A texture mapping homonymous point adjustment method, device and storage medium

Abstract

The embodiment of the present invention discloses a texture mapping homonymous point adjustment method, device and storage medium, which perform distortion correction on an original image of a target object to obtain a first distortion-corrected photo; render the obtained three-dimensional model of the target object to obtain a three-dimensional model rendering image; perform distortion correction on the three-dimensional model rendering image to obtain a second distortion-corrected photo; obtain homonymous points on the first distortion-corrected photo and the second distortion-corrected photo, wherein the homonymous point is a point in the target object corresponding to a point at the same position in the original image and the three-dimensional model; superimpose and display the first distortion-corrected photo and the second distortion-corrected photo; adjust the homonymous points of the first distortion-corrected photo and the homonymous points of the second distortion-corrected photo according to the degree of alignment of the superimposed display, thereby realizing that it is possible to determine whether there is an error in the external parameters of a camera without performing complete texture mapping and adjust the external parameters of the camera by adjusting the homonymous points.

Description

Technical Field

[0001] The present invention relates to the field of computer graphics, and in particular to a method, device and storage medium for adjusting homonymous points of texture mapping. Background Art

[0002] Camera calibration is a relatively basic and important prerequisite step in computer vision tasks. Camera calibration is simply the process of converting from the world coordinate system to the camera coordinate system, and then from the camera coordinate system to the image coordinate system, that is, the process of finding the final projection matrix. The projection matrix is ​​related to the internal and external parameters of the camera.

[0003] The internal parameters of the camera are parameters related to the camera's own characteristics, such as the camera's focal length, pixel size, etc. The external parameters of the camera are parameters in the world coordinate system, such as the camera's position, rotation direction, etc. When the external parameters of the camera are calculated, the accuracy of the camera's external parameters also needs to be verified. The general method of verifying the accuracy of external parameters is to directly map them to the model to see the final effect, or to calculate the reprojection error to evaluate the external parameters. Since the direct mapping method requires a complete texture mapping process, it will take a long time for large amounts of data. Evaluating the accuracy of external parameters through reprojection errors is not intuitive, and it is impossible to provide actionable control point selection optimization suggestions. Summary of the invention

[0004] Based on this, it is necessary to propose a method, device and storage medium for adjusting the same-name points of texture mapping to address the above problems, which can determine whether there are errors in the external parameters of the camera without performing complete texture mapping and adjust the external parameters of the camera by adjusting the same-name points.

[0005] A method for adjusting homonymous points of texture mapping, the method comprising:

[0006] Performing distortion correction on the obtained original image of the target object to obtain a first distortion-corrected photo;

[0007] Rendering the obtained three-dimensional model of the target object to obtain a three-dimensional model rendering image;

[0008] Performing distortion correction on the three-dimensional model rendering image to obtain a second distortion-corrected photo;

[0009] Acquire the same-name points on the first distortion-corrected photo and the second distortion-corrected photo, wherein the same-name point is a point in the target object corresponding to the same position in the original image and the three-dimensional model;

[0010] Overlaying and displaying the first distortion-corrected photo and the second distortion-corrected photo;

[0011] The key points of the first distortion-corrected photo and the key points of the second distortion-corrected photo are adjusted according to the degree of alignment shown in the overlay.

[0012] A texture mapping homonymous point adjustment device, the device comprising:

[0013] A first obtaining module, used to perform distortion correction on the obtained original image to obtain a first distortion corrected photo;

[0014] A second obtaining module is used to render the obtained three-dimensional model to obtain a three-dimensional model rendering image;

[0015] A third obtaining module is used to perform distortion correction on the three-dimensional model rendering image to obtain a second distortion-corrected photo;

[0016] A fourth acquisition module is used to obtain the same-name points on the first distortion-corrected photo and the second distortion-corrected photo, wherein the same-name point is a point in the target object corresponding to the same position in the original image and the three-dimensional model;

[0017] A first display module, used for superimposing and displaying the first distortion-corrected photo and the second distortion-corrected photo;

[0018] The first adjustment module is used to adjust the same-name points according to the degree of alignment of the superimposed display, wherein the same-name points are points in the target object corresponding to the same positions in the original image and the three-dimensional model.

