CN110300292A - Projection distortion bearing calibration, device, system and storage medium - Google Patents
Projection distortion bearing calibration, device, system and storage medium Download PDFInfo
- Publication number
- CN110300292A CN110300292A CN201810240367.9A CN201810240367A CN110300292A CN 110300292 A CN110300292 A CN 110300292A CN 201810240367 A CN201810240367 A CN 201810240367A CN 110300292 A CN110300292 A CN 110300292A
- Authority
- CN
- China
- Prior art keywords
- projection
- curved surface
- projection target
- projected
- center
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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]
-
- 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
-
- 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
Abstract
The present invention relates to a kind of projection distortion bearing calibrations, comprising: obtains the depth image of the projection target curved surface of depth image acquisition system acquisition；The depth image is handled to obtain 3D point cloud；The 3D point cloud of projection target curved surface is extracted from the 3D point cloud, create the model of the projection target curved surface, determine the center and boundary of the projection target curved surface, determine the center of projected picture and the boundary of projected picture, calculate direction and the distance at the center of projected picture described in the center deviation of the projection target curved surface, projected image is translated to be aligned the center of projection target curved surface and the center of the projected picture, and the edge of the projected picture is cut so that the boundary of the projected picture and the boundary of the projection target curved surface coincide, projected image after obtaining distortion correction.The present invention also provides a kind of projection distortion apparatus for correcting and systems.The projection distortion bearing calibration, apparatus and system can carry out real-time distortion correction according to projected image.
Description
Technical field
The present invention relates to project interaction field more particularly to a kind of projection distortion bearing calibration, device, projection distortion correction
System and storage medium.
Background technique
In projection applications, have and image or texture are projected into the demand of Irregular Boundary Surface to reach specific art effect
Fruit.One example is exactly the ground spheric projection in World Expo.Image is projected with more projectors and is spliced on a spherical surface.By
It is irregular in being projected surface, therefore the distance and angle of the different parts on perspective plane to projector are different from.In this way
The image for resulting in projection generates different distortion in perspective plane different parts, and this distortion is with projection target surface normal direction
Increase with the gap of projection centre axis direction and increases.Since the unit area of different location on curved surface projects on perspective plane
Area is not identical, and the picture of projection is caused to generate distortion.In order to allow projection to reach satisfactory effect, the image of projection needs
Distortion compensation is carried out according to the shape for being projected object.Existing method carries out 3D modeling to object is projected, and utilizes textures
Rendering carries out local distortion's compensation to projected image to generate new projected image.This needs is just made before demonstration
The image or video compensated according to curved projection surfaces.The process of compensation distortion needs to carry out complicated modeling, and projector by hand
Installation need complicated debugging, to be matched with the result of distortion correction.Projector is opposite during projection is projected face
Relative position must be kept fixed.If needing mobile projector face in showing, existing technology will be unable to meet the requirements.For
The setting and installation difficulty for reducing projector in this case, support mobile perspective plane, need a kind of device that can measure
The geometry of projection target curved surface simultaneously can be compensated automatically according to the shape on perspective plane.
Summary of the invention
In consideration of it, it is necessary to provide a kind of projection distortion bearing calibration, device, projection distortion correction system and storages to be situated between
Matter can measure the geometry of projection target curved surface and can automatically be compensated according to the shape on perspective plane.
The present invention provides a kind of projection distortion bearing calibration, which comprises
A kind of projection distortion bearing calibration, which comprises
Obtain the depth image of the projection target curved surface of depth image acquisition system acquisition；
The depth image of depth image acquisition system acquisition is handled to obtain 3D point cloud；
The 3D point cloud of projection target curved surface is extracted from the 3D point cloud, and is created based on the 3D point cloud of projection target curved surface
Build the model of the projection target curved surface；
The center and boundary of the projection target curved surface are determined according to the model of the projection target curved surface, and according to projection
The three-dimensional position of target surface determines the center of projected picture and the boundary of projected picture, calculates in the projection target curved surface
The heart deviates direction and the distance at the center of the projected picture, according to the direction of deviation and apart from translation projected image so that throwing
The center of shadow target surface is aligned with the center of the projected picture, and cuts the edge of the projected picture so that the throwing
The boundary of shadow picture and the boundary of the projection target curved surface coincide, the projected image after obtaining distortion correction.
Further, the method also includes carrying out portion three-dimensional picture pasting to projection target curved surface using projected image to generate
Textures mapping function recycles textures mapping function to carry out inverse transformation to projected image to generate a distortion compensated image.
Further, the center of the projection target curved surface passes through the center of gravity of the 3D point cloud of the projection target curved surface, several
What center or preset characteristic matching center determine.
Further, the boundary of the projected picture passes through with the projection ray of pixel corresponding to four angles of projected image
Intersection point for the 3D point cloud on the boundary and projection target curved surface of the cone space on boundary determines.
A kind of projection distortion means for correcting, the projection distortion means for correcting include:
Image collection module, the depth image of the projection target curved surface for obtaining the acquisition of depth image acquisition system；
Projection target surface model is established depth image of the module for acquiring to the depth image acquisition system and is carried out
Processing obtains 3D point cloud；The 3D point cloud of projection target curved surface is extracted from the 3D point cloud, and based on projection target curved surface
3D point cloud creates the model of the projection target curved surface；And
Distortion correction module, for determining the center of the projection target curved surface according to the model of the projection target curved surface
And boundary, and the center of projected picture and the boundary of projected picture are determined according to the three-dimensional position of projection target curved surface, calculate institute
Direction and the distance for stating the center of projected picture described in the center deviation of projection target curved surface, according to the direction of deviation and apart from flat
Projected image is moved so that the center of projection target curved surface is aligned with the center of the projected picture, and cuts the projected picture
Edge so that the boundary of the boundary of the projected picture and the projection target curved surface coincide, the throwing after obtaining distortion correction
Shadow image.
Further, the projection distortion correction module is also used to carry out projection target curved surface using projected image three-dimensional
Textures recycle textures mapping function to carry out inverse transformation to projected image to generate a distortion benefit to generate textures mapping function
Image after repaying.
A kind of projection distortion corrects system, and the projection distortion correction system includes: optical projection system, the optical projection system with
Projection source device is connected, for the content for projecting source device to be projected to projection target curved surface；Depth image acquisition system, institute
It states depth image acquisition system to be fixed in the optical projection system, for acquiring including the projection target curved surface
Depth image；And projection distortion means for correcting as described above.
Further, the depth image acquisition system can acquire the depth information of image in real time with certain frame per second,
Including one or more depth collecting devices, if multiple, then it is separately positioned on different location in the optical projection system.
Further, the projection distortion means for correcting is integrated in the optical projection system or in the projection source device.
