CN108227348A - Geometric distortion auto-correction method based on high-precision vision holder - Google Patents
Geometric distortion auto-correction method based on high-precision vision holder Download PDFInfo
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- CN108227348A CN108227348A CN201810068245.6A CN201810068245A CN108227348A CN 108227348 A CN108227348 A CN 108227348A CN 201810068245 A CN201810068245 A CN 201810068245A CN 108227348 A CN108227348 A CN 108227348A
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B21/00—Projectors or projection-type viewers; Accessories therefor
- G03B21/14—Details
- G03B21/147—Optical correction of image distortions, e.g. keystone
Abstract
Geometric distortion auto-correction method based on high-precision vision holder, includes the following steps：Establish projected image coordinate space, image detection coordinate space, coordinates of original image coordinates space, projection screen coordinate space：Using the transformational relation between the transformational relation between projected image coordinate and image detection coordinate and coordinates of original image coordinates space and projection screen coordinate space, coordinates of original image coordinates space and the transformational relation of projected image coordinate space are obtained；Image detection is carried out to control point image using high-precision vision holder, recycles transfer function B2B3‑1B1‑1, obtain control point geometric distortion level angle matrix and vertical angle matrix；According to control point geometric correction matrix and bezier surface model, the geometric correction value of projected image all pixels point is calculated；Before image is conveyed to projecting apparatus caching by computer, using the geometric correction value of all pixels point, geometry precorrection is carried out to original image.This method correction time is fast, the visual effect of enough accurate control pictures.
Description
Technical field
The invention belongs to projected image process fields, and in particular to a kind of geometric distortion based on high-precision vision holder is certainly
Dynamic bearing calibration.
Background technology
The big visual field projection display system of multichannel is with its big visual field, the visual effect of high telepresenc, in virtual battlefield environment
Emulation, military training simulation, digital urban planning, three-dimensional geographic information system etc. are more and more widely used.
In recent years, the big visual field projection display system of multichannel starts to display and demonstration, scheduling controlling, safety monitoring, commander's control, industry
The fields such as control, educational training, conference centre, battleficld command are developed.The big visual field projection display system of multichannel is regarded with multichannel
Scape simultaneous techniques, geometric distortion correction technology, digital picture edge fusion technology, projected image brightness equilibrium and color correction skill
Art is support, the digital picture of tomography computer generation is exported in real time and including plane or the curved surface throwing in super large breadth
On shadow curtain wall, viewer and participant is made to obtain the display size of bigger, the broader visual field, more show content, is higher
Display resolution, the more visual effect of impact force and feeling of immersion.
Under normal conditions, the picture of large screen display system is formed by the picture splicing of more projector projects, two
It can be had the gap between the picture that projecting apparatus is projected；Large screen is not plane in many cases, but column ring curtain or
Spherical curtain thus makes the image projected generate geometric distortion, needs the image correction process by profession, i.e., before projection
Geometric distortion correction is carried out to image, ultimately generates a complete, integrated, undistorted multichannel seamless image splicing.It is existing
Projection display system method for correcting image for traditional manual correction method, however manual mode is used to carry out geometric distortion
Correction, whole system debug time is long, and projected image picture entirety effect is poor after correction.
Invention content
The purpose of the present invention is to provide a kind of geometric distortion auto-correction method based on high-accuracy machine vision holder,
Long, the bad technical barrier of picture effect after debugging to solve existing manual correction debug time.Using the bearing calibration not only
The geometric distortion correction of entire image projection image can be completed in a short time, and the vision of picture can accurately be controlled to imitate
Fruit, so as to form a width completely projected image without geometric distortion.
