CN108289208B - Automatic correction method and device for projection picture - Google Patents
Automatic correction method and device for projection picture Download PDFInfo
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- CN108289208B CN108289208B CN201810068203.2A CN201810068203A CN108289208B CN 108289208 B CN108289208 B CN 108289208B CN 201810068203 A CN201810068203 A CN 201810068203A CN 108289208 B CN108289208 B CN 108289208B
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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
- H04N9/3185—Geometric adjustment, e.g. keystone or convergence
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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]
- H04N9/3191—Testing thereof
- H04N9/3194—Testing thereof including sensor feedback
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Abstract
The invention discloses a method and a device for automatically correcting a projection picture, which comprise the following steps: acquiring a depth image obtained by capturing a projection space by a depth camera on a projector, and determining the relative position relation between a projection plane and the projector according to the depth image, the maximum projection angle of the projector in the vertical direction and the maximum projection angle of the projector in the horizontal direction; and performing rectangular correction on the projection picture projected onto the projection plane according to the relative position relationship between the projection plane and the projector. The automatic correction method and the device for the projection picture automatically process the projection picture to obtain the proper rectangular corrected picture, avoid the problems of time and labor waste caused by manually adjusting the projection picture, meet the actual requirements, improve the user experience and improve the competitiveness of the projector.
Description
Technical Field
The invention relates to the technical field of projectors, in particular to a method and a device for automatically correcting a projection picture.
Background
With the progress of technology, the field of projectors also has made a rapid development, and an intelligent projector is started to appear in the market, wherein the intelligent projector is a projector which is additionally provided with a wireless Wi-Fi internet access function and is provided with an intelligent operating system, and the Android system is a relatively extensive intelligent operating system which is currently applied to a series of products. The intelligent projector has the characteristics of small size, easiness in operation, multiple functions, portability, more flexible projection mode and distance setting and the like, so that the intelligent projector is widely applied to occasions such as business meeting exhibition and the like.
However, when the conventional projector is used for projection, for example, in the case of oblique projection, the incident angle of the oblique projection is not perpendicular, and the projected image is shifted, so that the actual requirement cannot be met, and the user experience is poor. This technical problem is urgently needed to be solved.
Disclosure of Invention
The invention provides a method and a device for automatically correcting a projection picture, which are used for solving the problems that the projection image of a projector has deviation, cannot meet the actual requirement and is poor in user experience.
According to an aspect of the present invention, there is provided a projection picture automatic correction method, including:
acquiring a depth image obtained by capturing a projection space by a depth camera on a projector, wherein the depth camera and the projector are positioned on the same plane, and the field range of the depth camera is larger than the projection range of the projector;
determining the relative position relation between a projection plane and the projector according to the depth image, the maximum projection angle of the projector in the vertical direction and the maximum projection angle of the projector in the horizontal direction;
the maximum projection angle of the projector in the vertical direction and the maximum projection angle of the projector in the horizontal direction are both intrinsic parameters of the projector, the vertical direction is a direction perpendicular to the central line of the light beam of the projector, and the horizontal direction is a direction perpendicular to the vertical direction and the central line of the light beam of the projector respectively;
and performing rectangular correction on the projection picture projected onto the projection plane according to the relative position relationship between the projection plane and the projector.
According to another aspect of the present invention, there is provided an automatic correction apparatus for a projection picture, comprising:
the image acquisition module is used for acquiring a depth image obtained by capturing a projection space by a depth camera on the projector, wherein the depth camera and the projector are positioned on the same plane, and the field range of the depth camera is larger than the projection range of the projector;
the position determining module is used for determining the relative position relation between the projection plane and the projector according to the depth image, the maximum projection angle of the projector in the vertical direction and the maximum projection angle of the projector in the horizontal direction;
the projector is characterized in that the maximum projection angle of the projector in the vertical direction and the maximum projection angle of the projector in the horizontal direction are both intrinsic parameters of the projector, the vertical direction is a direction perpendicular to the central line of a light beam of the projector, and the horizontal direction is a direction perpendicular to the vertical direction and the central line of the light beam of the projector respectively;
and the correction module is used for performing rectangular correction on the projection picture projected onto the projection plane according to the relative position relationship between the projection plane and the projector.
The invention has the beneficial effects that: according to the automatic correction method and device for the projection picture, the depth image captured by the depth camera on the projector is obtained, the relative position relation between the projection plane and the projector is determined according to the depth image, the maximum projection angle of the projector in the vertical direction and the maximum projection angle of the projector in the horizontal direction, and the rectangular correction is carried out on the projection picture projected onto the projection plane based on the relative position relation between the projection plane and the projector. Therefore, the projector system automatically processes the projected picture according to the obtained relative position relation between the projection plane and the projector to obtain a suitable rectangular corrected picture, so that the problems of time and labor waste caused by manual adjustment are avoided, the required projection effect is realized, the actual demand is met, the user experience is improved, and the competitiveness of the projector is improved.
Drawings
FIG. 1 is a flow chart of a method for automatically correcting a projection image according to an embodiment of the present invention;
FIG. 2 is a diagram of an example projector projection of one embodiment of the invention;
FIG. 3 is a flow chart of correcting a projection screen according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating positioning points on a projection screen according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a relative position relationship between a projection screen and a plane where a depth camera is located according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of the calculation of a first vertical offset angle according to one embodiment of the present invention;
FIG. 7 is a schematic diagram of the calculation of a second vertical offset angle according to one embodiment of the present invention;
FIG. 8 is a block diagram of an apparatus for automatically correcting a projection screen according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The design concept of the invention is as follows: aiming at the problem that the projection picture of the current projector (including an intelligent miniature projector) is deviated and normal images cannot be obtained to influence the user experience, the automatic projection picture correction scheme is provided. The most common mode of smart projectors is vertical projection, i.e., the light beam from the projector is projected vertically onto a plane to form an image. The technology of vertical projection is simplest, and the image can be projected to form a desired image by adjusting the focal length of the light beam without any processing. However, the vertical projection has a characteristic that a wall surface or a curtain perpendicular to the ground is required to be used with the projector. The development of the projector is limited to a certain extent, the use requirements of certain scenes cannot be met, and oblique projection is generated at the same time.