[0019] A computer-readable storage medium stores a computer program, which, when executed by a processor, causes the processor to perform the following steps:

[0020] Performing distortion correction on the obtained original image of the target object to obtain a first distortion-corrected photo;

[0021] Rendering the obtained three-dimensional model of the target object to obtain a three-dimensional model rendering image;

[0022] Performing distortion correction on the three-dimensional model rendering image to obtain a second distortion-corrected photo;

[0023] Acquire the same-name points on the first distortion-corrected photo and the second distortion-corrected photo, wherein the same-name point is a point in the target object corresponding to the same position in the original image and the three-dimensional model;

[0024] Overlaying and displaying the first distortion-corrected photo and the second distortion-corrected photo;

[0025] The key points of the first distortion-corrected photo and the key points of the second distortion-corrected photo are adjusted according to the degree of alignment shown in the overlay.

[0026] The above-mentioned texture mapping homonymous point adjustment method, device and storage medium obtain homonymous points on a first distortion-corrected photo and a second distortion-corrected photo, and compare the position deviations between the homonymous points on the first distortion-corrected photo and the homonymous points on the second distortion-corrected photo by superimposing and displaying, and judge whether there are errors in the external parameters of the camera from the position deviations between the homonymous points, thereby achieving the goal of judging whether there are errors in the external parameters of the camera and adjusting the external parameters of the camera by adjusting the homonymous points without performing a complete texture mapping. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] in:

[0029] Figure 1 A schematic diagram of a method for adjusting the same-name points of texture mapping;

[0030] Figure 2 A flowchart of a method for adjusting the same-name points of texture mapping in one embodiment;

[0031] Figure 3 It is a structural block diagram of a texture mapping homonymous point adjustment device in one embodiment;

[0032] Figure 4 FIG. 4 is a structural block diagram of a computer device in one embodiment. DETAILED DESCRIPTION

[0033] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0034] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0035] It should be noted that the terms "include", "comprises" and "have" and any variations thereof in the specification and claims of the present application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, terminal, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices. In the claims, specification and drawings of the present application, relational terms such as "first" and "second" are merely used to distinguish one entity / operation / object from another entity / operation / object, and do not necessarily require or imply any such actual relationship or order between these entities / operations / objects.

[0036] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0037] like Figure 1 As shown, the present invention takes into account that the method for verifying camera external parameters in the prior art has certain shortcomings, so a texture mapping homonymous point adjustment method is used to verify the camera external parameters.

[0038] like Figure 2 As shown, the present invention proposes a method for adjusting the same-name points of texture mapping, which specifically includes the following steps:

[0039] Step 100, performing distortion correction on the obtained original image of the target object to obtain a first distortion corrected image.

[0040] Among them, the camera lens will introduce distortion due to the manufacturing accuracy and assembly process deviation, resulting in distortion of the original image. Lens distortion is divided into two categories: radial distortion and tangential distortion. Therefore, in order to reduce the distortion of the original image, the original image is corrected for distortion.

[0041] Step 102: Render the three-dimensional model of the target object to obtain a three-dimensional model rendering image.

[0042] The three-dimensional rendering engine of the present invention is developed based on OpenGL, which is a cross-language, cross-platform application programming interface for rendering 2D and 3D vector graphics. Graphics acceleration hardware (such as graphics cards) usually includes OpenGL implementation. The parallel computing capability of the GPU can be called through the OpenGL programming interface. By writing vertex shaders and fragment shaders in OpenGL, the three-dimensional model of the target object is rendered to obtain a three-dimensional model rendering image.

[0043] Step 104: perform distortion correction on the three-dimensional model rendering image to obtain a second distortion-corrected photo.

[0044] Among them, since the 3D model rendering image may also be distorted, it is necessary to perform distortion correction on the 3D model rendering image to obtain a second distortion-corrected photo, and the second distortion-corrected photo is the mask image.

[0045] Step 106, obtaining the same-name points on the first distortion-corrected photo and the second distortion-corrected photo, wherein the same-name point is a point in the target object that corresponds to the same position in the original image and the three-dimensional model.

