WO2022193560A1 - 投影仪校正方法、系统、存储介质以及电子设备 - Google Patents

投影仪校正方法、系统、存储介质以及电子设备 Download PDF

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Publication number
WO2022193560A1
WO2022193560A1 PCT/CN2021/115162 CN2021115162W WO2022193560A1 WO 2022193560 A1 WO2022193560 A1 WO 2022193560A1 CN 2021115162 W CN2021115162 W CN 2021115162W WO 2022193560 A1 WO2022193560 A1 WO 2022193560A1
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Prior art keywords
projector
projection plane
normal vector
light spot
time
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PCT/CN2021/115162
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English (en)
French (fr)
Inventor
孙世攀
张聪
胡震宇
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深圳市火乐科技发展有限公司
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Publication of WO2022193560A1 publication Critical patent/WO2022193560A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N9/00—Details of colour television systems
    • H04N9/12—Picture reproducers
    • H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
    • H04N9/3179—Video signal processing therefor
    • H04N9/3185—Geometric adjustment, e.g. keystone or convergence
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N9/00—Details of colour television systems
    • H04N9/12—Picture reproducers
    • H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
    • H04N9/3179—Video signal processing therefor
    • H04N9/3188—Scale or resolution adjustment

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  • the present disclosure relates to the field of projection technology, and in particular, to a projector calibration method, system, storage medium, and electronic device.
  • the projector In a traditional projector, the projector needs to be placed directly on the projection plane to ensure that the image projected by the projector on the projection plane is a normal rectangle. Once the projection direction of the projector deviates from the projection plane, the projected picture will be deformed. Therefore, when the picture is deformed, the user is often required to manually adjust the lens of the projector or the posture of the projector itself to correct the deformation. .
  • the keystone correction technology of projectors is mainly based on binocular correction. Binocular correction often requires the use of two cameras or a distance sensor. to use with the camera. However, using an extra camera or distance sensor on the projector will increase the hardware cost of the projector, and the related correction methods are usually only designed for long-throw and short-throw projectors. For ultra-short-throw projectors, Since the projection light of the ultra-short-throw projector has a large upward angle when projecting an image, the existing keystone correction technology is not suitable for the ultra-short-throw projector.
  • the present disclosure provides a projector calibration method, system, storage medium and electronic device.
  • a projector calibration method including:
  • For each of the light spots determine the three-dimensional coordinates of the light spot on the projection plane based on the depth information of the light spot;
  • the projector is controlled to project according to the scale of the corrected original image.
  • a projector calibration system including:
  • a measurement module configured to control the time-of-flight sensor of the projector to measure the projection plane, and obtain depth information of a plurality of light spots irradiated by the time-of-flight sensor on the projection plane;
  • a three-dimensional coordinate calculation module configured to, for each of the light spots, determine the three-dimensional coordinates of the light spot on the projection plane based on the depth information of the light spot;
  • a first measurement normal vector calculation module configured to determine a first measurement normal vector of the projection plane relative to the time-of-flight sensor according to the three-dimensional coordinates of a plurality of the light spots;
  • an offset information determination module configured to obtain offset information of the projector according to the first measured normal vector
  • a correction module configured to correct the scale of the original image of the projector based on the offset information to obtain the scale of the corrected original image
  • the projection module is configured to control the projector to project according to the scale of the corrected original image.
  • a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the steps of the method in any one of the foregoing embodiments.
  • an electronic device comprising:
  • a processor configured to execute the computer program in the memory, to implement the steps of the method in any one of the foregoing embodiments.
  • the projection plane is measured based on the time-of-flight sensor, so as to obtain the first measurement normal vector of the projection plane, and then the offset information of the projector is obtained according to the first measurement normal vector, so that the projection is based on the offset information.
  • the original image of the projector is corrected, so that the projector projects according to the scale of the corrected original image, so that the projected image viewed by the user always appears as a rectangle. Therefore, the present disclosure achieves accurate keystone correction on the premise of reducing the hardware cost of the projector, and the projector correction method provided by the present disclosure has fast correction speed and less calculation amount. It is worth noting that the projection correction method provided by the present disclosure is applicable to both long-focus and short-focus projectors, as well as ultra-short-focus projectors, and has high versatility.
  • FIG. 1 is a flowchart of a method for calibrating a projector according to an exemplary embodiment
  • FIG. 2 is a schematic diagram showing the principle of calculating the offset information of the projector according to an exemplary embodiment
  • FIG. 3 is a schematic diagram showing the principle of calculating three-dimensional coordinates of a light spot according to an exemplary embodiment
  • FIG. 4 is a flow chart of calculating a measurement error according to an exemplary embodiment
  • FIG. 5 is a flow chart of calculating the scale of the corrected original image according to an exemplary embodiment
  • FIG. 6 is a schematic diagram showing the principle of calculating the scale of the corrected original image according to an exemplary embodiment
  • FIG. 7 is a detailed flowchart of step 154 shown in FIG. 5 according to an exemplary embodiment
  • FIG. 8 is a schematic diagram showing the principle of calculating the second measurement normal vector according to an exemplary embodiment
  • FIG. 9 is a schematic diagram of a ray vector according to an exemplary embodiment
  • FIG. 10 is a schematic diagram showing the principle of calculating three-dimensional imaging vertex coordinates of a standard image according to an exemplary embodiment
  • FIG. 11 is a schematic diagram showing the principle of vector decomposition according to an exemplary embodiment
  • FIG. 12 is a schematic structural diagram of a projector calibration system according to an exemplary embodiment
  • FIG. 13 is a block diagram of an electronic device according to an exemplary embodiment
  • Fig. 14 is a block diagram of an electronic device according to an exemplary embodiment.
  • FIG. 1 is a flow chart of a method for calibrating a projector according to an exemplary embodiment. As shown in Figure 1, the projector calibration method may include the following steps:
  • Step 110 Control the time-of-flight sensor of the projector to measure the projection plane, and obtain depth information of multiple light spots irradiated by the time-of-flight sensor on the projection plane.
  • the principle of the time of flight sensor (Time Of Flight, TOF sensor,) is to emit a laser pulse outward, and the laser pulse is emitted to the time of flight sensor after encountering an object, and the time difference or phase from the emission to the reflection back to the time of flight sensor is calculated. difference to obtain depth data.
  • the time-of-flight sensor emits a plurality of laser pulses to the projection plane, and obtains depth information of the plurality of light spots irradiated on the projection plane based on the time difference or phase difference measurement.
  • the projection plane refers to a wall or a curtain.
  • triggering the time-of-flight sensor to measure the projection plane may be implemented by a keystone correction instruction, and the keystone correction instruction may be automatically triggered or non-automatically triggered. For example, if it is triggered automatically, when the projector self-detects that the projected image is a non-rectangular image, the projector can automatically trigger a keystone correction command; if it is not automatically triggered, the user can press the control that communicates with the projector.
  • the button of the projector is used to trigger the controller to send a keystone correction instruction to the projector.
  • the button may be a virtual button or a physical button, which is not limited in this embodiment.
  • Step 120 for each of the light spots, determine the three-dimensional coordinates of the light spot on the projection plane based on the depth information of the light spot.
  • each light spot on the projection plane can be determined according to the original geometric relationship of the light spot of the time-of-flight sensor and the measured offset geometric relationship of the light spot of the time-of-flight sensor three-dimensional coordinates.
  • the three-dimensional coordinates are obtained by taking the time-of-flight sensor as the coordinate origin and the irradiation direction of the time-of-flight sensor as the Z-axis. Therefore, the Z-axis coordinate in the three-dimensional coordinates of the light spot is depth information.
  • Step 130 Determine a first measurement normal vector of the projection plane relative to the time-of-flight sensor according to the three-dimensional coordinates of the plurality of light spots.
  • the fitting plane is obtained by fitting the three-dimensional coordinates of the multiple light spots, so as to obtain the first measurement normal vector of the projection plane, the first measurement normal vector refers to the line segment perpendicular to the fitted plane.
  • the fitting plane can be obtained by least squares fitting.
  • the first measured normal vector is the normal vector of the projection plane relative to the time-of-flight sensor.
  • Step 140 Obtain offset information of the projector according to the first measured normal vector.
  • the offset information refers to the rotation of the projector relative to the projection plane, which may include at least one of a yaw angle, a pitch angle, and a roll angle.
  • the projector is placed horizontally and the projected image projected on the projection plane appears as a rectangle.
  • the projector is offset, the projector is offset relative to the projection plane, so that the projector projects on the projection plane.
  • the image above presents a trapezoid, like a convex quadrilateral. Therefore, the offset information actually reflects the offset of the projector relative to the projection plane.
  • Step 150 Correct the scale of the original image of the projector based on the offset information to obtain the scale of the corrected original image.
  • the original image refers to the original output image of the projector.
  • the original image is a rectangular image, such as an image with width w and height h.
  • the original rectangular image projected on the projection plane will appear as an irregular quadrilateral, such as a convex quadrilateral.
  • the scale of the original image is corrected according to the offset information, so that the corrected original image is projected as a rectangle on the projection plane.
  • the scale of the original image refers to the size of the original image, which can be adjusted by the vertex coordinates of the four vertices of the original image.
  • Step 160 controlling the projector to project according to the scale of the corrected original image.
  • the projector projects with the scale of the corrected original image. That is, the projector takes the scale of the corrected original image as the output image, so that the image projected on the projection plane appears as a rectangle.
  • the keystone correction of the projector can be realized by the time-of-flight sensor, and the accurate keystone correction can be realized on the premise of reducing the hardware cost of the projector, and the correction speed of the projector provided by the present disclosure is fast and the calculation amount is smaller.
  • the projector calibration method proposed in the present disclosure is not only applicable to long-throw projectors and short-throw projectors, but also to ultra-short-throw projectors.
  • the offset information includes a yaw angle and a pitch angle.
  • the offset information of the projector is obtained, including:
  • the first calibration normal vector is the projection plane obtained by measuring the projection plane by the time-of-flight sensor when the projector is in a horizontal position and the projection light of the projector is perpendicular to the projection plane.
  • the second calibration normal vector is obtained by measuring the projection plane by the time-of-flight sensor after rotating the projector in the horizontal position with the vertical direction as the rotation axis by a first preset angle The normal vector of this projection plane.
  • calculating the offset information of the projector based on the first measured normal vector is actually calculating the rotation of the projector according to the first measured normal vector. That is, when the projection plane remains stationary based on the movement of the projector, the projector does not move but the projection plane moves. Therefore, the offset information of the projector can be obtained by calculating the first measurement normal vector.
  • FIG. 2 is a schematic diagram showing the principle of calculating the offset information of a projector according to an exemplary embodiment.
  • the first calibration normal vector is obtained by measuring the projection plane by the time-of-flight sensor.
  • the projection plane is measured by the time-of-flight sensor to obtain a second calibration normal vector which is Taking the Y axis as the rotation axis and the O point as the rotation center to rotate the first preset angle, we get by The vertical rotation axis of is the X axis of the new coordinate system, and the axis perpendicular to the X axis and passing through point A is the Y axis of the coordinate system, and a coordinate system is established to calculate the offset information of the projector.
  • result h is the yaw angle of the projector
  • result v is the pitch angle of the projector, and represents the dot product of the vector
  • the first calibration normal vector of the projection area obtained by measuring the projection area by the time-of-flight sensor when the projector is placed horizontally and the projection light of the projector is perpendicular to the projection area
  • the first measurement normal vector Projection on the AOB plane is the first measure normal vector Projection on the AOY plane
  • the yaw angle and pitch angle of the projector can be accurately calculated by using the pre-calibrated first calibration normal vector and the second calibration normal vector.
