CN112734860B - Arc-screen prior information-based pixel-by-pixel mapping projection geometric correction method - Google Patents
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Abstract
The invention provides a pixel-by-pixel mapping projection geometric correction method based on arc curtain prior information, which comprises the following steps of: the camera-projector system carries out self-calibration to obtain a projector internal reference matrix and a camera internal reference matrix, and a projector external reference matrix to the camera; marking the vertex of the to-be-projected area of the arc-shaped screen to obtain the marked vertex of the arc-shaped screen, and calculating the three-dimensional coordinate of the marked vertex of the arc-shaped screen; measuring the physical size of the arc-shaped screen to-be-projected area, and obtaining the three-dimensional coordinates of the arc-shaped screen to-be-projected area points according to the arc-shaped screen mark vertex three-dimensional coordinates and the projector image resolution; and pre-distorting the image to be projected according to the internal parameter matrix of the projector, the external parameter matrix and the three-dimensional coordinates of the point of the area to be projected of the arc-shaped screen to obtain the image to be projected after pre-distortion, and finishing the projection geometric correction of the arc-shaped screen. The invention does not need to pull grids on the arc-shaped screen, thereby reducing the implementation difficulty of the projection geometry correction project of the large-scale arc-shaped screen.
Description
Technical Field
The invention relates to the technical field of screen projection display, in particular to a pixel-by-pixel mapping projection geometric correction method based on arc curtain prior information.
Background
Along with the improvement of science and technology and the improvement of people appreciation level, all appear the arc screen in cinema and other places in a large number, the arc screen has bigger visual angle than the plane screen, can make the user produce strong sense of immersing, and the application effect is far better than the plane screen, nevertheless because the arc screen has certain radian, can cause the picture deformity when the image is projected on it, consequently need carry out the projection geometry to the arc screen and rectify.
At present, the method of pulling a grid and manually adjusting control points is mainly adopted for geometric correction of the arc-shaped screen, and because a large amount of manpower and material resources are needed, a large non-projection error and a complex process are caused, so that an arc-shaped screen geometric correction method capable of effectively improving geometric correction precision and efficiency is urgently needed.
Disclosure of Invention
The invention aims to provide a pixel-by-pixel mapping projection geometric correction method based on arc-shaped screen prior information, which utilizes three-dimensional coordinates of 4 vertexes of an arc-shaped screen to-be-projected area and the physical size of an arc-shaped screen to calculate the three-dimensional coordinates of all projection points on the arc-shaped screen; and then, according to the internal reference and the external reference of the projector relative to the arc-shaped screen, each pixel of the projected image is subjected to pixel-by-pixel mapping, so that the projection error is effectively reduced.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a pixel-by-pixel mapping projection geometric correction method based on arc curtain prior information, which comprises the following steps of:
s1, self-calibrating a camera-projector system to obtain a projector internal reference matrix and a camera internal reference matrix, and a projector external reference matrix to the camera;
s2, marking the vertex of the arc-shaped screen to-be-projected area to obtain an arc-shaped screen mark vertex, and calculating the three-dimensional coordinate of the arc-shaped screen mark vertex;
s3, measuring the physical size of the arc-shaped screen to-be-projected area, and obtaining the three-dimensional coordinates of the arc-shaped screen to-be-projected area points according to the three-dimensional coordinates of the arc-shaped screen mark vertex and the projector image resolution;
s4, pre-distorting the image to be projected according to the internal parameter matrix of the projector, the external parameter matrix and the three-dimensional coordinates of the arc-shaped screen area point to be projected to obtain the pre-distorted image to be projected, and finishing the arc-shaped screen projection geometric correction.
Preferably, the calibration process of the "camera-projector" system is as follows: obtaining an internal reference matrix of the camera, and obtaining an external reference matrix of the camera by adopting a linear or nonlinear algorithm according to the corresponding relation between the known space point and the image point; constructing a corresponding relation between a two-dimensional image plane point of the projector and a known space three-dimensional point corresponding to the two-dimensional image plane point, and calibrating the projector according to the corresponding relation to obtain an internal and external parameter matrix of the projector; and obtaining an external parameter matrix of the projector to the camera according to the three-dimensional coordinates of the known space points in the camera and projector coordinate systems.
