CN108629813B - Method and device for acquiring height information of projection equipment - Google Patents
Method and device for acquiring height information of projection equipment Download PDFInfo
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- CN108629813B CN108629813B CN201810419255.XA CN201810419255A CN108629813B CN 108629813 B CN108629813 B CN 108629813B CN 201810419255 A CN201810419255 A CN 201810419255A CN 108629813 B CN108629813 B CN 108629813B
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- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
Abstract
The invention discloses a method for acquiring height information of projection equipment, which comprises the following steps: acquiring height information data of a distance projection plane acquired by the depth-of-field module; determining height information data corresponding to a central preset area of the depth-of-field projection according to the longitudinal length parameter and the transverse length parameter of the depth-of-field module; the height information data corresponding to the central preset area is calibrated to obtain the height information of the projection equipment; according to the method, the height information of the projection equipment is automatically calculated by utilizing the height information data corresponding to the central preset area of the depth of field module, so that the high cost caused by manual measurement in the prior art is avoided, and the measurement precision of the height information of the projection equipment is improved. The invention also discloses a device for acquiring the height information of the projection equipment, a method and a device for acquiring the calibration parameters of the projection equipment, the terminal equipment and a computer-readable storage medium, and has the beneficial effects.
Description
Technical Field
The present invention relates to the field of electronic technologies, and in particular, to a method and an apparatus for acquiring height information of a projection device, a method and an apparatus for acquiring calibration parameters of a projection device, a terminal device, and a computer-readable storage medium.
Background
Currently, projection equipment capable of human-computer interaction (for example, an intelligent projection lamp) is favored by more and more users, the projection equipment generally mainly comprises an operating system + a depth of field module + an HDMI (High Definition Multimedia Interface) output, gesture operation of a user is obtained through the depth of field module, then the operating system performs corresponding processing, and finally, an operation result is output to a desktop or a wall surface through the HDMI. Because the projection area of the depth of field module is larger than the projection area of the screen projection corresponding to the operating system, and the proportion of the projection area is changed along with the change of the height, a user needs to perform calibration operation before performing touch interaction by using the projection equipment to find the corresponding relation between the projection area of the depth of field module and the projection area of the screen projection corresponding to the operating system. When the height of the projection device changes, the depth coordinate corresponding to each calibration point changes, and in order to ensure the accuracy of calibration, an effective range (calibration parameter) needs to be set for each calibration point.
The current process of setting calibration parameters is: firstly, the height of the projection equipment is manually measured by a ruler, then calibration parameters corresponding to the height are manually selected, and different apks are compiled to run on an operating system platform for calibration. Through the process of setting the calibration parameters, the height of the projection equipment needs to be measured manually after the height of the projection equipment is adjusted each time; the height information of the projection equipment obtained in the way not only has measurement errors, but also needs to depend on manpower, and the use cost of the projection equipment is improved.
Disclosure of Invention
The invention aims to provide a method and a device for acquiring height information of projection equipment, a method and a device for acquiring calibration parameters of the projection equipment, terminal equipment and a computer readable storage medium.
In order to solve the above technical problem, the present invention provides a method for acquiring height information of a projection device, including:
acquiring height information data of a distance projection plane acquired by the depth-of-field module;
determining height information data corresponding to a central preset area of the depth-of-field projection according to the longitudinal length parameter and the transverse length parameter of the depth-of-field module;
and calibrating the height information data corresponding to the central preset area to obtain the height information of the projection equipment.
Optionally, the calibrating the height information data corresponding to the central preset area to obtain the height information of the projection device includes:
and calculating the average value of the height information data corresponding to the central preset area, and taking the average value as the height information of the projection equipment.
Optionally, before determining the height information data corresponding to the central preset region of the depth-of-field projection according to the longitudinal length parameter and the transverse length parameter of the depth-of-field module, the method further includes:
and detecting the flatness of the projection surface of the projection equipment.
Optionally, detecting the flatness of the projection surface of the projection device includes:
respectively calculating the difference value between the next height information data and the previous height information data in each row of height information data corresponding to each other from left to right in the depth-of-field projection;
respectively calculating the difference value between the next height information data and the previous height information data in the height information data corresponding to each column from top to bottom in the depth-of-field projection;
and respectively comparing the difference values with a gradient threshold value, and when the difference values which are larger than the gradient threshold value do not exist, the projection surface of the projection equipment is flat.
Optionally, before determining the height information data corresponding to the central preset region of the depth-of-field projection according to the longitudinal length parameter and the transverse length parameter of the depth-of-field module, the method further includes:
detecting whether the installation of the projection equipment is horizontal.
Optionally, detecting whether the installation of the projection device is horizontal includes:
judging whether the size of height information data of a preset row from left to right in the depth-of-field projection meets the rising trend from the middle to the two side edges;
judging whether the height information data of a preset column from top to bottom in the depth-of-field projection meets the rising trend from the middle to the two side edges;
and if the trend is the ascending trend, the projection equipment is installed horizontally.
The invention also provides a method for acquiring the calibration parameters of the projection equipment, which comprises the following steps: according to the method for acquiring the height information of the projection equipment, after the height information of the projection equipment is acquired, the calibration parameter corresponding to the height information of the projection equipment is acquired.
