CN117579798B - Projection equipment calibration method and device and electronic equipment - Google Patents
Projection equipment calibration method and device and electronic equipment Download PDFInfo
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- 241000764238 Isis Species 0.000 claims description 6
- 239000000758 substrate Substances 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 5
- 241000826860 Trapezium Species 0.000 abstract 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
- H04N9/3191—Testing thereof
- H04N9/3194—Testing thereof including sensor feedback
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Abstract
The application discloses a projection equipment calibration method, a device and electronic equipment, wherein the method comprises the following steps: initializing the current posture of the projection equipment to enable the projection equipment to be opposite to a projection surface; measuring a current projection picture, and dividing a corresponding current SPAD region into a plurality of SPAD subregions; obtaining measurement distance data of a current SPAD area according to the DTOF module; obtaining actual distance data according to the measured distance data and preset calibration data; processing actual distance data according to a preset angle model to obtain a current cruising angle; the current cruise angle is transmitted such that the projection device corrects to align the coordinate systems of the projection device and the projection surface based on the current cruise angle. According to the application, the cruising angle obtained by the distance between the left SPAD area and the right SPAD area of the DTOF module is continuously close to the cruising angle of the whole projector, so that the coordinate systems of the projection equipment and the projection surface are aligned, the noninductive trapezium is more accurate, and the projection effect is improved.
Description
Technical Field
The present invention relates to the field of projection devices, and in particular, to a method and an apparatus for calibrating a projection device, and an electronic device.
Background
Currently, in order to realize trapezoidal correction, in the prior art, a multipoint DTOF sensor is installed on a projector, a cruising angle is obtained through the distance between left and right SPAD areas returned by the sensor, and a pitch angle (pitch) and a roll angle (roll) are calculated by combining an acceleration sensor (acc) in a six-axis IMU at rest, so that trapezoidal correction is realized through the three angles. However, when the projector is opposite to the projection surface, due to the reasons of process and installation errors, the DTOF chip module and the projection surface of the whole projector cannot be guaranteed to be completely parallel, so that assembly errors of the DTOF chip module are caused, when the whole projector is pitching or rolling due to assembly errors, the cruising angle obtained by the DTOF chip module through the distance between the left SPAD area and the right SPAD area is non-zero and continuously changes, and when the whole projector rotates at a horizontal cruising angle, a large error exists between the cruising angle obtained by the DTOF chip module through the distance between the left SPAD area and the right SPAD area and the cruising angle which is actually rotated, and finally the projection effect of the projector is affected.
Therefore, how to design a projection alignment calibration method for eliminating assembly errors is a technical problem to be solved.
Disclosure of Invention
Based on the above, it is necessary to provide a projection device calibration method, a device and an electronic device for solving the existing problems.
In a first aspect, an embodiment of the present application provides a method for calibrating a projection device, including the following steps:
initializing the current gesture of the projection equipment to be detected, so that the projection equipment is opposite to a projection surface;
Measuring a current projection picture according to a DTOF module, and dividing a current SPAD region corresponding to the current projection picture into Current SPAD subregions, the/>The current SPAD subareas are respectively a current SPAD area 1, a current SPAD area 2 … … and a current SPAD area/>；
Obtaining measurement distance data of the current SPAD region according to a DTOF module, wherein the measurement distance data comprises the following steps ofThe projection surfaces of the corresponding angles of the current SPAD subareas are respectively arranged at the centers of the optical axes of the dodging lensesMeasurement distance/>、/>……/>；
Obtaining actual distance data of the current SPAD region according to the measured distance data and preset calibration data, wherein the preset calibration data is corresponding to the current SPAD region, and comprises the following steps ofMeasurement distance/>、/>……/>Corresponding/>Calibration coefficient/>、/>……/>The actual distance data includes the/>Projection surfaces of angles corresponding to the current SPAD subareas are respectively arranged at the center of the optical axis of the dodging lensActual distance/>、/>……/>；
Processing the actual distance data according to a preset angle model to obtain a current cruising angle of the projection equipment;
The current cruise angle is transmitted to the projection device such that the projection device corrects to align a coordinate system of the projection device with a coordinate system of the projection surface based on the current cruise angle.