  • the offset information includes the yaw angle, the pitch angle, and also the roll angle.
  • the roll angle can be calculated by the first measurement normal vector or measured by the IMU. Generally, it is preferable to calculate the projector by using the IMU. roll angle. The specific principle is: the IMU obtains the current pose information of the projector, and then calculates the roll angle according to the current pose information. The calculation method is in the prior art and will not be described in detail here.
  • step 120 for each of the light spots, the three-dimensional coordinates of the light spot on the projection plane are determined based on the depth information of the light spot, including:
  • the TOF ranging model is:
  • x is the X-axis coordinate of the light spot on the projection plane
  • y is the Y-axis coordinate of the light spot on the projection plane
  • z is the Z coordinate of the light spot on the projection plane
  • Dis0 is the depth information of the light spot
  • ⁇ is the angle between the connection line between the light spot and the optical center of the time-of-flight sensor and the projected ray of the time-of-flight sensor
  • ⁇ is The light point is projected on a plane perpendicular to the projection ray and passing through the optical center, and the included angle between the line connecting the optical center and the horizontal line.
  • Fig. 3 is a schematic diagram showing the principle of calculating three-dimensional coordinates of a light spot according to an exemplary embodiment.
  • Q 1 , P 1 , M 1 , L 1 , R 1 , O 1 , G 1 , H 1 , I 1 , J 1 , F 1 , E 1 , D 1 , C 1 are flight times
  • B 2 is the light spot where the Q 1 light spot irradiates on the projection plane
  • G 2 is the point where B 2 is projected on the XOY plane, and has the following geometric relationship: G 2 , A, B, Q 1 , B 2 are coplanar, G 2 A is parallel to Q 1 B.
  • Dis0 is the depth information of the light spot B 2
  • ⁇ is the angle of ⁇ Q 1 AB
  • ⁇ is the line segment Q 1 B and the Y axis passing through the point B
  • the included angle, for spot B 2 , ⁇ is 45°.
  • the three-dimensional coordinates of the light spot on the projection plane are described in detail with the area-array time-of-flight sensor, the purpose of which is to determine the first position of the projection plane relative to the time-of-flight sensor. Measure the normal vector.
  • other distance sensors can also be used for measurement, and different calculation methods can be used for different distance sensors, which will not be described in detail here.
  • a single-point time-of-flight sensor can measure the three-dimensional coordinates of four points in different directions on the projection plane.
  • the method may further include:
  • the sum of the depth information of the light spot and the measurement error of the time-of-flight sensor is used as the final depth information of the light spot, wherein the measurement error is the time-of-flight sensor The difference between the measured depth information of the light spot and the actual distance of the light spot from the time-of-flight sensor.
  • the total depth information of the light spot and the measurement error of the time-of-flight sensor is taken as the final depth information of the light spot. For example, if the measurement error of the light spot P 1 is 0.5 cm, after the depth information of the light spot P 1 is 160.00 cm, the final depth information of the light spot P 1 is 160.50 cm.
  • FIG. 4 is a flow chart of calculating measurement error according to an exemplary embodiment. As shown in Figure 4, calculating the measurement error includes the following steps:
  • step 111 when the projector is placed horizontally and the projection light of the projector is perpendicular to the projection plane, the projector is controlled to take the vertical direction as the rotation axis and the second preset angle as the rotation angle Rotate multiple times, and after each rotation, control the time-of-flight sensor to measure the projection plane, and obtain the measured depth value of the light spot irradiated on the projection plane by the time-of-flight sensor after each rotation.
  • the time-of-flight sensor is controlled to measure the projection plane, and the depth information of each light spot is obtained, and the situation of each light spot is analyzed to obtain Make sure that the deviation between each spot does not exceed a preset threshold. Then, control the projector to rotate multiple times with the vertical direction as the rotation axis and the second preset angle as the rotation angle, and after each rotation, control the time-of-flight sensor to measure the projection plane, and obtain The measured depth value of the light spot illuminated by the time-of-flight sensor on the projection plane after each rotation.
  • step 112 the actual depth value of the light spot from the time-of-flight sensor is calculated based on the geometric relationship.
  • the true depth value of each light spot from the time-of-flight sensor is calculated through the geometric relationship.
  • the true depth value reflects the true distance between the light spot and the time-of-flight sensor, and is not affected by the hardware of the time-of-flight sensor.
  • the geometric relationship refers to the distance between the projector and the projection plane and the geometric relationship of each light spot.
  • step 113 the difference between the measured depth value measured each time and the real depth value corresponding to the measured depth value is calculated.
  • the difference between the measured measured depth value and the actual depth value corresponding to the measured depth value is calculated, and the difference is the measurement error of the light spot.
  • step 114 the average value of the differences obtained by multiple calculations is used as the measurement error.
  • the measurement accuracy of the time-of-flight sensor can be improved by calculating the average value by collecting the differences calculated in several measurement processes.
  • the measured depth value refers to the value measured by the time-of-flight sensor
  • the true depth value is the actual distance calculated according to the geometric relationship.
  • Each time the projector rotates by a second preset angle there will be a true depth value and a measured depth.
  • the relationship between the true depth value and the measured depth value can be obtained through multiple sets of measurement data. In the subsequent use process, you only need to know the measured depth value to know the true depth value, thereby improving the measurement accuracy of TOF.
  • FIG. 5 is a flow chart illustrating the calculation of the scale of the corrected original image according to an exemplary embodiment.
  • step 150 based on the offset information, the scale of the original image of the projector is corrected to obtain the scale of the corrected original image, including: Step 151 to Step 154.
  • step 151 based on the offset information, the two-dimensional imaging vertex coordinates of the projection image of the original image projected on the projection plane are obtained.
  • the projected image projected by the rectangular original image on the projection plane also appears as a rectangle.
  • the projected image of the original image of the rectangle projected on the projection plane no longer appears as a rectangle.
  • the two-dimensional imaging vertex coordinates of the projected image refer to the two-dimensional coordinates of the four vertices of the projected image, which reflect the size, shape and position of the projected image.
  • step 152 a homography matrix is established based on the two-dimensional imaging vertex coordinates of the projected image and the two-dimensional imaging vertex coordinates of the original image of the projector.
  • the two-dimensional imaging vertex coordinates of the original image refer to the two-dimensional vertex coordinates of the original image on the normalized plane.
  • the two-dimensional imaging vertex coordinates of the original image can be determined according to the resolution or aspect ratio of the original image.
  • the homography matrix is a concept in projective geometry, also known as projective transformation. It is to map a point (three-dimensional homogeneous vector) on a projective plane to another projective plane. Assuming that the homography matrix between the two images is known, the image of one plane can be transformed to the other plane. The transformation through the plane is to perform projection correction on the same plane. Therefore, after knowing the two-dimensional imaging vertex coordinates of the original image of the projector and the two-dimensional imaging vertex coordinates of the projected image, the corresponding homography matrix can be constructed.
  • step 153 a target rectangle is selected from the projected image, and the two-dimensional imaging vertex coordinates of the target rectangle are determined.
  • the target rectangle is a rectangle selected in the area of the projected image
  • the target rectangle is the image area that the user finally sees. It should be understood that the target rectangle may be the rectangle with the largest area in the projected image. By setting the target rectangle to the rectangle with the largest area, the projected area can be maximized and the user experience can be improved.
  • step 154 according to the two-dimensional imaging vertex coordinates of the target rectangle, combined with the homography matrix, the two-dimensional imaging vertex coordinates of the corrected original image are obtained, and the two-dimensional imaging of the corrected original image is performed.
  • the vertex coordinates serve as the scale of the corrected original image.
  • inverse transformation can be performed through the homography matrix to obtain the two-dimensional imaging vertex coordinates of the corrected original image, thereby obtaining the scale of the corrected original image.
  • FIG. 6 is a schematic diagram showing the principle of calculating the scale of the corrected original image according to an exemplary embodiment.
  • the original image is a rectangular image
  • the projected image projected on the projection plane is a trapezoid
  • the target rectangle is a rectangle selected in the area of the projected image.
  • the target rectangle refers to the final view of the user.
  • the projector can make the image projected by the projector on the projection plane appear in the shape of the target rectangle, thereby realizing the automatic keystone correction of the projector.
  • FIG. 7 is a detailed flowchart of step 154 shown in FIG. 5 according to an exemplary embodiment.
  • step 154 based on the offset information, the two-dimensional imaging vertex coordinates of the projected image projected from the original image on the projection plane are obtained, including: Step 1541 to Step 1544.
  • step 1541 based on the offset information, a second measured normal vector of the projected image relative to the projector is obtained.
  • the first measured normal vector is the normal vector of the projection plane relative to the time-of-flight sensor, thereby calculating the offset information of the projector, where the offset information includes the yaw angle and the pitch angle.
  • the second measured normal vector obtained according to the offset information is the normal vector of the projection plane relative to the projection center of the projector.
  • step 1541 based on the offset information, obtaining a second measured normal vector of the projected image relative to the projector, including:
  • a first preset calculation formula is used to obtain a second measurement normal vector of the projected image relative to the projector, wherein the first preset calculation formula is: :
  • X 1 is the X-axis coordinate of the second measurement normal vector
  • Y 1 is the Y-axis coordinate of the second measurement normal vector
  • Z 1 is the Z-axis coordinate of the second measurement normal vector
  • H is the The yaw angle
  • V is the pitch angle.
  • FIG. 8 is a schematic diagram showing the principle of calculating the second measurement normal vector according to an exemplary embodiment.
  • the target point is point E, that is, the center point of the bottom edge of the projected image. It is worth noting that the target point is actually the center point of the bottom edge of the projected image when the projector is placed horizontally, the projection light of the projector is perpendicular to the projection plane, and the projector is projected from a preset distance threshold from the projection plane.
  • the point E can be the center point of the bottom edge
  • the target point can be arbitrarily selected on the vertical center line of the projected image, that is, the target point can be arbitrarily selected from the line segment EF.
  • the offset information can be substituted into the first preset calculation formula to calculate the first measurement normal vector. For example, if the projection plane takes the point E as the rotation center to rotate the yaw rotation H degrees and the pitch rotation V degrees, the normal vector before the rotation is (0, 0, 1), and the second measurement normal vector obtained after the rotation is ( tan(H)*k, tan(V)*k, k),
  • step 1542 the position information of the plane where the projection image is located is determined based on the second measurement normal vector and the preset coordinate information of the target point, where the target point is a pre-determined target point for rotating the projection image. Set the center point.
  • the target point is the preset center point where the preset projection image is rotated, such as yaw, pitch, and roll
  • the coordinate information of the target point is unchanged.
  • step 1543 based on the position information and in combination with a pre-established ray vector, the three-dimensional imaging vertex coordinates of the projection image are obtained, wherein the ray vector is the vertex of the projection image projected by the projector and the projection Unit vector of the line connecting the optical centers of the meter.
  • the ray vector refers to the unit vector of the line between the vertex of the projected image projected by the projector and the optical center of the projector, that is, the projector projects the projected image outward, and the four vertices of the projected image projected by the projector are connected to the optical center. The connection between them will not change due to projector offset.
  • FIG. 9 is a schematic diagram of a ray vector according to an exemplary embodiment. As shown in FIG. 9 , the unit vector of the line connecting the four vertices of the projected image and the optical center is the ray vector.
  • the ray vector can be obtained by the following steps:
  • optical-mechanical parameters of the projector wherein the optical-mechanical parameters include a rising angle, a projection ratio, and an aspect ratio of the projected light
  • the three-dimensional imaging vertex coordinates of the standard image projected by the projector on the projection plane under preset conditions are obtained, wherein the preset conditions are that the projector is placed horizontally, the The projection light of the projector is perpendicular to the projection plane, and the projector is separated from the projection plane by a preset distance threshold;
  • the unit vector of the connecting line between the vertex of the standard image and the optical center of the projector is calculated, and the unit vector is used as the ray vector.