A kind of computer readable storage medium, is stored thereon with computer program, and the computer program is held by processor
Projection distortion bearing calibration as described above is realized when row.
Compared with prior art, the throwing that the projection distortion bearing calibration can be acquired according to depth image acquisition system
The model and three dimensional local information of projection target curved surface is calculated in the deep image information of shadow target surface, to projection image source
The correct operations such as central alignment and edge cutting are carried out, so that the picture projected in curved projection surfaces just coincide with projection surface
So as to automatically carry out distortion compensation according to the shape of curved projection surfaces.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the projection distortion correction system of the embodiment of the present invention.
Fig. 2 is the module diagram of the projection distortion means for correcting of the embodiment of the present invention.
Fig. 3 is the point cloud fast grouping algorithm flow chart of the embodiment of the present invention.
Fig. 4 is the structural schematic diagram of the projection distortion means for correcting of the embodiment of the present invention.
Fig. 5 is the flow chart of the projection distortion bearing calibration of the embodiment of the present invention.
Fig. 6 is the textures algorithm schematic diagram of the embodiment of the present invention.
Fig. 7 is comparison diagram of the projected image of the embodiment of the present invention before and after distortion correction.
Fig. 8 is comparison diagram of the another projected image of the embodiment of the present invention before and after distortion correction.
Fig. 9 is the antarafacial projection removable electrical display card using the projection distortion correction system of the embodiment of the present invention.
Figure 10 is the mobile conic projection schematic diagram of stage using the projection distortion correction system of the embodiment of the present invention.
Main element symbol description
Projection distortion corrects system 1000
Optical projection system 1
Depth image acquisition system 2
Projection distortion means for correcting 3
Image collection module 300
Projection target surface model establishes module 302
Distortion correction module 304
Processor 31
Memory 32
Communication device 33
First triangle 70
Second triangle 72
The present invention that the following detailed description will be further explained with reference to the above drawings.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It should be noted that it can be directly on another component when component is referred to as " being fixed on " another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it, which can be, is directly connected to
To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being set to " another component, it
It can be and be set up directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical
", " horizontal ", "left", "right" and similar statement for illustrative purposes only.
System embodiment discussed below is only schematical, the division of the module or circuit, only one
Kind logical function partition, there may be another division manner in actual implementation.Furthermore, it is to be understood that one word of " comprising " is not excluded for other lists
Member or step, odd number are not excluded for plural number.The multiple units or device stated in system claims can also be by the same units
Or device is implemented through software or hardware.The first, the second equal words are used to indicate names, and are not offered as any specific
Sequentially.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
Referring to Fig. 1, Fig. 1 is the structural schematic diagram of the projection distortion correction system 1000 of the embodiment of the present invention.The throwing
Shadow distortion correction system 1000 includes optical projection system 1, depth image acquisition system 2 and projection distortion means for correcting 3.
The depth image acquisition system 2 is fixed in the optical projection system 1, the relatively described optical projection system 1
Position immobilizes and is known.The depth image acquisition system 2 is used to acquire on the projecting direction of the optical projection system 1
The deep image information of projection target curved surface 4.The depth image acquisition system 2 can generate spatial depth information to be any
Equipment, such as ToF camera, structured light 3D scanner, binocular parallax 3D scanning device etc..The depth image acquisition system 2 can
To install towards the projecting direction of the optical projection system 1, and its image-capture field includes at least the projection target curved surface and exists
It is interior.The depth image acquisition system 2 may include one or more depth image acquisition devices.Multiple depth image acquisition dresses
The setting set is in order to enable the depth image collected of the depth image acquisition system 2 is more accurate.For ease of description, as follows
It is illustrated by taking a depth image acquisition device as an example in embodiment.
The optical projection system 1 can be communicated to connect with projection source device (not shown), by the content of the projection source device
It is incident upon on projection target curved surface 4.The optical projection system 1 can be connected with the projection source device by wired or wireless mode
It connects.It is understood that in some embodiments, the optical projection system 1 can also be with built-in storage apparatus, the built-in storage dress
Project content is stored in setting.In some embodiments, connecting interface also can be set in the optical projection system 1, connects external deposit
Storage device is to read and project the content in the extraneous storage device.For example, storage card slot is arranged in the optical projection system 1,
It is the content that can be read and play in the storage card by insertion storage card.
The projection distortion means for correcting 3 can respectively with the depth image acquisition system 2 and the projection source device
Communication connection, for obtaining the projection mesh that the depth image acquisition system 2 acquires from the depth image acquisition system 2
The depth image of curved surface 4 is marked, and processing analysis is carried out to the depth image and obtains 3D point cloud, and is extracted from the 3D point cloud
The 3D point cloud of projection target curved surface 4 out carries out coordinate conversion, and the mathematical function for obtaining the projection target curved surface 4 indicates, then right
The coordinate of projected image carries out coordinate conversion, and projected image and the projection target curved surface are converted to the same coordinate system, into
The distortion correction of row image is handled, and the distortion correction processing includes to projected picture and the alignment of projection target center of surface and side
Edge is cut.In a further embodiment, the distortion correction processing further includes to projected picture according to projection target curved surface
It rises and falls and carries out distortion correction.Image after the distortion correction is sent to the optical projection system 1 with the image after projection correction extremely
The projection target curved surface 4.The projection distortion means for correcting 3 can be integrated in the control list in the projection source device
Member is also possible to the control device independently of the projection source device and the electricity with data-handling capacity and communication connection capacity
Sub-device, such as computer, mobile phone, plate, personal digital assistant (Personal Digital Assistant, PDA) etc..One
In a little embodiments, the projection distortion means for correcting 3 is also possible to the control device being integrated in the optical projection system 1.
The projection source device can be communicated to connect with the optical projection system 1, for exporting project content to the projection
System 1.The projection source device can be any electronic device with data-handling capacity, such as computer, mobile phone, plate,
Personal digital assistant (Personal Digital Assistant, PDA) etc..It is understood that the projection source device 4 is also
Can be other electronic devices, such as TV, set-top box, audio and video player, game machine, video recorder etc. can export the electricity of content
Sub-device.
Communication, the projection source device between the depth image acquisition system 2 and the projection distortion means for correcting 3
The communication between communication and the projection source device and the projection distortion means for correcting 3 between the optical projection system 1 is equal
Wired or wireless mode can be used.Wherein the wired mode includes by communication port connection, such as universal serial bus
(universal serial bus, USB), high-definition multimedia (High-Definition Multimedia
Interface, HDMI) interface, Video Graphics Array (Video Graphics Array, VGA) interface, controller LAN
(Inter- between (Controller area network, CAN), the network connection of serial and/or other standards, integrated circuit
Integrated Circuit, I2C) bus etc..The wireless communication system of any classification can be used in the wireless mode, for example,
Bluetooth, infrared ray, Wireless Fidelity (Wireless Fidelity, WiFi), cellular technology, satellite, and broadcast.The wherein bee
Nest technology may include the mobile communication technologies such as the second generation (2G), the third generation (3G), forth generation (4G) or the 5th generation (5G).
