CN104168467A - Method for achieving projection display geometric correction by applying time series structure light technology - Google Patents
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- CN104168467A CN104168467A CN201410442211.0A CN201410442211A CN104168467A CN 104168467 A CN104168467 A CN 104168467A CN 201410442211 A CN201410442211 A CN 201410442211A CN 104168467 A CN104168467 A CN 104168467A
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Abstract
The invention provides a method for achieving projection display geometric correction by applying a time series structure light technology. The method is targeted for irregular projection surfaces. The coordinate corresponding relation between camera images and projector cache images is obtained through the time series structure light technology. A valid projection area is determined in the camera images. A final image display area is worked out in the valid projection area. The homography relation between the final image display area and original images is solved. The nonlinear discrete mapping relation between the original images and the projector cache images is built according to the homography relation and the coordinate corresponding relation between the camera images and the projector cache images. Gridding is conducted on the original images and a projector cache plane according to discrete mapping points. Finally the original images are converted to be in the projector cache plane by the adoption of texture mapping in the corresponding grid area. The method can be used for projection display geometric correction of the irregular surfaces. The method has the advantages of being high in geometric correction accuracy and computational efficiency, and easy and convenient to operate.
Description
Technical field
The present invention relates to the Projection Display geometric correction technology in multi-projector splicing, particularly relate to the geometric correction for irregular projection surface based on time series structured light technique.
Background technology
During to irregular three-D surface projection, be subject to projection surface's 3D shape and projector's putting position and towards impact, show image can produce geometric distortion.Utilize computer vision technique, projector's cache image is carried out to Geometric corrections, make human eye in the time of ad-hoc location and view projected picture, can see the projected image that there is no geometric distortion.This technology can be used for the geometric correction problem in projection splicing.The geometric correction technology of three-dimensional surface projection makes projection environment break away from the restriction of special projection screen, as the key technology of many projection splicings, be widely used in high-resolution, large-screen, immersion demonstration, as approach tower analogue system, Remote Video Conference demonstration, the interactive display environment of office etc.Luo Jianli etc. are in paper " feature point detection in multi-projector auto-stereo display system and geometric correction [J].Electronic letters, vol, 2010,38(8): 1729-1735 " in the method that adopts projection and catch characteristic pattern obtain the corresponding relation of camera plane and projector's buffer memory plane, and by this corresponding relation, projected image is carried out to geometric correction.The method is projection and seizure circular feature lattice array first; The characteristic point array photographing is carried out to feature point detection, adopt the round detection method based on Hough conversion to detect characteristic circle, then use least squares line fitting method to proofread and correct characteristic point position; The characteristic point that utilization detects is set up grid one to one at camera space and projector's spatial cache; Finally, according to mapping relations one by one between corresponding grid, desired image texture mapping is realized to geometric correction to projector's spatial cache.The geometric correction method based on projection properties pattern taking said method as representative has following defect: first, the method that detects characteristic point is subject to projection environmental interference larger, irrelevant object in common interference display surface as inconsistent in reflectivity, bias light, projection environment all can cause adverse effect to the detection of characteristic point, above-mentioned interference may cause the flase drop of characteristic point and undetected, and then subsequent step is made troubles as grid enable.Secondly,, because the map grids of setting up is finer and closely woven, the mapping relations of camera and projector are more accurate, geometric correction precision is just higher, but the characteristic point Limited Number that feature point detection obtains causes the map grids tightness degree that obtains not high, directly affects the accuracy of geometric correction.The 3rd, adopt Hough transform method to detect the nonstandard director circle being out of shape photographing, although proofread and correct in post-processed, also unavoidably there is error in the home position obtaining.The 4th, the method utilizes method complex operation, the amount of calculation of characteristic point structure grid large, comprises sequence, fitting a straight line, judgement and removal flase drop measuring point, inserts the operations such as undetected measuring point, is unfavorable for the rapidity that perspective geometry is proofreaied and correct.How to overcome existing method characteristic point and detect that accuracy is low, anti-interference is poor, map grids defective tightness, the shortcoming that gridding process operation is loaded down with trivial details, computational efficiency is low, the scheme that application the present invention mentions just can solve this key technical problem.
