CN106780616B - A kind of projector calibrating method based on the mapping of more matrixes - Google Patents
A kind of projector calibrating method based on the mapping of more matrixes Download PDFInfo
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- CN106780616B CN106780616B CN201611038221.3A CN201611038221A CN106780616B CN 106780616 B CN106780616 B CN 106780616B CN 201611038221 A CN201611038221 A CN 201611038221A CN 106780616 B CN106780616 B CN 106780616B
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Abstract
The present invention relates to a kind of projector calibrating methods based on the mapping of more matrixes, comprising the following steps: (1) Projection surveying point determines the direction mapping relations between computer display screens and projected picture；(2) Projection surveying point is continued to projection screen, until meeting the entire computer display screens of calibration point uniform fold；(3) according to Projection surveying point, the submatrix of projection screen is constructed；(4) pass through camera acquired projections picture；(5) DLT model foundation mapping relations equation is utilized；(6) mapping relations equation is solved using SVD method, obtains the mapping relations of Projection surveying.Projector calibrating method of the present invention, greatly improve the rate of Projection surveying point, the accuracy for improving mapping relations ensure that the accuracy of the mapping relations in not influenced by camera distortion in projection matrix region, very well satisfy the demand of user.
Description
Technical field
The present invention relates to image procossings and Computer Vision Detection field, and in particular to a kind of throwing based on the mapping of more matrixes
Shadow instrument scaling method.
Background technique
With the development of society, human-computer interaction technology is in the life of reality, using also increasingly wider.The hair of human-computer interaction
Exhibition history experienced the stage that the mankind are constantly adapted to from mankind's adaptation computer to computer.Further, since display screen
It uses, also largely facilitates the development of human-computer interaction technology.Along with the rapid development of computer vision technique and some
The appearance of sensor (such as such as depth camera Kinect, LeapMotion etc.), the combination between human-computer interaction technology
Also increasingly closer, more expand the market of human-computer interaction technology.
Current interactive projection system can be generally made of the equipment such as common camera or sensor and projector,
Its one kind for also belonging to man-machine interaction mode.Within the system, user can carry out operation computer in projection, realize book
It the multiple functions such as writes and draws.As the efficiency that classroom instruction and meeting are held is higher and higher, interactive projection system will
Can make the use of video camera has good experience sense, greatly meets the needs of users.
Just because of the fast development of human-computer interaction technology, people are also higher and higher to the required precision of human-computer interaction.It is many
Well known, accurate calibration is the basis for realizing high-precision human-computer interaction.Apparently with regard to current technology, although some methods are real
High precision calibration is showed, but most of these methods are realized with high-cost accurate facility, it has not been convenient in most
The demand of number user.Although equipment is simple, stated accuracy cannot but be met the needs of users some methods well, such as
When carrying out precision calibration just with camera, due to the influence of camera distortion, so that stated accuracy produces some mistakes
Difference.
How can the lower equipment of use cost, can also mark realize degree of precision calibration become the main of this patent
The theme of discussion.Based on this, this patent is demarcated, equipment to meet most of user demand just with camera
Cost is relatively low.In this patent, it we have proposed a kind of projector calibrating method based on the mapping of more matrixes, is taken the photograph to reduce
The error of the stated accuracy as brought by head distortion.
Summary of the invention
The purpose of the present invention is to provide a kind of projector calibrating methods based on the mapping of more matrixes, can reduce camera
The error of stated accuracy brought by distorting, meets most of user demand.
To achieve the above object, the invention adopts the following technical scheme:
A kind of projector calibrating method based on the mapping of more matrixes, specifically includes the following steps:
(1) Projection surveying point determines the direction mapping relations between computer display screens and projected picture；
(2) Projection surveying point is continued to projection screen, until meeting the entire Computer display of calibration point uniform fold
Screen；
(3) according to Projection surveying point, the submatrix of projection screen is constructed；
(4) pass through camera acquired projections picture；
(5) DLT model foundation mapping relations equation is utilized；
(6) mapping relations equation is solved using SVD method, obtains the mapping relations of Projection surveying.