[0046] Among them, a point in the target object that corresponds to the same position in the photo and the 3D model is called a homonymous point. For example, you can load the first distortion-corrected photo and the second distortion-corrected photo in the software at the same time, select the first distortion-corrected photo in the human-computer interaction interface to pick up a point, which is generally a point with obvious picking features and high recognition, and then pick up a point at the same position in the second distortion-corrected photo to form a pair of homonymous points.

[0047] Step 108: The first distortion-corrected photo and the second distortion-corrected photo are superimposed and displayed.

[0048] The first distortion-corrected photo and the second distortion-corrected photo are superimposed and displayed to compare the same-name points. Theoretically, the same-name points on the first distortion-corrected photo and the second distortion-corrected photo are coincident, that is, there is no camera parameter error. However, since the camera parameters are affected by other factors, there will actually be position deviations between the same-name points.

[0049] Step 110, adjusting the same-name points of the first distortion-corrected photo and the same-name points of the second distortion-corrected photo according to the degree of alignment of the superimposed display, wherein the same-name point is a point in the target object corresponding to the same position in the original image and the three-dimensional model.

[0050] The degree of alignment refers to the positional deviation between the same-name points of the first distortion-corrected photo and the same-name points of the second distortion-corrected photo. Based on the degree of alignment, it can be determined whether the same-name points of the first distortion-corrected photo and the same-name points of the second distortion-corrected photo coincide with each other. If there is a positional deviation, it proves that there is an accuracy error in the camera's external parameters.

[0051] In one embodiment, adjusting the homonymous points of the first distortion-corrected photo and the homonymous points of the second distortion-corrected photo according to the degree of alignment of the superimposed display includes: when the second distortion-corrected photo is biased to the left relative to the first distortion-corrected photo, adjusting the homonymous points of the second distortion-corrected photo to the right; when the second distortion-corrected photo is biased to the right relative to the first distortion-corrected photo, adjusting the homonymous points of the second distortion-corrected photo to the left.

[0052] Among them, adjusting the homonymous points of the first distortion-corrected photo and the homonymous points of the second distortion-corrected photo according to the degree of alignment displayed by the superimposition is to improve the accuracy of the external parameters. When the second distortion-corrected photo is biased to the left relative to the first distortion-corrected photo, it proves that there is a positional deviation between the homonymous points, and the homonymous points need to be adjusted to the right, thereby adjusting the accuracy of the external parameters. When the second distortion-corrected photo is biased to the right relative to the first distortion-corrected photo, it proves that there is a positional deviation between the homonymous points, and the homonymous points need to be adjusted to the left, thereby adjusting the accuracy of the external parameters.

[0053] In one embodiment, the method of obtaining the same-name points on the first distortion-corrected photo and the second distortion-corrected photo includes: determining a point on the first distortion-corrected photo; determining a point with the same position on the second distortion-corrected photo according to the position of the point determined on the first distortion-corrected photo; and obtaining the same-name points on the first distortion-corrected photo and the second distortion-corrected photo.

[0054] The same-name points on the first distortion-corrected photo and the second distortion-corrected photo are obtained by first determining the point to be selected on the first distortion-corrected photo, and then selecting a point with the same position on the second distortion-corrected photo according to the position of the selected point, thereby obtaining the same-name points. The purpose of this is to improve the accuracy of obtaining the same-name points.

[0055] In one embodiment, after performing distortion correction on the three-dimensional model rendering image to obtain a second distortion-corrected photo, the method further includes: setting the transparency value of the second distortion-corrected photo to half of that of the first distortion-corrected photo.

[0056] Among them, the first distortion-corrected photo can be understood as a reference photo, so the transparency value of the second distortion-corrected photo is set to half of the first distortion-corrected photo in order to more intuitively observe whether there is a distance deviation between the same-name points in the first distortion-corrected photo and the second distortion-corrected photo when they are superimposed and displayed.

