WO2022121260A1 - Procédé et appareil d'anti-tremblement des images de projection, dispositif de projection et support de stockage - Google Patents

Procédé et appareil d'anti-tremblement des images de projection, dispositif de projection et support de stockage Download PDF

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Publication number
WO2022121260A1
WO2022121260A1 PCT/CN2021/098494 CN2021098494W WO2022121260A1 WO 2022121260 A1 WO2022121260 A1 WO 2022121260A1 CN 2021098494 W CN2021098494 W CN 2021098494W WO 2022121260 A1 WO2022121260 A1 WO 2022121260A1
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WO
WIPO (PCT)
Prior art keywords
quaternion
projection
gyroscope
image
difference value
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PCT/CN2021/098494
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English (en)
Chinese (zh)
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苏博文
王鑫
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成都极米科技股份有限公司
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Publication of WO2022121260A1 publication Critical patent/WO2022121260A1/fr

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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
    • 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

Definitions

  • the present application relates to the technical field of projection display, and in particular, to an anti-shake method, device, projection device and storage medium for a projection image.
  • the projector When the projector is unstable, it tends to produce a flickering picture due to its own shaking or shaking. In many usage scenarios of the projector, when the plane on which the projector is placed, such as the table top of the projector or the suspended ceiling vibrates, it will cause the projector to shake, resulting in the instability of the projected image. The instability of the projected image often causes viewers an uncomfortable experience in watching movies.
  • the present application proposes an electronic digital anti-shake method on software, which uses the rotation angle data of the gyroscope inside the projector to calculate the real three-dimensional attitude of the projector at each frame moment, and simultaneously sets a stable three-dimensional attitude. , calculate the compensation difference from the real 3D attitude to the stable 3D attitude, and compensate each frame of the projected picture of the projector optical machine according to the compensation difference, so as to achieve the effect of picture stabilization.
  • This method can quickly and effectively stabilize the projected image, and is more cost-effective than mechanical image stabilization.
  • the present application provides a method for image stabilization of a projection image, including:
  • each pixel is remapped to obtain a stabilized image.
  • the collecting gyroscope data includes:
  • the angular velocities w x , w y and w z of the gyroscope in the x, y and z directions are acquired according to the acquisition interval ⁇ t.
  • the collecting gyroscope data further includes:
  • the calculating the rotation angle according to the gyroscope data includes:
  • ⁇ , and ⁇ are the rotation angles in the x, y and z directions, respectively
  • w x1 , w y1 and w z1 are the angular velocities of the gyroscope in the x, y and z directions of the previous acquisition in the two adjacent acquisitions, respectively
  • w x2 , w y2 and w z2 are the angular velocities of the gyroscope in the x, y and z directions of the last acquisition in two adjacent acquisitions, respectively.
  • the calculating the rotation angle according to the gyroscope data includes:
  • ⁇ , and ⁇ are the rotation angles in the x, y and z directions, respectively
  • w x1 , w y1 and w z1 are the angular velocities of the gyroscope in the x, y and z directions of the previous acquisition in the two adjacent acquisitions, respectively
  • w x2 , w y2 and w z2 are the angular velocities of the gyroscope in the x, y and z directions of the last acquisition in the two adjacent acquisitions, respectively
  • t 2 and t 1 are the latter acquisition in the two adjacent acquisitions, respectively
  • the converting the rotation angle into the first quaternion q includes calculating the first quaternion q according to the following formula:
  • the difference value is the difference value
  • the remapping of each pixel to obtain a stabilized image according to the difference value ⁇ q includes:
  • X is the pixel coordinates of the original image
  • X' is the pixel coordinates of the stabilized image
  • the remapping of each pixel to obtain a stabilized image according to the difference value ⁇ q includes:
  • X is the pixel coordinates of the original image
  • X' is the pixel coordinates of the stabilized image
  • the rotation matrix where ⁇ a, ⁇ b, ⁇ c and ⁇ d are the four components of the difference value ⁇ q.
  • the target three-dimensional posture is the three-dimensional posture of the projector in a stable state
  • the second quaternion Q is calculated after the projector is placed.
  • the method further includes:
  • the gyroscope is installed at the structural connection with the optomechanical body.
  • a projection image stabilization device comprising:
  • the gyroscope data acquisition module is used to collect gyroscope data
  • a rotation angle calculation module for calculating the rotation angle according to the gyroscope data
  • a first quaternion conversion module for converting the rotation angle into a first quaternion q
  • a difference value calculation module configured to calculate the difference value ⁇ q between the first quaternion q and the second quaternion Q, and the second quaternion Q is used to reflect the three-dimensional attitude of the target;
  • the stabilized image transformation module is configured to remap each pixel to obtain a stabilized image according to the difference value ⁇ q.
  • it also includes:
  • the second quaternion setting module is used to calculate the second quaternion Q.
  • it also includes:
  • the picture adjustment module is used for cropping the projection picture and scaling the cropped projection picture to the target display size.
  • the present application provides a projection device, the projection device includes a processor and a memory, the memory stores at least one piece of program code, and the at least one piece of program code is loaded and executed by the processor to implement The projection image stabilization method as described in the first aspect or a possible implementation manner of the first aspect.
  • the present application provides a storage medium, where at least one piece of program code is stored in the storage medium, and the at least one piece of program code is loaded and executed by a processor to implement the first aspect or the possibility of the first aspect
  • the anti-shake method for the projection image described in the implementation manner is implemented.
  • the projection image stabilization device described in the second aspect, the projection device described in the third aspect, and the storage medium described in the fourth aspect are used to implement the method provided in the above-mentioned first aspect, Therefore, the same beneficial effects as the method described in the first aspect can be achieved, and details are not repeated in the embodiments of the present application.
  • the present application adopts the method of the gyroscope quaternion to solve the problem of image projection jitter in the application scene of the projector, with fast response and low cost.
  • the present application installs the gyroscope at the position of the projector opto-mechanical, not just inside the machine, so that the attitude transformation of the opto-mechanical can be estimated more accurately.
  • FIG. 1 is a flowchart of a method for anti-shake of a projection image provided by an embodiment of the present application.
  • the embodiment of the present application mainly uses the gyroscope data as input, and uses the gyroscope data to calculate the motion state of the projector at each moment.
