CN109474814A - Two-dimensional calibration method, projector and the calibration system of projector - Google Patents
Two-dimensional calibration method, projector and the calibration system of projector Download PDFInfo
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- CN109474814A CN109474814A CN201811501312.5A CN201811501312A CN109474814A CN 109474814 A CN109474814 A CN 109474814A CN 201811501312 A CN201811501312 A CN 201811501312A CN 109474814 A CN109474814 A CN 109474814A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
- H04N9/3179—Video signal processing therefor
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Abstract
The invention discloses two-dimensional calibration method, projector and the calibration system of a kind of projector, the two-dimensional calibration method includes: that the projector successively projects several grayscale images according to brightness value, and each grayscale image is equipped with a brightness value；The grayscale image of the projector projects is shot to obtain filmed image, each filmed image and measurement image correspond；The corresponding relationship for obtaining the brightness value of grayscale image and the luminance information of filmed image, wherein the luminance information includes the related information between at least two brightness values and brightness value；The projector obtains a measurement image using one target image of inversion process of the corresponding relationship.Two-dimensional calibration method, projector and the calibration system of projector of the invention can make the fidelity factor for improving projector projects image, promote drop shadow effect, it is more accurate to establish 3D model using projector grating.
Description
Technical field
The present invention relates to two-dimensional calibration method, projector and the calibration systems of a kind of projector.
Background technique
Three-dimensional reconstruction refers to the mathematical model established to three-dimension object and be suitble to computer representation and processing, is in computer ring
The basis of its property is handled it, operated and analyzed under border, and establishes the virtual of expression objective world in a computer
The key technology of reality.
It is a kind of three-dimensional reconstruction mode that optical grating projection, which carries out three-dimensional reconstruction, and grating is projected to reference planes respectively and is tested
Body surface, what it is due to reference planes selection is horizontal plane, and the reference grating projected to above will not deform；Work as grating
When projecting to testee surface, grating can generate different degrees of deformation, be that measured object body surface is received due to projection grating
The modulation of face height.The testee height placed is different, and the phase change degree of grating is also different therewith, and two-dimensional surface becomes
The three-dimensional appearance information of body surface is carried in the phase change of shape striped.It therefore, can be with by seeking the changing value of phase
Height of the object at respective point is obtained, to obtain the chamfered shape of three-dimension object.
Existing optical grating projection exist in three-dimensional reconstruction it is higher to projection arrangement required precision, civilian projector because
Distortion phenomenon can not obtain the defect of accurately 3D model.
Summary of the invention
The technical problem to be solved by the present invention is to exist to overcome in optical grating projection progress three-dimensional reconstruction in the prior art
Higher to projection arrangement required precision, civilian projector provides one because distortion phenomenon can not obtain the defect of accurate 3D model
Kind can be improved the fidelity factor of projector projects image, promotes drop shadow effect, it is more quasi- to establish 3D model using projector grating
Two-dimensional calibration method, projector and the calibration system of true projector.
The present invention is to solve above-mentioned technical problem by following technical proposals:
A kind of two-dimensional calibration method of projector, it is characterized in that, the two-dimensional calibration method includes:
The projector successively projects several grayscale images according to brightness value, and each grayscale image is equipped with a brightness value；
The grayscale image of the projector projects is shot to obtain filmed image, each filmed image and measurement image are one by one
It is corresponding；
The corresponding relationship for obtaining the brightness value of grayscale image and the luminance information of filmed image, wherein the luminance information packet
Include the related information between at least two brightness values and brightness value；
The projector obtains a measurement image using one target image of inversion process of the corresponding relationship.
Preferably, the corresponding relationship of the luminance information of the brightness value for obtaining grayscale image and filmed image includes:
For a target filmed image, the corresponding filmed image of target filmed image is divided into several imagery zones；
Obtain the brightness value of each imagery zone and the location information of imagery zone；
The luminance information is obtained according to the brightness value of imagery zone and location information；
Obtain the corresponding relationship of the brightness value of grayscale image and the luminance information of filmed image.
Preferably, the corresponding relationship is the mapping table of the brightness value of grayscale image and the luminance information of filmed image, institute
It states projector and successively projects several grayscale images according to brightness value and include:
Obtain the image of a n-bit；
The image of the n-bit is divided into 2nThe gray level image of/m brightness degree, any two neighboring gradation image
Brightness value difference be m.