Preferably, the DTOF module comprises a plurality of DTOF units.
Preferably, the method comprises the steps of,Is an odd number greater than 1.
Preferably, the preset calibration data is pre-stored in the projection device.
Preferably, the preset calibration data is obtained by:
initializing the current gesture of the projection equipment to be detected, so that the projection equipment is opposite to a projection surface;
Measuring an initial projection picture according to a DTOF module, and dividing an initial SPAD region corresponding to the initial projection picture into An initial SPAD subregion, said/>The initial SPAD subregions are respectively an initial SPAD region 1, an initial SPAD region 2 … … and an initial SPAD region/>；
Obtaining initial measurement distance data of the initial SPAD region according to a DTOF module, wherein the initial measurement distance data comprises the following steps ofProjection surfaces of angles corresponding to the initial SPAD subareas are respectively arranged at the center of the optical axis of the dodging lensInitial measurement distance/>、/>……/>；
Obtaining accurate distance data of the initial SPAD region according to the initial measurement distance data and the similar triangle principle, wherein the accurate distance data comprises the following components of the initial SPAD regionThe projection surfaces of the angles corresponding to the initial SPAD subareas are respectively arranged at the centers of the optical axes of the dodging lensesAccurate distance/>、/>……/>；
The saidInitial measurement distance/>、/>……/>And said/>Accurate distance of、/>……/>Respectively substituting the preset calibration data into the formula (1) to obtain the/>, of the preset calibration dataCalibration coefficient/>、/>……/>；
Wherein, the formula (1) is:
Wherein/> （1）。
Preferably, obtaining accurate distance data of the initial SPAD area according to the initial measured distance data and the similar triangle principle includes:
(1) When (when) The exact distance is then represented by:
If it is When it is odd, then/>；
If it isIs an even number and/>When it is odd, then/>；
If it isIs an even number and/>If it is even, then/>；
(2) When (when)When, then the accurate distance/>；
(3) When (when)When, then the accurate distance/>；
Wherein,For homogenizing the focal length of the lens,/>For the x-axis length of a single SPAD cell,Is the y-axis directional length of a single SPAD cell.
Preferably, the saidThe actual distance is represented by equation (2):
Wherein/> （2）。
Preferably, processing the actual distance data according to a preset angle model to obtain a current cruising angle of the projection device includes:
the current SPAD area is [ ] Actual distance/>And current SPAD region/>Actual distance/>Inputting a preset angle processing model to obtain a current cruising angle yaw;
Wherein the preset angle processing model is represented by formulas (3), (4), (5) and (6):
（3）；
（4）；
（5）；
（6）。
In a second aspect, an embodiment of the present application provides a calibration apparatus for a projection device, including:
the initialization unit is used for initializing the current gesture of the projection equipment to be tested, so that the projection equipment is opposite to the projection surface;
the region dividing unit is used for measuring a current projection picture according to the DTOF module and dividing a current SPAD region corresponding to the current projection picture into Current SPAD subregions, the/>The current SPAD subareas are respectively a current SPAD area 1, a current SPAD area 2 … … and a current SPAD area/>；
A measurement distance obtaining unit, configured to obtain measurement distance data of the current SPAD area according to a DTOF module, where the measurement distance data includes the following stepsThe projection surfaces of the corresponding angles of the current SPAD subareas are respectively arranged at the centers of the optical axes of the dodging lensesMeasurement distance/>、/>……/>；
The actual distance determining unit is configured to obtain actual distance data of the current SPAD area according to the measured distance data and preset calibration data, where the preset calibration data is calibration data corresponding to the current SPAD area, and the preset calibration data includesMeasurement distance/>、/>……/>Corresponding/>Calibration coefficient/>、/>……The actual distance data includes the/>The projection surfaces of the corresponding angles of the current SPAD subareas are respectively arranged at the centers of the optical axes of the dodging lensesActual distance/>、/>……/>；
The angle determining unit is used for processing the actual distance data according to a preset angle model to obtain the current cruising angle of the projection equipment;
and the angle adjustment unit is used for sending the current cruising angle to the projection device, so that the projection device corrects the coordinate system of the projection device and the coordinate system of the projection surface based on the current cruising angle.