  • the projector will change the similarity of the projected images due to the depth.
  • the projected image projected onto the projection plane is a rectangle. Regardless of the depth, the projected image is always a rectangle. Therefore, if the projector projects to the projection plane under the preset conditions, the three-dimensional imaging vertex coordinates of the standard image projected under the preset conditions can be calculated according to the optical-mechanical parameters of the projector.
  • the rising angle refers to the rising angle of the projected light of the projector, and in general, the rising angle is related to the model of the projector.
  • Fig. 10 is a schematic diagram showing the principle of calculating vertex coordinates of three-dimensional imaging of a standard image according to an exemplary embodiment.
  • the standard image has four vertices, namely the first vertex 0, the second vertex 1, the third vertex 2, and the fourth vertex 3, wherein the first vertex 0 is the vertex located in the upper right corner of the projected image , the second vertex 1 is the vertex located at the upper left corner of the projected image, the third vertex 2 is the vertex located at the lower right corner of the projected image, and the fourth vertex 3 is the vertex located at the lower left corner of the projected image.
  • the preset distance threshold is defined as f
  • the throw ratio is throwRatio
  • w is the width of the projected image
  • h is the height of the projected image.
  • the three-dimensional imaging vertex coordinates of the first vertex 0 are:
  • the three-dimensional imaging vertex coordinates of the second vertex 1 are:
  • the three-dimensional imaging vertex coordinates of the third vertex 2 are:
  • the three-dimensional imaging vertex coordinates of the fourth vertex 3 are:
  • srcCoodinate[0][0] is the X-axis coordinate of the first vertex
  • f is the preset distance threshold
  • dOffsetAngle is the rising angle
  • srcCoodinate[0][1] is the first vertex
  • the Y-axis coordinate of 0, srcCoodinate[1][0] is the X-axis coordinate of the second vertex 1
  • srcCoodinate[1][1] is the Y-axis coordinate of the second vertex 1
  • srcCoodinate[0][2 ] is the Z-axis coordinate of the first vertex
  • srcCoodinate[1][2] is the Z-axis coordinate of the second vertex
  • srcCoodinate[2][0] is the X-axis coordinate of the third vertex 2
  • srcCoodinate[2][1] is the Y-axis coordinate of the third ver
  • vectors can be used to calculate the optical center of the projector and the four ray vectors of the four vertices.
  • the unit vector is the ray vector of the vertex divided by the modulo of the ray vector.
  • the ray vector is related to the optomechanical parameters of the projector and the roll angle, and the ray vector is unchanged when the optomechanical parameters and/or roll angle of the projector do not change.
  • step 1544 vector decomposition is performed on the three-dimensional imaging vertex coordinates of the projected image to obtain the two-dimensional imaging vertex coordinates of the projected image.
  • the specific method is to decompose the vector into basis vectors on the horizontal plane, for example, is a pair of basis vectors, Find the basis vector as the X-axis of the coordinate system for the intersection of the projected image and the horizontal plane, and vertical. in, It can be calculated by the following formula:
  • horizonPlanN is the normal vector of the horizontal plane
  • ⁇ is the cross product of the vector
  • rotatePlanN is the normal vector of the projected image
  • norm(cosslineU) is the modulus of the vector cosslineU.
  • Fig. 11 is a schematic diagram showing the principle of vector decomposition according to an exemplary embodiment.
  • the projection image has four vertices in total, G, I, J, and H.
  • the coordinate origin After obtaining the three-dimensional imaging vertex coordinates of the projected image, use any point G, I, J and H as the coordinate origin to establish a coordinate system to convert the three-dimensional imaging vertex coordinates into two-dimensional imaging vertex coordinates.
  • a coordinate system is established with point H as the coordinate origin, and the process of vector decomposition to calculate the coordinates of two-dimensional imaging vertexes is described in detail. Then, the following formula can be used to convert the three-dimensional imaging vertex coordinates of points G, I, and J into two-dimensional imaging vertex coordinates.
  • x is the X-axis coordinate of the two-dimensional imaging vertex coordinate
  • vectorP(0) is the X-axis coordinate of the vector vectorP
  • vectorP(1) is the Y-axis coordinate of the vector vectorP
  • for the X-axis coordinate for The Y-axis coordinate of
  • y is the Y-axis coordinate of the two-dimensional imaging vertex coordinate
  • point3D is the three-dimensional imaging vertex coordinate of the vertex to be solved, such as any vertex in G
  • I, J, pointOrigin is the coordinate of the H point
  • vectorP is the HG One of vector, HJ vector and HI vector.
  • point3D is the three-dimensional imaging vertex coordinates of point G
  • vectorP is the HG vector.
  • the three-dimensional imaging vertex coordinates of the projected image can be converted into the two-dimensional imaging vertex coordinates of the projected image.
  • the method further includes:
  • the second preset calculation formula is:
  • ansP [i][x] is the corrected X-axis coordinate of the ith vertex of the standard image
  • ansP [i][y] is the corrected Y-axis of the ith vertex of the standard image Coordinates
  • anyP [i][x] is the X-axis coordinate of the ith vertex of the standard image before correction
  • anyP [i][y] is the Y-axis of the ith vertex of the standard image before correction coordinates
  • rotateP.x is the X-axis coordinate of the rotation center of the projector rolling
  • rotateP.y is the Y-axis coordinate of the rotation center
  • r is the current roll angle
  • the corrected X-axis coordinates and Y-axis coordinates are used as new X-axis coordinates and Y-axis coordinates of the vertices of the standard image.
  • the current roll angle of the projector can be obtained through an inertial sensor (Inertial Measurement Unit, IMU) set on the projector.
  • IMU Inertial Measurement Unit
  • the current roll angle does not meet the preset threshold, it means that the projector has rolled.
  • the current roll angle is not 0, it means that the projector has a roll rotation.
  • the projector rolls its standard image will roll with the optical center ray as the rotation axis, and the X-axis and Y-axis coordinates of the three-dimensional imaging vertex coordinates of the standard image will change.
  • the design formula calculates the X-axis and Y-axis coordinates of the three-dimensional vertex coordinates of the rolling standard image, and obtains the corrected X-axis and Y-axis coordinates of each vertex, thereby obtaining the new three-dimensional imaging vertex coordinates of the standard image. Then, the ray vector is recalculated based on the new three-dimensional imaging vertex coordinates, and the three-dimensional imaging vertex coordinates of the projected image are solved.
  • the coordinates of the rotation center rotateP can be (0, 0)
  • the rotation center rotateP refers to the rotation center of the projector to roll
  • the above-mentioned preset center point is an imaginary projector when yaw and pitch occur.
  • the offset of the projected image after rotation can be (0, 0)
  • the roll angle can take into account the change of the projector's rotated projection image after the roll is sent, so that accurate keystone correction can be achieved.
  • step 153 selecting a target rectangle from the projected image may include:
  • a point is arbitrarily selected from any side of the projected image, and the point is taken as the vertex of the rectangle to be constructed, and the aspect ratio of the original image is taken as the aspect ratio of the rectangle to be constructed.
  • the rectangle with the largest area is selected from the generated rectangles as the target rectangle.
  • the specific method of selecting the target rectangle may be to arbitrarily select a point on either side of the projected image, and use the point as the vertex of the rectangle to be constructed, and the aspect ratio of the original image as the aspect ratio of the rectangle to be constructed.
  • a rectangle is generated in the area of the projected image, and the rectangle with the largest area is selected as the target rectangle from the generated rectangles.
  • traverse the longest side of the projected image and the side adjacent to the longest side select any point as the vertex of the rectangle to be constructed, and generate a rectangle with an aspect ratio consistent with the original image around the projected image.
  • at the end of the traversal find the rectangle with the largest area from all the generated rectangles as the target rectangle.
  • the rectangle with the largest area as the target rectangle it can be ensured that the projected image area viewed by the user is the largest, thereby improving the viewing experience of the user.
  • FIG. 12 is a schematic structural diagram of a projector calibration system according to an exemplary embodiment. As shown in Figure 12, the system 400 includes:
  • the measurement module 401 is configured to control the time-of-flight sensor of the projector to measure the projection plane, and obtain depth information of a plurality of light spots irradiated on the projection plane by the time-of-flight sensor;
  • the three-dimensional coordinate calculation module 402 is configured to, for each of the light spots, determine the three-dimensional coordinates of the light spot on the projection plane based on the depth information of the light spot;
  • the first measurement normal vector calculation module 403 is configured to determine the first measurement normal vector of the projection plane relative to the time-of-flight sensor according to the three-dimensional coordinates of the plurality of light spots;
  • An offset information determination module 404 configured to obtain offset information of the projector according to the first measured normal vector
  • the correction module 405 is configured to correct the scale of the original image of the projector based on the offset information to obtain the scale of the corrected original image;
  • the projection module 406 is configured to control the projector to project according to the scale of the corrected original image.
  • the offset information includes a yaw angle and a pitch angle; the offset information determination module 404 is specifically configured as:
  • the first calibration normal vector is the projection plane obtained by measuring the projection plane by the time-of-flight sensor when the projector is in a horizontal position and the projection light of the projector is perpendicular to the projection plane.
  • the second calibration normal vector is obtained by measuring the projection plane by the time-of-flight sensor after rotating the projector in the horizontal position with the vertical direction as the rotation axis by a first preset angle The normal vector of this projection plane.
  • the three-dimensional coordinate calculation module 402 is specifically configured as:
  • the TOF ranging model is:
  • x is the X-axis coordinate of the light spot on the projection plane
  • y is the Y-axis coordinate of the light spot on the projection plane
  • z is the Z coordinate of the light spot on the projection plane
  • Dis0 is the depth information of the light spot
  • ⁇ is the angle between the connection line between the light spot and the optical center of the time-of-flight sensor and the projected ray of the time-of-flight sensor
  • ⁇ is The light point is projected on a plane perpendicular to the projection ray and passing through the optical center, and the included angle between the line connecting the optical center and the horizontal line.
  • system 400 further includes:
  • a depth correction module configured to, for each of the light spots, use the sum of the depth information of the light spot and the measurement error of the time-of-flight sensor as the final depth information of the light spot, wherein the measurement error is the difference between the depth information of the light spot obtained by the measurement of the time-of-flight sensor and the actual distance between the light spot and the time-of-flight sensor;
  • the measurement error is obtained through the following steps:
  • the projector In the case that the projector is placed horizontally and the projection light of the projector is perpendicular to the projection plane, control the projector to rotate multiple times with the vertical direction as the rotation axis and the second preset angle as the rotation angle, and After each rotation, the time-of-flight sensor is controlled to measure the projection plane, and the measured depth value of the light spot irradiated on the projection plane by the time-of-flight sensor after each rotation is obtained;
  • the average value of the differences obtained by multiple calculations is taken as the measurement error.
  • the correction module 405 includes:
  • a vertex coordinate calculation unit configured to obtain, based on the offset information, the two-dimensional imaging vertex coordinates of the projected image of the original image projected on the projection plane;
  • a homography matrix construction unit configured to establish a homography matrix based on the two-dimensional imaging vertex coordinates of the projected image and the two-dimensional imaging vertex coordinates of the original image of the projector;
  • a selection unit configured to select a target rectangle from the projected image, and determine the two-dimensional imaging vertex coordinates of the target rectangle
  • the scale correction unit is configured to obtain the two-dimensional imaging vertex coordinates of the corrected original image according to the two-dimensional imaging vertex coordinates of the target rectangle, combined with the homography matrix, and convert the two-dimensional imaging vertex coordinates of the corrected original image.