Oblique projection, as the name implies, means that the angle between the projection beam and the projection plane is no longer perpendicular, and the projection beam is oblique to the projection plane. For example, the projector projects an image on a desktop, and the image is formed on the desktop without the cooperation of a wall surface or a curtain with the projector, so that the requirement on the projection environment is reduced. In use, oblique projection needs to use a trapezoidal correction technology, and a tilted image is corrected back to a normal rectangular picture through a trapezoidal correction (or rectangular correction) algorithm, so that a desired projection effect is obtained.
According to the scheme, in the application process, a user can slowly adjust the rectangular correction picture by hand a little by little according to the used actual projection angle and the position of a screen, and finally the reasonable rectangular corrected picture is obtained. It is easy to see that the scheme is time-consuming and labor-consuming, has high requirements on the technical level of users, is limited in use and has poor user experience.
Therefore, the projection picture automatic correction scheme provided by the embodiment of the invention has the advantages that manual operation is avoided, the projector automatically realizes the functions of projection picture rectangular correction and adjustment, the user experience is improved, and the competitiveness of the projector is improved.
Fig. 1 is a flowchart of an automatic correction method for a projection screen according to an embodiment of the present invention, and referring to fig. 1, the automatic correction method for a projection screen according to the embodiment includes the following steps:
step S101, acquiring a depth image obtained by capturing a projection space by a depth camera on a projector,
the depth camera and the projector are positioned on the same plane, and the field range of the depth camera is larger than the projection range of the projector;
step S102, determining the relative position relation between a projection plane and a projector according to the depth image, the maximum projection angle of the projector in the vertical direction and the maximum projection angle of the projector in the horizontal direction;
the projector comprises a projector, a light source controller and a controller, wherein the maximum projection angle of the projector in the vertical direction;
and step S103, performing rectangular correction on the projection picture projected onto the projection plane according to the relative position relationship between the projection plane and the projector.
The automatic correction method for the projection picture shown in fig. 1 obtains the distance relationship between the designated point and the plane where the projector is located by obtaining the depth image, and then determines the relative position relationship between the projection plane and the projector by using the intrinsic parameters of the projector (namely, the maximum projection angle of the projector in the vertical direction and the maximum projection angle of the projector in the horizontal direction), wherein the relative position relationship between the projection plane and the projector is the premise and the basis of the rectangular correction of the projection picture.
In addition, the fact that the depth camera and the projector are located on the same plane in step S101 means that the depth camera and the projector are located on the same plane in terms of spatial position relationship, and the plane where the depth camera and the projector are located together is perpendicular to the projection direction of the projector. In addition, the condition that the range of the field of view of the depth camera is larger than the projection range of the projector is also satisfied by the depth camera and the projector, which requires that the projection direction of the projector coincides with the shooting direction of the camera.
Fig. 2 is a diagram showing an example of projection of a projector according to an embodiment of the present invention, and as shown in fig. 2, in the case of oblique projection, the plane on which the projector is located (the plane shown by the dotted line formed by the X direction and the Y direction in fig. 2, in which both the projector and the camera are located) is not parallel to the plane to be projected (the plane shown by the lower solid line). Fig. 2 is a diagram illustrating an example in which a projector is placed on a ceiling of a room, a light beam emitted from the projector is directed downward onto a plane to construct a three-dimensional space coordinate system, the position of the projector is an origin, the coordinate value of the origin is (0, 0, 0), the direction of a beam center line is a Z direction, a vertical direction is perpendicular to the direction of the beam center line of the projector, see a Y direction shown in fig. 2, and a horizontal direction is perpendicular to the vertical direction and the beam center line of the projector, see an X direction shown in fig. 2. Also illustrated in fig. 2 is a projection screen center point, i.e., an intersection of the light beam center line of the projector and the projection plane, and the coordinate value of the projection screen center point is (0, 0, L0). Here, L0 is a first distance from the plane of the projector to the center point of the projection screen.
The primary projection screen correction process will be described in detail below with reference to fig. 3 to 7.
For convenience of calculation and description, the positional relationship between the depth camera and the projector (specifically, the projection module of the projector) in this embodiment satisfies a certain condition that the depth camera and the projector are located on the same plane and the distance between the depth camera and the projector is smaller than a preset threshold (e.g., 3 cm). That is, the depth camera is placed close to the projection module (as shown in fig. 2), and the distance between the two is ensured to be close enough, so that the spatial positions of the two can be considered to be coincident for the projection plane in a far distance. Meanwhile, the view field range of the depth camera is larger than the projection range of the projector, namely, the view field angle of the camera is larger than the projection angle of the projection component, so that the capture range of the camera is ensured to be larger than the projection range, therefore, the camera can capture all points on a projection picture in practical application, and the accuracy of picture correction is improved.
