CN114827557B - Projection trapezoid correction method, projection trapezoid correction device and projection system - Google Patents
Projection trapezoid correction method, projection trapezoid correction device and projection system Download PDFInfo
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- CN114827557B CN114827557B CN202110247309.0A CN202110247309A CN114827557B CN 114827557 B CN114827557 B CN 114827557B CN 202110247309 A CN202110247309 A CN 202110247309A CN 114827557 B CN114827557 B CN 114827557B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
- H04N9/3179—Video signal processing therefor
- H04N9/3185—Geometric adjustment, e.g. keystone or convergence
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
- H04N9/3141—Constructional details thereof
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Abstract
The application discloses a projection trapezoid correction method, a projection trapezoid correction device and a projection system. Wherein the projection system comprises at least: the projection light machine and the rotating mechanism for adjusting the projection direction of the projection light machine. The method comprises the following steps: obtaining projection information of a projection optical machine; acquiring attitude information of a projection optical machine; determining first angle information required to be rotated by the rotating mechanism when the projection direction of the projection optical machine is adjusted to be opposite to a projection plane according to the projection information and the gesture information, wherein the projection plane is a plane where a projection picture is located; and controlling the rotating mechanism to rotate according to the first angle information. The method and the device solve the technical problem that image quality loss and gray edge effect exist when the projection picture is corrected in the related technology.
Description
Technical Field
The present application relates to the field of projection technologies, and in particular, to a projection trapezoid correction method, a projection trapezoid correction device, and a projection system.
Background
In daily use, the image projected by the projection optical machine should be as far as possible over against the projection screen or the projection wall surface, so that the projection effect can be ensured only if the picture has no included angle in the vertical or horizontal direction. However, in practical use, many scenes are often difficult to make the light machine project a picture opposite to the projection surface, for example, in a scene used in a lifting or bedroom, the projection direction and the projection surface basically have an included angle in the vertical direction or the horizontal direction. In this case, the projected screen may exhibit a non-rectangular trapezoidal state, and if the trapezoidal screen needs to be adjusted to a standard rectangular shape, a trapezoidal correction function for projection needs to be used.
In the related art, the projected trapezoidal correction is usually performed manually or automatically, and the screen shape is adjusted by manually controlling the positions of several vertexes of the projected screen by manually calling out a calibration setting menu by a user; the automatic mode is to collect projection plane information through an image collecting module, and automatically corrects the picture into a rectangle through automatic compensation of the projection position. However, whether manual or automatic, it uses digital adjustment to adjust the image, that is, the position of the projected picture pixels is changed by a software algorithm, which has two drawbacks: 1) The adjusted picture resolution and picture quality may be lost due to scaling; 2) After adjustment, the normal display content can be reduced, but the inner structure of the optical machine cannot be completely shaded, so that a user can see that the periphery of the normal picture content has obvious gray edges, and the smaller the picture adjustment is, the larger the gray edges are.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the application provides a projection trapezoid correction method, a projection trapezoid correction device and a projection system, which are used for at least solving the technical problems of image quality loss and gray edge effect when a projection picture is corrected in the related technology.
According to an aspect of embodiments of the present application, there is provided a projection trapezoid correction method, which is applied to a projection system, the projection system including at least: a projection light engine and a rotation mechanism for adjusting a projection direction of the projection light engine, the method comprising: obtaining projection information of the projection optical machine; acquiring the attitude information of the projection optical machine; determining first angle information required to be rotated by the rotating mechanism when the projection direction of the projection optical machine is adjusted to be opposite to a projection plane according to the projection information and the gesture information, wherein the projection plane is a plane where a projection picture is located; and controlling the rotating mechanism to rotate according to the first angle information.
Optionally, the projection information of the projection light machine is acquired through an image acquisition module, wherein the image acquisition module comprises at least one of the following: the camera module, the depth information measures the module; the projection information includes at least one of: projection picture information, feature map information, and depth information of the projection surface.
Optionally, the posture information of the projection optical machine is obtained through a posture sensor, and the posture information at least comprises posture angle information of the projection optical machine.