Preferably, the three-dimensional coordinates include three-dimensional coordinates of four vertices of an arc-shaped curtain, namely, upper left vertex, upper right vertex, lower left vertex and lower right vertex.
Preferably, the three-dimensional coordinate calculation process of the point of the arc-shaped screen to-be-projected area is as follows: obtaining an included angle of the arc-shaped curtain, and obtaining an included angle between every two adjacent pixels of the arc edge of the arc-shaped curtain; obtaining pixel coordinates on the arc edge of the arc curtain according to the circle center coordinate of the arc curtain and the included angle between every two adjacent pixels; and obtaining the three-dimensional pixel coordinate on any arc edge of the arc-shaped screen according to the pixel coordinate on the arc edge of the arc-shaped screen and the pixel coordinate on the straight line edge of the arc-shaped screen, and obtaining the three-dimensional coordinate of the point of the to-be-projected area of the arc-shaped screen according to the three-dimensional pixel coordinate on any arc edge of the arc-shaped screen.
Preferably, the pre-distortion process is as follows: mapping the three-dimensional coordinates of the points of the arc-shaped screen to-be-projected area to the coordinates of the projector image plane; and based on the three-dimensional coordinates of the points of the arc-shaped screen to-be-projected area, giving the projector image pixels to the to-be-displayed color information of the arc-shaped screen to obtain the pre-distorted to-be-projected image.
Preferably, the specific process of mapping the three-dimensional coordinates of the points of the arc-shaped screen to-be-projected area to the coordinates of the projector image plane is as follows:
xw1＝PXw1＝K[R|T]Xw1 1
wherein: k is a projector internal parameter matrix; r is a rotation matrix; t is a translation matrix, and R, T forms an external reference matrix of the projector to the camera; xw1Three-dimensional homogeneous coordinates of points on the arc-shaped screen; x is the number ofw1And (4) pre-distorting the two-dimensional homogeneous coordinate (u, v,1) of the image to be projected.
The invention discloses the following technical effects:
the three-dimensional coordinates of all projection points on the arc-shaped screen are calculated by utilizing the three-dimensional coordinates of four vertexes of the area to be projected of the arc-shaped screen and the physical size of the arc-shaped screen; according to the internal parameter and the external parameter of the projector relative to the arc screen, each pixel of the projected image is mapped pixel by pixel, so that the projection geometry correction of the arc screen is realized, and the projection error can be effectively reduced; meanwhile, the invention does not need to pull grids on the arc-shaped screen, reduces the implementation difficulty of the large-scale arc-shaped screen projection geometric correction project and is convenient for realizing the multi-projection geometric correction splicing of the large-scale arc-shaped screen.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic flow chart of a pixel-by-pixel mapping projection geometry correction method based on arc curtain prior information according to the present invention;
FIG. 2 is a schematic diagram of a positional relationship between a camera and a projector according to an embodiment of the invention;
FIG. 3 is a schematic diagram illustrating calculation of three-dimensional pixel coordinates on any arc-shaped edge of an arc-shaped curtain according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, the present invention provides a method for geometrically correcting a projection by pixel mapping based on arc curtain prior information, which comprises the following steps:
s1, self-calibrating the camera-projector system to obtain the internal reference matrix of the projector and the camera and the external reference matrix of the projector to the camera.
The hardware calibration of the projection correction system mainly comprises two parts, namely camera and projector internal parameter calibration and projector relative screen pose calibration (or called as projector external parameter calibration), wherein the internal parameter calibration is the basis of external parameter calibration. The internal parameter calibration is mainly used for correcting imaging errors caused by distortion of lenses of a camera and a projector, and the external parameter calibration is used for determining the spatial poses of the projector and the camera.
