
In order to solve the problems of the technologies described above, the embodiment of the invention discloses a kind of threedimensional model projecting method of simulation of real scenes, comprising:
The coordinate points of threedimensional model in world coordinate system is transformed to coordinate points in the camera coordinate system;
Coordinate points to described conversion is carried out normalization, obtain normalized image coordinate (x, y);
According to described normalized image coordinate (x, y) the normalized image coordinate after the calculating distortion
With the normalized image coordinate after the described distortion
Project on the picture plane image coordinate after obtaining to distort
With the image coordinate after the described distortion of threedimensional model process projection
After, in the real two dimensional image that is added to.
Preferably, the normalized image coordinate after the described distortion
Calculate acquisition by following formula;
Wherein, r
2=x
2+ y
2, k
1And k
2Be the coefficient of radial distortion that adopts the Zhang Zhengyou camera marking method to obtain.
Preferably, the image coordinate after the described distortion
Obtain by following matrix projection:
Wherein, described f
x, f
yBe focal length parameter, u
0, v
0Be the pixel coordinate of video camera photocentre on the picture plane, described f
x, f
y, u
0, v
0All adopt the Zhang Zhengyou camera marking method to obtain.
Preferably, the method that adopts the pointwise traversal is transformed to coordinate points in the camera coordinate system with the coordinate points of threedimensional model in world coordinate system.
Preferably, described threedimensional model is geometric threedimensional model.
The embodiment of the invention also discloses a kind of threedimensional model projection arrangement of simulation of real scenes, comprising:
The coordinate system transformation unit is used for threedimensional model is transformed to coordinate points in the camera coordinate system in the coordinate points of world coordinate system;
Coordinate normalized unit is used for the coordinate points of described conversion is carried out normalization, obtain normalized image coordinate (x, y);
Distortion coordinate pre-calculation unit is used for according to described normalized image coordinate (x, y) the normalized image coordinate after the calculating distortion
Distortion coordinate projection unit is used for the normalized image coordinate after the described distortion
Project on the picture plane image coordinate after obtaining to distort
The actual situation superpositing unit is used for the image coordinate after the described distortion of threedimensional model process projection
After, in the real two dimensional image that is added to.
Preferably, described distortion coordinate pre-calculation unit comprises that formula calls subelement, is used to call the normalized image coordinate after following formula calculates distortion
Wherein, r
2=x
2+ y
2, k
1And k
2Be the coefficient of radial distortion that adopts the Zhang Zhengyou camera marking method to obtain.
Preferably, described distortion coordinate projection unit comprises that matrix calls subelement, is used to call the image coordinate after following matrix obtains distortion
Wherein, described f
x, f
yBe focal length parameter, u
0, v
0Be the pixel coordinate of video camera photocentre on the picture plane, described f
x, f
y, u
0, v
0All adopt the Zhang Zhengyou camera marking method to obtain.
Preferably, the described coordinate system transformation unit method that adopts the pointwise traversal is transformed to coordinate points in the camera coordinate system with the coordinate points of threedimensional model in world coordinate system.
Preferably, described threedimensional model is geometric threedimensional model.
Compared with prior art, the present invention has the following advantages:
The present invention describes the distortion effects of camera lens by introducing distortion factor, and with this coefficient acting in the process of projection, allow threedimensional model also produce distortion, make it with image in scene be complementary.Adopt after this technical finesse, virtual three-dimensional model and true environment are merged more, more true nature seems.
Description of drawings
Fig. 1 is the schematic diagram that the linear projection that causes of lens distortion becomes curve;
Fig. 2 is the flow chart of steps of the threedimensional model projecting method embodiment of a kind of simulation of real scenes of the present invention;
Fig. 3 is the structured flowchart of the threedimensional model projection arrangement embodiment of a kind of simulation of real scenes of the present invention.
Embodiment
For above-mentioned purpose of the present invention, feature and advantage can be become apparent more, the present invention is further detailed explanation below in conjunction with the drawings and specific embodiments.
The present invention is mainly used in Virtual Studio System, and, in the virtual sports system that further develops based on Virtual Studio System.Particularly, Virtual Studio System is to update along with computer technology develop rapidly and chroma key technique in recent years and a kind of new tv program producing system that occurs.In Virtual Studio System, the work state information of video camera sends graphics workstation to, computer obtains distance and the relative position between foreground object and the video camera according to this, can calculate the optimum size of virtual scene, position, and calculate the threedimensional model that generates virtual scene on request.By virtual threedimensional model is projected to the combination of realization actual situation in the two dimensional image according to the attitude of current video camera.
