CN106780616A - A kind of projector calibrating method based on the mapping of many matrixes - Google Patents
A kind of projector calibrating method based on the mapping of many matrixes Download PDFInfo
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- CN106780616A CN106780616A CN201611038221.3A CN201611038221A CN106780616A CN 106780616 A CN106780616 A CN 106780616A CN 201611038221 A CN201611038221 A CN 201611038221A CN 106780616 A CN106780616 A CN 106780616A
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- projection
- mapping relations
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Abstract
The present invention relates to a kind of projector calibrating method based on the mapping of many matrixes, comprise the following steps：（1）Projection surveying point, determines the direction mapping relations between computer display screens and projected picture；（2）Proceed Projection surveying point to projection screen, until meeting the whole computer display screens of calibration point uniform fold；（3）According to Projection surveying point, the submatrix of projection screen is built；（4）By camera acquired projections picture；（5）Mapping relations equation is set up using DLT models；（6）Mapping relations equation is solved using SVD methods, the mapping relations of Projection surveying are obtained.Projector calibrating method of the present invention, greatly improve the speed of Projection surveying point, improve the accuracy of mapping relations, it is ensured that the accuracy of the mapping relations in without projection matrix region in being influenceed by camera distortion, the demand of user is met well.
Description
Technical field
The present invention relates to image procossing and Computer Vision Detection field, and in particular to a kind of throwing based on the mapping of many matrixes
Shadow instrument scaling method.
Background technology
With society development, human-computer interaction technology reality life in, using also more and more wider.The hair of man-machine interaction
Exhibition history experienced from the mankind and adapt to the stage that computer constantly adapts to the mankind to computer.Further, since display screen
Use, also largely facilitate the development of human-computer interaction technology.Along with developing rapidly and some for computer vision technique
The appearance of sensor (such as such as depth camera Kinect, LeapMotion etc.), itself combination and human-computer interaction technology between
Also more and more closely, the market of human-computer interaction technology has more been expanded.
Current interactive projection system can be typically made up of the equipment such as common camera or sensor and projecting apparatus,
Its one kind for also belonging to man-machine interaction mode.Within the system, user can carry out operation computer in projection, realize book
Various functions such as write and draw.The efficiency more and more higher held with classroom instruction and meeting, interactive projection system will
The use of video camera can be made has good experience sense, greatly meets the demand of user.
Just because of the fast development of human-computer interaction technology, people are to the required precision of man-machine interaction also more and more higher.It is many
Well known, accurate demarcation is the basis for realizing high-precision man-machine interaction.With regard to current technology apparently, although some method realities
Show high precision calibration, but most of these methods are realized with the accurate facility of high cost, it has not been convenient in most
The demand of number user.Although some method equipment are simple, stated accuracy but can not well meet the demand of user, such as
When precision calibration is carried out just with camera, due to the influence of camera distortion so that stated accuracy generates some mistakes
Difference.
How can the relatively low equipment of use cost, can also mark and realize that the demarcation of degree of precision becomes the main of this patent
The theme of discussion.Based on this, this patent is demarcated to meet most user's request just with camera, equipment
Cost is relatively low.In this patent, we have proposed a kind of projector calibrating method based on the mapping of many matrixes, taken the photograph so as to reduce
As the error of the brought stated accuracy of head distortion.
The content of the invention
It is an object of the invention to provide a kind of projector calibrating method based on the mapping of many matrixes, camera can be reduced
The error of the brought stated accuracy of distortion, meets most user's request.
To achieve the above object, present invention employs following technical scheme：
A kind of projector calibrating method based on the mapping of many matrixes, specifically includes following steps：
(1) Projection surveying point, determines the direction mapping relations between computer display screens and projected picture；
(2) Projection surveying point is proceeded to projection screen, until meeting the whole Computer display of calibration point uniform fold
Screen；
(3) according to Projection surveying point, the submatrix of projection screen is built；
(4) by camera acquired projections picture；
(5) mapping relations equation is set up using DLT models；
(6) mapping relations equation is solved using SVD methods, obtains the mapping relations of Projection surveying.
The described projector calibrating method based on the mapping of many matrixes, in step (1), the Projection surveying point, it is determined that meter
Direction mapping relations between calculation machine display screen and projected picture, specifically include following steps：
(11) in four drift angle directions position of computer display screens, arbitrarily choose a position not being projected and enter
Row projection calibration point；
(12) projected picture after projection calibration point is carried out using camera collection；
(13) circulation performs step (11) and (12), until four corner positions are calibrated a little in computer display screens
Untill demarcation；
(14) according to the image and the order of corresponding projection calibration point gathered in step (13), Computer display is determined
The mapping relations in the direction between screen and projected picture.
The described projector calibrating method based on the mapping of many matrixes, in step (5), the mapping relations equation is as follows：
Wherein, [x1 x2 x3]TWhat is represented is the coordinate vector of source point in computer display screens, [x1′ x2′ x3′]TTable
Show the coordinate vector of corresponding subpoint,It is mapping matrix.