Fig. 5 is a schematic diagram of a relative position relationship between a projection screen and a plane where a depth camera is located according to an embodiment of the present invention, as shown in fig. 5, the projection direction in fig. 5 is taken as an example of a direction (see a Y direction in fig. 2) perpendicular to a gravity direction of the earth, and since a distance between the depth camera and a projection module in the scene in fig. 5 is close enough, and spatial positions of the two are considered to be coincident for a distant projection plane, a plane where the depth camera and the depth camera are located (a dotted line on the right side in fig. 5) is illustrated in fig. 5 without illustrating the projection module, and in the following embodiment, a description is also given with a central position relationship between the projection screen and the plane where the depth camera is located in fig. 5.
It should be noted that, in practical applications, there may also be a horizontal distance or a vertical distance between the depth camera and the projector, taking the presence of a vertical distance (i.e., a direction perpendicular to the ground) as an example, for example, the depth camera is installed at a position 5 cm directly above the projector, in this case, the relative position relationship between the projection plane and the projector can still be determined according to the calculation process described below, and the difference lies in the reference origin in the two cases. When the space positions of the depth camera and the projector are close to be considered to be coincident, the reference origin point can be selected as the center point of the depth camera, and when the depth camera and the projector have vertical distance in position, the reference origin point is changed from the center of the depth camera to the center of the projection module, and a correction angle is introduced, so that the coordinate value of the positioning point to be captured is correspondingly changed due to the existence of the correction angle. After the coordinate value of the positioning point is changed, the calculation formula of the offset angle is unchanged, so that the rectangular correction of the projection picture can still be completed after the distance between the plane where the projection module is located and the projection plane and the offset angle are obtained. Therefore, in the following embodiments, only the case where the spatial positions of the depth camera and the projector are close to each other and can be considered to coincide with each other is mainly described. In another case (i.e., where the depth camera is located at a vertical distance from the projector), reference may be made to the following description.
In general, the process of correcting the projection picture of the present embodiment is: firstly, according to the depth image, determining a first distance from a projection picture center point to a plane where a projector is located, a distance from at least one positioning point to the plane where the projector is located in a first direction of the projection picture, and a distance from at least one positioning point to the plane where the projector is located in a second direction of the projection picture, wherein the projection picture center point is an intersection point of a light beam center line of the projector and the projection plane, the first direction of the projection picture is a direction where a connection line of projection points obtained by projecting projection light of the projector in a vertical direction onto the projection plane is located, and the second direction of the projection picture is a direction where a connection line of projection points obtained by projecting projection light of the projector in a horizontal direction onto the projection plane is located.
Then, according to the first distance, the distance from at least one positioning point in the first direction of the projection picture to the plane where the projector is located and the maximum projection angle of the projector in the vertical direction, and calculating the vertical offset included angle between the projection plane and the plane where the projector is located in the vertical direction; and according to the first distance, the distance from at least one positioning point in the second direction of the projection picture to the plane where the projector is located and the maximum projection angle of the projector in the horizontal direction, and calculating the horizontal offset included angle between the projection plane and the plane where the projector is located in the horizontal direction.
And finally, performing rectangular correction on the projection picture projected onto the projection plane according to the first distance, the vertical offset included angle and the horizontal offset included angle.
In practical applications, when a plane projected by the projector is an ideal plane (e.g., a flat plane without being blocked by other objects), if errors and noises of measurement are neglected, each positioning point in the same direction of the projection picture can indicate the angular offset condition in the corresponding direction of the projector and the distortion condition of the projected image, so that only one positioning point in one direction of the projection picture is required to participate in calculation. Based on this, the process of correcting the projection picture can be simplified as follows:
firstly, according to the depth image, a first distance from a central point of a projection picture on a projection plane to a plane where a projector is located, a second distance from a first positioning point in the first direction of the projection picture to the plane where the projector is located, and a third distance from a second positioning point in the second direction of the projection picture to the plane where the projector is located are determined.
Then, according to the first distance, the second distance and the maximum projection angle of the projector in the vertical direction, calculating a first vertical offset included angle between the projection plane at the position corresponding to the first positioning point and the plane where the projector is located in the vertical direction; and calculating a first horizontal offset included angle between the projection plane corresponding to the second positioning point and the plane where the projector is located in the horizontal direction according to the first distance, the third distance and the maximum projection angle of the projector in the horizontal direction.
And finally, performing rectangular correction on the projection picture projected onto the projection plane according to the first distance, the first vertical offset included angle and the first horizontal offset included angle.
In view of the complexity of the actual projection environment, in order to improve the accuracy of projection picture correction, it is preferable that the projection picture automatic correction method in the present embodiment includes the steps of:
firstly, according to the depth image, a second distance and a fourth distance from a first positioning point and a third positioning point in the first direction of the projection picture to the plane where the projector is located are determined, and a third distance and a fifth distance from the second positioning point and the fourth positioning point in the second direction of the projection picture to the plane where the projector is located are determined.
Then, according to the first distance, the second distance and the maximum projection angle of the projector in the vertical direction, calculating a first vertical offset included angle between the projection plane at the position corresponding to the first positioning point and the plane where the projector is located in the vertical direction; and calculating a second vertical offset included angle between the projection plane corresponding to the third positioning point and the plane where the projector is located in the vertical direction according to the first distance, the fourth distance and the maximum projection angle of the projector in the vertical direction. Calculating a first horizontal offset included angle between the projection plane corresponding to the second positioning point and the plane where the projector is located in the horizontal direction according to the first distance, the third distance and the maximum projection angle of the projector in the horizontal direction; and calculating a second horizontal offset included angle between the projection plane corresponding to the fourth positioning point and the plane where the projector is located in the horizontal direction according to the first distance, the fifth distance and the maximum projection angle of the projector in the horizontal direction.
And finally, performing rectangular correction on the projection picture projected onto the projection plane according to the first distance, the first vertical offset included angle, the first horizontal offset included angle, the second vertical offset included angle and the second horizontal offset included angle.