As shown in fig. 2, the projector and camera are rigidly fixed to form a projector-camera system. Orienting a projector-camera system to a space reference plane stuck with checkerboard pictures, adjusting the angle of the projector-camera system to ensure that a projection image is not overlapped with the checkerboard pictures and the field of view of the camera can completely cover a projection area and the checkerboard pictures, when the camera is calibrated, the projector is in a closed state, shooting the checkerboard pictures by the camera and calibrating to obtain a camera internal parameter matrix KcAnd a pose parameter matrix Rc、Tc。
At a known spatial point XwAnd image point xwUnder the condition of the correspondence relationship, the value of the camera internal/external parameter K, R, T is obtained from the equation (1). And calibrating the camera by using a customized checkerboard calibration plate, wherein the checkerboard size on the calibration plate can be obtained by measurement, and the corresponding two-dimensional image coordinate can be obtained by an image corner point extraction method.
xw＝PXw＝K[R|T]Xw (1)
Wherein: k is an internal reference matrix; the rotation matrix R and the translation matrix T are camera extrinsic parameters.
After obtaining the camera reference, the method is based on the known spatial point XwAnd image point xwThe external parameters of the camera are obtained by using a linear or nonlinear algorithm.
The projector can be viewed as a dual system of cameras and calibrated using the same imaging model as the cameras. However, since the projector does not have the capability of actively acquiring images, calibration by means of a calibrated camera is required.
When the camera is calibrated, the corresponding relation between the three-dimensional space point in the world coordinate system and the two-dimensional space point in the image coordinate system is realized by manual measurement and characteristic point identification respectively.
In the projection system, two-dimensional image points are extracted by a method of recognizing feature points, following a camera method. However, the position of the three-dimensional point projected into space is difficult to measure, so the projector is associated with the camera, and the projector is indirectly calibrated by utilizing the space measurement capability of the camera.
After the calibration of the camera is finished, the checkerboard image pasted on the reference plane is removed, and then the projector is started to project the checkerboard image.
Let the two-dimensional coordinate of the checkerboard corner point in the projector imaging plane be xpWith a corresponding three-dimensional point X on the reference planepThe coordinate of the two-dimensional image of the point obtained by the camera is xc。xpAnd xcCan be obtained by an image corner extraction method, XpAnd calculating and acquiring by means of a calibrated camera.
Because the plane point x of the two-dimensional image of the projector is establishedpCorresponding three-dimensional point X of spacepSo that the projector can be calibrated by using the camera calibration method to obtain the internal and external parameters K of the projectorp、RpAnd Tp。
And after the projector is calibrated, further calculating to obtain the mapping relation between the image coordinates of the projector and the image coordinates of the camera. Setting the same space point XwThe three-dimensional coordinates in the camera and projector coordinate systems are X, respectivelycAnd XpThe coordinate transformation relationship between them can be expressed by the following equation:
elimination of X in the above equation setwThe following can be obtained:
XC＝RCPXP+TCP (3)
wherein: rCP＝RCRP -1；TCP＝TC-RCRP -1TP。
And S2, marking the vertex of the arc curtain to-be-projected area and acquiring the three-dimensional coordinates of the marked vertex of the arc curtain.
Projecting the structured light to the area where the arc-shaped screen is located, and obtaining three-dimensional coordinates of four vertexes of the area to be projected of the arc-shaped screen, namely the upper left vertex, the upper right vertex, the lower left vertex and the lower right vertex, by utilizing self-calibration parameters of a camera-projector system.
The structured light is a test picture sent by a projector and can be used for self-calibration of a projector-camera system; after the calibration of the camera-video camera system is completed, the three-dimensional coordinates of the mark points on the projection screen can be obtained through measuring by projecting the structured light picture on the projection screen.
After the top point is marked, an arc-shaped screen picture without the projection structured light picture is shot, and then an arc-shaped screen picture with the projection structured light picture is shot. When the two pictures are taken, the positions of the camera, the projector and the arc-shaped screen are kept unchanged. And detecting to obtain two-dimensional coordinates of four vertexes on the camera image according to the first picture, obtaining information of structured light at the same position on the camera image by using the second picture, obtaining two-dimensional coordinates of points of the same structured light on the projector image, and calculating the three-dimensional coordinates of the vertexes of the arc-shaped screen by using internal references of the camera and the projector and external references of the camera by using the projector and adopting a triangulation method.