In a third aspect, an embodiment of the present application provides an electronic device, including:
A processor;
A memory for storing the processor-executable instructions;
The processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the method steps described above.
Compared with the prior art, the invention has the following advantages: before the projection equipment leaves the factory, the DTOF module is aligned and calibrated, the cruising angle obtained through the distance between the left SPAD area and the right SPAD area of the DTOF chip module is continuously close to the cruising angle of the whole projector, so that the coordinate system of the projection equipment is aligned with the coordinate system of the projection surface, the alignment and calibration of the projection equipment are completed, the noninductive trapezia of the projection equipment is more accurate, and the projection effect is improved.
Drawings
Exemplary embodiments of the present application may be more fully understood by reference to the following drawings. The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate the application and together with the embodiments of the application, and not constitute a limitation to the application. In the drawings, like reference numerals generally refer to like parts or steps.
FIG. 1 is a flow chart of a method for calibrating a projection device according to an exemplary embodiment of the present application;
FIG. 2 is a schematic diagram of a SPAD array imaging system according to an example embodiment of the application;
FIG. 3 is a schematic diagram of an optical system of a SPAD array imaging system according to an example embodiment of the application;
FIG. 4 is a schematic diagram of a calibration device for a projection apparatus according to an exemplary embodiment of the present application;
Fig. 5 shows a schematic diagram of an electronic device according to an exemplary embodiment of the present application.
Reference numerals
1-SPAD arrays; 2-a dodging lens; 3-the optical axis center of the dodging lens; a 4-SPAD unit; 5-focal plane.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
The embodiment of the application provides a calibration method of projection equipment, and the calibration method is described below with reference to the accompanying drawings.
Referring to fig. 1, a method for calibrating a projection device according to some embodiments of the present application includes the following steps:
s101: initializing the current gesture of the projection equipment to be detected, so that the projection equipment is opposite to the projection surface;
specifically, before the projection device is calibrated, the posture of the projection device to be measured needs to be adjusted so that the projection device is opposite to the projection.
S102: measuring a current projection picture according to the DTOF module, and dividing a current SPAD region corresponding to the current projection picture intoCurrent SPAD subregion,/>The current SPAD subareas are respectively a current SPAD area 1, a current SPAD area 2 … … and a current SPAD area/>；
In some embodiments, the image of the projector screen in the actual use situation of the user can be acquired through a camera, and the camera can be arranged inside the projector or independent of the outside of the projector.
DTOF is a sub-division of TOF technology, referred to as "direct flight", as the name implies, the emission of light pulses directly to a measurement object, followed by the measurement of the time interval between the reflected light pulses and the emitted light pulses, resulting in the time of flight of the light. The accuracy of DTOF depends on the duration of the pulse, so the measurement accuracy and the anti-interference capability are not obviously reduced along with the increase of the distance, the errors at different distances are more stable relative to most schemes, and the depth information with relatively high accuracy, low noise and high reliability can be captured at a long distance.
While SPAD (Single Photon Avalanche Diode ) is a common detection unit for DTOF sensors. SPAD is a pixel structure that can detect weak light, i.e., amplify electrons generated from a single incident photon using the avalanche multiplication effect, thereby detecting weak light. By using the SPAD as a detection unit in the laser radar DTOF sensor, the depth measurement with long distance and high precision can be realized.
In this embodiment, detection is achieved through the SPAD array imaging system, and the performance of different sub-areas is detected by dividing the SPAD array area into sub-areas, so that a data base is provided for alignment calibration of the projection equipment.
S103: obtaining measurement distance data of the current SPAD region according to the DTOF module, wherein the measurement distance data comprisesThe projection surfaces of the corresponding angles of the current SPAD subareas are respectively arranged at the centers of the optical axes of the dodging lensesMeasurement distance/>、/>……/>；
Specifically, the DTOF module includes a plurality of DTOF units, referring to fig. 2, in this embodimentThe value of (3) is that the current SPAD area corresponding to the current projection picture is divided into 3*3 sub-SPAD areas which are respectively the current SPAD area 1 and the current SPAD area 2 … … current SPAD area/>. In other preferred embodiments,/>Other suitable values are also possible.
