CN109272478A - A kind of screen projecting method and device and relevant device - Google Patents
A kind of screen projecting method and device and relevant device Download PDFInfo
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- CN109272478A CN109272478A CN201811099366.3A CN201811099366A CN109272478A CN 109272478 A CN109272478 A CN 109272478A CN 201811099366 A CN201811099366 A CN 201811099366A CN 109272478 A CN109272478 A CN 109272478A
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/50—Image enhancement or restoration using two or more images, e.g. averaging or subtraction
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
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Abstract
The invention discloses a kind of screen projecting methods and device and relevant device.The present invention program shows the theoretical pixel coordinate and actual pixels coordinate of label pixel on image by obtaining projector, or, obtain the projection coordinate of projected pixel and true coordinate on screen, and keep two coordinates obtained close by adjusting projector's parameter, it determines projector's parameter, and then establishes the coordinate mapping relations of projected pixel in the pixel and screen of the original image that projector shows.The present invention program can correspond the coordinate on the coordinate and projected pixel of screen, guarantee that the picture of shooting completely projects on screen, it avoids carrying out picture stretching fitting on screen, ensure that the authenticity of picture, solve the problems, such as distortion in the prior art.In turn, the problems such as bad caused picture deformation of ball-screen projection splicing fusion in the prior art, ghost image can also be solved.
Description
Technical field
The present invention relates to technical field of image processing, and in particular to a kind of screen projecting method and device and relevant device.
Background technique
In fields such as theme park, extraordinary film, scientific exhibit, drive simulatings, at present frequently with ball curtain, ring curtain or other
The projection that the screen of form carries out video image plays.Ball-screen projection is referred to and is incident upon using one or more projection (channel)
The projection pattern of projected picture is formed on ball curtain.The projection of ring curtain refers to and is incident upon ring curtain using one or more projection (channel)
The upper projection pattern for forming projected picture.
In the screen projection of the prior art, especially in nonplanar screen projection such as ball curtain ring curtain, mostly adopted on screen
The distortion of picture is so resulted in so that projected picture is covered with screen with projected picture fitting, the method stretched, obtained throwing
Shadow picture is not true shooting picture.
In addition, can be brought compared to traditional separate unit projection huge using the projection pattern of two or more camera lenses
Clarity and luminance raising, application is more and more extensive, is characterized by how to solve picture deformation and the splicing of overlapping pictures is melted
It closes.
The picture splicing of existing more projection patterns merges, usually in 3-D image processing software such as Maya software
The projector to theorize renders film with screen relationship, completes splicing fusion.But Maya software can not embody camera lens position
It moves, and the theoretical projector position with reality is difficult to exactly match with screen model curved surface；Then, it is easy for causing picture not
It is overlapped, leads to picture deformation and ghost image.
Summary of the invention
The embodiment of the present invention provides a kind of screen projecting method and device and relevant device, is mainly used for solving screen projection
In distortion problem, be also used to solve picture splicing fusion in deformation, ghost problems.
In order to solve the above technical problems, adopting the following technical scheme that in a first aspect, provide a kind of screen projecting method, wrap
It includes following steps: obtaining projector and show that the physical location for marking the projected pixel corresponding to pixel, on screen on image is sat
Mark；According to the actual position coordinate of the projected pixel, the label pixel is calculated in projector and shows the theoretical picture on image
Plain coordinate；Obtain the actual pixels coordinate that projector shows the label pixel on image；By adjusting projector's parameter, so that
The theoretical pixel coordinate and actual pixels coordinate of the label pixel are close；Based on projector's parameter adjusted, projection is established
The coordinate mapping relations of projected pixel in the pixel and screen of the original image that machine is shown.
Second aspect provides a kind of screen projecting method, includes the following steps: acquisition projector to show on image and marks picture
The pixel coordinate of element；According to the pixel coordinate of the label pixel, the projection coordinate of corresponding projected pixel on screen is calculated；It obtains
Take the true coordinate of corresponding projected pixel on screen；By adjusting projector's parameter, so that the projection of same projected pixel is sat
Mark is close with true coordinate；Based on projector's parameter adjusted, the pixel and screen of the original image that projector shows are established
The coordinate mapping relations of upper projected pixel.
The third aspect provides a kind of screen projection arrangement, including following module: module is obtained, it is aobvious for obtaining projector
The actual position coordinate of the projected pixel corresponding to pixel, on screen is marked on diagram picture；Computing module, for according to
The actual position coordinate of projected pixel calculates the label pixel in projector and shows the theoretical pixel coordinate on image；It is described
Module is obtained, is also used to obtain the actual pixels coordinate that projector shows the label pixel on image；Module is adjusted, for leading to
Adjustment projector parameter is crossed, so that the theoretical pixel coordinate and actual pixels coordinate of the label pixel are close；Mapping block is used
In being based on projector's parameter adjusted, the coordinate of projected pixel in the pixel and screen for the original image that projector shows is established
Mapping relations.
Fourth aspect provides a kind of screen projection arrangement, including following module: module is obtained, it is aobvious for obtaining projector
The pixel coordinate of pixel is marked on diagram picture；Computing module calculates on screen for the pixel coordinate according to the label pixel
The projection coordinate of corresponding projected pixel；The acquisition module is also used to obtain projector and shows the label pixel on image
Actual pixels coordinate；Module is adjusted, for by adjusting projector's parameter, so that the projection coordinate of same projected pixel and true
Real coordinate is close；Mapping block establishes the pixel for the original image that projector shows for being based on projector's parameter adjusted
With the coordinate mapping relations of projected pixel on screen.
5th aspect, provides a kind of computer equipment, and the computer equipment includes processor, memory, bus and leads to
Believe interface；For storing computer program, the processor is connect with the memory by the bus memory, when
When the computer equipment is run, the processor executes the computer program of the memory storage, so that the meter
Calculate screen projecting method of the machine equipment execution as described in first aspect or a second aspect of the present invention.
6th aspect provides a kind of computer readable storage medium for storing one or more programs, one or more
A program includes instruction, and described instruction executes the computer equipment when the computer equipment for being included processor executes
Screen projecting method as described in first aspect or a second aspect of the present invention.
Projector described herein shows image, is enter into projector and is shown on the display chip of projector
Image/picture, accordingly it is also possible to referred to as projector's input picture.
As can be seen from the above technical solutions, the embodiment of the present invention has the advantage that
The present invention program can show corresponding on the pixel coordinate reckoning screen for marking pixel on image according to projector
The coordinate of projected pixel, or calculate that projector shows corresponding label pixel on image according to the coordinate of projected pixel on screen
Coordinate, that is to say, that available projector shows the theoretical pixel coordinate and actual pixels coordinate that pixel is marked on image,
Alternatively, obtaining the projection coordinate of projected pixel and true coordinate on screen.It is then possible to make to obtain by adjusting projector's parameter
Two coordinates it is close, to determine preferable projector's parameter, so establish the pixel of the original image that projector shows with it is glimmering
The coordinate mapping relations of projected pixel on curtain.
The present invention program, the seat of projected pixel in the pixel and screen due to establishing the original image that vertical projector shows
Mapping relations are marked, the coordinate on the coordinate and projected pixel of screen can be corresponded, thereby may be ensured that the picture of shooting
It completely projects on screen, avoids carrying out picture stretching fitting etc. on screen, ensure that the authenticity of picture, solve existing
There is the distortion problem in technology.
Further, for splicing regions, similarly due to that can guarantee that the pixel of same coordinate is overlapped, so that spelling
Picture after connecing is also true that, is not needed to be fitted or stretch covering etc., is avoided the occurrence of ghost image, problem on deformation；It simultaneously can
To carry out accurate pixel intensity decaying according to the positional relationship for being overlapped each pixel, so that brightness and the total painting of splicing regions
Face brightness uniformity is consistent；So as to realize high-precision image mosaic fusion, projection splicing fusion in the prior art is solved not
Caused by good the problems such as picture deformation, ghost image, inconsistent brightness.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of screen projecting method provided by one embodiment of the present invention；
Fig. 2 is the flow diagram of another screen projecting method provided by one embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of screen projection arrangement provided by one embodiment of the present invention；
Fig. 4 is the structural schematic diagram of another screen projection arrangement provided by one embodiment of the present invention；
Fig. 5 is a kind of structural schematic diagram of computer equipment provided by one embodiment of the present invention；
Fig. 6 is the flow diagram of more billiard ball curtain projecting methods provided by one embodiment of the present invention；
Fig. 7 is the relation schematic diagram of application examples a ball curtain world coordinate system and projector's coordinate system of the invention；
Fig. 8 is the relation schematic diagram of application scenarios Li Zhong projector's coordinate system and image coordinate system of the invention；
Fig. 9 is the correspondence diagram of the original image and ball curtain that generate in an application scenarios example of the invention；
Figure 10 is the schematic diagram for carrying out splicing fusion treatment in an application scenarios example of the invention to original image；
Figure 11 is the structural schematic diagram of more billiard ball curtain projection arrangements provided by one embodiment of the present invention；
Figure 12 is the flow diagram of two billiard ball curtain projecting method provided by one embodiment of the present invention；
Figure 13 is the relation schematic diagram of application examples a ball curtain world coordinate system and projector's coordinate system of the invention；
Figure 14 is the relation schematic diagram of application scenarios Li Zhong projector's coordinate system and image coordinate system of the invention；
Figure 15 is the correspondence diagram of the original image and ball curtain that generate in an application scenarios example of the invention；
Figure 16 is the schematic diagram for carrying out splicing fusion treatment in an application scenarios example of the invention to original image；
Figure 17 is the structural schematic diagram of two billiard ball curtain projection arrangement provided by one embodiment of the present invention；
Figure 18 is the flow diagram of more ring curtain projecting methods of one kind provided by one embodiment of the present invention；
Figure 19 is the relation schematic diagram of application examples a ring curtain world coordinate system and projector's coordinate system of the invention；
Figure 20 is the relation schematic diagram of application scenarios Li Zhong projector's coordinate system and image coordinate system of the invention；
Figure 21 is the correspondence diagram of the original image and ring curtain that generate in an application scenarios example of the invention；
Figure 22 is the schematic diagram for carrying out splicing fusion treatment in an application scenarios example of the invention to original image；
Figure 23 is the structural schematic diagram of more ring proscenias of one kind provided by one embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
Below by specific embodiment, it is described in detail respectively.
Referring to FIG. 1, one embodiment of the present of invention provides a kind of screen projecting method, for solving the spelling of more projections
Connect fusion problem.The screen is also referred to as screen or screen, it may include the rule screen and not such as plane screen, arc curtain, ball curtain, ring curtain
Regular screen.The more projections refer to using more camera lens projected images on screen.The method may include following steps:
11, it obtains projector and shows that the physical location for marking the projected pixel corresponding to pixel, on screen on image is sat
Mark；
12, according to the actual position coordinate of projected pixel, label pixel is calculated in projector and shows the theoretical picture on image
Plain coordinate；
13, the actual pixels coordinate that projector shows the label pixel on image is obtained；
14, by adjusting projector's parameter, so that the theoretical pixel coordinate of the label pixel connects with actual pixels coordinate
Closely；
15, it is based on projector's parameter adjusted, establishes in the pixel and screen for the original image that projector shows and projects
The coordinate mapping relations of pixel.