The invention also provides a device for acquiring the height information of the projection equipment, which comprises:
the data acquisition module is used for acquiring height information data which is acquired by the depth-of-field module and is far away from the projection surface;
the data selection module is used for determining height information data corresponding to a central preset area of the depth-of-field projection according to the longitudinal length parameter and the transverse length parameter of the depth-of-field module;
and the data calibration module is used for calibrating the height information data corresponding to the central preset area to obtain the height information of the projection equipment.
Optionally, the data calibration module is specifically a module that calculates an average value of height information data corresponding to the central preset area, and uses the average value as the height information of the projection device.
Optionally, the apparatus for obtaining height information of a projection device further includes:
and the flatness detection module is used for detecting the flatness of the projection surface of the projection equipment.
Optionally, the flatness detecting module includes:
the first difference calculating unit is used for respectively calculating the difference between the next height information data and the previous height information data in each row of height information data corresponding to each other from left to right in the depth projection;
a second difference calculation unit, configured to calculate a difference between a next height information data and a previous height information data in the height information data corresponding to each column from top to bottom in the depth projection, respectively;
and the flatness detection unit is used for respectively comparing each difference value with a gradient threshold value, and when no difference value larger than the gradient threshold value exists, the projection surface of the projection equipment is flat.
Optionally, the apparatus for obtaining height information of a projection device further includes:
and the installation level detection module is used for detecting whether the installation of the projection equipment is horizontal.
Optionally, the installation level detecting module includes:
the first judgment unit is used for judging whether the size of height information data of a preset row from left to right in the depth projection meets the rising trend from the middle to the two side edges;
the second judging unit is used for judging whether the size of height information data of a preset column from top to bottom in the depth-of-field projection meets the requirement that the middle to two side edges are in an ascending trend;
and the installation level detection unit is used for determining the installation level of the projection equipment if the installation level is in the ascending trend.
The invention also provides a device for acquiring the calibration parameters of the projection equipment, which comprises: the device for acquiring the height information of the projection equipment comprises a device for acquiring the height information of the projection equipment; further comprising:
and the calibration parameter acquisition module is used for acquiring calibration parameters corresponding to the height information of the projection equipment.
The present invention also provides a projection apparatus comprising: the depth of field module, the projection optical machine, the memory and the processor; wherein the content of the first and second substances,
the memory for storing a computer program;
the processor is configured to implement the steps of the method for acquiring height information of a projection apparatus according to any one of the above embodiments, or implement the steps of the method for calibrating a projection apparatus according to any one of the above embodiments, when the computer program is executed.
The invention also provides terminal equipment comprising the projection equipment.
The present invention also provides a computer readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method for acquiring height information of a projection apparatus as described above, or the steps of the method for calibrating a projection apparatus as described above.
The invention provides a method for acquiring height information of projection equipment, which comprises the following steps: acquiring height information data of a distance projection plane acquired by the depth-of-field module; determining height information data corresponding to a central preset area of the depth-of-field projection according to the longitudinal length parameter and the transverse length parameter of the depth-of-field module; the height information data corresponding to the central preset area is calibrated to obtain the height information of the projection equipment;
therefore, the method automatically calculates the height information of the projection equipment by utilizing the height information data corresponding to the central preset area of the depth of field module, does not need to carry out manual measurement under the condition that the height of the projection equipment is changed every time, avoids high cost caused by manual measurement in the prior art, and improves the measurement precision of the height information. The invention also provides a device for acquiring the height information of the projection equipment, a method and a device for acquiring the calibration parameters of the projection equipment, the terminal equipment and a computer readable storage medium, which have the beneficial effects and are not described herein again.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a method for acquiring height information of a projection device according to an embodiment of the present invention;
fig. 2 is a hardware block diagram of a depth of view module according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a central default region provided in an embodiment of the present invention;
FIGS. 4-7 are schematic diagrams of gradient profiles of typical problematic projection surfaces provided by embodiments of the present invention;
fig. 8 is a flowchart of a method for obtaining calibration parameters of a projection device according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of an exemplary display of calibration points;
fig. 10 is a flowchart illustrating a method for acquiring calibration parameters of a projection device according to an embodiment of the present invention;
fig. 11 is a block diagram of an apparatus for acquiring height information of a projection device according to an embodiment of the present invention;
fig. 12 is a block diagram of a device for acquiring calibration parameters of a projection apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Referring to fig. 1, fig. 1 is a flowchart illustrating a method for obtaining calibration parameters of a projection device according to an embodiment of the present invention; the method can comprise the following steps:
and S100, acquiring height information data of the distance projection plane acquired by the depth of field module.
Specifically, the height information of the projection device is obtained from the image information obtained by the depth-of-field module. The image information obtained by the depth of field module contains the height information of all points in the irradiation range of the depth of field module, namely the height information of each point from the depth of field module to the projection plane. The present embodiment does not limit the specific depth of field module, and only needs to acquire the corresponding height information data.