In the present embodiment of the present invention,The measured distance data comprises 9 distances, which are/>, respectively、/>……。
S104: obtaining actual distance data of a current SPAD region according to the measured distance data and preset calibration data, wherein the preset calibration data is corresponding to the current SPAD region, and comprises the following steps ofMeasurement distance/>、/>……/>Corresponding/>Calibration coefficient/>、/>……/>The actual distance data includes/>The projection surfaces of the corresponding angles of the current SPAD subareas are respectively arranged at the centers of the optical axes of the dodging lensesActual distance/>、/>……；
In this embodiment, the preset calibration data is stored in the projection device in advance, and is obtained by the following steps:
S1041: initializing the current gesture of the projection equipment to be detected, so that the projection equipment is opposite to the projection surface;
S1042: according to the DTOF module, measuring an initial projection picture, and dividing an initial SPAD region corresponding to the initial projection picture into Initial SPAD subregion,/>The initial SPAD subregions are respectively an initial SPAD region 1, an initial SPAD region 2 … … and an initial SPAD region/>；
S1043: obtaining initial measurement distance data of an initial SPAD region according to a DTOF module, wherein the initial measurement distance data comprisesThe projection surfaces of the angles corresponding to the initial SPAD subareas are respectively arranged at the centers of the optical axes of the dodging lensesInitial measurement distance/>、/>……/>；
S1044: obtaining accurate distance data of the initial SPAD region according to the initial measurement distance data and the similar triangle principle, wherein the accurate distance data comprisesThe projection surfaces of the angles corresponding to the initial SPAD subareas are respectively arranged at the centers of the optical axes of the dodging lensesAccurate distance/>、/>……/>；
S1045: will beInitial measurement distance/>、/>……/>And/>Accurate distance/>、……/>Respectively substituting the data into the formula (1) to obtain the/>, of the preset calibration dataCalibration coefficient/>、/>……/>；
Wherein, formula (1) is:
Wherein/> （1）。
Preferably, obtaining accurate distance data of the initial SPAD area according to the initial measured distance data and the similar triangle principle includes:
(1) When (when) The exact distance is then represented by:
If it is When it is odd, then/>；
If it isIs an even number and/>When it is odd, then/>；
If it isIs an even number and/>If it is even, then/>；
(2) When (when)When, then accurate distance/>；
(3) When (when)When, then accurate distance/>；
Wherein,For homogenizing the focal length of the lens,/>For the x-axis length of a single SPAD cell,Is the y-axis directional length of a single SPAD cell.
After the preset calibration data is read, the preset calibration data and the obtained measurement distance data are processed according to the formula (2) to obtainProjection surfaces of the corresponding angles of the SPAD subregions are respectively arranged at the centers of the optical axes of the dodging lensesActual distance/>、/>……/>：
Wherein/> （2）。
S105: processing actual distance data according to a preset angle model to obtain a current cruising angle of the projection equipment;
Referring to fig. 3, which shows a schematic view of the optical system of the whole SPAD array imaging system, the illustration is a schematic view of SPAD array area 1 in the X direction of the Z direction section, the surface of several SPAD units is arranged towards one side of the lens to form focal plane 5, and the distance from the focal plane 5 to the optical axis center 3 of the dodging lens 2 forms focal length . Specifically, the FOV of each SPAD unit 4 and the FOV of each SPAD region can be obtained by adding and subtracting right triangle after angle calculation, and the distance from the center point of each SPAD region to the dodging lens 2 can also be obtained by the focal length/>And the physical dimensions of the SPAD regions. Next, according to the rules of design, the pitch angle is obtained by the angle of SPAD zone 2 and SPAD zone 8, the cruise angle is obtained by the angle of SPAD zone 4 and SPAD zone 6, and can be calculated from the right triangle arctangent by figure 2 and similar Y-patterns.
In a preferred embodiment, the physical dimensions of the individual SPAD cells are: the x-axis dimension is 16.8 microns, the y-axis dimension: 38.8 microns. The focal length of the integrator lens 2 may be 400 microns.