Fig. 3 is a flowchart of correcting a projection picture according to an embodiment of the present invention, and the implementation steps of the preferred embodiment of the present invention are described with reference to fig. 3. Referring to fig. 3, the process starts, and step S301 is executed to capture a depth image of the indicated distance;
in this step, a depth camera is used to capture the projection space to obtain a depth image, and the depth value of the depth image represents the distance between some target positioning points on the projection plane and the plane where the camera is located. Specifically, any one of a binocular camera, a multi-view camera, a structured light camera and a time of flight (TOF) camera on the projector scans the front area of the projector so as to find the distance and angle relation between the target projection screen and the projector. That is to say, there are various technologies for implementing the depth camera, for example, a binocular camera, a structured light camera, and a time Of flight (tof) (time Of flight) camera, which is not limited in this embodiment.
Step S302, obtaining the distance;
according to the depth image, a first distance from a plane where the projector is located to a central point of a projection picture is determined, a second distance and a fourth distance from a first positioning point and a third positioning point in the first direction of the projection picture to the plane where the projector is located are respectively determined, and a third distance and a fifth distance from the second positioning point and the fourth positioning point in the second direction of the projection picture to the plane where the projector is located are determined.
Referring to fig. 4, the center point of the projection screen is the intersection point of the beam center line of the projector and the projection plane, i.e., the zero point shown in fig. 4. The first direction of the projection picture is the direction of a connecting line of projection points obtained by projecting projection light of the projector in the vertical direction onto the projection plane, namely the direction of the connecting line of the first positioning point and the third positioning point. The second direction of the projection picture is the direction of a connecting line of projection points obtained by projecting the projection light of the projector in the horizontal direction onto the projection plane, namely the direction of the connecting line of the second positioning point and the fourth positioning point.
It is to be understood that fig. 4 illustrates two positioning points in the first direction of the projection screen, i.e., the first positioning point and the third positioning point. And two positioning points in the second direction of the projection picture, namely a second positioning point and a fourth positioning point. However, in practical applications, the number of the positioning points may be determined according to actual requirements, for example, only one positioning point in each of the first direction and the second direction may be used.
In order to improve the overall accuracy of the projection screen correction, when a plurality of anchor points are selected in the same direction, anchor points that are symmetrical with respect to the center of the zero point in fig. 4 are generally selected, or vertices of a graph to which the projection screen belongs are selected as anchor points.
In fig. 4, with the zero point as a reference origin, a first distance from the plane where the projector is located is L0, the coordinate values are (0, 0, L0), a second distance from the first location point to the plane where the projector is located is L1, the coordinate values are (0, tan θ 2 × L1, L1), a third distance from the second location point to the plane where the projector is located is L2, the coordinate values are (-tan θ 1 × L2, 0, L2), a fourth distance from the third location point to the plane where the projector is located is L3, the coordinate values are (0, -tan θ 2 × L3, L3), a fifth distance from the fourth location point to the plane where the projector is located is L4, the coordinate values are (tan θ 1 × L4, 0, L4), where θ 1 represents a maximum projection angle of the projector in a horizontal direction, and θ 2 represents a maximum projection angle of the projector in a vertical direction. The horizontal direction can be divided into a horizontal positive direction and a horizontal negative direction, the corresponding maximum projection angles are theta 1 and-theta 1 respectively, and the negative sign represents the direction. The same applies to the vertical direction. Note that, among the intrinsic parameters of the projector, the projection angle of the projector is expressed with reference to 0 degree where the center line of the light beam is located, and a projection angle in the positive direction is corresponding to more than 0 degree; less than 0 degrees, corresponding to a projection angle in the negative direction.
The maximum projection angle of the projector in the vertical direction and the maximum projection angle of the projector in the horizontal direction are both intrinsic parameters of the projector, the vertical direction is a direction perpendicular to the center line of the light beam of the projector, and the horizontal direction is a direction perpendicular to the vertical direction and the center line of the light beam of the projector, respectively. In addition, according to the requirement that the view angle of the camera is larger than the projection angle of the projection component to ensure that the capture range of the depth camera is larger than the projection range, the shooting angle of the depth camera of the embodiment is larger than or equal to theta 1 in the horizontal direction and larger than or equal to theta 2 in the vertical direction. In the following calculations, θ 1 and θ 2 are described.
With reference to fig. 4 and fig. 5, in the present embodiment, according to the depth image, a first distance L0 from the center point of the projection image to the plane where the projector is located, a second distance L1 from the first location point in the first direction of the projection image to the plane where the projector is located, a third distance L2 from the second location point in the second direction of the projection image to the plane where the projector is located, a fourth distance L3 from the third location point in the first direction of the projection image to the plane where the projector is located, and a fifth distance L4 from the fourth location point in the second direction of the projection image to the plane where the projector is located are determined.
Step S303, calculating an offset angle;
in the step, after the first distance, the second distance, the third distance, the fourth distance and the fifth distance are obtained, the inherent parameters of the projector are utilized to correspondingly calculate the offset angle.
For example, a vertical offset angle between the projection plane and the plane where the projector is located in the vertical direction is calculated according to the first distance L0, the second distance L1, and the maximum projection angle θ 2 of the projector in the vertical direction, and a horizontal offset angle between the projection plane and the plane where the projector is located in the horizontal direction is calculated according to the first distance L0, the third distance L2, and the maximum projection angle θ 1 of the projector in the horizontal direction.