Summary of the invention
The object of the invention is low for current Projection Display geometric correction method feature point detection accuracy, anti-interference is poor, map grids defective tightness, the shortcoming that gridding process operation is loaded down with trivial details, computational efficiency is low, the Projection Display geometric correction method that a kind of operate time sequential structure light technology is provided, the method accuracy is high, easy and simple to handle.
The object of the invention is to adopt following technical proposals to realize:
Use the structured light patterns sequence of projection arrangement to display surface projection horizontal and vertical direction, and synchronously take with camera head, obtain by decoding projector's cache image coordinate that the each pixel of camera image is corresponding, in camera image, determine projection effective coverage, in projection effective coverage, look for imperial palace that there is identical transverse and longitudinal ratio with original image to connect rectangle as final image viewing area
, solve
homography relation with original image
, according to
and the coordinate corresponding relation of camera image and projector's cache image is set up the nonlinear discrete mapping relations of original image to projector's cache image, format according to name a person for a particular job original image and projector's buffer memory plane net of Discrete Mapping, adopt the method for texture mapping that original image is transformed to projector's buffer memory plane in corresponding net region.
The present invention compared with prior art has the following advantages:
Because the corresponding points of final each pixel of rectangular display area all build map grids as node in camera space, so under the certain condition of camera number of pixels, Meshing Method of the present invention is the meticulousst dividing mode in theory, can reach very high geometric correction precision; Compared with the method for shining upon with the gridding based on characteristic point, the grid fine degree that this paper method is set up is higher, and grid process of establishing is easier directly, needn't sort, fitting a straight line, judgement and removal flase drop measuring point, insert the troublesome operation such as undetected measuring point, can reach higher computational efficiency and accuracy.
Brief description of the drawings
Fig. 1 is perspective geometry corrective system structure chart of the present invention.
Fig. 2 is the workflow diagram of perspective geometry bearing calibration of the present invention.
Embodiment
Below in conjunction with accompanying drawing, operation principle, the present invention is described in further detail.
Accompanying drawing 1 is Projection Display geometric correction system construction drawing, and in figure, 101 is camera, and 102 is projector, and 103 is computer, and 104 is irregular Projection Display surface.The device adopting has 1 CASIO XJ-M140 projector, and projector's caching frame size is
pixel, grey level quantization grade is 8bit, the maximum output frequency of projector is 150 frames/s; 1 Prosilica GC650 industry camera, resolution is
pixel, grey level quantization grade is 8bit, the maximum seizure of camera frequency is 62 frames/s.1 has Core i3 3530 CPU, the computer of 4GB internal memory.Using the irregular curved surface being formed by the distortion of large scale paper as Projection Display surface.Under Microsoft Visual Studio 2010 environment, adopt C++ to write main program, application OpenGL completes texture mapping.Accompanying drawing 2 is the present embodiment Projection Display geometric correction method flow chart.Camera and projector position are fixed, and camera can capture the whole view field on display surface.The size dimension of original image is known.Projector's cache image size is expressed as
, its pixel coordinate is
; Camera image pixel coordinate is
.This example is for the geometric correction of single-throw shadow, and concrete implementation step is as follows:
(1)display surface is carried out to the scanning of horizontal and vertical direction by phase measuring profilometer (phase measuring profilometry, PMP), obtain horizontal phase
with vertical phase place
and intensification modulation
.
PMP principle paper " Liu K; Wang Y; Lau D L; et al. Dual-frequency pattern scheme for high-speed 3-D shape measurement[J]. Opt. Express; 2010; 18 (5): 5229-5244 " in have detailed introduction, be now summarized as follows:
With projector, to display surface projection sinusoidal structured light pattern, the pattern table of projection is shown:
(1)
(2)
Wherein,
with
be respectively horizontal direction and vertical scan direction pattern exists
the gray value at place,
ffor the spatial frequency of structured light patterns,
nfor each direction phase shift sum,
nfor phase coefficient,
with
for constant, meet
.The parameter of this example sinusoidal structured light pattern is
, spatial frequency
f=64, each direction phase shift sum
n=8.
