CN104699323B - A kind of touch point optical positioning method based on image procossing - Google Patents
A kind of touch point optical positioning method based on image procossing Download PDFInfo
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- CN104699323B CN104699323B CN201310649886.8A CN201310649886A CN104699323B CN 104699323 B CN104699323 B CN 104699323B CN 201310649886 A CN201310649886 A CN 201310649886A CN 104699323 B CN104699323 B CN 104699323B
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Abstract
The invention discloses a kind of touch point optical positioning method based on image procossing, this method includes camera calibration and measured with camera, camera external parameter is calculated in camera calibration, the external parameter is the relative physical location of image coordinate system and world coordinate system and the dimension scale relation of measurement, utilizes the true physical location of touch point actual after the parameter calculating of demarcation and output calibration.The present invention supports the problems such as camera rotation, algorithm robust, touch location that can be on accurate and fast positioning touch-screen.
Description
Technical field
A kind of relevant optical positioning method of the present invention, particularly relate to a kind of cost it is low, can accurate fast positioning touch location
The touch point optical positioning method based on image procossing.
Background technology
Measurement and positioning based on camera is used widely in industry-by-industry at present, is ensureing essence by camera
While spending, can the accurate touch of fast positioning touch-screen position.
Current infrared collimation technique, mostly calibrated by the click of man-machine interaction, after being generally into calibration mode, touched
Touch screen and provide calibration target over the display, then calibration personnel is clicked on by hand or other touching object, but is used
This mode, the calibration touch point ratio of precision that touch-screen obtains are relatively low；In order to improve this calibrating mode, employ cost and compare
High large-scale calibrator (-ter) unit, engraving machine or other equipment are such as used, ensure to click on precision, in order to more accurately click mesh
Calibration on schedule, has used the identification technologies such as image procossing, but further adds cost simultaneously, and this similar engraving machine
Calibrator (-ter) unit, too clumsy, calibration efficiency is low, it is impossible to meets the needs of high efficiency on production line.
The content of the invention
In view of this, it is a primary object of the present invention to provide, a kind of cost is low and the accurate fast positioning touch location of energy
The touch point optical positioning method based on image procossing.
To reach above-mentioned purpose, the present invention provides the touch point optical positioning method based on image procossing, and this method includes
Have the following steps：
Step 1: carrying out camera calibration, camera external parameter is calculated, the external parameter is image coordinate system and the world
The relative physical location of coordinate system and the dimension scale relation of measurement, the step 1 specifically include：
(1) one regulation mould plate of Program Generating is utilized；
(2) image of regulation mould plate is pre-processed, removes noise；
(3) camera and world coordinate system relation are analyzed, draws the yardstick of the measurement of image coordinate system and world coordinate system
Ratio Scale and camera view center real offset；
Step 2: carrying out camera measurement, its specific implementation step is：
(1) generation one is secondary contains directive another regulation mould plate image；
(2) image preprocessing is carried out, removes noise, excludes target jamming problem caused by tool structure light leak；
(3) Objective extraction, the center Center (centerX, centerY) of the regulation mould plate is found；
(4) camera Attitude estimation, the reference positive direction in calibration process is found；
(5) according to the chi of the measurement with reference to the image coordinate system and world coordinate system drawn in positive direction and camera calibration
Degree ratio Scale and camera view center real offset, export the true physical location of actual touch point.
In (1) of the step 1, the regulation mould plate is provided with equidistantly and more along size identical arranged in a straight line
Individual marker dots, and the distance between actual two marker dots centers DistReal on calculation template.
In (3) of the step 2, edge filter is carried out to obtained calibration image, extracts the profile information of image, so
Hough conversion is carried out afterwards, finds straight line；According to the straight line found, it is divided into two groups according to slope difference, every group parallel including two
Straight line, two groups of straight lines intersect two-by-two, according to intersection point image coordinate averaged, obtain final regulation mould plate center
Center (centerX, centerY) image coordinate.
There is inverted "L" shaped mark on (1) alignment template image of the step 2.
Optical positioning method proposed by the present invention based on image procossing is a kind of quick self-adapted positioning target algorithm, its
The problems such as supporting camera rotation, algorithm robust, touch location that can be on accurate and fast positioning touch-screen.
