WO2022205814A1 - Procédé et appareil de détermination de coordonnées cibles - Google Patents

Procédé et appareil de détermination de coordonnées cibles Download PDF

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Publication number
WO2022205814A1
WO2022205814A1 PCT/CN2021/120719 CN2021120719W WO2022205814A1 WO 2022205814 A1 WO2022205814 A1 WO 2022205814A1 CN 2021120719 W CN2021120719 W CN 2021120719W WO 2022205814 A1 WO2022205814 A1 WO 2022205814A1
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WIPO (PCT)
Prior art keywords
predetermined position
projection
coordinates
target
reference point
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PCT/CN2021/120719
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English (en)
Chinese (zh)
Inventor
张立造
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成都极米科技股份有限公司
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Publication of WO2022205814A1 publication Critical patent/WO2022205814A1/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
    • 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]

Definitions

  • the present application relates to the field of projection, and in particular, to a method and device for determining target coordinates.
  • the digital keystone correction function is often used to partially display and partially hide the original full-screen content to achieve the effect of a square picture in the physical world.
  • the user can still perform the optical zoom operation.
  • the original keystone adjusted rectangle will gradually become a trapezoid after optical zooming.
  • the embodiments of the present application provide a method and device for determining target coordinates, so as to at least solve the technical problem that, due to the existence of a side projection angle, performing optical zooming after keystone correction will cause the rectangle that has been adjusted by keystone correction to become trapezoid again. .
  • a method for determining target coordinates including: determining a first distance between a first predetermined position of a first projection area and an equivalent optical zoom reference point, wherein according to the initial optical zoom The reference point and the first mapping relationship determine an equivalent optical zoom reference point, the first projection area is the projection image after zooming in the second projection area, and the optical zoom reference point is a preset in the projection plane for zooming the projection image
  • the reference point for processing determine the second distance between the second predetermined position of the second projection area and the equivalent optical zoom reference point; determine the ratio of the first distance to the second distance, and determine the equivalent optical zoom reference point and the first distance according to the ratio.
  • the position of the target point between the two predetermined positions; the second mapping relationship is determined according to the position of the target point and the first predetermined position; the target coordinates are obtained according to the coordinates of the second predetermined position and the second mapping relationship, wherein the target coordinates are the projection device Projection coordinates to set when projecting.
  • the first mapping relationship is determined in the following manner: acquiring the second predetermined position coordinates corresponding to the second projection area, where the second projection area is a projection image that has been keystone-corrected in the third projection area; acquiring the third projection area The corresponding third predetermined position coordinates, wherein, the third projection area is the largest projection screen; determine the first homography transformation matrix according to the third predetermined position coordinates and the second predetermined position coordinates, and use the first homography transformation matrix as the first homography transformation matrix. a mapping relationship.
  • determining the equivalent optical zoom reference point according to the initial optical zoom reference point and the first mapping relationship includes: determining the initial coordinates corresponding to the initial optical zoom reference point; performing a homography on the initial coordinates based on the first homography transformation matrix to obtain the equivalent optical scaling reference point.
  • the method before determining the first distance between the first predetermined position of the first projection area and the equivalent optical zoom reference point, the method further includes: acquiring a fourth predetermined position coordinate corresponding to the fourth projection area, wherein the fourth projection The area is the projection image after scaling of the third projection area; the first predetermined position is determined according to the fourth predetermined position coordinate and the first homography transformation matrix.
  • determining the second mapping relationship according to the position of the target point and the first predetermined position including: determining the target coordinates at the position of the target point and the first coordinates at the first predetermined position; according to the target coordinates and the first coordinates Obtain the second homography transformation matrix; use the second homography transformation matrix as the second mapping relationship.
  • obtaining the target coordinates according to the second predetermined position coordinates and the second mapping relationship includes: performing a matrix multiplication operation on the second predetermined position coordinates and the second homography transformation matrix to obtain the target coordinates.
  • determining the position of the target point between the equivalent optical zooming reference point and the second predetermined position according to the ratio includes: determining the target connecting line between the equivalent optical zooming reference point and the second predetermined position; determining according to the ratio The position of the target point on the target line.
  • determining the ratio of the first distance to the second distance includes: from the determined The largest ratio is selected from the plurality of ratios, and the position of the target point on the target connection line is determined based on the largest ratio.
  • determining the position of the target point on the target connection line based on the maximum ratio includes: multiplying the maximum ratio by the second distance to obtain a third distance; taking the equivalent scaling center as the center of the circle, and drawing the third distance as the radius. Circle, determine the circular motion trajectory; determine the intersection of the circular motion trajectory and the target line; take the coordinates corresponding to the intersection as the position of the target point.
