CN108961343A - Construction method, device, terminal device and the readable storage medium storing program for executing of virtual coordinate system - Google Patents
Construction method, device, terminal device and the readable storage medium storing program for executing of virtual coordinate system Download PDFInfo
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- CN108961343A CN108961343A CN201810675898.0A CN201810675898A CN108961343A CN 108961343 A CN108961343 A CN 108961343A CN 201810675898 A CN201810675898 A CN 201810675898A CN 108961343 A CN108961343 A CN 108961343A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/006—Mixed reality
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/20—Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
Abstract
The invention discloses a kind of construction method of virtual coordinate system, device, terminal device and readable storage medium storing program for executing.The present invention is when constructing virtual coordinate system, by determining the first coordinate of the first mark point and the second coordinate of the second mark point on marking rod described in the collected imaging picture about marking rod of imaging sensor, then according to the first coordinate system of the first coordinate and the second coordinate building visual sensor visual angle, and according to from display screen obtain marking rod on a display screen multiple perpendicular contact positions third coordinate building display screen visual angle the second coordinate system, then according to homography conversion principle, calculate the relativeness of the first coordinate system and the second coordinate system in three dimensions, finally according to the resulting relativeness of calculating, the high precision tracking that can be realized to operational motion can be constructed, the accurately virtual coordinate system of calibration interactive device present position coordinate in three dimensions, to substantially increase man-machine interaction effect.
Description
Technical field
The present invention relates to human-computer interaction technique field more particularly to a kind of construction methods of virtual coordinate system, device, terminal
Equipment and readable storage medium storing program for executing.
Background technique
With the rapid development of computer technology and widely availableization, human-computer interaction technology becomes new research field.
Human-computer interaction technology refers to through computer Input/Output Device, realizes people and computer pair in an efficient way
The technology of words.In human-computer interaction technology, virtual reality technology is an important branch of human-computer interaction technology, virtual reality skill
Art is mainly by determining between virtual reality and real world by the various posture informations in three-dimensional space are calculated in real time
Mapping relations, and the spatial attitude of target to be responded.
Current virtual reality technology specifically includes that the real-time dynamic 3 D stereo model true to nature that computer generates, sense
Know, natural technical ability and sensor device etc..In use, operator passes through data glove, three-dimensional (three
Dimensional, referred to as: the 3D) interactive devices such as mouse, 3D glasses, interaction pen make human body behavior act, and computer system is then
It is handled by the data adaptable to movement, and real-time response is made to the input of operator, it is truer to reach operator
Be immersed in virtual scene.
However, the device type and performance difference due to including in existing virtual reality technology are very big, it is upper utilizing
When stating equipment progress human-computer interaction, often due to the influence of the difference of device type and external environment, lead to use process
In, it can not accurately realize to the tracking of operator's movement, also can not just promptly respond, leverage interaction effect.
Thus, how it is high-precision realize the tracking that acts to operator, to reach better interaction effect, gradually at
For the research hotspot of virtual display technology.
Above content is only used to facilitate the understanding of the technical scheme, and is not represented and is recognized that above content is existing skill
Art.
Summary of the invention
The main purpose of the present invention is to provide a kind of construction method of virtual coordinate system, device, terminal devices and readable
Storage medium, it is intended to solve to cannot achieve the high precision tracking to operational motion in existing virtual reality technology, human-computer interaction effect
The undesirable technical problem of fruit.
To achieve the above object, the present invention provides a kind of construction method of virtual coordinate system, the method includes following
Step:
Determine the first coordinate of the first mark point and the second coordinate of the second mark point on imaging picture acceptance of the bid note bar, it is described
Picture is imaged, Image Acquisition acquisition is carried out to the marking rod by imaging sensor；
The first coordinate system is constructed according to first coordinate and second coordinate；
The third coordinate of the marking rod multiple perpendicular contact positions on a display screen is obtained, and according to multiple thirds
Coordinate constructs the second coordinate system；
According to homography conversion principle, phase of first coordinate system with second coordinate system in three dimensions is calculated
To relationship；
According to the relativeness, the virtual seat for demarcating interactive device present position coordinate in three dimensions is constructed
Mark system.
Preferably, described image sensor is more mesh camera mould groups, and more mesh camera mould groups contain at least two camera
Component；
Correspondingly, on marking rod described in the collected image about marking rod of determining imaging sensor
First coordinate of one mark point and the second coordinate of the second mark point, specifically include:
Obtain the collected imaging picture with the marking rod of the display screen perpendicular contact of each photomoduel；
According to more mesh range measurement principles, the imaging picture collected to each photomoduel is handled, and determines described
First coordinate of one mark point in the imaging picture, second coordinate of second mark point in the imaging picture.