Optionally, in some embodiments, in step 11 obtain projector show image on mark pixel corresponding to, it is glimmering
The actual position coordinate of projected pixel on curtain, it may include: it is shown in projector and draws out several mark points on image, recorded
The actual pixels coordinate of mark point；The actual pixels coordinate that projector shows the label pixel on image is obtained in step 13,
Can include: use the actual position coordinate of the projected pixel on the corresponding screen of three-dimensional measurement instrument measurement recording mark point.
Optionally, in some embodiments, the method can also include: to pre-establish to mark on projector's display image
The coordinate transformation relation of projected pixel in pixel and screen；The actual position coordinate according to the projected pixel calculates institute
It states label pixel and shows the theoretical pixel coordinate on image in projector, comprising: it is calculated using theory deduction mode, such as
It is calculated based on the coordinate transformation relation.
Optionally, in some embodiments, the projector that establishes shows label pixel and projection image on screen on image
The coordinate transformation relation of element, it may include: world coordinate system is established based on screen, following multiple coordinates are established based on any projector
System: projector's coordinate system based on projector, on image coordinate system and display chip based on projector's display chip plane
Show the pixel coordinate system of image；Transformational relation is established according to the positional relationship between coordinate system, in turn, projector is established and shows
The coordinate transformation relation of projected pixel on pixel and screen is marked on image.
Optionally, in some embodiments, world coordinate system is established based on screen can include: if the screen is ball curtain,
Then using the centre of sphere of ball curtain as origin, world coordinate system is established for Y-axis straight down；If the screen is ring curtain, with ring curtain
The center of circle line of radian is origin at the half of ring curtain height, is horizontally toward Z axis among ring curtain, is straight down Y-axis foundation
World coordinate system.Following multiple coordinate systems are established based on any projector can include: are based on projector, with the optical center of projector
Origin establishes projector's coordinate system, establishes based on projector's display chip plane, using the center of display chip as origin two-dimensional
Image coordinate system establishes pixel coordinate based on projector's display chip plane, using the pixel for showing one apex of image as origin
System.Transformational relation is established according to the positional relationship between coordinate system, it may include: according to projector relative to world coordinate system origin
Distance and rotation angle, establish the first transformational relation of world coordinate system and projector's coordinate system；According to projection optics principle
Establish the second transformational relation of projector's coordinate system and image coordinate system；According to the size of the size of display chip and pixel, build
The third transformational relation of vertical image coordinate system and pixel coordinate system.
Optionally, in some embodiments, projector's parameter, in particular to projector's location parameter, it may include: it throws
After angle [alpha] that shadow machine is rotated in origin around world coordinate system X, Y, Z axis, β, γ, and rotation by projector's coordinate system Xc, Yc,
The translational movement of Zc axis is denoted as the optical center of Tx, Ty, Tz and projector along the offset of image coordinate system u, v axis respectively
Cx, Cy.
Optionally, in some embodiments, by adjusting projector's parameter in step 14, so that the reason of the label pixel
It is close by pixel coordinate and actual pixels coordinate, it may include: the theoretical pixel coordinate and actual pixels for calculating any mark point are sat
Target distance, the theory pixel coordinate are related to projector's parameter；It sums to multiple mark point calculated distances；It calculates
Obtain and value level off to 0 when projector's parameter.
Optionally, in some embodiments, method further include: the original of plane is generated by three-dimensional modeling and simulated projections
Image；According to the coordinate mapping relations, it is corresponding to obtain the view field of different projectors and splicing regions on screen
Pixel region on original image；View field and splicing regions point based on projector determine on the original image, different
Not corresponding pixel region carries out image mosaic fusion treatment.
Optionally, in some embodiments, the screen is specially ball curtain, and the method is applied to more projectors to same
One ball-screen projection image, before the original image that plane is generated by three-dimensional modeling and simulated projections, further includes: draw ball
Curtain grid image, according to the coordinate mapping relations, according to the location parameter for the projector being calculated, by ball curtain grid image
The two dimensional image that projector shows is converted to, plane grid image is drawn out；Plane grid image is projected projector to show,
The difference for verifying real ball curtain and theoretical ball curtain corrects world coordinates according to verification result, and then corrects the coordinate mapping and close
System.Further, the original image that plane is generated by three-dimensional modeling and simulated projections, it may include: pass through three-dimensional modeling
Ball curtain model is established, on the sphere center position two-dimensional surface that virtual equidistant fish eye camera generates by placement of ball curtain model,
Circular original image.
Optionally, in some embodiments, the screen is specially ring curtain, and the method is applied to more projectors to same
One ring curtain projected image, before the original image that plane is generated by three-dimensional modeling and simulated projections, further includes: obtain and throw
The initial parameter of shadow machine and every projector occupy the angle of ring curtain, and the angle of splicing regions delimited according to the region of projection overlapping
Degree generates the coordinate points matrix ring curtain mathematical model of certain ranks number according to setting spacing and line forms initial mesh, adjusts and throw
Shadow machine parameter to be incident upon the grid vertical height in screen and matches real screen height, so that each angle line of grid is distributed in
The corresponding position of screen, and the grid of adjacent projections splicing regions is coincide and is overlapped.Further, described to pass through three-dimensional modeling
The original image of plane is generated with simulated projections, it may include: ring curtain model is established by three-dimensional modeling, in the spectators of ring curtain model
Observer sitting virtual camera projects virtual camera acquired image on ring curtain model, by what is shown on ring curtain model
Plane of delineation expansion generates on two-dimensional surface, the original image of rectangle.
Optionally, in some embodiments, the progress image mosaic fusion treatment, it may include: with alpha channel pair
Splicing regions on original image do brightness decay processing；Using affine transformation respectively to original image and its alpha channel into
Row processing, and to treated, image does fusion treatment, obtains the image that homolographic projection machine needs to project.
More than, one embodiment of the invention provides a kind of screen projecting method.This method uses mathematical model reduction side
Method determines coordinate transformation relation, by coordinate conversion regime, can calculate that projector is aobvious according to the coordinate of projected pixel on screen
The coordinate of corresponding label pixel on diagram picture, that is to say, that available projector shows the theory that pixel is marked on image
Pixel coordinate and actual pixels coordinate.It is then possible to keep two coordinates obtained close by adjusting projector's parameter, to determine
Preferable projector's parameter, and then the coordinate for establishing projected pixel in the pixel and screen of the original image that projector show maps
Relationship.Coordinate mapping relations based on foundation, so that it may accurately determine on screen the view field of different projectors and as spelling
Connect the pixel region on original image corresponding to region；To carry out high-precision image mosaic fusion treatment, picture is avoided
Deformation or ghost image, raising picture reduction degree solve the bad caused picture deformation of projection splicing fusion in the prior art, ghost image etc.
Problem.
Referring to FIG. 2, being based on principle identical with embodiment of the method shown in FIG. 1, another embodiment of the present invention is also mentioned
For another screen projecting method, include the following steps:
21, it obtains projector and shows the pixel coordinate for marking pixel on image；
22, according to the pixel coordinate of the label pixel, the projection coordinate of corresponding projected pixel on screen is calculated；
23, the true coordinate of corresponding projected pixel on screen is obtained；
24, by adjusting projector's parameter, so that the projection coordinate of same projected pixel and true coordinate are close；
25, it is based on projector's parameter adjusted, establishes in the pixel and screen for the original image that projector shows and projects
The coordinate mapping relations of pixel.
The present embodiment method, identical as the principle of embodiment shown in FIG. 1, difference is, embodiment illustrated in fig. 1 is to be based on
Projector shows that the pixel coordinate of image is calculated, and embodiment illustrated in fig. 2 is then based on projected pixel corresponding on screen
Coordinate is calculated, and two embodiment technical solution forms have all differences, but principle and effect are identical.Accordingly, with respect to
More implementation details of Fig. 2 embodiment, can refer to the description of Fig. 1 embodiment, are no longer described in detail herein.
For the above scheme of the better implementation embodiment of the present invention, it is also provided below and implements above scheme for cooperating
Relevant apparatus.
Referring to FIG. 3, one embodiment of the present of invention, provides a kind of screen projection arrangement, including following module:
Obtain module 31, for obtain projector show image on mark pixel corresponding to, the projected pixel on screen
Actual position coordinate；
Computing module 32 calculates the label pixel and is projecting for the actual position coordinate according to the projected pixel
Machine shows the theoretical pixel coordinate on image；
The acquisition module 31 is also used to obtain the actual pixels coordinate that projector shows the label pixel on image；
Module 33 is adjusted, is used for by adjusting projector's parameter, so that the theoretical pixel coordinate and reality of the label pixel
Border pixel coordinate is close；
Mapping block 34 establishes the pixel for the original image that projector shows for being based on projector's parameter adjusted
With the coordinate mapping relations of projected pixel on screen.
Above-described screen projection arrangement, can be image processing equipment, such as computer equipment.It is appreciated that should
The function of each functional module of device can according to Fig. 1 in embodiment method specific implementation, specific implementation process can
Referring to the associated description in above method embodiment, details are not described herein again.
Referring to FIG. 4, another embodiment of the invention, also provides a kind of screen projection arrangement, including following module:
Module 41 is obtained, the pixel coordinate of label pixel on image is shown for obtaining projector；
Computing module 42 calculates corresponding projected pixel on screen for the pixel coordinate according to the label pixel
Projection coordinate；
The acquisition module 41, is also used to obtain the true coordinate of corresponding projected pixel on screen；
Module 43 is adjusted, is used for by adjusting projector's parameter, so that the projection coordinate of same projected pixel and true seat
Tag splice is close；
Mapping block 44 establishes the pixel for the original image that projector shows for being based on projector's parameter adjusted
With the coordinate mapping relations of projected pixel on screen.
Above-described screen projection arrangement, can be image processing equipment, such as computer equipment.It is appreciated that should
The function of each functional module of device can according to Fig.2, in embodiment method specific implementation, specific implementation process can
Referring to the associated description in above method embodiment, details are not described herein again.
Referring to FIG. 5, one embodiment of the present of invention, also provides a kind of computer equipment, the computer equipment 50 is wrapped
Include processor 51, memory 52, bus 53 and communication interface 54；The memory 52 is for storing computer program, the place
Reason device 51 is connect with the memory 52 by the bus 53, when the computer equipment 50 operation, the processor 51
The computer program that the memory 52 stores is executed, so that the computer equipment 50 executes such as figure 1 above or Fig. 2 embodiment
The screen projecting method.
One embodiment of the present of invention also provides a kind of computer readable storage medium for storing one or more programs,
One or more of programs include instruction, and described instruction makes the meter when the computer equipment for being included processor executes
Calculate screen projecting method of the machine equipment execution as described in figure 1 above or Fig. 2 embodiment.
More than, basic introduction has been done to technical solution of the embodiment of the present invention.
Screen described herein can be the screen of ring curtain or ball curtain or other forms.Described more projections can two
The projection of platform or two or more camera lens.It is of the invention for ease of understanding, it is directed to the different projection patterns such as ball curtain, ring curtain separately below,
The present invention program is further described in detail.
[one], more ball-screen projections
More ball-screen projections refer to the projection pattern for forming projected picture on ball curtain using more projectors.It is more
The ball-screen projection of platform projection can bring huge clarity and luminance raising, main points compared to traditional separate unit fisheye projection
It is that how to solve picture deformation merges with the splicing of overlapping pictures.More ball-screen projection splicings are melted with machine vision splicing at present
It closes, obtains ball curtain and shadowgraph relation of plane using the depth camera that multi-cam is formed to acquire fixed image tagged point,
Ball curtain is simulated in software to be merged with the position of projected picture to cut strain image completion splicing.But aforesaid way according to
Rely the machine vision in video camera, precision is not high enough, be easy to cause picture not to be overlapped, picture deformation and the problems such as ghost image.