To achieve the above object, the geometric distortion auto-correction method provided by the invention based on high-precision vision holder,
Specifically include following steps：
Step S1, projected image coordinate space, image detection coordinate space are established：Wherein, the projected image coordinate is empty
Between for projecting apparatus caching receive image, for the image coordinate space of Projection Display, with (xp, yp) represent；Projected image upper left
Angle is starting point for (0,0) pixel, and horizontal direction is abscissa, and vertical direction is ordinate；Described image detects coordinate space
Using high-accuracy machine vision cloud platform rotation to target angle, projection screen target control point is shot with the digital camera of its carrying
Image and the coordinate space formed, with (xc,yc) represent；
Step S2, it is asked between projected image coordinate space and image detection coordinate space using bezier surface model
Transformational relation, transformational relation is by formula (1) Suo Shi：
(xc, yc)=B1 (xp, yp) (1)
Wherein, transfer functions of the B1 between projected image coordinate space and image detection coordinate space；
Step S3, coordinates of original image coordinates space, projection screen coordinate space are established；The coordinates of original image coordinates space is not
The image source of display to be projected by any correction process, with (xo,yo) represent, the upper left corner is starting point for (0,0) pixel, water
Square to for abscissa, vertical direction is ordinate；The projection screen coordinate space is projected for projected image by light path
On projection screen, the spherical coordinates space of all pixels point target level angle and vertical angle, with (xs,ys) represent, using eye position as
Center point is level angle with horizontal direction angle, is vertical angle with vertical direction angle；
Step S4, it is asked between coordinates of original image coordinates space and projection screen coordinate space using bezier surface model
Transformational relation, transformational relation is by formula (2) Suo Shi：
(xo,yo)=B2 (xs,ys) (2)
Wherein, transfer functions of the B2 between coordinates of original image coordinates space and projection screen coordinate space；
Step S5, the conversion in projection screen coordinate space and image detection coordinate space is asked for using bezier surface model
Relationship, transformational relation is by formula (3) Suo Shi：
(xc,yc)=B3 (xs,ys) (3)
Wherein, transfer functions of the B3 between projection screen coordinate space and image detection coordinate space；
Step S6, coordinates of original image coordinates space and the conversion of image detection coordinate space, are pushed away by formula (2) and formula (3)
The transformational relation of corresponding points between coordinates of original image coordinates space and image detection coordinate space is exported, by formula (4) Suo Shi
(xo,yo)=B2B3-1(xc,yc) (4)
Step S7, coordinates of original image coordinates space and the conversion of projected image coordinate space, can by formula (1) and formula (4)
To derive the transformational relation of corresponding points between coordinates of original image coordinates space and projected image coordinate space, by formula (5) Suo Shi
(xo, yo)=B2B3-1B1-1(xp, yp) (5)
Step S8, control point geometric correction matrix carries out image detection using high-precision vision holder to control point image,
Recycle transfer function B2B3-1B1-1, obtain control point geometric distortion level angle matrix and vertical angle matrix, i.e. control point
Geometric correction matrix；
Step S9, Feature Points Matching according to control point geometric correction matrix and bezier surface model, calculates projected image
The geometric correction value of all pixels point；
Step S10, geometric distortion correction before image is conveyed to projecting apparatus caching by computer, utilizes all pixels
The geometric correction value of point carries out geometry precorrection processing to original image.
The advantages and positive effects of the present invention：It is right between each coordinate space of the invention using the expression of bezier surface model
The non-linear conversion relationship that should be put, derives the transfer function between projected image and original image.The geometric distortion correction side
Method is not only suitable for plane projection screen, is also suitable for curved surface projection screen；The experimental results showed that this method is several in projected image
During what distortion correction rationally, correctly, efficiently.
Specific embodiment
For those skilled in the art is made to be clearly understood that technical scheme of the present invention and its advantage and effect, below to the present invention
It is described in further detail, but the protection domain being not intended to limit the present invention.