  • the imaging vertex coordinates serve as the scale of the corrected original image.
  • the selection unit is specifically configured as:
  • a point is arbitrarily selected from any side of the projected image, and the point is taken as the vertex of the rectangle to be constructed, and the aspect ratio of the original image is taken as the aspect ratio of the rectangle to be constructed.
  • the rectangle with the largest area is selected from the generated rectangles as the target rectangle.
  • Fig. 13 is a block diagram of an electronic device according to an exemplary embodiment.
  • the electronic device 700 may include: a processor 701 and a memory 702 .
  • the electronic device 700 may also include one or more of a multimedia component 703 , an input/output (I/O) interface 704 , and a communication component 705 .
  • I/O input/output
  • the processor 701 is configured to control the overall operation of the electronic device 700 to complete all or part of the steps in the above-mentioned projector calibration method.
  • the memory 702 is used to store various types of data to support operations on the electronic device 700, such data may include, for example, instructions for any application or method operating on the electronic device 700, and application-related data, Such as contact data, messages sent and received, pictures, audio, video, and so on.
  • the memory 702 can be implemented by any type of volatile or non-volatile storage device or their combination, such as static random access memory (Static Random Access Memory, SRAM for short), electrically erasable programmable read-only memory ( Electrically Erasable Programmable Read-Only Memory (EEPROM for short), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (Read-Only Memory, ROM for short), magnetic memory, flash memory, magnetic disk or optical disk.
  • Multimedia components 703 may include screen and audio components. Wherein the screen can be, for example, a touch screen, and the audio component is used for outputting and/or inputting audio signals.
  • the audio component may include a microphone for receiving external audio signals.
  • the received audio signal may be further stored in memory 702 or transmitted through communication component 705 .
  • the audio assembly also includes at least one speaker for outputting audio signals.
  • the I/O interface 704 provides an interface between the processor 701 and other interface modules, and the above-mentioned other interface modules may be a keyboard, a mouse, a button, and the like. These buttons can be virtual buttons or physical buttons.
  • the communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or one or more of them The combination is not limited here. Therefore, the corresponding communication component 705 may include: Wi-Fi module, Bluetooth module, NFC module and so on.
  • a computer-readable storage medium including program instructions, the program instructions implementing the steps of the above-mentioned projector calibration method when executed by a processor.
  • the computer-readable storage medium can be the above-mentioned memory 702 including program instructions, and the above-mentioned program instructions can be executed by the processor 701 of the electronic device 700 to complete the above-mentioned projector calibration method.
  • Fig. 14 is a block diagram of an electronic device according to an exemplary embodiment.
  • the electronic device 1900 may be provided as a server. 14
  • the electronic device 1900 includes a processor 1922 , which may be one or more in number, and a memory 1932 for storing computer programs executable by the processor 1922 .
  • a computer program stored in memory 1932 may include one or more modules, each corresponding to a set of instructions.
  • the processor 1922 may be configured to execute the computer program to perform the above-described projector calibration method.
  • the electronic device 1900 may also include a power supply assembly 1926, which may be configured to perform power management of the electronic device 1900, and a communication component 1950, which may be configured to enable communication of the electronic device 1900, eg, wired or wireless communication. Additionally, the electronic device 1900 may also include an input/output (I/O) interface 1958 . Electronic device 1900 may operate based on an operating system stored in memory 1932, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, and the like.
  • a computer program product comprising a computer program executable by a programmable apparatus, the computer program having, when executed by the programmable apparatus, for performing the above The code section of the projector calibration method.

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Abstract

本公开涉及一种投影校正方法、装置、存储介质及电子设备，涉及投影技术领域，该方法包括：通过摄像头采集投影仪投射的预设图像，得到拍摄图像；在该拍摄图像中确定目标特征点，并针对每一目标特征点，确定该目标特征点在所述摄像头的拍摄空间中的深度信息，以得到该目标特征点的三维坐标；进而根据所有目标特征点的三维坐标，确定由所有目标特征点构建的拟合平面的法向量，并根据法向量和投影仪的当前位姿信息来对投影仪的原始图像进行校正。本公开的有益效果是：通过一个摄像头即可实现投影梯形校正，不仅减少了器件的设置数量，同时可以快速计算出目标特征点的深度信息，降低了计算目标特征点的三维坐标的复杂度。

Description

投影仪校正方法、系统、存储介质以及电子设备
本公开要求于2021年03月19日提交中国专利局、申请号为202110297301.5、发明名称为“投影仪校正方法、系统、存储介质以及电子设备”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及投影技术领域，具体地，涉及一种投影仪校正方法、系统、存储介质以及电子设备。
背景技术
在传统的投影仪中，投影仪需要正对投影平面放置，才能保证投影仪投影在投影平面上的画面是一个正常的矩形。一旦投影仪的投影方向与投影平面发生偏移，将会使得投影出来的画面发生变形，因此，在画面发生变形时，往往需要用户手动调整投影仪的镜头或者投影仪本身的姿态来校正这个变形。