Referring to FIG. 6, one embodiment of the present of invention, provides a kind of more billiard ball curtain projecting methods, it is applied to more projections
Machine is to same ball-screen projection image, for solving above-mentioned technical problem.Wherein, the ball curtain is spherical screen or spherical curtain
Referred to as.The projection is directed to project image on ball curtain.The image can be video pictures.Described ball curtain herein
It can be global face and be also possible to spherical calotte, such as hemisphere face etc..Wherein, described projector can use fisheye projection,
Its camera lens used can be fish eye lens.
As shown in fig. 6, the method may include:
61, it is shown in every projector and draws out several mark points, the actual pixels coordinate of recording mark point on image
(x, y)；
62, the corresponding three-dimensional coordinate of mark point on the ball-screen projection image using three-dimensional measurement instrument measurement record is obtained
(X, Y, Z), and the origin of world coordinate system is moved to the sphere center position of ball curtain, the world after being converted from 3 D measuring instrument
Coordinate (Xa, Ya, Za)；
63, the coordinate that the world coordinates of any point and projector on ball curtain show the pixel coordinate of corresponding points on image is obtained
Transformational relation；
64, on the corresponding display image of world coordinates (Xa, Ya, Za) for calculating mark point according to the coordinate transformation relation
The theoretical pixel coordinate (c, r) of mark point；
65, for every projector's calculating position parameter, so that the projector shows the reality of several mark points on image
Border pixel coordinate (x, y) and theoretical pixel coordinate (c, r) it is closest；
66, the original image of plane is generated by three-dimensional modeling and simulated projections, and determines the pixel of the original image
Coordinate (U, V) shows the corresponding relationship of the pixel coordinate (c, r) of image with corresponding projector, and then determines the original image
On pixel and screen on projected pixel coordinate mapping relations；
67, according to the coordinate mapping relations, the view field of different projectors and splicing regions difference on ball curtain are obtained
Pixel region on corresponding original image；
68, the view field based on projector determine on the original image, different and the corresponding picture of splicing regions
Plain region carries out image mosaic fusion treatment.
The above method, the relative positional relationship based on ball curtain, projector establish the position coordinates of any point and throwing on ball curtain
Shadow machine shows the coordinate transformation relation of the pixel coordinate of corresponding points on image.Due to the practical difference with theory, it is calculated
The theoretical pixel coordinate of mark point and actual coordinate might have difference, be based on the difference, both can calculate closest to when
The location parameter of projector is as optimal solution, so that it is determined that the relative positional relationship of projector and ball curtain.
In addition, projector's display chip is plane, shown picture is also plane, can be built by three-dimensional modeling
Vertical ball curtain model generates in plane corresponding with three-dimensional ball curtain model, circular original image by simulated projections.It is original
Image is shown on its display chip may be output to projector after treatment, to ball-screen projection.Original image and projector
Display image be to have determining corresponding relationship, the pixel coordinate on original image and display image on pixel coordinate have one by one
Corresponding relationship.The corresponding relationship is determining, is that persons skilled in the art can be directly realized by.
Projector described herein shows image, is input into projector and is shown on the display chip of projector
Image, accordingly it is also possible to referred to as projector's input picture.In technical solution of the present invention by establish projector's input picture with it is glimmering
Mapping relations on curtain between projected image can correspond the coordinate on the coordinate and projected pixel of screen, so as to
To guarantee that the picture of shooting completely projects on screen, avoids carrying out picture stretching fitting etc. on screen, ensure that picture
Authenticity can also solve that deformation in picture splicing fusion, ghost image asks to solve the problems, such as the distortion in screen projection
Topic.
Based on above-mentioned coordinate transformation relation and corresponding relationship, the point on the point and original image on its ball curtain can establish
One-to-one coordinate mapping relations, so that it is corresponding to obtain the view field of different projectors and splicing regions on ball curtain
Pixel region on original image.
Finally, according on the original image determine corresponding to different projector regions pixel region and correspond to
The pixel region of splicing regions can carry out the processing such as splicing fusion to original image, obtain to export and give projector's progress
The image of projection, in other words video pictures.
It optionally, can also include aligning step before step 66 in a kind of implementation, it may be assumed that draw ball curtain grid chart
Ball curtain grid image, according to the location parameter for the projector being calculated, is converted to throwing according to the coordinate mapping relations by picture
The two dimensional image that shadow machine is shown draws out plane grid image；Plane grid image is projected projector to show, verifying reality
The difference of ball curtain and theoretical ball curtain corrects world coordinates according to verification result, and then corrects the coordinate mapping relations.
Optionally, in a kind of implementation, step 63 can include: world coordinate system is established based on ball curtain, is based on any throwing
Shadow machine establishes following multiple coordinate systems: projector's coordinate system based on projector, the image based on projector's display chip plane
The pixel coordinate system of image is shown on coordinate system and display chip, and establishes the transformational relation between coordinate system；According to coordinate
Transformational relation between system crosses coordinate conversion and obtains the position coordinates of any point and corresponding points on projector's display image on ball curtain
Pixel coordinate coordinate mapping relations.
Optionally, in a kind of implementation: it is described based on ball curtain establish world coordinate system include: with the centre of sphere of ball curtain for original
Point, establishes world coordinate system straight down for Y-axis；It is described to be based on any projector to establish following multiple coordinate systems including: to be based on
Projector establishes projector's coordinate system by origin of the optical center of projector, based on projector's display chip plane, with display chip
Center be origin establish two-dimensional image coordinate system, based on projector's display chip plane, to show one apex of image
Pixel is origin, establishes pixel coordinate system；The transformational relation established between coordinate system, comprising: according to projector relative to
The distance and rotation angle of world coordinate system origin, establish the first transformational relation of world coordinate system and projector's coordinate system；Root
The second transformational relation of projector's coordinate system and image coordinate system is established according to projection optics principle；According to the size of display chip and
The size of pixel establishes the third transformational relation of image coordinate system and pixel coordinate system.
Optionally, in a kind of implementation, the transformational relation according between coordinate system is converted by coordinate and obtains ball
The position coordinates of any point and projector show the coordinate mapping relations of the pixel coordinate of corresponding points on image on curtain, comprising: will
Any point is indicated with world coordinates (Xa, Ya, Za) on ball curtain；Corresponding projector's coordinate is obtained according to first transformational relation
(Xc, Yc, Zc)；Corresponding image coordinate (u, v) is obtained according to second transformational relation；It is obtained according to the third transformational relation
To corresponding pixel coordinate (c, r).
Wherein,
U=f*Xc/Zc, v=f*Yc/Zc
R0Indicate the radius of ball curtain；Rx, Ry, Rz are that projector rotates in origin around world coordinate system X, Y, Z axis respectively
Spin matrix corresponding to angle [alpha], β, γ, T are the translation matrix that projector translates relative to world coordinate system；F is projector
Focal length, Cx, Cy are projector lens centers along image coordinate system x, the offset of y-axis；Dx, dy are projector's display chips
The length and width of each upper pixel.
Optionally, in a kind of implementation, step 15 can include: calculate the actual pixels coordinate (x, y) of any mark point
With the distance, delta x of corresponding theoretical pixel coordinate (c, r),It calculatesM is the number of mark point；It calculatesLevel off to 0 when projector's location parameter, the location parameter
It include: α, β, γ, T, Cx, Cy.
Optionally, in a kind of implementation, step 66 can include: ball curtain model is established by three-dimensional modeling, in ball curtain mould
The sphere center position of type by placing on the two-dimensional surface that virtual equidistant fish eye camera generates, circular original image, the original
The pixel coordinate (U, V) of beginning image shows the corresponding relationship of the right determination of pixel coordinate (c, r) of image with corresponding projector.
Optionally, in a kind of implementation, step 67 can include: obtain the view field of different projectors and spelling on ball curtain
Connect region；According to coordinate mapping relations, based on the location parameter for the projector being calculated, different projectors on ball curtain are obtained
View field and the corresponding projector of splicing regions show (c, r) dot matrix of pixel region on image；According to the corresponding relationship,
(U, V) point of pixel region in the view field and the corresponding original image of splicing regions of different projectors is obtained in turn
Battle array.
Optionally, in a kind of implementation, image mosaic fusion treatment is carried out described in step 68 can include: logical with alpha
Are done to the splicing regions on original image by brightness decay processing for road；Original image is handled using affine transformation, obtains homolographic projection
Machine needs the image projected.
Optionally, described to handle original image using affine transformation in a kind of implementation, obtain homolographic projection machine needs
The image of projection, it may include: using affine transformation by the affine pixel to projector's display chip of the image lattice of original image
Dot matrix generates the first image that projector needs to project；Using affine transformation by the figure in the channel original image Alpha (alpha)
The affine pixel-matrix to projector's display chip of picture point battle array generates the second image that projector needs to project；To the first image
Fusion treatment is done with the second image.
Above scheme can for example be embodied in image processing equipment, such as computer equipment.
The technical solution that embodiment provides to facilitate the understanding of the present invention, below by the reality under a concrete scene
It applies and is introduced for mode.
One, projector determines relative to ball curtain parameter position
It calibration software can be used to show in every projector and draw out several label pixel (x, y) dot matrix on picture.Root
According to light path principle, projector can be considered reverse camera.According to the calibration principle of camera, the mark of at least nine point can be used
Fixed point, in order to reduce gross error and accelerate subsequent calculations machine evolution algorithmic, preferably uniformly distributed 3 × 4 label of projector's picture
Dot matrix.Then, to ball-screen projection.Three-dimensional measurement instrument can be used to measure the three-dimensional for recording correspondence markings point on ball curtain in order
Coordinate (X, Y, Z).
Calculate the centre of sphere O and radius value R of ball curtain0, world coordinate system origin is moved to the position of centre of sphere O, after mobile
World coordinate system coordinate with (Xa, Ya, Za) indicate, then the point on ball curtain can indicate are as follows:
Projector's coordinate system that luminous point i.e. optical center is gone out as origin using projector can be established, z-axis is defined and goes out towards optical center
Light direction, that is, optical axis direction, define y-axis when just being put towards projector vertically downward direction, projector's coordinate system and projector with
Dynamic, binding.Projector's coordinate system that then projector based on any position in space establishes can by with world coordinate system
Translation obtains after the initial position rotation being completely coincident.
Such as Fig. 7, can define projector in origin is α, β, γ around the angle that world coordinate system X, Y, Z axis rotates, and corresponds to three
A spin matrix is denoted as Rx, Ry, Rz；It is denoted as respectively after rotation by the translational movement of projector's local Coordinate System Xc, Yc, Zc axis
Tx, Ty, Tz, a corresponding translation matrix are denoted as T.The then point (Xc, Yc, Zc) on projector's coordinate system and world coordinate system ball
Point (Xa, Ya, Za) transformational relation of curtain is as follows:
As shown in figure 8, can make two-dimensional image coordinate system with projector's display chip plane, projector's focal length is f, figure
As u, v axis direction of coordinate system are identical as the Xc axis of projector coordinate system, Yc axis direction, display chip center is image coordinate system
Origin.Because the light that all projectors issue all passes through optical center, i.e. therefore the origin of projector's coordinate system can establish
The seat of projector's coordinate (Xc, Yc, Zc) of the image coordinate (u, v) and incident point of the location of pixels of luminous point on display chip
Mapping relations are marked, as follows:
U=f*Xc/Zc v=f*Yc/Zc
Such as Fig. 8, can define display image top left corner pixel is (0,0), and when camera lens does not deviate, optical center is in picture
The heart, that is, pixel center, note optical center are Cx, Cy along the offset of image coordinate system u, v axis.Display chip size and image
Pixel total amount it is known that then on available display chip each pixel length and width dx, dy.Therefore, display chip can be established
On display image on any point image coordinate (u, v) and display image pixel coordinate (c, r) corresponding relationship:
As described previously for the corresponding three-dimensional coordinate (Xa, Ya, Za) of separate unit projector label pixel (x, y) by above-mentioned
Convert available corresponding pixel coordinate (c, r).(x, y) is actual pixels coordinate, and (c, r) is theoretical pixel coordinate, (x, y)
It is closer with corresponding (c, r), illustrate that the picture of the virtual projection plane position generation of the parameter setting and reality are closer.