Yet,, lack the sense of reality because lens distortion in the process that virtual threedimensional model is projected in the two dimensional image, tends to seem that the scene with in the image is inharmonious.At this problem, the present invention considers to introduce the distortion effects that distortion factor is described camera lens, and with this coefficient acting in the process of projection, allow threedimensional model also produce distortion, make it with image in scene be complementary.Be well known that the distortion of camera lens mainly contains two kinds, a kind of is radial distortion, and a kind of is tangential distortion.Tangential distortion is very little, so in the present invention, we only consider the influence of radial distortion.The characteristics of radial distortion are, the range image center is far away more, and it is obvious more to distort, and the radian that straight line is projected into curve is big more.Therefore, radial distortion should be the function of picture point to centre distance.
With reference to figure 2, show the flow chart of steps of the threedimensional model projecting method embodiment of a kind of simulation of real scenes of the present invention, specifically can may further comprise the steps:
For making those skilled in the art understand the present invention better, below simply introduce the related image coordinate system of the embodiment of the invention, world coordinate system and camera coordinate system.
The image of camera acquisition is converted to digital picture with the form of standard television signal through the high-speed image sampling system, and the input computer.Every width of cloth digital picture is the M*N array in computer, and (be called pixel, numerical value pixel) promptly is the brightness (or claiming gray scale) of picture point to each element in the image of the capable N row of M.Definition rectangular coordinate system u on image, v, (u v) is respectively the image coordinate system coordinate of unit with this pixel to the coordinate of each pixel.Because (u, v) a remarked pixel is arranged in the columns and the line number of array, does not express the position of this pixel in image with physical unit.Therefore, need set up the image coordinate system of representing with physical unit (millimeter) again.This coordinate system is an initial point with certain a bit (intersection point of the camera optical axis and the plane of delineation) in the image.X-axis and Y-axis respectively with u, the v axle is parallel.The physical size of each pixel on X-axis, Y direction is dX, dY, then can set up the relation of two coordinate systems.
Because video camera can be placed in optional position in the environment, in environment, select a frame of reference to describe the position of video camera, and with the position of any object in its describe environment, this coordinate system is called world coordinate system.
The initial point of camera coordinates system is the video camera photocentre, the X of x axle and y axle and image, and Y-axis is parallel, and the z axle is a camera optical axis, and it is vertical with the plane of delineation.The intersection point of the optical axis and the plane of delineation is the initial point of image coordinate system, and the rectangular coordinate system of formation is called camera coordinate system.
Relation between camera coordinate system and the world coordinate system can be described with spin matrix and translation vector.
In embodiments of the present invention, when world coordinate system transforms to camera coordinate system, need just can finish by the pointwise traversal, thereby preferably, the present invention is applicable to the threedimensional model of simple geometry figure is handled.
Promptly carry out normalized at the coordinate points in the camera coordinate system, in embodiments of the present invention, (x y) is meant normalized image coordinate under the desirable pin-hole camera model, distortionless to described normalized image coordinate.In practice, the normalized image coordinate is meant that a homogeneous coordinates [x, y, w] become [x/w, y/w, 1], because change under the camera coordinate system from world coordinate system, the formula of use is
Wherein, [x ' y ' z '] is the inhomogeneous coordinate of a three-dimensional,
After [x ' y ' z '] normalization, just become the homogeneous coordinates of a two dimension on the plane [x '/z ', y '/z ', 1].And this plane, with respect to the picture plane, its distance to photocentre equals 1, and fx=1 is promptly arranged, fy=1; Being write as projection formula is exactly:
Following formula has been described normalized process, in fact is exactly the three-dimensional coordinate under the camera coordinate system [x ' y ' z '] is projected into two dimensional image coordinate [u ' v ' 1] on the f=1 plane; In the present invention promptly, described being exactly of normalization is to the plane of focal length=1.
As a kind of preferred embodiment, the normalized image coordinate after the described distortion
Can calculate by following formula and obtain;
Wherein, r
2=x
2+ y
2, k
1And k
2Be the coefficient of radial distortion that adopts the Zhang Zhengyou camera marking method to obtain.
In a preferred embodiment of the present invention, the image coordinate after the described distortion
Can obtain by following matrix projection:
Wherein, described fx, fy are the focal length parameter, and u0, v0 are the intersection point of the camera optical axis and the plane of delineation, and described fx, fy, u0, v0 all adopt the Zhang Zhengyou camera marking method to obtain.