For example, the hardware block diagram of the depth of field module is shown in fig. 2, and generally mainly includes a TOF camera and an RGB camera. An RGB camera (RGB normal camera) can present the three-dimensional outline of an object in the form of a topographic map with different colors representing different distances. The TOF camera acquires a depth map, namely height information data of the projection equipment to a projection surface; TOF cameras are also similar to common machine vision imaging processes. In general, a TOF camera is composed of several units, such as a light source, optical components, a sensor, a control circuit, and a processing circuit, and measures distance by optical pulses. The basic principle of TOF is to calculate the distance of an object to be measured from a camera by continuously emitting light pulses (typically invisible light) onto the object to be observed, and then receiving the light pulses reflected back from the object, by detecting the time of flight (round trip) of the light pulses. TOF methods can be generally classified into two types according to modulation methods: pulse Modulation (Pulsed Modulation) and Continuous Wave Modulation (Continuous Wave Modulation). In practical applications, a sine wave modulation is usually used. Because the phase shift of sine waves of the receiving end and the transmitting end is in direct proportion to the distance between the object and the camera, the distance can be measured by utilizing the phase shift, and then height information data can be acquired.
And S110, determining height information data corresponding to a central preset area of the depth of field projection according to the longitudinal length parameter and the transverse length parameter of the depth of field module.
The height information data acquired in step S100 is height information of all points within the irradiation range of the depth of field module. And the height information corresponding to the calibration parameters refers to the vertical distance from the projection equipment to the projection surface. Therefore, in order to improve the accuracy of the acquired height information, it is necessary to determine height information data capable of representing the vertical distance from the projection device to the projection plane from the height information data of all points in the irradiation range of the depth module.
Since the projection device usually projects vertically, the projection device corresponds to the center of the illumination range of the depth of field module, i.e., the height information data corresponding to the center of the depth of field projection is the height of the projection device.
Further, since the height of the projection apparatus is determined by the height information data of one projection point of the center of the depth projection, there may be an error (e.g., a measurement error of the point data, etc.). In order to reduce errors, more accurate height information of the projection device is obtained. In the embodiment, the final height information of the projection equipment is comprehensively determined by acquiring the height information data corresponding to the central preset area of the depth projection. The size (for example, a ratio of the area of the central preset region to the projected area of the depth of field may be set to determine) and the shape (for example, the central preset region may be rectangular or circular), and even a region composed of a preset number of points at the center may be used as the central preset region. The user can set and modify the central preset area according to the actual situation. Referring to fig. 3, the central predetermined area is a black area in fig. 3.
According to the longitudinal length parameter and the transverse length parameter of the depth of field module, the depth of field coordinates corresponding to the central preset area of the depth of field projection can be determined, and then the height information data corresponding to each depth of field coordinate can be determined, namely the height information data corresponding to the central preset area can be screened out from the height information data collected by the depth of field module. For example, when the depth projection has a size of 640 x 480, the center-most point has an abscissa of 320 and an ordinate of 240. At this time, the center preset area can be selected as the area corresponding to the abscissa 300-. That is, the depth-of-field coordinates of the point corresponding to the center preset region can be determined, and then the height information data corresponding to each depth-of-field coordinate can be determined.
And S120, calibrating the height information data corresponding to the central preset area to obtain the height information of the projection equipment.
The main purpose of step S120 is to determine an accurate height information of the projection device according to the height information data corresponding to the central preset area. The embodiment does not limit the specific calibration processing process, as long as the height information data corresponding to the central preset area can be optimized to obtain accurate height information of the projection equipment.
For example, the average value of the height information data corresponding to the central preset area is calculated and used as the height information; or the maximum value and the minimum value of the height information data corresponding to the central preset area are removed firstly, then the average value of the rest height information data is calculated and taken as the height information; or sorting the height information data corresponding to the central preset area from small to large, and taking the intermediate value as the height information; or taking an average value for multiple times and taking the final average value as height information, namely, calculating the average value of height information data corresponding to the central preset area, then removing the height information data of which the difference value with the average value is greater than a threshold value in the height information data corresponding to the central preset area, calculating the average value of the remaining height information data and taking the average value as the height information.
Preferably, in order to improve the calculation speed on the basis of ensuring the accuracy of the finally obtained height information, in this embodiment, the obtaining of the height information of the projection apparatus by performing the calibration process on the height information data corresponding to the central preset area may include: and calculating the average value of the height information data corresponding to the central preset area, and taking the average value as the height information.
Based on the technical scheme, the method for acquiring the height information of the projection equipment provided by the embodiment of the invention automatically calculates the height information of the projection equipment by utilizing the height information data corresponding to the central preset area of the depth-of-field module, does not need to perform manual measurement under the condition of height change of the projection equipment every time, avoids high cost caused by manual measurement in the prior art, and improves the measurement precision of the height information.
Example two
Based on the first embodiment, in order to further improve the accuracy of the height information in this embodiment, before determining the height information data corresponding to the central preset area of the depth projection according to the longitudinal length parameter and the transverse length parameter of the depth module, the method may further include:
and detecting the flatness of the projection surface of the projection equipment.