随着技术的发展，投影仪的梯形校正技术也逐渐被应用，目前在投影仪的梯形校正技术中，主要是以双目校正为主，双目校正往往需要用到两个摄像头或者需要距离传感器来配合摄像头进行使用。然而在投影仪上使用额外的摄像头或者距离传感器，会增加投影仪的硬件成本，而且相关的校正方法通常只对针对长焦、短焦的投影仪进行设计，对于超短焦投影仪而言，由于超短焦投影仪在投射图像时，投射光线存在较大的上扬角度，因此，现有的梯形校正技术并不适用于超短焦投影仪。
发明内容
为克服相关技术中存在的问题，本公开提供一种投影仪校正方法、系统、存储介质以及电子设备。
根据本公开实施例的第一方面，提供一种投影仪校正方法，包括：
控制投影仪的飞行时间传感器对投影平面进行测量，获得所述飞行时间传感器照射在所述投影平面上的多个光点的深度信息；
针对每个所述光点，基于所述光点的深度信息，确定所述光点在所述投影平面上的三维坐标；
根据多个所述光点的三维坐标，确定所述投影平面相对于所述飞行时间传感器的第一测量法向量；
根据所述第一测量法向量，得到所述投影仪的偏移信息；
基于所述偏移信息，对所述投影仪的原始图像的尺度进行校正，得到校正后的原始图像的尺度；
控制所述投影仪根据校正后的原始图像的尺度进行投影。
根据本公开实施例的第二方面，提供一种投影仪校正系统，包括：
测量模块，配置为控制投影仪的飞行时间传感器对投影平面进行测量，获得所述飞行时间传感器照射在所述投影平面上的多个光点的深度信息；
三维坐标计算模块，配置为针对每个所述光点，基于所述光点的深度信息，确定所述光点在所述投影平面上的三维坐标；
第一测量法向量计算模块，配置为根据多个所述光点的三维坐标，确定所述投影平面相对于所述飞行时间传感器的第一测量法向量；
偏移信息确定模块，配置为根据所述第一测量法向量，得到所述投影仪的偏移信息；
校正模块，配置为基于所述偏移信息，对所述投影仪的原始图像的尺度进行校正， 得到校正后的原始图像的尺度；
投影模块，配置为控制所述投影仪根据校正后的原始图像的尺度进行投影。
根据本公开实施例的第三方面，提供一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现上述实施例中任一项所述方法的步骤。
根据本公开实施例的第四方面，提供一种电子设备，包括：
存储器，其上存储有计算机程序；
处理器，用于执行所述存储器中的所述计算机程序，以实现上述实施例中任一项所述方法的步骤。
通过上述技术方案，基于飞行时间传感器获得对投影平面进行测量，从而获得投影平面的第一测量法向量，进而根据第一测量法向量获得投影仪的偏移信息，从而基于该偏移信息对投影仪的原始图像进行校正，使得投影仪根据校正后的原始图像的尺度进行投影，从而使用户观看到的投影图像始终呈现为矩形。由此，本公开在减少投影仪的硬件成本的前提下，实现精准的梯形校正，而且本公开提供的投影仪校正方法的校正速度快、计算量更小。值得说明的是，本公开提供的投影校正方法既适用于长焦、短焦的投影仪，也适用于超短焦投影仪，具有较高的通用性。
本公开的其他特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
附图是用来提供对本公开的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本公开，但并不构成对本公开的限制。在附图中：
图1是根据一示例性实施例示出的一种投影仪校正方法的流程图；
图2是根据一示例性实施例示出的计算投影仪的偏移信息的原理示意图；
图3是根据一示例性实施例示出的计算光点的三维坐标的原理示意图；
图4是根据一示例性实施例示出的计算测量误差的流程图；
图5是根据一示例性实施例示出的计算校正后的原始图像的尺度的流程图；
图6是根据一示例性实施例示出的计算校正后的原始图像的尺度的原理示意图；
图7是根据一示例性实施例示出的图5所示的步骤154的详细流程图；
图8是根据一示例性实施例示出的计算第二测量法向量的原理示意图；
图9是根据一示例性实施例示出的射线向量的示意图；
图10是根据一示例性实施例示出的计算标准图像的三维成像顶点坐标的原理示意图；
图11是根据一示例性实施例示出的向量分解的原理示意图；
图12是根据一示例性实施例示出的一种投影仪校正系统的结构示意图；
图13是根据一示例性实施例示出的一种电子设备的框图；
图14是根据一示例性实施例示出的一种电子设备的框图。
具体实施方式
下面将参照附图更详细地描述本公开的实施例。虽然附图中显示了本公开的某些实施例，然而应当理解的是，本公开可以通过各种形式来实现，而且不应该被解释为限于这里阐述的实施例，相反提供这些实施例是为了更加透彻和完整地理解本公开。应当理解的是，本公开的附图及实施例仅用于示例性作用，并非用于限制本公开的保护范围。
图1是根据一示例性实施例示出的一种投影仪校正方法的流程图。如图1所示，该投影仪校正方法可以包括以下步骤：
步骤110，控制投影仪的飞行时间传感器对投影平面进行测量，获得所述飞行时间传感器照射在所述投影平面上的多个光点的深度信息。
这里，飞行时间传感器(Time Of Flight，TOF传感器，)的原理是通过向外发射激 光脉冲，激光脉冲在遇到物体后发射至飞行时间传感器，计算从发射到反射回飞行时间传感器的时间差或相位差来获得深度数据。在步骤110中，飞行时间传感器向投影平面发射多个激光脉冲，并基于时间差或相位差测量得到照射在投影平面上的多个光点的深度信息。值得说明的是，该投影平面是指墙面或幕布。
应当理解的是，触发飞行时间传感器对投影平面进行测量可以是通过梯形校正指令实现，该梯形校正指令可以是自动触发的，也可以是非自动触发的。例如，若是自动触发的，在投影仪自检测到投影图像为非矩形图像的情况下，投影仪可以自动触发一个梯形校正指令；若是非自动触发的，用户可以按下与投影仪通信连接的控制器的按钮，以此，来触发控制器发送一个梯形校正指令至投影仪，该按钮可以是虚拟按钮，也可以是实体按钮，本实施例对此不作限定。
步骤120，针对每个所述光点，基于所述光点的深度信息，确定所述光点在所述投影平面上的三维坐标。
这里，在获得每个光点的深度信息之后，可以根据飞行时间传感器的光点的原始几何关系以及测量到的飞行时间传感器的光点的偏移几何关系来确定每个光点在投影平面上的三维坐标。应当理解的是，该三维坐标是以飞行时间传感器为坐标原点、飞行时间传感器的照射方向为Z轴得到的三维坐标，因此，光点的三维坐标中的Z轴坐标为深度信息。
步骤130，根据多个所述光点的三维坐标，确定所述投影平面相对于所述飞行时间传感器的第一测量法向量。
这里，在获得多个光点的三维坐标之后，通过对该多个光点的三维坐标进行拟合，得到拟合平面，从而获得该投影平面的第一测量法向量，该第一测量法向量是指垂直于与该拟合平面的线段。其中，可以通过最小二乘法拟合得到该拟合平面。
应当理解的是，第一测量法向量是投影平面相对于飞行时间传感器的法向量。
步骤140，根据所述第一测量法向量，得到所述投影仪的偏移信息。
这里，偏移信息是指投影仪相对于投影平面的旋转情况，其可以包括偏航角、俯仰角以及滚转角中的至少一种。在正常使用的情况下，投影仪是水平放置且投影在投影平面上的投影图像呈现为矩形，在投影仪发生偏移时，投影仪相对于投影平面发生偏移，使得投影仪投影在投影平面上的图像呈现一个不规则四边形，如凸四边形。因此，该偏移信息实际上反映了投影仪相对于投影平面的偏移。
步骤150，基于所述偏移信息，对所述投影仪的原始图像的尺度进行校正，得到校正后的原始图像的尺度。
这里，原始图像指的是投影仪的原始输出图像，一般而言，原始图像是一个矩形图像，如宽度为w，高度为h的图像。当投影仪相对于投影平面倾斜设置时，矩形的原始图像投射在投影平面上会呈现为一个不规则四边形，如凸四边形，为了使得投影仪投射在投影平面上的图像呈现为矩形，因此，需要根据偏移信息对原始图像的尺度进行校正，使得校正后的原始图像投影在投影平面上呈现为矩形。应当理解的是，原始图像的尺度指的是原始图像的尺寸，其可以通过原始图像的四个顶点的顶点坐标进行调整。
步骤160，控制所述投影仪根据校正后的原始图像的尺度进行投影。
这里，在得到校正后的原始图像的尺度之后，投影仪以该校正后的原始图像的尺度进行投影。即投影仪以校正后的原始图像的尺度作为输出图像，使得投影在投影平面上的图像呈现为矩形。
由此，通过飞行时间传感器即可实现投影仪的梯形校正，在减少投影仪硬件成本的前提下，实现精准的梯形校正，而且本公开提供的投影仪校正方法的校正速度快、计算量更小。特别地，本公开提出的投影仪校正方法不仅适用于长焦投影仪、短焦投影仪， 也适用于超短焦投影仪。
在一些可实现的实施例中，所述偏移信息包括偏航角和俯仰角，步骤140中，根据所述第一测量法向量，得到所述投影仪的偏移信息，包括：
根据所述第一测量法向量、第一标定法向量、第二标定法向量计算得到所述投影仪的偏航角和俯仰角；
所述第一标定法向量是在所述投影仪处于水平位置且所述投影仪的投影光线垂直于投影平面的情况下，通过所述飞行时间传感器对该投影平面进行测量得到的该投影平面的法向量，所述第二标定法向量是将处于所述水平位置的所述投影仪以竖直方向为旋转轴旋转第一预设角度后，通过所述飞行时间传感器对该投影平面进行测量得到的该投影平面的法向量。
这里，基于第一测量法向量计算得到投影仪的偏移信息实际上是根据第一测量法向量来计算投影仪的旋转情况。即基于投影仪移动，投影平面保持不动的情况下，投影仪不动而投影平面移动，因此，可以通过第一测量法向量来计算得到投影仪的偏移信息。
图2是根据一示例性实施例示出的计算投影仪的偏移信息的原理示意图。如图2所示，在投影仪处于水平位置且所述投影仪的投影光线垂直于投影平面的情况下，通过所述飞行时间传感器对该投影平面进行测量得到第一标定法向量
Figure PCTCN2021115162-appb-000001
然后，将处于所述水平位置的所述投影仪以竖直方向为旋转轴旋转第一预设角度后，通过所述飞行时间传感器对该投影平面进行测量得到第二标定法向量
Figure PCTCN2021115162-appb-000002
即
Figure PCTCN2021115162-appb-000003
以Y轴为旋转轴、O点为旋转中心进行旋转第一预设角度，得到
Figure PCTCN2021115162-appb-000004
以
Figure PCTCN2021115162-appb-000005
的垂直旋转轴为新坐标系的X轴，以与X轴垂直且过A点的轴为坐标系的Y轴，建立坐标系计算投影仪的偏移信息。在图2中，
Figure PCTCN2021115162-appb-000006
是实际使用过程中测量到的第一测量法向量，
Figure PCTCN2021115162-appb-000007
是
Figure PCTCN2021115162-appb-000008
在AOB平面上的投影，
Figure PCTCN2021115162-appb-000009
是
Figure PCTCN2021115162-appb-000010
在AOY平面上的投影，则∠IOA为投影仪的偏航角，∠JOA为投影仪的俯仰角。进而可以通过如下计算式计算得到投影仪的偏航角以及俯仰角。
Figure PCTCN2021115162-appb-000011
Figure PCTCN2021115162-appb-000012
其中，result h为所述投影仪的偏航角，result v为所述投影仪的俯仰角，·表示向量的点乘，
Figure PCTCN2021115162-appb-000013
为所述投影仪在水平放置且所述投影仪的投影光线垂直于投影区域的情况下，通过所述飞行时间传感器对该投影区域进行测量得到的该投影区域的第一标定法向量，
Figure PCTCN2021115162-appb-000014
为第一测量法向量
Figure PCTCN2021115162-appb-000015
在AOB平面上的投影
Figure PCTCN2021115162-appb-000016
是第一测量法向量
Figure PCTCN2021115162-appb-000017
在AOY平面上的投影
Figure PCTCN2021115162-appb-000018
其中，可以通过如下计算式计算得到
Figure PCTCN2021115162-appb-000019
以及
Figure PCTCN2021115162-appb-000020
Figure PCTCN2021115162-appb-000021
Figure PCTCN2021115162-appb-000022
Figure PCTCN2021115162-appb-000023
Figure PCTCN2021115162-appb-000024
其中，
Figure PCTCN2021115162-appb-000025
为将所述投影仪以竖直方向为旋转轴旋转第一预设角度后，通过所述TOF模组对该投影区域进行测量得到的该投影区域的第二标定法向量，
Figure PCTCN2021115162-appb-000026
为所述第一测量法 向量，
Figure PCTCN2021115162-appb-000027