Geometric distortion auto-correction method provided by the invention based on high-precision vision holder, specifically includes following step
Suddenly：
Step S1, projected image coordinate space, image detection coordinate space are established：Wherein, the projected image coordinate is empty
Between for projecting apparatus caching receive image, for the image coordinate space of Projection Display, with (xp,yp) represent；Projected image upper left
Angle is starting point for (0,0) pixel, and horizontal direction is abscissa, and vertical direction is ordinate；Described image detects coordinate space
Using high-accuracy machine vision cloud platform rotation to target angle, projection screen target control point is shot with the digital camera of its carrying
Image and the coordinate space formed, with (xc,yc) represent；Specially：Projection screen target is shot using the digital camera of its carrying
Point image is controlled, calculates control point position, until alignment control dot center, i.e. digital camera cross searching and detected control point
Center overlaps, and the level angle and vertical angle at the control point is obtained, with (xc,yc) represent, using eye position as center point, with level
Angular separation is level angle, is vertical angle with vertical direction angle；
Step S2, it is asked between projected image coordinate space and image detection coordinate space using bezier surface model
Transformational relation, transformational relation is by formula (1) Suo Shi：
(xc,yc)=B1 (xp,yp) (1)
Wherein, transfer functions of the B1 between projected image coordinate space and image detection coordinate space；Using converting letter
Number B1, you can learn the projected image coordinate space (x at some control point in projected imagep,yp), utilize high-accuracy machine vision
Holder carries out image detection, carries out image procossing and image identification, obtains position of the control point in image detection coordinate space
Put (xc,yc), i.e. control point level angle and vertical angle angle value；
Step S3, coordinates of original image coordinates space, projection screen coordinate space are established；The coordinates of original image coordinates space is not
The image source of display to be projected by any correction process, with (xo,yo) represent, the upper left corner is starting point for (0,0) pixel, water
Square to for abscissa, vertical direction is ordinate；The projection screen coordinate space is projected for projected image by light path
On projection screen, the spherical coordinates space of all pixels point target level angle and vertical angle, with (xs,ys) represent, using eye position as
Center point is level angle with horizontal direction angle, is vertical angle with vertical direction angle；
Step S4, it is asked between coordinates of original image coordinates space and projection screen coordinate space using bezier surface model
Transformational relation, transformational relation is by formula (2) Suo Shi：
(xo,yo)=B2 (xs,ys) (2)
Wherein, transfer functions of the B2 between coordinates of original image coordinates space and projection screen coordinate space, in ideal situation
Under take B2=1, the pixel (x in coordinates of original image coordinates spaceo,yo) and projection screen coordinate space pixel (xs,ys) a pair
It should；Under normal conditions, original image (is carried out rational geometry precorrection to handle, offsets projection by original image through geometric correction
The pattern distortion of the generations such as instrument camera lens, projecting light path, projection screen on-plane surface) after, it can be on projection screen target location just
Content as defined in true Projection Display, the projected image shown on the projection screen is compared with original image, without geometric distortion；
Step S5, the conversion in projection screen coordinate space and image detection coordinate space is asked for using bezier surface model
Relationship, transformational relation is by formula (3) Suo Shi：
(xc,yc)=B3 (xs,ys) (3)
Wherein, transfer functions of the B3 between projection screen coordinate space and image detection coordinate space, ideally
Take B3=1；Ideally, using the projection on the digital camera photographic subjects screen carried on high-accuracy machine vision holder
Control point, and rotary platform alignment control dot center, the read horizontal angle angle value of current holder and vertical angle angle value are image
Detect coordinate space value and projection screen coordinate spatial value, i.e., the pixel (x in screen coordinate spaces,ys) examined with image
Survey coordinate space pixel (xc,yc) correspond；
Step S6, coordinates of original image coordinates space and the conversion of image detection coordinate space, are pushed away by formula (2) and formula (3)
The transformational relation of corresponding points between coordinates of original image coordinates space and image detection coordinate space is exported, by formula (4) Suo Shi
(xo,yo)=B2B3-1(xc,yc) (4)
Step S7, coordinates of original image coordinates space and the conversion of projected image coordinate space, can by formula (1) and formula (4)
To derive the transformational relation of corresponding points between coordinates of original image coordinates space and projected image coordinate space, by formula (5) Suo Shi
(xo,yo)=B2B3-1B1-1(xp,yp) (5)
Step S8, control point geometric correction matrix carries out image detection using high-precision vision holder to control point image,
Recycle transfer function B2B3-1B1-1, obtain control point geometric distortion level angle matrix and vertical angle matrix, i.e. control point
Geometric correction matrix；
Step S9, Feature Points Matching according to control point geometric correction matrix and bezier surface model, calculates projected image
The geometric correction value of all pixels point；
Step S10, geometric distortion correction before image is conveyed to projecting apparatus caching by computer, utilizes all pixels
The geometric correction value of point carries out geometry precorrection processing to original image, and the projected image shown on target screen in this way is just
Meet actual requirement, without any geometric distortion, picture material is complete, position is correct.