Preferably, the grayscale image of the shooting projector projects includes: to obtain filmed image
The grayscale image of the projector projects is shot to obtain initial image；
The projection of the projector in the initial image is obtained by comparing the difference section in adjacent initial image
Area image；
The image of a pre-set dimension is intercepted in view field's image as the filmed image.
Preferably, the two-dimensional calibration method includes:
Identify view field's image of the projector in the initial image；
Obtain the background video in addition to view field's image；
Obtain the average brightness of background area；
A background luminance offset is obtained according to average brightness；
The corresponding relationship of the brightness value of grayscale image and the optimization brightness value of filmed image is obtained, the optimization brightness value is
The filmed image is in conjunction with the brightness value after the background luminance offset.
Preferably, the two-dimensional calibration method includes:
The projector obtains a grating measurement image using one raster image of inversion process of the corresponding relationship；
The projector projects the grating measurement image to a target object；
The projection image for shooting the grating measurement image has generated feedback image；
According to the 3D model of target object described in the feedback video generation.
The present invention also provides a kind of projectors, it is characterized in that, the projector includes a projection module, an acquisition module
And a calibration module,
The projection module is equipped with a brightness for successively projecting several grayscale images, each grayscale image according to brightness value
Value；
The corresponding relationship for obtaining module and being used to obtain the brightness value of grayscale image and the luminance information of filmed image,
Described in luminance information include related information between at least two brightness values and brightness value, the filmed image is described in shooting
Filmed image acquired in the grayscale image of projector projects, each filmed image and measurement image correspond；
The calibration module is used to obtain a measurement image using one target image of inversion process of the corresponding relationship.
Preferably, the corresponding relationship is the mapping table of the brightness value of grayscale image and the luminance information of filmed image, institute
Projection module is stated for obtaining the image of a n-bit, and the image of the n-bit is divided into 2nThe gray scale of/m brightness degree
Image, the difference of the brightness value of any two neighboring gradation image are m.
Preferably, pair for obtaining module and being used to obtain the brightness value of grayscale image and the optimization brightness value of filmed image
It should be related to, the optimization brightness value is the brightness value after the filmed image combination background luminance offset, the background luminance
Offset is obtained by the average brightness of the background video in the filmed image in addition to view field's image.
The present invention also provides a kind of calibration systems, it is characterized in that, the calibration system includes that a projector and one clap
Device is taken the photograph, the calibration system is for realizing two-dimensional calibration method as described above.
On the basis of common knowledge of the art, above-mentioned each optimum condition, can any combination to get each preferable reality of the present invention
Example.
The positive effect of the present invention is that:
Two-dimensional calibration method, projector and the calibration system of projector of the invention can make to improve projector projects shadow
The fidelity factor of picture promotes drop shadow effect, it is more accurate to establish 3D model using projector grating.
Detailed description of the invention
Fig. 1 is the flow chart of the two-dimensional calibration method of the projector of the embodiment of the present invention 1.
Fig. 2 is the flow chart of the two-dimensional calibration method of the projector of the embodiment of the present invention 2.
Specific embodiment
The present invention is further illustrated below by the mode of embodiment, but does not therefore limit the present invention to the reality
It applies among a range.
Embodiment 1
The present embodiment provides a kind of calibration system, the calibration system includes a projector and a filming apparatus.
The projector includes a projection module, an acquisition module and a calibration module.
The projection module is equipped with a brightness for successively projecting several grayscale images, each grayscale image according to brightness value
Value.
Specifically, the projection module is used to obtain the image of a n-bit, and the image of the n-bit is divided into 2n/
The gray level image of m brightness degree, the difference of the brightness value of any two neighboring gradation image are m.
In the present embodiment, the n value is that 8, m value is 2.
The filming apparatus is used to shoot the grayscale image of the projector projects to obtain filmed image, each shooting shadow
As being corresponded with measurement image；
The calibration system of the present embodiment further includes a processing end, the processing end be used to generate the brightness value of grayscale image with
The corresponding relationship of the luminance information of filmed image.Wherein the luminance information includes between at least two brightness values and brightness value
Related information.
The acquisition module is for obtaining the corresponding relationship.
The calibration module is used to obtain a measurement image using one target image of inversion process of the corresponding relationship.