是投影仪偏航角的旋转轴，
Figure PCTCN2021115162-appb-000028
是投影仪俯仰角的旋转轴。
因此，在上述实施方式中，通过预先标定的第一标定法向量、第二标定法向量即可准确计算到投影仪的偏航角以及俯仰角。通过上述实施方式，可以让标定过程变得简单可行，利用大规模应用。
应当理解的是，偏移信息包括偏航角、俯仰角，也可以包括滚转角，该滚转角可以通过第一测量法向量计算得到，也可以通过IMU测得，一般优选为通过IMU计算投影仪的滚转角。其具体原理是：IMU获取投影仪的当前位姿信息，进而根据当前位姿信息计算得到滚转角，该计算方法为现有技术，在此不作详细说明。
在一些可实现的实施方式中，步骤120中，针对每个所述光点，基于所述光点的深度信息，确定所述光点在所述投影平面上的三维坐标，包括：
针对每个所述光点，基于所述光点的深度信息，结合TOF测距模型，得到所述光点在所述投影平面上的三维坐标，其中，所述TOF测距模型为：
x＝Dis0*tan(α)*cos(β)
y＝Dis0*tan(α)*sin(β)
z＝Dis0
其中，x为所述光点在所述投影平面上的X轴坐标，y为所述光点在所述投影平面上的Y轴坐标，z为所述光点在所述投影平面上的Z轴坐标，Dis0为所述光点的深度信息，α为所述光点与所述飞行时间传感器的光心之间的连线与所述飞行时间传感器的投影射线之间的夹角，β为所述光点投影在垂直于所述投影射线且通过所述光心的平面上的投影点与所述光心之间的连线与水平线的夹角。
图3是根据一示例性实施例示出的计算光点的三维坐标的原理示意图。如图3所示，Q 1、P 1、M 1、L 1、R 1、O 1、G 1、H 1、I 1、J 1、F 1、E 1、D 1、C 1为飞行时间传感器发射的光点，B 2是Q 1光点照射在投影平面上的光点，G 2是B 2投影在XOY平面上的点，则具有以下几何关系：G 2、A、B、Q 1、B 2共面，G 2A平行于Q 1B。
因此，对于光点B 2而言，其三维坐标为(Dis0*tan(α)*cos(β)，Dis0*tan(α)*sin(β)，Dis0)。其中，Dis0为光点B 2的深度信息，α为∠Q 1AB的角度，对于光点B 2而言，α为22.99°；β为线段Q 1B与过点B的Y轴之间的夹角，对于光点B 2而言，β为45°。对于P 1、M 1、L 1、R 1、O 1、G 1、H 1、I 1、J 1、F 1、E 1、D 1、C 1照射在投影平面上的光点同样可以通过上述计算式计算得到，在此不再重复赘述。
值得说明的是，在上述实施方式中，是以面阵式的飞行时间传感器对光点在投影平面上的三维坐标进行详细说明，其目的均是为了确定投影平面相对于飞行时间传感器的第一测量法向量。在实际应用过程中，也可以使用其它距离传感器进行测量，对于不同的距离传感器可以使用不同的计算方式，在此不作详细说明。例如，单点式的飞行时间传感器，可以测出投影平面不同方位的四个点的三维坐标。
在一些可实现的实施方式中，在步骤110之后，所述方法还可以包括：
针对每个所述光点，将所述光点的深度信息与所述飞行时间传感器的测量误差的和作为所述光点的最终的深度信息，其中，所述测量误差是所述飞行时间传感器的测量得到的光点的深度信息与该光点距离所述飞行时间传感器的实际距离之间的差值。
这里，飞行时间传感器在实际测量过程中，由于飞行时间传感器的镜头畸变等因素，会造成测量得到的深度信息与基于几何关系计算得到的真实深度信息出现误差。因此，针对每个光点，将所述光点的深度信息与所述飞行时间传感器的测量误差的和作为所述光点的最终的深度信息。例如，光点P 1的测量误差为0.5cm，则在测量得到光点P 1的深度信息160.00cm之后，该光点P 1最终的深度信息为160.50cm。
图4是根据一示例性实施例示出的计算测量误差的流程图。如图4所示，计算所述 测量误差包括以下步骤：
在步骤111中，在所述投影仪水平放置且所述投影仪的投影光线垂直于投影平面的情况下，控制所述投影仪以竖直方向为旋转轴、以第二预设角度为旋转角度旋转多次，并在每次旋转后，控制所述飞行时间传感器对所述投影平面进行测量，得到每次旋转后的所述飞行时间传感器照射在所述投影平面的光点的测量深度值。
这里，在投影仪水平放置且投影仪的投影光线垂直于投影平面的情况下，控制飞行时间传感器对投影平面进行测量，得到每个光点的深度信息，并分析每个光点的情况，以确保每个光点之间的偏差不会超过预设阈值。然后，控制所述投影仪以竖直方向为旋转轴、以第二预设角度为旋转角度旋转多次，并在每次旋转后，控制所述飞行时间传感器对所述投影平面进行测量，得到每次旋转后的所述飞行时间传感器照射在所述投影平面的光点的测量深度值。
在步骤112中，基于几何关系计算该光点距离所述飞行时间传感器的真实深度值。
这里，在每次测量过程中，均通过几何关系计算每个光点距离飞行时间传感器的真实深度值。该真实深度值反映了光点与飞行时间传感器的真实距离，不受飞行时间传感器的硬件影响。应当理解的是，该几何关系指的是投影仪与投影平面的距离以及各个光点的几何关系。
在步骤113中，计算每次测量到的测量深度值与该测量深度值对应的真实深度值之间的差值。
这里，在每次测量之后，计算测量到的测量深度值与该测量深度值对应的真实深度值之间的差值，该差值即是光点的测量误差。
在步骤114中，将多次计算得到的所述差值的平均值作为所述测量误差。
这里，通过采集若干次测量过程计算到的差值，计算平均值可以提高飞行时间传感器的测量精度。应当理解的是，测量深度值是指飞行时间传感器测量出来的值，真实深度值是根据几何关系算出来的实际距离，投影仪每旋转一个第二预设角度都会有一个真实深度值和测量深度值，通过多组测量数据可以得到真实深度值和测量深度值之间的关系，在之后的使用过程中，只需要知道测量深度值即可知道真实深度值是多少，从而提高TOF的测量精度。
图5是根据一示例性实施例示出的计算校正后的原始图像的尺度的流程图。如图5所示，在一些可实现的实施方式中，步骤150中，基于所述偏移信息，对所述投影仪的原始图像的尺度进行校正，得到校正后的原始图像的尺度，包括：步骤151至步骤154。
在步骤151中，基于所述偏移信息，得到所述原始图像投射在所述投影平面上的投影图像的二维成像顶点坐标。
这里，一般而言，投影仪在正常使用时，矩形的原始图像投射在投影平面上的投影图像同样呈现为矩形。在投影仪或投影平面发生偏移时，矩形的原始图像投影在投影平面上的投影图像不再呈现为矩形。其中，投影图像的二维成像顶点坐标指的是投影图像的四个顶点的二维坐标，其反映了投影图像的大小、形状以及位置。
在步骤152中，基于所述投影图像的二维成像顶点坐标、以及所述投影仪的原始图像的二维成像顶点坐标，建立单应矩阵。
这里，原始图像的二维成像顶点坐标是指原始图像在归一化平面上的二维顶点坐标，如根据原始图像的分辨率或宽高比可以确定原始图像的二维成像顶点坐标。
其中，单应矩阵是射影几何中的概念，又称为射影变换。它是把一个射影平面上的点(三维齐次矢量)映射到另一个射影平面上。假设已知两个图像之间的单应矩阵，则可以由一个平面的图像转换到另一平面上。通过平面的转换，是为了在同一个平面上进行投影校正。因此，在得知投影仪的原始图像的二维成像顶点坐标和投影图像的二维成像顶 点坐标之后，可以构建出相应的单应矩阵。
在步骤153中，从所述投影图像中选取目标矩形，并确定该目标矩形的二维成像顶点坐标。
这里，目标矩形是在投影图像的区域内选取的一个矩形，该目标矩形为用户最终看到的图像区域。应当理解的是，目标矩形可以是在所述投影图像中面积最大的矩形。通过将目标矩形设置为面积最大的矩形可以实现最大化投影面积，提高用户体验。
在步骤154中，根据所述目标矩形的二维成像顶点坐标，结合所述单应矩阵，得到校正后的原始图像的二维成像顶点坐标，并将所述校正后的原始图像的二维成像顶点坐标作为所述校正后的原始图像的尺度。
这里，在确定到目标矩形的二维成像顶点坐标之后，可以通过单应矩阵进行反变换，得到校正后的原始图像的二维成像顶点坐标，从而得到校正后的原始图像的尺度。
下面，结合附图6对上述实施方式进行详细说明。
图6是根据一示例性实施例示出的计算校正后的原始图像的尺度的原理示意图。如图6所示，原始图像为一个矩形图像，其投影在投影平面上的投影图像为不规则四边形，目标矩形为在投影图像的区域内选取的矩形，该目标矩形是指用户最终看到的经过校正后的图像所在的区域。因此，在已知原始图像与投影图像的单应矩阵以及目标矩形的二维成像顶点坐标的情况下，可以反变换得到校正后的原始图像的尺度，其呈现为一个不规则四边形。投影仪通过输出校正后的原始图像，可以使得投影仪投影在投影平面上的图像呈现为目标矩形的形状，从而实现投影仪的自动梯形校正。
图7是根据一示例性实施例示出的图5所示的步骤154的详细流程图。如图7所示，在一些可实现的实施方式中，步骤154中，基于所述偏移信息，得到所述原始图像投射在所述投影平面上的投影图像的二维成像顶点坐标，包括：步骤1541至步骤1544。
在步骤1541中，基于所述偏移信息，得到所述投影图像相对于所述投影仪的第二测量法向量。
这里，第一测量法向量是投影平面相对于飞行时间传感器的法向量，由此计算出投影仪的偏移信息，该偏移信息包括偏航角以及俯仰角。根据该偏移信息得到的第二测量法向量，则是投影平面相对于投影机的投影中心的法向量。
在一些可实现的实施方式中，步骤1541中，基于所述偏移信息，得到所述投影图像相对于所述投影仪的第二测量法向量，包括：
基于所述偏航角、所述俯仰角，利用第一预设计算式，计算得到所述投影图像相对于所述投影仪的第二测量法向量，其中，所述第一预设计算式为：
Figure PCTCN2021115162-appb-000029
Figure PCTCN2021115162-appb-000030
Figure PCTCN2021115162-appb-000031
其中，X 1为所述第二测量法向量的X轴坐标，Y 1为所述第二测量法向量的Y轴坐标，Z 1为所述第二测量法向量的Z轴坐标，H为所述偏航角，V为所述俯仰角。
图8是根据一示例性实施例示出的计算第二测量法向量的原理示意图。如图8所示，在投影仪发生偏航、俯仰、滚转等旋转时，投影图像会以一个目标点作为旋转的中心点，因此，目标点的坐标位置不会发生变化。在图8中，该目标点为点E，即投影图像的底边中心点。值得说明的是，目标点实际上是投影仪水平放置、投影仪的投影光线垂直于 投影平面、以及投影仪距离该投影平面预设距离阈值进行投影时的投影图像底边的中心点。虽然点E可以为底边的中心点，但是目标点可以在投影图像的垂直中心线上任意选取一点，即目标点可以在线段EF中任取一点。
因此，在得到投影仪的偏移信息之后，可以将偏移信息代入第一预设计算式中计算得到第一测量法向量。例如，投影平面以点E为旋转中心进行偏航旋转H度、俯仰旋转V度，则未发生旋转前的法向量为(0，0，1)，旋转后得到的第二测量法向量为(tan(H)*k，tan(V)*k，k)，
Figure PCTCN2021115162-appb-000032
在步骤1542中，基于所述第二测量法向量，以及预设的目标点的坐标信息，确定所述投影图像所在平面的位置信息，其中，所述目标点为所述投影图像进行旋转的预设中心点。
这里，由于目标点是预设的投影图像进行偏航、俯仰以及滚转等旋转的预设中心点，因此，目标点的坐标信息是不变的。在确定到第二测量法向量以及目标点之后，可以确定出投影图像所在平面的位置信息。
在步骤1543中，基于所述位置信息、结合预先建立的射线向量，得到所述投影图像的三维成像顶点坐标，其中，所述射线向量为所述投影仪投射的投影图像的顶点与所述投影仪的光心之间的连线的单位向量。
这里，射线向量是指投影仪投射的投影图像的顶点与投影仪的光心之间的连线的单位向量，即投影仪向外投射投影图像，其投射的投影图形的四个顶点与光心之间的连线不会因为投影仪偏移而发生变化。在确定到投影图像所在平面的位置信息之后，通过射线向量可以确定到射线向量与投影图像所在平面的交点，该交点即为原始图像投射在投影平面上的投影图像的4个顶点坐标。
图9是根据一示例性实施例示出的射线向量的示意图。如图9所示，投影图像的四个顶点与光心之间的连线的单位向量即为射线向量。
其中，射线向量可以通过以下步骤获得：
获取所述投影仪的光机参数，其中，所述光机参数包括投影光线的上扬角度、投射比以及宽高比；
根据所述投影仪的光机参数，得到所述投影仪以预设条件投射在投影平面上的标准图像的三维成像顶点坐标，其中，所述预设条件为所述投影仪水平放置、所述投影仪的投影光线垂直于该投影平面、以及所述投影仪距离该投影平面预设距离阈值；
根据所述标准图像的三维成像顶点坐标，计算得到所述标准图像的顶点与所述投影仪的光心之间的连线的单位向量，并将该单位向量作为所述射线向量。
这里，投影仪因为深度的远近投影图像会产生相似性的变化，例如，投射到投影平面的投影图像为矩形，不管深度远近，投影图像始终为矩形。因此，投影仪以预设条件向投影平面投射，则可以根据投影仪的光机参数计算得到在预设条件下投射的标准图像的三维成像顶点坐标。其中，上扬角度是指投影仪的投影光线的上扬角度，在一般情况下，上扬角度与投影仪的型号相关。