Claims (1)
1. the geometric distortion auto-correction method based on high-precision vision holder, it is characterised in that：Specifically include following steps：
Step S1, projected image coordinate space, image detection coordinate space are established：Wherein, the projected image coordinate space is
Projecting apparatus caching receives image, for the image coordinate space of Projection Display, with (xp,yp) represent；The projected image upper left corner is
(0,0) pixel is starting point, and horizontal direction is abscissa, and vertical direction is ordinate；Described image detection coordinate space is to utilize
High-accuracy machine vision cloud platform rotation shoots projection screen target control point image to target angle with the digital camera of its carrying
And the coordinate space formed, with (xc,yc) represent；
Step S2, the conversion between projected image coordinate space and image detection coordinate space is asked for using bezier surface model
Relationship, transformational relation is by formula (1) Suo Shi：
(xc,yc)=B1 (xp,yp) (1)
Wherein, transfer functions of the B1 between projected image coordinate space and image detection coordinate space；
Step S3, coordinates of original image coordinates space, projection screen coordinate space are established；The coordinates of original image coordinates space be without
The image source of the display to be projected of any correction process, with (xo,yo) represent, the upper left corner is starting point for (0,0) pixel, level side
To for abscissa, vertical direction is ordinate；The projection screen coordinate space projects projection for projected image by light path
On screen, the spherical coordinates space of all pixels point target level angle and vertical angle, with (xs,ys) represent, using eye position as the centre of sphere
Point is level angle with horizontal direction angle, is vertical angle with vertical direction angle；
Step S4, the conversion between coordinates of original image coordinates space and projection screen coordinate space is asked for using bezier surface model
Relationship, transformational relation is by formula (2) Suo Shi：
(xo,yo)=B2 (xs,ys) (2)
Wherein, transfer functions of the B2 between coordinates of original image coordinates space and projection screen coordinate space；
Step S5, projection screen coordinate space is asked for using bezier surface model and the conversion of image detection coordinate space is closed
System, transformational relation is by formula (3) Suo Shi：
(xc,yc)=B3 (xs,ys) (3)
Wherein, transfer functions of the B3 between projection screen coordinate space and image detection coordinate space；
Step S6, coordinates of original image coordinates space and the conversion of image detection coordinate space, are derived by formula (2) and formula (3)
The transformational relation of corresponding points between coordinates of original image coordinates space and image detection coordinate space, by formula (4) Suo Shi
(xo,yo)=B2B3-1(xc,yc) (4)
Step S7, coordinates of original image coordinates space and the conversion of projected image coordinate space, can be pushed away by formula (1) and formula (4)
The transformational relation of corresponding points between coordinates of original image coordinates space and projected image coordinate space is exported, by formula (5) Suo Shi
(xo,yo)=B2B3-1B1-1(xp,yp) (5)
Step S8, control point geometric correction matrix carries out image detection, then profit using high-precision vision holder to control point image
With transfer function B2B3-1B1-1, control point geometric distortion level angle matrix and vertical angle matrix are obtained, that is, controls point geometry
Correction matrix；
Step S9, Feature Points Matching according to control point geometric correction matrix and bezier surface model, calculates projected image and owns
The geometric correction value of pixel；
Step S10, geometric distortion correction before image is conveyed to projecting apparatus caching by computer, utilizes all pixels point
Geometric correction value carries out geometry precorrection processing to original image.
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| CN110738608A (en) * | 2019-05-27 | 2020-01-31 | 首都师范大学 | plane image correction method and system |
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| CN113038102A (en) * | 2021-03-05 | 2021-06-25 | 深圳市普汇智联科技有限公司 | Full-automatic geometric correction method for multi-projection splicing |
| WO2023124777A1 (en) * | 2021-12-31 | 2023-07-06 | 深圳光峰科技股份有限公司 | Projection calibration method and apparatus, electronic device and storage medium |
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| CN112584114A (en) * | 2020-12-04 | 2021-03-30 | 浙江水晶光电科技股份有限公司 | Head-up display and image correction method thereof |
| CN112738491A (en) * | 2020-12-29 | 2021-04-30 | 视田科技（天津）有限公司 | Correction method of projection reflection picture |
| CN113038102A (en) * | 2021-03-05 | 2021-06-25 | 深圳市普汇智联科技有限公司 | Full-automatic geometric correction method for multi-projection splicing |
| CN113038102B (en) * | 2021-03-05 | 2022-03-22 | 深圳市普汇智联科技有限公司 | Full-automatic geometric correction method for multi-projection splicing |
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