CN103116889A - Positioning method and electronic device - Google Patents
Positioning method and electronic device Download PDFInfo
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- CN103116889A CN103116889A CN2013100461978A CN201310046197A CN103116889A CN 103116889 A CN103116889 A CN 103116889A CN 2013100461978 A CN2013100461978 A CN 2013100461978A CN 201310046197 A CN201310046197 A CN 201310046197A CN 103116889 A CN103116889 A CN 103116889A
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Abstract
An embodiment of the invention provides a positioning method and an electronic device. The method includes the steps: performing first distortion correction for a first image according to a first distortion correction rule to obtain a second image; performing second distortion correction for a second image according to a second distortion correction rule to obtain a third image; acquiring M image calibration coordinates in the third image and N projection calibration coordinates in a projection area; determining the mapping relation between an image coordinate and a projection coordinate according to the M image calibration coordinates and the N projection calibration coordinates; analyzing the third image to obtain a first light spot image coordinate of a first light spot in the third image; and acquiring a first light spot projection coordinate of the first light spot in the third image according to the mapping relation between the image coordinate and the projection coordinate. Therefore, the method solves the technical problems that images are unstably calibrated, and the mapping relation between an image coordinate and a mapping coordinate is inaccurate in the prior art.
Description
Technical field
The present invention relates to electronic technology field, relate in particular to a kind of localization method and electronic equipment.
Background technology
Current, the development of electronic technology field makes increasing electronic equipment to realize alternately with the user, therefore, the projection interactive device has just appearred in prior art, that is to say that the user can realize that the user directly controls the electronic equipment that is connected with projector equipment by the projection interactive device, thereby can facilitate the control of user on electronic equipment.
Projection interactive device of the prior art is all to use laser pen to operate in view field by the user, then this projection interactive device is determined the corresponding operation of user by determining the laser spots of laser pen in view field, therefore, for the projection interactive device, the accuracy of the definite laser spots in view field has just directly determined the mutual effect of this projection interactive device.
The first, in the prior art the projection interactive device is all by camera collection view field image, then parse the position of laser spots in view field's image, but camera comprises telephoto lens and short-focus lens in the prior art, when this camera is short-focus lens, just need to camera collection to the image adjustment that distorts, this projection interactive device need to be demarcated this image definite before distortion is adjusted, then carry out the calculating of distortion parameter, namely adopt the Opencv scaling method to obtain distortion parameter K
1, K
2, K
3, P
1, P
2The method of this distortion parameter need to be based on the Matlab platform, need image is carried out manual demarcation in addition in the process that distortion parameter calculates, and need user manual click image angle point border to carry out image calibration, be exactly to make operating process complicated like this, calculate distortion parameter when more based on Matlab platform and Opencv scaling method in addition, can cause the unsettled problem of image calibration.
The second, because projection interactive device in the prior art is by calculating distortion parameter based on Matlab platform and Opencv scaling method, therefore can cause image calibration unstable, and then determine mapping relations between image coordinate and projection coordinate in this unsettled uncalibrated image, just cause the inaccurate technical matters of mapping relations between image coordinate and projection coordinate.
When three, carrying out in the prior art the detection of laser spots, all to judge by following feature: brightness, shape, area, length and width and movement locus, therefore existing method is not suitable for the situation that camera has the elevation angle, in the situation that the elevation angle is arranged, easily Emission Lasers spot check sniffing misses, and causes the larger technical matters of error to the laser spots detection.
Four, in the prior art when carrying out image calibration, all needing to carry out connected domain calculates, it is that requirement is carried out accurately label calculating in order to all connected domains that connected domain of the prior art is calculated, so just cause the image cycling too many, thereby make the projection interactive device to processing speed and the lower technical matters for the treatment of effeciency of image.
Five, in the prior art in the process of carrying out image calibration, all need the view field's image in image is carried out rim detection, that is to say this projection interactive device need to camera collection to image in determine image corresponding to view field, therefore be to adopt Canny operator edge detection method in the prior art, but the Canny Operator Method is subject to the constraint of selected threshold, thereby causes the problem that the edge can't detect can occurring in actual applications.
Summary of the invention
The invention provides a kind of localization method and electronic equipment, by calculating distortion parameter based on Matlab platform and Opencv scaling method in order to what solve projection interactive device in prior art, therefore can cause image calibration unstable, and then the definite image coordinate in this unsettled uncalibrated image and the mapping relations between mapping point, the inaccurate technical matters that just causes mapping relations between image coordinate and mapping relations, its concrete technical scheme is as follows:
A kind of localization method, be applied to an electronic equipment, described electronic equipment comprises a projection arrangement and an image collecting device, described image collector is set to the image collecting device that short-focus lens is housed, described projection arrangement can projection one projected image in view field, described image collecting device can gather the first image that comprises described projected image, and when having the first hot spot point in described view field, described method comprises:
According to the first distortion correction rule, described the first image is carried out distortion correction for the first time, obtain the second image after distortion correction for the first time;
According to the second distortion regulation rule, described the second image is carried out distortion correction for the second time, obtain the 3rd image after distortion correction for the second time;
Obtain M image calibration coordinate in described the 3rd image and N Projection surveying coordinate in described view field;
Determine mapping relations between image coordinate and projection coordinate according to described M image calibration coordinate and described N Projection surveying coordinate, M and N are all the positive integer more than or equal to 1;
Resolve described the 3rd image, obtain described the first hot spot point first hot spot dot image coordinate in described the 3rd image;
By the mapping relations between described image coordinate and described projection coordinate, obtain described the first hot spot point correspondence first hot spot spot projection coordinate in described view field.
A kind of electronic equipment, described electronic equipment projection arrangement and image collecting device, described projection arrangement can projection one projected image in view field, described image collecting device can gather the first image that comprises described projected image, described electronic equipment also comprises:
The first correcting unit is used for according to the first distortion correction rule, described the first image being carried out distortion correction for the first time, obtains the second image after distortion correction for the first time;
The second correcting unit is used for according to the second distortion regulation rule, described the second image being carried out distortion correction for the second time, obtains the 3rd image after distortion correction for the second time;
Acquiring unit, the user obtains M image calibration coordinate in described the 3rd image and N Projection surveying coordinate in view field;
Determining unit is used for determining mapping relations between image coordinate and projection coordinate according to described M image calibration coordinate and described N Projection surveying coordinate that M and N are all the positive integer more than or equal to 1;
Resolution unit is used for resolving described the 3rd image, obtains described the first hot spot point first hot spot dot image coordinate in described the 3rd image;
The coordinate setting unit is used for by the mapping relations between described image coordinate and described projection coordinate, obtains described the first hot spot point correspondence first hot spot spot projection coordinate in described view field.