In this embodiment, processing actual distance data according to a preset angle model to obtain a current cruising angle of the projection device includes:
the current SPAD area is [ ] Actual distance/>And current SPAD region/>Actual distance/>Inputting a preset angle processing model to obtain a current cruising angle yaw;
wherein the preset angle processing model is represented by formulas (3), (4), (5) and (6):
（3）；
（4）；
（5）；
（6）。
S106: the current cruise angle is transmitted to the projection device such that the projection device corrects to align the coordinate system of the projection device with the coordinate system of the projection surface based on the current cruise angle.
Compared with the prior art, the invention has the following advantages: before the projection equipment leaves the factory, the DTOF module is aligned and calibrated, the cruising angle obtained through the distance between the left SPAD area and the right SPAD area of the DTOF chip module is continuously close to the cruising angle of the whole projector, so that the coordinate system of the projection equipment is aligned with the coordinate system of the projection surface, the alignment and calibration of the projection equipment are completed, the noninductive trapezia of the projection equipment is more accurate, and the projection effect is improved.
In the above embodiment, a method is provided, and the application also provides a device corresponding to the method. The device provided by the embodiment of the application can implement the method, and the device can be realized by software, hardware or a combination of the software and the hardware. For example, the apparatus may comprise integrated or separate functional modules or units to perform the corresponding steps in the methods described above.
The apparatus 20 provided by the embodiment of the present application in some implementations of the embodiment of the present application has the same beneficial effects as the method provided by the foregoing embodiment of the present application for the same inventive concept.
As shown in fig. 4, the apparatus 40 may include:
An initializing unit 401, configured to initialize a current posture of a projection device to be tested, so that the projection device faces a projection surface;
the region dividing unit 402 is configured to measure a current projection image according to the DTOF module, and divide a current SPAD region corresponding to the current projection image into Current SPAD subregion,/>The current SPAD subareas are respectively a current SPAD area 1, a current SPAD area 2 … … and a current SPAD area/>；
A measurement distance obtaining unit 403, configured to obtain measurement distance data of the current SPAD area according to the DTOF module, where the measurement distance data includesThe projection surfaces of the corresponding angles of the current SPAD subareas are respectively arranged at the centers of the optical axes of the dodging lensesMeasurement distance/>、/>……/>；
An actual distance determining unit 404, configured to obtain actual distance data of the current SPAD area according to the measured distance data and preset calibration data, where the preset calibration data is calibration data corresponding to the current SPAD area, and the current preset calibration data includesMeasurement distance/>、/>……/>Corresponding/>Calibration coefficient/>、/>……/>The actual distance data includes/>The projection surfaces of the corresponding angles of the current SPAD subareas are respectively arranged at the centers of the optical axes of the dodging lensesActual distance/>、/>……/>；
An angle determining unit 405, configured to process the actual distance data according to a preset angle model, and obtain a current cruising angle of the projection device;
An angle adjustment unit 406 for transmitting the current cruising angle to the projection device, so that the projection device corrects to align the coordinate system of the projection device with the coordinate system of the projection surface based on the current cruising angle.
The specific principle of this embodiment is the same as that of the foregoing embodiment, and this embodiment is not described herein.
The embodiment of the application also provides an electronic device corresponding to the method provided by the previous embodiment, wherein the electronic device can be an electronic device for a server, such as a server, and comprises an independent server, a distributed server cluster and the like, so as to execute the method; the electronic device may also be an electronic device for a client, such as a mobile phone, a notebook computer, a tablet computer, a desktop computer, etc., to perform the above method.
Referring to fig. 5, a schematic diagram of an electronic device according to some embodiments of the present application is shown. As shown in fig. 5, the electronic device 50 includes: a processor 500, a memory 601, a bus 502 and a communication interface 503, the processor 500, the communication interface 503 and the memory 501 being connected by the bus 502; the memory 501 has stored therein a computer program executable on the processor 500, which processor 500 executes the aforementioned method of the present application when running the computer program.
The memory 501 may include a high-speed random access memory (RAM: random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one disk memory. The communication connection between the system network element and at least one other network element is implemented via at least one communication interface 503 (which may be wired or wireless), the internet, a wide area network, a local network, a metropolitan area network, etc. may be used.
Bus 502 may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be classified as address buses, data buses, control buses, etc. The memory 501 is configured to store a program, and the processor 500 executes the program after receiving an execution instruction, and the method disclosed in any of the foregoing embodiments of the present application may be applied to the processor 500 or implemented by the processor 500.