  • an apparatus for determining target coordinates including: a first determination module configured to determine the first predetermined position of the first projection area and the first predetermined position of the first projection area and the equivalent optical zoom reference point.
  • a distance wherein the equivalent optical zoom reference point is determined according to the initial optical zoom reference point and the first mapping relationship, the first projection area is the projection image after zooming in the second projection area, and the optical zoom reference point is preset in the projection plane a predetermined reference point for zooming the projection image; a second determination module for determining a second distance between the second predetermined position of the second projection area and the equivalent optical zoom reference point; a third determination module for using In determining the ratio of the first distance and the second distance, the position of the target point between the equivalent optical zoom reference point and the second predetermined position is determined according to the ratio; the fourth determination module is used for determining the position of the target point according to the first predetermined position, to determine the second mapping relationship; and a fifth determining module, configured to obtain target coordinates according to the second predetermined position coordinates and the second mapping relationship, wherein the target coordinates are the projection coordinates set when the projection device performs projection.
  • a non-volatile storage medium is also provided, where the non-volatile storage medium includes a stored program, wherein when the program runs, the device where the non-volatile storage medium is located is controlled to execute any arbitrary program.
  • a method of determining the coordinates of a target is also provided, where the non-volatile storage medium includes a stored program, wherein when the program runs, the device where the non-volatile storage medium is located is controlled to execute any arbitrary program.
  • a processor is also provided, and the processor is configured to run a program, wherein, when the program runs, any method for determining target coordinates is executed.
  • the method of determining the projection area based on the equivalent optical zoom reference point is adopted, and the first distance between the first predetermined position of the first projection area and the equivalent optical zoom reference point is determined, wherein according to the initial optical zoom
  • the zooming reference point and the first mapping relationship determine an equivalent optical zooming reference point, and the first projection area is the projected image after zooming in the second projection area; determining the distance between the second predetermined position of the second projection area and the equivalent optical zooming reference point the second distance; determine the ratio of the first distance to the second distance, and determine the position of the target point between the equivalent optical zoom reference point and the second predetermined position according to the ratio; determine the position of the target point according to the position of the target point and the first predetermined position Two mapping relationships; the target coordinates are obtained according to the second predetermined position coordinates and the second mapping relationship, wherein the target coordinates are the projection coordinates set when the projection device performs projection, which achieves the maximum projection area based on the before and after scaling and the trapezoidal correction before and after scaling.
  • 1 is a schematic diagram of the coordinate position in an optional projection space of the present application.
  • FIG. 2 is a schematic diagram of a projection area in an optional physical world of the application
  • FIG. 3 is a schematic flowchart of a method for determining target coordinates according to an embodiment of the present application
  • FIG. 4 is a schematic diagram of coordinate positions in an optional projection space of the present application.
  • FIG. 5 is a schematic diagram of the movement trajectory of the corresponding projection image during the optical zooming process of an optional typical optical zoom lens according to an embodiment of the present application;
  • FIG. 6 is a schematic diagram of a corresponding relationship between an optional optical zoom position and a screen zoom ratio according to an embodiment of the present application
  • FIG. 7 is a schematic diagram of coordinate positions in another optional projection space of the present application.
  • FIG. 8 is a schematic structural diagram of an apparatus for determining target coordinates according to an embodiment of the present application.
  • an embodiment of a method for determining target coordinates is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings may be executed in a computer system such as a set of computer-executable instructions, and, Although a logical order is shown in the flowcharts, in some cases steps shown or described may be performed in an order different from that herein.
  • FIG. 1 is a schematic diagram of coordinate positions in an optional projection space of the present application.
  • the projection space is a virtual projection screen of a projection device.
  • the virtual projection screen can be the projection device in the physical space.
  • the fitting picture corresponding to the actual projected picture is shown in Figure 1, where area A is the coordinate area of the complete picture before optical zooming, and area C is adjusted to ensure that the picture is square in the physical world under a certain side projection angle Keystone correction coordinate area value, area B is the complete screen area after optical zooming to a certain position, area D is the corresponding keystone correction coordinate area after optical zooming and zooming in area C, FIG.
  • FIG. 2 is an optional A schematic diagram of the projection area in the physical world, as shown in Figure 2, the corresponding projection areas Cw and Dw of area C and area D in the physical space, where area C has been adjusted to a square screen before zooming, and after zooming by optical zoom , due to the existence of the projection angle, the same pixel area is imaged at different distances with inconsistent sizes, resulting in the area Dw is no longer a rectangle after scaling. That is, due to the existence of a side projection angle, optical zooming after keystone correction will cause the rectangle that has been adjusted by keystone correction to become a trapezoid again.