The described projector calibrating method based on the mapping of more matrixes, in step (1), the Projection surveying point determines meter
Calculation machine shows the direction mapping relations between screen and projected picture, specifically includes the following steps:
(11) in four apex angle directions position of computer display screens, arbitrarily choose a position not being projected into
Row projection calibration point；
(12) projected picture after projection calibration point is carried out using camera acquisition；
(13) circulation executes step (11) and (12), until four corner positions are calibrated a little in computer display screens
Until calibration；
(14) according to the sequence of the image and corresponding projection calibration point that acquire in step (13), Computer display is determined
The mapping relations in the direction between screen and projected picture.
The described projector calibrating method based on the mapping of more matrixes, in step (5), the mapping relations equation is as follows:
Wherein, [x1 x2 x3]TThat indicate is the coordinate vector of source point in computer display screens, [x1′ x2′ x3′]TTable
Show the coordinate vector of corresponding subpoint,It is mapping matrix.
As shown from the above technical solution, the projector calibrating method of the present invention based on the mapping of more matrixes, greatly
The rate for improving Projection surveying point reduces Projection surveying point the time it takes.By the way that 49 Ge Zi projection matrix areas are arranged
Domain, four vertex positions of each matrix are the positions of calibration point, according to the position of calibration point in computer display screens with
And the position of camera acquired projections picture calibration point obtained from, 49 relationship map equations can be obtained, are preferably subtracted
The influence for having lacked the mapping error of the calibration of the subpoint as brought by camera distortion, improves the accuracy of mapping relations.
This method is only limitted to influence to will not influence remaining since camera distortion is brought to some projection matrix region labeling mapping relations
Projection matrix region, ensure that the accurate of the mapping relations in not influenced by camera distortion in projection matrix region
Property, very well satisfy the demand of user.
Detailed description of the invention
Fig. 1 is the schematic diagram of Projection surveying point of the invention；
Fig. 2 is projection matrix schematic diagram of the invention；
Fig. 3 is flow chart of the invention；
Fig. 4 is Projection surveying flow chart of the invention.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing:
As shown in figures 1-4, the projector calibrating method based on the mapping of more matrixes of the present embodiment, specifically includes following step
It is rapid:
S1: Projection surveying point determines the direction mapping relations between computer display screens and projected picture, in this this behaviour
In work, need to carry out the operation of the projection black circle calibration point of 4 wheels, steps are as follows:
S11: in four apex angle directions position of computer display screens, arbitrarily choose a position not being projected into
Row projection calibration point；
S12: the projected picture after projection calibration point is carried out using camera acquisition；
S13: circulation executes step (11) and (12), until four corner positions are calibrated a little in computer display screens
Until calibration；
S14: according to the sequence of four images and corresponding projection calibration point that acquire in step (13), computer is determined
The mapping relations for showing the direction between screen and projected picture, preventing its mapping relations from occurring, up and down or left and right is reverse to be showed
As occurring.Further, since camera, in acquired projections picture, the picture area of acquisition is bigger than actual projected picture region,
Therefore, it can determine the region of projected picture according to the position of four calibration points, avoid non-view field to latter acts
Interference.
S2: continuing Projection surveying point to projection screen, until meeting the entire Computer display of calibration point uniform fold
Screen:
60 black circle calibration points are disposably projected in computer display screens using computer, the requirement of projection is full
Foot is as follows: (1) for every row of computer display screens, 8 calibration points of projection is carried out to it, the row containing apex angle direction removes
Outside, since the row has cast 2 calibration points, need to only continue to project 6 calibration points now；(2) after projection, altogether
It is 64 calibration points, computer shows screen it is required that this 64 calibration points are evenly distributed in entire calculate, therefore projects
In the process, for two calibration points adjacent in same a line, make to be separated by certain interval between it, for adjacent in same row
Two calibration points equally make to be separated by certain interval between it.
S3: according to Projection surveying point, the submatrix of projection screen is constructed:
For 64 calibration points of projection screen, adjacent four up and down black calibration point may be constructed one
Rectangle, the rectangle are a projection submatrixs, may be constructed 49 projection subregions, specific flow chart, such as Fig. 2 institute altogether
Show.
S4: after complete projection submatrix to be built, pass through camera acquired projections picture:
After having constructed projection submatrix, computer display screens have 49 projection submatrixs altogether, such as Fig. 2 institute
Show.It after the projected picture of camera acquired projections submatrix, is stored, carries out solving mapping pass for following step
System.