Optionally, determining three-dimensional point cloud information and picture coordinate information of the projection surface according to the projection information; performing plane fitting according to the three-dimensional point cloud information and the picture coordinate information to obtain a plane equation of the projection surface and a normal vector of the plane equation; determining a horizontal rotation angle according to the plane equation and the normal vector, wherein the horizontal rotation angle is an angle at which the rotation mechanism rotates in the horizontal direction when the projection direction of the projection optical machine is adjusted to be opposite to the projection surface; determining a vertical pitching angle according to the plane equation and the normal vector, or determining the vertical pitching angle according to the attitude angle information, wherein the vertical pitching angle is an angle at which the rotating mechanism rotates in the vertical direction when the projection direction of the projection light machine is adjusted to be opposite to the projection surface; determining an inclination angle of the projection light machine according to the attitude angle information, wherein the inclination angle is an angle at which the rotating mechanism rotates when the projection light machine is adjusted to be parallel to a horizontal plane; and taking the horizontal rotation angle, the vertical pitching angle and the tilting angle as the first angle information.
Optionally, the rotating mechanism is driven to rotate by a motor, and a first corresponding relation between the rotation step number of the motor and the rotation angle of the rotating mechanism is determined; determining the direction in which the motor needs to rotate and the rotation step number in the corresponding direction according to the first corresponding relation and the first angle information; and controlling the motor to drive the rotating mechanism to rotate according to the rotating direction and the rotating step number.
Optionally, the projection light machine supports an optical axis shifting function, according to the first angle information, an offset amount of an optical axis shifting required when the projection picture of the projection light machine is adjusted to a target projection area is determined, and the optical axis shifting is performed on the projection light machine according to the offset amount, wherein the offset amount includes a horizontal offset amount in a horizontal direction and a vertical offset amount in a vertical direction.
Optionally, the projection optical machine has a digital correction function, and after the rotation mechanism is controlled to rotate according to the first angle information, a correction instruction of the target object is received, and the projection picture is corrected according to the correction instruction, where the correction instruction is used to instruct the projection picture to be corrected again through the digital correction function.
According to another aspect of the embodiments of the present application, there is also provided a projected trapezoid correction apparatus, including: the first acquisition module is used for acquiring projection information of the projection optical machine; the second acquisition module is used for acquiring the gesture information of the projection optical machine; the first determining module is used for determining first angle information required to be rotated by the rotating mechanism when the projection direction of the projection optical machine is adjusted to be opposite to a projection surface according to the projection information and the gesture information, wherein the projection surface is a plane where a projection picture is located; and the rotating module is used for controlling the rotating mechanism to rotate according to the first angle information.
According to another aspect of an embodiment of the present application, there is also provided a projection system including: the projection light machine is used for projecting a projection picture to a target projection area; the image acquisition module is used for acquiring projection information of the projection optical machine; the gesture information acquisition module is used for acquiring gesture information of the projection optical machine, and the gesture information at least comprises gesture angle information of the projection optical machine; the calculation processing module is used for determining first angle information which is required to be rotated by the rotation module when the projection direction of the projection optical machine is adjusted to be opposite to the projection surface according to the projection information and the gesture information; and the rotating module is used for adjusting the projection direction of the projection optical machine to be opposite to the projection surface according to the first angle information.
According to another aspect of the embodiments of the present application, there is further provided a nonvolatile storage medium, where the nonvolatile storage medium includes a stored program, and when the program runs, the device where the nonvolatile storage medium is controlled to execute the above-mentioned projected trapezoidal correction method.
In this embodiment of the application, through obtaining projection information and gesture information of projection ray apparatus, confirm the first angle information when rotating rotary mechanism to rotate rotary mechanism according to first angle information, thereby adjust the projection direction of projection ray apparatus to just to the projection face, correct the projection picture that appears trapezoidal distortion originally into the rectangle, because in this embodiment of the application, through adjusting the projection direction of projection ray apparatus to correct the projection picture, do not involve zooming the projection picture, there are image quality loss and grey limit effect technical problem when correcting the projection picture in the correlation technique consequently can effectively be solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
FIG. 1a is a schematic diagram of a projected keystone correction resulting in picture loss according to the related art;
FIG. 1b is a schematic diagram of gray edges generated by a projected trapezoidal correction according to the related art;
FIG. 2 is a schematic diagram of a projection system according to an embodiment of the present application;
FIG. 3 is a flow chart of a projected keystone correction method in accordance with embodiments of the application;
FIG. 4a is a schematic diagram of a horizontal rotation projection of a projection engine according to an embodiment of the present application;
FIG. 4b is a schematic diagram of a vertical rotation projection of a projection engine according to an embodiment of the present application;
FIG. 4c is a schematic view of an oblique projection of a projection engine according to an embodiment of the present application;
FIG. 5a is a schematic view of an optical horizontal axis of a projection light machine according to an embodiment of the present application;
FIG. 5b is a schematic view of an optical vertical axis of movement of a projection light engine according to an embodiment of the present application;
FIG. 6 is a schematic diagram illustrating a relationship between a rotation angle and a frame offset of a projector according to an embodiment of the present application;
FIG. 7 is a flow chart of a projection correction process according to an embodiment of the present application;
fig. 8 is a schematic structural view of a projected trapezoidal correction device according to an embodiment of the present application.