[0057] The above-mentioned texture mapping homonymous point adjustment method obtains a first distortion-corrected photo by performing distortion correction on the original image of the target object; renders the obtained three-dimensional model of the target object to obtain a three-dimensional model rendering image; performs distortion correction on the three-dimensional model rendering image to obtain a second distortion-corrected photo; obtains homonymous points on the first distortion-corrected photo and the second distortion-corrected photo, wherein the homonymous point is a point in the target object corresponding to the same position in the original image and the three-dimensional model; superimposes and displays the first distortion-corrected photo and the second distortion-corrected photo; and adjusts the homonymous points of the first distortion-corrected photo and the homonymous points of the second distortion-corrected photo according to the degree of alignment of the superimposed display. By obtaining homonymous points on the first distortion-corrected photo and obtaining homonymous points on the second distortion-corrected photo, the position deviation between the homonymous points on the first distortion-corrected photo and the homonymous points on the second distortion-corrected photo is compared by superimposing and displaying, and the error of the camera's external parameters is judged from the position deviation between the homonymous points, so that the camera's external parameters can be judged whether there is an error without performing complete texture mapping and the camera's external parameters can be adjusted by adjusting the homonymous points.

[0058] like Figure 3 As shown, the present invention proposes a texture mapping homonymous point adjustment device, comprising:

[0059] A first obtaining module 200 is used to perform distortion correction on the obtained original picture to obtain a first distortion-corrected picture;

[0060] The second obtaining module 202 is used to render the obtained three-dimensional model to obtain a three-dimensional model rendering image;

[0061] A third obtaining module 204 is used to perform distortion correction on the 3D model rendering image to obtain a second distortion corrected photo;

[0062] A fourth obtaining module 206 is used to obtain the same-name points on the first distortion-corrected photo and the second distortion-corrected photo, wherein the same-name point is a point in the target object corresponding to the same position in the original photo and the three-dimensional model;

[0063] A first display module 208, used for displaying the first distortion-corrected photo and the second distortion-corrected photo in a superimposed manner;

[0064] The first adjustment module 210 is used to adjust the same-name points according to the degree of alignment of the superimposed display, wherein the same-name points are points in the target object corresponding to the same positions in the original image and the three-dimensional model.

[0065] In one embodiment, the first adjustment module is also used for: when the second distortion corrected photo is biased to the left relative to the first distortion corrected photo, adjusting the same name point of the second distortion corrected photo to the right; when the second distortion corrected photo is biased to the right relative to the first distortion corrected photo, adjusting the same name point of the second distortion corrected photo to the left.

[0066] In one embodiment, the fourth acquisition module is also used to: determine a point on the first distortion-corrected photo; determine a point with the same position on the second distortion-corrected photo based on the position of the point determined on the first distortion-corrected photo; and obtain the same-name points on the first distortion-corrected photo and the second distortion-corrected photo.

[0067] In one embodiment, the third obtaining module further includes: a setting unit, configured to set the transparency value of the second distortion-corrected photo to half of that of the first distortion-corrected photo.

[0068] It should be noted that, for the parts not described in detail in this application, reference can be made to the description of the aforementioned embodiments.

[0069] The above-mentioned texture mapping homonymous point adjustment device performs distortion correction on the original image of the target object to obtain a first distortion-corrected photo; renders the obtained three-dimensional model of the target object to obtain a three-dimensional model rendering image; performs distortion correction on the three-dimensional model rendering image to obtain a second distortion-corrected photo; obtains homonymous points on the first distortion-corrected photo and the second distortion-corrected photo, wherein the homonymous point is a point in the target object corresponding to the same position in the original image and the three-dimensional model; superimposes and displays the first distortion-corrected photo and the second distortion-corrected photo; and adjusts the homonymous points of the first distortion-corrected photo and the homonymous points of the second distortion-corrected photo according to the degree of alignment of the superimposed display. By obtaining homonymous points on the first distortion-corrected photo and obtaining homonymous points on the second distortion-corrected photo, and comparing the position deviations between the homonymous points on the first distortion-corrected photo and the homonymous points on the second distortion-corrected photo through superimposed display, it is determined that there is an error in the external parameters of the camera from the position deviation between the homonymous points, so that it is possible to determine whether there is an error in the external parameters of the camera without performing complete texture mapping and adjust the external parameters of the camera by adjusting the homonymous points.

[0070] Figure 4 FIG. 1 shows an internal structure diagram of a computer device in an embodiment. The computer device may be a terminal or a server. Figure 4As shown, the computer device includes a processor, a memory and a network interface connected via a system bus. The memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor may implement a method for adjusting the same-name points of texture mapping. The internal memory may also store a computer program. When the computer program is executed by the processor, the processor may implement a method for adjusting the same-name points of texture mapping. Those skilled in the art will appreciate that Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0071] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the above-mentioned texture mapping same-name point adjustment method.