  • FIG. 3 shows a method for determining target coordinates according to an embodiment of the present application. As shown in FIG. 3 , the method includes the following steps:
  • Step S102 determining the first distance between the first predetermined position of the first projection area and the equivalent optical zooming reference point, wherein the equivalent optical zooming reference point is determined according to the initial optical zooming reference point and the first mapping relationship, and the first projection The area is the zoomed projection image of the second projection area, and the optical zoom reference point is a preset reference point in the projection plane for zooming the projection image;
  • Step S104 determining the second distance between the second predetermined position of the second projection area and the equivalent optical zoom reference point
  • Step S106 determining the ratio of the first distance to the second distance, and determining the position of the target point between the equivalent optical zoom reference point and the second predetermined position according to the ratio;
  • Step S108 determining a second mapping relationship according to the position of the target point and the first predetermined position
  • Step S110 obtaining target coordinates according to the second predetermined position coordinates and the second mapping relationship, wherein the target coordinates are the projection coordinates set when the projection device performs projection.
  • the first distance between the first predetermined position of the first projection area and the equivalent optical zoom reference point is determined. It should be noted that the determination is based on the initial optical zoom reference point and the first mapping relationship, etc.
  • the first projection area is the zoomed projection image of the second projection area
  • the optical zoom reference point is a preset reference point in the projection plane for zooming the projection image; then determine the second The second distance between the second predetermined position of the projection area and the equivalent optical zoom reference point; then, the ratio of the first distance to the second distance is determined, and the distance between the equivalent optical zoom reference point and the second predetermined position is determined according to the ratio.
  • the technical effect of determining the projection coordinates is based on the maximum projection area before and after scaling and the maximum projection area after keystone correction before and after scaling, and then solves the problem that due to the existence of a side projection angle, optical scaling after keystone correction will cause The technical problem that the rectangle that has been adjusted by keystone correction will become a trapezoid.
  • FIG. 4 is a schematic diagram of the coordinate position in an optional projection space of the present application.
  • A is the coordinate area of the complete picture before optical zooming
  • area C is the keystone correction coordinate area value adjusted to ensure that the picture is square in the physical world under a certain side projection angle
  • area B is the area after the optical zoom is zoomed to a certain position
  • the complete screen area of area, area D is the corresponding keystone correction coordinate area of area C after optical zooming and zooming, where point o is the initial optical zooming reference point, and point o1 is the equivalent optical zooming reference point.
  • FIG. 5 shows the movement trajectory of an optional typical optical zoom lens corresponding to the projection image during the optical zooming process according to the embodiment of the present application.
  • the optical zoom center ie, the optical zoom reference point
  • the optical zoom center is the center of the optical zoom. It can be anywhere within the frame, or even outside the frame, depending on the specific optical design.
  • FIG. 6 is a schematic diagram of an optional corresponding relationship between the optical zoom position and the screen zoom ratio according to an embodiment of the present application.
  • the fitted curves include but are not limited to the linear relationship shown in the figure, as shown in Figure 4.
  • the above-mentioned projection area may be the actual projection area of the projection device in the physical space, or may be the virtual projection area of the projection device itself corresponding to the actual projection area of the physical space
  • the first mapping may be determined in the following manner: Relation: Obtain the second predetermined position coordinates corresponding to the second projection area, where the second projection area is a projection image that has been keystone-corrected in the third projection area; obtain the third predetermined position coordinates corresponding to the third projection area, where the first The three projection areas are the largest projection images; the first homography transformation matrix is determined according to the third predetermined position coordinates and the second predetermined position coordinates, and the first homography transformation matrix is used as the first mapping relationship.
  • the equivalent optical zoom reference point may be determined according to the initial optical zoom reference point and the first mapping relationship, and specifically, the initial coordinates corresponding to the initial optical zoom reference point are determined; based on the first homography
  • the transformation matrix performs homography transformation on the initial coordinates to obtain the equivalent optical scaling reference point.
  • the coordinates of the fourth predetermined position corresponding to the fourth projection area can be obtained.
  • the area is the projection image after scaling of the third projection area, and finally, the first predetermined position is determined according to the fourth predetermined position coordinates and the first homography transformation matrix.
  • the second mapping relationship may be determined according to the position of the target point and the first predetermined position, specifically, the target coordinates at the position of the target point and the first coordinates at the first predetermined position are determined; and according to A second homography transformation matrix is obtained from the target coordinates and the first coordinates, and then the second homography transformation matrix is used as the second mapping relationship.