It please refers to shown in Fig. 2, is the functional block diagram of the projection distortion means for correcting 3 of the embodiment of the present invention.
The projection distortion means for correcting 3 include image collection module 300, projection target surface model establish module 302,
Distortion correction module 304.Described image obtains module 300 and is used to obtain the depth map from the depth image acquisition system 2
As the depth image for the projection target curved surface 4 that acquisition system 2 acquires.
The projection target surface model establish module 302 for the depth image carry out processing and coordinate convert
To the threedimensional model mathematical notation (such as triangle gridding) of projection target curved surface.In some embodiments, the depth image is adopted
Collecting system 2 includes two or more depth image acquisition devices, and described image obtains module 300 respectively from each depth
Image collecting device obtain depth image, then the image of each depth image acquisition device is handled, such as noise reduction, under adopt
Sample (down sampling), exceptional value filter (outlier filter) etc., generate and correspond to each depth image acquisition device
Local coordinate system under 3D point cloud；Then according to the position of each depth image acquisition device, direction and imaging length-width ratio
The point cloud under local coordinate system is transformed under world coordinates etc. preconfigured information, and is merged into a total point cloud.
Wherein, any pixel in the depth image of the output of depth image acquisition device (the i-th row, jth column) is in depth
Coordinate under image collecting device local coordinate system can be expressed asWhereinWithFOVhAnd FOVvThe respectively horizontal and vertical visual angle of depth image acquisition device；n×
M is the imaging resolution of depth image acquisition device.
From the local coordinate system coordinate (x of depth image acquisition device0', y0', z0') arrive global coordinate system coordinate (x0, y0,
z0) transformation for mula be
Wherein,Three major axes orientations of respectively depth image acquisition device local coordinate system are sat newly
Unit column vector under mark system；(xc, yc, zc) it is seat of the depth image acquisition device local coordinate system origin under world coordinates
Mark.
The projection target surface model establishes the 3D point cloud that module 302 extracts projection target curved surface, constructs projection target
The model of curved surface.The projection distortion means for correcting 3 is classified according to the distribution density characteristic of cloud, and sorting algorithm can be used
Any suitable sorting algorithm, such as k nearest neighbor classification (k-nearest neighbor), k dimension (k-dTree) etc..Based on depth
The point cloud that degree image converts is structural point cloud, in the case where the neighbor point at any point in this cloud can be transferred through a little
Mark is rapidly found out, thus can also have the grouping accelerating algorithm for structuring point cloud, and flow chart as shown in Figure 3 describes one
Kind fast classification algorithm.
Step 401, judge whether cloud is sky, i.e., whether there is point in judgement point cloud.If not empty, 402 are entered step,
Otherwise, process terminates.
Step 402, a point is randomly selected from cloud as seed point.
Step 403, which is placed in storehouse.
Step 404, judge storehouse whether be it is empty, i.e., whether there is point in storehouse, if not empty, enter step 405, it is no
Then, 412 are entered step.
Step 405, it is taken a little from storehouse.
Step 406, cluster group is added in the point of the taking-up.
Step 407, all neighbor points of the point are obtained, the neighbor point refers to is located at predetermined threshold at a distance from the point
The point being worth in range.
Step 408, judge whether to have traversed all neighbor points.If so, return step 404, if it is not, entering step 409.
Step 409, a neighbor point is chosen, judges whether the neighbor point has been accessed, i.e., whether the neighbor point has added
Enter the storehouse.If so, return step 408, if it is not, entering step 410.
Step 410, judge the neighbor point and whether be less than predetermined threshold at a distance from taken point in step 405, if so, into
Enter step 411, if it is not, return step 408.
Step 411, which is added storehouse.
Step 412, from the cluster of cluster group creation point.
Step 413, the point in the cluster group is deleted from described cloud.
The projection target surface model establishes module 302 and extracts the projection target song from sorted 3D point cloud
The point cloud in face 4.Then the model (such as three of the projection target curved surface is constructed according to the 3D point cloud of the projection target curved surface 4
Angle grid model).When constructing the model of the projection target curved surface 4, existing any modeling method can be used to realize, example
Such as the triangle gridding based on triangulation (delaunay) is handled.
The distortion correction module 304 is used to carry out distortion school to projected image according to the model of the projection target curved surface
Just.Projected image is converted to the three-dimensional unified with the projection target curved surface is global sit first by the distortion correction module 304
Under mark system.The distortion correction module 304 (such as projection length-width ratio, projects vertical, water using preconfigured projection transform parameter
Square to dispersion angle etc.) establish projector space transfer function.Space transfer function is by the two-dimentional local coordinate of projected image
Be converted to space world coordinates.
Specifically, the two-dimentional local coordinate of the projected image can be converted first to the three-dimensional part to projected coordinate system
Then three-dimensional local coordinate under projected coordinate system is converted to the overall situation further according to the position of the camera lens of optical projection system 1 and is sat by coordinate
Mark system, wherein optical projection system coordinate system is the three-dimensional system of coordinate constructed using the optical center of the optical projection system 1 as origin.
Where it is assumed that the coordinate under world coordinates is defined as (x0, y0, z0)T, then the seat under projected coordinate system is converted to
Mark (x0", y0", z0″)TFor
Wherein,Respectively three major axes orientations of optical projection system local coordinate system are in new coordinate system
Under unit column vector；(xp, yp, zp) it is coordinate of the optical projection system local coordinate system origin under world coordinates.
The distortion correction module 304 converts the projected image and the projection target curved surface to the same coordinate system
After (three-dimensional global coordinate), the center of the projection target curved surface 4 is first determined according to the three-dimensional point cloud of the projection target curved surface
Position.The center of the projection target curved surface 4 can pass through the center of gravity (gravity of the point cloud of the calculating projection target curved surface 4
Center), geometric center (geometric center) is realized with the methods of preset characteristic matching center.
Projected picture is that projection of the pixel under optical projection system local coordinate system corresponding to four angles of projected image is penetrated
Line is curved surface defined by the cone space on boundary and the intersection of curved projection surfaces.Wherein determine the side on the boundary of the projected picture
Method are as follows: the boundary of projected picture is using the projection ray of pixel corresponding to four angles of projected image as the cone space on boundary
Boundary.The center of the projected picture can be identified as the centralizing mapping of projected image to the position of projected picture.The projection mesh
The boundary for marking curved surface 4 is determined by the point cloud for characterizing the projection target curved surface 4.If the point cloud of the projection target curved surface 4 is complete
It is in projection cone volume entirely, then the boundary of projection target curved surface is determined by the boundary of cloud, otherwise by the projection target
The point cloud of curved surface 4 and the part of projection cone volume intersection determine.