One or more embodiment provided by the present invention exists following technique effect or advantage at least:
In embodiments of the present invention by the image that the projection interactive device the is collected adjustment that distorts, this distortion adjustment comprises twice distortion adjustment, after carrying out for the first time matrix distortion adjustment, carry out again distortion parameter adjustment for the second time, manually demarcate when correcting thereby solved in prior art, when distortion parameter is more, can cause the unsettled technical matters of image calibration, and then effectively raise the stability of image calibration, also improved the coordinate setting accuracy of projection interactive device.
In embodiments of the present invention by after distortion is adjusted, get corresponding coordinate in this image, and get corresponding mapping parameters according to the coordinate that gets and mapping transformation matrix, then determine mapping relations between image coordinate and projection coordinate according to this mapping parameters, thereby can solve in prior art the inaccurate technical matters of mapping relations between image coordinate and projection coordinate, and then improved the mapping accuracy of image coordinate to projection coordinate, and effectively promoted the response speed to the first hot spot point of projection interactive device.
By using, laser spots blue component information and laser spots brightness are carried out track and localization to laser spots in embodiments of the present invention, thereby solved the situation that camera has the elevation angle that is not suitable in the prior art, in the situation that the elevation angle is arranged, easily Emission Lasers spot check sniffing by mistake, and cause the larger technical matters of error that laser spots is detected, and then realized under different shooting angle the accurate location of laser spots, reduced the projection interactive device to the flase drop of laser spots and undetected.
Adopting in embodiments of the present invention piecemeal to carry out connected domain calculates, therefore, connected domain algorithm in the employing embodiment of the present invention can effectively be avoided the cycle index of connected domain algorithm in prior art, make this projection interactive device image data processing more fast, and also promoted the tracking velocity of laser spots, promoted the Experience Degree of user when mutual.
Description of drawings
Figure 1 shows that the process flow diagram of a kind of localization method in the embodiment of the present invention;
Figure 2 shows that the first image schematic diagram that in the embodiment of the present invention, the short-focus lens image collecting device gathers;
Figure 3 shows that uncalibrated image schematic diagram in the embodiment of the present invention;
Figure 4 shows that end points schematic diagram in the embodiment of the present invention;
Figure 5 shows that image binaryzation schematic diagram in the embodiment of the present invention;
Figure 6 shows that rim detection schematic diagram in the embodiment of the present invention;
Figure 7 shows that in the embodiment of the present invention, schematic diagram is divided in the zone;
Figure 8 shows that the concrete structure schematic diagram of a kind of electronic equipment in the embodiment of the present invention.
Embodiment
the embodiment of the present invention provides a kind of localization method and electronic equipment, at first a projection arrangement and an image collecting device have been comprised in this electronic equipment, this projection arrangement can projection one projected image in view field, this image collecting device can gather the first image that comprises this projected image, when having the first hot spot point in this view field, the method comprises: according to the first distortion correction rule, the first image is carried out distortion correction for the first time, obtain the second image after distortion correction for the first time, then according to the second distortion correction rule, the second image is carried out second-order correction, obtain the 3rd image after distortion correction for the second time, obtain in the 3rd image N Projection surveying coordinate in M image calibration coordinate and view field, determine mapping relations between image coordinate and projection coordinate according to this M image calibration coordinate and N Projection surveying coordinate, wherein M and N are the positive integer more than or equal to 1, resolve the 3rd image, obtain the first hot spot dot image coordinate of the first hot spot o'clock in the 3rd image, by the mapping relations between this image coordinate and projection coordinate, obtain the projection coordinate of the first hot spot point correspondence first hot spot point in view field, thereby what solved projection interactive device in the prior art is by calculating distortion parameter based on Matlab platform and Opencv scaling method, therefore can cause image calibration unstable, and then the definite image coordinate in this unsettled uncalibrated image and the mapping relations between mapping point, the inaccurate technical matters that just causes mapping relations between image coordinate and mapping relations.
Below by accompanying drawing and specific embodiment, technical solution of the present invention is described in detail, be to be understood that concrete technical characterictic in the embodiment of the present invention and embodiment is just to the detailed description of technical solution of the present invention, and be not limited to the technical solution, therefore, in the situation that do not conflict, the concrete technical characterictic in the embodiment of the present invention and embodiment can make up mutually.
Be illustrated in figure 1 as the process flow diagram of a kind of localization method in the embodiment of the present invention, the method comprises:
at first, need to prove that this localization method can be applied in the projection interactive device in embodiments of the present invention, a projection arrangement and an image collecting device have been comprised in this projection interactive device, this projection arrangement can be with a projector, image projection in view field, then the image collecting device in this projection interactive device can gather the first image that comprises view field, when if there is not pattern distortion in image collecting device this projection interactive device just not need the image that image collecting device collects is made any adjustments, but the distortion that causes due to imaging sensor self in image collecting device of the prior art, the rotation of image collecting device carrying tool or the deviation of attitude, be subject to electromagnetic interference (EMI) in the process of image acquisition or transmission, or be subjected to the impact of the factors such as scenery object and image collecting device three dimensions relative position relation, image through the image collecting device collection exists geometric distortion or geometric distortion, as: perspective distortion, pincushion distortion, barrel distortion etc., and image collecting device of the prior art has all comprised telephoto lens and short-focus lens, telephoto lens and short-focus lens all pattern distortion can occur when gathering image, and the pattern distortion of short-focus lens is larger, wherein, short-focus lens is the camera lens less than 40mm.