And S3, measuring the physical size of the arc-shaped screen to-be-projected area, and obtaining the three-dimensional coordinates of the arc-shaped screen to-be-projected area point according to the three-dimensional coordinates of the arc-shaped screen mark vertex and the projector image resolution.
As shown in FIG. 3, let the radius of the arc-shaped curtain be rscreenThe width of the arc curtain is WscreenThe height of the arc-shaped curtain is HscreenThe resolution of the projector is W x H, i.e. projecting W images in the horizontal directionPixel, vertical projection H and pixel.
The included angle theta of the arc-shaped curtain is obtained as follows:
since the arc between the CDs has W pixels, the included angle theta between every two adjacent pixels0Comprises the following steps:
since the three-dimensional coordinates of point C, D are known, it is determined by the radius rscreenThe coordinate of the circle center O can be obtained; and the included angle theta of the coordinates of the circle center O and the C is determined according to the coordinate of the circle center O0And obtaining W pixel coordinates on the circular arc between the C and the D.
Meanwhile, since the coordinates of A, D are known, and the distance of AD is HscreenTherefore, the coordinates of all H pixels on the AD straight line can be obtained.
Since the coordinates of B, C are known, and the distance of BC is HscreenTherefore, the coordinates of all H pixels on the BC straight line can be obtained.
If E is the ith pixel (i is more than or equal to 1 and less than or equal to H) on AD and F is the ith pixel (i is more than or equal to 1 and less than or equal to H) on BC, the three-dimensional coordinates of the points E and F can be obtained, and meanwhile, the three-dimensional coordinates are obtained according to rscreenAnd WscreenAnd obtaining the coordinate of any jth pixel on the EF arc line (j is more than or equal to 1 and less than or equal to W).
And S4, pre-distorting the image to be projected according to the internal reference matrix and the external reference matrix of the projector and the three-dimensional coordinates of the point of the area to be projected of the arc-shaped screen to obtain the image to be projected after pre-distortion, and finishing the projection geometric correction of the arc-shaped screen.
Because the position that can make the position image height in the middle of the arc curtain compare the arc curtain edge is big directly with picture projection to the arc curtain, in addition the factors such as the surface of projector optical axis non-perpendicular to arc curtain, the image deformation of throwing away is just more serious, consequently needs to treat the projection image and carry out the predistortion.
Three-dimensional coordinate X of point on arc-shaped screenw1＝[xw,yw,zw]TEquation (7) maps to the projector image plane coordinates (u, v). Then hopefully X on the arc-shaped screenw1＝[xw,yw,zw]TAnd (4) giving the color information displayed at the position to the image pixel (u, v) of the projector to obtain the image to be projected after the pre-distortion.
The process of transforming the three-dimensional coordinates of the points of the arc-shaped screen to-be-projected area comprises the following steps:
xw1＝PXw1＝K[R|T]Xw1 (7)
wherein: k is a projector internal parameter matrix; the rotation matrix R and the translation matrix T are external reference matrixes of the projector relative to the camera; xw1Three-dimensional homogeneous coordinates of points on the arc-shaped screen; x is the number ofw1And (4) pre-distorting the two-dimensional homogeneous coordinate (u, v,1) of the image to be projected.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.