The distortion correction module 304 deviates institute according to the center of the projection target curved surface 4 in three-dimensional global coordinate
Direction and the distance at the center of projected image are stated to translate projected image, so that the center of the projection target curved surface 4 and institute
State the center alignment of projected image；Then, the projection distortion means for correcting 3 according to the boundary of the projected picture to translation after
Projected image cut so that (i.e. projection target is bent on the boundary of the boundary of projected picture and the projection target curved surface 4
The boundary of millet cake cloud) it coincide.
The distortion correction module 304 is after completing projected picture and being aligned with projection target center of surface, according to projection
The position of target surface generates projection transform function and projected image is transformed into three-dimensional global coordinate.Recycle portion three-dimensional picture pasting
Algorithm and principle, projected image after being converted using coordinate portion three-dimensional picture pasting is carried out to projection target curved surface and is reflected to generate textures
Penetrate function.Image processing system carries out inverse transformation to projected image using textures mapping function to generate a distortion compensated figure
Picture.
Wherein, the algorithm of textures assumes that the area on the area and curved surface on picture corresponds.In some embodiments,
Projection target curved surface is indicated that each triangle thereon has a corresponding normal direction by triangular mesh.If triangle
The normal direction and projected picture (spatial light modulator) of shape vertically, then the pattern on picture distortionless can project to this three
On angular, as shown in (a) in Fig. 6.If the normal direction and projected picture out of plumb of triangle, can generate distortion, such as
Shown in (b) in Fig. 6.The first triangle 70 in (b) in Fig. 6 is to deliver directly on the triangle of projection target curved surface of offset
Region.And if according to area equation principle, the region that should actually correspond to the triangle of projection target curved surface is
Second triangle 72.In order to compensate for this distortion, the picture compression in the second triangle 72 can be mapped to the first triangle by algorithm
In the region of shape 70, this transformation is essentially the same with 3D textures algorithm inside 3D display.
The depth image acquisition system 2 and projection distortion means for correcting work are in real-time mode, according to certain
The depth image of the acquisition of depth image acquisition system 2 described in frame per second collection analysis, generates the mould of the projection target curved surface in real time
Type corrects projected image in real time.Thus it can be realized pair using projection distortion means for correcting 3 and system of the invention
The real-time tracking of projection target curved surface is so that projected picture coincide with projection target curved surface always.
In some embodiments, the projection distortion means for correcting 3 can also be to projected image according to projection target curved surface 4
Fluctuating carry out distortion correction.The projection distortion means for correcting 3 is aligned in completion projected picture with projection target center of surface
After, projection transform function is generated according to the position of projection target curved surface and projected image is transformed into three-dimensional global coordinate.
The algorithm and principle for recycling portion three-dimensional picture pasting, the projected image after being converted using coordinate carry out portion three-dimensional picture pasting to projection target curved surface
To generate textures mapping function.Image processing system carries out inverse transformation to projected image using textures mapping function to generate
Image after distortion compensation.It can be eliminated in image projection to projection target curved surface after distortion compensation caused by being risen and fallen as curved surface
Distortion, as shown in (d) in (d) and Fig. 8 in Fig. 7.
It please refers to shown in Fig. 4, is the structural schematic diagram of the projection distortion means for correcting 3 of the embodiment of the present invention.
The projection distortion means for correcting 3 includes processor 31, memory 32 and communication device 33.
The memory 32 can be used for storing computer program and/or the module (image collection module described on such as
300, projection target surface model establishes module 302 and distortion correction module 304), the processor 31 is by operation or executes
The computer program and/or module being stored in the memory 32, and the data being stored in memory 32 are called, it realizes
The various functions (such as the distortion correction of projected image is handled) of the projection distortion means for correcting 3.The memory 32 can
It mainly include storing program area and storage data area, wherein storing program area can be needed for storage program area, at least one function
Application program (such as projecting function, social functions of mobile phone of projector etc.) etc.；Storage data area can be stored according to projection
Distortion correction device 3 uses created data (such as depth image data, 3D point cloud data etc.) etc..In addition, memory
32 may include high-speed random access memory, can also be hard including nonvolatile memory, such as hard disk, memory, plug-in type
Disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card
(Flash Card), at least one disk memory, flush memory device or other volatile solid-state parts.
The processor 31 can be central processing unit (Central Processing Unit,
CPU), it can also be other general processors, digital signal processor (Digital Signal
Processor, DSP), specific integrated circuit (Application Specific Integrated Circuit,
ASIC), ready-made programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic
Device, discrete gate or transistor logic, discrete hardware components etc..General processor can be microprocessor or this at
Reason device is also possible to any conventional processor etc., and the processor 31 is the control centre of the projection distortion means for correcting 3,
Utilize the various pieces of various interfaces and the entire projection distortion means for correcting 3 of connection.
The projection distortion means for correcting 3 further includes at least one communication device 33.
The communication device 33 can be wire communication device and be also possible to wireless communication device.The wherein wire communication
Device includes communication port, such as universal serial bus (universal serial bus, USB), controller LAN
(Inter- between (Controller area network, CAN), the network connection of serial and/or other standards, integrated circuit
Integrated Circuit, I2C) bus etc..The wireless communication system of any classification, example can be used in the wireless communication device
Such as, bluetooth, infrared ray, Wireless Fidelity (Wireless Fidelity, WiFi), cellular technology, satellite, and broadcast.It is wherein described
Cellular technology may include the mobile communication technologies such as the second generation (2G), the third generation (3G), forth generation (4G) or the 5th generation (5G).
In embodiments of the present invention, the projection distortion means for correcting 3 is used for through the communication device 33 and the depth
The degree communication of image capturing system 2 analyzes described image with obtaining the image that the depth image acquisition system 2 acquires
Processing obtains 3D point cloud, and the 3D point cloud of the projection target curved surface is extracted from 3D point cloud, calculates projection target curved surface
Model, projected picture center and boundary, and according to the model of the target surface, projected picture center and boundary to figure into
Line distortion correction process.The projection distortion means for correcting 3 is also used to logical by the communication device 33 and the optical projection system 1
Letter connection is to transmit the projected image after completing distortion correction to the optical projection system 1 to realize the projection to projected image.