With the synchronous capturing structure light image of camera, the image representation photographing is:
（3）
Wherein, variable
iget the structure light image sequence of distinguishing corresponding horizontal direction and vertical direction phase shift at 1,2 o'clock;
,
,
with
represent that respectively photographic images sequence exists
brightness value, average brightness value, intensification modulation and the initial phase at place.
Finally, utilize the structure light image sequence photographing, decoding obtains horizontal phase corresponding to the each pixel of camera image
with vertical phase place
and intensification modulation
.Decoding formula is:
（4）
（5）
(2)use intensification modulation figure
determine the projection effective coverage in camera image.
At intensification modulation figure
in, the value of pixel with projector cache image with corresponding relation is larger, and the value of other pixels is close to 0.Without loss of generality, our intensification modulation to vertical direction phase-shift structure light pattern
carry out Threshold segmentation and determine the region that has mapping relations in camera image with projector, this region is projection effective coverage.Set a threshold value
, here
value is
, camera coordinates regional
be judged to be projection effective coverage.
(3)in projection effective coverage in camera image, determine final image viewing area
.
Projection effective coverage in general camera image is irregular polygon, need in this region, determine the demonstration of a rectangular area for final projected image.In projection effective coverage, look for imperial palace that there is identical transverse and longitudinal ratio with original image to connect rectangle by heuristic.Above-mentioned heuristic paper " van Baar J; Raskar R; Baar J; et al. A low-cost projector mosaic with fast registration[C] // Proceedings of Asian Conference on Computer Vision. Berlin; German: Springer; 2002,3 (3). " in have detailed introduction.This imperial palace is connect to rectangular area to be expressed as
, establish
left upper apex coordinate be
, width is
, be highly
.
(4)solve the rectangular area in camera space
homography relation with original image
s.
Due to
there is zooming and panning relation with original image, so
transformation relation to original image can represent with homography matrix, and homogeneous coordinates form is:
（6）
Wherein,
coordinates of original image coordinates,
camera image coordinate,
for homogeneous coordinates scale factor,
for homography matrix
selement, and
.Utilize 4 apex coordinates and rectangular area that original image is known
4 corresponding vertex coordinates just can calculate homography transformation matrix
s.
(5)set up rectangular area
abscissa look-up table
with ordinate look-up table
.
Coordinate look-up table
with
being height is
, be widely
two-dimensional matrix, can regard size and region as
identical coordinate diagram.Look-up table
with
process of establishing can be expressed as:
（7）
（8）
Wherein, integer
meet
.If
the relative coordinate of left upper apex be
, so
with
deposit respectively region
interior relative position
abscissa and the ordinate of correspondence in camera image.
(6)with
,
with homography relation
sset up rectangular area
mapping point abscissa look-up table in original image
with ordinate look-up table
.
Look-up table
with
being height is
, be widely
two-dimensional matrix.Process of establishing can be expressed as:
（9）
Wherein, integer
meet
.
with
deposit respectively region
interior relative position
be mapped to abscissa and ordinate after original image.
(7)with
,
and horizontal phase
, vertical phase place
set up rectangular area
mapping point abscissa look-up table in projector's cache image
with ordinate look-up table
.
Look-up table
with
being height is
, be widely
two-dimensional matrix.Process of establishing can be represented by following formula:
（10）
（11）
Wherein, integer
meet
.
with
deposit respectively region
interior relative position
be mapped to abscissa and ordinate after projector's cache image.
(8)by look-up table
,
,
,
obtain the nonlinear discrete mapping relations of original image to projector's cache image.