Preferably, described according to more mesh range measurement principles, the imaging picture collected to each photomoduel is handled,
Determine first coordinate of first mark point in the imaging picture, second mark point is in the imaging picture
Second coordinate, specifically includes:
Parameter calibration is carried out to each photomoduel, is obtained between internal reference, outer ginseng and each photomoduel of each photomoduel
Relative positional relationship；
According to the relative positional relationship between the internal reference of each photomoduel, outer ginseng and any two photomoduel, to each phase
Thermomechanical components are corrected；
The collected imaging picture of any two photomoduel is matched, parallax data is obtained；
According to the parallax data, first coordinate of first mark point in the imaging picture is determined, described the
Second coordinate of two mark points in the imaging picture.
Preferably, the internal reference includes the focal length, imaging origin and distortion parameter of photomoduel, and the outer ginseng includes camera
The world coordinates of component, the relative positional relationship include spin matrix relationship and are translated towards magnitude relation；
Correspondingly, the relative position according between the internal reference of each photomoduel, outer ginseng and any two photomoduel
Relationship is corrected each photomoduel, specifically includes:
According to the focal length of each photomoduel, imaging origin, distortion parameter, world coordinates, spin matrix relationship and it is translated towards
Magnitude relation carries out eliminating distortion and row is aligned to each photomoduel respectively, so that the imaging origin of each photomoduel is consistent,
The optical axis of any two photomoduel is parallel, imaging plane is coplanar.
Preferably, described according to homography conversion principle, first coordinate system and second coordinate system are calculated three
Relativeness in dimension space, specifically includes:
According to the homography conversion principle, first coordinate system and second coordinate system are converted into three-dimensional respectively
Coordinate system；
The corresponding three-dimensional system of coordinate of first coordinate system three-dimensional coordinate corresponding with second coordinate system is calculated to tie up to
Relativeness in three-dimensional space.
Preferably, it is described first coordinate system is constructed according to first coordinate and second coordinate before, the method
Further include:
Rule is calibrated according to preset precision, precision calibration is carried out to first coordinate and second coordinate respectively；
Correspondingly, described that first coordinate system is constructed according to first coordinate and second coordinate, it specifically includes:
According to first coordinate and second coordinate the first coordinate system of building after calibration.
Preferably, before second coordinate system according to multiple third coordinates buildings, the method also includes:
Rule is calibrated according to preset precision, precision calibration is carried out to each third coordinate；
Correspondingly, described to construct the second coordinate system according to multiple third coordinates, it specifically includes:
According to each third coordinate after calibration, second coordinate system is constructed.
In addition, to achieve the above object, the present invention also provides a kind of construction device of virtual coordinate system, described device packets
It includes:
Determining module, for determining the first coordinate and second mark point of the first mark point on imaging picture acceptance of the bid note bar
Second coordinate, the imaging picture carry out Image Acquisition acquisition to the marking rod by imaging sensor；
First building module, for constructing the first coordinate system according to first coordinate and second coordinate；
Module is obtained, for obtaining the third coordinate of the marking rod multiple perpendicular contact positions on a display screen；
Second building module, for constructing the second coordinate system according to multiple third coordinates；
Computing module, for calculating first coordinate system and second coordinate system existing according to homography conversion principle
Relativeness in three-dimensional space；
Third constructs module, for constructing for demarcating interactive device institute in three dimensions according to the relativeness
Locate the virtual coordinate system of position coordinates.
In addition, to achieve the above object, the present invention also provides a kind of terminal device, the terminal device includes: storage
Device, processor and the construction procedures for being stored in the virtual coordinate system that can be run on the memory and on the processor,
The construction procedures of the virtual coordinate system are arranged for carrying out the step of construction method of the virtual coordinate system.
In addition, to achieve the above object, the present invention also provides a kind of readable storage medium storing program for executing, the readable storage medium storing program for executing is
Computer readable storage medium is stored with the construction procedures of virtual coordinate system, the void on the computer readable storage medium
The construction procedures of quasi-coordinate system realize the step of construction method of the virtual coordinate system when being executed by processor.
The present invention is aided with visual sensor and has touch by the marking rod for being provided with two or more mark points
The display screen of function, when constructing virtual coordinate system, by determining the collected image about marking rod of imaging sensor
Second coordinate of the first coordinate of the first mark point and the second mark point on marking rod described in piece, then according to the first coordinate and
Second coordinate constructs first coordinate system at visual sensor visual angle, and on a display screen according to the marking rod obtained from display screen
Second coordinate system at the third coordinate building display screen visual angle of multiple perpendicular contact positions, then according to homography conversion principle,
The relativeness of the first coordinate system and the second coordinate system in three dimensions is calculated, finally according to calculating resulting relativeness,
The high precision tracking that can be realized to operational motion can be constructed, interactive device institute in three dimensions is accurately demarcated
The virtual coordinate system for locating position coordinates, to substantially increase man-machine interaction effect.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the terminal device for the hardware running environment that the embodiment of the present invention is related to；
Fig. 2 is the flow diagram of the construction method first embodiment of virtual coordinate system of the present invention；
Fig. 3 be virtual coordinate system of the present invention construction method first embodiment in show the position of equipment and imaging sensor
Relation schematic diagram；
Fig. 4 be virtual coordinate system of the present invention construction method first embodiment in show equipment, imaging sensor and label
The operation principle schematic diagram of bar；
Fig. 5 is the flow diagram of the construction method second embodiment of virtual coordinate system of the present invention；
Fig. 6 is the functional block diagram of the construction device of virtual coordinate system of the present invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Referring to Fig.1, Fig. 1 is the structural representation of the terminal device for the hardware running environment that the embodiment of the present invention is related to
Figure, the terminal device can be the equipment that personal computer, tablet computer, smart phone etc. are able to access that network, herein no longer
It enumerates, is also not particularly limited.