Brief description of the drawings
Fig. 1 is the image for the regulation mould plate that the present invention is read in camera calibration by camera；
Fig. 2 is to carry out fitting a straight line to the marker dots center in regulation mould plate；
Fig. 3 is the image containing directive regulation mould plate that the present invention is read in camera measurement by camera；
Fig. 4 is that inverted "L" shaped sign image in Fig. 3 is handled and finds template center；
Fig. 5 is the reference positive direction figure one for finding template；
Fig. 6 is the reference positive direction figure two for finding template；
Fig. 7 is regulation mould plate center and the schematic diagram of picture centre line；
Fig. 8 is the step flow chart of the touch point optical positioning method of the invention based on image procossing.
Embodiment
There is further understanding for ease of the method to the present invention and the effect that reaches, developed simultaneously preferable implementation in conjunction with accompanying drawing
Example describes in detail as follows.
Using the measurement of camera, the accurate and quick touch location for determining touch-screen is of the invention with reference to shown in figure 8
Optical positioning method based on image procossing has following steps：
First have to carry out camera calibration, calculate camera external parameter, the external parameter is image coordinate system and the world
The dimension scale relation of the measurement of coordinate system and camera view center real offset.Realize that camera calibration need to walk as follows
Suddenly：
(1) camera calibration needs specific target to realize, the present invention by the use of one regulation mould plate of Program Generating as
Target, the regulation mould plate are provided with equidistantly and along the multiple marker dots of size identical (as shown in Figure 1) arranged in a straight line, root
According to given template, the distance between actual two marker dots centers DistReal in template is calculated.
(2) image of the regulation mould plate to photographing pre-processes, comprising removal noise, or to marker dots profile
The relations such as number are judged that the view data for ensureing to obtain is effective.
(3) camera and world coordinate system relation are analyzed, draws the relative physical bit of image coordinate system and world coordinate system
The dimension scale put and measured, it specifically comprises the following steps：
I, the posture of camera is judged, in frock timing, it is necessary to camera is ajusted as far as possible, obtains the position letter of frock
ImgC (positonX, positonY) is ceased, the ImgC is the center of image, and wherein positonX is picture centre ImgC horizontal stroke
Coordinate, positonY are picture centre ImgC ordinate；
II, posture analysis：The center of the marker dots of image alignment template is found, straight line plan is carried out to multiple centers
Close, as shown in Fig. 2 judging the folder between the corresponding straight line l and the center of image and the line of centres of regulation mould plate for fitting and
Angle Theta；The extraction at the center of the marker dots, profile can be carried out oval by extracting the profiles of each marker dots
Fitting, find each oval center of circle, the i.e. center of marker dots；
III, template center's extraction：According to the center image coordinate of each marker dots calculated in above-mentioned steps II,
Averaged, the center C (screenCenterX, screenCenterY) of regulation mould plate is drawn, that is, shield upper physical bit confidence
Breath, wherein screenCenterX are regulation mould plate center C abscissa, and screenCenterY is the vertical of regulation mould plate center C
Coordinate；The distance between center of two neighboring marker dots in image is calculated simultaneously, each distance average is as final image
On the distance between two marker dots centers DistImg；
IV, the center C position for judging picture centre ImgC and calibration template and the position relationship of inverted " L ", calculate image
ImgC under coordinate system relative to C skew (deltaX ', deltaY ')；
V, using the ratio Scale between DistReal and DistImg as image coordinate system and the yardstick of world coordinate system
Proportionate relationship, the skew (deltaX ', deltaY ') according to ImgC relative to C, calculates final world coordinate system
(deltaX, deltaY), i.e. camera view center real offset.
Camera measurement is carried out again, and its specific implementation step is：
(1) another secondary regulation mould plate is generated, and is shot with video camera, obtains image (as shown in Figure 3), the calibration figure
There is inverted "L" shaped mark as upper, the calibrated image has directionality.
(2) image preprocessing is carried out, removes noise, excludes target jamming problem caused by tool structure light leak.