Detailed Description
In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In the related art, when performing trapezoidal correction on a projection screen, the screen shape is generally adjusted by manually controlling the positions of several vertices of the projection screen, or the projection screen information is collected by an image collecting module, and the projection screen is corrected into a rectangle by automatic compensation of the projection position, these modes are all to adjust the image by adopting a digital adjustment mode, that is, the position of the projected screen pixel is changed by a software algorithm, which has two disadvantages: 1) The adjusted resolution and quality of the picture will be lost due to scaling, taking fig. 1a as an example, where 11 is a standard projection picture and its horizontal pixels are 1920;12 is a projection picture when the keystone distortion occurs, and the bottom side scaling is corrected; 13 is a rectangular picture obtained after correction, and the transverse pixels are smaller than 1920, namely the picture quality is lost; 2) After adjustment, the normal display content will be smaller, but because the internal structure of the optical machine cannot be completely shielded, obvious gray edges exist around the projection picture, as shown in fig. 1b, wherein 14 is a trapezoid projection picture before correction, 16 is a rectangle projection picture after correction, and 15 is a generated gray edge.
To solve the above problems, embodiments of the present application provide a projection system, which at least includes: the projection light machine and the rotating mechanism for adjusting the projection direction of the projection light machine are used for realizing optical lossless automatic trapezoidal correction of a projection picture, so that the problems of image quality loss and gray edges under the projection digital trapezoidal correction are optimized.
FIG. 2 is a schematic diagram of an alternative projection system according to an embodiment of the present application, as shown in FIG. 2, including the following modules:
the projection light machine 20 is used for projecting the projection image onto the target projection area, and optionally, the projection light machine can support an optical axis shifting function, and displacement in the horizontal direction and the vertical direction can be performed on the projection image through the optical axis shifting function, so as to realize position adjustment of the projection image.
The image acquisition module 22 is configured to acquire projection information of the projection light machine, and optionally includes a camera module or other depth information measurement module, such as a tof (time of flight) module.
A posture information acquisition module 24, configured to acquire posture information of the projection light machine, where the posture information includes at least posture angle information of the projection light machine (typically, a posture angle caused by placing an object plane of the projection light machine or hoisting the projection light machine not horizontally); optionally, the gesture information acquisition module includes an IMU (Inertial Measurement Unit, i.e., inertial measurement unit) Sensor such as a gyroscope or G-Sensor (gravity Sensor), and the like.
The calculation processing module 26 includes units with calculation processing capability, such as an MCU/CPU/GPU, and is configured to determine, according to the projection information and the gesture information, first angle information that the rotation module needs to rotate when the projection direction of the projection light machine is adjusted to be opposite to the projection surface;
the rotation module 28 is connected to the projection light machine 20, and is configured to adjust the projection direction of the projection light machine to be opposite to the projection plane according to the first angle information; the general mechanical rotation module comprises a mechanical structure with up-down, left-right and inclination six-direction adjusting capability and a driving motor module, and the projection optical machine can be driven by the program control motor to carry out six-direction mechanical rotation.
In the above-described operating environment, the embodiments of the present application provide a projected trapezoidal correction method, it should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different from that herein.
Fig. 3 is a flow chart of a method for correcting a projected trapezoid, as shown in fig. 3, according to an embodiment of the present application, the method includes the following steps:
step S302, obtaining projection information of a projection optical machine.
In some optional embodiments of the present application, the projection information of the projection light engine is obtained by an image acquisition module, where the image acquisition module includes at least one of: the camera module, the depth information measures the module; the projection information includes at least one of: projection screen information, feature map information, and depth information of a projection surface.