Be that above-mentioned k1, k2, fx, fy, u0, v0 can calculate easily by the Zhang Zhengyou camera marking method, Zhang Zhengyou considered radial distortion in 1998, had proposed a kind of method that can utilize several all inside and outside parameter of plane template calibrating camera--plane reference method.This method is calibrating camera accurately, and simple and easy to do.In above-mentioned formula (2), fx, fy, u0, v0 are only relevant with intrinsic parameters of the camera, so above-mentioned matrix is in the prior art for being called as the intrinsic parameter matrix.Particularly, fx=f/dX wherein, fy=f/dY is called the normalization focal length on x axle and the y axle; F is the focal length of camera, and dX and dY represent the size of unit picture element on u axle and the v axle respectively.What u0 and v0 then represented is optical centre, and promptly the intersection point of the camera optical axis and the plane of delineation is usually located at the picture centre place, so its value is often got resolution half.
The present invention promptly transforms to the coordinate points of threedimensional model in world coordinate system under the camera coordinate system earlier by above-mentioned steps, does normalization, obtain normalized image coordinate (x, y).According to formula (1) (2), can directly obtain the image coordinate later that distorts then
The ten minutes simple and fast.
By above-mentioned steps, virtual three-dimensional model and true environment are merged more, realize the more actual situation combination of true nature.
Need to prove, for aforesaid method embodiment, for simple description, so it all is expressed as a series of combination of actions, but those skilled in the art should know, the present invention is not subjected to the restriction of described sequence of movement, because according to the present invention, some step can adopt other orders or carry out simultaneously.
With reference to figure 3, show the structured flowchart of the threedimensional model projection arrangement embodiment of a kind of simulation of real scenes of the present invention, specifically can comprise with lower unit:
Coordinate system transformation unit 201 is used for threedimensional model is transformed to coordinate points in the camera coordinate system in the coordinate points of world coordinate system;
Coordinate normalized unit 202 is used for the coordinate points of described conversion is carried out normalization, obtain normalized image coordinate (x, y);
Distortion coordinate pre-calculation unit 203 is used for according to described normalized image coordinate (x, y) the normalized image coordinate after the calculating distortion
Distortion coordinate projection unit 204 is used for the normalized image coordinate after the described distortion
Project on the picture plane image coordinate after obtaining to distort
Actual situation superpositing unit 205 is used for the image coordinate after the described distortion of threedimensional model process projection
After, in the real two dimensional image that is added to.
In a preferred embodiment of the present invention, described distortion coordinate pre-calculation unit 203 can comprise following subelement:
Formula calls subelement, is used to call the normalized image coordinate after following formula calculates distortion
Wherein, r
2=x
2+ y
2, k
1And k
2Be the coefficient of radial distortion that adopts the Zhang Zhengyou camera marking method to obtain.
In a preferred embodiment of the present invention, described distortion coordinate projection unit 204 can comprise following subelement:
Matrix calls subelement, is used to call the image coordinate after following matrix obtains distortion
Wherein, described f
x, f
yBe focal length parameter, u
0, v
0Be the pixel coordinate of video camera photocentre on the picture plane, described f
x, f
y, u
0, v
0All adopt the Zhang Zhengyou camera marking method to obtain.
In the present invention preferably, the described coordinate system transformation unit method that adopts the pointwise traversal is transformed to coordinate points in the camera coordinate system with the coordinate points of threedimensional model in world coordinate system.Thereby described threedimensional model is preferably geometric threedimensional model.
For device embodiment, because it is similar substantially to method embodiment, so description is fairly simple, relevant part gets final product referring to the part explanation of method embodiment.
More than the threedimensional model projecting method of a kind of simulation of real scenes provided by the present invention and a kind of threedimensional model projection arrangement of simulation of real scenes are described in detail, used specific case herein principle of the present invention and execution mode are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof; Simultaneously, for one of ordinary skill in the art, according to thought of the present invention, the part that all can change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (10)
1. the threedimensional model projecting method of a simulation of real scenes is characterized in that, comprising:
The coordinate points of threedimensional model in world coordinate system is transformed to coordinate points in the camera coordinate system;
Coordinate points to described conversion is carried out normalization, obtain normalized image coordinate (x, y);
According to described normalized image coordinate (x, y) the normalized image coordinate after the calculating distortion
With the normalized image coordinate after the described distortion
Project on the picture plane image coordinate after obtaining to distort
With the image coordinate after the described distortion of threedimensional model process projection
After, in the real two dimensional image that is added to.