In particular, the main purpose of the above steps is to ensure that the projection surface is flat and free of other objects. That is, only height information data in the case where the projection surface is flat and there is no other article on the projection surface is acquired. The embodiment does not limit a specific manner of detecting the flatness of the projection surface of the projection apparatus. For example, the user may determine whether the projection surface is flat by observation, and then perform step S100 when the projection surface is flat. Or, whether the projection surface is flat may be automatically determined by using the acquired height information data acquired by the depth of field module, and step S110 is executed when the projection surface is flat, but the embodiment does not limit how to automatically determine whether the projection surface is flat according to the height information data acquired by the depth of field module (for example, performing gradient detection on the height information data acquired by the depth of field module). Since the way of detecting the flatness of the projection surface selected by the user is uncertain, the embodiment does not limit whether the step of detecting the flatness of the projection surface of the projection apparatus is located before step S100 or between step S100 and step S110.
Further, in this embodiment, the flatness detection may be performed on the entire projection surface, or may be performed only on the projection surface in the selected area. The size and shape of the selected area is not limited in this embodiment, but generally the larger the area, or at least the projected area containing the operating system. The size of the projection surface of the projection device that needs to be detected is not limited in this embodiment. I.e. may be to detect the flatness of a selected area of the projection surface of the projection device.
Preferably, when the projection surface of the projection apparatus is uneven, the corresponding height information data has a large jump, please refer to fig. 4 to 7, so that the flatness of the projection surface of the projection apparatus can be detected by using gradient detection with fast calculation speed and accuracy in the embodiment. The embodiment does not limit the specific gradient detection process, for example, the gradient detection may be performed only in the horizontal direction; gradient detection may be performed only in the vertical direction; or the gradient detection can be carried out in the horizontal direction and the vertical direction simultaneously; it is also possible to perform gradient detection only in the horizontal direction and in the vertical direction within the selected area.
Of course, the detection result obtained by performing gradient detection in the horizontal direction and the vertical direction is more accurate. The specific process can be as follows:
respectively calculating the difference value between the next height information data and the previous height information data in each row of height information data corresponding to each other from left to right in the depth-of-field projection;
respectively calculating the difference value between the next height information data and the previous height information data in each column of height information data corresponding from top to bottom in the depth-of-field projection;
and respectively comparing the difference values with the gradient threshold value, and when the difference values which are larger than the gradient threshold value do not exist, the projection surface of the projection equipment is flat.
In this embodiment, the magnitude of the gradient threshold is not limited, and a user may select the gradient threshold by himself or modify the gradient threshold according to an actual situation or a use effect. Of course, the user may set the row gradient threshold and the column gradient threshold separately. This embodiment is not limited to this.
Firstly, height information data corresponding to each row from left to right in depth-of-field projection is determined, a difference value is obtained by sequentially utilizing the height information data of the next point and the height information data of the previous point (the difference value is a positive number, namely, the difference value is obtained by subtracting small data from big data, or the difference value is obtained by subtracting the height information data of the previous point from the height information data of the next point and an absolute value is taken), each obtained difference value is compared with a gradient threshold, and when the difference values which are larger than the gradient threshold do not exist, the row is considered to have no problem. The detection process of the columns is the same. And when the difference value larger than the gradient threshold value does not exist in all the columns and all the rows, the projection surface of the projection equipment is flat.
In this embodiment, the difference calculation operation may be performed on each row of data in parallel and compared with the gradient threshold, and then the difference calculation operation may be performed on each column of data in parallel and compared with the gradient threshold; or the operation of calculating the difference value of the data of each row and each column in parallel is carried out, and finally the comparison with the gradient threshold value is carried out together; or, the operation of calculating the difference value may be performed on data of a certain row (or column) in sequence, and the comparison with the gradient threshold value may be performed, and when there is no difference value greater than the gradient threshold value, the next row (or column) may be performed, and when there is a difference value greater than the gradient threshold value, the operation may be ended.
Further, when there is a difference greater than the gradient threshold between all columns and all rows, the projection surface of the projection device is not flat, and at this time, in order to improve the user experience, a prompt operation may be performed. That is, preferably, when the projection surface of the projection device is detected to be uneven (there is a problem of gradient morphology), the user is prompted that the projection surface is uneven or that there is an article on the projection surface, so that the user can perform subsequent processing.
Of course, the present embodiment does not limit the manner of the prompting operation and the prompting content. For example, the prompt may be a voice prompt, a text prompt, or an indicator light prompt; the content of the prompt can be that the projection surface is uneven, or an object is placed on the projection surface, and the like.
EXAMPLE III
Based on the first embodiment or the second embodiment, in order to further improve the accuracy of the height information, before determining the height information data corresponding to the central preset area of the depth projection according to the longitudinal length parameter and the transverse length parameter of the depth module, the method may further include:
detecting whether the installation of the projection equipment is horizontal.