  • a stable state is set, and the motion state of each frame is aligned to the stable state, that is, the difference between the two states is calculated, and the difference is the compensation amount.
  • the compensation amount each frame of projection picture is corrected and displayed, so as to achieve the effect of anti-shake.
  • the anti-shake method for a projection image provided by an embodiment of the present application includes the following steps:
  • the gyroscope data can be the angular velocity w x , w of the gyroscope in the three directions of x, y and z. y and w z . Since the time interval between two adjacent acquisitions may fluctuate near the acquisition interval, when collecting gyroscope data, the system time t corresponding to the gyroscope data at this time can also be recorded to improve the accuracy of the time interval.
  • the gyroscope is installed at the structural connection with the optical machine body, which can ensure that the gyroscope can accurately record the motion state of the optical machine in real time when the optical machine sends jitter.
  • the angle that the projector has turned for two adjacent acquisitions can be calculated according to the following formula:
  • step S101 If the system time corresponding to the acquisition of the gyroscope data is recorded in step S101, the angle that the projector has turned for two adjacent acquisitions is calculated according to the following formula:
  • w x1 , w y1 and w z1 are the angular velocities of the gyroscope in the x, y and z directions of the previous acquisition in the two adjacent acquisitions, respectively
  • w x2 , w y2 and w z2 are the angular velocities of the gyroscope in the x, y and z directions of the last acquisition in the two adjacent acquisitions, respectively
  • t 2 and t 1 are the latter acquisition in the two adjacent acquisitions, respectively The system time corresponding to the previous acquisition.
  • the first quaternion q represents the pose of the projector in the three-dimensional space at the current moment.
  • the specific conversion formula is as follows:
  • Step S103 can obtain the first quaternion q at each acquisition moment, such as the pose of the projector in the three-dimensional space every 33 ms.
  • This set of quaternions reflects the actual jitter of the projector at each acquisition moment.
  • it is hoped that the pose of the projector at each acquisition moment will change from q to Q, so that the actual pose of the projector at each acquisition moment will be the same value, thus changing from jitter to stability .
  • the difference value ⁇ q between the first quaternion q and the second quaternion Q represents the compensation amount required to change the projector from the actual rotation attitude q to the ideal and stable rotation attitude Q at each acquisition moment, the calculation
  • the formula is:
  • ⁇ q means the difference between q and Q, that is, when the frame is in the q posture, it will reach the Q posture after rotating ⁇ q.
  • each pixel can be transformed in the following two ways:
  • the value range is between 0-1920 and 0-1080, respectively.
  • ⁇ a, ⁇ b, ⁇ c and ⁇ d are the four components of the difference value ⁇ q.
  • step S105 After the image is transformed in step S105, the screen will be adjusted, and after the adjustment, a non-visible area outside the screen will appear on the border. This is unacceptable to the user, so the non-visible area displayed by the border needs to be cropped, and only the middle picture is retained.
  • the specific method is as follows: after step S105, the projection picture is cropped, and the cropped projection picture is scaled to the target display size. For example, a picture with a length and width of 80% from the picture center (w/2, h/2) (the value depends on demand) is extracted, and the extracted picture is scaled to the projector display size.
  • Embodiments of the present application further provide a projection image stabilization device, which is used to implement the projection image stabilization method involved in the above embodiments, which can be implemented by hardware or by executing corresponding software in hardware.
  • the hardware or software includes one or more modules corresponding to the above-mentioned functions, for example, a gyroscope data acquisition module for collecting gyroscope data; a rotation angle calculation module for calculating the rotation angle according to the gyroscope data; A first quaternion conversion module for converting the rotation angle into a first quaternion q; a difference value calculation module for calculating the difference value ⁇ q between the first quaternion q and the second quaternion Q , the second quaternion Q is used to reflect the three-dimensional attitude of the target; it is used to remap each pixel to obtain a stabilized image transformation module of the stabilized image according to the difference value ⁇ q.
  • the projection image stabilization apparatus may further include a second quaternion setting module for calculating the second quaternion Q, and may also include a second quaternion setting module for cropping the projection picture, and for cropping the cropped image.
  • a screen adjustment module that scales the projected screen to the target display size.
  • An embodiment of the present application further provides a projection device, the projection device includes a processor and a memory, the memory stores at least one piece of program code, and the at least one piece of program code is loaded and executed by the processor to implement the above The anti-shake method of the projection picture involved in the embodiment.
  • Embodiments of the present application further provide a storage medium, where at least one piece of program code is stored in the storage medium, and the at least one piece of program code is loaded and executed by a processor to implement the projection image stabilization method involved in the foregoing embodiments.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are only illustrative.
  • the division of the modules is only a logical function division. In actual implementation, there may be other division methods.
  • multiple modules or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented.
  • the flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application.
  • each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more functions for implementing the specified logical function(s) executable instructions.
  • the functions noted in the block may occur out of the order noted in the figures. For example, two blocks 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.
  • each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations can be implemented in dedicated hardware-based systems that perform the specified functions or actions , or can be implemented in a combination of dedicated hardware and computer instructions.
  • the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.
  • modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
  • each functional module in each embodiment of the present application may be integrated in one processing unit, or each module may exist physically alone, or two or more modules may be integrated in one unit.
  • the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution, and the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, a network device or a terminal device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: U disk, removable hard disk, ROM, RAM) disk or optical disk and other media that can store program codes.
  • the words “if” or “if” as used herein may be interpreted as “at” or “when” or “in response to determining” or “in response to detecting.”
  • the phrases “if determined” or “if detected (the stated condition or event)” can be interpreted as “when determined” or “in response to determining” or “when detected (the stated condition or event),” depending on the context )” or “in response to detection (a stated condition or event)”.