Claims (5)
1. A projection geometric correction method of pixel-by-pixel mapping based on arc curtain prior information is characterized by comprising the following steps:
s1, self-calibrating a camera-projector system to obtain a projector internal reference matrix and a camera internal reference matrix, and a projector external reference matrix to the camera;
s2, marking the vertex of the arc-shaped screen to-be-projected area to obtain an arc-shaped screen mark vertex, and calculating the three-dimensional coordinate of the arc-shaped screen mark vertex;
s3, measuring the physical size of the arc-shaped screen to-be-projected area, and obtaining the three-dimensional coordinates of the arc-shaped screen to-be-projected area point according to the arc-shaped screen mark vertex three-dimensional coordinates and the projector image resolution, wherein the calculation process is as follows: obtaining an included angle of the arc-shaped curtain, and obtaining an included angle between every two adjacent pixels of the arc edge of the arc-shaped curtain; obtaining pixel coordinates on the arc edge of the arc curtain according to the circle center coordinate of the arc curtain and the included angle between every two adjacent pixels; obtaining a three-dimensional pixel coordinate on any arc edge of the arc-shaped screen according to a pixel coordinate on the arc edge of the arc-shaped screen and a pixel coordinate on the linear edge of the arc-shaped screen, and obtaining a three-dimensional coordinate of a point of a region to be projected of the arc-shaped screen according to the three-dimensional pixel coordinate on any arc edge of the arc-shaped screen;
s4, pre-distorting the image to be projected according to the internal parameter matrix of the projector, the external parameter matrix and the three-dimensional coordinates of the arc-shaped screen area point to be projected to obtain the pre-distorted image to be projected, and finishing the arc-shaped screen projection geometric correction.
2. The method for geometrically correcting the projection of the pixel-by-pixel mapping based on the prior information of the arc-shaped curtain as claimed in claim 1, wherein the calibration process of the "camera-projector" system is as follows: obtaining an internal reference matrix of the camera, and obtaining an external reference matrix of the camera by adopting a linear or nonlinear algorithm according to the corresponding relation between the known space point and the image point; constructing a corresponding relation between a two-dimensional image plane point of the projector and a known space three-dimensional point corresponding to the two-dimensional image plane point, and calibrating the projector according to the corresponding relation to obtain an internal and external parameter matrix of the projector; and obtaining an external parameter matrix of the projector to the camera according to the three-dimensional coordinates of the known space points in the camera and projector coordinate systems.
3. The method of claim 1, wherein the three-dimensional coordinates comprise three-dimensional coordinates of four vertices of an arc-shaped curtain, namely, a top left vertex, a top right vertex, a bottom left vertex and a bottom right vertex.
4. The method for geometrically correcting the projection of the pixel-by-pixel mapping based on the prior information of the arc-shaped screen as claimed in claim 1, wherein the pre-distortion process is as follows: mapping the three-dimensional coordinates of the points of the arc-shaped screen to-be-projected area to the coordinates of the projector image plane; and based on the three-dimensional coordinates of the points of the arc-shaped screen to-be-projected area, giving the projector image pixels to the to-be-displayed color information of the arc-shaped screen to obtain the pre-distorted to-be-projected image.
5. The method for pixel-by-pixel mapping projection geometry correction based on arc-shaped screen prior information as claimed in claim 4, wherein the specific process of mapping the three-dimensional coordinates of the points of the arc-shaped screen to-be-projected area to the coordinates of the projector image plane is as follows:
xw1＝PXw1＝K[R|T]Xw1
wherein: k is a projector internal parameter matrix; r is a rotation matrix; t is a translation matrix, and R, T forms an external reference matrix of the projector to the camera; xw1Three-dimensional homogeneous coordinates of points on the arc-shaped screen; x is the number ofw1And (4) pre-distorting the two-dimensional homogeneous coordinate (u, v,1) of the image to be projected.
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| CN113724321B (en) * | 2021-07-08 | 2023-03-24 | 南京航空航天大学苏州研究院 | Self-adaptive laser projection auxiliary assembly method |
| CN113793390A (en) * | 2021-08-26 | 2021-12-14 | 光量信息科技(宁波)有限公司 | Interactive three-dimensional marking method of projector |
| CN115190280B (en) * | 2022-06-30 | 2024-02-20 | 海宁奕斯伟集成电路设计有限公司 | Device and method for determining area of fused projection image |
| CN115442584B (en) * | 2022-08-30 | 2023-08-18 | 中国传媒大学 | Multi-sensor fusion type special-shaped surface dynamic projection method |
| CN117313217A (en) * | 2023-10-31 | 2023-12-29 | 重庆市规划和自然资源信息中心 | Building indoor model modeling method based on three-dimensional scene data |
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