It will be understood by those skilled in the art that the schematic diagram is only the example of the projection distortion means for correcting 3, and
The restriction to the projection distortion means for correcting 3 is not constituted, may include components more more or fewer than diagram, or combine certain
A little components or different components, such as the projection distortion means for correcting 3 can also include input and output according to actual needs
Equipment, display device etc..The input-output equipment may include the input equipment of any suitable, including but not limited to, mouse, key
Disk, touch screen or contactless input, for example, gesture input, voice input etc..The display device can be touching liquid crystal
Display screen (Liquid Crystal Display, LCD), light emitting diode (Light Emitting Diode, LED) display screen,
Organic Electricity laser display screen (Organic Light-Emitting Diode, OLED) or other suitable display screens.
Fig. 5 is the projection distortion bearing calibration flow chart of one embodiment of the invention.
Step 501, depth image is obtained.The projection distortion means for correcting 3 is obtained from the depth image acquisition system
The depth image of the projection target curved surface 4 collected of depth image acquisition system 2.In some embodiments, described
Depth image acquisition system 2 acquires the depth image of the projection target curved surface 4 with predetermined frame rate (such as 30~60 frames/second).
If it is fixed perspective plane, then frame per second is not required；But if it is mobile perspective plane, then require to throw between consecutive frame
Shadow face does not change significantly.It is understood that the acquisition frame rate of depth image acquisition system 2 can carry out according to actual needs
Adjustment, when being applied to mobile perspective plane, as long as can guarantee that acquired image perspective plane between adjacent two frame is not bright
Aobvious variation.The depth image that the depth image acquisition system 2 acquires is sent to institute by wired or wireless mode
State projection distortion means for correcting 3.
Step 502, processing depth image obtains 3D point cloud.The projection distortion means for correcting 3 to the depth image into
Row processing, the processing include, but are not limited to noise reduction, down sampling, outlier filter etc., generate corresponding to every
3D point cloud under a depth image acquisition device local coordinate system.Wherein, plane of delineation coordinate system is adopted with the depth image
The rectangular coordinate system that the optical axis of acquisition means and the intersection point of the plane of delineation are made of the origin of image coordinate system, the depth image
The local coordinate system of acquisition device be to be respectively parallel to the plane coordinates axle of described image plane coordinate system as X, Y-axis, with
Optical axis direction is as Z axis, the three-dimensional system of coordinate constructed using the optical center of the depth image acquisition device as origin.The depth map
The depth information of picture represents each pixel in the depth image in the local coordinate of the depth image acquisition device
Z axis coordinate value under system.In some embodiments, the projection distortion means for correcting 3 will also be each in the depth image
Coordinate of the pixel in the case where the coordinate under the local coordinate system of the depth image acquisition device is converted to global coordinate system.It is described
Global coordinate system is for the local coordinate system of the relatively described depth image acquisition device and the local coordinate system of optical projection system,
It can be origin and define any referential at an arbitrary position, such as can be the cartesian coordinate that origin is defined on space point
System.
In which it is assumed that any pixel (the i-th row, jth column) in the depth image of the output of depth image acquisition device exists
Coordinate under depth image acquisition device local coordinate system can be expressed asWhereinWithFOVhAnd FOVvThe respectively horizontal and vertical visual angle of depth image acquisition device；n
× m is the imaging resolution of depth image acquisition device.
From the local coordinate system coordinate (x of depth image acquisition device0', y0', z0') arrive global coordinate system coordinate (x0, y0,
z0) transformation for mula be
Wherein,Respectively three major axes orientations of depth image acquisition device local coordinate system；(xc,
yc, zc) it is coordinate of the depth image acquisition device local coordinate system origin under world coordinates.
In some embodiments, if the depth image acquisition system 2 includes at least two depth image acquisition devices,
Then further include at least two depth images acquisition device acquisition image be merged into a total point cloud.Specifically, according to each
The position of a depth image acquisition device, the preconfigured information such as direction and imaging length-width ratio, which acquires each depth image, to be filled
Point cloud under the local coordinate system set is transformed under world coordinates, then will be corresponded respectively at least two depth image again and be adopted
Point cloud under the global coordinate system of acquisition means is merged into a total point cloud.It in some embodiments, can also be right respectively to this
It should be aligned in the point cloud under the global coordinate system of at least two depth images acquisition device further to correct and eliminate
The distortion of depth image collected.
Step 503, the 3D point cloud of projection target curved surface is extracted, the model of projection target curved surface is constructed.The projection distortion
Means for correcting 3 is classified according to the distribution character of cloud, and sorting algorithm can be used any suitable sorting algorithm, such as k close
Neighbour's classification (k-nearest neighbor), k dimension (k-dTree) etc..The projection target surface model establish module 302 from
The point cloud of the projection target curved surface 4 is extracted in sorted 3D point cloud.Then according to the 3D point of the projection target curved surface 4
Cloud constructs the model (such as triangle grid model) of the projection target curved surface.In the model for constructing the projection target curved surface 4
When, existing any modeling method can be used to realize, such as the triangle gridding based on triangulation (delaunay)
Processing etc..
Step 504, the center and projected picture center and boundary of calculating projection target curved surface.The projection distortion correction dress
3 are set first to convert projected image to the three-dimensional global coordinate system unified with the projection target curved surface.The projection distortion
Means for correcting 3 (such as projection length-width ratio, projects vertical, horizontal direction dispersion angle using preconfigured projection transform parameter
Deng) establish projector space transfer function.The two-dimentional local coordinate of projected image is converted to the space overall situation and sat by space transfer function
Mark.
Specifically, the two-dimentional local coordinate of the projected image can be converted first to the three-dimensional part to projected coordinate system
Then three-dimensional local coordinate under projected coordinate system is converted to the overall situation further according to the position of the camera lens of optical projection system 1 and is sat by coordinate
Mark system, wherein optical projection system coordinate system is the three-dimensional system of coordinate constructed using the optical center of the optical projection system 1 as origin.
Where it is assumed that the coordinate under world coordinates is defined as (x0, y0, z0)T, then the seat under projected coordinate system is converted to
Mark (x0", y0", z0″)TFor
Wherein,Respectively three major axes orientations of optical projection system local coordinate system；(xp, yp, zp)
For coordinate of the optical projection system local coordinate system origin under world coordinates.
The projection distortion means for correcting 3 converts the projected image and the projection target curved surface to the same coordinate system
Under after (three-dimensional global coordinate), first determined in the projection target curved surface 4 according to the three-dimensional point cloud of the projection target curved surface
Heart position.The center of the projection target curved surface 4 can pass through the center of gravity of the point cloud of the calculating projection target curved surface 4
(gravity center), geometric center (geometric center), it is next with the methods of preset characteristic matching center
It realizes.The center of the projected picture can be identified as the centralizing mapping of projected image to the position of projected picture.