Abstract

La présente invention concerne le domaine technique de l'affichage par projection. L'invention concerne un procédé et un appareil d'anti-tremblement d'image de projection, un dispositif de projection et un support de stockage. Le procédé anti-tremblement pour image de projection comprend : l'acquisition de données de gyroscope; le calcul d'un angle de rotation selon les données de gyroscope; la conversion de l'angle de rotation en un premier quaternion q; le calcul d'une valeur de différence Δq entre le premier quaternion q et un second quaternion Q, le second quaternion Q étant utilisé pour refléter une attitude tridimensionnelle cible; et le remappage de chaque pixel selon la valeur de différence Δq pour obtenir une image stabilisée. Selon la présente invention, le problème de tremblement de projection d'image dans une scène d'application de projecteur est résolu en utilisant un procédé de quaternion de gyroscope, la réponse est rapide et les coûts sont faibles. En outre, selon la présente invention, un gyroscope est monté à l'emplacement d'une machine à rayons de projecteur au lieu de l'intérieur de la machine, de sorte que le changement d'attitude de la machine à rayons peut être estimé avec plus de précision.
PCT/CN2021/098494 2020-12-09 2021-06-05 Procédé et appareil d'anti-tremblement des images de projection, dispositif de projection et support de stockage WO2022121260A1 (fr)

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