Specifically, in the present embodiment:
For a target filmed image, processing end is used to the corresponding filmed image of target filmed image being divided into several shadows
As region, and obtain the brightness value of each imagery zone and the location information of imagery zone；Then according to the bright of imagery zone
Angle value and location information obtain the luminance information, ultimately produce the brightness value of grayscale image and the luminance information of filmed image
Corresponding relationship.
Since area grayscale value different in filmed image is different, the application is according to the gray value of different zones to calibrate
Projector is stated, projector can be made to obtain higher fidelity.
3D model can also be generated using the calibration system, comprising:
The projector is also used to be obtained a grating using one raster image of inversion process of the corresponding relationship and be calibrated
Image.
The projector is also used to project the grating measurement image to a target object.
The projection image that the filming apparatus is used to shoot the grating measurement image has generated feedback image；
The processing end is used for the 3D model of the target object according to the feedback video generation.
In the prior art, 3D is rebuild needs to calculate the phase shift of each point according to the grating that projects, it is to capturing
The linearity of image is highly sensitive.When doing projection grating with consumer projection, the brightness of projection have passed through Gamma variation, projection
The nonuniformity of apparatus body, when capturing projection grating with industrial camera, the original image tonal gradation of projection and the ash of candid photograph
Spending grade, there are non-linear relations.General approach is the gamma parameter of preparatory estimation projection output, is subtracted to the image of candid photograph
After going a background luminance, the gamma that then negates transformation obtains the tonal gradation of approximate projection image, throwing is calculated with this
The algorithm of shadow grating.
The method has the disadvantage that
The method of passive type correction needs to estimate background value under different luminance backgrounds.Background luminance may be in real time
Variation, therefore 3D reconstruction requires to re-evaluate background luminance every time, and system real time is caused to be deteriorated.If disposable estimation,
System robustness is deteriorated, and system accuracy is caused to be deteriorated.
Since background luminance is not uniformly, in order to estimate the brightness of entire projector space in projector projects area of space
There are larger problems for value, and as time change or the shadow change, will lead to background luminance and changing, cause very
Background luminance be it is unstable, it is not high so as to cause 3D reconstruction precision.
Existing active disadvantage: exist with polynomial curve fitting is non-linear and cannot restore completely linear.
The present embodiment is able to solve drawbacks described above, realizes the fidelity factor for improving projector projects image, promotes drop shadow effect,
It is more accurate that 3D model is established using projector grating
First find out the linear relationship of projector brightness and projection input greyscale level.By the ash for projecting different brightness degrees
Degree figure, the central part of view field is captured using advanced camera, analyzes the non-thread of projection image tonal gradation and brightness degree
Sexual intercourse indicates received filmed image with function representation LCD_out=f (input_level), LCD_out, above-mentioned non-linear
Relationship (corresponding relationship) can in tabular form or curve coefficients expression way, it is ensured that the entirety of function representation can not
Reach minimum, if function representation is inaccurate, can indicate non-linear conversion relationship according to table corresponding relationship.
It is nonlinear in order to solve the problems, such as, before picture projection, picture according to the gamma of LCD, inverse transformation is carried out,
When reprojection, Gamma variation (Gamma correction) is being carried out, the brightness projected in this way is exactly linear.It solves and has
The nonlinear problem of gamma projection.
Referring to Fig. 1, using above-mentioned calibration system, the present embodiment provides a kind of two-dimensional calibration methods, comprising:
Step 100, the image for obtaining a n-bit；
The image of the n-bit is divided into 2 by step 101nThe gray level image of/m brightness degree, each grayscale image
Equipped with a brightness value, the difference of the brightness value of any two neighboring gradation image is m；
Step 102 shoots the grayscale image of the projector projects to obtain filmed image, each filmed image and calibration
Image corresponds；
Step 103, for a target filmed image, the corresponding filmed image of target filmed image is divided into several images
Region；
The location information of step 104, the brightness value for obtaining each imagery zone and imagery zone；
Step 105 obtains the luminance information according to the brightness value and location information of imagery zone；
The corresponding relationship of the luminance information of step 106, the brightness value for obtaining grayscale image and filmed image.
In the present embodiment, the number of the imagery zone is 12, and the area in each region is identical, wherein the brightness
Information includes at least 12 related informations between brightness value and brightness value, the related information refer to the brightness value in region with
Position in filmed image is associated.