Specifically, the projection screen may be projected approximately in the target projection area, where the projection light machine projects the original projection screen, or the specific image information that the image sensor needs to recognize is projected (if the depth information sensor is used to collect data, the projection screen may not need to be projected), where the projection screen may be in a distorted trapezoid shape if the projection direction of the projection light machine is not opposite to the projection plane. Then, an RGB camera module or a module with depth information acquisition capability, such as a tof camera module, a multi-point tof module, a binocular camera or a structured light module, is used to acquire projected image information, feature map information, or projection plane depth information for three-dimensional reconstruction or calculation of projection attitude angles.
Step S304, acquiring the posture information of the projection optical machine.
In some optional embodiments of the present application, the attitude information of the projection light machine may be obtained through an attitude sensor, such as a gyroscope or other gravity sensor, where the attitude information includes at least the attitude angle information of the projection light machine, for example, when the projection light machine is placed on an inclined desktop, the attitude angle of the projection light machine may be obtained through the attitude sensor, including the pitch angle and the inclination angle of the projection light machine in the vertical direction.
Step S306, determining first angle information required to rotate by the rotating mechanism when the projection direction of the projection optical machine is adjusted to be opposite to the projection plane according to the projection information and the gesture information, wherein the projection plane is a plane where the projection picture is located.
In some optional embodiments of the present application, first, three-dimensional point cloud information and frame coordinate information of a projection plane are determined according to projection information, where the frame coordinate information may be spatial coordinates of four vertices of the projection frame; then, performing plane fitting according to the three-dimensional point cloud information and the picture coordinate information to obtain a plane equation of the projection surface; and determining first angle information according to a plane equation and gesture information, wherein the first angle information comprises a horizontal rotation angle, a vertical pitching angle and an inclination angle, and the specific process is as follows:
1) Determining a plane equation Fn of the projection surface, and calculating a normal vector n of the projection surface;
2) According to the plane equation Fn and the normal vector n, determining a horizontal rotation angle ang_h of the projector, wherein the horizontal rotation angle ang_h is an angle at which the rotation mechanism rotates in the horizontal direction when the projection direction of the projector is adjusted to be opposite to the projection plane, and the schematic diagram is shown in fig. 4a, wherein 41 represents the projector, 42 represents the projection plane, 43 represents a trapezoid projection picture of the projector on the projection plane, and 44 represents a forward projection rectangular projection picture obtained by rotating the projector by the angle ang_h in the horizontal direction;
3) According to the plane equation Fn and the normal vector n, determining a vertical pitching angle ang_v of the projection optical machine, wherein the vertical pitching angle ang_v is an angle that the rotating mechanism rotates in the vertical direction when the projection direction of the projection optical machine is adjusted to be opposite to the projection plane, and a schematic diagram of the vertical pitching angle ang_v is shown in fig. 4b, wherein 41 represents the projection optical machine, 42 represents the projection plane, 45 represents a trapezoid projection picture of the projection optical machine on the projection plane, and 46 represents a forward projection rectangular projection picture obtained by rotating the projection optical machine in the vertical direction by the angle ang_v; optionally, the vertical pitch angle ang_v may also be determined according to the obtained attitude angle information of the projection optical machine;
4) The inclination angle ang_z of the projection light machine is determined according to the posture angle information, the inclination angle ang_z is an angle rotated by the rotating mechanism when the projection light machine is adjusted to be parallel to the horizontal plane, and a schematic diagram is shown in fig. 4c, wherein 41 represents the projection light machine, 42 represents the projection plane, 47 represents an inclined projection picture of the projection light machine on the projection plane, and 48 represents a forward projection rectangular projection picture obtained by rotating the projection light machine by the angle ang_z to be parallel to the horizontal plane.
Step S308, the rotating mechanism is controlled to rotate according to the first angle information.
After the first angle information is determined, the rotation mechanism may be rotated in accordance with the first angle information. Typically, the rotation mechanism is driven to rotate by a motor, which may be a direct current motor or a stepper motor. In some alternative embodiments of the present application, a first correspondence between the number of rotational steps of the motor and the rotation angle of the rotation mechanism may be determined first; then determining the direction in which the motor needs to rotate and the number of rotation steps in the corresponding direction according to the first corresponding relation and the first angle information; and then the motor is controlled to drive the rotating mechanism to rotate according to the rotating direction and the rotating step number.