The processor 500 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry in hardware or instructions in software in the processor 500. The processor 500 may be a general-purpose processor, including a central processing unit (Central Processing Unit, abbreviated as CPU), a network processor (Network Processor, abbreviated as NP), etc.; but may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory 501, and the processor 500 reads the information in the memory 501, and in combination with its hardware, performs the steps of the method described above.
The electronic device provided by the embodiment of the application and the method provided by the embodiment of the application have the same beneficial effects as the method adopted, operated or realized by the electronic device and the method provided by the embodiment of the application due to the same inventive concept.
It is noted that the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and 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 communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network 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 the embodiments 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 functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a read-only memory (ROM), a random access memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application, and are intended to be included within the scope of the appended claims and description.
Claims (8)
1. The projection equipment calibration method is characterized by comprising the following steps of:
initializing the current gesture of the projection equipment to be detected, so that the projection equipment is opposite to a projection surface;
Measuring a current projection picture according to a DTOF module, and dividing a current SPAD region corresponding to the current projection picture into Current SPAD subregions, the/>The current SPAD subareas are respectively a current SPAD area 1, a current SPAD area 2 … … and a current SPAD area/>；
Obtaining measurement distance data of the current SPAD region according to a DTOF module, wherein the measurement distance data comprises the following steps ofThe projection surfaces of the corresponding angles of the current SPAD subareas are respectively arranged at the centers of the optical axes of the dodging lensesMeasurement distance/>、/>……/>；
Obtaining actual distance data of the current SPAD region according to the measured distance data and preset calibration data, wherein the preset calibration data is corresponding to the current SPAD region, and comprises the following steps ofMeasurement distance/>、/>……/>Corresponding/>Calibration coefficient/>、/>……/>The actual distance data includes the/>The projection surfaces of the corresponding angles of the current SPAD subareas are respectively arranged at the centers of the optical axes of the dodging lensesActual distance/>、/>……/>；
Processing the actual distance data according to a preset angle model to obtain a current cruising angle of the projection equipment;
Transmitting the current cruise angle to the projection device such that the projection device corrects to align a coordinate system of the projection device with a coordinate system of the projection surface based on the current cruise angle;
The preset calibration data are obtained through the following steps:
initializing the current gesture of the projection equipment to be detected, so that the projection equipment is opposite to a projection surface;
Measuring an initial projection picture according to a DTOF module, and dividing an initial SPAD region corresponding to the initial projection picture into An initial SPAD subregion, said/>The initial SPAD subregions are respectively an initial SPAD region 1, an initial SPAD region 2 … … and an initial SPAD region/>；
Obtaining initial measurement distance data of the initial SPAD region according to a DTOF module, wherein the initial measurement distance data comprises the following steps ofThe projection surfaces of the angles corresponding to the initial SPAD subareas are respectively arranged at the centers of the optical axes of the dodging lensesInitial measurement distance/>、/>……/>；
Obtaining accurate distance data of the initial SPAD region according to the initial measurement distance data and the similar triangle principle, wherein the accurate distance data comprises the following components of the initial SPAD regionThe projection surfaces of the angles corresponding to the initial SPAD subareas are respectively arranged at the centers of the optical axes of the dodging lensesAccurate distance/>、/>……/>；
The saidInitial measurement distance/>、/>……/>And said/>Accurate distance/>、……/>Respectively substituting the preset calibration data into the formula (1) to obtain the/>, of the preset calibration dataCalibration coefficient/>、……/>；
Wherein, the formula (1) is:
Wherein/> （1）；
The obtaining accurate distance data of the initial SPAD area according to the initial measured distance data and the similar triangle principle comprises the following steps:
(1) When (when) The exact distance is then represented by:
If it is When it is odd, then/>；
If it isIs an even number and/>When it is odd, then/>；
If it isIs an even number and/>If it is even, then/>；
(2) When (when)When, then the accurate distance/>；
(3) When (when)When, then the accurate distance/>；
Wherein,For homogenizing the focal length of the lens,/>For the x-axis direction length of a single SPAD cell,/>For the y-axis direction length of a single SPAD cell,/>Is a natural number greater than 0,/>Is greater than or equal to 0 and less than or equal to/>Natural number of (a) is provided.