As shown in Figure 1, the terminal device may include: processor 1001, such as central processing unit (Central
Processing Unit, CPU), communication bus 1002, user interface 1003, network interface 1004, memory 1005.Wherein,
Communication bus 1002 is for realizing the connection communication between these components.User interface 1003 may include tangible display screen,
Voice recognition unit etc., optionally, user interface 1003 can also include standard wireline interface and wireless interface.Network interface
1004 may include optionally standard wireline interface and wireless interface (such as Wireless Fidelity (WIreless-FIdelity, WI-FI)
Interface, blue tooth interface etc.).Memory 1005 can be high speed RAM memory, be also possible to stable memory (non-
Volatile memory), such as magnetic disk storage.Memory 1005 optionally can also be independently of aforementioned processor 1001
Storage device.
It will be understood by those skilled in the art that structure shown in Fig. 1 does not constitute the restriction to terminal device, can wrap
It includes than illustrating more or fewer components, perhaps combines certain components or different component layouts.
Therefore, as shown in Figure 1, as may include in a kind of memory 1005 of computer storage medium operating system,
The construction procedures of network communication module, Subscriber Interface Module SIM and virtual coordinate system.
In terminal device shown in Fig. 1, network interface 1004 is mainly with establishing terminal device and visual sensor, show
The communication connection of screen；User interface 1003 is mainly used for receiving the input instruction of user；The terminal device passes through processor
The construction procedures of the virtual coordinate system stored in 1001 calling memories 1005, and execute following operation:
Determine the first mark point on marking rod described in the collected imaging picture about marking rod of imaging sensor
Second coordinate of the first coordinate and the second mark point；
The first coordinate system is constructed according to first coordinate and second coordinate；
The third coordinate of the marking rod multiple perpendicular contact positions on a display screen is obtained, and according to multiple thirds
Coordinate constructs the second coordinate system；
According to homography conversion principle, phase of first coordinate system with second coordinate system in three dimensions is calculated
To relationship；
According to the relativeness, the virtual seat for demarcating interactive device present position coordinate in three dimensions is constructed
Mark system.
Further, described image sensor is more mesh camera mould groups, and more mesh camera mould groups contain at least two phase
Thermomechanical components, processor 1001 can call the construction procedures of the virtual coordinate system stored in memory 1005, also execute following behaviour
Make:
Obtain the collected imaging picture with the marking rod of the display screen perpendicular contact of each photomoduel；
According to more mesh range measurement principles, the imaging picture collected to each photomoduel is handled, and determines described
First coordinate of one mark point in the imaging picture, second coordinate of second mark point in the imaging picture.
Further, processor 1001 can call the construction procedures of the virtual coordinate system stored in memory 1005, also
Execute following operation:
Parameter calibration is carried out to each photomoduel, is obtained between internal reference, outer ginseng and each photomoduel of each photomoduel
Relative positional relationship；
According to the relative positional relationship between the internal reference of each photomoduel, outer ginseng and any two photomoduel, to each phase
Thermomechanical components are corrected；
The collected imaging picture of any two photomoduel is matched, parallax data is obtained；
According to the parallax data, first coordinate of first mark point in the imaging picture is determined, described the
Second coordinate of two mark points in the imaging picture.
Further, the internal reference includes the focal length, imaging origin and distortion parameter of photomoduel, and the outer ginseng includes phase
The world coordinates of thermomechanical components, the relative positional relationship include spin matrix relationship and are translated towards magnitude relation, and processor 1001 can
To call the construction procedures of the virtual coordinate system stored in memory 1005, following operation is also executed:
According to the focal length of each photomoduel, imaging origin, distortion parameter, world coordinates, spin matrix relationship and it is translated towards
Magnitude relation carries out eliminating distortion and row is aligned to each photomoduel respectively, so that the imaging origin of each photomoduel is consistent,
The optical axis of any two photomoduel is parallel, imaging plane is coplanar.
Further, processor 1001 can call the construction procedures of the virtual coordinate system stored in memory 1005, also
Execute following operation:
According to the homography conversion principle, first coordinate system and second coordinate system are converted into three-dimensional respectively
Coordinate system；
The corresponding three-dimensional system of coordinate of first coordinate system three-dimensional coordinate corresponding with second coordinate system is calculated to tie up to
Relativeness in three-dimensional space.
Further, processor 1001 can call the construction procedures of the virtual coordinate system stored in memory 1005, also
Execute following operation:
Rule is calibrated according to preset precision, precision calibration is carried out to first coordinate and second coordinate respectively；
Correspondingly, described that first coordinate system is constructed according to first coordinate and second coordinate, it specifically includes:
According to first coordinate and second coordinate the first coordinate system of building after calibration.
Further, processor 1001 can call the construction procedures of the virtual coordinate system stored in memory 1005, also
Execute following operation:
Rule is calibrated according to preset precision, precision calibration is carried out to each third coordinate；
Correspondingly, described to construct the second coordinate system according to multiple third coordinates, it specifically includes:
According to each third coordinate after calibration, second coordinate system is constructed.
This implementation through the above scheme, by the marking rod for being provided with two or more mark points, is aided with vision biography
Sensor and the display screen for having touch function, when construct virtual coordinate system, by determination imaging sensor it is collected about
First coordinate of the first mark point and the second coordinate of the second mark point on marking rod described in the imaging picture of marking rod, then
According to the first coordinate system of the first coordinate and the second coordinate building visual sensor visual angle, and according to the mark obtained from display screen
Remember bar on a display screen multiple perpendicular contact positions third coordinate building display screen visual angle the second coordinate system, then according to list
Answering property shift theory calculates the relativeness of the first coordinate system and the second coordinate system in three dimensions, finally according to calculating institute
The relativeness obtained, can construct the high precision tracking that can be realized to operational motion, accurately demarcate interactive device
The virtual coordinate system of present position coordinate in three dimensions, to substantially increase man-machine interaction effect.
Based on above-mentioned hardware configuration, the construction method embodiment of virtual coordinate system of the present invention is proposed.
It is the flow diagram of the construction method first embodiment of virtual coordinate system of the present invention referring to Fig. 2, Fig. 2.
It should be noted that in the present embodiment, the execution of each step of construction method for executing the virtual coordinate system
Main body, the processor being specifically as follows in 3D display equipment are also possible to be deployed in server (physical server or the void of distal end
Quasi- Cloud Server), it is configured specifically, those skilled in the art can according to need, herein with no restrictions.
Specifically, in the first embodiment, the construction method of the virtual coordinate system the following steps are included:
S10: the first coordinate of the first mark point and the second coordinate of the second mark point on imaging picture acceptance of the bid note bar are determined.
It should be noted that imaging picture described in the present embodiment is particular by imaging sensor to the marking rod
Carry out Image Acquisition acquisition.
However, it should be understood that in the concrete realization, described imaging sensor can be camera mould in this implementation
Group, such as more mesh camera mould groups, that is, contain at least two the camera mould group of photomoduel (camera unit).
It is described in above-mentioned steps S10: to determine that imaging sensor is collected about label by taking more mesh camera mould groups as an example
The operation of second coordinate of the first coordinate and the second mark point of the first mark point, tool on marking rod described in the imaging picture of bar
Body can be realized by following two step mode:
Firstly, obtaining the collected image with the marking rod of the display screen perpendicular contact of each photomoduel
Piece.
Then, according to more mesh range measurement principles, the imaging picture collected to each photomoduel is handled, and determines institute
State first coordinate of first mark point in the imaging picture, second seat of second mark point in the imaging picture
Mark.
About the step of according to more mesh range measurement principles, determining the first coordinate and the second coordinate approximately as:
Such as, first to each photomoduel carry out parameter calibration, obtain each photomoduel internal reference, it is outer ginseng and each photomoduel it
Between relative positional relationship；Then, according to the opposite position between the internal reference of each photomoduel, outer ginseng and any two photomoduel
Relationship is set, each photomoduel is corrected；Then, by the collected imaging picture progress of any two photomoduel
Match, obtains parallax data；Finally, can determine first mark point in the imaging picture according to the parallax data
The first coordinate, second mark point it is described imaging picture in the second coordinate.
In addition, it is noted that in the present embodiment described internal reference mainly include photomoduel focal length, imaging origin and
Distortion parameter, the outer ginseng mainly include the world coordinates of photomoduel, and the relative positional relationship mainly includes spin matrix
Relationship and it is translated towards magnitude relation.Thus, it is above-mentioned described described according to the internal reference of each photomoduel, outer ginseng and any two camera
Relative positional relationship between component is corrected each photomoduel, essence are as follows: according to the focal length of each photomoduel, imaging
Origin, distortion parameter, world coordinates, spin matrix relationship and it is translated towards magnitude relation, respectively each photomoduel eliminate abnormal
Become and row is aligned, so that the imaging origin of each photomoduel is consistent, the optical axis of any two photomoduel is parallel, imaging is flat
Face is coplanar.
It should be understood that the application due to more mesh range measurement principles have been relatively mature, about its specific distance measuring method,
Those skilled in the art is referred to related data and knows, details are not described herein again.
It should be noted that being given above the method coordinate for determining first and second sits calibration method, it is only a kind of
Concrete implementation mode, it is not limited to it is only capable of realizing using more mesh range measurement principles, in a particular application, those skilled in the art
Member can according to need the suitable method of determination of setting, herein with no restrictions.
S20: the first coordinate system is constructed according to first coordinate and second coordinate.