The close degree of two points can indicate have with Δ x:
The focal length f of projector, display chip size, resolution ratio it is known that then using computer evolution algorithmic calculate α, β,
γ, Tx, Ty, Tz, Cx, Cy obtain array t, so thatValue level off to 0.The array t obtained at this time includes upper
State parameter alpha, β, γ, Tx, Ty, Tz, Cx, Cy, the as optimal position parameters of homolographic projection machine.
Two, parameter verifications and ball curtain Modifying model
Can according to the point on the longitude and latitude degree next life balling-up curtain of certain intervals, between points with several same latitudes or
The curve of the point-rendering of longitude connects, according to the projector position that the array t of previous step is indicated, by these three-dimensionals on ball curtain
Dotted line is converted to the point and line for the two dimensional image that projector shows, to draw out the grid image of plane, and projects it onto
Verifying calculated result is observed to show by projector, since real ball curtain and theoretical sphere can have deviation, so that deviation region
Grid is staggered.Make virtual ball curtain model and real ball curtain Model Matching to correct this deviation, a ball curtain warp may be selected
Latitude point, extent of amendment are denoted as Frange, and the Corrected Depth of the point is denoted as Fd, and any point on ball curtain is denoted as at a distance from the point
LF, fair curve are denoted as K, then world coordinate point new in extent of amendment (Xa1, Ya1, Za1) indicates are as follows:
Three, original images generate and deformation
As shown in figure 9, three-dimensional modeling method can be used, ball curtain model is established in three-dimensional rendering software, in ball curtain model
Sphere center position place the original image that virtual equidistant fish eye camera shooting generates, original image specifically can be circular flat
Face image.Point on original image is denoted as (U, V), then (U, V) is having unique coordinate mapping relations with the point on virtual ball curtain.When
The array t of projector determines, that is, when projector position determines, according to previously described coordinate mapping relations, projector is aobvious
Pixel on diagram picture equally also has the point uniquely mapped on ball curtain, can establish its projector pixel (c, r) and original graph
As the mapping of coordinate.So as to set up the point on ball curtain, the pixel in projected image and the picture on original image
Element, mutual coordinate mapping relations.According to the coordinate mapping relations, on available ball curtain the view field of different projectors and
Pixel region on the corresponding original image of splicing regions.
As shown in Figure 10, projector being shown to, image takes a generation uniformly distributed entire according to specific width and vertical separation
Projector shows pixel (c, r) dot matrix of image frame, by these dot matrix be mapped to original image can be obtained corresponding image (U,
V) dot matrix.
Using affine transformation by the affine pixel-matrix for showing image to projector of picture in image (U, V) dot matrix
In, the picture of output can be used as the image projected needed for projector.But the brightness of the image directly exported, splicing regions can be higher than
Other regions, therefore, it is also desirable to do brightness decay processing.
The brightness decay in four, projectors projection splicing overlapping pictures region
Brightness decay can be done to the splicing regions of original image with the channel alpha.Specifically, to projector original
Each pixel of image-region calculates alpha channel value come the brightness for the image splicing regions that decay.Original image region
Point has corresponding world coordinate point (Xa, Ya, Za), is denoted as (c1, r1) by the pixel of every projector's conversion map,
(c2, r2) ... (cn, rn).The wide height of the pixel of projector is denoted as W, H respectively.For the pixel (ci, ri) in projector, away from
Distance function from projector pixel boundary is denoted as F, then di:
Di=F (c1, v1)
If there is projector i, (ci, ri) is not belonging in (0,0)-(W, H) range, then illustrates that (Xa, Ya, Za) is not being projected
The indication range of machine i, directly enables di=0.All dn values for finding out the picture point, by taking First projects as an example, original image
On alpha channel value w1 be then ratio that d1 accounts for the sum of all dn.
After obtaining the original image alpha channel value of every projector, it can deform to obtain also with affine deformation
The alpha channel image of projector's resolution ratio.Deformed original image is merged plus alpha channel image to get arriving
Required projector splices blending image, and all sequences frame, which is handled, and is packaged can be completed film fusion production.
For better implementation above scheme, it is also provided below for cooperating the relevant apparatus for implementing above scheme.
Figure 11 is please referred to, one embodiment of the present of invention provides a kind of more billiard ball curtain projection arrangements, is applied to more projections
Machine is to same ball-screen projection image, described device can include:
Mark module 111 draws out several mark points on image for showing in every projector, recording mark point
Actual pixels coordinate (x, y)；
First obtains module 112, marks on the ball-screen projection image for using three-dimensional measurement instrument measurement record for obtaining
Corresponding three-dimensional coordinate (X, Y, Z) is put, and the origin of world coordinate system is moved to the sphere center position of ball curtain from 3 D measuring instrument,
World coordinates (Xa, Ya, Za) after being converted；
Mapping block 113 obtains the world coordinates of any point and projector's display figure on ball curtain for converting by coordinate
As the coordinate transformation relation of the pixel coordinate of upper corresponding points；
Coordinate calculation module 114, for according to the coordinate transformation relation calculate mark point world coordinates (Xa, Ya,
Za) the theoretical pixel coordinate (c, r) on corresponding display image；
Parameter calculating module 115 is used for for every projector's calculating position parameter, so that the projector shows on image
The actual pixels coordinate (x, y) of several mark points and theoretical pixel coordinate (c, r) it is closest；
Image module 116 for generating the original image of plane by three-dimensional modeling and simulated projections, and determines the original
The pixel coordinate (U, V) of beginning image shows the corresponding relationship of the pixel coordinate (c, r) of image with corresponding projector, and then determines
The coordinate mapping relations of projected pixel in pixel and screen on original image；
Second obtains module 117, for according to the coordinate mapping relations, the position based on the projector being calculated to be joined
Number obtains the pixel region on ball curtain in the view field and the corresponding original image of splicing regions of different projectors；
Processing module 118, for based on determining on the original image, different projectors view field and splicing regions
Corresponding pixel region carries out image mosaic fusion treatment.
It is appreciated that the function of each functional module of more billiard ball curtain projection arrangements of the present embodiment can be according to the above method
Method specific implementation in embodiment, specific implementation process can refer to the associated description in above method embodiment, herein not
It repeats again.
The present embodiment above scheme obtains ball curtain and projector shows that the coordinate of image maps by coordinate conversion regime
Relationship, and by drawing mark point, according to the actual pixels coordinate of mark point and the comparison of theoretical pixel coordinate being back-calculated to obtain,
Calculate the location parameter for determining projector；Image mosaic fusion treatment is carried out with this, it is thus possible to high-precision realization perspective view
The splicing of picture is merged, and picture reduction degree is improved, solve picture deformation caused by ball-screen projection splicing fusion is bad in the prior art,
The problems such as ghost image.
Compared to existing machine vision method, device needed for the present invention program is only 3 D measuring instrument, without using work
The corollary equipments such as industry camera eliminate the equipment set-up time, spend cost lower.
When a portion projector because extraneous factor generates picture moving, this method only needs to draw these projectors
Face resurveys and calculates with former data aggregate, that is, produces new deformation pattern, and the prior art is needed to all projections weight
It is new to calculate, comparatively, the present invention program maintenance is more convenient.
In preferred embodiment, can depending on the relative position relationship by three-dimensional world coordinate switch to the point on two dimensional image come it is real
When draw grid image, verifying amendment is carried out according to calculated result, can adjust in real time and correct world coordinates to reach ideal shape
Condition.
[two], two ball-screen projections
Two ball-screen projections refer to the projection side for forming projected picture on spherical screen using two projectors
Formula.The ball-screen projection of two fisheye projections compared to traditional separate unit fisheye projection, can bring clarity and luminance raising,
It is characterized by and how to solve influence of the projective invariant to picture and ball curtain and show that picture deformation and the splicing of overlapping region are melted
It closes.Two fisheye projection film splicing fusions of existing ball curtain, generally by the throwing to theorize in three-dimensional Maya software
Shadow machine and the relationship of projection render film.However projective invariant and displacement can not be embodied in Maya, it is in addition theoretical and existing
Real projector position with ball curtain model curved surface mismatches meeting so that picture can not be overlapped, and causes picture deformation and ghost image.Therefore,
Deformation software would generally be used to be overlapped picture.This kind of deformation is that the curve of generation specific mathematical algorithm deforms picture, is deformed
Trend is difficult to control, and ball curtain picture is easily caused to distort ghost image.
Figure 12 is please referred to, one embodiment of the present of invention is supplied to a kind of two billiard ball curtain projecting methods, is applied to two throwings
Shadow machine is to same ball-screen projection image.
As shown in figure 12, the method may include:
121, the drop shadow spread on each comfortable ball curtain of Liang Tai projector is determined, it is ensured that the projected image of Liang Tai projector is distinguished
It covers a hemisphere curtain and has the splicing regions of one fixed width；
122, it is shown in every projector and draws out several mark points, the actual pixels coordinate of recording mark point on image
(x, y)；
123, the seat that the world coordinates of any point and projector on ball curtain show the pixel coordinate of corresponding points on image is obtained
Mark transformational relation；
124, it according to the corresponding world coordinates of mark point (Xa, Ya, Za) on ball-screen projection image, is converted according to the coordinate
Relationship calculates the theoretical pixel coordinate (c, r) on corresponding display image；
125, for every projector's calculating position parameter, so that the projector shows the reality of several mark points on image
Border pixel coordinate (x, y) and theoretical pixel coordinate (c, r) it is closest；
126, the original image of plane is generated by three-dimensional modeling and simulated projections, and determines the pixel of the original image
Coordinate (U, V) shows the corresponding relationship of the pixel coordinate (c, r) of image with corresponding projector, and then determines the original image
On pixel and screen on projected pixel coordinate mapping relations；
127, different throwings on ball curtain are obtained based on the location parameter for the projector being calculated according to the mapping relations
Pixel region in the view field of shadow machine and the corresponding original image of splicing regions, the splicing regions on the ball curtain are
The regular domain divided by latitude；
128, the view field based on projector determine on the original image, different and the corresponding picture of splicing regions
Plain region carries out image mosaic fusion treatment.
The above method, the relative positional relationship based on ball curtain, projector establish different coordinate system and different seats respectively
Transformational relation between mark system is converted by coordinate using the transformational relation and obtains the position coordinates of any point and throwing on ball curtain
Shadow machine shows the mapping relations of the pixel coordinate of corresponding points on image.
According to above-mentioned mapping relations, can also be calculated according to the world coordinates of mark point on ball curtain corresponding in display image
Pixel coordinate.Due to practical with theoretical difference, the theoretical pixel coordinate and actual coordinate for the mark point being calculated can
Can be variant, be based on the difference, both can calculate closest to when projector location parameter as optimal solution, so that it is determined that
The relative positional relationship of projector and ball curtain.