,
deposit rectangular display area in camera image
the coordinate of all pixels correspondence position in original image; And
with
deposit
all pixels are corresponding points coordinate in projector's cache image.Thereby indirectly obtain the nonlinear discrete mapping relations of original image to projector's cache image, these coordinate mapping relations are expressed as:
（12）
Wherein integer
meet
, altogether
to mapping point.
(9)format according to name a person for a particular job original image and projector's buffer memory plane net of Discrete Mapping.
Utilization is mapped to the characteristic that the discrete point in original image is uniformly-spaced arranged, and as one group, coordinates of original image coordinates plane is divided into square net taking adjacent 4 mapping points up and down.The grid of original image is divided the set expression that can form with four of a single square net piece apex coordinate.Single grid block is used
matrix
be expressed as:
（13）
Wherein, rounded coordinate
the two dimension numbering that represents grid block, meets
.
the the 1st, 2,3,4 row represent respectively upper left, upper right, bottom right, the lower-left apex coordinate of a grid block.
Recycling original image is to the Discrete Mapping relation of projector's cache image
determine quadrangular mesh partition corresponding in projector's buffer memory plane.In like manner, in projector's buffer memory plane, corresponding single quadrilateral mesh piece can be expressed as
matrix
:
（14）
Similarly, rounded coordinate
the two dimension numbering that represents grid block, meets
.
the apex coordinate of line display grid block.
So, between original image plane and projector buffer memory plane, corresponding grid block can be expressed as:
（15）
Wherein,
.
(10)corresponding net region adopts the method for texture mapping that original image is transformed to projector's buffer memory plane.
Using original image as 2 d texture, the each grid block of original image is composed to texture coordinate.Square net piece
4 corresponding texture coordinates are respectively
,
,
,
, wherein
with
represent respectively the wide and high of original image.Re-use OpenGL and adopt the mode of texture mapping pixel in each original image grid block to be mapped in the corresponding quadrilateral mesh region of projector's buffer memory plane, finally realize the pre-distortion from original image to projector's cache image.
By correcting algorithm, original image plane and projector buffer memory plane are obtained and have had the corresponding net region of mapping relations
.In the time wanting the constant new images of projected size, only new images net region pixel need be carried out to texture mapping to the corresponding net region of projector's buffer memory plane and just can reach the precorrection to the new cache image of projector.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (4)
1. the Projection Display geometric correction algorithm of an operate time sequential structure light technology, it is characterized in that using the structured light patterns sequence of projection arrangement to display surface projection horizontal and vertical direction, and synchronously take with camera head, obtain by decoding projector's cache image coordinate that the each pixel of camera image is corresponding, in camera image, determine projection effective coverage, in projection effective coverage, look for imperial palace that there is identical transverse and longitudinal ratio with original image to connect rectangle as final image viewing area
, solve
homography relation with original image
, according to
and the coordinate corresponding relation of camera image and projector's cache image is set up the nonlinear discrete mapping relations of original image to projector's cache image, format according to name a person for a particular job original image and projector's buffer memory plane net of Discrete Mapping, adopt the method for texture mapping that original image is transformed to projector's buffer memory plane in corresponding net region.
2. in accordance with the method for claim 1, it is characterized in that said structured light patterns sequence comprises line-structured light pattern sequence, binary structure light pattern sequence, Gray code structured light patterns sequence, sinusoidal light pattern sequence, triangular wave structured light patterns sequence, trapezoidal wave structured light patterns sequence.
3. in accordance with the method for claim 1, it is characterized in that the said projection effective coverage of determining in camera image, is to carry out Threshold segmentation by the intensification modulation of offset of sinusoidal structured light to determine projection effective coverage.
4. in accordance with the method for claim 1, it is characterized in that saidly formatting according to name a person for a particular job original image and projector's buffer memory plane net of Discrete Mapping, to utilize to be mapped to the characteristic that the discrete point in original image is uniformly-spaced arranged, as one group, coordinates of original image coordinates plane is divided into square net taking adjacent 4 mapping points up and down, recycling original image is to the Discrete Mapping relation of projector's cache image
determine quadrangular mesh partition corresponding in projector's buffer memory plane.
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