S30: the third coordinate of the marking rod multiple perpendicular contact positions on a display screen is obtained, and according to multiple described
Third coordinate constructs the second coordinate system.
S40: according to homography conversion principle, first coordinate system and second coordinate system are calculated in three dimensions
Relativeness.
Specifically, first coordinate system and described second can be sat respectively first according to the homography conversion principle
Mark system is converted to three-dimensional system of coordinate；Then the corresponding three-dimensional system of coordinate of first coordinate system and second coordinate system are calculated again
The relativeness of corresponding three-dimensional system of coordinate in three dimensions.
S50: according to the relativeness, the void for demarcating interactive device present position coordinate in three dimensions is constructed
Quasi-coordinate system.
In order to make it easy to understand, being specifically described below in conjunction with Fig. 3 and Fig. 4:
In Fig. 3,100 be stereoscopic display device (described display screen in its display screen, that is, the present embodiment), specifically by 3D
Projection device projects the display system with 3D display function on large screen or curtain.200 be visual sensor, here
Specifically include four photomoduels (respectively photomoduel 201, photomoduel 202, photomoduel 203 and photomoduel 204)
More mesh camera mould groups.In the concrete realization, camera mould group 200 can be as shown in figure 3, be set to stereoscopic display device 100
Top also can according to need the surrounding for being set to stereoscopic display device display screen.
It should be noted that in the concrete realization, it is also necessary to be related to computer system, which can be solid
It shows the processing system inside equipment 100, is also possible to be deployed in the processing system in remote server, and the department of computer science
Calibration function, alignment function, computing function and debugging functions etc. are deployed in system.
In addition, above-mentioned stereoscopic display device 100 and camera mould group 200 need to communicate to connect with computer system respectively.
In addition, it is noted that when constructing virtual coordinate system or realizing Table top type interaction, in camera mould group 200
Each photomoduel be to expose simultaneously, obtain image, i.e., synchronization captures data, synchronous triggering, while be used to realize with
Track interactive device (such as 3D glasses and interaction pen).
In order to guarantee above-mentioned Table top type interactive system can high-precision tracking 3D glasses and interaction pen, promote the friendship of user
Mutually experience.The construction method of the virtual coordinate system proposed in the present embodiment can be passed with reference to display equipment shown in Fig. 4, vision
The schematic diagram of sensor and marking rod.
Fig. 4, which is provided, is, marking rod 300 respectively 4 angle perpendicular contacts with the screen of stereoscopic display device 100 when, phase
The collected data of photomoduel 204 in machine mould group 200, the i.e. image of the first mark point 301 and the second coordinate points 302
Piece.
Specifically, user holds length and fixes, and sets when stating the building operation of device realization virtual coordinate system in use
The marking rod 300 that is equipped with the first mark point 301 and the second mark point 302 is directed toward to be arranged on the screen of stereoscopic display device 100
Fixed standard location point makes marking rod 300 and stereoscopic display device such as four apex angles of screen or the center of middle screen
100 screen vertical contact.
It should be noted that in the concrete realization, marking rod 300 is also referred to as the non-specific fixed position point on screen, i.e.,
Marking rod 300 may point to any location point of screen ranges.
When marking rod 300 contacts screen vertical, the camera mould group being placed in above screen is collected about marking rod
300 imaging picture, then by computer system determine it is collected imaging picture in the first mark point 301 the first coordinate and
Second coordinate of the second mark point 302.Meanwhile screen uploads the information of marking rod 300 and screen contact position to department of computer science
System, determines that marking rod 300 is the third coordinate of screen contact position by computer system.
In addition, in order to enable building virtual coordinate system accuracy it is higher, can be by the way that marking rod more than 300 times be placed on
Screen fixes position, and determines the coordinate for placing point on the screen every time.
Then, according to obtained the first coordinate and the second coordinate, the first coordinate system is constructed；According to multiple third coordinates, structure
Build the second coordinate system.And according to homography conversion principle, first coordinate system and second coordinate system are calculated in three-dimensional space
Between in relativeness can be constructed locating in three dimensions for demarcating interactive device finally according to the relativeness
The virtual coordinate system of position coordinates.(having mark point) so that spatial interaction pen being capable of 3D mould in accurate operation display
Type, while 3D glasses (having mark point) can really watch the 3D effect of object in screen.
It should be noted that any restriction is not constituted to technical solution of the present invention, specific the above is only illustrating
In realization, those skilled in the art can according to need the sequence that executes that each step is reasonably arranged, herein with no restrictions.
By foregoing description it is not difficult to find that the construction method of the virtual coordinate system provided in the present embodiment, by being provided with
The marking rod of two or more mark points is aided with visual sensor and has the display screen of touch function, virtual in building
When coordinate system, by determining the first label on marking rod described in the collected imaging picture about marking rod of imaging sensor
First coordinate of point and the second coordinate of the second mark point, then according to the first coordinate and the second coordinate building visual sensor view
First coordinate system at angle, and according to from display screen obtain marking rod on a display screen multiple perpendicular contact positions third sit
Second coordinate system at mark building display screen visual angle calculates the first coordinate system and the second coordinate then according to homography conversion principle
System's relativeness in three dimensions, finally according to resulting relativeness is calculated, can construct one be can be realized pair
The high precision tracking of operational motion accurately demarcates the virtual coordinate system of interactive device present position coordinate in three dimensions,
To substantially increase man-machine interaction effect.