Therefore, provide in embodiments of the present invention the method that image collecting device is distorted and adjusts, at first for short-focus lens, this projection interactive device need to carry out for two steps to be demarcated, and its concrete scaling method is as follows:
at first, be preset with the first default projected image in this projection interactive device, this projection interactive device can be with this first default projector, image projection in view field, then obtain by the short-focus lens image collecting device K that is projected in the default a plurality of shooting angle of projected image of first in view field and open the precorrection image, wherein, K is the positive integer more than or equal to 2, then this projection interactive device obtains angle point image coordinate corresponding to angle point that K opens the first default projected image in the precorrection image, and the angle point projection coordinate of angle point correspondence in view field, according to this angle point image coordinate and angle point projection coordinate and the first distortion correction rule, obtain the first image rectification matrix, Intrinsic Matrix and distortion matrix have just been comprised in this first image rectification matrix, according to this first image rectification matrix, the first image is carried out distortion correction for the first time at last, obtain the second image after distortion correction for the first time, namely this electronic equipment will carry out distortion correction for the first time to the first image according to the Intrinsic Matrix that calculates and distortion matrix, obtain the second image after distortion correction for the first time.
Specifically, this electronic equipment need to be demarcated the image that short-focus lens collects in embodiments of the present invention:
Because the image collecting device parameter is different, for short-focus lens, the parameter acquiring of short-focus lens is even more important, reason is that there is even more serious distortion in short-focus lens, to such an extent as to correctly obtaining also of short-focus lens center of distortion has important influence to removing the final precision of distortion in addition, therefore, need in embodiments of the present invention short-focus lens is demarcated (i.e. the distortion adjustment of the first image) getting the first image (as shown in Figure 2), the mode of the adjustment that it is concrete is as follows:
at first need to preset a uncalibrated image (as shown in Figure 3) in this projection interactive device, it is the cross-hatch pattern picture, then look like to project to this cross-hatch pattern in view field by this projection interactive device, then need to remove to take this cross-hatch pattern picture by the image collecting device on this projection interactive device from different angles, according to the many experiments result, with gridiron pattern maximum in the cross-hatch pattern picture to occupy the parameter matrix that obtains when image collecting device gathers picture the most accurate, so the gridiron pattern in the cross-hatch pattern picture need to farthest be paved with the collection picture of whole image collecting device, after getting the cross-hatch pattern picture of a plurality of angles, this electronic equipment will find the position coordinates of X-comers in the image that image collecting device collects in the cross-hatch pattern picture.
then, this projection interactive device need to calculate this cross-hatch pattern picture distance between actual angle point in view field, this is apart from having characterized the actual range of two angle points in view field in this cross-hatch pattern picture, position coordinates according to this X-comers in the cross-hatch pattern picture and this angle point actual distance calculation Intrinsic Matrix and the distortion matrix in view field, after getting this Intrinsic Matrix and distortion matrix, this projection interactive device is corrected the fault image point coordinate, that is to say that the corresponding coordinate of all pixels in this image all needs to adjust by Intrinsic Matrix and distortion matrix, namely obtain the second image after the first image rectification adjustment of matrix.
During the second image after obtaining distortion correction for the first time, this electronic equipment is with execution in step 102.
After the second image after getting this first image rectification adjustment of matrix, this projection interactive device will carry out distortion correction for the second time to the second image according to the Lens Distortion Correction parameter, obtain the 3rd image after correction, and its concrete correcting mode is as follows:
because the pattern distortion that short-focus lens produces is very serious, therefore the simple distortion parameter matrix of proofreading and correct the calibration process acquisition is adjusted and can not be reached high-precision requirement, therefore, after adjusting when by the first image rectification matrix, the first image being distorted in embodiments of the present invention, need to carry out Lens Distortion Correction to the second image, at first, this projection interactive device carries out the gaussian filtering noise reduction with the second image, stretch to strengthen and process, then use the rim detection mode to obtain border in the second image, i.e. four edges circle of this projected picture, it is respectively coboundary, lower limb, left hand edge and right hand edge, after the edge of determining projected picture, this projection interactive device is determined suitable Lens Distortion Correction parameter K in this projected picture, by the Lens Distortion Correction parameter K, the second image is carried out distortion correction for the second time at last, obtain at last distortion correction the 3rd image afterwards for the second time.
Its mode of specifically obtaining the Lens Distortion Correction parameter K is as follows:
The Lens Distortion Correction parameter K generally can be expressed as X*10
-mThe figure place of (wherein X is any real number, and m is arithmetic number) expression Lens Distortion Correction parameter K is in fact calculated the Lens Distortion Correction parameter K and is calculated exactly X and m value, and according to the algebraic operation method, this X can be expressed as X=x
0+ 0.1x
1+ 0.01x
2+ ..., in fact just can be converted to x the calculating of X
iCalculating, x wherein
iBe the numerical value between 0 ~ 9.
At first determine the m value, in Fig. 4, the angle point of this projected image is A, B, i.e. two of this projected image end points are due to the reason of pattern distortion, A is not straight line to edge between B in this image, but one section camber line determines that the m value just needs to determine that in camber line, each point is to the vertical range of straight line AB, therefore, at first just need to determine the equation of straight line AB, the i point on camber line is d to the distance between straight line AB at this moment
i, then obtaining of Lens Distortion Correction parameter K can be passed through formula
, the minimum value of sum has just been determined the desired value of Lens Distortion Correction parameter K in this formula, when this Lens Distortion Correction parameter K is 0, calculates the distance of distortion collinear point and is sum1, gets x
0=1, m=5 is the initial value of distortion value, and namely this moment, K was 1*10
-5Calculate the distance of this moment and be sum2, if the size between comparison sum1 and sum2 is sum1＜sum2, illustrate that m is excessive, must reduce a numerical digit, when namely sum2 becomes m=m+1 corresponding distance and, repeat above-mentioned steps until sum1＞sum2 occurs, obtain final minimum sum2 by iteration; If two kinds of situations may appear in sum1＞sum2: a kind of is that sum2 also gets the left side in minimum value at this moment, and m is defined as currency; The second situation be the sum2 of this moment on the right side of minimum value, but this moment is still little than sum1, add a small value to K this moment, judges whether corresponding range difference increases, if so, m=m-1, otherwise the m value is defined as currency.
At definite x
i, after m, i.e. X*10
-mIn numerical digit just determine, then need to determine x
i, x at first
0Setting initial value, is 1 as initial value, calculates the distortional point distance this moment and is sum1, upgrades x
0, as get x
0=x
0+ 1, calculate distance and be sum2; Iteration goes out minimum value sum2.If two kinds of situations may appear in sum1＞sum2: a kind of be this moment sum2 also at the left side of minimum value, x
0Be defined as currency; The second situation be the sum2 of this moment on the right side of minimum value, but this moment is still little than sum1, upgrade x this moment
0, as get: x
0=x
0+ 1 finds suitable x
0Calculate successively x with identical method
1, x
2Equivalence is until satisfy precision.