In particular, the main purpose of the above steps is to ensure that the installation of the projection device is horizontal. The present embodiment does not limit the specific manner of detecting whether the projection device is installed horizontally. For example, the user may determine whether the projector is horizontal by observation, and then perform step S100 when the projector is installed horizontally. It may also be that the acquired height information data collected by the depth of view module is used to automatically determine whether the projection device is installed horizontally, and step S110 is executed when the projection device is installed horizontally, although this embodiment also does not limit how to automatically determine whether the projection device is installed horizontally according to the height information data collected by the depth of view module (for example, data size change trend analysis is performed on the height information data collected by the depth of view module). Since the manner of detecting whether the installation of the projection apparatus selected by the user is horizontal is uncertain, the present embodiment does not limit whether the step of detecting whether the installation of the projection apparatus is horizontal is located before step S100 or between step S100 and step S110. When the embodiment is based on the second embodiment, the embodiment does not limit the sequence of the three steps of detecting whether the projection device is installed horizontally, detecting the flatness of the projection surface of the projection device, and acquiring the height information data acquired by the depth-of-field module.
For a horizontally mounted projection device, for the same row (same column) of image information, the depth value of a point far from the projection device position is large, and the depth value of a point near to the projection device position is small, so that the variation trend of the depth values of the same row of images is from the left to the middle depth value decreasing, and then from the middle to the right depth value increasing, and the variation trend of the depth values of the same column of images is from the upper side to the middle depth value decreasing, and then from the middle to the lower side depth value increasing. The present embodiment does not limit the specific process for detecting the change trend of the depth value, and for example, only a certain row or a certain number of rows may be detected; or only a certain column or a certain few columns can be detected; it is also possible to detect a row and a column, or a number of rows and a number of columns simultaneously. In order to improve reliability of detecting whether the projection apparatus is installed horizontally, preferably, detecting whether the projection apparatus is installed horizontally may include:
judging whether the size of height information data of a preset row from left to right in the depth-of-field projection meets the rising trend from the middle to the two side edges;
judging whether the height information data of a preset column from top to bottom in the depth-of-field projection meets the rising trend from the middle to the two side edges;
if the trend is the ascending trend, the projection equipment is installed horizontally.
In this embodiment, the values of the preset rows and the preset columns are not limited, and any row and any column may be selected in general. When a user selects multiple lines, the height information data of each line from left to right needs to be judged, and whether the height information data satisfies the rising trend from the middle to the two side edges or not is judged. When a user selects multiple rows, the height information data of each row from top to bottom needs to be judged, and whether the height information data of each row meets the rising trend from the middle to the two side edges is judged.
The embodiment does not limit the manner of determining whether the size of the height information data from left to right satisfies the rising trend from the middle to the two side edges or whether the size of the height information data from top to bottom satisfies the rising trend from the middle to the two side edges, for example, the height information data from left to right in each row or the height information data from top to bottom in each column may be drawn as a two-dimensional graph, and the height information data from left to right in each row or the height information data from top to bottom in each column may be image-determined whether the height information data satisfies the rising trend from the middle to the two side edges (i.e., a parabola above the opening); or comparing and judging whether the rising trend from the middle to the two side edges is satisfied or not in the height information data from left to right of each row or in the height information data from top to bottom of each column.
In the former case, the user can measure the two-dimensional graph by eyes when judging whether the two-dimensional graph meets the rising trend from the middle to the two side edges, and certainly, the two-dimensional graph can be automatically identified by a computer. In the latter case, when the two are compared with each other, it can be determined sequentially from the middle point as the start point, from the left side and the right side whether the next adjacent point is larger than the point close to the center, and if both are larger, it is considered that the trend from the middle to the two side edges is up. In order to reduce the error in the process, a threshold value may be set, that is, when the latter point which occurs occasionally is smaller than the adjacent point close to the center, whether the difference is smaller than the threshold value or not is judged, and if the difference is smaller than the threshold value, the difference is negligible. Or counting the times of the occurrence of the situation, and when the times are smaller than a time threshold value, considering that the rising trend from the middle to the two side edges is satisfied.
Further, in practical use, it cannot be guaranteed that the projection device is completely horizontally mounted (i.e. the value of the middle point is minimal). In order to reduce the situation of judgment error caused by errors of numerical values of the middle point in the process of judging whether the middle edge and the two side edges are in the ascending trend. In this embodiment, preferably, the average value of the depth values of the middle preset number of points in a row may be taken as the minimum value, that is, the depth value at the middle of the row (the column is the same as the row), and then whether the edge is toward the middle and the middle is toward the edge may be checked. For example, if the number of data in a row is 640 and the position of the center point is 320, the average value of the depth coordinate values from 310 to 330 points may be calculated as the minimum value of the row, and this method is also applied to the data in a column.
In the second embodiment, the specific calculation order is not limited, and parallel processing may be selected or processing may be performed in sequence.
Further, if the intercepted row data or column data does not conform to the trend, it indicates that the projection device is not in the horizontal position, and at this time, in order to improve the user experience, a prompt operation may be performed. That is, preferably, when it is detected that the projection device is not installed horizontally (not meeting the above-mentioned trend), the user is prompted for the projection device to be installed horizontally for subsequent adjustment by the user.
Of course, the present embodiment does not limit the manner of the prompting operation and the prompting content. For example, the prompt may be a voice prompt, a text prompt, or an indicator light prompt; the content of the prompt may be that the projection device is installed out of level, or how the content of the projection device should be adjusted, etc.
Example four
Referring to fig. 8, fig. 8 is a flowchart illustrating a method for obtaining calibration parameters of a projection apparatus according to an embodiment of the present invention; the method can comprise the following steps:
and S200, acquiring height information data of the distance projection plane acquired by the depth of field module.