[0072] In one embodiment, a computer-readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, the processor executes the steps of the above-mentioned method for adjusting the same-name points of texture mapping.

[0073] It can be understood that the above-mentioned method, device and computer-readable storage medium for adjusting the same-name points of texture mapping belong to a general inventive concept, and the embodiments are applicable to each other.

[0074] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0075] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0076] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for adjusting the same-name points of texture mapping, characterized in that: The method comprises: Performing distortion correction on the obtained original image of the target object to obtain a first distortion-corrected photo; Rendering the obtained three-dimensional model of the target object to obtain a three-dimensional model rendering image; Performing distortion correction on the three-dimensional model rendering image to obtain a second distortion-corrected photo; Acquire the same-name points on the first distortion-corrected photo and the second distortion-corrected photo, wherein the same-name point is a point in the target object corresponding to the same position in the original image and the three-dimensional model; Overlaying and displaying the first distortion-corrected photo and the second distortion-corrected photo; adjusting the homonymous points of the first distortion-corrected photo and the homonymous points of the second distortion-corrected photo according to the degree of alignment displayed by the superposition; The adjusting the same-name points of the first distortion-corrected photo and the same-name points of the second distortion-corrected photo according to the alignment degree of the superimposed display includes: When the second distortion-corrected photo is biased to the left relative to the first distortion-corrected photo, the same-name point of the second distortion-corrected photo is adjusted to the right; When the second distortion-corrected photo is biased to the right relative to the first distortion-corrected photo, the same-name point of the second distortion-corrected photo is adjusted to the left.

2. The method according to claim 1, characterized in that The obtaining of the same-name points on the first distortion-corrected photo and the second distortion-corrected photo includes: Determine a point on the first distortion-corrected photograph; Determining a point having the same position on the second distortion-corrected photo according to the position of the point determined on the first distortion-corrected photo; Obtain the same-name points on the first distortion-corrected photo and the second distortion-corrected photo.

3. The method according to claim 1, characterized in that After the three-dimensional model rendering picture is subjected to distortion correction to obtain a second distortion-corrected picture, the method further includes: Set the transparency value of the second distortion-corrected photo to half of that of the first distortion-corrected photo.

4. A texture mapping homonymous point adjustment device, characterized in that: The device comprises: A first obtaining module, used to perform distortion correction on the obtained original image to obtain a first distortion corrected photo; A second obtaining module is used to render the obtained three-dimensional model to obtain a three-dimensional model rendering image; A third obtaining module is used to perform distortion correction on the three-dimensional model rendering image to obtain a second distortion-corrected photo; A fourth acquisition module is used to obtain the same-name points on the first distortion-corrected photo and the second distortion-corrected photo, wherein the same-name point is a point in the target object corresponding to the same position in the original image and the three-dimensional model; A first display module, used for superimposing and displaying the first distortion-corrected photo and the second distortion-corrected photo; A first adjustment module, configured to adjust the same-name points according to the degree of alignment of the superimposed display, wherein the same-name points are points in the target object corresponding to the same positions in the original image and the three-dimensional model; Wherein, the first adjustment module is also used for: When the second distortion-corrected photo is biased to the left relative to the first distortion-corrected photo, the same-name point of the second distortion-corrected photo is adjusted to the right; When the second distortion-corrected photo is biased to the right relative to the first distortion-corrected photo, the same-name point of the second distortion-corrected photo is adjusted to the left.

5. The device according to claim 4, characterized in that The fourth obtaining module is also used for: Determine a point on the first distortion-corrected photograph; Determining a point having the same position on the second distortion-corrected photo according to the position of the point determined on the first distortion-corrected photo; Obtain the same-name points on the first distortion-corrected photo and the second distortion-corrected photo.

6. The device according to claim 4, characterized in that The third acquisition module also includes: The setting unit is used to set the transparency value of the second distortion-corrected photo to half of the transparency value of the first distortion-corrected photo.

7. A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor is caused to perform the steps of the method according to any one of claims 1 to 3.

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