Specifically, a first correspondence between the number of rotation steps of the motor and the rotation angle of the rotation mechanism needs to be established by acquiring data in advance, and an alternative embodiment is as follows: assuming that the relationship between the rotation step number Hx of the motor in the horizontal direction and the actual rotation angle Hy of the rotating mechanism in the horizontal direction is linear, there is hy=a×hx+b, where a and b are calculated by collecting the actual rotation effects of the motor and the rotating mechanism; of course, the relation between the actual rotation angle and the number of rotation steps may be a nonlinear relation, and at this time, hy=f (Hx) may be fitted by acquiring a measured data set in advance. Similarly, the relation between the number of rotation steps Vx of the data fitting motor in the vertical direction and the actual rotation angle Vy of the rotating mechanism in the vertical direction can be vy=c, vx+d or vy=f (Vx); the relationship between the number of rotation steps Zx of the fitting motor in the tilting direction and the actual rotation angle Zy of the rotation mechanism in the tilting direction is zy=e×zx+f or zy=f (Zx).
When the rotating mechanism is rotated according to the first angle information, the rotation steps of the motor in the horizontal, vertical and inclined directions can be calculated according to the determined first corresponding relation, and the program controls the motor to drive the rotating mechanism to rotate, so that the rotating mechanism drives the projection light machine to rotate, and the projection direction of the projection light machine is opposite to the projection surface.
It should be noted that, after the projection direction of the projection light machine is opposite to the projection plane through the above process, the projection image may be adjusted to be rectangular, but the projection image deviates from the original target projection area at this time, which may not meet the requirement of the user.
The principle of optical shift is similar to that of a camera, and the projected optical picture can be shifted to a larger extent under the condition that the shape of the projected optical picture is almost unchanged by only slightly shifting the lens in the optical machine, so that the shift change of the projected picture caused by the shift of the lens optical system is far larger than the shift change of the projected picture caused by the shift of the projection optical machine by the same size. Generally, the optical shift axis of the projection light machine includes a horizontal shift axis and a vertical shift axis, and fig. 5a is a schematic diagram of the optical horizontal shift axis, where 51 represents the projection light machine, 52 represents the projection plane, 53 represents an original projection screen of the projection light machine on the projection plane, 54 represents a projection screen of the projection light machine on the projection plane after the horizontal shift axis, and the large displacement of the projection screen in the horizontal direction is realized by the light machine shift axis system; fig. 5b is a schematic diagram of an optical vertical axis, in which 51 represents a projection light machine, 52 represents a projection plane, 53 represents an original projection screen of the projection light machine on the projection plane, 55 represents a projection screen of the projection light machine on the projection plane after the vertical axis is moved, and the vertical displacement of the projection screen is realized by the vertical axis of the light machine. The optical axis moving system can realize the physical displacement of the optical imaging picture under the condition of the fixed position of the projection optical machine by the precise movement of the complex optical lens group, thereby having no influence on the picture quality and the brightness, and being a lossless picture processing technology.
In some optional embodiments of the present application, an offset amount of an optical shift axis required when adjusting a projection image of a projection light machine to a target projection area may be determined according to the first angle information, and the optical shift axis is performed on the projection light machine according to the offset amount, where the offset amount includes a horizontal offset amount in a horizontal direction and a vertical offset amount in a vertical direction.
Specifically, a second correspondence relationship between the rotation angle of the projection light machine (i.e., the rotation angle of the rotation mechanism) and the offset of the optical shift axis may be determined first; according to the second corresponding relation and the first angle information, determining the offset of the optical shift axis when the projection picture of the projection optical machine is adjusted to the target projection area, and determining the horizontal offset according to the second corresponding relation and the horizontal rotation angle; and determining the vertical offset according to the second corresponding relation and the vertical pitching angle.