S210, determining height information data corresponding to a central preset area of the depth of field projection according to the longitudinal length parameter and the transverse length parameter of the depth of field module.
S220, calibrating the height information data corresponding to the central preset area to obtain the height information of the projection equipment.
Reference may be made to the details of the first to third embodiments in steps S200 to S220.
And S230, acquiring calibration parameters corresponding to the height information of the projection equipment.
In this embodiment, after the height information is obtained, the corresponding calibration parameter may be automatically selected according to the height information. Namely, once the calibration parameters of calibration points corresponding to different heights are set in the whole projection equipment, in the subsequent use process, the height information of the projection equipment is automatically acquired, and then the calibration parameters corresponding to the heights are automatically selected. Wherein the calibration parameter is the depth coordinate range of the calibration point.
The embodiment does not limit the specific process of setting the calibration parameters of the calibration points corresponding to different heights, and the user can set the calibration parameters according to the actual situation. For example: referring to fig. 9, the existing 12 calibration point calibration method is adopted, and in actual use, the calibration points need to be displayed individually instead of the 12 calibration points. For example, the first calibration point in the first row and the first column at the upper left corner is displayed first to prompt the user to calibrate, when the detection object (for example, a finger) is detected to be within the calibration parameter range set by the first calibration point, the detection object is hidden, the second calibration point in the first row and the second column is displayed to prompt the user to calibrate, and then whether the detection object is within the calibration parameter range of the set second calibration point is judged, and so on. And completing the calibration until the 12 calibration points are all in the set calibration parameter range.
For setting the range of the calibration parameters, at the beginning of development, it is necessary to first determine the height of the projection apparatus, then place a detection object (e.g. a finger) on a calibration point, obtain a depth coordinate corresponding to the calibration point, and then obtain the calibration parameters according to a buffer value, where, for example, when the height is 70cm, the depth coordinate value of the center position of the first calibration point is (100 ), and the buffer value is 30, then the calibration parameter X coordinate of this calibration point is 100-30-70 to 100+ 30-130, and the Y coordinate is 100-30-70 to 100+ 30-130. The range of the X coordinate and the range of the Y coordinate of the calibration point are calibration parameters. The same method obtains the calibration parameters of the remaining 11 calibration points. Setting the buffer value requires repeated experiments, a detection object is placed at the center position of the calibration point to obtain a depth coordinate value, then the detection object is placed at four vertex positions of the upper left vertex, the lower left vertex, the upper right vertex and the lower right vertex of the calibration icon to obtain the depth coordinate value, difference operation is carried out on the depth coordinate value and the depth coordinate value of the center position, and the maximum value of the absolute value of the difference value is the buffer value. If the value is too small, the detection object is possibly placed on the calibration point, but the finger cannot be detected, and the calibration cannot be carried out; if the value is too large, it is possible that the detection object is detected too far from the calibration point, resulting in inaccurate calibration, and a suitable value needs to be selected to obtain a better user experience. The function of setting the calibration parameters is to set the effective area of the calibration point, and in the calibration process, only when the user puts the detection object in the set effective area, the detection object is considered as an effective depth coordinate.
Further, since the height of the projection device is measured manually in the prior art, after the corresponding calibration parameters are manually selected, different apks need to be programmed and run on the android platform for calibration. It requires maintenance of different versions of apk, which is inconvenient to use. In the embodiment, the user only needs to set the calibration parameters of the calibration points corresponding to different heights once, so that a developer only needs to maintain one set of codes, and the development cost is saved; the user does not need to select different versions of apk according to the height, so that the use is more convenient.
Based on the technical scheme, the method for acquiring the calibration parameters of the projection equipment, provided by the embodiment of the invention, acquires the height of the projection equipment through the image data of the depth-of-field module, and then automatically selects the calibration parameters according to the height, so that the trouble of manually acquiring the height of the projection equipment after the height of the projection equipment is adjusted every time is avoided, and the error of manual operation is avoided; and the developer only needs to maintain a set of codes (corresponding relation between the height and the calibration parameters), so that the development cost is saved; the user does not need to select different versions of apk according to the height, so that the use is more convenient.
Referring to fig. 10, a projection lamp is taken as an example to illustrate a specific process of the above embodiment.
Gradient detection is performed first to ensure that the projection surface is flat and no other objects are placed on the projection surface. And then detecting whether the projection lamp is in a horizontal position, and acquiring the real height information of the projection lamp only by horizontally installing the projection lamp. Height information of the projection lamp is then obtained from the image information. And finally, automatically selecting corresponding calibration parameters according to the height information.
Based on the technical scheme, the key point of the method for acquiring the calibration parameters of the projection equipment in the embodiment of the invention is to acquire the height information of the projection equipment according to the image information of the depth-of-field module, and then automatically select the corresponding calibration parameters according to the height information. In order to improve the accuracy of acquiring the height information of the projection equipment, before the height information is acquired, gradient detection is firstly carried out on an image, if the gradient value exists, the projection surface is not flat or an article exists on the projection surface, and the detection is carried out after the processing is carried out; and then detecting whether the projection recognition installation is horizontal, and if the projection lamp is inclined, adjusting the projection lamp to the horizontal position and detecting.