2. the method for claim 1 is characterized in that, the normalized image coordinate after the described distortion
Calculate acquisition by following formula;
Wherein, r
2=x
2+ y
2, k
1And k
2Be the coefficient of radial distortion that adopts the Zhang Zhengyou camera marking method to obtain.
3. method as claimed in claim 2 is characterized in that, the image coordinate after the described distortion
Obtain by following matrix projection:
Wherein, described f
x, f
yBe focal length parameter, u
0, v
0Be the pixel coordinate of video camera photocentre on the picture plane, described f
x, f
y, u
0, v
0All adopt the Zhang Zhengyou camera marking method to obtain.
4. the method for claim 1 is characterized in that, the method that adopts the pointwise traversal is transformed to coordinate points in the camera coordinate system with the coordinate points of threedimensional model in world coordinate system.
5. the method for claim 1 is characterized in that, described threedimensional model is geometric threedimensional model.
6. the threedimensional model projection arrangement of a simulation of real scenes is characterized in that, comprising:
The coordinate system transformation unit is used for threedimensional model is transformed to coordinate points in the camera coordinate system in the coordinate points of world coordinate system;
Coordinate normalized unit is used for the coordinate points of described conversion is carried out normalization, obtain normalized image coordinate (x, y);
Distortion coordinate pre-calculation unit is used for according to described normalized image coordinate (x, y) the normalized image coordinate after the calculating distortion
Distortion coordinate projection unit is used for the normalized image coordinate after the described distortion
Project on the picture plane image coordinate after obtaining to distort
The actual situation superpositing unit is used for the image coordinate after the described distortion of threedimensional model process projection
After, in the real two dimensional image that is added to.
7. device as claimed in claim 6 is characterized in that, described distortion coordinate pre-calculation unit comprises that formula calls subelement, is used to call the normalized image coordinate after following formula calculates distortion
Wherein, r
2=x
2+ y
2, k
1And k
2Be the coefficient of radial distortion that adopts the Zhang Zhengyou camera marking method to obtain.
8. device as claimed in claim 7 is characterized in that, described distortion coordinate projection unit comprises that matrix calls subelement, is used to call the image coordinate after following matrix obtains distortion
Wherein, described f
x, f
yBe focal length parameter, u
0, v
0Be the pixel coordinate of video camera photocentre on the picture plane, described f
x, f
y, u
0, v
0All adopt the Zhang Zhengyou camera marking method to obtain.
9. device as claimed in claim 6 is characterized in that, the method that described coordinate system transformation unit adopts the pointwise traversal is transformed to coordinate points in the camera coordinate system with the coordinate points of threedimensional model in world coordinate system.
10. device as claimed in claim 6 is characterized in that, described threedimensional model is geometric threedimensional model.
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| CN102314682A (en) * | 2011-07-11 | 2012-01-11 | 深圳超多维光电子有限公司 | Method, device and system for calibrating camera |
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| CN104574475A (en) * | 2015-01-15 | 2015-04-29 | 北京科艺有容科技有限责任公司 | Fine animation manufacturing method based on secondary controllers |
| CN104574475B (en) * | 2015-01-15 | 2017-11-21 | 北京春天影视科技有限公司 | A kind of fine animation method based on secondary controller |
| WO2018040511A1 (en) * | 2016-06-28 | 2018-03-08 | 上海交通大学 | Method for implementing conversion of two-dimensional image to three-dimensional scene based on ar |
| CN108495032A (en) * | 2018-03-26 | 2018-09-04 | 广东欧珀移动通信有限公司 | Image processing method, device, storage medium and electronic equipment |
| CN108961785A (en) * | 2018-07-10 | 2018-12-07 | 杭州利艾智能科技有限公司 | A kind of system and method adjusting traffic control signal |
| CN109242779A (en) * | 2018-07-25 | 2019-01-18 | 北京中科慧眼科技有限公司 | A kind of construction method, device and the automatic vehicle control system of camera imaging model |
| CN109104574A (en) * | 2018-10-09 | 2018-12-28 | 中国科学院深圳先进技术研究院 | A kind of method and system of cradle head camera masking privacy area |
| CN111880649A (en) * | 2020-06-24 | 2020-11-03 | 合肥安达创展科技股份有限公司 | Demonstration method and system of AR viewing instrument and computer readable storage medium |
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Application publication date: 20110629 |