CN111131801A - Projector correction system and method and projector - Google Patents
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Abstract
The invention discloses a projector correction system, a projector correction method and a projector, wherein the projector correction system comprises a first image acquisition device, a second image acquisition device, a control module and a setting module. According to the invention, the projection patterns are acquired by the first image acquisition device and the second image acquisition device, the two-dimensional coordinates of the marked patterns are respectively obtained, the three-dimensional coordinates of the marked patterns are obtained according to the two-dimensional coordinates, the rotation matrix and the displacement matrix of the marked patterns, and finally the correction picture of the projection picture is obtained according to the three-dimensional coordinates of the marked patterns and the preset conditions, so that the adjustment of the projection shape of the horizontal trapezoid of the projector is realized.
Description
Technical Field
The invention relates to the field of image equipment, in particular to a projector correction system and method and a projector.
Background
In the process of using the projector, if the projection direction and the projection plane cannot guarantee the vertical relation, the projected image becomes a trapezoid. The keystone correction technique is to restore the original skewed keystone image to the original scaled rectangular image.
Generally, methods of keystone correction can be divided into two categories. In the first type, the angle of the projector relative to the wall surface is measured mainly by a sensor, so that correction is performed. In the second method, the shape and position of the image are automatically or semi-automatically corrected by observing the shape and position through human eyes or a camera.
For the first method, the general engineering implementation mainly uses an IMU (inertial sensor) to obtain an angle between the gravity direction (vertical direction) and the plane where the sensor is located, so as to calculate the elevation angle of the projection lens (in patent cn201611047366.x, CN201621262482.9, the above-mentioned method is adopted for optimization). However, the IMU can only obtain the elevation angle of the lens, and cannot obtain the angle of the projection in the horizontal direction relative to the projection plane, so the correction scheme based on the IMU can only make vertical correction, but cannot correct the horizontal direction.
For the second method, a common method is to shoot a projected fixed image through a camera. And analyzing the shape of the 2D image shot by the camera through a 2D (two-dimensional) graphic algorithm to correct the shape. Patents CN201420742819.0, CN201510830311.5, CN201220131532.5 all use such methods. However, the method needs to identify the 2D shape of the image projected in the camera image, but since the position photographed by the camera is difficult to be consistent with the position of human eyes, even if the projected image in the image photographed by the camera is rectangular, the accuracy of the correction result is difficult to be ensured.
Disclosure of Invention
The invention provides a projector correction system, a projector correction method and a projector, aiming at overcoming the defect of low accuracy of a two-dimensional image shape correction method in a trapezoidal horizontal correction method in the prior art.
The invention solves the technical problems through the following technical scheme:
a projector correction system comprises a first image acquisition device, a second image acquisition device, a control module and a setting module;
the control module is used for acquiring the projection patterns through the first image acquisition device and the second image acquisition device respectively and obtaining two-dimensional coordinates of the mark patterns in the acquired projection patterns respectively;
the control module is further used for acquiring a rotation matrix and a displacement matrix between the first image acquisition device and the second image acquisition device;
the control module is also used for obtaining the three-dimensional coordinates of the marked patterns according to the two-dimensional coordinates of the marked patterns, the rotation matrix and the displacement matrix;
the control module is further used for obtaining a correction picture of the projection picture according to the three-dimensional coordinates of the mark patterns and preset conditions, and projecting the correction picture through the projection lens, wherein the correction picture is formed after trapezoidal correction is carried out on the projection picture.
Optionally, the marking pattern is a black and white checkerboard;
and/or the first image acquisition device and the second image acquisition device are respectively arranged at two sides of the projection lens;
and/or the control module is used for obtaining the three-dimensional coordinates of the marking pattern according to a three-dimensional visual imaging principle and by utilizing the two-dimensional coordinates of the marking pattern, the rotation matrix and the displacement matrix, and the three-dimensional visual imaging principle comprises the following steps: according to the formula
Optionally, the preset condition includes: the three-dimensional coordinates of the marker pattern in the projection pattern acquired by the first image acquisition device or the second image acquisition device are positioned on the same plane;
the control module is used for acquiring a rectangular picture on the plane;
the correction picture is the rectangular picture.
Optionally, the preset condition further includes: and one vertical edge of the rectangular picture is a vertical edge of the projection pattern.
Optionally, the vertical side is a shorter vertical side in the projection pattern;
and/or the other vertical side of the rectangular picture is positioned at the same side of the other vertical side of the projection pattern relative to the position of one vertical side of the projection pattern;
and/or the resolution of the image of the horizontal side and the vertical side of the rectangular picture is the same.
A projector correction method, the projector correction method comprising:
projecting an image to a projection plane by a projection lens of the projector to form a projection picture;
setting marker patterns at four corners of the projection picture respectively;
acquiring the projection patterns through the first image acquisition device and the second image acquisition device respectively, and obtaining two-dimensional coordinates of the mark patterns in the acquired projection patterns respectively;
acquiring a rotation matrix and a displacement matrix between the first image acquisition device and the second image acquisition device;
obtaining a three-dimensional coordinate of the marking pattern according to the two-dimensional coordinate of the marking pattern, the rotation matrix and the displacement matrix;
and obtaining a correction picture of the projection picture according to the three-dimensional coordinates of the mark pattern and a preset condition, and projecting the correction picture through the projection lens, wherein the correction picture is formed after the projection picture is subjected to trapezoidal correction.
Optionally, the marking pattern is a black and white checkerboard;
and/or the first image acquisition device and the second image acquisition device are respectively arranged at two sides of the projection lens;
and/or obtaining the three-dimensional coordinates of the marking pattern by utilizing the two-dimensional coordinates, the rotation matrix and the displacement matrix of the marking pattern according to a three-dimensional visual imaging principle, wherein the three-dimensional visual imaging principle comprises the following steps: according to the formula
Optionally, the preset condition includes: the three-dimensional coordinates of the marker pattern in the projection pattern acquired by the first image acquisition device or the second image acquisition device are positioned on the same plane;
acquiring a rectangular picture on the plane;
the correction picture is the rectangular picture.
Optionally, the preset condition further includes: and one vertical edge of the rectangular picture is a vertical edge of the projection pattern.
Optionally, the vertical side is a shorter vertical side in the projection pattern;
and/or the other vertical side of the rectangular picture is positioned at the same side of the other vertical side of the projection pattern relative to the position of one vertical side of the projection pattern;
and/or the resolution of the image of the horizontal side and the vertical side of the rectangular picture is the same.
A projector comprising a projector correction system as described above.
The positive progress effects of the invention are as follows: according to the invention, the projection patterns are acquired by the first image acquisition device and the second image acquisition device, the two-dimensional coordinates of the marked patterns are respectively obtained, the three-dimensional coordinates of the marked patterns are obtained according to the two-dimensional coordinates, the rotation matrix and the displacement matrix of the marked patterns, and finally the correction picture of the projection picture is obtained according to the three-dimensional coordinates of the marked patterns and the preset conditions, so that the adjustment of the projection shape of the horizontal trapezoid of the projector is realized.
Drawings
Fig. 1 is a block diagram of a projector calibration system according to embodiment 1 of the present invention.
Fig. 2 is a schematic diagram illustrating a principle of use of the projector correction system according to embodiment 1 of the present invention.
Fig. 3 is a schematic diagram of a projection picture and a mark pattern of the projector calibration system according to embodiment 1 of the present invention.
Fig. 4 is a schematic diagram of the three-dimensional visual imaging principle of the projector correction system of embodiment 2 of the present invention.
Fig. 5 is a schematic diagram of a correction picture of the projector correction system according to embodiment 2 of the present invention.
Fig. 6 is a flowchart of a projector calibration method according to embodiment 3 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
The present embodiment provides a projector calibration system, as shown in fig. 1, the projector calibration system includes a first image capturing device 1, a second image capturing device 2, a control module 3, and a setting module 4.
As shown in fig. 2, the projection lens 51 of the projector 5 is used for projecting an image onto the projection plane 6 to form a projection picture 7, as shown in fig. 3, the setting module 4 is used for respectively setting mark patterns 8 on four corners of the projection picture 7, and the control module 3 is used for respectively acquiring the projection patterns through the first image acquisition device 1 and the second image acquisition device 2 and respectively obtaining two-dimensional coordinates of the mark patterns in the acquired projection patterns.
The control module 3 is further configured to obtain a rotation matrix and a displacement matrix between the first image acquisition device 1 and the second image acquisition device 2;
the control module 3 is also used for obtaining the three-dimensional coordinates of the marked patterns according to the two-dimensional coordinates, the rotation matrix and the displacement matrix of the marked patterns 8;
the control module 3 is further configured to obtain a correction picture of the projection picture 7 according to the three-dimensional coordinates of the mark pattern 8 and a preset condition, and project the correction picture through the projection lens 51, where the correction picture is a picture formed after trapezoidal correction of the projection picture 7.
In the embodiment, the projection patterns are acquired by the first image acquisition device and the second image acquisition device, the two-dimensional coordinates of the mark patterns are respectively obtained, the three-dimensional coordinates of the mark patterns are obtained according to the two-dimensional coordinates, the rotation matrix and the displacement matrix of the mark patterns, and the correction picture of the projection picture is finally obtained according to the three-dimensional coordinates of the mark patterns and the preset conditions, so that the projection shape of the horizontal trapezoid of the projector is adjusted.
Example 2
This embodiment provides a projector calibration system, and is different from embodiment 1 in that, as shown in fig. 4, the mark pattern 8 in this embodiment is selected as a black-and-white checkerboard, and in other embodiments, the mark pattern may be another commonly used mark pattern that is easy to recognize, and is not limited in detail herein. The first image capturing device 1 and the second image capturing device 2 are respectively disposed at two sides of the projection lens 51, and are easy to capture a complete projection picture 7.
The control module 3 is used for obtaining the three-dimensional coordinates of the marking patterns by utilizing the two-dimensional coordinates, the rotation matrix and the displacement matrix of the marking patterns according to a three-dimensional visual imaging principle, and the three-dimensional visual imaging principle comprises the following steps: according to the formula
Equation 1:
equation 2:
and equation 3:
calculating and obtaining the three-dimensional coordinates of the ith mark pattern acquired by the first image acquisition device 1
And a second image pickup device 2Three-dimensional coordinates of the acquired ith marker pattern
Wherein i is a number from 1 to 4,
for the two-dimensional coordinates of the ith marker pattern in the projection pattern acquired by the first image acquisition arrangement 1,
for the two-dimensional coordinates of the i-th marker pattern in the projection pattern acquired by the second image acquisition device 2, K1 is the internal reference of the first image acquisition device 1, K2 is the internal reference of the second image acquisition device 2, R is the rotation matrix, and T is the displacement matrix.
As shown in fig. 4, assuming that four marker patterns set in the projection screen 7 are P1-P4, respectively, the first image capturing device 1 captures a picture 11, and the second image capturing device 2 captures a picture 21, for example, by selecting P1, the control module 3 obtains two-dimensional coordinates (x11, y11) of P1 in the picture 11 according to preset pixel values, and also obtains two-dimensional coordinates (x21, y21) in the picture 21, K1 is an internal reference of the first image capturing device, K2 is an internal reference of the second image capturing device, R is a rotation matrix, T is a displacement matrix, (x11, y11), (x21, y21), K1, K2, and R, T are known quantities that can be known, and according to equations 1-3 above, the three-dimensional coordinates of the 4 marker patterns P1-P4, respectively, can be found (for the sake of unifying the coordinate system, we convert the measured results into the coordinates of the first image acquisition device 1).
Obtaining three-dimensional coordinates of P1-P4 as P1: (X)1,Y1,Z1),P2：(X2,Y2,Z2),P3：(X3,Y3,Z3)，P4：(X4,Y4,Z4)。
Next, the control module 3 may obtain a corrected picture of the projected picture according to the three-dimensional coordinates of the marker patterns P1-P4 and the preset conditions.
More specifically, the preset conditions are set as follows: the three-dimensional coordinates of the marker pattern 8 in the projection pattern acquired by the first image acquisition apparatus 1 or the second image acquisition apparatus 2 are located on the same plane.
In the present embodiment, the equation of the plane is determined by the least square method from the three-dimensional coordinates of four points P1-P4, i.e.
AX+BY+CZ+D＝0
Wherein A, B, C and D are four undetermined parameters of an equation.
The control module 3 is used for obtaining a rectangular picture on the plane, and the rectangular picture is a correction picture. The preset conditions for obtaining the correction picture comprise: one vertical side of the rectangular picture is a vertical side of the projection pattern. In order to ensure the display effect and improve the definition of the picture, the vertical side of the correction picture is selected as a shorter vertical side in the projection pattern, the other vertical side of the rectangular picture is positioned at the same side of the position of the other vertical side of the projection pattern relative to the one vertical side of the projection pattern, and the resolution of the images of the horizontal side and the vertical side of the rectangular picture are the same. In the embodiment, the shortest side in the vertical direction of the projection picture is selected as shown in fig. 5, i.e. P1P3 in the figure, and the correction picture is a rectangle P1P2 'P4' P3 in the figure, and the conditions are satisfied as follows:
1. point P2' is on the plane of P1P2P3P 4;
2. p2' P1 is perpendicular to P1P 3;
3. p2' P1 and P1P3 are consistent with the resolution of the original projection picture;
4. p2' is to the right of P1P3 (as is the position of P2P4 relative to P1P 3).
Example 3
The present embodiment provides a projector correction method, as shown in fig. 6, the projector correction method including:
step 301: projecting an image to a projection plane by a projection lens of the projector to form a projection picture;
step 302: setting mark patterns at four corners of the projection picture respectively;
step 303: acquiring projection patterns through a first image acquisition device and a second image acquisition device respectively, and obtaining two-dimensional coordinates of mark patterns in the acquired projection patterns respectively;
step 304: acquiring a rotation matrix and a displacement matrix between a first image acquisition device and a second image acquisition device;
step 305: obtaining a three-dimensional coordinate of the marked pattern according to the two-dimensional coordinate, the rotation matrix and the displacement matrix of the marked pattern;
step 306: and obtaining a correction picture of the projection picture according to the three-dimensional coordinates of the mark pattern and a preset condition, and projecting the correction picture through the projection lens, wherein the correction picture is formed after trapezoidal correction is carried out on the projection picture.
In the embodiment, the projection patterns are acquired by the first image acquisition device and the second image acquisition device, the two-dimensional coordinates of the mark patterns are respectively obtained, the three-dimensional coordinates of the mark patterns are obtained according to the two-dimensional coordinates, the rotation matrix and the displacement matrix of the mark patterns, and the correction picture of the projection picture is finally obtained according to the three-dimensional coordinates of the mark patterns and the preset conditions, so that the projection shape of the horizontal trapezoid of the projector is adjusted.
Example 4
The present embodiment provides a projector calibration method, which is different from embodiment 3 in that, more specifically, as shown in fig. 4, in the present embodiment, the mark pattern is selected to be a black and white checkerboard, and in other embodiments, the mark pattern may be other commonly used mark patterns easy to recognize, and is not limited in particular.
Obtaining the three-dimensional coordinate of the marked pattern by utilizing the two-dimensional coordinate, the rotation matrix and the displacement matrix of the marked pattern according to a three-dimensional visual imaging principle, wherein the three-dimensional visual imaging principle comprises the following steps: according to the formula
Equation 1:
equation 2:
and equation 3:
calculating and obtaining the three-dimensional coordinates of the ith mark pattern acquired by the first image acquisition device
And the three-dimensional coordinates of the ith marker pattern acquired by the second image acquisition device
Wherein i is a number from 1 to 4,
for the two-dimensional coordinates of the ith marker pattern in the projection pattern acquired by the first image acquisition device,
for the two-dimensional coordinates of the ith marker pattern in the projection pattern acquired by the second image acquisition device, K1 is the internal reference of the first image acquisition device, K2 is the internal reference of the second image acquisition device, R is the rotation matrix, and T is the displacement matrix.