The method for determining the boundary of the projected picture are as follows: the boundary of projected picture is corresponding to four angles of projected image
The projection ray of pixel is the boundary of the cone space on boundary.Known any plane or curved surface, with cutting for aforementioned cone space
Face determines the boundary of projected picture.It is determined by the point cloud for characterizing the projection target curved surface 4 on the boundary of the projection target curved surface 4
It is fixed.If the point cloud of the projection target curved surface 4 is completely disposed in projection cone volume, the boundary of projection target curved surface is by point
The boundary of cloud determines, is otherwise determined by the part of the projection target curved surface 4 and projection cone volume intersection.
Step 505, alignment projected picture center and projection target center of surface, and cut out projected picture edge.It is described abnormal
Become correction module 304 to be deviateed in three-dimensional global coordinate in the projected image according to the center of the projection target curved surface 4
The direction of the heart and distance translate projected image, so that in the center of the projection target curved surface 4 and the projected image
Heart alignment；Then, the projection distortion means for correcting 3 carries out the projected image after translation according to the boundary of the projected picture
It cuts so that the boundary of projected picture and the boundary (i.e. the boundary of projection target surface points cloud) of the projection target curved surface 4 are kissed
It closes.
Step 506, distortion compensation is carried out to generate new projected image to projected image using textures algorithm.
The projection distortion means for correcting 3 is after completing projected picture and being aligned with projection target center of surface, according to throwing
The position of shadow target surface generates projection transform function and projected image is transformed into three-dimensional global coordinate.Recycle three-dimensional patch
The algorithm and principle of figure, the projected image after being converted using coordinate carry out portion three-dimensional picture pasting to projection target curved surface to generate textures
Mapping function.The projection distortion means for correcting 3 carries out inverse transformation to projected image to generate abnormal using textures mapping function
Become compensated image.
Wherein, the algorithm of textures assumes that the area on the area and curved surface on picture corresponds.In some embodiments,
Projection target curved surface is indicated that each triangle thereon has a corresponding normal direction by triangular mesh.If triangle
The normal direction and projected picture (spatial light modulator) of shape vertically, then the pattern on picture distortionless can project to this three
On angular, as shown in (a) in Fig. 6.If the normal direction and projected picture out of plumb of triangle, can generate distortion, such as
Shown in (b) in Fig. 6.The first triangle 70 in (b) in Fig. 6 is to deliver directly on the triangle of projection target curved surface of offset
Region.And if according to area equation principle, the region that should actually correspond to the triangle of projection target curved surface is
Second triangle 72.In order to compensate for this distortion, the picture compression in the second triangle 72 can be mapped to the first triangle by algorithm
In the region of shape 70, this transformation is essentially the same with 3D textures algorithm inside 3D display.
Step 507, the compensated projected image of projection distortion.After the projection distortion means for correcting will complete distortion correction
Projected image be sent to optical projection system and projected.
Please refer to the variation that projected image is respectively shown shown in Fig. 7 and Fig. 8 before and after eliminating distortion.Wherein in Fig. 7
(a) (a) and in Fig. 8 is source projected image；(b) in (b) and Fig. 8 in Fig. 7 is the projected for not eliminating distortion
Drop shadow effect on projection target curved surface；(c) in (c) and Fig. 8 in Fig. 7 is the projected image completed after distortion correction；
(d) in (d) and Fig. 8 in Fig. 7 is projection effect of the projected on projection target curved surface after completing distortion correction
Fruit.It can be seen that from (b) in (b) and Fig. 8 in Fig. 7, the image being projected on projection target curved surface distorts in curvature portion
Seriously；It can be seen that from (d) in (d) and Fig. 8 in Fig. 7, the distortion for the image being projected on projection target curved surface disappears substantially
It removes.
The depth image acquisition system 2 and the projection distortion means for correcting 3 work are in real-time mode, according to certain
The depth image of the acquisition of depth image acquisition system 2 described in frame per second collection analysis, generates the mould of the projection target curved surface in real time
Type corrects projected image in real time.Thus it can be realized pair using projection distortion means for correcting 3 and system of the invention
The real-time tracking of projection target curved surface is so that projected picture coincide with projection target curved surface always.
Several projection distortion correction systematic difference citings of the present invention are set forth below.
The electronic whiteboard of ultrashort out-of-focus projection.
Application example 1:
The automatic screen of laser television is to its distortion correction.Laser television is using ultrashort burnt realization in close projector distance
On large scale projection.Simultaneously for better contrast and color representation, laser television is generally configured with anti-light screen.TV
Careful debugging is needed between screen so that the picture and anti-light screen of laser television projection perfectly coincide to reach full
The display effect of meaning.The host of general laser television is not to be fixedly mounted, and the cabinet and TV itself placed all can be because
It is moved for a variety of causes.It is mobile every time to require to re-start the alignment of screen and correction, very inconvenient use later.It adopts
With the laser television of projection distortion means for correcting of the present invention, the position for accurately placing laser television is not needed, it is only necessary to sharp
Photoelectricity view carries out rough alignment (so that projection screen is located in the acquisition range of depth image acquisition system).Laser electricity
Depending on itself can complete screen identification and automatic distortion correction and screen alignment.
Application example 2:
Antarafacial removable electrical display card.Movable electronic demonstration board is all LED, OLED or LCD screen in the past.LED
It can not be made into antarafacial structure with LCD display, although OLED is flexible, but there is presently no see utilizing flexibility OLED
The antarafacial for doing arbitrary shape is shown.Using technology proposed by the present invention, Irregular Boundary Surface projection and automated characterization can be utilized
Antarafacial removable electrical display card is realized with tracking collimation technique.The projector of more realization the technology of the present invention is common as shown in Figure 9
It is projected to the display card of rabbit shape.It, can be by way of updating project content to rabbit for different red-letter days or event
Replace different theme clothes and texture.
Application example 3:
The mobile display cylinder of stage.Multi rack projector projects on white cylinder simultaneously, forms the pattern of needs.Cylinder
It may go up and down or translate as needed.The projection scope of multi rack projector is much larger than the size of cylinder, and it is mobile to cover cylinder
Track.It, can be according to the position of the position correction project content of cylinder using curved projection surfaces Spot detection and edge detection ability
Distortion caused by setting and being risen and fallen as periphery is realized that the picture projected on cylinder remains synchronous with cylinder, such as schemed
Shown in 10.