As shown from the above technical solution, the projector calibrating method based on the mapping of many matrixes of the present invention, greatly
The speed of Projection surveying point is improve, the time that Projection surveying point is spent is reduced.By setting 49 Ge Zi projection matrixes areas
Domain, four vertex positions of each matrix are the positions of calibration point, the position according to calibration point in computer display screens with
And the position of camera acquired projections picture calibration point obtained from, 49 relationship map equations can be obtained, preferably subtract
Lack the influence of the mapping error that the subpoint brought by camera distortion is demarcated, improve the accuracy of mapping relations.
This method is only limitted to influence because camera distortion is brought to certain projection matrix region labeling mapping relations, does not interfere with remaining
Projection matrix region, it is ensured that mapping relations in without projection matrix region in being influenceed by camera distortion it is accurate
Property, the demand of user is met well.
Brief description of the drawings
Fig. 1 is the schematic diagram of Projection surveying point of the invention；
Fig. 2 is projection matrix schematic diagram of the invention；
Fig. 3 is flow chart of the invention；
Fig. 4 is Projection surveying flow chart of the invention.
Specific embodiment
The present invention will be further described below in conjunction with the accompanying drawings：
As shown in figures 1-4, the projector calibrating method based on the mapping of many matrixes of the present embodiment, specifically includes following step
Suddenly：
S1：Projection surveying point, determines the direction mapping relations between computer display screens and projected picture, in this this behaviour
, it is necessary to carry out the operation of the projection black circle calibration point of 4 wheels in work, step is as follows：
S11：In four drift angle directions position of computer display screens, arbitrarily choose a position not being projected and enter
Row projection calibration point；
S12：The projected picture after projection calibration point is carried out using camera collection；
S13：Circulation performs step (11) and (12), until four corner positions are calibrated a little in computer display screens
Untill demarcation；
S14：According to four images and the order of corresponding projection calibration point that are gathered in step (13), computer is determined
The mapping relations in the direction between display screen and projected picture, up and down or left and right is reverse to be showed to prevent its mapping relations from occurring
As occurring.Further, since camera is in acquired projections picture, the picture area of collection is bigger than actual projected picture region,
Therefore, it can according to four positions of calibration point, it may be determined that the region of projected picture, it is to avoid non-view field is to latter acts
Interference.
S2：Proceed Projection surveying point to projection screen, until meeting the whole Computer display of calibration point uniform fold
Screen：
60 black circle calibration points are projected in computer display screens using computer is disposable, the requirement of projection is expired
Foot is as follows：(1) often going for computer display screens, is carried out projecting 8 calibration points to it, and the row containing drift angle direction is removed
Outward, because the row has cast 2 calibration points, need to only continue to project 6 calibration points now；(2) after projection is finished, altogether
It is 64 calibration points, computer it is required that this 64 calibration points are evenly distributed in whole calculating display screen, therefore project
During, two calibration points adjacent in same a line make to be separated by certain interval between it, adjacent in same row
Two calibration points, equally make to be separated by certain interval between it.
S3：According to Projection surveying point, the submatrix of projection screen is built：
For 64 calibration points of projection screen, adjacent four black calibration points up and down may be constructed one
Rectangle, the rectangle is a projection submatrix, and 49 projection subregions, particular flow sheet, such as Fig. 2 institutes are may be constructed altogether
Show.
S4：After complete projection submatrix to be built, by camera acquired projections picture：
After projection submatrix has been built, computer display screens are had altogether with 49 projection submatrixs, such as Fig. 2 institutes
Show.After the projected picture of camera acquired projections submatrix, stored, carry out solving mapping pass for following step
System.
S5：The position coordinates of calibration point and corresponding its position in computer display screens in analysis projected picture
Put, using DLT (direct linear transformation) model construction mapping relations equation：
For the projected picture in step S4, although camera when collection due to the influence for distorting, the throwing of collection
The matrix shape of the projection subregion in shadow picture is not very regular, but the picture of its collection equally has 49 projection sub-districts
Domain.
For 49 project subregion, there are four circular calibration points of black per sub-regions, according to this four
The position of calibration point is such that it is able to could set up the mapping between computer display screens and projected picture to every sub-regions
The equation of relation, can set up altogether 49 mapping equations.Shown in the model equation of mapping equation such as formula (1)：
Wherein, [x1 x2 x3]TWhat is represented is the coordinate vector of source point in computer display screens, [x1′ x2′ x3′]TTable
Show the coordinate vector of corresponding subpoint,It is mapping matrix.x1And x1' represent abscissa, x2And x2' generation
Table ordinate, and because direct Linear Mapping is calculated using homogeneous coordinates, therefore the x in formula (1)3And x3' can take
Be worth is 1.