In addition, projector's display chip is plane, shown picture is also plane, can be built by three-dimensional modeling
Vertical ball curtain model generates in plane corresponding with three-dimensional ball curtain model, circular original image by simulated projections.It is original
Image is shown on its display chip may be output to projector after treatment, to ball-screen projection.Original image and projector
Display image be to have determining corresponding relationship, the pixel coordinate on original image and display image on pixel coordinate have one by one
Corresponding relationship.The corresponding relationship is determining, is that persons skilled in the art can be directly realized by.
Based on above-mentioned mapping relations and corresponding relationship, point on the point and original image on its ball curtain can establish one by one
Corresponding relationship, to obtain on ball curtain in the view field of different projectors and the corresponding original image of splicing regions
Pixel region.
Finally, according on the original image determine corresponding to different projector regions pixel region and correspond to
The pixel region of splicing regions can carry out the processing such as splicing fusion to original image, obtain to export and give projector's progress
The image of projection, in other words video pictures.
Optionally, in a kind of implementation, the method also includes: obtain the ball using three-dimensional measurement instrument measurement record
The corresponding three-dimensional coordinate of mark point (X, Y, Z) in curtain projected image, and the origin of world coordinate system is mobile from 3 D measuring instrument
To the sphere center position of ball curtain, world coordinates (Xa, Ya, Za) after being converted, which is the radius and longitude of ball curtain
And the function of latitude.
Optionally, in a kind of implementation, before step 126, further includes: ball curtain grid image is generated according to longitude and latitude,
Ball curtain grid image is converted into projector and is shown according to the location parameter for the projector being calculated according to the mapping relations
The two dimensional image shown draws out plane grid image；Plane grid image is projected projector to show, so that plane net trrellis diagram
It is shown on image as projector can be all appeared in, and makes to project correct covering ball curtain；Verify real ball curtain and theoretical ball curtain
Difference, world coordinates is corrected according to verification result, and then correct the mapping relations.
Optionally, in a kind of implementation, step 123 can include: world coordinate system is established based on ball curtain, is based on any throwing
Shadow machine establishes following multiple coordinate systems: projector's coordinate system based on projector, the image based on projector's display chip plane
The pixel coordinate system of image is shown on coordinate system and display chip, and establishes the transformational relation between coordinate system；According to coordinate
Transformational relation between system crosses coordinate conversion and obtains the position coordinates of any point and corresponding points on projector's display image on ball curtain
Pixel coordinate mapping relations.
Optionally, in a kind of implementation, it is described based on ball curtain establish world coordinate system include: with the centre of sphere of ball curtain for original
Point, establishes world coordinate system straight down for Y-axis；It is described to be based on any projector to establish following multiple coordinate systems including: to be based on
Projector establishes projector's coordinate system by origin of the optical center of projector, based on projector's display chip plane, with display chip
Center be origin establish two-dimensional image coordinate system, based on projector's display chip plane, to show one apex of image
Pixel is origin, establishes pixel coordinate system；The transformational relation established between coordinate system, comprising: according to projector relative to
The distance and rotation angle of world coordinate system origin, establish the first transformational relation of world coordinate system and projector's coordinate system；Root
The second transformational relation of projector's coordinate system and image coordinate system is established according to projection optics principle；According to the size of display chip and
The size of pixel establishes the third transformational relation of image coordinate system and pixel coordinate system.
Optionally, in a kind of implementation, the transformational relation according between coordinate system is converted by coordinate and obtains ball
The position coordinates of any point and projector show the mapping relations of the pixel coordinate of corresponding points on image on curtain, comprising: by ball curtain
Upper any point is indicated with world coordinates (Xa, Ya, Za)；According to first transformational relation obtain corresponding projector's coordinate (Xc,
Yc, Zc)；Corresponding image coordinate (u, v) is obtained according to second transformational relation；It is obtained pair according to the third transformational relation
The pixel coordinate (c, r) answered.
Wherein,
Xa=R0Cos (n), Ya=R0Sin (n) * cos (e), Za=R0sin(n)*sin(e)
R0Indicate the radius of ball curtain；E and n is the longitude and latitude of ball curtain respectively；Rx, Ry, Rz are projector respectively in original
Spin matrix corresponding to angle [alpha] that point is rotated around world coordinate system X, Y, Z axis, β, γ, T is projector relative to world coordinates
It is the translation matrix of translation；F is the focal length of projector, and θ is line and the throwing of point (Xc, Yc, Zc) and projector's coordinate origin
The angle of shadow machine coordinate system Z axis, Rd are camera lens model parameters, and k is lens distortion parameter, and (u', v') is to be converted to close according to coordinate
It is the image coordinate being directly calculated, (u, v) is the final image coordinate for considering to obtain after lens distortion, and F (k) is camera lens
Theoretical formula or empirical equation can be used in distortion effects function, not limits herein.Cx, Cy be projector lens center along
Image coordinate system x, the offset of y-axis；Dx, dy are the length and width of each pixel on projector's display chip.
Optionally, in a kind of implementation, step 125 can include: calculate the actual pixels coordinate (x, y) of any mark point
With the distance, delta x of corresponding theoretic pixel coordinate (c, r),It calculatesM is the number of mark point；It calculatesLevel off to 0 when projector's location parameter, the location parameter
It include: α, β, γ, T, Cx, Cy.
Optionally, in a kind of implementation, step 126 includes: to establish ball curtain model by three-dimensional modeling, in ball curtain model
Sphere center position by placing on the two-dimensional surface that virtual equidistant fish eye camera generates, circular original image, it is described original
The pixel coordinate (U, V) of image shows the corresponding relationship of the right determination of pixel coordinate (c, r) of image with corresponding projector.
Optionally, in a kind of implementation, step 127 can include: obtain ball curtain on different projectors view field and
Splicing regions；Different projectors on ball curtain are obtained based on the location parameter for the projector being calculated according to the mapping relations
View field and the corresponding projector of splicing regions show (c, r) dot matrix of pixel region on image；According to the corresponding pass
System, and then obtain (U, the V) of pixel region in the view field and the corresponding original image of splicing regions of different projectors
Dot matrix.
Optionally, in a kind of implementation, image mosaic fusion treatment is carried out described in step 128, it may include: use alpha
Are done to the splicing regions on original image by brightness decay processing for channel；Original image is handled using affine transformation, is accordingly thrown
Shadow machine needs the image projected.
Optionally, described to handle original image using affine transformation in a kind of implementation, obtain homolographic projection machine needs
The image of projection, it may include: using affine transformation by the affine pixel to projector's display chip of the image lattice of original image
Dot matrix generates the first image that projector needs to project；The image lattice in the channel original image alpha is imitated using affine transformation
It is mapped to the pixel-matrix of projector's display chip, generates the second image that projector needs to project；To the first image and the second figure
As doing fusion treatment.
Above scheme can for example be embodied in image processing equipment, such as computer equipment.
The technical solution that embodiment provides to facilitate the understanding of the present invention, below by the reality under a concrete scene
It applies and is introduced for mode.
One, projector determines relative to ball curtain parameter position
Two fisheye projections of ball curtain itself should meet separate unit projector picture and cover a hemisphere curtain and guarantee to splice region
Width meet demand.
The picture area of Liang Tai projector picture demand is demarcated and shown using calibration software --- hemisphere picture adds spelling
Several uniformly distributed pixel coordinate (x, y) dot matrix in tape splicing.According to light path principle, projector can be considered reverse camera.Root
According to the calibration principle of camera, the calibration point of at least nine point should be used, is developed to reduce gross error and accelerate subsequent calculations machine
Algorithm, we have chosen 27 label dot matrix of uniformly distributed projector's picture.It is (referred to as three-dimensional using three-dimensional space measurement instrument
Measuring instrument or 3 D measuring instrument) its three-dimensional coordinate data (X, Y, Z) successively is recorded to calibration point measurement.It is measured using surveying
Three-dimensional data calculates the centre of sphere O and radius value R of ball curtain0, world coordinate system origin is moved to the position of the centre of sphere, then on ball curtain
Point can indicate are as follows:
The point delimited on ball curtain is spent with longitude and latitude (e, n), then is had:
Xa=R0cos(n)；Ya=R0sin(n)*cos(e)；
Za=R0sin(n)*sin(e)；
Projector's coordinate system that luminous point i.e. optical center is gone out as origin using projector can be established, z-axis is defined and goes out towards optical center
Light direction, that is, optical axis direction, define y-axis when just being put towards projector vertically downward direction, projector's coordinate system and projector with
Dynamic, binding.Projector's coordinate system that then projector based on any position in space establishes can by with world coordinate system
Translation obtains after the initial position rotation being completely coincident.
Such as Figure 13, can define projector in origin is α, β, γ around the angle that world coordinate system X, Y, Z axis rotates, and corresponds to three
A spin matrix is denoted as Rx, Ry, Rz；It is denoted as respectively after rotation by the translational movement of projector's local Coordinate System Xc, Yc, Zc axis
Tx, Ty, Tz, a corresponding translation matrix are denoted as T.The then point (Xc, Yc, Zc) on projector's coordinate system and world coordinate system ball
Point (Xa, Ya, Za) transformational relation of curtain is as follows:
Such as Figure 14, two-dimensional image coordinate system is made with chip plane, projector's focal length is f, and U, V axis direction and projector sit
Mark system is identical, and chip center is origin, (Xc, Yc, Zc) and projector's coordinate origin line and central optical axis (i.e. projector's coordinate
Be Z axis) angle is θ, camera lens model is Rd, lens distortion k, by etc. for solid angles flake, then (Xc, Yc, Zc) is incident upon core
(u, v) of on piece has:
Such as Figure 14, can define display image top left corner pixel is (0,0), and when camera lens does not deviate, optical center is in picture
The heart, that is, pixel center, note optical center are Cx, Cy along the offset of image coordinate system u, v axis.Display chip size and image
Pixel total amount it is known that then on available display chip each pixel length and width dx, dy.Therefore, display chip can be established
On display image on any point image coordinate (u, v) and display image pixel coordinate (c, r) corresponding relationship:
As described previously for the corresponding three-dimensional coordinate (Xa, Ya, Za) of separate unit projector label pixel (x, y) by above-mentioned
Convert available corresponding pixel coordinate (c, r).(x, y) is actual pixels coordinate, and (c, r) is theoretical pixel coordinate, (x, y)
It is closer with corresponding (c, r), illustrate that the picture of the virtual projection plane position generation of the parameter setting and reality are closer.
The close degree of two points can indicate have with Δ x:
The focal length f of projector, display chip size, resolution ratio it is known that camera lens model Rd it is known that then being drilled using computer
Change algorithm and calculate α, β, γ, Tx, Ty, Tz, Cx, Cy, obtains array t, so thatValue level off to 0.It obtains at this time
Above-mentioned parameter α, β, γ, Tx, Ty, Tz, Cx, Cy that array t includes, the as optimal position parameters of homolographic projection machine.
Two, parameter verifications and ball curtain Modifying model
The point on ball curtain can be generated according to longitude and latitude (e, n), drawn between points with the point of several same latitudes (longitude)
The curve of system connects, these three-dimensional dotted lines are converted to projector's display two dimensional image according to the array t of previous step
Point and line are projected into projector to show observation verifying calculated result.The theoretical value of shared longitude and latitude is projected according to one
Limit display grid amplitude, for world coordinate system provide along X, Y, Z axis rotation r α, r β, r γ rotation parameter, adjusting
Grid is all appeared in projector's picture and the correct position covering ball curtain of grid can be made.The coordinate rotation of two projections
Turning parameter must be the same, adjusts so that two splicing regions sizes (longitude and latitude) are complete and identical.