As shown in fig. 6, where 61 represents a projection light machine, 62 represents a projection plane, 63 represents a trapezoid projection picture of the projection light machine in a target projection area of the projection plane, 64 represents a forward projection rectangular projection picture of the projection light machine on the projection plane after being adjusted by a rotation mechanism, and a distance L between the two is a final picture offset of a horizontal shift axis, and because an angle ang_h of horizontal rotation of the projection light machine and a final picture offset L of the horizontal shift axis have a relationship similar to a right triangle, the final picture offset L of the horizontal shift axis and the rotation angle ang_h are in a linear relationship in direct proportion, on this basis, a data table between ang_h and an offset len_h of a horizontal shift axis motor of the light machine can be established, and the data table can be obtained by collecting corresponding optical shift axis motor offset steps obtained by different angles, that is len_h=a×ang_h+b, where a and b need to be calculated by combining a design of the projection light machine and an actual optical shift axis motor motion effect; alternatively, considering that there may be errors in the actual image offset of the optical shift axis within the motor motion interval rather than absolute linearity, enough data may be collected to fit through the actual nonlinear relationship, i.e., len_h=f (ang_h). Similarly, the corresponding relation between the offset Len_V of the vertical axis motor of the light engine and the vertical rotation angle Ang_V of the projection light engine can be obtained: len_v=c ang_v+d or len_v=f (ang_v).
Finally, carrying out optical horizontal axis shifting on the projection optical machine according to the horizontal offset Len_H; and (3) carrying out optical vertical movement on the projector according to the vertical offset Len_H, so as to adjust the position of the projection picture and enable the projection picture to be projected on the target projection area.
In general, a projection optical engine has a digital correction function, which changes the position of a projected picture pixel through a software algorithm, and has two modes of manual operation and automatic operation, wherein a user manually calls out a correction setting menu, and the picture shape is adjusted through manually controlling the positions of a plurality of vertexes of a projection picture; the automatic mode is to collect projection plane information through an image collecting module, and automatically corrects the picture into a rectangle through automatic compensation of the projection position.
In some optional embodiments of the present application, after the rotation mechanism is controlled to rotate according to the first angle information, a correction instruction of the target object may be received, and the projection screen is corrected according to the correction instruction, where the correction instruction is used to instruct that the projection screen is corrected again by the digital correction function.
It can be understood that the projection light machine can correct the projection picture according to the projection correction method, and can correct the projection picture through a digital correction function. For example, when the rotation mechanism fails and automatic correction of the projection picture cannot be achieved, or when the user is still not satisfied with the corrected projection picture, the projection picture can be corrected again by the digital correction function according to the user instruction by receiving the user instruction.
In an alternative embodiment of the present application, the complete flow of correction of the projection image is shown in fig. 7:
1) Collecting depth information of a projection picture/a projection surface through an image collecting module;
2) Calculating three-dimensional point cloud information and picture coordinate information of a projection surface according to the acquired image or depth information;
3) Performing plane fitting according to the three-dimensional point cloud information and the picture coordinate information to obtain a plane equation of the projection surface;
4) Calculating the horizontal rotation angle Ang_H of the projection optical machine according to a plane equation;
5) Determining a vertical pitching angle Ang_V of the projection optical machine according to a plane equation or an IMU attitude sensor;
6) Determining an inclination angle Ang_Z of the projection optical machine according to the IMU attitude sensor;
7) Determining the direction and the rotation step number of the motor to be rotated according to the first corresponding relation between the rotation step number and the rotation angle of the motor and the determined Ang_ H, ang _ V, ang _Z;
8) Controlling the motor to drive the rotating mechanism to rotate according to the determined rotating direction and the rotating step;
9) The physical correction of the projection picture is completed, the projection picture in the projection area is rectangular finally, and gray edges caused by image quality loss and digital correction are avoided.
In the embodiment of the application, the first angle information when the rotating mechanism is rotated is determined by acquiring the projection information and the posture information of the projection optical machine, and the rotating mechanism is rotated according to the first angle information, so that the projection direction of the projection optical machine is adjusted to be opposite to the projection surface, and the projection picture with trapezoidal distortion is corrected to be rectangular; the offset of the optical shift axis can be calculated according to the first angle information, and the optical shift axis is carried out on the projection optical machine, so that the projection picture is projected to the target projection area. In the embodiment of the application, the projection picture is corrected by adjusting the projection direction of the projection optical machine, and scaling of the projection picture is not involved, so that the technical problems of image quality loss and gray edge effect existing in the process of correcting the projection picture in the related art can be effectively solved.
Example 2
According to an embodiment of the present application, there is further provided a projected trapezoid correction apparatus for implementing the projected trapezoid correction method, as shown in fig. 8, the apparatus includes a first acquisition module 80, a second acquisition module 82, a first determination module 84, and a rotation module 86, where:
the first obtaining module 80 is configured to obtain projection information of the projection light machine.