S5: the position coordinates of calibration point and its corresponding position in computer display screens in analysis projected picture
It sets, utilizes DLT (direct linear transformation) model construction mapping relations equation:
For the projected picture in step S4, although camera is when acquisition due to the influence of distortion, the throwing of acquisition
The matrix shape of projection subregion in shadow picture is not very regular, but the picture of its acquisition equally has 49 projection sub-districts
Domain.
For 49 projection subregions, all there are four the round calibration points of black for each subregion, according to this four
The position of calibration point is so as to could set up the mapping between computer display screens and projected picture to each subregion
The equation of relationship can establish altogether 49 mapping equations.Shown in the model equation of mapping equation such as formula (1):
Wherein, [x1 x2 x3]TThat indicate is the coordinate vector of source point in computer display screens, [x1′ x2′ x3′]TTable
Show the coordinate vector of corresponding subpoint,It is mapping matrix.x1And x1' represent abscissa, x2And x2' generation
Table ordinate, and since direct Linear Mapping is calculated using homogeneous coordinates, the x in formula (1)3And x3' can take
Value is 1.
S6: mapping relations equation is solved using SVD method, obtains the mapping relations of Projection surveying:
According to 49 mapping equations in step S5, mapping relations can be solved.For this 49 mapping equations, each of which
The mapping relations of equation solution are only only limited to apply other points in the corresponding projection subregion of the equation, can not apply
Point in other matrix subregions, therefore this method can reduce the error of camera distortion bring acquisition image.
For the distortion phenomenon of camera, the part projection subregion in view field only will affect, it is unaffected
The projection mapping relationship of subregion is will not be changed, the projection mapping relationship affect of affected subregion also compared with
It is small.
The method for solving mapping relations equation is as follows: since formula (1) can abbreviation be further such as formula (2) institute
Show:
For formula (2), third equation can be obtained by the first two equation by linear combination, and enable H0=
[h11 h12 h13 h21 h22 h23 h31 h32 h33]T, then formula (2) can be further simplified as formula (3):
For formula (3), vector H can be solved by the method for SVD0, while H0It also illustrates that computer display screens and throws
Mapping relations between shadow picture.Last known computer shows the coordinate position of certain point in screen, according to the son where it
Projection mapping relationship in region can calculate its position in projection scenic picture, to complete other demands of user.
In this patent, the projection for needing to carry out 5 wheels altogether, in the projection of preceding 4 wheel, every wheel carries out one black of projection
Round calibration point operation disposably projects remaining 60 black circle calibration point, and make 64 calibration points in the 5th wheel
Uniformly it is covered with computer display screens.The projecting method greatly improves the rate of Projection surveying point, reduces projection mark
Pinpoint the time it takes.
Embodiment described above only describe the preferred embodiments of the invention, not to model of the invention
It encloses and is defined, without departing from the spirit of the design of the present invention, those of ordinary skill in the art are to technical side of the invention
The various changes and improvements that case is made should all be fallen into the protection scope that claims of the present invention determines.
Claims (1)
1. a kind of projector calibrating method based on the mapping of more matrixes, which is characterized in that specifically includes the following steps:
(1) Projection surveying point determines the direction mapping relations between computer display screens and projected picture；
(2) Projection surveying point is continued to projection screen, until meeting the entire computer display screens of calibration point uniform fold；
(3) according to Projection surveying point, the submatrix of projection screen is constructed；
(4) pass through camera acquired projections picture；
(5) DLT model foundation mapping relations equation is utilized；
(6) mapping relations equation is solved using SVD method, obtains the mapping relations of Projection surveying；
In step (1), the Projection surveying point determines the direction mapping relations between computer display screens and projected picture,
Specifically includes the following steps:
(11) it in four apex angle directions position of computer display screens, arbitrarily chooses a position not being projected and is thrown
Penetrate calibration point；
(12) projected picture after projection calibration point is carried out using camera acquisition；
(13) circulation executes step (11) and (12), until four corner positions are calibrated a calibration in computer display screens
Until；
(14) according to the sequence of the image and corresponding projection calibration point that acquire in step (13), computer display screens are determined
The mapping relations in the direction between projected picture；
In step (5), the mapping relations equation is as follows:
Wherein, [x1 x2 x3]TThat indicate is the coordinate vector of source point in computer display screens, [x1′ x2′ x3′]TExpression pair
The coordinate vector for the subpoint answered,It is mapping matrix.
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