Thereby just can obtain x by the way
iIn all values, obtaining x
iIn all values after, this projection interactive device will obtain the Lens Distortion Correction parameter K of this image, then will do the Lens Distortion Correction of image to this second image according to this Lens Distortion Correction parameter K according to this projection interactive device of this Lens Distortion Correction parameter K, thereby obtain the 3rd image after this distortion correction.
In addition, when gathering image due to the image collecting device of telephoto lens, the distortion degree of image is lower, therefore, only need to can realize well going back original image by using distortion parameter K to adjust for the image collecting device of telephoto lens in embodiments of the present invention, thereby realize telephoto lens is gathered the distortion adjustment of image, can certainly carry out the first image rectification to telephoto lens, but not obvious especially for telephoto lens with the first image rectification effect, therefore do the precision of Lens Distortion Correction with regard to realizing proofreading and correct fully for telephoto lens.
The second image is being carried out after distortion correction obtains the 3rd image for the second time, this projection interactive device will carry out step 103.
Step 103 is obtained M image calibration coordinate in the 3rd image and N Projection surveying coordinate in view field.
Step 104 is determined mapping relations between image coordinate and projection coordinate according to M image calibration coordinate and N Projection surveying coordinate, and M and N are all the positive integer more than or equal to 1.
After in step 102, the second image being carried out distortion correction and obtains the 3rd image, this projection interactive device will remove to get M image calibration coordinate from the 3rd image, then projected image gets N Projection surveying coordinate in this view field, wherein, this M image calibration coordinate is N Projection surveying coordinate in corresponding projected image, that is to say that selected M image calibration coordinate just needs the corresponding Projection surveying coordinate of this M image calibration coordinate correspondence in projected image of determining.
After getting M image calibration coordinate and N Projection surveying coordinate, this projection interactive device will according to this M image calibration coordinate and N Projection surveying and the first preset rules, obtain the mapping parameters in mapping relations between image coordinate and projection coordinate.
Specifically, in embodiments of the present invention, the first image is distorted adjust and obtain the second image after, this projection interactive device will remove to determine 4 image calibration coordinate (x in the 3rd image
1, y
1), (x
2, y
2), (x
3, y
3), (x
4, y
4), and 44 the Projection surveying coordinate (us of image calibration coordinate correspondence in projected image
1, v
1), (u
2, v
2), (u
3, v
3), (u
4, v
4), then 4 image calibration coordinates and 4 Projection surveying coordinates are updated to the mapping transformation matrix:
Then obtain mapping parameters a, b, c, d, e, f, n, l according to this mapping transformation matrix, after getting this mapping parameters, just can obtain the mapping relations between image coordinate and projection coordinate, these mapping relations are specially:
, wherein, (u, v) is projection coordinate, and (x, y) is the image coordinate in the 3rd image, and a in these mapping relations, b, c, d, e, f, n, l are corresponding mapping parameters.
In addition, need to prove, the coordinate obtain manner of 4 image calibration points need to be by obtaining 4 image calibration points in the 3rd image based on many thresholding algorithms of piecemeal in the embodiment of the present invention in embodiments of the present invention, and its concrete mode is as follows:
at first, this projection interactive device will obtain and be projected in the second default pending image corresponding to projected image in view field, then adjust mode to the processing that distorts of pending image by above-mentioned pattern distortion, then the first default image after obtaining to process, this projection interactive device will be transferred the image threshold regulation rule that prestores, the first default image is carried out at least twice image threshold to be regulated, and obtain threshold binary images after at least two image thresholds are adjusted, at least two threshold binary images are carried out image binaryzation and connected domain processing, obtain the connected domain result of at least two threshold binary images, connected domain result based at least two threshold binary images, determine J calibration point in the first default image, wherein, be specially for definite J calibration point: the first connected domain result and the second connected domain result of obtaining at least two threshold binary images, the first connected domain result and the second connected domain result are compared, obtain the difference between the first connected domain result and the second connected domain result, then judge that whether this difference is less than preset difference value, and generate a result of determination, when this result of determination characterizes this difference less than preset difference value, determine J calibration point in the first default image.
for example: getting the image of view field (as shown in Figure 4) afterwards, this projection interactive device will be determined 4 impact points in the image that collects, image is divided into 4 take central point as benchmark, thereby make these 4 impact points be in respectively 4 independently (as shown in Figure 4) in matrix image, process respectively 4 image blocks, use the image segmentation algorithm of multi threshold fusion to carry out binary conversion treatment to each piece image, specifically, the image partition method of multi threshold fusion comprises: at first image threshold is adjusted from big to small, when adjusting, carry out image binaryzation for each threshold value, and carry out the calculating of connected domain, store the connected domain result of calculation under current threshold value, then from the result that connected domain is calculated, compare for each piece connected domain and connected domain result of calculation next time, because the change of threshold value is large, therefore image is being carried out to obtain three kinds of results when connected domain is calculated: 1, it is large that the connected domain area becomes, 2, new connected domain appears, 3, merge original connected domain.
The connected domain result of twice of front and back is relatively calculated the image area that connected domain calculates to gather way, also increase as area for the situation that new connected domain or merging occur and process, because background and prospect can differ larger at the edge gray-scale value, so whether decision procedure is less than a threshold value by the connected domain growth rate, after connected domain finishes to increase, determine this connected domain area, and get rid of the very little noise spot of area, thereby obtain last binaryzation result (as shown in Figure 5).This projection interactive device is processed by image and get the corresponding coordinate in image of these 4 image calibration points in the image after this binaryzation at last.
After the mapping relations that obtain between image coordinate and projection coordinate, this electronic equipment is with execution in step 104.
Step 105 is resolved the 3rd image, obtains the first hot spot dot image coordinate of the first hot spot o'clock in the 3rd image.
at first, all to utilize the brightness of laser spots by detection in the prior art, shape, area, length breadth ratio and movement locus are judged, the method can not be determined the accurate location of this laser spots in projected image accurately, and the situation that is equipped with the elevation angle at image collector larger error will occur to the location of laser spots, or even mistake is located in appearance, therefore, in embodiments of the present invention the location of laser spots comprised various ways, specifically the color characteristic that has comprised laser spots, movable information and shape facility etc., multimode merges and comes the locating laser point can realize the robustness that laser spots is detected like this, and can reduce probability of false detection to laser spots, its concrete mode is as follows:
The exposure of control image acquisition;
At first obtain maximum exposure value max and the minimum exposure value min of this image collecting device, then obtain successively the image histogram of exposure value from maximum exposure value max to minimum exposure value min, exposure value during less than a fixed value N is final exposure value less than the grey scale pixel value of a fixed value M and pixel count maximum (being place, gray-scale map top) when the maximum gradation value in image histogram, then by this final exposure value, projected image is gathered.