In some optional embodiments of the present application, the projection information of the projection light engine may be acquired by an image acquisition module, where the image acquisition module includes at least one of: the camera module, the depth information measures the module; the projection information includes at least one of: projection screen information, feature map information, and depth information of a projection surface.
And a second acquisition module 82, configured to acquire pose information of the projector.
In some alternative embodiments of the present application, the attitude information of the projection light engine may be obtained by an attitude sensor, such as a gyroscope or other gravity sensor, where the attitude information includes at least an inclination angle between the projection light engine and a horizontal plane.
The first determining module 84 is configured to determine, according to the projection information and the gesture information, first angle information that the rotating mechanism needs to rotate when adjusting the projection direction of the projection light machine to be opposite to the projection plane, where the projection plane is a plane where the projection picture is located.
In some optional embodiments of the present application, three-dimensional point cloud information and picture coordinate information of a projection plane are determined according to the obtained projection information such as projection picture information or projection plane depth information; performing plane fitting according to the obtained three-dimensional point cloud information and the picture coordinate information to obtain a plane equation of a projection plane; determining a horizontal rotation angle of the rotation mechanism in the horizontal direction when the projection direction of the projection optical machine is adjusted to be opposite to the projection surface according to a plane equation; determining a vertical pitching angle of the rotating mechanism in the vertical direction when the projection direction of the projection optical machine is adjusted to be opposite to the projection surface according to a plane equation or the posture information of the projection optical machine; determining the inclination angle of the projection optical machine according to the posture information; the horizontal rotation angle, the vertical pitch angle, and the inclination angle are taken as first angle information.
The rotation module 86 is configured to control the rotation mechanism to rotate according to the first angle information.
In some alternative embodiments of the present application, since the rotation mechanism is driven to rotate by the motor, a first correspondence relationship between the number of rotation steps of the motor and the rotation angle of the rotation mechanism may be determined first; then determining the direction in which the motor needs to rotate and the number of rotation steps in the corresponding direction according to the first corresponding relation and the first angle information; and then the motor is controlled to drive the rotating mechanism to rotate according to the rotating direction and the rotating step number.
It should be noted that, each module in the projection trapezoidal correction device in the embodiment of the present application corresponds to an implementation step of the projection trapezoidal correction method in embodiment 1 one by one, and since embodiment 1 has been described in detail, details that are not shown in the embodiment may refer to embodiment 1, and will not be described in detail here.
Example 3
According to an embodiment of the present application, there is further provided a nonvolatile storage medium including a stored program, where a device in which the nonvolatile storage medium is controlled to execute the above-described projected trapezoidal correction method when the program runs.
Optionally, the program controls the device in which the nonvolatile storage medium is located to execute the following steps when running: obtaining projection information of a projection optical machine; acquiring attitude information of a projection optical machine; determining first angle information required to be rotated by the rotating mechanism when the projection direction of the projection optical machine is adjusted to be opposite to a projection plane according to the projection information and the gesture information, wherein the projection plane is a plane where a projection picture is located; and controlling the rotating mechanism to rotate according to the first angle information.
The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of units may be a logic function division, and there may be another division manner in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution, in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the methods of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application and are intended to be comprehended within the scope of the present application.
Claims (10)
1. A method of correcting a projected trapezoid, the method being applied to a projection system, the projection system comprising at least: a projection light engine and a rotation mechanism for adjusting a projection direction of the projection light engine, the method comprising:
obtaining projection information of the projection optical machine;
acquiring the attitude information of the projection optical machine;
determining three-dimensional point cloud information and picture coordinate information of a projection plane according to the projection information, performing plane fitting according to the three-dimensional point cloud information and the picture coordinate information to obtain a plane equation of the projection plane and a normal vector of the plane equation, and determining first angle information required to be rotated by the rotating mechanism when the projection direction of the projection light machine is adjusted to be opposite to the projection plane according to the plane equation, the normal vector and the gesture information, wherein the projection plane is a plane where a projection picture is located;
and controlling the rotating mechanism to rotate according to the first angle information.
2. The method of claim 1, wherein obtaining projection information of the projection engine comprises:
the projection information of the projection optical machine is obtained through an image acquisition module, wherein the image acquisition module comprises at least one of the following components: the camera module, the depth information measures the module; the projection information includes at least one of: projection picture information, feature map information, and depth information of the projection surface.