Step 107, the projector obtain a calibration shadow using one target image of inversion process of the corresponding relationship
Picture.
In the present embodiment, the n value is that 8, m value is 2.
128 gray level images are obtained, the brightness value of each image is successively 0,2,4,6 ..., it is corresponding, the present embodiment
Filmed image obtain view field luminance information be respectively corresponding to 0 one include 12 brightness values and location information
List, corresponding to 2 one include the list of 12 brightness values and location information, corresponding to 4 one include 12 bright
The list of angle value and location information, corresponding to 6 one include 12 brightness values and location information list ....
Mapping form is established using the luminance information of above-mentioned gray level image and filmed image.
The measurement image of more fidelity can be obtained come processing target image using the inverse transformation of the mapping.
It can be realized 3D modeling using above-mentioned two-dimensional calibration method, comprising:
The projector obtains a grating measurement image using one raster image of inversion process of the corresponding relationship；
The projector projects the grating measurement image to a target object；
The projection image for shooting the grating measurement image has generated feedback image；
According to the 3D model of target object described in the feedback video generation.
Two-dimensional calibration method, projector and the calibration system of the projector of the present embodiment can make to improve projector projects
The fidelity factor of image promotes drop shadow effect, it is more accurate to establish 3D model using projector grating.
Embodiment 2
The present embodiment is substantially the same manner as Example 1, the difference is that only:
The filming apparatus is used to shoot the grayscale image of the projector projects to obtain initial image；
View field's image of the processing end projector in the initial image for identification specifically leads to
Cross the view field's image for comparing the projector that the difference section in adjacent initial image obtains in the initial image.
The processing end is also used to intercept the image of a pre-set dimension in view field's image as the filmed image.
The processing end is also used to identify view field's image of the projector in the initial image, and obtains and remove
Then background video other than view field's image obtains the average brightness of background area, finally average according to brightness
Value obtains a background luminance offset；
The acquisition module of the projector is used to obtain the brightness value of grayscale image and the optimization brightness value of filmed image
Corresponding relationship, the optimization brightness value are the filmed image in conjunction with the brightness value after the background luminance offset.
Corresponding, the two-dimensional calibration method of the present embodiment includes:
Step 200 shoots the grayscale image of the projector projects to obtain initial image；
View field's image of step 201, the projector in the identification initial image, it is adjacent initial by comparing
Difference section in image obtains view field's image of the projector in the initial image.
Step 202 intercepts the image of a pre-set dimension as the filmed image in view field's image.
View field's image of step 203, the projector in the identification initial image；
The background video of step 204, acquisition in addition to view field's image；
Step 205, the average brightness for obtaining background area；
Step 206 obtains a background luminance offset according to average brightness；
The corresponding relationship of the optimization brightness value of step 207, the brightness value for obtaining grayscale image and filmed image, the optimization
Brightness value is the filmed image in conjunction with the brightness value after the background luminance offset.
Although specific embodiments of the present invention have been described above, it will be appreciated by those of skill in the art that these
It is merely illustrative of, protection scope of the present invention is defined by the appended claims.Those skilled in the art is not carrying on the back
Under the premise of from the principle and substance of the present invention, many changes and modifications may be made, but these are changed
Protection scope of the present invention is each fallen with modification.
Claims (10)
1. a kind of two-dimensional calibration method of projector, which is characterized in that the two-dimensional calibration method includes:
The projector successively projects several grayscale images according to brightness value, and each grayscale image is equipped with a brightness value；
The grayscale image of the projector projects is shot to obtain filmed image, each filmed image and measurement image one are a pair of
It answers；
The corresponding relationship of the brightness value of grayscale image and the luminance information of filmed image is obtained, wherein the luminance information includes extremely
Few two related informations between brightness value and brightness value；
The projector obtains a measurement image using one target image of inversion process of the corresponding relationship.
2. two-dimensional calibration method as described in claim 1, which is characterized in that the brightness value for obtaining grayscale image and shooting
The corresponding relationship of the luminance information of image includes:
For a target filmed image, the corresponding filmed image of target filmed image is divided into several imagery zones；
Obtain the brightness value of each imagery zone and the location information of imagery zone；
The luminance information is obtained according to the brightness value of imagery zone and location information；
Obtain the corresponding relationship of the brightness value of grayscale image and the luminance information of filmed image.