2. The method of claim 1, wherein the DTOF module comprises a plurality of DTOF units.
3. The method of claim 2, wherein the step of determining the position of the substrate comprises,Is an odd number greater than 1.
4. A method according to claim 3, wherein the preset calibration data is pre-stored in the projection device.
5. The method of claim 1, wherein theThe actual distance is represented by equation (2):
Wherein/> （2）。
6. The method of claim 5, wherein processing the actual distance data according to a preset angle model to obtain a current cruising angle of the projection device comprises:
the current SPAD area is [ ] Actual distance/>And current SPAD region/>Actual distance/>Inputting a preset angle processing model to obtain a current cruising angle yaw;
Wherein the preset angle processing model is represented by formulas (3), (4), (5) and (6):
（3）；
（4）；
（5）；
（6）。
7. A projection device calibration apparatus for implementing the method of claim 1, comprising:
the initialization unit is used for initializing the current gesture of the projection equipment to be tested, so that the projection equipment is opposite to the projection surface;
the region dividing unit is used for measuring a current projection picture according to the DTOF module and dividing a current SPAD region corresponding to the current projection picture into Current SPAD subregions, the/>The current SPAD subareas are respectively a current SPAD area 1, a current SPAD area 2 … … and a current SPAD area/>；
A measurement distance obtaining unit, configured to obtain measurement distance data of the current SPAD area according to a DTOF module, where the measurement distance data includes the following stepsThe projection surfaces of the corresponding angles of the current SPAD subareas are respectively arranged at the centers of the optical axes of the dodging lensesMeasurement distance/>、/>……/>；
The actual distance determining unit is configured to obtain actual distance data of the current SPAD area according to the measured distance data and preset calibration data, where the preset calibration data is calibration data corresponding to the current SPAD area, and the preset calibration data includesMeasurement distance/>、/>……/>Corresponding/>Calibration coefficient/>、/>……/>The actual distance data includes the/>The projection surfaces of the corresponding angles of the current SPAD subareas are respectively arranged at the centers of the optical axes of the dodging lensesActual distance/>、/>……/>；
The angle determining unit is used for processing the actual distance data according to a preset angle model to obtain the current cruising angle of the projection equipment;
and the angle adjustment unit is used for sending the current cruising angle to the projection device, so that the projection device corrects the coordinate system of the projection device and the coordinate system of the projection surface based on the current cruising angle.
8. An electronic device, the electronic device comprising:
A processor;
A memory for storing the processor-executable instructions;
the processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the method of any one of the preceding claims 1 to 6.
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| CN112422939A (en) * | 2021-01-25 | 2021-02-26 | 深圳市橙子数字科技有限公司 | Trapezoidal correction method and device for projection equipment, projection equipment and medium |
| CN113824942A (en) * | 2021-10-25 | 2021-12-21 | 河南中光学集团有限公司 | Trapezoidal correction method, trapezoidal correction device, projector and computer readable storage medium |
| WO2022134938A1 (en) * | 2020-12-24 | 2022-06-30 | 上海智能制造功能平台有限公司 | Binocular sensor visual measurement probe and binocular sensor |
| CN117288151A (en) * | 2023-11-21 | 2023-12-26 | 深圳市橙子数字科技有限公司 | Three-dimensional attitude determination method and device of projection equipment and electronic equipment |
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| WO2022134938A1 (en) * | 2020-12-24 | 2022-06-30 | 上海智能制造功能平台有限公司 | Binocular sensor visual measurement probe and binocular sensor |
| CN112422939A (en) * | 2021-01-25 | 2021-02-26 | 深圳市橙子数字科技有限公司 | Trapezoidal correction method and device for projection equipment, projection equipment and medium |
| CN113824942A (en) * | 2021-10-25 | 2021-12-21 | 河南中光学集团有限公司 | Trapezoidal correction method, trapezoidal correction device, projector and computer readable storage medium |
| CN117288151A (en) * | 2023-11-21 | 2023-12-26 | 深圳市橙子数字科技有限公司 | Three-dimensional attitude determination method and device of projection equipment and electronic equipment |
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