The following describes an obtaining apparatus for height information of a projection device, a obtaining apparatus for calibration parameters of a projection device, a terminal device, and a computer-readable storage medium according to embodiments of the present invention, where the obtaining apparatus for height information of a projection device, the obtaining apparatus for calibration parameters of a projection device, the terminal device, and the computer-readable storage medium described below and the obtaining method for height information of a projection device described above may be referred to correspondingly.
Referring to fig. 11, fig. 11 is a block diagram of a device for acquiring height information of a projection apparatus according to an embodiment of the present invention; the apparatus may include:
the data acquisition module 100 is configured to acquire height information data from a projection plane, which is acquired by the depth-of-field module;
the data selection module 200 is configured to determine height information data corresponding to a central preset area of the depth-of-field projection according to the longitudinal length parameter and the transverse length parameter of the depth-of-field module;
the data calibration module 300 is configured to calibrate the height information data corresponding to the central preset area to obtain height information of the projection device.
Based on the above embodiment, the data calibration module 300 is specifically a module that calculates an average value of height information data corresponding to the central preset area, and uses the average value as the height information of the projection device.
Based on any of the above embodiments, the apparatus may further include:
and the flatness detection module is used for detecting the flatness of the projection surface of the projection equipment.
Preferably, the flatness detecting module includes:
the first difference calculating unit is used for respectively calculating the difference between the next height information data and the previous height information data in each row of height information data corresponding to each other from left to right in the depth projection;
the second difference calculation unit is used for respectively calculating the difference between the next height information data and the previous height information data in each column of height information data corresponding to each column from top to bottom in the depth projection;
and the flatness detection unit is used for respectively comparing each difference value with the gradient threshold value, and when the difference values which are larger than the gradient threshold value do not exist, the projection surface of the projection equipment is flat.
Based on any of the above embodiments, the apparatus may further include:
and the installation level detection module is used for detecting whether the installation of the projection equipment is horizontal.
Preferably, the installation level detecting module includes:
the first judgment unit is used for judging whether the size of height information data of a preset row from left to right in the depth projection meets the rising trend from the middle to the two side edges;
the second judgment unit is used for judging whether the size of height information data of a preset column from top to bottom in the depth-of-field projection meets the rising trend from the middle to the two side edges;
and the installation level detection unit is used for determining the installation level of the projection equipment if the installation level is in the ascending trend.
Referring to fig. 12, fig. 12 is a block diagram of a configuration of an apparatus for acquiring calibration parameters of a projection device according to an embodiment of the present invention; the apparatus may include:
the data acquisition module 100 is configured to acquire height information data from a projection plane, which is acquired by the depth-of-field module;
the data selection module 200 is configured to determine height information data corresponding to a central preset area of the depth-of-field projection according to the longitudinal length parameter and the transverse length parameter of the depth-of-field module;
the data calibration module 300 is configured to calibrate height information data corresponding to the central preset area to obtain height information of the projection device;
a calibration parameter obtaining module 400, configured to obtain a calibration parameter corresponding to the height information of the projection apparatus.
It should be noted that, based on any of the above embodiments, the apparatus may be implemented based on a programmable logic device, where the programmable logic device includes an FPGA, a CPLD, a single chip, and the like.
An embodiment of the present invention provides a projection apparatus, including: the depth of field module, the projection optical machine, the memory and the processor; wherein the content of the first and second substances,
a memory for storing a computer program;
a processor for implementing the steps of the method for acquiring height information of a projection device according to any of the above embodiments when executing a computer program. If the processor acquires the height information data from the projection plane, which is acquired by the depth-of-field module; determining height information data corresponding to a central preset area of the depth-of-field projection according to the longitudinal length parameter and the transverse length parameter of the depth-of-field module; and calibrating the height information data corresponding to the central preset area to obtain the height information of the projection equipment. Or steps implementing a method of calibrating a projection device as described in any of the embodiments above. If the height information data of the distance projection plane collected by the depth of field module is obtained; determining height information data corresponding to a central preset area of the depth-of-field projection according to the longitudinal length parameter and the transverse length parameter of the depth-of-field module; the height information data corresponding to the central preset area is calibrated to obtain the height information of the projection equipment; and acquiring calibration parameters corresponding to the height information of the projection equipment.
Based on the above embodiment, the projection apparatus may further include:
and the output component is used for outputting the prompt information.
Specifically, the present embodiment does not limit the specific form of the output component, and may be, for example, a voice output component or an indicator light.
The embodiment of the invention also discloses terminal equipment, which is characterized by comprising the projection equipment in the embodiment. Specifically, the present embodiment does not limit the terminal device, and the terminal device may be a mobile phone or a projector.