In addition, it is noted that in the present embodiment, for ease of description, using is that there are two mark points for setting
Marking rod.But in the concrete realization, those skilled in the art can according to need, and selection is provided with more than two labels
Marking rod, herein with no restrictions.
Further, as shown in figure 5, proposing the second of the construction method of virtual coordinate system of the present invention based on first embodiment
Embodiment, in the present embodiment, in order to guarantee the first coordinate system of building and the accuracy of the second coordinate system, according to described the
Before one coordinate and second coordinate construct the first coordinate system, first first coordinate and second coordinate can be carried out
Precision calibration.It equally, can also be first to each third coordinate before constructing the second coordinate system according to multiple third coordinates
Carry out precision calibration, the step S01 and step S02 being detailed in Fig. 5.
In step S01, rule is calibrated according to preset precision, respectively to first coordinate and second coordinate into
The calibration of row precision.
Correspondingly, in the concrete realization, according to first coordinate and second coordinate building first in former step S20
The operation of coordinate system strains as in step S20 ': according to after calibration first coordinate and second coordinate building the
One coordinate system.
In step S02, rule is calibrated according to preset precision, precision calibration is carried out to each third coordinate.
Correspondingly, in the concrete realization, the behaviour of the second coordinate system is constructed in former step S30 according to multiple third coordinates
Make, strain as in S30 ': according to each third coordinate after calibration, constructing second coordinate system.
However, it should be understood that in order to guarantee the phase according to the first coordinate system with the second coordinate system in three dimensions
Sufficiently high to the virtual coordinate system accuracy of relationship building, above-mentioned described carries out first coordinate and second coordinate
It is consistent that precision calibration and the precision that precision calibration is carried out to each third coordinate calibrate regular needs, specific precision grade, can be with
Other interaction effect reached as needed is determining, herein with no restrictions.
It should be noted that having the above is only for example, not constituting any restriction to technical solution of the present invention
In body application, those skilled in the art, which can according to need, to be configured, and the present invention is without limitation.
By foregoing description it is not difficult to find that the construction method of virtual coordinate system provided in this embodiment, sits in building first
Before mark system and the second coordinate system, by calibrating rule according to preset precision, first coordinate, described second are sat respectively
Mark carries out precision calibration and each third coordinate carries out precision calibration, is effectively guaranteed subsequent according to the first coordinate system and the second seat
The relativeness of mark system in three dimensions, the accuracy of the virtual coordinate system of building are further improved to operational motion
High precision tracking and man-machine interaction effect.
In addition, the embodiment of the present invention also proposes a kind of construction device of virtual coordinate system.As shown in fig. 6, the virtual coordinates
The construction device of system comprise determining that module 6001, first construct module 6002, obtain module 6003, second construct module 6004,
Computing module 6005 and third construct module 6006.
Wherein it is determined that module 6001, for determining on imaging picture acceptance of the bid note bar the first coordinate of the first mark point and the
Second coordinate of two mark points.
First building module 6002, for constructing the first coordinate system according to first coordinate and second coordinate.It obtains
Modulus block 6003, for obtaining the third coordinate of the marking rod multiple perpendicular contact positions on a display screen.Second building mould
Block 6004, for constructing the second coordinate system according to multiple third coordinates.Computing module 6005, for according to homography conversion
Principle calculates first coordinate system and the relativeness of second coordinate system in three dimensions.Third constructs module
6006, for according to the relativeness, constructing for demarcating the virtual of interactive device present position coordinate in three dimensions
Coordinate system.
It should be noted that imaging picture described in the present embodiment is particular by imaging sensor to the marking rod
Carry out Image Acquisition acquisition.
However, it should be understood that in the concrete realization, described imaging sensor can be camera mould in this implementation
Group, such as more mesh camera mould groups, that is, contain at least two the camera mould group of photomoduel (camera unit).
By foregoing description it is not difficult to find that the construction device of the virtual coordinate system provided in the present embodiment, by being provided with
The marking rod of two or more mark points is aided with visual sensor and has the display screen of touch function, virtual in building
When coordinate system, by determining the first label on marking rod described in the collected imaging picture about marking rod of imaging sensor
First coordinate of point and the second coordinate of the second mark point, then according to the first coordinate and the second coordinate building visual sensor view
First coordinate system at angle, and according to from display screen obtain marking rod on a display screen multiple perpendicular contact positions third sit
Second coordinate system at mark building display screen visual angle calculates the first coordinate system and the second coordinate then according to homography conversion principle
System's relativeness in three dimensions, finally according to resulting relativeness is calculated, can construct one be can be realized pair
The high precision tracking of operational motion accurately demarcates the virtual coordinate system of interactive device present position coordinate in three dimensions,
To substantially increase man-machine interaction effect.
It should be noted that workflow described above is only schematical, not to protection model of the invention
Enclose composition limit, in practical applications, those skilled in the art can select according to the actual needs part therein or
It all achieves the purpose of the solution of this embodiment, herein with no restrictions.
In addition, the not technical detail of detailed description in the present embodiment, reference can be made to provided by any embodiment of the invention
The construction method of virtual coordinate system, details are not described herein again.
In addition, the embodiment of the present invention also proposes that a kind of readable storage medium storing program for executing, the readable storage medium storing program for executing are computer-readable
Storage medium is stored with the construction procedures of virtual coordinate system on the computer readable storage medium, the virtual coordinate system
Following operation is realized when construction procedures are executed by processor:
Determine the first mark point on marking rod described in the collected imaging picture about marking rod of imaging sensor
Second coordinate of the first coordinate and the second mark point；
The first coordinate system is constructed according to first coordinate and second coordinate；
The third coordinate of the marking rod multiple perpendicular contact positions on a display screen is obtained, and according to multiple thirds
Coordinate constructs the second coordinate system；
According to homography conversion principle, phase of first coordinate system with second coordinate system in three dimensions is calculated
To relationship；
According to the relativeness, the virtual seat for demarcating interactive device present position coordinate in three dimensions is constructed
Mark system.
Further, described image sensor is more mesh camera mould groups, and more mesh camera mould groups contain at least two phase
Following operation is also realized when the construction procedures of thermomechanical components, the virtual coordinate system are executed by processor:
Obtain the collected imaging picture with the marking rod of the display screen perpendicular contact of each photomoduel；
According to more mesh range measurement principles, the imaging picture collected to each photomoduel is handled, and determines described
First coordinate of one mark point in the imaging picture, second coordinate of second mark point in the imaging picture.
Further, following operation is also realized when the construction procedures of the virtual coordinate system are executed by processor:
Parameter calibration is carried out to each photomoduel, is obtained between internal reference, outer ginseng and each photomoduel of each photomoduel
Relative positional relationship；
According to the relative positional relationship between the internal reference of each photomoduel, outer ginseng and any two photomoduel, to each phase
Thermomechanical components are corrected；
The collected imaging picture of any two photomoduel is matched, parallax data is obtained；
According to the parallax data, first coordinate of first mark point in the imaging picture is determined, described the
Second coordinate of two mark points in the imaging picture.
Further, the internal reference includes the focal length, imaging origin and distortion parameter of photomoduel, and the outer ginseng includes phase
The world coordinates of thermomechanical components, the relative positional relationship include spin matrix relationship and are translated towards magnitude relation, the virtual coordinates
Following operation is also realized when the construction procedures of system are executed by processor:
According to the focal length of each photomoduel, imaging origin, distortion parameter, world coordinates, spin matrix relationship and it is translated towards
Magnitude relation carries out eliminating distortion and row is aligned to each photomoduel respectively, so that the imaging origin of each photomoduel is consistent,
The optical axis of any two photomoduel is parallel, imaging plane is coplanar.
Further, following operation is also realized when the construction procedures of the virtual coordinate system are executed by processor:
According to the homography conversion principle, first coordinate system and second coordinate system are converted into three-dimensional respectively
Coordinate system；
The corresponding three-dimensional system of coordinate of first coordinate system three-dimensional coordinate corresponding with second coordinate system is calculated to tie up to
Relativeness in three-dimensional space.
Further, following operation is also realized when the construction procedures of the virtual coordinate system are executed by processor:
Rule is calibrated according to preset precision, precision calibration is carried out to first coordinate and second coordinate respectively；
Correspondingly, described that first coordinate system is constructed according to first coordinate and second coordinate, it specifically includes:
According to first coordinate and second coordinate the first coordinate system of building after calibration.
Further, following operation is also realized when the construction procedures of the virtual coordinate system are executed by processor:
Rule is calibrated according to preset precision, precision calibration is carried out to each third coordinate；
Correspondingly, described to construct the second coordinate system according to multiple third coordinates, it specifically includes:
According to each third coordinate after calibration, second coordinate system is constructed.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the system that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or system institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or system.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that terminal device (it can be mobile phone,
Computer, server or network equipment etc.) execute method described in each embodiment of the present invention.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of construction method of virtual coordinate system, which is characterized in that the described method comprises the following steps:
Determine the first coordinate of the first mark point and the second coordinate of the second mark point on imaging picture acceptance of the bid note bar, the imaging
Picture carries out Image Acquisition acquisition to the marking rod by imaging sensor；
The first coordinate system is constructed according to first coordinate and second coordinate；
The third coordinate of the marking rod multiple perpendicular contact positions on a display screen is obtained, and according to multiple third coordinates
Construct the second coordinate system；
According to homography conversion principle, the opposite pass of first coordinate system and second coordinate system in three dimensions is calculated
System；
According to the relativeness, the virtual coordinates for demarcating interactive device present position coordinate in three dimensions are constructed
System.