3. two-dimensional calibration method as described in claim 1, which is characterized in that the corresponding relationship is the brightness value of grayscale image
With the mapping table of the luminance information of filmed image, the projector successively projects several grayscale images according to brightness value and includes:
Obtain the image of a n-bit；
The image of the n-bit is divided into 2nThe gray level image of/m brightness degree, the brightness of any two neighboring gradation image
The difference of value is m.
4. two-dimensional calibration method as described in claim 1, which is characterized in that the gray scale shadow of the shooting projector projects
As including: to obtain filmed image
The grayscale image of the projector projects is shot to obtain initial image；
The view field of the projector in the initial image is obtained by comparing the difference section in adjacent initial image
Image；
The image of a pre-set dimension is intercepted in view field's image as the filmed image.
5. two-dimensional calibration method as claimed in claim 4, which is characterized in that the two-dimensional calibration method includes:
Identify view field's image of the projector in the initial image；
Obtain the background video in addition to view field's image；
Obtain the average brightness of background area；
A background luminance offset is obtained according to average brightness；
The corresponding relationship of the brightness value of grayscale image and the optimization brightness value of filmed image is obtained, the optimization brightness value is described
Filmed image is in conjunction with the brightness value after the background luminance offset.
6. two-dimensional calibration method as described in claim 1, which is characterized in that the two-dimensional calibration method includes:
The projector obtains a grating measurement image using one raster image of inversion process of the corresponding relationship；
The projector projects the grating measurement image to a target object；
The projection image for shooting the grating measurement image has generated feedback image；
According to the 3D model of target object described in the feedback video generation.
7. a kind of projector, which is characterized in that the projector includes a projection module, an acquisition module and a calibrating die
Block,
The projection module is equipped with a brightness value for successively projecting several grayscale images, each grayscale image according to brightness value；
The acquisition module is used to obtain the corresponding relationship of the brightness value of grayscale image and the luminance information of filmed image, wherein institute
Stating luminance information includes the related information between at least two brightness values and brightness value, and the filmed image is to shoot the projection
Filmed image acquired in the grayscale image of instrument projection, each filmed image and measurement image correspond；
The calibration module is used to obtain a measurement image using one target image of inversion process of the corresponding relationship.
8. projector as claimed in claim 7, which is characterized in that the corresponding relationship is brightness value and the shooting of grayscale image
The mapping table of the luminance information of image, the projection module are used to obtain the image of a n-bit, and by the image of the n-bit
It is divided into 2nThe gray level image of/m brightness degree, the difference of the brightness value of any two neighboring gradation image are m.
9. projector as claimed in claim 7, which is characterized in that the brightness value for obtaining module and being used to obtain grayscale image
With the corresponding relationship of the optimization brightness value of filmed image, the optimization brightness value is filmed image combination background luminance compensation
Brightness value after value, the background luminance offset pass through the background video in the filmed image in addition to view field's image
Average brightness obtain.
10. a kind of calibration system, which is characterized in that the calibration system includes a projector and a filming apparatus, the school
Barebone is for realizing the two-dimensional calibration method as described in any one of claim 1 to 6.
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| CN110176065A (en) * | 2019-05-27 | 2019-08-27 | 盎锐（上海）信息科技有限公司 | Model acquisition methods and device based on space encoding |
| CN110276838A (en) * | 2019-05-30 | 2019-09-24 | 盎锐（上海）信息科技有限公司 | Model acquisition methods and device based on laser-projector |
| CN110264558A (en) * | 2019-05-30 | 2019-09-20 | 盎锐（上海）信息科技有限公司 | Model acquisition methods and device based on laser-projector |
| CN110264558B (en) * | 2019-05-30 | 2023-02-10 | 盎锐（上海）信息科技有限公司 | Model obtaining method and device based on laser projector |
| CN110276838B (en) * | 2019-05-30 | 2023-04-28 | 盎锐（上海）信息科技有限公司 | Model acquisition method and device based on laser projector |
| CN113589629A (en) * | 2020-04-30 | 2021-11-02 | 华为技术有限公司 | Projection display device and calibration method thereof |
| CN113596423A (en) * | 2021-09-29 | 2021-11-02 | 深圳市纵维立方科技有限公司 | Brightness correction method and device, electronic equipment and readable storage medium |
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