Since real ball curtain and theoretical sphere can have deviation, so that the grid of deviation region is staggered.To correct this partially
Official post obtains virtual ball curtain model and real ball curtain Model Matching, and a ball curtain longitude and latitude point may be selected, and extent of amendment is denoted as
Frange, the Corrected Depth of the point are denoted as Fd, and any point is denoted as LF at a distance from the point on ball curtain, and fair curve is denoted as K, then exists
New world coordinate point (Xa1, Ya1, Za1) changes in extent of amendment are as follows:
Three, original images generate and deformation
As shown in figure 15, three-dimensional modeling method can be used, ball curtain model is established in three-dimensional rendering software, in ball curtain model
Sphere center position place the original image that virtual equidistant fish eye camera shooting generates, original image specifically can be circular flat
Face image.Point on original image is denoted as (U, V), then (U, V) is having unique mapping relations with the point on virtual ball curtain.Work as projection
The array t of machine determines, that is, when projector position determines, according to previously described mapping relations, projector is shown on image
Pixel equally also have the point uniquely mapped on ball curtain, its projector pixel (c, r) and coordinates of original image coordinates can be established
Mapping.So as to set up the point on ball curtain, the pixel in projected image and the pixel on original image, mutual
Mapping relations.According to the mapping relations, the view field of different projectors and splicing regions are respectively corresponded on available ball curtain
Original image on pixel region.
As shown in figure 16, projector being shown to, image takes a generation uniformly distributed entire according to specific width and vertical separation
Projector shows pixel (c, r) dot matrix of image frame, by these dot matrix be mapped to original image can be obtained corresponding image (U,
V) dot matrix.
Every projects the point for being divided into ranks number according to longitude and latitude interval (such as 1 degree) according to the longitude and latitude region where grid
Battle array (X, Y, Z), corresponding (c, r) dot matrix is converted in the corresponding parameter respectively projected, these dot matrix are mapped to original
Image obtains corresponding image (U, V) dot matrix.
Using affine transformation by the affine pixel-matrix for showing image to projector of picture in image (U, V) dot matrix
In, the picture of output can be used as the image projected needed for projector.But the brightness of the image directly exported, splicing regions can be higher than
Other regions, therefore, it is also desirable to do brightness decay processing.
The brightness decay in four, projectors projection splicing overlapping pictures region
Brightness decay can be done to the splicing regions of original image with the Alpha channel (alpha).
Specifically, alpha channel value is calculated come the brightness for the image splicing regions that decay for each pixel of original image,
Assuming that splicing tape latitude scope is n1-n2 (n2 > n1), because splicing regions are the regular domains divided by latitude, can incite somebody to action
The all the points of Same Latitude are set to same brightness, by taking n1 is in internal projected picture part as an example, splice interband pixel
The alpha channel value of (latitude value ni):
After obtaining the original image alpha channel value of every projector, deformation is projected also with affine deformation
The alpha channel image of machine resolution ratio, deformed image obtain required projector splicing plus alpha channel image
Blending image, as shown in figure 16.All sequences frame, which is handled, and is packaged can be completed film fusion production.
More than, in conjunction with specific application scenarios, present invention method is described in detail.
For better implementation above scheme, it is also provided below for cooperating the relevant apparatus for implementing above scheme.
Figure 17 is please referred to, one embodiment of the present of invention provides a kind of two billiard ball curtain projection arrangements, is applied to two projections
Machine is to same ball-screen projection image, described device can include:
Determining module 171, for determining the drop shadow spread on each comfortable ball curtain of Liang Tai projector, it is ensured that Liang Tai projector
Projected image is covered each by a hemisphere curtain and has the splicing regions of one fixed width；
Mark module 172 draws out several mark points on image for showing in every projector, recording mark point
Actual pixels coordinate (x, y)；
Mapping block 173 obtains the world coordinates of any point and projector's display figure on ball curtain for converting by coordinate
As the coordinate transformation relation of the pixel coordinate of upper corresponding points；
Coordinate calculation module 174 is used for according to the corresponding world coordinates of mark point (Xa, Ya, Za) on ball-screen projection image,
The theoretical pixel coordinate (c, r) on corresponding display image is calculated according to the coordinate transformation relation；
Parameter calculating module 175 is used for for every projector's calculating position parameter, so that the projector shows on image
The actual pixels coordinate (x, y) of several mark points and theoretical pixel coordinate (c, r) it is closest；
Image generation module 176 for generating the original image of plane by three-dimensional modeling and simulated projections, and determines institute
The corresponding relationship that the pixel coordinate (U, V) of original image shows the pixel coordinate (c, r) of image with corresponding projector is stated, in turn
Determine the coordinate mapping relations of projected pixel on pixel and the screen on original image；
Image collection module 177, for according to the mapping relations, based on the location parameter for the projector being calculated,
Obtain the pixel region on ball curtain in the view field and the corresponding original image of splicing regions of different projectors, the ball
Splicing regions on curtain are the regular domains divided by latitude；
Processing module 178, for based on determining on the original image, different projectors view field and splicing regions
Corresponding pixel region carries out image mosaic fusion treatment.
It is appreciated that the function of each functional module of the splicing fusing device of two projection spherical curtains of the present embodiment can root
According to the method specific implementation in above method embodiment, specific implementation process can refer to the correlation in above method embodiment and retouch
It states, details are not described herein again.
The present embodiment above scheme obtains ball curtain and projector shows that the coordinate of image maps and closes by coordinate conversion regime
System, and by drawing mark point, according to the comparison of the actual pixels coordinate of mark point and the theoretical pixel coordinate being back-calculated to obtain, meter
Calculate the location parameter for determining projector；Image mosaic fusion treatment is carried out with this, it is thus possible to high-precision realization projected image
Splicing fusion, improve picture reduction degree, solve in the prior art ball-screen projection splicing fusion it is bad caused by picture deformation, again
The problems such as shadow.Compared with the prior art, the present invention program can generate and accurately deform fused picture film, and reduction camera lens is abnormal
Becoming bring influences.
In preferred embodiment, projector position is determined using 3 D measuring instrument and picture pixel marker software, can be generated
With the virtual projection plane position of real same frame, the reduction with the relationship of ball curtain position and projective invariant can be realized.
In preferred embodiment, can depending on the relative position relationship by three-dimensional world coordinate switch to the point on two dimensional image come it is real
When draw grid image, verifying amendment is carried out according to calculated result, can adjust in real time and correct world coordinates to reach ideal shape
Condition.
[three], more ring curtain projections
More ring curtain projections refer to that being incident upon the projection screen formed on annular screen using more projections (channel) draws
Face, including two dimension and stereo projection system.It is characterized by how to solve picture deformation merged with the splicing of overlapping pictures.It is existing
The more projected pictures splicing fusion of ring curtain, theorize generally by 3-D image processing software such as Maya software
Projector and ring curtain relationship render film.However lens displacement can not be embodied in Maya, the theoretical projection with reality in addition
Seat in the plane, which is set, mismatches meeting so that picture can not be overlapped with screen model curved surface, causes picture deformation and ghost image.Another way is
Picture is overlapped by using deformation software.This kind of deformation is that the curve of generation specific mathematical algorithm deforms picture, still, is become
Shape trend is difficult to control, and easily causes splicing regions picture distortion ghost image and brightness disproportionation.
Figure 18 is please referred to, one embodiment of the present of invention is supplied to a kind of more ring curtain projecting methods, is applied to more throwings
Shadow machine is to same ring curtain projected image.Wherein, the ring curtain is the abbreviation of annular screen or annular curtain.The projection refers to
Image is projected on ring curtain.The image can be video pictures.
As shown in figure 18, the method may include:
181, the seat that the position coordinates of any point and projector on ring curtain show the pixel coordinate of corresponding points on image is obtained
Mark transformational relation.
Herein, using mathematical model method, the relative positional relationship based on ring curtain, projector is established different respectively
Transformational relation between coordinate system and different coordinates, can by coordinate convert obtain ring curtain on any point position coordinates with
Projector shows the mapping relations of the pixel coordinate of corresponding points on image.
182, according to the coordinate transformation relation, the view field of different projectors and splicing regions difference on ring curtain are determined
Pixel region on corresponding display image.
It adjusts projector to project to ring curtain, ring can be obtained by the way of 3 D measuring instrument subsidiary calculating etc.
The view field of different projectors and splicing regions on curtain, these regions can be indicated with the position coordinates on ring curtain.According to upper
Position coordinates can be converted to pixel coordinate by the mapping relations that one step obtains, to obtain corresponding picture on display image
Plain coordinate, that is, obtain corresponding pixel region on display image.
183, the original image that plane is generated by three-dimensional modeling and simulated projections based on original image and shows image
Corresponding relationship and the coordinate transformation relation determine that the coordinate mapping of projected pixel on pixel and the screen on original image is closed
System, and then determine the pixel region taken in the view field of different projectors and the corresponding original image of splicing regions.
Projector's display chip is plane, and shown picture is also plane, can establish ring by three-dimensional modeling
Curtain model, the original image of plane corresponding with ring curtain model is generated by simulated projections.Original image after treatment may be used
It exports and is shown on its display chip to projector, projected to ring curtain.Since original image needs to be shown in projector,
Therefore, original image and the display image of projector are that have determining corresponding relationship, pixel coordinate and display on original image
Pixel coordinate on image can have one-to-one relationship.Herein, the specific formula expression of the corresponding relationship is not done
It limits, but the corresponding relationship is determining, is that persons skilled in the art can be directly realized by.And then it can determine original
The coordinate mapping relations of projected pixel in pixel and screen on image.
In some embodiments, by coordinate conversion regime, projector can be calculated according to the coordinate of projected pixel on screen
Show the coordinate of corresponding label pixel on image, that is to say, that available projector shows the reason that pixel is marked on image
By pixel coordinate and actual pixels coordinate.It is then possible to keep two coordinates obtained close by adjusting projector's parameter, come true
Fixed preferable projector's parameter, and then the coordinate for establishing projected pixel in the pixel and screen of the original image that projector shows reflects
Penetrate relationship.Alternatively, by coordinate conversion regime, the projection coordinate of projected pixel and position coordinates on available ring curtain, then
Keep two coordinates obtained close by adjusting projector's parameter, to determine preferable projector's parameter, and then establishes projector
The coordinate mapping relations of projected pixel in the pixel and screen of the original image of display.
184, the view field based on projector determine on the original image, different and the corresponding picture of splicing regions
Plain region carries out image mosaic fusion treatment.
Finally, according on the original image determine corresponding to different projector regions pixel region and correspond to
The pixel region of splicing regions can carry out the processing such as splicing fusion to original image, obtain to export and give projector's progress
The image of projection, in other words video pictures.
Optionally, in a kind of implementation, step 11 is specific can include:
World coordinate system is established based on ring curtain, following multiple coordinate systems are established based on any projector: based on projector
Projector's coordinate system shows the pixel of image on image coordinate system and display chip based on projector's display chip plane
Coordinate system, and establish the transformational relation between coordinate system；According to the transformational relation between coordinate system, is converted by coordinate and obtain ring
The position coordinates of any point and projector show the mapping relations of the pixel coordinate of corresponding points on image on curtain.