If the integrated module/unit of projection distortion means for correcting described in above-described embodiment is with SFU software functional unit
Form realize and when sold or used as an independent product, can store in a computer readable storage medium.Base
In such understanding, the present invention realizes all or part of the process in projection distortion bearing calibration described in above-described embodiment,
It can be completed by the relevant hardware of computer program instructions, the computer program can be stored in one and computer-readable deposit
In storage media, the computer program is when being executed by processor, it can be achieved that step described in embodiment of the method above.Wherein, institute
Stating computer program includes computer program code, and the computer program code can be source code form, object identification code shape
Formula, executable file or certain intermediate forms etc..The computer-readable medium may include: that can carry the computer journey
Any entity or device of sequence code, recording medium, USB flash disk, mobile hard disk, magnetic disk, CD, computer storage, read-only storage
Device (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal,
Telecommunication signal and software distribution medium etc..It should be noted that the content that the computer-readable medium includes can basis
Legislation and the requirement of patent practice carry out increase and decrease appropriate in jurisdiction, such as in certain jurisdictions, according to legislation
And patent practice, computer-readable medium do not include electric carrier signal and telecommunication signal.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the invention, all to utilize this
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field is included within the scope of the present invention.
Claims (10)
1. a kind of projection distortion bearing calibration, which is characterized in that the described method includes:
Obtain the depth image of the projection target curved surface of depth image acquisition system acquisition；
The depth image of depth image acquisition system acquisition is handled to obtain 3D point cloud；
The 3D point cloud of projection target curved surface is extracted from the 3D point cloud, and institute is created based on the 3D point cloud of projection target curved surface
State the model of projection target curved surface；
The center and boundary of the projection target curved surface are determined according to the model of the projection target curved surface, and according to projection target
The three-dimensional position of curved surface determines the center of projected picture and the boundary of projected picture, and the center for calculating the projection target curved surface is inclined
The direction at the center from the projected picture and with a distance from, according to the direction of deviation and apart from translation projected image so that projection mesh
The center of mark curved surface is aligned with the center of the projected picture, and cuts the edge of the projected picture so that the shadowgraph
The boundary in face and the boundary of the projection target curved surface coincide, the projected image after obtaining distortion correction.
2. the method as described in claim 1, which is characterized in that the method also includes bent to projection target using projected image
Face carries out portion three-dimensional picture pasting to generate textures mapping function, recycle textures mapping function to projected image carry out inverse transformation to
Generate a distortion compensated image.
3. the method as described in claim 1, which is characterized in that the center of the projection target curved surface passes through the projection target
Center of gravity, geometric center or the preset characteristic matching center of the 3D point cloud of curved surface determine.
4. the method as described in claim 1, which is characterized in that the boundary of the projected picture passes through with four angles of projected image
The projection ray of corresponding pixel is the intersection point on the boundary of the cone space on boundary and the 3D point cloud of the projection target curved surface
It determines.
5. a kind of projection distortion means for correcting, which is characterized in that the projection distortion means for correcting includes:
Image collection module, the depth image of the projection target curved surface for obtaining the acquisition of depth image acquisition system；
Projection target surface model establishes module, and the depth image for acquiring to the depth image acquisition system is handled
Obtain 3D point cloud；The 3D point cloud of projection target curved surface is extracted from the 3D point cloud, and based on the 3D of projection target curved surface point
Cloud creates the model of the projection target curved surface；And
Distortion correction module, for determining the center and side of the projection target curved surface according to the model of the projection target curved surface
Boundary, and the center of projected picture and the boundary of projected picture are determined according to the three-dimensional position of projection target curved surface, calculate the throwing
The direction at the center of projected picture described in the center deviation of shadow target surface and distance are thrown according to the direction of deviation and apart from translation
Shadow image is so that the center of projection target curved surface is aligned with the center of the projected picture, and cuts the side of the projected picture
Edge is so that the boundary of the boundary of the projected picture and the projection target curved surface coincide, the perspective view after obtaining distortion correction
Picture.
6. device as claimed in claim 5, which is characterized in that the projection distortion correction module is also used to utilize projected image
Portion three-dimensional picture pasting is carried out to generate textures mapping function to projection target curved surface, recycle textures mapping function to projected image into
Row inverse transformation is to generate a distortion compensated image.
7. a kind of projection distortion corrects system, which is characterized in that the projection distortion corrects system and includes:
Optical projection system, the optical projection system is connected with projection source device, for the content for projecting source device to be projected to projection
Target surface；
Depth image acquisition system, the depth image acquisition system are fixed in the optical projection system, for acquiring packet
Include the depth image including the projection target curved surface；And
Projection distortion means for correcting as claimed in claim 6.
8. projection distortion as claimed in claim 7 corrects system, which is characterized in that the depth image acquisition system can be real
When with the depth information of certain frame per second acquisition image, including one or more depth collecting devices, if multiple, then set respectively
Set the different location in the optical projection system.
9. projection distortion as claimed in claim 7 corrects system, which is characterized in that the projection distortion means for correcting is integrated in
In the optical projection system or in the projection source device.