Referring to fig. 6 and fig. 7, the calculation of the vertical offset angle corresponding to two positioning points (i.e., the first positioning point and the third positioning point) in the first direction of the projection image is schematically illustrated in this embodiment. The calculation process of the horizontal offset included angle corresponding to the two positioning points (i.e. the second positioning point and the fourth positioning point) in the second direction of the projection picture is the same, so the following description of the calculation of the vertical offset included angle can be referred to, and is not repeated.
Referring to fig. 6, fig. 6 illustrates a principle of calculating the first vertical offset angle, as can be seen from fig. 6, a zero point on the projection screen, a first fixed point, and an intersection point obtained by drawing a perpendicular line from the zero point as a starting point to a line segment where the distance L1 is located form a right triangle, and the first vertical offset angle 1 is an internal angle of the right triangle, so that a value of the first vertical offset angle 1 can be calculated according to the following formula by using a geometric relationship:
wherein L0 is a first distance from a center point of the projection screen to a plane of the projector, L1 is a second distance from the first location point to the plane of the projector, L1 is greater than L0, and θ 2 is a maximum projection angle of the projector in a vertical direction (specifically, a vertical positive direction, i.e., + θ 2).
Fig. 7 illustrates the calculation principle of the second vertical offset angle, where the second vertical offset angle between the projection plane corresponding to the third positioning point and the plane where the projector is located in the vertical direction is calculated according to the first distance, the fourth distance and the maximum projection angle of the projector in the vertical direction.
As can be seen from fig. 7, the value of the second vertical offset angle 3 can be calculated according to the following formula by using the geometrical relationship:
wherein, a first distance from a plane where the projector is located to a center point of the projection screen is L0, L3 is a fourth distance from a third positioning point to the plane where the projector is located, L0 is greater than L3, and- θ 2 is a maximum projection angle of the projector in a vertical direction (specifically, a vertical negative direction, that is, — θ 2).
Therefore, a first vertical offset included angle 1 of the projection plane corresponding to the first positioning point and the plane where the projector is located in the vertical direction and a second vertical offset included angle 3 of the projection plane corresponding to the third positioning point and the plane where the projector is located in the vertical direction are calculated.
It should be noted that, in general, a plane projected by the projector may not be an ideal plane (for example, the projection plane has a fine unevenness), and there are measurement errors and noises, and at this time, even if the positioning points are located in the same direction, there may be a fine difference in the angular offset condition of the projection plane within a certain area range that each positioning point can indicate, and therefore, by using a plurality of positioning points in the same direction to calculate the offset angle, when the projection plane in actual projection is not an ideal flat state or is not a plane but a curved surface, and the like, the problem that when only one positioning point is selected in the same direction to perform rectangular correction, the accuracy may be low, and the correction effect is poor is solved. Through a plurality of deviation angles calculated by a plurality of positioning points in the same direction, corresponding projection points on a projection picture can be respectively corrected according to the deviation angles, pertinence and accuracy of rectangular correction are improved, and ideal projection effect is guaranteed to be achieved.
For example, when the projection plane is a curved plane, the value of the first vertical offset angle 1 and the value of the second vertical offset angle 3 calculated according to the above process are different greatly. Therefore, when the rectangular correction is carried out, the pixel points corresponding to the range from the negative projection angle (namely, -theta 2) to 0 degree on the projection picture can be corrected according to the value of the second vertical offset included angle 3. And the pixel points corresponding to the range from 0 degree to the orthographic projection angle (namely, -theta 2) are corrected according to the first vertical offset included angle 1, so that the projection distortion effect is improved, and the user requirements are met.
In this embodiment, according to a calculation process similar to the first vertical offset included angle 1, a first horizontal offset included angle 2 in the horizontal direction between the projection plane corresponding to the second positioning point and the plane where the projector is located is calculated according to the first distance, the third distance, and the maximum projection angle of the projector in the horizontal direction.
And according to a calculation process similar to the second vertical offset included angle 3, calculating a second horizontal offset included angle 4 between the projection plane corresponding to the fourth positioning point and the plane where the projector is located in the horizontal direction according to the first distance, the fifth distance and the maximum projection angle of the projector in the horizontal direction.
Step S304, determining the relative position relationship between the projection plane and the plane where the projector is located;
in this step, the relative positional relationship between the projection plane and the plane on which the projector is located is determined based on the offset angle calculated in the previous step, that is, the relative positional relationship is expressed by the offset angle of the projection plane with respect to the plane on which the projector is located. For example, if the calculated second vertical offset included angle 3 is equal to 0 degrees, which indicates that the projection plane is parallel to the plane where the depth camera (or the projector) is located, the light emitted by the projector may strike the projection plane vertically, and at this time, L3 is equal to L0, and rectangular correction is not required. If the calculated second vertical offset angle 3 is not equal to 0 degree, for example, equal to 15 degrees, it indicates that the projection plane and the plane where the depth camera (or the projector) is located are in an inclined relationship in the vertical direction and are not parallel, and at this time, L3 is smaller than L0, and it is necessary to correct the deformed or deformed projection picture generated during projection by the projector.
According to the same principle, the relative position relation of the projection plane and the plane where the depth camera (or the projector) is located in the horizontal direction can be determined according to the horizontal deviation included angle.
In step S305, the projection screen is adjusted.
The rectangular correction is performed on the projection picture projected onto the projection plane according to the relative position relationship between the projection plane and the projector, specifically, the rectangular correction is performed on the projection picture projected onto the projection plane according to the first distance, the vertical offset included angle and the horizontal offset included angle.
For example, according to the values of the first distance L0, the first vertical offset angle 1, the second vertical offset angle 3, the first horizontal offset angle 2, and the second horizontal offset angle 4, a rectangular correction algorithm is adopted, so that the spatial geometric relationship between the projection plane and the plane where the depth camera is located can be determined, and then the image to be projected is processed by a digital technique, so that the self-correction of the trapezoidal deformation image of the projector is completed.
Therefore, the projection picture automatic correction method of the embodiment does not need a user to manually correct the projection picture, the system can be automatically completed, the use experience of the user is improved, and the large-scale popularization and application of the projector are facilitated.
An embodiment of the present invention further provides an automatic correction device for a projection picture, fig. 8 is a block diagram of an automatic correction device for a projection picture according to an embodiment of the present invention, and referring to fig. 8, an automatic correction device 800 for a projection picture according to an embodiment includes:
the image acquisition module 801 is configured to acquire a depth image obtained by capturing a projection space by a depth camera on a projector, where the depth camera and the projector are located on the same plane, and a field range of the depth camera is larger than a projection range of the projector;
a position determining module 802, configured to determine a relative position relationship between the projection plane and the projector according to the depth image, and a maximum projection angle of the projector in the vertical direction and a maximum projection angle of the projector in the horizontal direction;
the projector is characterized in that the maximum projection angle of the projector in the vertical direction and the maximum projection angle of the projector in the horizontal direction are both intrinsic parameters of the projector, the vertical direction is a direction perpendicular to the central line of a light beam of the projector, and the horizontal direction is a direction perpendicular to the vertical direction and the central line of the light beam of the projector respectively;
and a correction module 803, configured to perform rectangular correction on the projection picture projected onto the projection plane according to the relative position relationship between the projection plane and the projector.
In one embodiment, the position determining module 802 is configured to determine, according to the depth image, a first distance from a center point of the projection image to a plane where the projector is located, a distance from at least one positioning point in a first direction of the projection image to the plane where the projector is located, and a distance from at least one positioning point in a second direction of the projection image to the plane where the projector is located,
the central point of the projection picture is the intersection point of the central line of the light beam of the projector and the projection plane, the first direction of the projection picture is the direction of the connecting line of the projection points obtained by projecting the projection light of the projector in the vertical direction onto the projection plane, and the second direction of the projection picture is the direction of the connecting line of the projection points obtained by projecting the projection light of the projector in the horizontal direction onto the projection plane; according to the first distance, the distance from at least one positioning point in the first direction of the projection picture to the plane where the projector is located and the maximum projection angle of the projector in the vertical direction, calculating the vertical offset included angle of the projection plane and the plane where the projector is located in the vertical direction, and according to the first distance, the distance from at least one positioning point in the second direction of the projection picture to the plane where the projector is located and the maximum projection angle of the projector in the horizontal direction, calculating the horizontal offset included angle of the projection plane and the plane where the projector is located in the horizontal direction;
the correcting module 803 is specifically configured to perform rectangular correction on the projection picture projected onto the projection plane according to the first distance, the vertical offset angle, and the horizontal offset angle.
In an embodiment, the position determining module 802 is specifically configured to determine, according to the depth image, a first distance from a center point of the projection image to a plane where the projector is located, a second distance from a first positioning point in the first direction of the projection image to the plane where the projector is located, and a third distance from a second positioning point in the second direction of the projection image to the plane where the projector is located; calculating a first vertical offset included angle between a projection plane at the position corresponding to the first positioning point and a plane where the projector is located in the vertical direction according to the first distance, the second distance and the maximum projection angle of the projector in the vertical direction; calculating a first horizontal offset included angle between a projection plane corresponding to the second positioning point and a plane where the projector is located in the horizontal direction according to the first distance, the third distance and the maximum projection angle of the projector in the horizontal direction;
the correcting module 803 is specifically configured to perform rectangular correction on the projection picture projected onto the projection plane according to the first distance, the first vertical offset included angle, and the first horizontal offset included angle.
In an embodiment, the position determining module 802 is further configured to determine, according to the depth image, a fourth distance from a third positioning point in the first direction of the projection image to the plane where the projector is located, and a fifth distance from a fourth positioning point in the second direction of the projection image to the plane where the projector is located; calculating a second vertical offset included angle between the projection plane corresponding to the third positioning point and the plane where the projector is located in the vertical direction according to the first distance, the fourth distance and the maximum projection angle of the projector in the vertical direction; calculating a second horizontal offset included angle between the projection plane corresponding to the fourth positioning point and the plane where the projector is located in the horizontal direction according to the first distance, the fifth distance and the maximum projection angle of the projector in the horizontal direction;
the correcting module 803 is specifically configured to perform rectangular correction on the projection picture projected onto the projection plane according to the first distance, the first vertical offset included angle, the first horizontal offset included angle, the second vertical offset included angle, and the second horizontal offset included angle.
In one embodiment, the image obtaining module 801 is specifically configured to obtain a depth image obtained by capturing a projection space by any one of a binocular camera, a multi-view camera, a structured light camera, and a time of flight TOF camera on a projector; the depth camera and the projector are located on the same plane, and the distance between the depth camera and the projector is smaller than a preset threshold value.
It should be noted that the working process of the automatic projection picture correction device of this embodiment corresponds to the implementation steps of the automatic projection picture correction method, and therefore, for more specific description of the working process of the automatic projection picture correction device of this embodiment, reference may be made to the foregoing embodiment, and details are not described here.
Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. As shown in fig. 9, the electronic device includes a memory 91 and a processor 92, the memory 91 and the processor 92 are communicatively connected through an internal bus 93, the memory 91 stores program instructions executable by the processor 92, and the program instructions, when executed by the processor 92, can implement the projection screen automatic correction method described above.