Optionally, in a kind of implementation, described to establish world coordinate system based on ring curtain include: with the circle of the radian of ring curtain
Heart line is origin at the half of ring curtain height, is horizontally toward Z axis among ring curtain, establishes world coordinates straight down for Y-axis
System；It is described that based on the foundation of any projector, multiple coordinate systems include: to build based on projector, using the optical center of projector as origin below
Vertical projector's coordinate system establishes two-dimensional image seat based on projector's display chip plane, by origin of the center of display chip
Mark system establishes pixel coordinate system based on projector's display chip plane, using the pixel for showing one apex of image as origin；Institute
State the transformational relation established between coordinate system, comprising: distance and rotation angle according to projector relative to world coordinate system origin
Degree, establishes the first transformational relation of world coordinate system and projector's coordinate system；Projector's coordinate is established according to projection optics principle
Second transformational relation of system and image coordinate system；According to the size of the size of display chip and pixel, establish image coordinate system and
The third transformational relation of pixel coordinate system.
Optionally, in a kind of implementation, the transformational relation according between coordinate system is converted by coordinate and obtains ring
The position coordinates of any point and projector show the mapping relations of the pixel coordinate of corresponding points on image on curtain, comprising: by ring curtain
The position coordinates (θ, h) of upper any point are indicated with world coordinates (X, Y, Z)；Corresponding throwing is obtained according to first transformational relation
Shadow machine coordinate (Xc, Yc, Zc)；Corresponding image coordinate (u, v) is obtained according to second transformational relation；Turned according to the third
The relationship of changing obtains corresponding pixel coordinate (c, r).Wherein,
U=f*Xc/Zc, v=f*Yc/Zc
θ indicates the point to the vertical line of world coordinate system Y-axis and the angle of world coordinate system X-axis, and h indicates the point relative to ring
The height of curtain bottom end, r indicate the point at a distance from world coordinate system Y-axis, and H indicates the height of ring curtain；Rx, Ry, Rz are to throw respectively
The spin matrix that shadow machine is rotated in origin around world coordinate system X, Y, Z axis, Tz are that projector translates relative to world coordinate system
Translation matrix；F is the focal length of projector, and Cx, Cy are projector lens centers along image coordinate system x-axis, the offset of y-axis；
Dx, dy are the length and width of each pixel on projector's display chip.
Optionally, in a kind of implementation, step 12 can include: adjust projector's parameter and ring curtain is projected, obtain ring curtain
The view field of upper difference projector and splicing regions, and (θ, the h) of certain ranks number is generated on ring curtain according to setting spacing
Dot matrix, (θ, h) are the position coordinates on ring curtain；According to the mapping relations, the corresponding display image of (θ, h) dot matrix described in acquisition
(c, r) dot matrix of upper pixel region, (c, r) are the pixel coordinates shown on image.
Optionally, in a kind of implementation, step 183 can include: ring curtain model is established by three-dimensional modeling, in ring curtain mould
Spectators' observer sitting virtual camera of type, virtual camera acquired image is projected on ring curtain model, by ring curtain model
The plane of delineation of upper display is unfolded to obtain original image, and determines that the pixel coordinate (U, V) of the original image and projector are aobvious
The corresponding relationship of the pixel coordinate (c, r) of diagram picture；According to the mapping relations and corresponding relationship, the throwing of different projectors is obtained
(U, V) dot matrix of pixel region on the corresponding original image of (θ, the h) dot matrix in shadow zone domain and splicing regions.
Optionally, in a kind of implementation, step 184 can include: with the channel alpha to the splicing regions on original image
Do brightness decay processing；Original image is handled using affine transformation, obtains the image that homolographic projection machine needs to project.
Above scheme can for example be embodied in image processing equipment, such as computer equipment.
The technical solution that embodiment provides to facilitate the understanding of the present invention, below by the reality under a concrete scene
It applies and is introduced for mode.
Firstly, establishing world coordinate system based on ring curtain.It as shown in figure 19, can be with the center of circle line of the radian of ring curtain in ring curtain
It is origin at the half of height, is horizontally toward Z axis among ring curtain, establishes world coordinate system straight down for Y-axis.It can be by generation
Boundary's coordinate system determines ring curtain model dot matrix range with real radius R, the height H of ring curtain and ring curtain radian Φ.Optionally, practical
Ring curtain may have waist drum outstanding.In the present embodiment, waist drum outstanding can be determined with waist drum half is a long with waist drum depth b.
The real radius r of any point is related to the height value h of ring curtain position where the point on ring curtain, and real radius r is actually the point
It is the numerical value for being less than or equal to R, maximum value is R, and minimum value is R-b to the distance of the Y-axis of world coordinate system.
Herein, the angle of the vertical line of any point on ring curtain to world coordinate system Y-axis and world coordinate system X-axis can be determined
Justice is the angle, θ of ring curtain, that is to say, that the ring curtain angle for defining z-axis direction is 90 °.Each point then on ring curtain is i.e. available
Position coordinates (θ, h) uniquely determine, wherein h is height of this on ring curtain, that is, height of this relative to ring curtain bottom end.
The point (X, Y, Z) that can be fastened with world coordinates indicates the point (θ, h) of ring curtain:
Then, projector's coordinate system is defined.As shown in figure 19, with the optical center of projector or luminous point can be said as original
Point, using the light direction of centre, optical axis as Z axis defines projector's coordinate system, i.e. display of the Z axis perpendicular to projector in other words
Chip.The origin that projector be can define in world coordinate system around the angle that world coordinate system X, Y, Z axis rotates is respectively α, β, γ,
Corresponding three spin matrixs are denoted as Rx, Ry, Rz；By the translational movement of projector's local Coordinate System Xc, Yc, Zc axis point after rotation
It is not denoted as Tx, Ty, Tz, a corresponding translation matrix is denoted as T.The then point (Xc, Yc, Zc) and world coordinates on projector's coordinate system
It is the first transformational relation of the point (X, Y, Z) of ring curtain are as follows:
Then, image coordinate system is defined.As shown in figure 20, two-dimensional image can be made with projector's display chip plane to sit
Mark system, the u axis of image coordinate system, v axis direction are identical as Xc axis, the Yc axis of projector coordinate system respectively, and in display chip
The heart is the origin of image coordinate system.Because the light that projector issues all passes through optical center, the i.e. origin of projector's coordinate system, and remembers
Projector's focal length is f, then the image coordinate (u, v) and incident point that can establish the location of pixels of the luminous point on display chip exist
Second transformational relation of the point (Xc, Yc, Zc) that image coordinate is fastened:
U=f*Xc/Zc v=f*Yc/Zc
Then, pixel coordinate system is defined.It can define the picture that a vertex such as upper left corner of image is shown on display chip
Element be pixel coordinate system origin (0,0), and the c-axis of pixel coordinate system, r axis respectively with the u axis of image coordinate system, v axis direction
It is identical.When camera lens does not deviate, optical center remembers optical center along image coordinate system u in display picture centre i.e. pixel center
Axis, v axis offset be Cx, Cy.The pixel total amount of chip size and image is it is known that then each pixel on available chip
Length and width dx, dy.Therefore the third of the image coordinate (u, v) and pixel coordinate (c, r) that can establish any point on chip is converted
Relationship:
It, can be by appointing on ring curtain as a result, according to the transformational relation between the coordinate system and coordinate system of above-mentioned steps foundation
The position coordinates of any are converted to the pixel coordinate on display image, that is, the dot matrix on ring curtain can be accurately reflected display
On image.Optionally, being connect between points with line on the ring curtain of identical height h and equal angular θ, can draw
The ring curtain grid of current relative position parameter out.
Secondly, carrying out the projection of ring curtain, and the pixel-matrix of the corresponding display image of the dot matrix for obtaining projected image on ring curtain.
It can assist calculating by 3 D measuring instrument, adjust projector's parameter, make the horizontal display on ring curtain of the line of identical height h, adjust
Section screen waist drum parameter shows that the line of equal angular θ vertically.And make projected image splicing regions equal angular θ, height h
Line is overlapped, and the splicing angle and altitude range of identical overlapping region are just the same.Every angle projected according to possessed ring curtain
It generates (θ, h) dot matrix of certain ranks number by certain angular width interval with height, and is converted to pair by above-mentioned coordinate
(c, the r) dot matrix answered.
Secondly, generating the original image of plane by three-dimensional modeling and simulated projections.It as shown in figure 21, can be in three-dimensional wash with watercolours
Three-dimensional modeling is carried out in dye software, establishes a height of H of screen, radius R, radian is the ring curtain model of Φ, and in ring curtain model
Spectators' point of observation places virtual camera, and virtual camera is projected ring curtain mould through the collected picture in ring curtain display area again
In type, the plane of delineation expansion on screen model can be obtained into original image.Due to the display image of original image and projector
There is determining corresponding relationship, (θ, h) dot matrix equally has determining mapping relations, the picture mapped on original image on the original image
Vegetarian refreshments battle array is denoted as (U, V).
Finally, carrying out image mosaic fusion treatment.Brightness can be done to the splicing regions of original image with the channel alpha
Decaying.Since when grid splices, splicing regions are set as the high rectangle of the equivalent width of rule, i.e. splicing tape, it is possible to will splice
Alpha channel value with same angle, θ correspondence image pixel (U, V) is set as equal, it is assumed that splicing tape left and right edges angle value
For θ 1, θ 2, to reduce Mach band effect, therefore the transparency splicing for setting adjacent picture splicing band fades to trigonometric function phase
Curve is closed, the corresponding angle value of splicing tape pixel is set as θ i, is calculated for the projected picture of inside by θ 1, splicing tape
Alpha channel value wi are as follows:
The brightness decay processing in the channel alpha is completed in the manner described above.Individually it is projected in brightness and the model of original image
It encloses and has determined.And the point of (U, V) is evenly arranged on projection original image region and (c, r) shown on image with homolographic projection
It corresponds.Using affine transformation, by original image by the triangle image Affine scaling algorithm of (U, V) and two neighboring point to
The Delta Region of the adjacent two o'clock of the correspondence of (c, r), it is as shown in figure 22, whole region is affine and export to get to corresponding
The image projected to projector can be exported, i.e. the sequence frame that has merged of film.
More than, in conjunction with specific application scenarios, present invention method is described in detail.
For better implementation above scheme, it is also provided below for cooperating the relevant apparatus for implementing above scheme.
Figure 23 is please referred to, one embodiment of the present of invention provides a kind of more ring curtain projection arrangements, is applied to more projections
Machine is to same ring curtain projected image.Described device can include:
Module 231 is obtained, shows corresponding points on image for obtaining the position coordinates of any point and projector on ring curtain
The coordinate transformation relation of pixel coordinate；
Determining module 232, for according to the coordinate transformation relation, determine on ring curtain the view field of different projectors and
Pixel region on the corresponding display image of splicing regions；
Image module 233 is based on original image for generating the original image of plane by three-dimensional modeling and simulated projections
With the corresponding relationship and the coordinate transformation relation of display image, projected pixel on pixel and the screen on original image is determined
Coordinate mapping relations, and then determination take in the view field of different projectors and the corresponding original image of splicing regions
Pixel region；
Processing module 234, for based on determining on the original image, different projectors view field and splicing regions
Corresponding pixel region carries out image mosaic fusion treatment.
It is appreciated that the function of each functional module of more ring curtain projection arrangements of the present embodiment can be according to above method reality
The method specific implementation in example is applied, specific implementation process can refer to the associated description in above method embodiment, herein no longer
It repeats.