(3) Objective extraction：Edge filter is carried out to obtained calibration image, extracts the profile information of inverted "L" shaped mark, so
Hough conversion is carried out afterwards, finds straight line；According to the straight line found, it is divided into two groups according to slope difference, every group parallel including two
Straight line, two groups of straight lines are vertical in theory, and then two groups of straight lines intersect two-by-two, according to intersection point image coordinate averaged,
Final regulation mould plate center Center (centerX, centerY) image coordinate (as shown in Figure 4) is obtained, wherein
CenterX is regulation mould plate center Center abscissa, and centerY is regulation mould plate center Center ordinate.
(4) camera Attitude estimation：By two kinds of slopes in regulation mould plate center Center and above-mentioned steps (3), obtain
Go out two straight lines, find intersection point of two straight lines respectively with inverted "L" shaped mark profile end, that is, find two end points end1
(end1X, end1Y) and end2 (end2X, end2Y)；According to the shape to solid plate, calculating Center to end1 vector
Vec1 (end1X-centerX, end1Y-centerY), Center to end2 vector vec2 (end2X-centerX, end2Y-
CenterY), using sine, calculating two vectors vec1, vec2 mutual alignment relation direct.
Order, vec1.x=end1X-centerX, vec1.y=end1Y-centerY；Vec2.x=end2X-centerX,
Vec2.y=end2Y-centerY；
Direct=(vec1.x*vec2.y-vec1.y*vec2.x)/sqrt ((vec1.x*vec1.x+vec1.y*
vec1.y)*(vec2.x*vec2.x+vec2.y*vec2.y))；
If direct>=0, then direction corresponding to vec1 is positive direction；Otherwise, direction corresponding to vec2 is square
To；The line direction for finding center Center and the end points of left side right-angle line in the counterclockwise direction is positive direction, i.e., true school
The reference chart target reference direction provided during standard；
Straight line such as Fig. 5 and Fig. 6 alignments template center Center to end points end1 is the corresponding reference line of positive direction.
(5) coordinate output is carried out according to reference direction and camera correction parameter, specifically includes following steps：
I, according to the reference positive direction of the physical alignment image analyzed in correspondence image, calculate and true horizon direction
Anglec of rotation Beta；
In II, the regulation mould plate center Center (centerX, centerY) and image that are extracted according to step (3)
Heart ImgC (positonX, positonY), AB, the distance of 2 line line segments of calculating and direction are stored according to vector, that is, is calibrated
The distance of line segment and direction between template center Center and picture centre ImgC, as shown in Figure 7；
III, according to anglec of rotation Beta in step I, and calibrating parameters Scale calculate corresponding to vector AB in world coordinates
Relative physical deflection (deltaPhysicalX, deltaPhysicalY) and direction under system；Corresponding calculation formula：
DeltaPhysicalX=| AB | * cos (Beta)；
DeltaPhysicalY=| AB | * sin (Beta)；
IV, according to camera calibration parameter deltaX, deltaY, after calculating corresponding rotation Beta angles, to should angle
Under offset component (deltaRealX, deltaRealY), as the amendment of final physical coordinate, corresponding calculation formula：
DeltaRealX=deltaX*cos (Beta)+deltaY*sin (Beta)；
DeltaRealY=deltaY*cos (Beta)-deltaX*sin (Beta)；；
V, (deltaPhysicalX, the deltaPhysicalY) being calculated according to analysis, (deltaRealX,
DeltaRealY), add operation is carried out to given physical location (physicalX, physicalY), obtained in calibrating installation
True physical location (physicalX+deltaPhysicalX+deltaRealX, the physicalY+ of touch point corresponding to the heart
deltaPhysicalY+deltaRealY)。
Optical positioning method proposed by the present invention based on image procossing is a kind of quick self-adapted positioning target algorithm, its
The problems such as supporting camera rotation, algorithm robust, touch location that can be on accurate and fast positioning touch-screen.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the scope of the present invention.