Determine the blue component monochrome information of laser spots;
Specifically when by final exposure value, the projected image in view field being gathered, need to obtain simultaneously the demarcation more than 4 times or 4 times, describe with 4 times, in demarcating for 4 times, each laser spots position of demarcating is not identical, then obtain the certain proportion value of the blue component brightness of laser spots in the image of these 4 times demarcation, then minimum value is defined as final threshold value in this ratio value, this threshold value just is used for determining at the second image the position of hot spot point.
certainly, in embodiments of the present invention except passing through the blue component monochrome information, this projection interactive device can also use brightness of image and blue component to determine simultaneously in embodiments of the present invention, thereby can reduce greatly surveyed area, concrete mode comprises: after gathering the projected image of many view fields by final exposure value, this projection interactive device will be determined laser spots in the image that gathers, and obtain the laser spots brightness in all images, with the threshold value of brightness minimum value in these all laser spots as the judgement laser spots, therefore, when the point that has in image greater than this threshold value, judge that this point may be laser spots, and then determine accurately actual laser spots according to blue luminance threshold in possible laser spots.
Can be more determine accurately the laser spots position by above-mentioned mode in the image that image collecting device collects, reduce the projection interactive device to the laser spots position fixing process, promote accuracy and the efficient of projection interactive device to the laser spots location.
In addition, for the projection interactive device, if the detection and localization speed of laser spots is fast not, can cause laser spots the phenomenon that lags behind to occur, can make like this projection interactive device delayed response can occur, so also to make user's Experience Degree lower, therefore, to provide dual mode in order improving to the laser spots detection speed in embodiments of the present invention: the one, the method that gathers the share zone is extracted laser spots; The 2nd, use improved connected domain algorithm.
Laser spots is extracted in the share zone: the 3rd image of parsing, find out light spot detection zone in the 3rd image, and then obtain the first hot spot dot image coordinate in light spot detection zone.
specifically, at first be image to be carried out global search obtain the laser spots coordinate, then search for as the hunting zone according to a certain proportion of area that marks off original image centered by the last laser spots coordinate of determining, do not search laser spots every a Preset Time or in reducing the scope, need to re-start a global search, simple exactly after determining for the first time the laser spots coordinate, just divide a surveyed area centered by the laser spots coordinate of determining for the first time, then detection laser point in this surveyed area during detection laser point for the second time, laser spots do not detected or dwindle surveyed area within a period of time when laser spots not detected afterwards, need image is carried out global search, and again determine the position of laser spots.Avoided like this image being carried out the position that global search comes locating laser point at every turn, thereby reduced the positioning time of projection interactive device to laser spots, improved locating speed, avoided the projection interactive device that the location of laser spots is postponed.
The connected domain algorithm:
When laser spots detects, need to carry out the binaryzation operation to obtaining image, to carry out connected component labeling to the zone that is communicated with after the binaryzation operation, connected domain algorithm of the prior art need to repeatedly circulate, purpose is accurately connected domain to be carried out label, but can make the complicated efficient of process of connected domain algorithm lower.
Therefore, the connected domain algorithm that uses does not in embodiments of the present invention need each connected domain is carried out accurately label in order, and only needing to identify a zone is that connected domain get final product, so it is also passable to carry out label for the zone of wrong label.As long as in follow-up operation, choose the connected domain that meets required area and get final product in the connected domain (also vicious label of correct label is arranged) of numerous labels.
For example, a connected component labeling having been detected is 1.And then, if occur for example zone of " U " font in image, be 2 with its label when we detect zone, " U " font upper left corner; But can be 3 with its label when zone, " U " font upper right corner being detected again; Will change whole " U " font this moment regional is unified label 3.Therefore just lacked label and be 2 zone in this image.In connected domain algorithm before, Yi Bian the label that the purpose of need to carrying out again circulating after complete number of figure image scale of circulation is righted the wrong.And in the algorithm of the embodiment of the present invention, think that this label procedure is correct process (for example go up example and can allow label 2 disappearances), only need by Area rule, the zone of label to be screened in follow-up operation to get final product, and do not need to determine this label.
Like this, avoided in seeking the connected domain algorithm, to the repetitive cycling operation of image, made the speed of detection of laser spots faster, also made more smooth alternately between the projection interactive device, made the operation of laser spots have more experience sense.
Further, in order to reduce the error rate of projection interactive device on laser spots detects, therefore, need to determine the edge of projected image in embodiments of the present invention in the image that distorts after adjusting, namely view field is in the scope that comprises of image, this view field has just comprised: coboundary, lower limb, left hand edge and right hand edge, and its concrete rim detection mode is in embodiments of the present invention:
When the projection interactive device detects mapping point corresponding to four corners of projected image (as shown in Figure 5), these 4 corner mapping points are as the end points of four edges edge line, then the window of a specific size need to be set on this end points, end points is classified at the center of window as, try to achieve successively the difference of adjacent gray-scale value in window interior, the difference maximum classify the edge as, then in the hope of this rim value as window center level or vertical the slip.For example as shown in Figure 6.After coordinate and lower right corner demarcation coordinate are demarcated in definite lower left corner, from coordinate is demarcated in the lower left corner, stepping to the right, the height that this window is set is n, namely seek the border in a up and down n pixel, the condition of judgement is: the gray-scale value difference between two pixels is maximum, determine that this place is the edge of this projected image, according to this kind step-by-step system, this projection interactive device will be determined left hand edge, right hand edge, coboundary and lower limb, thereby this projection interactive device will be determined the picture position that view field occupies in the whole image that collects.
By the Image Edge-Detection mode in the embodiment of the present invention, the Canny algorithm can not used, but detected the detection that realizes the image border by simple gradient, thereby improved the efficient of Image Edge-Detection and improved Image Edge-Detection speed and degree of accuracy.