As shown in fig. 4, it is assumed that the four marker patterns set in the projection picture are P1-P4, respectively, the first image capturing device captures the corresponding picture 11, the second image capturing device captures the corresponding picture 21, for example, by using P1, two-dimensional coordinates (x11, y11) of P1 in the picture 11 and two-dimensional coordinates (x21, y21) in the picture 21 are obtained according to preset pixel values, K1 is an internal reference of the first image acquisition device, K2 is an internal reference of the second image acquisition device, R is a rotation matrix, T is a displacement matrix, (x11, y11), (x21, y21), K1, K2, R, T are known quantities, and the two-dimensional coordinates are obtained by the above equations 1-3, the three-dimensional coordinates of the 4 marker patterns P1-P4, respectively, can be found (for the sake of unifying the coordinate system, we convert the measured results into the coordinates of the first image acquisition device 1).
Obtaining three-dimensional coordinates of P1-P4 as P1: (X)1,Y1,Z1),P2：(X2,Y2,Z2),P3：(X3,Y3,Z3)，P4：(X4,Y4,Z4)。
Next, a corrected picture of the projected picture can be obtained according to the three-dimensional coordinates of the marker patterns P1-P4 and preset conditions.
More specifically, the preset conditions are set as follows: the three-dimensional coordinates of the marker pattern in the projection pattern acquired by the first image acquisition device or the second image acquisition device are located on the same plane.
In the present embodiment, the equation of the plane is determined by the least square method from the three-dimensional coordinates of four points P1-P4, i.e.
AX+BY+CZ+D＝0
Wherein A, B, C and D are four undetermined parameters of an equation.
A rectangular picture is obtained on the plane, and the rectangular picture is a correction picture. The preset conditions for obtaining the correction picture comprise: one vertical side of the rectangular picture is a vertical side of the projection pattern. In order to ensure the display effect and improve the definition of the picture, the vertical side of the correction picture is selected as a shorter vertical side in the projection pattern, the other vertical side of the rectangular picture is positioned at the same side of the position of the other vertical side of the projection pattern relative to the one vertical side of the projection pattern, and the resolution of the images of the horizontal side and the vertical side of the rectangular picture are the same. In the embodiment, the shortest side in the vertical direction of the projection picture is selected as shown in fig. 5, i.e. P1P3 in the figure, and the correction picture is a rectangle P1P2 'P4' P3 in the figure, and the conditions are satisfied as follows:
1. point P2' is on the plane of P1P2P3P 4;
2. p2' P1 is perpendicular to P1P 3;
3. p2' P1 and P1P3 are consistent with the resolution of the original projection picture;
4. p2' is to the right of P1P3 (as is the position of P2P4 relative to P1P 3).
Example 5
The present embodiment provides a projector including the projector correction system as above.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (11)
1. A projector correction system is characterized by comprising a first image acquisition device, a second image acquisition device, a control module and a setting module;
the control module is used for acquiring the projection patterns through the first image acquisition device and the second image acquisition device respectively and obtaining two-dimensional coordinates of the mark patterns in the acquired projection patterns respectively;
the control module is further used for acquiring a rotation matrix and a displacement matrix between the first image acquisition device and the second image acquisition device;
the control module is also used for obtaining the three-dimensional coordinates of the marked patterns according to the two-dimensional coordinates of the marked patterns, the rotation matrix and the displacement matrix;
the control module is further used for obtaining a correction picture of the projection picture according to the three-dimensional coordinates of the mark patterns and preset conditions, and projecting the correction picture through the projection lens, wherein the correction picture is formed after trapezoidal correction is carried out on the projection picture.
2. The projector correction system as claimed in claim 1, wherein the mark pattern is a black and white checkerboard;
and/or the first image acquisition device and the second image acquisition device are respectively arranged at two sides of the projection lens;
and/or the control module is used for obtaining the three-dimensional coordinates of the marking pattern according to a three-dimensional visual imaging principle and by utilizing the two-dimensional coordinates of the marking pattern, the rotation matrix and the displacement matrix, and the three-dimensional visual imaging principle comprises the following steps: according to the formula
3. The projector correction system as claimed in claim 1, wherein the preset condition includes: the three-dimensional coordinates of the marker pattern in the projection pattern acquired by the first image acquisition device or the second image acquisition device are positioned on the same plane;
the control module is used for acquiring a rectangular picture on the plane;
the correction picture is the rectangular picture.