10. a kind of computer readable storage medium, is stored thereon with computer program, it is characterised in that: the computer program
The method as described in any one of claim 1-4 is realized when being executed by processor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810240367.9A CN110300292B (en) | 2018-03-22 | 2018-03-22 | Projection distortion correction method, device, system and storage medium |
| PCT/CN2018/118837 WO2019179168A1 (en) | 2018-03-22 | 2018-12-03 | Projection distortion correction method, device and system, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810240367.9A CN110300292B (en) | 2018-03-22 | 2018-03-22 | Projection distortion correction method, device, system and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110300292A true CN110300292A (en) | 2019-10-01 |
| CN110300292B CN110300292B (en) | 2021-11-19 |
Family
ID=67986655
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810240367.9A Active CN110300292B (en) | 2018-03-22 | 2018-03-22 | Projection distortion correction method, device, system and storage medium |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110300292B (en) |
| WO (1) | WO2019179168A1 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111458692A (en) * | 2020-02-01 | 2020-07-28 | 上海鲲游光电科技有限公司 | Depth information processing method and system and electronic equipment |
| CN111669557A (en) * | 2020-06-24 | 2020-09-15 | 歌尔光学科技有限公司 | Projected image correction method and correction device |
| CN112348939A (en) * | 2020-11-18 | 2021-02-09 | 北京沃东天骏信息技术有限公司 | Texture optimization method and device for three-dimensional reconstruction |
| WO2021082264A1 (en) * | 2019-10-30 | 2021-05-06 | 歌尔股份有限公司 | Projection image automatic correction method and system based on binocular vision |
| CN112884898A (en) * | 2021-03-17 | 2021-06-01 | 杭州思看科技有限公司 | Reference device for measuring texture mapping precision |
| CN113038096A (en) * | 2019-12-09 | 2021-06-25 | 财团法人工业技术研究院 | Projection equipment and projection correction method |
| CN115146745A (en) * | 2022-09-01 | 2022-10-04 | 深圳市城市公共安全技术研究院有限公司 | Method, device and equipment for correcting point cloud data coordinate point positions and storage medium |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113610916B (en) * | 2021-06-17 | 2024-04-12 | 同济大学 | Irregular object volume determination method and system based on point cloud data |
| WO2023029277A1 (en) * | 2021-09-01 | 2023-03-09 | 广景视睿科技（深圳）有限公司 | Projection method, apparatus and device, and storage medium |
| CN114286069B (en) * | 2021-12-31 | 2024-04-02 | 深圳市火乐科技发展有限公司 | Projection picture processing method and device, storage medium and projection equipment |
| CN114827562A (en) * | 2022-03-11 | 2022-07-29 | 深圳海翼智新科技有限公司 | Projection method, projection device, projection equipment and computer storage medium |
| CN116859829B (en) * | 2023-09-04 | 2023-11-03 | 天津天石休闲用品有限公司 | Cutter motion control method and device based on material edge curve projection |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102129680A (en) * | 2010-01-15 | 2011-07-20 | 精工爱普生株式会社 | Real-time geometry aware projection and fast re-calibration |
| CN105227881A (en) * | 2015-09-15 | 2016-01-06 | 海信集团有限公司 | A kind of projected picture correcting method and projector equipment |
| EP3273413A1 (en) * | 2016-07-21 | 2018-01-24 | Christie Digital Systems USA, Inc. | System and method for geometric warping correction in projection mapping |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100545864C (en) * | 2007-12-20 | 2009-09-30 | 四川川大智胜软件股份有限公司 | Cylinder frame buffer texture re-labeling geometric correction method based on software |
| CN101815188A (en) * | 2009-11-30 | 2010-08-25 | 四川川大智胜软件股份有限公司 | Irregular smooth curve surface display wall multi-projector image frame correction method |
| CN106604003B (en) * | 2016-11-10 | 2020-09-22 | 深圳市Tcl高新技术开发有限公司 | Method and system for realizing curved-surface curtain projection through short-focus projection |
-
2018
- 2018-03-22 CN CN201810240367.9A patent/CN110300292B/en active Active
- 2018-12-03 WO PCT/CN2018/118837 patent/WO2019179168A1/en active Application Filing
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102129680A (en) * | 2010-01-15 | 2011-07-20 | 精工爱普生株式会社 | Real-time geometry aware projection and fast re-calibration |
| CN105227881A (en) * | 2015-09-15 | 2016-01-06 | 海信集团有限公司 | A kind of projected picture correcting method and projector equipment |
| EP3273413A1 (en) * | 2016-07-21 | 2018-01-24 | Christie Digital Systems USA, Inc. | System and method for geometric warping correction in projection mapping |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021082264A1 (en) * | 2019-10-30 | 2021-05-06 | 歌尔股份有限公司 | Projection image automatic correction method and system based on binocular vision |
| US11606542B2 (en) | 2019-10-30 | 2023-03-14 | Goertek Inc. | Projection image automatic correction method and system based on binocular vision |
| CN113038096A (en) * | 2019-12-09 | 2021-06-25 | 财团法人工业技术研究院 | Projection equipment and projection correction method |
| US11549805B2 (en) | 2019-12-09 | 2023-01-10 | Industrial Technology Research Institute | Projecting apparatus and projecting calibration method |
| CN111458692A (en) * | 2020-02-01 | 2020-07-28 | 上海鲲游光电科技有限公司 | Depth information processing method and system and electronic equipment |
| CN111458692B (en) * | 2020-02-01 | 2023-08-25 | 上海鲲游科技有限公司 | Depth information processing method and system and electronic equipment |
| CN111669557A (en) * | 2020-06-24 | 2020-09-15 | 歌尔光学科技有限公司 | Projected image correction method and correction device |
| CN111669557B (en) * | 2020-06-24 | 2022-05-13 | 歌尔光学科技有限公司 | Projected image correction method and correction device |
| CN112348939A (en) * | 2020-11-18 | 2021-02-09 | 北京沃东天骏信息技术有限公司 | Texture optimization method and device for three-dimensional reconstruction |
| CN112884898A (en) * | 2021-03-17 | 2021-06-01 | 杭州思看科技有限公司 | Reference device for measuring texture mapping precision |
| CN115146745A (en) * | 2022-09-01 | 2022-10-04 | 深圳市城市公共安全技术研究院有限公司 | Method, device and equipment for correcting point cloud data coordinate point positions and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019179168A1 (en) | 2019-09-26 |
| CN110300292B (en) | 2021-11-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110300292A (en) | Projection distortion bearing calibration, device, system and storage medium | |
| CN112894832B (en) | Three-dimensional modeling method, three-dimensional modeling device, electronic equipment and storage medium | |
| US10924729B2 (en) | Method and device for calibration | |
| US10984554B2 (en) | Monocular vision tracking method, apparatus and non-volatile computer-readable storage medium | |
| CN107223269B (en) | Three-dimensional scene positioning method and device | |
| CN108604379A (en) | System and method for determining the region in image | |
| CN110728671B (en) | Dense reconstruction method of texture-free scene based on vision | |
| CN103226838A (en) | Real-time spatial positioning method for mobile monitoring target in geographical scene | |
| CN109559349A (en) | A kind of method and apparatus for calibration | |
| SG189284A1 (en) | Rapid 3d modeling | |
| CN112634340A (en) | Method, device, equipment and medium for determining BIM (building information modeling) model based on point cloud data | |
| CN114998536A (en) | Model generation method and device based on novel basic mapping and storage medium | |
| CN109920009B (en) | Control point detection and management method and device based on two-dimensional code identification | |
| CN109544628A (en) | A kind of the accurate reading identifying system and method for pointer instrument | |
| CN110337674A (en) | Three-dimensional rebuilding method, device, equipment and storage medium | |
| CN110428501A (en) | Full-view image generation method, device, electronic equipment and readable storage medium storing program for executing | |
| CN114766042A (en) | Target detection method, device, terminal equipment and medium | |
| CN115035162A (en) | Monitoring video personnel positioning and tracking method and system based on visual slam | |
| CN111161398A (en) | Image generation method, device, equipment and storage medium | |
| CN112149348A (en) | Simulation space model training data generation method based on unmanned container scene | |
| CN115953483A (en) | Parameter calibration method and device, computer equipment and storage medium | |
| CN103544492A (en) | Method and device for identifying targets on basis of geometric features of three-dimensional curved surfaces of depth images | |
| CN116858215B (en) | AR navigation map generation method and device | |
| CN107274449B (en) | Space positioning system and method for object by optical photo | |
| CN113870163B (en) | Video fusion method and device based on three-dimensional scene, storage medium and electronic device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |