CN117570853B - Method, device, equipment and storage medium for calculating four-point coordinates in projection interface - Google Patents
Method, device, equipment and storage medium for calculating four-point coordinates in projection interface Download PDFInfo
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- CN117570853B CN117570853B CN202410059892.6A CN202410059892A CN117570853B CN 117570853 B CN117570853 B CN 117570853B CN 202410059892 A CN202410059892 A CN 202410059892A CN 117570853 B CN117570853 B CN 117570853B
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 238000005096 rolling process Methods 0.000 claims abstract description 24
- 239000011159 matrix material Substances 0.000 claims description 29
- 239000013598 vector Substances 0.000 claims description 22
- 230000009466 transformation Effects 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 abstract description 8
- 238000005259 measurement Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 238000012937 correction Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
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- 238000004364 calculation method Methods 0.000 description 2
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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Abstract
The invention belongs to the technical field of projection equipment, and discloses a method for calculating four-point coordinates in a projection interface, which comprises the following steps: s1, measuring and calculating the relative position relation between four preset points in a projection interface and a projector; s2, establishing geometric coordinate points, and obtaining a plane equation of a projection plane according to the coordinate points; s3, calculating a rolling angle, a yaw angle and a pitching angle of the projector, and adjusting the projector; s4, measuring the position information of the preset point again; the method for calculating the coordinates of four points in the projection interface by utilizing the rolling angle, the yaw angle and the pitch angle can automatically, quickly and accurately calculate the coordinates of four points in the projection interface without additional measuring equipment or manual measuring operation. The method can greatly improve the accuracy of the projection effect, reduce the cost and error of manual operation, and can be widely applied to various projector devices, thereby having wide application prospect and market potential.
Description
Technical Field
The invention relates to a calculation method, in particular to a method, a device, equipment and a storage medium for calculating four-point coordinates in a projection interface, and belongs to the technical field of projection equipment.
Background
A projector is a device that can project images or video onto a curtain, and can play corresponding video signals by connecting with a computer, VCD, DVD, BD, a game machine, DV, etc. through different interfaces. Projectors are widely used in homes, offices, schools, and recreational areas, and according to different modes of operation, there are CRT, LCD, DLP, 3LCD, etc. In the projector use process, in order to realize accurate projection effect, the projection angle and position of the projector need to be known, and the traditional projector angle measurement method generally needs additional measurement equipment or manual measurement, is complex in operation and has low precision.
For example, the techniques disclosed in CN201910393297.5 "projection system, projection device and correction method for display image thereof" and CN201510830311.5 "a trapezoid correction method and projector" require that an additional camera is used to collect the image of the projection plane during the measurement process, and the angle of the projector is adjusted according to the collected image, so as to increase the measurement cost and the complexity of measurement;
for example, CN202010028698.3 "a raster three-dimensional scanning method and system based on multiple measurements" and CN201811295846.7 "projector correction system, method and projector" disclose techniques, in which multiple image acquisition devices cooperate to acquire images, so that more time is required to install and correct the devices before measurement, resulting in reduced measurement efficiency and higher requirements on the operation level of operators.
For this purpose, a method, a device and a storage medium for calculating four-point coordinates in a projection interface are proposed.
Disclosure of Invention
In view of the foregoing, the present invention provides a method, apparatus, device and storage medium for calculating coordinates of four points in a projection interface, so as to solve or alleviate one of the technical problems existing in the prior art, and at least provide a beneficial choice.
The technical scheme of the embodiment of the invention is realized as follows: the method for calculating the four-point coordinates in the projection interface comprises the following steps:
s1, measuring and calculating the relative position relation between four preset points in a projection interface and a projector;
s2, establishing geometric coordinate points, and obtaining a plane equation of a projection plane according to the coordinate points;
s3, calculating a rolling angle, a yaw angle and a pitching angle of the projector, and adjusting the projector;
s4, measuring the position information of the preset point again;
s5, constructing a first quadrant by using the 3D rotation matrix;
and S6, calculating coordinates of four coordinate points of the first quadrant.
Further preferred is: in the step S1, four preset points are uniformly arranged in a projection interface, a flight time sensor is arranged at the preset point, and the distance and the corresponding angle measured by each sensor are calculated through the projection time and the light speed.
Further preferred is: in S2, geometrical coordinate points in the projection interface are reconstructed according to the distance measured by each time-of-flight sensor and the corresponding angle, and a plane equation of the projection plane is obtained by fitting the geometrical coordinate points.
Further preferred is: in the step S3, according to the geometric triangle relation and the matrix transformation, the rolling angle, the yaw angle and the pitch angle of the projector are calculated, and according to the calculated rolling angle, yaw angle and pitch angle, the projector is correspondingly adjusted, so that the accuracy of the projection effect is ensured.
Further preferred is: in S5, a 3D rotation matrix is defined and a first quadrant is constructed from the matrix displacement and scaling.
Further preferred is: in S6, the coordinates of the four coordinate points in the first quadrant are calculated by substituting the roll angle, yaw angle and pitch angle according to the angle of view and the yaw angle by the transformation relationship of the left and right multiplies of the matrix.
In addition, the invention also provides a device for calculating the four-point coordinates in the projection interface, which comprises a projection assembly, wherein the projection assembly comprises a controller, an electric telescopic bracket, a rotary table, a supporting seat, a driving motor and a projector main body;
the electric telescopic bracket is arranged on the lower surface of the controller, the rotary table is arranged on the upper surface of the controller, the supporting seat is fixedly connected with the upper surface of the rotary table, the driving motor is arranged on one side of the supporting seat, and the projector main body is rotationally connected with the inner side wall of the supporting seat.
Further preferred is: a screen assembly is arranged in front of the projection assembly and comprises a storage box, a fixed plate, a curtain, an elastic clamp and a flight time sensor;
two fixed plates are symmetrically and fixedly connected to the outer side wall of the storage box, a curtain is arranged at the bottom of the storage box, four elastic clamps are symmetrically arranged on two sides of the curtain, and a flight time sensor is mounted on the inner side wall of each elastic clamp.
In addition, the invention also provides a device for calculating four-point coordinates in a projection interface, comprising at least one processor, at least one memory and computer program instructions stored in the memory, wherein the memory is used for storing executable program codes;
the processor is configured to read the computer program instructions stored in the memory to perform a method of calculating coordinates of four points within the projection interface.
In addition, the invention also provides a storage medium for calculating the four-point coordinates in the projection interface, and the computer readable storage medium stores a computer program which, when being run by a processor, executes the method for calculating the four-point coordinates in the projection interface.
By adopting the technical scheme, the embodiment of the invention has the following advantages:
the method for calculating the coordinates of four points in the projection interface by utilizing the rolling angle, the yaw angle and the pitch angle can automatically, quickly and accurately calculate the coordinates of four points in the projection interface without additional measuring equipment or manual measuring operation. By the method, the accuracy of the projection effect can be greatly improved, the visual effect is improved, the space is better planned, the projector can be projected to the most needed place, so that the space utilization rate is optimized, meanwhile, the cost and the error of manual operation are reduced, and in addition, the method can be widely applied to various projector equipment and has wide application prospect and market potential.
The foregoing summary is for the purpose of the specification only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will become apparent by reference to the drawings and the following detailed description.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the technical descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a computing method of the present invention;
FIG. 2 is a view angle block diagram of a computing device according to the present invention;
FIG. 3 is a diagram of another perspective view of a computing device of the present invention;
FIG. 4 is an enlarged block diagram of the present invention at A;
FIG. 5 is a block diagram of a projection assembly of the present invention;
FIG. 6 is a block diagram of an electrically actuated telescopic bracket according to the present invention;
FIG. 7 is a block diagram of a computing device of the present invention.
Reference numerals: 10. a projection assembly; 11. a controller; 12. an electric telescopic bracket; 13. a rotary table; 14. a support base; 15. a driving motor; 16. a projector main body; 20. a screen assembly; 21. a storage box; 22. a fixing plate; 23. a curtain; 24. an elastic clamp; 25. a time-of-flight sensor.
Detailed Description
Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in various different ways without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Example 1
As shown in fig. 1-6, an embodiment of the present invention provides a method for calculating coordinates of four points in a projection interface, including the following steps:
s1, measuring and calculating the relative position relation between four preset points in a projection interface and a projector;
s2, establishing geometric coordinate points, and obtaining a plane equation of a projection plane according to the coordinate points;
s3, calculating a rolling angle, a yaw angle and a pitching angle of the projector, and adjusting the projector;
s4, measuring the position information of the preset point again;
s5, constructing a first quadrant by using the 3D rotation matrix;
and S6, calculating coordinates of four coordinate points of the first quadrant.
In this embodiment, specific: in S1, four preset points are uniformly set in the projection interface, a time-of-flight sensor 25 is installed at the positions of the preset points, the distance measured by each sensor and the corresponding angle thereof are calculated by the projection time and the speed of light, the projector is placed at a proper position, the projector is turned on, the time-of-flight sensor 25 is installed at each preset point and connected with the projector, the distance between each preset point and the TOF sensor is calculated according to the speed of light and the time difference, and the angle of each preset point relative to the projector can be calculated by calculating the angle between the connecting line between the projector and each preset point and the projection interface.
In this embodiment, specific: in S2, geometric coordinate points in the projection interface are reconstructed according to the distance and the corresponding angle measured by each time-of-flight sensor 25, a plane equation of the projection plane is obtained by fitting the geometric coordinate points, position vectors of the four points relative to the projector are calculated, a normal vector of the projection plane is calculated by using dot products and cross products among the vectors, and an equation of the projection plane is determined by using the normal vector and any point on the plane.
In this embodiment, specific: in S3, according to the geometric triangle relation and the matrix transformation, the rolling angle, the yaw angle and the pitch angle of the projector are calculated, according to the calculated rolling angle, yaw angle and pitch angle, the projector is correspondingly adjusted, the accuracy of the projection effect is ensured, the position vector of each point is subjected to the rotation matrix transformation to obtain a rotated position vector, and the rolling angle, yaw angle and pitch angle can be calculated by comparing the difference between the rotated position vector and the original position vector.
In this embodiment, specific: in S5 a 3D rotation matrix is defined and a first quadrant is constructed from the matrix displacement and scaling, creating a set of four points, each at a different position in the first quadrant.
In this embodiment, specific: in S6, according to the angle of view and the angle of deflection, the coordinates of the four coordinate points in the first quadrant are calculated by substituting the roll angle, yaw angle and pitch angle through the transformation relationship of the left multiplication and the right multiplication of the matrix, the angle is converted into radian, then a rotation matrix is constructed according to the transformation relationship of the left multiplication and the right multiplication of the matrix, and the four coordinate points in the first quadrant are multiplied left or right by the rotation matrix to obtain new coordinate points.
Example two
As shown in fig. 1-6, an embodiment of the present invention provides a method for calculating coordinates of four points in a projection interface, including the following steps:
s1, measuring and calculating the relative position relation between four preset points in a projection interface and a projector;
s2, establishing geometric coordinate points, and obtaining a plane equation of a projection plane according to the coordinate points;
s3, calculating a rolling angle, a yaw angle and a pitching angle of the projector, and adjusting the projector;
s4, measuring the position information of the preset point again;
s5, constructing a first quadrant by using the 3D rotation matrix;
and S6, calculating coordinates of four coordinate points of the first quadrant.
In this embodiment, specific: in S1, four preset points are uniformly set in the projection interface, a time-of-flight sensor 25 is installed at the positions of the preset points, the distance measured by each sensor and the corresponding angle thereof are calculated through the projection time and the speed of light, the position vector (vx, vy, vz) of each point relative to the projector is calculated according to the measured or image processing data, and for each point, vx=x-Tx, vy=y-Ty, vz=z-Tz, wherein (Tx, ty, tz) is the position coordinate of the projector, and (x, y, z) is the position coordinate of each point, and the relative position relationship between the preset point and the projector is obtained according to the position vector.
In this embodiment, specific: in S2, geometric coordinate points in the projection interface are reconstructed according to the distance and the corresponding angle measured by each time-of-flight sensor 25, a plane equation of the projection plane is obtained by fitting the geometric coordinate points, position vectors of the four points relative to the projector are calculated, a normal vector of the projection plane is calculated by using dot products and cross products among the vectors, and an equation of the projection plane is determined by using the normal vector and any point on the plane.
In this embodiment, specific: in S3, according to the geometric triangle relation and matrix transformation, the rolling angle, the yaw angle and the pitch angle of the projector are calculated, and according to the calculated rolling angle, yaw angle and pitch angle, the projector is correspondingly adjusted, so that the accuracy of the projection effect is ensured, and the horizontal angle and the vertical angle of the projector are adjusted through a driving mechanism outside the projector.
In this embodiment, specific: in S5 a 3D rotation matrix is defined and a first quadrant is constructed from the matrix displacement and scaling, creating a set of four points, each at a different position in the first quadrant.
In this embodiment, specific: in S6, the coordinates of four coordinate points in the first quadrant are calculated by substituting the roll angle, yaw angle, and pitch angle according to the angle of view and the yaw angle by the transformation relationship of the left and right multiplies of the matrix.
In addition, the invention also provides a device for calculating the four-point coordinates in the projection interface, which comprises a projection assembly 10, wherein the projection assembly 10 comprises a controller 11, an electric telescopic bracket 12, a rotary table 13, a supporting seat 14, a driving motor 15 and a projector main body 16;
the electric telescopic bracket 12 is arranged on the lower surface of the controller 11, the rotary table 13 is arranged on the upper surface of the controller 11, the supporting seat 14 is fixedly connected to the upper surface of the rotary table 13, the driving motor 15 is arranged on one side of the supporting seat 14, the projector main body 16 is rotationally connected to the inner side wall of the supporting seat 14, the controller 11 is internally provided with a processing module, a storage module, a control module and a communication module, the angle, the coordinates and the equation are processed through the processing module, the four-point coordinates in the projection plane are finally calculated, the rotary table 13 and the supporting seat 14 are arranged at the bottom of the projector main body 16, motors are arranged on the rotary table 13 and the supporting seat 14, and the motors drive the projector main body 16 to horizontally or vertically rotate, so that the direction of the projector main body 16 is changed, and the visual effect is improved.
In this embodiment, specific: a screen assembly 20 is arranged in front of the projection assembly 10, and the screen assembly 20 comprises a storage box 21, a fixed plate 22, a curtain 23, an elastic clamp 24 and a flight time sensor 25;
two fixed plates 22 of lateral wall symmetry fixedly connected with of receiver 21, the bottom of receiver 21 is provided with curtain 23, and the bilateral symmetry of curtain 23 is provided with four elasticity presss from both sides 24, and time of flight sensor 25 is installed to the inside wall of elasticity presss from both sides 24, is provided with motor and rolling rod in the receiver 21 for accomodate curtain 23, time of flight sensor 25 is fixed with elasticity presss from both sides 24, conveniently installs time of flight sensor 25 on curtain 23.
In addition, the invention also provides a device for calculating four-point coordinates in a projection interface, which comprises at least one processor, at least one memory and computer program instructions stored in the memory, wherein the memory is used for storing executable program codes;
the processor is configured to read the computer program instructions stored in the memory to perform a method of calculating coordinates of four points within the projection interface.
In addition, the invention also provides a storage medium for calculating the four-point coordinates in the projection interface, and the computer readable storage medium stores a computer program which, when being run by a processor, executes the method for calculating the four-point coordinates in the projection interface.
The invention works when in work: four preset points are uniformly arranged in a projection interface, a flight time sensor 25 is arranged at the position of each preset point, the distance measured by each sensor and the corresponding angle are calculated according to the projection time and the light speed, the geometric coordinate points in the projection interface are reconstructed according to the distance measured by each flight time sensor 25 and the corresponding angle, a plane equation of the projection plane is obtained by fitting the geometric coordinate points, the rolling angle, the yaw angle and the pitch angle of the projector are calculated according to the geometric triangle relation and the matrix transformation, the projector is correspondingly adjusted according to the calculated rolling angle, yaw angle and pitch angle, the accuracy of the projection effect is ensured, a 3D rotation matrix is defined, a first quadrant is constructed according to the matrix displacement and the scaling, the coordinates of four coordinate points in the first quadrant are calculated according to the conversion relation of the view angle and the yaw angle of the matrix, the coordinates of the four coordinate points in the first quadrant are substituted into the rolling angle, the yaw angle and the pitch angle, and the method for calculating the four coordinate points in the projection interface by utilizing the geometric triangle angle, the yaw angle and the pitch angle can be automatically, quickly and accurately calculated, and the rolling operation of the four-point coordinates in the projection interface can be performed manually, and the additional measurement equipment is used for measuring the rolling operation. By the method, the accuracy of the projection effect can be greatly improved, the visual effect is improved, the space is better planned, the projector can be projected to the most needed place, so that the space utilization rate is optimized, meanwhile, the cost and the error of manual operation are reduced, and in addition, the method can be widely applied to various projector equipment and has wide application prospect and market potential.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that various changes and substitutions are possible within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. The method for calculating the four-point coordinates in the projection interface is characterized by comprising the following steps of:
s1, measuring and calculating the relative position relation between four preset points in a projection interface and a projector, uniformly setting four preset points in the projection interface, installing a flight time sensor at the preset point, and calculating the distance and the corresponding angle measured by each sensor through the projection time and the light speed;
s2, calculating geometric coordinate points of the four preset points, obtaining a plane equation of a projection plane according to the coordinate points, reconstructing the geometric coordinate points in a projection interface according to the distance measured by each time-of-flight sensor and the corresponding angle, calculating position vectors of the four points relative to a projector, calculating normal vectors of the projection plane by dot products and cross products among the vectors, and determining the equation of the projection plane by using the normal vectors and any point on the plane;
s3, calculating a rolling angle, a yaw angle and a pitching angle of the projector, adjusting the projector, calculating the rolling angle, the yaw angle and the pitching angle of the projector according to a geometric triangle relation and matrix transformation, and correspondingly adjusting the projector according to the calculated rolling angle, yaw angle and pitching angle, wherein the position vectors of the four preset points are subjected to rotation matrix transformation to obtain rotated position vectors, and the differences of the rotated position vectors and original position vectors are compared to calculate the rolling angle, yaw angle and pitching angle;
s4, measuring the position information of the preset point again;
s5, constructing a first quadrant by using the 3D rotation matrix, defining the 3D rotation matrix, constructing the first quadrant according to matrix displacement and scaling, and creating a set containing four points, wherein each point is positioned at different positions of the first quadrant;
and S6, calculating coordinates of four coordinate points of the first quadrant, and substituting the rolling angle, the yaw angle and the pitch angle into a transformation relation of the left multiplication and the right multiplication of the matrix according to the view angle and the deflection angle to calculate the coordinates of the four coordinate points of the first quadrant.
2. An apparatus for calculating coordinates of four points in a projection interface, applied to the method for calculating coordinates of four points in a projection interface as claimed in claim 1, comprising a projection assembly (10), characterized in that: the projection assembly (10) comprises a controller (11), an electric telescopic bracket (12), a rotary table (13), a supporting seat (14), a driving motor (15) and a projector main body (16);
the electric telescopic support (12) is arranged on the lower surface of the controller (11), the rotary table (13) is arranged on the upper surface of the controller (11), the supporting seat (14) is fixedly connected to the upper surface of the rotary table (13), the driving motor (15) is arranged on one side of the supporting seat (14), and the projector main body (16) is rotationally connected to the inner side wall of the supporting seat (14).
3. An apparatus for calculating coordinates of four points in a projection interface as defined in claim 2, wherein: a screen assembly (20) is arranged in front of the projection assembly (10), and the screen assembly (20) comprises a storage box (21), a fixed plate (22), a curtain (23), an elastic clamp (24) and a flight time sensor (25);
two fixed plates (22) are symmetrically and fixedly connected to the outer side wall of the storage box (21), a curtain (23) is arranged at the bottom of the storage box (21), four elastic clamps (24) are symmetrically arranged on two sides of the curtain (23), and a flight time sensor (25) is arranged on the inner side wall of each elastic clamp (24).
4. An apparatus for calculating four-point coordinates in a projection interface, for use in the method of calculating four-point coordinates in a projection interface of claim 1, comprising at least one processor, at least one memory, and computer program instructions stored in the memory, wherein: the memory is used for storing executable program codes;
the processor is configured to read the computer program instructions stored in the memory to perform the method of calculating four-point coordinates within a projection interface of claim 1.
5. A computer-readable storage medium, characterized by: the computer readable storage medium stores a computer program which, when executed by a processor, performs the method of calculating four-point coordinates within a projection interface of claim 1.
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| CN202410059892.6A CN117570853B (en) | 2024-01-16 | 2024-01-16 | Method, device, equipment and storage medium for calculating four-point coordinates in projection interface |
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