4. The projector correction system as claimed in claim 3, wherein the preset condition further comprises: and one vertical edge of the rectangular picture is a vertical edge of the projection pattern.
5. The projector correction system as claimed in claim 4, wherein said vertical side is a shorter vertical side in said projected pattern;
and/or the other vertical side of the rectangular picture is positioned at the same side of the other vertical side of the projection pattern relative to the position of one vertical side of the projection pattern;
and/or the resolution of the image of the horizontal side and the vertical side of the rectangular picture is the same.
6. A projector correction method, characterized by comprising:
projecting an image to a projection plane by a projection lens of the projector to form a projection picture;
setting marker patterns at four corners of the projection picture respectively;
acquiring the projection patterns through the first image acquisition device and the second image acquisition device respectively, and obtaining two-dimensional coordinates of the mark patterns in the acquired projection patterns respectively;
acquiring a rotation matrix and a displacement matrix between the first image acquisition device and the second image acquisition device;
obtaining a three-dimensional coordinate of the marking pattern according to the two-dimensional coordinate of the marking pattern, the rotation matrix and the displacement matrix;
and obtaining a correction picture of the projection picture according to the three-dimensional coordinates of the mark pattern and a preset condition, and projecting the correction picture through the projection lens, wherein the correction picture is formed after the projection picture is subjected to trapezoidal correction.
7. The projector calibration method as claimed in claim 6, wherein the mark pattern is a black and white checkerboard;
and/or the first image acquisition device and the second image acquisition device are respectively arranged at two sides of the projection lens;
and/or obtaining the three-dimensional coordinates of the marking pattern by utilizing the two-dimensional coordinates, the rotation matrix and the displacement matrix of the marking pattern according to a three-dimensional visual imaging principle, wherein the three-dimensional visual imaging principle comprises the following steps: according to the formula
8. The projector correction method as described in claim 6, wherein the preset condition includes: the three-dimensional coordinates of the marker pattern in the projection pattern acquired by the first image acquisition device or the second image acquisition device are positioned on the same plane;
acquiring a rectangular picture on the plane;
the correction picture is the rectangular picture.
9. The projector calibration method as claimed in claim 8, wherein the preset condition further comprises: and one vertical edge of the rectangular picture is a vertical edge of the projection pattern.
10. The projector calibration method as claimed in claim 9, wherein the vertical side is a shorter vertical side in the projected pattern;
and/or the other vertical side of the rectangular picture is positioned at the same side of the other vertical side of the projection pattern relative to the position of one vertical side of the projection pattern;
and/or the resolution of the image of the horizontal side and the vertical side of the rectangular picture is the same.
11. A projector characterized in that it comprises a projector correction system as claimed in claims 1-5.
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| CN114485388A (en) * | 2020-10-26 | 2022-05-13 | 成都极米科技股份有限公司 | Projection equipment control method and device, projection equipment and storage medium |
| CN114697623A (en) * | 2020-12-29 | 2022-07-01 | 成都极米科技股份有限公司 | Projection surface selection and projection image correction method and device, projector and medium |
| WO2022142139A1 (en) * | 2020-12-29 | 2022-07-07 | 成都极米科技股份有限公司 | Projection plane selection and projection image correction methods, device, projector and medium |
| CN114697623B (en) * | 2020-12-29 | 2023-08-15 | 极米科技股份有限公司 | Projection plane selection and projection image correction method, device, projector and medium |
| CN115150596A (en) * | 2021-03-31 | 2022-10-04 | 成都极米科技股份有限公司 | Projection display method and device and projection equipment |
| CN115150596B (en) * | 2021-03-31 | 2023-05-02 | 成都极米科技股份有限公司 | Projection display method and device and projection equipment |
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