Claims (4)
1. a kind of touch point optical positioning method based on image procossing, it is characterised in that this method includes having the following steps：
Step 1: carrying out camera calibration, camera external parameter is calculated, the external parameter is image coordinate system and world coordinates
The relative physical location of system and the dimension scale relation of measurement, the step 1 specifically include：
(1) one regulation mould plate of Program Generating is utilized；
(2) image of regulation mould plate is pre-processed, removes noise；
(3) camera and world coordinate system relation are analyzed, draws the dimension scale of the measurement of image coordinate system and world coordinate system
Scale and camera view center real offset；
Step 2: carrying out camera measurement, its specific implementation step is：
(1) generation one is secondary contains directive another regulation mould plate image；
(2) image preprocessing is carried out, removes noise, excludes target jamming problem caused by tool structure light leak；
(3) Objective extraction, the center Center (centerX, centerY) of the regulation mould plate is found；
(4) camera Attitude estimation, the reference positive direction in calibration process is found；
(5) according to the scale ratio of the measurement with reference to the image coordinate system and world coordinate system drawn in positive direction and camera calibration
Example Scale and camera view center real offset, export the true physical location of actual touch point.
2. the touch point optical positioning method based on image procossing as claimed in claim 1, it is characterised in that in the step
In one (1), the regulation mould plate is provided with equidistantly and along the multiple marker dots of size identical arranged in a straight line, and calculates mould
The distance between actual two marker dots centers DistReal on plate.
3. the touch point optical positioning method based on image procossing as claimed in claim 1, it is characterised in that the step 2
(3) in, edge filter is carried out to obtained calibration image, extracts the profile information of image, hough conversion is then carried out, seeks
Look for straight line；According to the straight line found, it is divided into two groups according to slope difference, every group includes two parallel straight lines, two groups of straight lines two
Two is intersecting, according to intersection point image coordinate averaged, obtain final regulation mould plate center Center (centerX,
CenterY image coordinate).
4. the touch point optical positioning method based on image procossing as claimed in claim 1, it is characterised in that the step 2
(1) alignment template image on have inverted "L" shaped mark.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105021127B (en) * | 2015-06-25 | 2017-07-28 | 哈尔滨工业大学 | A kind of benchmark camera calibration method of chip mounter |
| CN107146205B (en) * | 2017-03-21 | 2019-12-13 | 北京建筑大学 | Distorted image correction method, touch position identification method and device |
| CN108510463B (en) * | 2018-05-07 | 2020-12-25 | 凌云光技术股份有限公司 | Method and device for correcting distorted image |
| CN109164932B (en) * | 2018-08-02 | 2021-07-23 | 深圳市德明利技术股份有限公司 | Touch identification method and touch device |
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| CN1801896A (en) * | 2006-01-17 | 2006-07-12 | 东南大学 | Video camera rating data collecting method and its rating plate |
| CN102063721A (en) * | 2011-01-06 | 2011-05-18 | 大连理工大学 | Method for compensating inclination of straight calibration object in calibration process of external parameter of vision system |
| CN102508565A (en) * | 2011-11-17 | 2012-06-20 | Tcl集团股份有限公司 | Remote control cursor positioning method and device, remote control and cursor positioning system |
| CN102523395A (en) * | 2011-11-15 | 2012-06-27 | 中国科学院深圳先进技术研究院 | Television system having multi-point touch function, touch positioning identification method and system thereof |
| CN102663731A (en) * | 2012-03-13 | 2012-09-12 | 广东威创视讯科技股份有限公司 | Fast calibration method and system of optical axis of camera lens in optical touch system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US8872897B2 (en) * | 2011-05-11 | 2014-10-28 | Intel Corporation | Camera calibration using an easily produced 3D calibration pattern |
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Patent Citations (5)
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|---|---|---|---|---|
| CN1801896A (en) * | 2006-01-17 | 2006-07-12 | 东南大学 | Video camera rating data collecting method and its rating plate |
| CN102063721A (en) * | 2011-01-06 | 2011-05-18 | 大连理工大学 | Method for compensating inclination of straight calibration object in calibration process of external parameter of vision system |
| CN102523395A (en) * | 2011-11-15 | 2012-06-27 | 中国科学院深圳先进技术研究院 | Television system having multi-point touch function, touch positioning identification method and system thereof |
| CN102508565A (en) * | 2011-11-17 | 2012-06-20 | Tcl集团股份有限公司 | Remote control cursor positioning method and device, remote control and cursor positioning system |
| CN102663731A (en) * | 2012-03-13 | 2012-09-12 | 广东威创视讯科技股份有限公司 | Fast calibration method and system of optical axis of camera lens in optical touch system |
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