计算标准图像的三维成像顶点坐标的具体过程如下：
图10是根据一示例性实施例示出的计算标准图像的三维成像顶点坐标的原理示意图。如图10所示，标准图像存在四个顶点，分别为第一顶点0、第二顶点1、第三顶点2、第四顶点3，其中，第一顶点0为位于投影图像的右上角的顶点，第二顶点1为位于投影图像的左上角的顶点，第三顶点2为位于投影图像的右下角的顶点，第四顶点3为位于投影图像的左下角的顶点。
根据光机参数，定义预设距离阈值为f，投射比为throwRatio，w为投影图像的宽度， h为投影图像的高度，根据三角关系，则存在throwRatio＝f/w。则
Figure PCTCN2021115162-appb-000033
Figure PCTCN2021115162-appb-000034
由于
Figure PCTCN2021115162-appb-000035
宽高比
Figure PCTCN2021115162-appb-000036
则h＝f/throwRatio，因此，
Figure PCTCN2021115162-appb-000037
则第一顶点0的三维成像顶点坐标为：
rcCoodinate[0][0]＝(-1)*f*tan(θ)
srcCoodinate[0][1]＝f*tan(γ)+f*tan(dOffsetAngle)
rcCoodinate[0]]2]＝f
第二顶点1的三维成像顶点坐标为：
srcCoodinate[1][0]＝(-1)*srcCoodinate[0][0]
srcCoodinate[1][1]＝srcCoodinate[0][1]
srcCoodinate[1][2]＝f
第三顶点2的三维成像顶点坐标为：
srcCoodinate[2][0]＝srcCoodinate[0][0]
srcCoodinate[2][1]＝f*tan(dOffsetAngle)
srcCoodinate[2][2]＝f
第四顶点3的三维成像顶点坐标为：
srcCoodinate[3][0]＝(-1)*srcCoodinate[0][0]
srcCoodinate[3][1]＝f*tan(dOffsetAngle)
srcCoodinate[3][2]＝f
其中，srcCoodinate[0][0]为所述第一顶点0的X轴坐标，f为所述预设距离阈值，dOffsetAngle为所述上扬角度，srcCoodinate[0][1]为所述第一顶点0的Y轴坐标，srcCoodinate[1][0]为所述第二顶点1的X轴坐标，srcCoodinate[1][1]为所述第二顶点1的Y轴坐标，srcCoodinate[0][2]为所述第一顶点0的Z轴坐标，srcCoodinate[1][2]为所述第二顶点1的Z轴坐标，srcCoodinate[2][0]为所述第三顶点2的X轴坐标，srcCoodinate[2][1]为所述第三顶点2的Y轴坐标，srcCoodinate[2][2]为所述第三顶点2的Z轴坐标，srcCoodinate[3][0]为所述第四顶点3的X轴坐标，srcCoodinate[3][1]为所述第四顶点3的Y轴坐标，srcCoodinate[3][2]为所述第四顶点3的Z轴坐标。
在计算得到标准图像的三维成像顶点坐标之后，可以利用向量计算投影仪的光心与四个顶点的四条射线向量，单位向量即是该顶点的射线向量除以射线向量的模。
应当理解的是，射线向量与投影仪的光机参数以及滚转角相关，在投影仪的光机参数和/或滚转角未发生变化的情况下，射线向量是不变的。
在步骤1544中，对所述投影图像的三维成像顶点坐标进行向量分解，得到所述投影图像的二维成像顶点坐标。
这里，在计算得到投影图像的三维成像顶点坐标之后，需要基于向量分解将四个顶点的三维成像顶点坐标转换为二维的二维成像顶点坐标。其具体做法是将向量分解到水平面上的基向量，例如，
Figure PCTCN2021115162-appb-000038
为一对基向量，
Figure PCTCN2021115162-appb-000039
为投影图像与水平面的交线发现作为坐标系的X轴的基向量，
Figure PCTCN2021115162-appb-000040
与
Figure PCTCN2021115162-appb-000041
垂直。其中，
Figure PCTCN2021115162-appb-000042
可以通过如下计算式计算：
cosslineU＝horizonPlanN×rotatePlanN
Figure PCTCN2021115162-appb-000043
其中，horizonPlanN为水平面的法向量，×为向量的叉乘，rotatePlanN为投影图像的法向量，norm(cosslineU)为向量cosslineU的模。
图11是根据一示例性实施例示出的向量分解的原理示意图。如图11所示，投影图像存在G、I、J以及H共4个顶点。在求取到投影图像的三维成像顶点坐标之后，以点G、I、J以及H中的任一点为坐标原点建立坐标系将三维成像顶点坐标转换为二维成像 顶点坐标。在本公开中以H点为坐标原点建立坐标系对向量分解计算二维成像顶点坐标的过程进行详细说明。则可以利用如下计算式将点G、I、J的三维成像顶点坐标转换为二维成像顶点坐标。
Figure PCTCN2021115162-appb-000044
Figure PCTCN2021115162-appb-000045
vectorP＝point3D-pointOrigin
其中，x为二维成像顶点坐标的X轴坐标，vectorP(0)为向量vectorP的X轴坐标，
Figure PCTCN2021115162-appb-000046
为
Figure PCTCN2021115162-appb-000047
的Y轴坐标，
Figure PCTCN2021115162-appb-000048
为
Figure PCTCN2021115162-appb-000049
的X轴坐标，vectorP(1)为向量vectorP的Y轴坐标，
Figure PCTCN2021115162-appb-000050
为
Figure PCTCN2021115162-appb-000051
的X轴坐标，
Figure PCTCN2021115162-appb-000052
为
Figure PCTCN2021115162-appb-000053
的Y轴坐标，y为二维成像顶点坐标的Y轴坐标，point3D为求解的顶点的三维成像顶点坐标，如G、I、J中的任一顶点，pointOrigin为H点的坐标，vectorP为HG向量、HJ向量以及HI向量中的一种，例如，在求解点G的二维成像顶点坐标时，point3D为点G的三维成像顶点坐标，则vectorP为HG向量。
由此，通过上述计算式，可以将投影图像的三维成像顶点坐标转换为投影图像的二维成像顶点坐标。
在一些可实现的实施方式中，在根据所述投影仪的光机参数，得到所述投影仪以预设条件投射在投影平面上的标准图像的三维成像顶点坐标之后，所述方法还包括：
获取所述投影仪的当前滚转角；
当所述当前滚转角未满足预设阈值时，根据所述当前滚转角，结合第二预设计算式，对所述标准图像的三维成像顶点坐标中的X轴坐标以及Y轴坐标进行修正，其中，所述第二预设计算式为：
ansP [i][x]＝(anyP [i][x]-rotateP.x)*cos(-r)-(anyP [i][y]-rotateP.y)*sin(-r)+rotateP.x
ansP [i][y]＝(anyP [i][x]-rotateP.x)*sin(-r)-(anyP [i][y]-rotateP.y)*cos(-r)+rotateP.y
其中，ansP [i][x]为所述标准图像的第i个顶点的修正后的X轴坐标，ansP [i][y]为所述标准图像的第i个顶点的修正后的Y轴坐标，anyP [i][x]为所述标准图像的第i个顶点的修正前的X轴坐标，anyP [i][y]为所述标准图像的第i个顶点的修正前的Y轴坐标，rotateP.x为所述投影仪进行滚转的旋转中心的X轴坐标，rotateP.y为所述旋转中心的Y轴坐标，r为所述当前滚转角；
将修正后的X轴坐标以及Y轴坐标作为所述标准图像的顶点的新的X轴坐标和Y轴坐标。
这里，可以通过设置于投影仪的惯性传感器(Inertial Measurement Unit，简称IMU)来获取投影仪的当前滚转角，当当前滚转角未满足预设阈值，说明投影仪发生了滚转的旋转。例如，当前滚转角不为0，则说明投影仪发生了滚转的旋转。当投影仪发生了滚转，其标准图像会以光心射线为旋转轴进行滚转，则标准图像的三维成像顶点坐标的X轴坐标以及Y轴坐标会发生变化，因此，需要基于第二预设计算式计算发生滚转的标准图像的三维顶点坐标的X轴坐标以及Y轴坐标，得到各个顶点修正后的X轴坐标以及Y轴坐标，从而获得标准图像新的三维成像顶点坐标。然后基于该新的三维成像顶点坐标重新计算射线向量，并求解出投影图像的三维成像顶点坐标。
应当理解的是，旋转中心rotateP的坐标可以是(0，0)，旋转中心rotateP是指投影仪进行滚转的旋转中心，上述的预设中心点是假想的投影仪在发生偏航、俯仰的旋转之后，投影图像发生的偏移。
由此，通过滚转角可以考虑到投影仪在发送滚转之后的旋转投影图像的变化，从而 实现精准的梯形校正。
应当理解的是，在上述实施方式中提出了一种计算投影图像的二维顶点坐标的实施方式，在具体应用中不仅可以使用上述实施方式公开的方法计算投影图像的二维顶点坐标，也可以使用其他方法计算投影图像的二维顶点坐标。例如，基于该偏移信息、以及原始图像的顶点坐标，计算得到经过旋转后的原始图像的顶点坐标。其中，经过旋转后的原始图像的顶点坐标是指原始图像的顶点坐标经过偏航角、俯仰角以及滚转角旋转之后的顶点坐标，然后再基于计算得到的投影仪的投影深度，计算旋转后的原始图像的顶点坐标映射到投影平面的投影图像的二维顶点坐标。其中，投影深度是指投影仪与投影平面的距离。在一些可实现的实施方式中，步骤153中，从所述投影图像中选取目标矩形，可以包括：
从所述投影图像的任一边上任意选取一点，并以该点作为待构建的矩形的顶点、以所述原始图像的宽高比作为所述待构建的矩形的宽高比，在所述投影图像的区域内生成矩形；
从生成的矩形中选取面积最大的矩形作为所述目标矩形。
这里，选取目标矩形的具体做法可以是在投影图像任一边上任意选取一点，并以该点作为待构建的矩形的顶点、以原始图像的宽高比作为待构建的矩形的宽高比，在投影图像的区域内生成矩形，并从生成的矩形中选取面积最大的矩形作为目标矩形。
例如，遍历投影图像的最长边以及与该最长边相邻的边，选取任一点作为待构建的矩形的顶点，向投影图像的四周生成宽高比与原始图像一致的宽高比的矩形，在遍历完成最后，从所有生成的矩形中查找出面积最大的矩形作为目标矩形。
由此，通过选取面积最大的矩形作为目标矩形，可以保证用户观看到的投影图像面积最大，从而提升用户的观看体验。
图12是根据一示例性实施例示出的一种投影仪校正系统的结构示意图。如图12所示，该系统400包括：
测量模块401，配置为控制投影仪的飞行时间传感器对投影平面进行测量，获得所述飞行时间传感器照射在所述投影平面上的多个光点的深度信息；
三维坐标计算模块402，配置为针对每个所述光点，基于所述光点的深度信息，确定所述光点在所述投影平面上的三维坐标；
第一测量法向量计算模块403，配置为根据多个所述光点的三维坐标，确定所述投影平面相对于所述飞行时间传感器的第一测量法向量；
偏移信息确定模块404，配置为根据所述第一测量法向量，得到所述投影仪的偏移信息；
校正模块405，配置为基于所述偏移信息，对所述投影仪的原始图像的尺度进行校正，得到校正后的原始图像的尺度；
投影模块406，配置为控制所述投影仪根据校正后的原始图像的尺度进行投影。
可选地，所述偏移信息包括偏航角和俯仰角；所述偏移信息确定模块404具体配置为：
根据所述第一测量法向量、第一标定法向量、第二标定法向量计算得到所述投影仪的偏航角和俯仰角；
所述第一标定法向量是在所述投影仪处于水平位置且所述投影仪的投影光线垂直于投影平面的情况下，通过所述飞行时间传感器对该投影平面进行测量得到的该投影平面的法向量，所述第二标定法向量是将处于所述水平位置的所述投影仪以竖直方向为旋转轴旋转第一预设角度后，通过所述飞行时间传感器对该投影平面进行测量得到的该投影平面的法向量。
可选地，所述三维坐标计算模块402具体配置为：
针对每个所述光点，基于所述光点的深度信息，结合TOF测距模型，得到所述光点在所述投影平面上的三维坐标，其中，所述TOF测距模型为：
x＝Dis0*tan(α)*cos(β)
y＝Dis0*tan(α)*sin(β)
z＝Dis0
其中，x为所述光点在所述投影平面上的X轴坐标，y为所述光点在所述投影平面上的Y轴坐标，z为所述光点在所述投影平面上的Z轴坐标，Dis0为所述光点的深度信息，α为所述光点与所述飞行时间传感器的光心之间的连线与所述飞行时间传感器的投影射线之间的夹角，β为所述光点投影在垂直于所述投影射线且通过所述光心的平面上的投影点与所述光心之间的连线与水平线的夹角。