Get image coordinate between projection coordinate mapping relations and laser spots is accurately located after, this projection interactive device is with execution in step 106.
Step 106 by the mapping relations between image coordinate and projection coordinate, is obtained the first hot spot point correspondence first hot spot spot projection coordinate in described view field.
That is to say after this projection interactive device accurately gets this laser spots coordinate, directly this laser spots coordinate is updated in these mapping relations and just can directly determines the coordinate position of this laser spots in view field, thus this projection interactive device responding correspondence.
by above-mentioned mode, in the embodiment of the present invention by having realized the image for producing distortion of projection interactive device is adjusted accurately to the distortion adjustment of image and to the accurate tracking location of the rim detection of image and laser spots, make for the calibration process of image more stable, and can realize the accurate location to laser spots, flase drop and false retrieval to laser spots have effectively been prevented, calculate by the connected domain to image in the embodiment of the present invention in addition, can effectively reduce the cycle index that in prior art, connected domain is calculated, make the tracking velocity of laser spots faster, promoted user's Experience Degree.
In order to improve image coordinate to the mapping accuracy between projection coordinate, therefore, in embodiments of the present invention except realizing obtaining of mapping relations by demarcating coordinate, can also be to realize the zone division of image by a plurality of auxiliary points in embodiments of the present invention, thereby remove to determine corresponding mapping function in each zonule, and then can realize image coordinate to the Precision Mapping between projection coordinate, its concrete mode comprises:
at first, the 3rd image after this projection interactive device will be adjusted distortion carries out the gray scale linear stretch, thereby obtain the 4th image after the gray scale linear stretch, then this projection interactive device will accurately be oriented 4 image calibration coordinates from the 4th image, 4 Projection surveying coordinates, 5 assistant images are demarcated coordinate, wherein, 5 assistant images are demarcated coordinate and are positioned at the zone that 4 image calibration coordinates surround, after determining that 5 assistant images are demarcated coordinate, this projection interactive device is demarcated 5 the auxiliary projections demarcation coordinates of coordinate correspondence in projected image with 5 assistant images that get of correspondence, then determine 4 mapping area (as shown in Figure 7) according to 4 image calibration coordinates and 5 assistant images demarcation coordinates, then according to 4 image calibration coordinates, 4 Projection surveying coordinates, coordinate and mapping transformation matrix are demarcated in 5 assistant images demarcation coordinates and 5 auxiliary projections, determine regional mapping parameters corresponding to each zone in 4 predeterminable areas, its mode of specifically obtaining mapping parameters is as follows:
At first in view field 1, need to get image calibration coordinate 1 coordinate and assistant images and demarcate the coordinate of coordinate a, b, e, then this obtains this image calibration coordinate 1 and assistant images and demarcates coordinate a, b, the e correspondence projection coordinate in view field, at last the coordinate of determining is updated to all mapping parameters that just can obtain in the mapping transformation matrix in view field 1, then just can determines mapping relations in view field 1 according to the mapping parameters that obtains.
Realize in the same way that for also making in view field 2, view field 3 and view field 4 each regional mapping relations obtains, finally can realize dividing a plurality of zones laser spots is accurately located.
Certainly, 5 auxiliary points have just been mentioned in embodiments of the present invention, certainly those skilled in the art can derive by the scheme that the embodiment of the present invention provides the division that 9 auxiliary points or other auxiliary points more or still less are realized image-region, therefore, coming the zoning to carry out the image processing by a plurality of auxiliary points is all in the included scope of technical solution of the present invention.
A kind of method of location in the corresponding embodiment of the present invention, the embodiment of the present invention also provides a kind of electronic equipment, is illustrated in figure 8 as the concrete structure schematic diagram of a kind of electronic equipment in the embodiment of the present invention, and this electronic equipment comprises:
The first correcting unit 803 is used for according to the first distortion correction rule, described the first image being carried out distortion correction for the first time, obtains the second image after distortion correction for the first time;
The second correcting unit 804 is used for according to the second distortion regulation rule, described the second image being carried out distortion correction for the second time, obtains the 3rd image after distortion correction for the second time;
Acquiring unit 805 is used for the user and obtains M image calibration coordinate of described the 3rd image and N Projection surveying coordinate in view field;
Determining unit 806 is used for determining mapping relations between image coordinate and projection coordinate according to described M image calibration coordinate and described N Projection surveying coordinate that M and N are all the positive integer more than or equal to 1;
Coordinate setting unit 808 is used for by the mapping relations between described image coordinate and described projection coordinate, obtains described the first hot spot point correspondence first hot spot spot projection coordinate in described view field.
At first, need to prove needs in embodiments of the present invention to carry out for the first time to the first image distortion correction obtains the second image after image collecting device collects the first image, then the second correcting unit 803 carries out distortion correction for the second time according to the second distortion correction rule to the second image, obtains the 3rd image after distortion correction for the second time.
Wherein, this first correcting unit 803 has comprised:
The calibration image collection module is used for obtaining by described short-focus lens image collecting device the first K that presets a plurality of angles of projected image that is projected in described view field and opens the precorrection image;
Coordinate obtaining module is used for obtaining angle point image coordinate corresponding to angle point that described K opens the first default projected image described in the precorrection image, and the angle point projection coordinate of described angle point correspondence in described view field;
The matrix determination module is used for obtaining described the first image rectification matrix according to described angle point image coordinate and described angle point projection coordinate and the first distortion correction rule;
First adjusts submodule, is used for according to described the first described the first image of image rectification matrix correction, obtains described the first intermediate images after correction.
This second correcting unit 804 has comprised:
Default image capture module is used for obtaining the second default pending image corresponding to projected image that is projected in described view field;
Processing module is used for that described pending image preset image and processes, and first after obtaining image and processing preset image;
The rim detection module is used for the described first default image is carried out Image Edge-Detection, obtains the marginal information of the described first default image;
The correction parameter acquisition module is used for according to described marginal information, obtains described Lens Distortion Correction parameter;
Second adjusts submodule, is used for based on described Lens Distortion Correction parameter, and described the first intermediate images is carried out image rectification, obtains described the second image after correction.
After completing Image Adjusting, this determining unit 806 has comprised parameter acquisition module and mapping relations determination module, this parameter acquisition module is used for according to described M image calibration coordinate, a described N Projection surveying coordinate and one first preset rules, obtains the mapping parameters in described mapping relations; The mapping relations determination module is used for according to described mapping parameters, determines the mapping relations between described image coordinate and described projection coordinate.