S6：Mapping relations equation is solved using SVD methods, the mapping relations of Projection surveying are obtained：
49 mapping equations in step S5, can solve mapping relations.For this 49 mapping equations, each of which
The mapping relations of equation solution, are only only limited to apply other points in the corresponding projection subregion of the equation, it is impossible to apply
Point in other matrix subregions, therefore this method can reduce the error of the collection image that camera distortion brings.
For the distortion phenomenon of camera, it can influence the part in view field to project subregion, unaffected
The projection mapping relation of subregion will not change, the projection mapping relationship affect of affected subregion also compared with
It is small.
The method for solving mapping relations equation is as follows：By formula (1) can abbreviation be further such as formula (2) institute
Show：
For formula (2), its 3rd equation can be obtained by the first two equation by linear combination, and make H0=
[h11 h12 h13 h21 h22 h23 h31 h32 h33]T, then formula (2) formula (3) can be further simplified as：
For formula (3), vectorial H can be solved by the method for SVD0, while H0Also illustrate that computer display screens and throw
Mapping relations between shadow picture.The coordinate position of certain point, the son according to where it in last known computer display screen
Projection mapping relation in region, just can calculate its position in scenic picture is projected, so as to complete other demands of user.
In this patent, need altogether to carry out the projection of 5 wheels, in the projection of preceding 4 wheels, often wheel carries out projecting a black
Circular calibration point operation, in being taken turns the 5th, disposably projects remaining 60 black circle calibration point, and cause 64 calibration points
Uniformly it is covered with computer display screens.The projecting method drastically increases the speed of Projection surveying point, reduces projection mark
Fixed point the spent time.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to model of the invention
Enclose and be defined, on the premise of design spirit of the present invention is not departed from, those of ordinary skill in the art are to technical side of the invention
Various modifications and improvement that case is made, all should fall into the protection domain of claims of the present invention determination.
Claims (3)
1. it is a kind of based on many matrixes mapping projector calibrating method, it is characterised in that specifically include following steps：
(1) Projection surveying point, determines the direction mapping relations between computer display screens and projected picture；
(2) Projection surveying point is proceeded to projection screen, until meeting the whole computer display screens of calibration point uniform fold；
(3) according to Projection surveying point, the submatrix of projection screen is built；
(4) by camera acquired projections picture；
(5) mapping relations equation is set up using DLT models；
(6) mapping relations equation is solved using SVD methods, obtains the mapping relations of Projection surveying.
2. it is according to claim 1 based on many matrixes mapping projector calibrating method, it is characterised in that：In step (1),
The Projection surveying point, determines the direction mapping relations between computer display screens and projected picture, specifically includes following step
Suddenly：
(11) in four drift angle directions position of computer display screens, arbitrarily choose a position not being projected and thrown
Penetrate calibration point；
(12) projected picture after projection calibration point is carried out using camera collection；
(13) circulation performs step (11) and (12), until four corner positions are calibrated a demarcation in computer display screens
Untill；
(14) according to the image and the order of corresponding projection calibration point gathered in step (13), computer display screens are determined
The mapping relations in the direction between projected picture.
3. it is according to claim 1 based on many matrixes mapping projector calibrating method, it is characterised in that：In step (5),
The mapping relations equation is as follows：
Wherein, [x1 x2 x3]TWhat is represented is the coordinate vector of source point in computer display screens, [x1′ x2′ x3′]TIt is right to represent
The coordinate vector of the subpoint answered,It is mapping matrix.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114399558A (en) * | 2022-01-11 | 2022-04-26 | 南京慧尔视软件科技有限公司 | Calibration method, device, equipment and storage medium of ball machine |
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| CN104361580A (en) * | 2014-10-22 | 2015-02-18 | 山东大学 | Projected image real-time correction method based on planar screen |
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| CN101140661A (en) * | 2007-09-04 | 2008-03-12 | 杭州镭星科技有限公司 | Real time object identification method taking dynamic projection as background |
| US8310525B2 (en) * | 2008-10-07 | 2012-11-13 | Seiko Epson Corporation | One-touch projector alignment for 3D stereo display |
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| CN114399558A (en) * | 2022-01-11 | 2022-04-26 | 南京慧尔视软件科技有限公司 | Calibration method, device, equipment and storage medium of ball machine |
| CN114399558B (en) * | 2022-01-11 | 2024-03-26 | 南京慧尔视软件科技有限公司 | Calibration method, device, equipment and storage medium of ball machine |
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| CN106780616B (en) | 2019-09-27 |
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Address after: 230000 Yafu Park, Juchao Economic Development Zone, Chaohu City, Hefei City, Anhui Province Patentee after: ANHUI HUISHI JINTONG TECHNOLOGY Co.,Ltd. Address before: 102, room 602, C District, Hefei National University, Mount Huangshan Road, 230000 Hefei Road, Anhui, China Patentee before: ANHUI HUISHI JINTONG TECHNOLOGY Co.,Ltd. |