3. The method of claim 2, wherein obtaining pose information of the projection light engine comprises:
and acquiring the posture information of the projection optical machine through a posture sensor, wherein the posture information at least comprises the posture angle information of the projection optical machine.
4. The method of claim 3, wherein determining, based on the plane equation, the normal vector, and the attitude information, first angle information that the rotation mechanism needs to rotate when adjusting the projection direction of the projection light machine to be opposite to the projection plane, comprises:
determining a horizontal rotation angle according to the plane equation and the normal vector, wherein the horizontal rotation angle is an angle at which the rotation mechanism rotates in the horizontal direction when the projection direction of the projection optical machine is adjusted to be opposite to the projection surface;
determining a vertical pitching angle according to the plane equation and the normal vector, or determining the vertical pitching angle according to the attitude angle information, wherein the vertical pitching angle is an angle at which the rotating mechanism rotates in the vertical direction when the projection direction of the projection light machine is adjusted to be opposite to the projection surface;
determining an inclination angle of the projection light machine according to the attitude angle information, wherein the inclination angle is an angle at which the rotating mechanism rotates when the projection light machine is adjusted to be parallel to a horizontal plane;
and taking the horizontal rotation angle, the vertical pitching angle and the tilting angle as the first angle information.
5. The method of claim 1, wherein the rotation mechanism is motor driven to rotate, the rotation mechanism being controlled to rotate in accordance with the first angle information, comprising:
determining a first correspondence between the number of rotational steps of the motor and the rotation angle of the rotation mechanism;
determining the direction in which the motor needs to rotate and the rotation step number in the corresponding direction according to the first corresponding relation and the first angle information;
and controlling the motor to drive the rotating mechanism to rotate according to the rotating direction and the rotating step number.
6. The method of claim 1, wherein the projection light engine supports an optical shift function, the method further comprising, after controlling the rotation mechanism to rotate in accordance with the first angle information:
and determining an offset amount of an optical shift axis when the projection picture of the projection optical machine is adjusted to a target projection area according to the first angle information, and carrying out the optical shift axis on the projection optical machine according to the offset amount, wherein the offset amount comprises a horizontal offset amount in a horizontal direction and a vertical offset amount in a vertical direction.
7. The method of claim 1, wherein the projection light engine has a digital correction function, and wherein after controlling the rotation mechanism to rotate according to the first angle information, the method further comprises:
and receiving a correction instruction of the target object, and correcting the projection picture according to the correction instruction, wherein the correction instruction is used for indicating the projection picture to be corrected again through the digital correction function.
8. A projected trapezoid correction device, comprising:
the first acquisition module is used for acquiring projection information of the projection optical machine;
the second acquisition module is used for acquiring the gesture information of the projection optical machine;
the first determining module is used for determining three-dimensional point cloud information and picture coordinate information of a projection plane according to the projection information, performing plane fitting according to the three-dimensional point cloud information and the picture coordinate information to obtain a plane equation of the projection plane and a normal vector of the plane equation, and determining first angle information required to be rotated by the rotating mechanism when the projection direction of the projection light machine is adjusted to be opposite to the projection plane according to the plane equation, the normal vector and the gesture information, wherein the projection plane is a plane where a projection picture is located;
and the rotating module is used for controlling the rotating mechanism to rotate according to the first angle information.
9. A projection system, comprising:
the projection light machine is used for projecting a projection picture to a target projection area;
the image acquisition module is used for acquiring projection information of the projection optical machine;
the gesture information acquisition module is used for acquiring gesture information of the projection optical machine, and the gesture information at least comprises gesture angle information of the projection optical machine;
the computing processing module is used for determining three-dimensional point cloud information and picture coordinate information of a projection plane according to the projection information, performing plane fitting according to the three-dimensional point cloud information and the picture coordinate information to obtain a plane equation of the projection plane and a normal vector of the plane equation, and determining first angle information required to be rotated by the rotating module when the projection direction of the projection optical machine is adjusted to be opposite to the projection plane according to the plane equation, the normal vector and the gesture information;
and the rotating module is used for adjusting the projection direction of the projection optical machine to be opposite to the projection surface according to the first angle information.
10. A nonvolatile storage medium, characterized in that the nonvolatile storage medium includes a stored program, wherein the program, when run, controls a device in which the nonvolatile storage medium is located to execute the projected trapezoidal correction method according to any one of claims 1 to 7.
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