This parameter acquisition module specifically is used for based on 4 image calibration coordinate (x
1, y
1), (x
2, y
2), (x
3, y
3), (x
4, y
4), 4 Projection surveying coordinate (u
1, v
1), (u
2, v
2), (u
3, v
3), (u
4, v
4), and the mapping transformation matrix:
Obtain described mapping parameters, wherein, a, b, c, d, e, f, n, l are mapping parameters.
Then this mapping relations determination module gets mapping relations between image coordinate and projection coordinate according to the mapping parameters that gets:
Wherein, (u, v) is projection coordinate, and (x, y) is the image coordinate in the 3rd image.
In addition, acquiring unit 805 in this electronic equipment is concrete demarcates coordinates for obtaining described 4 image calibration coordinates, described 4 Projection surveying coordinates and 5 assistant images, specifically, the 3rd image after at first image processing module in this acquiring unit is adjusted distortion carries out the gradation of image linear stretch, generate the 4th image, then 5 assistant images demarcation coordinates will be determined and obtain to acquisition module in the 4th image, wherein, these 5 assistant images demarcation coordinates are positioned at the zone that 4 image calibration coordinates surround.
After getting above-mentioned coordinate, parameter acquisition module in this electronic equipment specifically determines that by obtaining submodule, mapping area submodule, regional mapping parameters obtain submodule and image is carried out the zone divide, wherein, obtaining submodule is used for obtaining at 5 the auxiliary projections demarcation coordinates of 5 assistant images demarcation coordinate correspondences of described the 4th image in described view field; Mapping area is determined submodule, is used for determining 4 mapping area according to described 4 image calibration coordinates and described 5 assistant images demarcation coordinate; The zone mapping parameters obtains submodule, be used for demarcating coordinate, described 5 auxiliary projections demarcation coordinate and mapping transformation matrix according to described 4 image calibration coordinates, described 4 Projection surveying coordinates, described 5 assistant images, determine regional mapping parameters corresponding to each zone in described 4 mapping area.
After the image that will collect is divided into 4 different zones, this electronic equipment will be determined mapping relations corresponding to each zone, thereby when the first hot spot point is arranged in any zone, this electronic equipment can both be located accurately to this electricity the first hot spot point, thereby has realized the accurate location of the first hot spot point and in time response.
In addition, this resolution unit 807 comprises in embodiments of the present invention:
The first comparison module, the monochrome information of having a few and the preset monochrome information that are used for described the 3rd image is comprised compare, and generate a comparative result;
The chrominance information acquisition module is used for obtaining first chrominance information of described first when described comparative result characterizes the satisfied default monochrome information of the described monochrome information of first of having a few;
The second comparison module is used for described the first chrominance information and default chrominance information are compared, and generates the second comparative result;
Hot spot point determination module is used for when described the second comparative result characterizes described the first chrominance information and satisfies default chrominance information, and definite described first is the first hot spot point in described the 3rd image.
Can locate accurately the position of the first hot spot point by this resolution unit 807, thereby make electronic equipment can be accurately respond according to the position of the first hot spot point.
One or more embodiment provided by the present invention exists following technique effect or advantage at least:
In embodiments of the present invention by the image that the projection interactive device the is collected adjustment that distorts, this distortion adjustment comprises twice distortion adjustment, after carrying out for the first time matrix distortion adjustment, carry out again distortion parameter adjustment for the second time, manually demarcate when correcting thereby solved in prior art, when distortion parameter is more, can cause the unsettled technical matters of image calibration, and then effectively raise the stability of image calibration, also improved the coordinate setting accuracy of projection interactive device.
In embodiments of the present invention by after distortion is adjusted, get corresponding coordinate in this image, and get corresponding mapping parameters according to the coordinate that gets and mapping transformation matrix, then determine mapping relations between image coordinate and projection coordinate according to this mapping parameters, thereby can solve in prior art the inaccurate technical matters of mapping relations between image coordinate and projection coordinate, and then improved the mapping accuracy of image coordinate to projection coordinate, and effectively promoted the response speed to the first hot spot point of projection interactive device.
By using, laser spots blue component information and laser spots brightness are carried out track and localization to laser spots in embodiments of the present invention, thereby solved the situation that camera has the elevation angle that is not suitable in the prior art, in the situation that the elevation angle is arranged, easily Emission Lasers spot check sniffing by mistake, and cause the larger technical matters of error that laser spots is detected, and then realized under different shooting angle the accurate location of laser spots, reduced the projection interactive device to the flase drop of laser spots and undetected.
Adopting in embodiments of the present invention piecemeal to carry out connected domain calculates, therefore, connected domain algorithm in the employing embodiment of the present invention can effectively be avoided the cycle index of connected domain algorithm in prior art, make this projection interactive device image data processing more fast, and also promoted the tracking velocity of laser spots, promoted the Experience Degree of user when mutual.
Those skilled in the art should understand, embodiments of the invention can be provided as method, system or computer program.Therefore, the present invention can adopt complete hardware implementation example, implement software example or in conjunction with the form of the embodiment of software and hardware aspect fully.And the present invention can adopt the form that wherein includes the upper computer program of implementing of computer-usable storage medium (including but not limited to magnetic disk memory, CD-ROM, optical memory etc.) of computer usable program code one or more.
The present invention is that reference is described according to process flow diagram and/or the block scheme of method, equipment (system) and the computer program of the embodiment of the present invention.Should understand can be by the flow process in each flow process in computer program instructions realization flow figure and/or block scheme and/or square frame and process flow diagram and/or block scheme and/or the combination of square frame.Can provide these computer program instructions to the processor of multi-purpose computer, special purpose computer, Embedded Processor or other programmable data processing device to produce a machine, make the instruction of carrying out by the processor of computing machine or other programmable data processing device produce to be used for the device of realizing in the function of flow process of process flow diagram or a plurality of flow process and/or square frame of block scheme or a plurality of square frame appointments.
These computer program instructions also can be stored in energy vectoring computer or the computer-readable memory of other programmable data processing device with ad hoc fashion work, make the instruction that is stored in this computer-readable memory produce the manufacture that comprises command device, this command device is realized the function of appointment in flow process of process flow diagram or a plurality of flow process and/or square frame of block scheme or a plurality of square frame.
These computer program instructions also can be loaded on computing machine or other programmable data processing device, make on computing machine or other programmable devices and to carry out the sequence of operations step producing computer implemented processing, thereby be provided for realizing the step of the function of appointment in flow process of process flow diagram or a plurality of flow process and/or square frame of block scheme or a plurality of square frame in the instruction of carrying out on computing machine or other programmable devices.
Obviously, those skilled in the art can carry out various changes and modification and not break away from the spirit and scope of the present invention the present invention.Like this, if within of the present invention these are revised and modification belongs to the scope of claim of the present invention and equivalent technologies thereof, the present invention also is intended to comprise these changes and modification interior.
Claims (10)
1. localization method, be applied to an electronic equipment, described electronic equipment comprises a projection arrangement and an image collecting device, described projection arrangement can projection one projected image in view field, described image collecting device can gather the first image that comprises described projected image, when having the first hot spot point in described view field, it is characterized in that, described method comprises:
According to the first distortion correction rule, described the first image is carried out distortion correction for the first time, obtain the second image after described distortion correction for the first time;
According to the second distortion correction rule, described the second image is carried out distortion correction for the second time, obtain the 3rd image after distortion correction for the second time;
Obtain M image calibration coordinate in described the 3rd image and N Projection surveying coordinate in described view field;
Determine mapping relations between image coordinate and projection coordinate according to described M image calibration coordinate and described N Projection surveying coordinate, M and N are all the positive integer more than or equal to 1;
Resolve described the 3rd image, obtain described the first hot spot point first hot spot dot image coordinate in described the 3rd image;
By the mapping relations between described image coordinate and described projection coordinate, obtain described the first hot spot point correspondence first hot spot spot projection coordinate in described view field.
2. the method for claim 1, is characterized in that, describedly determines specifically to comprise mapping relations between image coordinate and projection coordinate according to described M image calibration coordinate and described N Projection surveying coordinate:
According to described M image calibration coordinate, a described N Projection surveying coordinate and one first preset rules, obtain the mapping parameters in described mapping relations;
According to described mapping parameters, determine the mapping relations between described image coordinate and described projection coordinate.
3. method as claimed in claim 2, is characterized in that, describedly obtains the mapping parameters in described mapping relations according to described M image calibration coordinate, a described N Projection surveying coordinate and one first preset rules, is specially:
Based on 4 image calibration coordinate (x
1, y
1), (x
2, y
2), (x
3, y
3), (x
4, y
4), 4 Projection surveying coordinate (u
1, v
1), (u
2, v
2), (u
3, v
3), (u
4, v
4), and the mapping transformation matrix:
Obtain described mapping parameters, wherein, a, b, c, d, e, f, n, l are mapping parameters.
4. method as claimed in claim 3, is characterized in that, described 4 Projection surveying coordinates are the projection coordinates of described 4 image calibration coordinate correspondences in described view field.
5. method as claimed in claim 4, is characterized in that, and is described according to described mapping parameters, determines the mapping relations between described image coordinate and described projection coordinate, is specially:
By described mapping parameters a, b, c, d, e, f, n, l, the mapping relations of obtaining between described image coordinate and described projection coordinate are:
Wherein, (u, v) is projection coordinate, and (x, y) is the image coordinate in the 3rd image.
6. the method for claim 1, is characterized in that, describedly according to the first distortion correction rule, described the first image carried out distortion correction for the first time, obtains the second image after distortion correction for the first time, is specially:
According to the first image rectification matrix, described the first image is carried out described image distortion correction for the first time, obtain described the second image after described distortion correction for the first time.
7. the method for claim 1, is characterized in that, describedly according to the second distortion correction rule, described the second image carried out distortion correction for the second time, obtains the 3rd image after distortion correction for the second time, is specially:
According to the Lens Distortion Correction parameter, described the second image is carried out described image distortion correction for the second time, obtain described the 3rd image after described distortion correction for the second time.
8. the method for claim 1, is characterized in that, described the 3rd image of described parsing obtains described the first hot spot point first hot spot dot image coordinate in described the 3rd image, specifically comprises:
The monochrome information of having a few and preset monochrome information that described the 3rd image is comprised compare, and generate a comparative result;
When the monochrome information of first in described the having a few of described comparative result sign satisfies described default monochrome information, obtain first chrominance information of described first;
Described the first chrominance information and default chrominance information are compared, and generate the second comparative result;
When described the second comparative result characterizes described the first chrominance information and satisfies default described chrominance information, determine that be the first hot spot point in described the 3rd image at described first.
9. the method for claim 1, is characterized in that, described the 3rd image of described parsing obtains described the first hot spot point first hot spot dot image coordinate in described the 3rd image, specifically comprises:
Resolve described the 3rd image, find out the light spot detection regional in described the 3rd image;
Obtain described the first hot spot dot image coordinate in described smooth spot detection zone.
10. electronic equipment, it is characterized in that, described electronic equipment projection arrangement and image collecting device, described projection arrangement can projection one projected image in view field, described image collecting device can gather the first image that comprises described projected image, and described electronic equipment also comprises:
The first correcting unit is used for according to the first distortion correction rule, described the first image being carried out distortion correction for the first time, obtains the second image after distortion correction for the first time;
The second correcting unit is used for according to the second distortion regulation rule, described the second image being carried out distortion correction for the second time, obtains the 3rd image after distortion correction for the second time;
Acquiring unit, the user obtains M image calibration coordinate in described the 3rd image and N Projection surveying coordinate in view field;
Determining unit is used for determining mapping relations between image coordinate and projection coordinate according to described M image calibration coordinate and described N Projection surveying coordinate that M and N are all the positive integer more than or equal to 1;
Resolution unit is used for resolving described the 3rd image, obtains described the first hot spot point first hot spot dot image coordinate in described the 3rd image;
The coordinate setting unit is used for by the mapping relations between described image coordinate and described projection coordinate, obtains described the first hot spot point correspondence first hot spot spot projection coordinate in described view field.
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| CN111243028B (en) * | 2018-11-09 | 2023-09-08 | 杭州海康威视数字技术股份有限公司 | Electronic equipment and lens association method and device |
| CN111579561A (en) * | 2020-05-07 | 2020-08-25 | 维嘉数控科技（苏州）有限公司 | Position point compensation method, device, equipment and storage medium |
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Application publication date: 20130522 |