2. the construction method of virtual coordinate system as described in claim 1, which is characterized in that described image sensor is more mesh phases
Machine mould group, more mesh camera mould groups contain at least two photomoduel；
Correspondingly, the first mark on marking rod described in the collected image about marking rod of determining imaging sensor
Remember the first coordinate of point and the second coordinate of the second mark point, specifically include:
Obtain the collected imaging picture with the marking rod of the display screen perpendicular contact of each photomoduel；
According to more mesh range measurement principles, the imaging picture collected to each photomoduel is handled, and determines first mark
First coordinate of the note point in the imaging picture, second coordinate of second mark point in the imaging picture.
3. the construction method of virtual coordinate system as claimed in claim 2, which is characterized in that it is described according to more mesh range measurement principles,
The imaging picture collected to each photomoduel is handled, and determines first mark point in the imaging picture
First coordinate, second coordinate of second mark point in the imaging picture, specifically includes:
Parameter calibration is carried out to each photomoduel, is obtained opposite between internal reference, outer ginseng and each photomoduel of each photomoduel
Positional relationship；
According to the relative positional relationship between the internal reference of each photomoduel, outer ginseng and any two photomoduel, to each phase unit
Part is corrected；
The collected imaging picture of any two photomoduel is matched, parallax data is obtained；
According to the parallax data, first coordinate of first mark point in the imaging picture, second mark are determined
Second coordinate of the note point in the imaging picture.
4. the construction method of virtual coordinate system as claimed in claim 3, which is characterized in that the internal reference includes photomoduel
Focal length, imaging origin and distortion parameter, the outer ginseng include the world coordinates of photomoduel, and the relative positional relationship includes rotation
Turn matrix relationship and is translated towards magnitude relation；
Correspondingly, the relative positional relationship according between the internal reference of each photomoduel, outer ginseng and any two photomoduel,
Each photomoduel is corrected, is specifically included:
It is closed according to the focal length of each photomoduel, imaging origin, distortion parameter, world coordinates, spin matrix relationship and translation vector
System carries out eliminating distortion and row is aligned, so that the imaging origin of each photomoduel is consistent, arbitrarily to each photomoduel respectively
The optical axis of two photomoduels is parallel, imaging plane is coplanar.
5. such as the construction method of the described in any item virtual coordinate systems of Claims 1-4, which is characterized in that described according to singly answering
Property shift theory, calculate first coordinate system and the relativeness of second coordinate system in three dimensions, specifically include:
According to the homography conversion principle, first coordinate system and second coordinate system are converted into three-dimensional coordinate respectively
System；
It calculates the corresponding three-dimensional system of coordinate of first coordinate system three-dimensional coordinate corresponding with second coordinate system and ties up to three-dimensional
Relativeness in space.
6. such as the construction method of the described in any item virtual coordinate systems of Claims 1-4, which is characterized in that described according to
Before first coordinate and second coordinate construct the first coordinate system, the method also includes:
Rule is calibrated according to preset precision, precision calibration is carried out to first coordinate and second coordinate respectively；
Correspondingly, described that first coordinate system is constructed according to first coordinate and second coordinate, it specifically includes:
According to first coordinate and second coordinate the first coordinate system of building after calibration.
7. such as the construction method of the described in any item virtual coordinate systems of Claims 1-4, which is characterized in that described according to multiple
Before the third coordinate constructs the second coordinate system, the method also includes:
Rule is calibrated according to preset precision, precision calibration is carried out to each third coordinate；
Correspondingly, described to construct the second coordinate system according to multiple third coordinates, it specifically includes:
According to each third coordinate after calibration, second coordinate system is constructed.
8. a kind of construction device of virtual coordinate system, which is characterized in that described device includes:
Determining module, for determine imaging picture acceptance of the bid note bar on the first mark point the first coordinate and the second mark point second
Coordinate, the imaging picture carry out Image Acquisition acquisition to the marking rod by imaging sensor；
First building module, for constructing the first coordinate system according to first coordinate and second coordinate；
Module is obtained, for obtaining the third coordinate of the marking rod multiple perpendicular contact positions on a display screen；
Second building module, for constructing the second coordinate system according to multiple third coordinates；
Computing module, for calculating first coordinate system and second coordinate system in three-dimensional according to homography conversion principle
Relativeness in space；
Third constructs module, for according to the relativeness, building to be for demarcating interactive device locating position in three dimensions
Set the virtual coordinate system of coordinate.
9. a kind of terminal device, which is characterized in that the terminal device includes: memory, processor and is stored in described deposit
On reservoir and the construction procedures of virtual coordinate system that can run on the processor, the construction procedures of the virtual coordinate system are matched
The step of being set to the construction method for realizing virtual coordinate system as described in any one of claim 1 to 7.
10. a kind of readable storage medium storing program for executing, which is characterized in that the readable storage medium storing program for executing is computer readable storage medium, described
The construction procedures of virtual coordinate system are stored on computer readable storage medium, the construction procedures of the virtual coordinate system are processed
The step of device realizes the construction method of virtual coordinate system as described in any one of claim 1 to 7 when executing.
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