The present embodiment above scheme by obtaining coordinate mapping relations, determine on ring curtain the view field of different projectors and
Pixel region on the original image as corresponding to splicing regions carries out image mosaic fusion treatment, projected image may be implemented
High-precision splicing fusion, improve picture reduction degree.
The present embodiment above scheme can carry out calculated result verifying and correction, according to meter by drawing ring curtain grid image
Result adjustable collar curtain parameter is calculated, screen can accurately be restored by the setting of ring curtain parameter and deform the deformation of bring picture.
Also, it is usually pre-generated screen grid image in existing splicing integration technology, then needs mobile projector
Machine goes to snap to grid, and the present invention program is not necessarily to Mobile projector, as long as projector, which is able to satisfy, makes throwing needed for ring curtain picture
This most basic requirement of shadow zone domain, on the one hand avoids Mobile projector that precision can be improved, on the other hand reduces processing
Program.
It should be noted that for the various method embodiments described above, for simple description, therefore, it is stated as a series of
Combination of actions, but those skilled in the art should understand that, the present invention is not limited by described sequence of movement because according to
According to the present invention, certain steps can use other sequences or carry out simultaneously.Secondly, those skilled in the art should also know that,
The embodiments described in the specification are all preferred embodiments, and not necessarily the present invention must for related actions and modules
Must.Again, the term " includes " in description and claims of this specification and above-mentioned attached drawing and " having " and they
Any deformation, it is intended that cover and non-exclusive include.
Principle and implementation of the present invention are described for specific embodiment used herein, above embodiments
Illustrate to be merely used to help understand method and its core concept of the invention, rather than its limitations；The ordinary skill people of this field
Member is it is understood that according to the thought of the present invention, can modify to technical solution documented by the various embodiments described above or right
Part of technical characteristic is equivalently replaced, and these are modified or replaceed, and it does not separate the essence of the corresponding technical solution
The spirit and scope of technical solution of the present invention.
Claims (21)
1. a kind of screen projecting method, which comprises the steps of:
It obtains projector and shows the actual position coordinate for marking the projected pixel corresponding to pixel, on screen on image；
According to the actual position coordinate of the projected pixel, the label pixel is calculated in projector and shows the theoretical picture on image
Plain coordinate；
Obtain the actual pixels coordinate that projector shows the label pixel on image；
By adjusting projector's parameter, so that the theoretical pixel coordinate and actual pixels coordinate of the label pixel are close；
Based on projector's parameter adjusted, the seat of projected pixel in the pixel and screen for the original image that projector shows is established
Mark mapping relations.
2. screen projecting method according to claim 1, which is characterized in that obtain and mark pixel on projector's display image
The actual position coordinate of projected pixel corresponding, on screen, comprising:
It is shown in projector and draws out several mark points, the actual pixels coordinate of recording mark point on image.
3. screen projecting method according to claim 1, which is characterized in that obtain projector and show the label on image
The actual pixels coordinate of pixel, comprising:
The actual position coordinate of corresponding projected pixel on record screen is measured using three-dimensional measurement instrument.
4. screen projecting method according to claim 1, which is characterized in that further include: pre-establish projector's display figure
As the coordinate transformation relation of projected pixel on upper label pixel and screen；
The actual position coordinate according to the projected pixel calculates the label pixel in projector and shows the reason on image
It include: to be calculated based on the coordinate transformation relation by pixel coordinate.
5. screen projecting method according to claim 4, which is characterized in that described establish on projector's display image marks
The coordinate transformation relation of projected pixel in pixel and screen, comprising:
World coordinate system is established based on screen, following multiple coordinate systems: the projection based on projector are established based on any projector
Machine coordinate system shows the pixel coordinate of image on image coordinate system and display chip based on projector's display chip plane
System；
Establish transformational relation according to the positional relationship between coordinate system, so establish projector show image on label pixel with it is glimmering
The coordinate transformation relation of projected pixel on curtain.
6. screen projecting method according to claim 5, which is characterized in that
If it is described based on screen establish world coordinate system include: the screen be ball curtain, using the centre of sphere of ball curtain as origin, vertically
World coordinate system is established downwards for Y-axis；If the screen is ring curtain, with the center of circle line of the radian of ring curtain the one of ring curtain height
It is origin at half, is horizontally toward Z axis among ring curtain, establishes world coordinate system straight down for Y-axis；
It is described that based on the foundation of any projector, multiple coordinate systems include: based on projector, using the optical center of projector as origin below
Projector's coordinate system is established, establishes two-dimensional image based on projector's display chip plane, by origin of the center of display chip
Coordinate system establishes pixel coordinate system based on projector's display chip plane, using the pixel for showing one apex of image as origin；
The positional relationship according between coordinate system establishes transformational relation, comprising: according to projector relative to world coordinate system
The distance and rotation angle of origin, establish the first transformational relation of world coordinate system and projector's coordinate system；According to projection optics
Principle establishes the second transformational relation of projector's coordinate system and image coordinate system；According to the ruler of the size of display chip and pixel
It is very little, establish the third transformational relation of image coordinate system and pixel coordinate system.
7. screen projecting method according to claim 5, which is characterized in that projector's parameter includes:
Projector's coordinate system is pressed after angle [alpha] that projector rotates in origin around world coordinate system X, Y, Z axis, β, γ, and rotation
The optical center of translational movement Tx, Ty, Tz of Xc, Yc, Zc axis and projector along image coordinate system u, v axis offset Cx,
The Cy and focal length f of projector.
8. screen projecting method according to claim 1, which is characterized in that it is described by adjusting projector's parameter, so that
The theoretical pixel coordinate and actual pixels coordinate of the label pixel are close, comprising:
The theoretical pixel coordinate of any mark point is calculated at a distance from actual pixels coordinate, the theory pixel coordinate and projector
Parameter is related；
It sums to multiple mark point calculated distances；
Be calculated and value level off to 0 when projector's parameter.
9. screen projecting method according to claim 1, which is characterized in that further include:
The original image of plane is generated by three-dimensional modeling and simulated projections；
According to the coordinate mapping relations, the view field of different projectors and the corresponding original of splicing regions on screen are obtained
Pixel region on beginning image；
View field and the corresponding pixel region of splicing regions based on projector determine on the original image, different,
Carry out image mosaic fusion treatment.
10. screen projecting method according to claim 9, which is characterized in that the screen is specially ball curtain, the method
Applied to more projectors to same ball-screen projection image, the original graph that plane is generated by three-dimensional modeling and simulated projections
Before picture, further includes:
Ball curtain grid image is drawn, according to the coordinate mapping relations, according to the location parameter for the projector being calculated, by ball
Curtain grid image is converted to the two dimensional image that projector shows, draws out plane grid image；Plane grid image is projected
Projector shows that the difference of verifying real ball curtain and theoretical ball curtain corrects world coordinates according to verification result, and then described in amendment
Coordinate mapping relations.
11. screen projecting method according to claim 10, which is characterized in that described to pass through three-dimensional modeling and simulated projections
Generate the original image of plane, comprising: ball curtain model is established by three-dimensional modeling, passes through placement in the sphere center position of ball curtain model
On the two-dimensional surface that virtual equidistant fish eye camera generates, circular original image.
12. screen projecting method according to claim 9, which is characterized in that the screen is specially ring curtain, the method
Applied to more projectors to same ring curtain projected image, the original graph that plane is generated by three-dimensional modeling and simulated projections
Before picture, further includes:
The initial parameter and every projector that obtain projector occupy the angle of ring curtain, are spelled according to the region of projection overlapping to delimit
The angle for connecing region generates the coordinate points matrix ring curtain mathematical model of certain ranks number according to setting spacing and line forms original net
Lattice adjust projector's parameter and to be incident upon the real screen height of the matching of the grid vertical height in screen, so that each angle of grid
Degree line is distributed in the corresponding position of screen, and the grid of adjacent projections splicing regions is coincide and is overlapped.
13. screen projecting method according to claim 12, which is characterized in that described to pass through three-dimensional modeling and simulated projections
Generate the original image of plane, comprising:
Ring curtain model is established by three-dimensional modeling, in spectators' observer sitting virtual camera of ring curtain model, virtual camera is adopted
The image collected projects on ring curtain model, and the plane of delineation shown on ring curtain model is unfolded, and generates on two-dimensional surface, rectangle
Original image.
14. any screen projecting method in -13 according to claim 1, which is characterized in that the progress image mosaic is melted
Conjunction processing, comprising:
Brightness decay processing is done to the splicing regions on original image with alpha channel；
Original image and its alpha channel are handled respectively using affine transformation, and image is done at fusion to treated
Reason obtains the image that homolographic projection machine needs to project.
15. a kind of screen projecting method, which comprises the steps of:
It obtains projector and shows the pixel coordinate for marking pixel on image；
According to the pixel coordinate of the label pixel, the projection coordinate of corresponding projected pixel on screen is calculated；
Obtain the true coordinate of corresponding projected pixel on screen；
By adjusting projector's parameter, so that the projection coordinate of same projected pixel and true coordinate are close；
Based on projector's parameter adjusted, the seat of projected pixel in the pixel and screen for the original image that projector shows is established
Mark mapping relations.
16. a kind of screen projection arrangement, which is characterized in that including following module:
Module is obtained, the reality of the projected pixel on image corresponding to label pixel, on screen is shown for obtaining projector
Position coordinates；
Computing module calculates the label pixel and shows in projector for the actual position coordinate according to the projected pixel
Theoretical pixel coordinate on image；
The acquisition module is also used to obtain the actual pixels coordinate that projector shows the label pixel on image；
Module is adjusted, is used for by adjusting projector's parameter, so that the theoretical pixel coordinate and actual pixels of the label pixel
Coordinate is close；
Mapping block establishes the pixel and screen of the original image that projector shows for being based on projector's parameter adjusted
The coordinate mapping relations of upper projected pixel.
17. a kind of screen projection arrangement, which is characterized in that including following module:
Module is obtained, the pixel coordinate of label pixel on image is shown for obtaining projector；
Computing module calculates the projection coordinate of corresponding projected pixel on screen for the pixel according to the label pixel；
The acquisition module, is also used to obtain the true coordinate of corresponding projected pixel on screen；
Module is adjusted, is used for by adjusting projector's parameter, so that the projection coordinate of same projected pixel and true coordinate are close；
Mapping block establishes the pixel and screen of the original image that projector shows for being based on projector's parameter adjusted
The coordinate mapping relations of upper projected pixel.
18. a kind of computer equipment, which is characterized in that the computer equipment includes that processor, memory, bus and communication connect
Mouthful；The memory is for storing computer program, and the processor is connect with the memory by the bus, when described
When computer equipment is run, the processor executes the computer program of the memory storage, so that the computer
Equipment executes screen projecting method as described in claim 1.
19. a kind of computer equipment, which is characterized in that the computer equipment includes that processor, memory, bus and communication connect
Mouthful；The memory is for storing computer program, and the processor is connect with the memory by the bus, when described
When computer equipment is run, the processor executes the computer program of the memory storage, so that the computer
Equipment executes screen projecting method as claimed in claim 15.
20. a kind of computer readable storage medium for storing one or more programs, one or more of programs include instruction,
Described instruction executes the computer equipment as described in claim 1 when the computer equipment for being included processor executes
Screen projecting method.
21. a kind of computer readable storage medium for storing one or more programs, one or more of programs include instruction,
Described instruction executes the computer equipment as claimed in claim 15 when the computer equipment for being included processor executes
Screen projecting method.
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