可选地，所述系统400还包括：
深度修正模块，配置为针对每个所述光点，将所述光点的深度信息与所述飞行时间传感器的测量误差的和作为所述光点的最终的深度信息，其中，所述测量误差是所述飞行时间传感器的测量得到的光点的深度信息与该光点距离所述飞行时间传感器的实际距离之间的差值；
其中，所述测量误差通过以下步骤获得：
在所述投影仪水平放置且所述投影仪的投影光线垂直于投影平面的情况下，控制所述投影仪以竖直方向为旋转轴、以第二预设角度为旋转角度旋转多次，并在每次旋转后，控制所述飞行时间传感器对所述投影平面进行测量，得到每次旋转后的所述飞行时间传感器照射在所述投影平面的光点的测量深度值；以及
基于几何关系计算该光点距离所述飞行时间传感器的真实深度值；
计算每次测量到的测量深度值与该测量深度值对应的真实深度值之间的差值；
将多次计算得到的所述差值的平均值作为所述测量误差。
可选地，所述校正模块405包括：
顶点坐标计算单元，配置为基于所述偏移信息，得到所述原始图像投射在所述投影平面上的投影图像的二维成像顶点坐标；
单应矩阵构建单元，配置为基于所述投影图像的二维成像顶点坐标、以及所述投影仪的原始图像的二维成像顶点坐标，建立单应矩阵；
选取单元，配置为从所述投影图像中选取目标矩形，并确定该目标矩形的二维成像顶点坐标；
尺度校正单元，配置为根据所述目标矩形的二维成像顶点坐标，结合所述单应矩阵，得到校正后的原始图像的二维成像顶点坐标，并将所述校正后的原始图像的二维成像顶点坐标作为所述校正后的原始图像的尺度。
可选地，所述选取单元具体配置为：
从所述投影图像的任一边上任意选取一点，并以该点作为待构建的矩形的顶点、以所述原始图像的宽高比作为所述待构建的矩形的宽高比，在所述投影图像的区域内生成矩形；
从生成的矩形中选取面积最大的矩形作为所述目标矩形。
关于上述实施例中的系统，其中各个模块执行操作的具体方式已经在有关该方法的实施例中进行了详细描述，此处将不做详细阐述说明。
图13是根据一示例性实施例示出的一种电子设备的框图。如图13所示，该电子设备700可以包括：处理器701，存储器702。该电子设备700还可以包括多媒体组件703，输入/输出(I/O)接口704，以及通信组件705中的一者或多者。
其中，处理器701用于控制该电子设备700的整体操作，以完成上述的投影仪校正方法中的全部或部分步骤。存储器702用于存储各种类型的数据以支持在该电子设备700的操作，这些数据例如可以包括用于在该电子设备700上操作的任何应用程序或方法的指令，以及应用程序相关的数据，例如联系人数据、收发的消息、图片、音频、视频等等。该存储器702可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，例如静态随机存取存储器(Static Random Access Memory，简称SRAM)，电可擦除可编程只读存储器(Electrically Erasable Programmable Read-Only Memory，简称EEPROM)，可擦除可编程只读存储器(Erasable Programmable Read-Only Memory，简称EPROM)，可编程只读存储器(Programmable Read-Only Memory，简称PROM)，只读存储器(Read-Only Memory，简称ROM)，磁存储器，快闪存储器，磁盘或光盘。多媒体组件703可以包括屏幕和音频组件。其中屏幕例如可以是触摸屏，音频组件用于输出和/或输入音频信号。例如，音频组件可以包括一个麦克风，麦克风用于接收外部音频信号。所接收的音频信号可以被进一步存储在存储器702或通过通信组件705发送。音频组件还包括至少一个扬声器，用于输出音频信号。I/O接口704为处理器701和其他接口模块之间提供接口，上述其他接口模块可以是键盘，鼠标，按钮等。这些按钮可以是虚拟按钮或者实体按钮。通信组件705用于该电子设备700与其他设备之间进行有线或无线通信。无线通信，例如Wi-Fi，蓝牙，近场通信(Near Field Communication，简称NFC)，2G、3G、4G、NB-IOT、eMTC、或其他5G等等，或它们中的一种或几种的组合，在此不做限定。因此相应的该通信组件705可以包括：Wi-Fi模块，蓝牙模块，NFC模块等等。
在另一示例性实施例中，还提供了一种包括程序指令的计算机可读存储介质，该程序指令被处理器执行时实现上述的投影仪校正方法的步骤。例如，该计算机可读存储介质可以为上述包括程序指令的存储器702，上述程序指令可由电子设备700的处理器701执行以完成上述的投影仪校正方法。
图14是根据一示例性实施例示出的一种电子设备的框图。例如，电子设备1900可以被提供为一服务器。参照图14，电子设备1900包括处理器1922，其数量可以为一个或多个，以及存储器1932，用于存储可由处理器1922执行的计算机程序。存储器1932中存储的计算机程序可以包括一个或一个以上的每一个对应于一组指令的模块。此外，处理器1922可以被配置为执行该计算机程序，以执行上述的投影仪校正方法。
另外，电子设备1900还可以包括电源组件1926和通信组件1950，该电源组件1926可以被配置为执行电子设备1900的电源管理，该通信组件1950可以被配置为实现电子设备1900的通信，例如，有线或无线通信。此外，该电子设备1900还可以包括输入/输出(I/O)接口1958。电子设备1900可以操作基于存储在存储器1932的操作系统，例如Windows ServerTM，Mac OS XTM，UnixTM，LinuxTM等等。
在另一示例性实施例中，还提供一种计算机程序产品，该计算机程序产品包含能够由可编程的装置执行的计算机程序，该计算机程序具有当由该可编程的装置执行时用于执行上述的投影仪校正方法的代码部分。
以上结合附图详细描述了本公开的优选实施方式，但是，本公开并不限于上述实施方式中的具体细节，在本公开的技术构思范围内，可以对本公开的技术方案进行多种简单变型，这些简单变型均属于本公开的保护范围。
另外需要说明的是，在上述具体实施方式中所描述的各个具体技术特征，在不矛盾的情况下，可以通过任何合适的方式进行组合，为了避免不必要的重复，本公开对各种可能的组合方式不再另行说明。
此外，本公开的各种不同的实施方式之间也可以进行任意组合，只要其不违背本公开的思想，其同样应当视为本公开所公开的内容。

Claims (10)

  1. 一种投影仪校正方法，其特征在于，包括：
    控制投影仪的飞行时间传感器对投影平面进行测量，获得所述飞行时间传感器照射在所述投影平面上的多个光点的深度信息；
    针对每个所述光点，基于所述光点的深度信息，确定所述光点在所述投影平面上的三维坐标；
    根据多个所述光点的三维坐标，确定所述投影平面相对于所述飞行时间传感器的第一测量法向量；
    根据所述第一测量法向量，得到所述投影仪的偏移信息；
    基于所述偏移信息，对所述投影仪的原始图像的尺度进行校正，得到校正后的原始图像的尺度；
    控制所述投影仪根据校正后的原始图像的尺度进行投影。
  2. 根据权利要求1所述的方法，其特征在于，所述偏移信息包括偏航角和俯仰角；
    所述根据所述第一测量法向量，得到所述投影仪的偏移信息，包括：
    根据所述第一测量法向量、第一标定法向量、第二标定法向量计算得到所述投影仪的偏航角和俯仰角；
    所述第一标定法向量是在所述投影仪处于水平位置且所述投影仪的投影光线垂直于投影平面的情况下，通过所述飞行时间传感器对该投影平面进行测量得到的该投影平面的法向量，所述第二标定法向量是将处于所述水平位置的所述投影仪以竖直方向为旋转轴旋转第一预设角度后，通过所述飞行时间传感器对该投影平面进行测量得到的该投影平面的法向量。
  3. 根据权利要求1所述的方法，其特征在于，所述针对每个所述光点，基于所述光点的深度信息，确定所述光点在所述投影平面上的三维坐标，包括：
    针对每个所述光点，基于所述光点的深度信息，结合TOF测距模型，得到所述光点在所述投影平面上的三维坐标，其中，所述TOF测距模型为：
    x＝Dis0*tan(α)*cos(β)
    y＝Dis0*tan(α)*sin(β)
    z＝Dis0
    其中，x为所述光点在所述投影平面上的X轴坐标，y为所述光点在所述投影平面上的Y轴坐标，z为所述光点在所述投影平面上的Z轴坐标，Dis0为所述光点的深度信息，α为所述光点与所述飞行时间传感器的光心之间的连线与所述飞行时间传感器的投影射线之间的夹角，β为所述光点投影在垂直于所述投影射线且通过所述光心的平面上的投影点与所述光心之间的连线与水平线的夹角。
  4. 根据权利要求1所述的方法，其特征在于，在控制投影仪的飞行时间传感器对投影平面进行测量，获得所述飞行时间传感器照射在所述投影平面上的多个光点的深度信息之后，所述方法还包括：
    针对每个所述光点，将所述光点的深度信息与所述飞行时间传感器的测量误差的和作为所述光点的最终的深度信息，其中，所述测量误差是所述飞行时间传感器的测量得到的光点的深度信息与该光点距离所述飞行时间传感器的实际距离之间的差值；
    其中，所述测量误差通过以下步骤获得：
    在所述投影仪水平放置且所述投影仪的投影光线垂直于投影平面的情况下，控制所 述投影仪以竖直方向为旋转轴、以第二预设角度为旋转角度旋转多次，并在每次旋转后，控制所述飞行时间传感器对所述投影平面进行测量，得到每次旋转后的所述飞行时间传感器照射在所述投影平面的光点的测量深度值；以及
    基于几何关系计算该光点距离所述飞行时间传感器的真实深度值；
    计算每次测量到的测量深度值与该测量深度值对应的真实深度值之间的差值；
    将多次计算得到的所述差值的平均值作为所述测量误差。
  5. 根据权利要求1至4中任一项所述的方法，其特征在于，所述基于所述偏移信息，对所述投影仪的原始图像的尺度进行校正，得到校正后的原始图像的尺度，包括：
    基于所述偏移信息，得到所述原始图像投射在所述投影平面上的投影图像的二维成像顶点坐标；
    基于所述投影图像的二维成像顶点坐标、以及所述投影仪的原始图像的二维成像顶点坐标，建立单应矩阵；
    从所述投影图像中选取目标矩形，并确定该目标矩形的二维成像顶点坐标；
    根据所述目标矩形的二维成像顶点坐标，结合所述单应矩阵，得到校正后的原始图像的二维成像顶点坐标，并将所述校正后的原始图像的二维成像顶点坐标作为所述校正后的原始图像的尺度。
  6. 根据权利要求5所述的方法，其特征在于，所述从所述投影图像中选取目标矩形，包括：
    从所述投影图像的任一边上任意选取一点，并以该点作为待构建的矩形的顶点、以所述原始图像的宽高比作为所述待构建的矩形的宽高比，在所述投影图像的区域内生成矩形；
    从生成的矩形中选取面积最大的矩形作为所述目标矩形。
  7. 一种投影仪校正系统，其特征在于，包括：
    测量模块，配置为控制投影仪的飞行时间传感器对投影平面进行测量，获得所述飞行时间传感器照射在所述投影平面上的多个光点的深度信息；
    三维坐标计算模块，配置为针对每个所述光点，基于所述光点的深度信息，确定所述光点在所述投影平面上的三维坐标；
    第一测量法向量计算模块，配置为根据多个所述光点的三维坐标，确定所述投影平面相对于所述飞行时间传感器的第一测量法向量；
    偏移信息确定模块，配置为根据所述第一测量法向量，得到所述投影仪的偏移信息；
    校正模块，配置为基于所述偏移信息，对所述投影仪的原始图像的尺度进行校正，得到校正后的原始图像的尺度；
    投影模块，配置为控制所述投影仪根据校正后的原始图像的尺度进行投影。
  8. 根据权利要求7所述的系统，其特征在于，所述偏移信息包括偏航角和俯仰角；所述偏移信息确定模块具体配置为：
    根据所述第一测量法向量、第一标定法向量、第二标定法向量计算得到所述投影仪的偏航角和俯仰角；
    所述第一标定法向量是在所述投影仪处于水平位置且所述投影仪的投影光线垂直于投影平面的情况下，通过所述飞行时间传感器对该投影平面进行测量得到的该投影平面的法向量，所述第二标定法向量是将处于所述水平位置的所述投影仪以竖直方向为旋转轴旋转第一预设角度后，通过所述飞行时间传感器对该投影平面进行测量得到的该投影平面的法向量。
  9. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处 理器执行时实现权利要求1-6中任一项所述方法的步骤。
  10. 一种电子设备，其特征在于，包括：
    存储器，其上存储有计算机程序；
    处理器，用于执行所述存储器中的所述计算机程序，以实现权利要求1-6中任一项所述方法的步骤。
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