The embodiment of the present invention is further directed to a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method for acquiring height information of a projection device according to any embodiment of the present invention are implemented. If the processor acquires the height information data from the projection plane, which is acquired by the depth-of-field module; determining height information data corresponding to a central preset area of the depth-of-field projection according to the longitudinal length parameter and the transverse length parameter of the depth-of-field module; and calibrating the height information data corresponding to the central preset area to obtain the height information of the projection equipment. Or steps implementing a method of calibrating a projection device as described in any of the embodiments above. If the height information data of the distance projection plane collected by the depth of field module is obtained; determining height information data corresponding to a central preset area of the depth-of-field projection according to the longitudinal length parameter and the transverse length parameter of the depth-of-field module; the height information data corresponding to the central preset area is calibrated to obtain the height information of the projection equipment; and acquiring calibration parameters corresponding to the height information of the projection equipment.
The computer-readable storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above details are provided for the method and apparatus for acquiring the height information of the projection device, the method and apparatus for acquiring the calibration parameter of the projection device, the terminal device, and the computer-readable storage medium. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (5)
1. A method for obtaining calibration parameters of a projection device is characterized by comprising the following steps:
acquiring height information data of a distance projection plane acquired by the depth-of-field module;
determining height information data corresponding to a central preset area of the depth-of-field projection according to the longitudinal length parameter and the transverse length parameter of the depth-of-field module;
calculating an average value of height information data corresponding to the central preset area, and taking the average value as height information of the projection equipment;
after the height information of the projection equipment is obtained, obtaining a calibration parameter corresponding to the height information of the projection equipment;
before determining the height information data corresponding to the central preset area of the depth-of-field projection according to the longitudinal length parameter and the transverse length parameter of the depth-of-field module, the method further comprises the following steps:
detecting the flatness of a projection surface of the projection equipment;
detecting whether the installation of the projection equipment is horizontal;
wherein the detecting whether the installation of the projection device is horizontal comprises:
judging whether the size of height information data of a preset row from left to right in the depth-of-field projection meets the rising trend from the middle to the two side edges;
judging whether the height information data of a preset column from top to bottom in the depth-of-field projection meets the rising trend from the middle to the two side edges;
if the trend is the ascending trend, the projection equipment is installed horizontally;
the detecting flatness of the projection surface of the projection device includes:
respectively calculating the difference value between the next height information data and the previous height information data in the height information data corresponding to each row from left to right in the depth-of-field projection;
respectively calculating the difference value between the next height information data and the previous height information data in the height information data corresponding to each column from top to bottom in the depth-of-field projection;
and respectively comparing the difference values with a gradient threshold value, and when the difference values which are larger than the gradient threshold value do not exist, the projection surface of the projection equipment is flat.
2. An apparatus for obtaining calibration parameters of a projection device, comprising:
the data acquisition module is used for acquiring height information data which is acquired by the depth-of-field module and is far away from the projection surface;
the data selection module is used for determining height information data corresponding to a central preset area of the depth-of-field projection according to the longitudinal length parameter and the transverse length parameter of the depth-of-field module;
the data calibration module is used for calibrating the height information data corresponding to the central preset area to obtain the height information of the projection equipment;
the flatness detection module is used for detecting the flatness of the projection surface of the projection equipment;
the installation level detection module is used for detecting whether the installation of the projection equipment is horizontal or not;
the data calibration module is specifically a module for calculating an average value of height information data corresponding to the central preset area, and taking the average value as the height information of the projection equipment;
the installation level detection module includes:
the first judgment unit is used for judging whether the size of height information data of a preset row from left to right in the depth-of-field projection meets the requirement that the height information data from the middle to the two side edges is in an ascending trend;
the second judging unit is used for judging whether the size of height information data of a preset column from top to bottom in the depth-of-field projection meets the requirement that the middle to two side edges are in an ascending trend;
the mounting level detection unit is used for determining the mounting level of the projection equipment if the mounting level detection unit is in the ascending trend;
the flatness detection module includes:
the first difference calculating unit is used for respectively calculating the difference between the next height information data and the previous height information data in the height information data corresponding to each row from left to right in the depth projection;
a second difference calculation unit, configured to calculate a difference between a next height information data and a previous height information data in the height information data corresponding to each column from top to bottom in the depth projection, respectively;
the flatness detection unit is used for respectively comparing each difference value with a gradient threshold value, and when no difference value larger than the gradient threshold value exists, the projection surface of the projection equipment is flat;
further comprising:
and the calibration parameter acquisition module is used for acquiring calibration parameters corresponding to the height information of the projection equipment.
3. A projection device, comprising: the depth of field module, the projection optical machine, the memory and the processor; wherein the content of the first and second substances,
the memory for storing a computer program;
the processor, when executing the computer program, is configured to implement the steps of the method for acquiring calibration parameters for a projection apparatus according to claim 1.
4. A terminal device characterized by comprising the projection device according to claim 3.
5. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the method for acquiring calibration parameters for a projection device as claimed in claim 1.
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| CN111445393B (en) * | 2019-10-22 | 2020-11-20 | 合肥耀世同辉科技有限公司 | Electronic device content driving platform |
| CN112261396B (en) * | 2020-10-26 | 2022-02-25 | 成都极米科技股份有限公司 | Projection method, projection device, projection equipment and computer readable storage medium |
| CN113115017B (en) * | 2021-03-05 | 2022-03-18 | 上海炬佑智能科技有限公司 | 3D imaging module parameter inspection method and 3D imaging device |
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