Furthermore, the logic instructions in the memory 91 may be implemented in the form of software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention or a part thereof, which essentially contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Another embodiment of the present invention provides a computer-readable storage medium storing computer instructions that cause the computer to perform the above-described method.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It is to be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In the description of the present invention, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description. Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
While the foregoing is directed to embodiments of the present invention, other modifications and variations of the present invention may be devised by those skilled in the art in light of the above teachings. It should be understood by those skilled in the art that the foregoing detailed description is for the purpose of illustrating the invention rather than the foregoing detailed description, and that the scope of the invention is defined by the claims.
Claims (8)
1. An automatic correction method for a projection picture is characterized by comprising the following steps:
acquiring a depth image obtained by capturing a projection space by a depth camera on a projector, wherein the depth camera and the projector are positioned on the same plane, and the field range of the depth camera is larger than the projection range of the projector;
determining the relative position relation between a projection plane and the projector according to the depth image, the maximum projection angle of the projector in the vertical direction and the maximum projection angle of the projector in the horizontal direction;
the maximum projection angle of the projector in the vertical direction and the maximum projection angle of the projector in the horizontal direction are both intrinsic parameters of the projector, the vertical direction is a direction perpendicular to the central line of the light beam of the projector, and the horizontal direction is a direction perpendicular to the vertical direction and the central line of the light beam of the projector respectively;
performing rectangular correction on a projection picture projected onto the projection plane according to the relative position relationship between the projection plane and the projector;
determining the relative position relationship between the projection plane and the projector according to the depth image, the maximum projection angle of the projector in the vertical direction and the maximum projection angle of the projector in the horizontal direction comprises:
according to the depth image, determining a first distance from the center point of the projection picture to the plane where the projector is located, a distance from at least one positioning point in the first direction of the projection picture to the plane where the projector is located, and a distance from at least one positioning point in the second direction of the projection picture to the plane where the projector is located,
the central point of the projection picture is the intersection point of the central line of the light beam of the projector and the projection plane, the first direction of the projection picture is the direction of the connecting line of the projection points obtained by projecting the projection light of the projector in the vertical direction onto the projection plane, and the second direction of the projection picture is the direction of the connecting line of the projection points obtained by projecting the projection light of the projector in the horizontal direction onto the projection plane;
according to the first distance, the distance from at least one positioning point in the first direction of the projection picture to the plane where the projector is located and the maximum projection angle of the projector in the vertical direction, calculating the vertical offset included angle between the projection plane and the plane where the projector is located in the vertical direction;
according to the first distance, the maximum projection angle from at least one positioning point in the second direction of the projection picture to the plane where the projector is located and the maximum projection angle of the projector in the horizontal direction are calculated, and the horizontal offset included angle between the projection plane and the plane where the projector is located in the horizontal direction is calculated;
the rectangular correction of the projection picture projected onto the projection plane according to the relative position relationship between the projection plane and the projector includes:
performing rectangular correction on a projection picture projected onto a projection plane according to the first distance, the vertical offset included angle and the horizontal offset included angle;
determining the relative position relationship between the projection plane and the projector according to the depth image, the maximum projection angle of the projector in the vertical direction and the maximum projection angle of the projector in the horizontal direction further comprises:
according to the depth image, determining a second distance and a fourth distance from a first positioning point and a third positioning point in the first direction of the projection picture to the plane where the projector is located respectively, and determining a third distance and a fifth distance from the second positioning point and the fourth positioning point in the second direction of the projection picture to the plane where the projector is located respectively;
calculating an offset angle by using intrinsic parameters of the projector according to the obtained first distance, second distance, third distance, fourth distance and fifth distance;
and determining the relative position relation between the projection plane and the plane where the projector is located according to the offset angle.
2. The method of claim 1, wherein the calculating the offset angle according to the first distance, the second distance, the third distance, the fourth distance, and the fifth distance and using intrinsic parameters of the projector comprises:
calculating a first vertical offset included angle between a projection plane corresponding to the first positioning point and a plane where the projector is located in the vertical direction according to the first distance, the second distance and the maximum projection angle of the projector in the vertical direction;
and calculating a first horizontal offset included angle between the projection plane corresponding to the second positioning point and the plane where the projector is located in the horizontal direction according to the first distance, the third distance and the maximum projection angle of the projector in the horizontal direction.
3. The method of claim 2, wherein the calculating the offset angle according to the first distance, the second distance, the third distance, the fourth distance, and the fifth distance and using intrinsic parameters of the projector further comprises:
according to the first distance, the fourth distance and the maximum projection angle of the projector in the vertical direction, calculating a second vertical offset included angle between the projection plane corresponding to the third positioning point and the plane where the projector is located in the vertical direction;
according to the first distance, the fifth distance and the maximum projection angle of the projector in the horizontal direction, calculating a second horizontal offset included angle between the projection plane corresponding to the fourth positioning point and the plane where the projector is located in the horizontal direction;
the rectangular correction of the projection picture projected onto the projection plane according to the relative position relationship between the projection plane and the projector includes:
and performing rectangular correction on the projection picture projected onto the projection plane according to the first distance, the first vertical offset included angle, the first horizontal offset included angle, the second vertical offset included angle and the second horizontal offset included angle.
4. The method according to claim 1, wherein acquiring a depth image obtained by capturing a projection space by a depth camera on a projector comprises:
acquiring a depth image obtained by capturing a projection space by any one of a multi-view camera, a structured light camera and a time of flight (TOF) camera on a projector;
the degree of depth camera includes on being located the coplanar with the projecting apparatus: the depth camera and the projector are located on the same plane, and the distance between the depth camera and the projector is smaller than a preset threshold value.
5. An apparatus for automatically correcting a projection image, comprising:
the image acquisition module is used for acquiring a depth image obtained by capturing a projection space by a depth camera on the projector, wherein the depth camera and the projector are positioned on the same plane, and the field range of the depth camera is larger than the projection range of the projector;
the position determining module is used for determining the relative position relation between the projection plane and the projector according to the depth image, the maximum projection angle of the projector in the vertical direction and the maximum projection angle of the projector in the horizontal direction;
the maximum projection angle of the projector in the vertical direction and the maximum projection angle of the projector in the horizontal direction are both intrinsic parameters of the projector, the vertical direction is a direction perpendicular to the central line of the light beam of the projector, and the horizontal direction is a direction perpendicular to the vertical direction and the central line of the light beam of the projector respectively;
the correction module is used for performing rectangular correction on a projection picture projected onto the projection plane according to the relative position relation between the projection plane and the projector;
the position determining module is used for determining a first distance from a projection picture center point to a plane where the projector is located, a distance from at least one positioning point to the plane where the projector is located in a first direction of a projection picture, and a distance from at least one positioning point to the plane where the projector is located in a second direction of the projection picture according to the depth image, wherein the projection picture center point is an intersection point of a light beam center line of the projector and the projection plane, the first direction of the projection picture is a direction where a connecting line of projection points obtained by projecting projection light of the projector to the projection plane in a vertical direction is located, and the second direction of the projection picture is a direction where a connecting line of projection points obtained by projecting projection light of the projector to the projection plane in a horizontal direction is located; according to the first distance, the distance from at least one positioning point in the first direction of the projection picture to the plane where the projector is located and the maximum projection angle of the projector in the vertical direction, calculating the vertical offset included angle between the projection plane and the plane where the projector is located in the vertical direction; according to the first distance, the distance from at least one positioning point in the second direction of the projection picture to the plane where the projector is located and the maximum projection angle of the projector in the horizontal direction, calculating a horizontal offset included angle between the projection plane and the plane where the projector is located in the horizontal direction;
the correction module is specifically used for performing rectangular correction on a projection picture projected onto a projection plane according to the first distance, the vertical offset included angle and the horizontal offset included angle;
the position determining module is further used for determining a second distance and a fourth distance from a first positioning point and a third positioning point in the first direction of the projection picture to the plane where the projector is located respectively according to the depth image, and determining a third distance and a fifth distance from the second positioning point and the fourth positioning point in the second direction of the projection picture to the plane where the projector is located respectively; calculating an offset angle by using intrinsic parameters of the projector according to the obtained first distance, second distance, third distance, fourth distance and fifth distance;
and the correction module is also used for determining the relative position relationship between the projection plane and the plane where the projector is located according to the offset angle.
6. The automatic correction device for projection picture according to claim 5,
the position determining module is specifically configured to calculate a first vertical offset included angle between a projection plane at the position corresponding to the first positioning point and a plane where the projector is located in the vertical direction according to the first distance, the second distance and the maximum projection angle of the projector in the vertical direction; and calculating a first horizontal offset included angle between the projection plane corresponding to the second positioning point and the plane where the projector is located in the horizontal direction according to the first distance, the third distance and the maximum projection angle of the projector in the horizontal direction.
7. The automatic correction device for projection picture according to claim 6,
the position determining module is further configured to calculate a second vertical offset included angle between the projection plane corresponding to the third positioning point and the plane where the projector is located in the vertical direction according to the first distance, the fourth distance and the maximum projection angle of the projector in the vertical direction; according to the first distance, the fifth distance and the maximum projection angle of the projector in the horizontal direction, calculating a second horizontal offset included angle between the projection plane corresponding to the fourth positioning point and the plane where the projector is located in the horizontal direction;
and the correction module is specifically used for performing rectangular correction on the projection picture projected onto the projection plane according to the first distance, the first vertical offset included angle, the first horizontal offset included angle, the second vertical offset included angle and the second horizontal offset included angle.
8. The automatic correction device for the projection picture according to claim 5, wherein the image obtaining module is specifically configured to obtain a depth image obtained by capturing a projection space by any one of a multi-view camera, a structured light camera and a time of flight (TOF) camera on the projector; the depth camera and the projector are located on the same plane, and the distance between the depth camera and the projector is smaller than a preset threshold value.
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| CN201810068203.2A CN108289208B (en) | 2018-01-24 | 2018-01-24 | Automatic correction method and device for projection picture |
| PCT/CN2018/112853 WO2019144666A1 (en) | 2018-01-24 | 2018-10-31 | Automatic correction method and apparatus for projection picture, and electronic device |
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| CN201810068203.2A CN108289208B (en) | 2018-01-24 | 2018-01-24 | Automatic correction method and device for projection picture |
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| CN108289208B (en) * | 2018-01-24 | 2020-11-27 | 歌尔股份有限公司 | Automatic correction method and device for projection picture |
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| CN110890041A (en) * | 2018-09-10 | 2020-03-17 | 深圳市易云数字科技有限责任公司 | Interactive aerial imaging system |
| FR3086383B1 (en) * | 2018-09-21 | 2020-08-28 | Diotasoft | PROCESS, MODULE AND SYSTEM FOR PROJECTING ON A PART OF AN IMAGE CALCULATED FROM A DIGITAL MODEL |
| CN109688390B (en) * | 2018-12-12 | 2020-11-17 | 中国科学院深圳先进技术研究院 | Automatic correction method and system for projection picture |
| CN110211177A (en) * | 2019-06-05 | 2019-09-06 | 视云融聚（广州）科技有限公司 | Camera picture linear goal refers to northern method, electronic equipment and storage medium |
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| CN112399158B (en) * | 2019-08-19 | 2023-06-30 | 深圳光峰科技股份有限公司 | Projection image calibration method and device and projection equipment |
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| 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 |
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