  • the target coordinates can be obtained according to the second predetermined position coordinates and the second mapping relationship. Specifically, matrix multiplication is performed on the second predetermined position coordinates and the second homography transformation matrix to obtain the target coordinates.
  • the position of the target point between the equivalent optical zoom reference point and the second predetermined position can be determined according to the ratio, and specifically, the target connection line between the equivalent optical zoom reference point and the second predetermined position is determined; The ratio determines the position of the target point on the target line.
  • first predetermined position is the upper left corner position in the first projection area
  • second predetermined position corresponds to the upper left corner position in the second projection area.
  • first predetermined positions and second predetermined positions for example, the upper left corner position, the lower left corner position, the upper right corner position and the lower right corner position of the first projection area, and, for example, the upper left corner position of the second projection area , the lower left corner position, the lower right corner position and the lower right corner position. Therefore, when determining the ratio of the first distance to the second distance, the maximum ratio can be selected from the determined multiple ratios, and the maximum ratio can be determined on the target connection line based on the maximum ratio. The location of the target point.
  • the position of the target point on the target connection line may be determined based on the maximum ratio. Specifically, the maximum ratio is multiplied by the second distance to obtain the third distance.
  • the equivalent scaling center is the center of the circle, and the third distance is the center of the circle.
  • FIG. 7 is a schematic diagram of another optional coordinate position in the projection space of the present application. Now, the relevant embodiments of the present application will be described with reference to FIG. 7 , as shown in FIG. 7 . As shown, the homography transformation matrix H1 (the first mapping relationship) from the region A (the third projection region) to the region C (the second projection region) can be calculated.
  • H1 the first mapping relationship
  • the region C (the second projection region) is for the purpose of The keystone correction coordinate area adjusted to ensure that the screen is square in the physical world under a certain side projection angle
  • the specific calculation process can be as follows: determine the coordinates of the four corner points of the area C (second projection area), and the area A ( The coordinates of the four corners of the third projection area), and then use the direct linear transformation method Direct Linear Transformation (DLT for short) to solve to obtain the homography transformation matrix H1, after obtaining the homography transformation matrix H1, the initial optical transformation can be The coordinates of point o of the scaling reference point are obtained, and the coordinates of point o1 of the equivalent optical scaling reference point are obtained by performing homography transformation based on the homography transformation matrix H1.
  • DLT Direct Linear Transformation
  • Position that is, o1-G*max Ratio to get g1 point (as shown by the small circle in the figure), in the same way, e1 point (o1-E*max Ratio), f1 point (o1-F*max Ratio), h1 Point (o1-H*max Ratio);
  • H2 second mapping relationship
  • the coordinates of the four points to the initial trapezoidal correction four-point coordinate value* H2 (second predetermined position coordinates * second mapping relationship
  • the new four-point coordinates obtained are the target coordinates.
  • the initial trapezoidal correction four-point coordinate value is the C area (EFGH, the second projection area) The coordinate values corresponding to the four corner points.
  • FIG. 8 is an apparatus for determining target coordinates according to an embodiment of the present application. As shown in FIG. 8 , the apparatus includes:
  • the first determination module 40 is configured to determine the first distance between the first predetermined position of the first projection area and the equivalent optical zoom reference point, wherein the equivalent optical zoom reference is determined according to the initial optical zoom reference point and the first mapping relationship point, the first projection area is the zoomed projection image of the second projection area, and the optical zoom reference point is a preset reference point in the projection plane for zooming the projection image;
  • the second determination module 42 is configured to determine the second distance between the second predetermined position of the second projection area and the equivalent optical zoom reference point;
  • the third determination module 44 is configured to determine the ratio of the first distance to the second distance, and determine the position of the target point between the equivalent optical zoom reference point and the second predetermined position according to the ratio;
  • the fourth determination module 46 is used to determine the second mapping relationship according to the position of the target point and the first predetermined position
  • the fifth determination module 48 is configured to obtain target coordinates according to the second predetermined position coordinates and the second mapping relationship, wherein the target coordinates are the projection coordinates set when the projection device performs projection.
  • a first determination module 40 is configured to determine a first distance between a first predetermined position of the first projection area and an equivalent optical zoom reference point, wherein the first optical zoom reference point and the first The mapping relationship determines an equivalent optical zoom reference point, the first projection area is the zoomed projection image of the second projection area, and the optical zoom reference point is a preset reference point in the projection plane for zooming the projection image;
  • the second determination module 42 is used to determine the second distance between the second predetermined position of the second projection area and the equivalent optical zoom reference point;
  • the third determination module 44 is used to determine the ratio of the first distance to the second distance, The position of the target point between the equivalent optical zoom reference point and the second predetermined position is determined according to the ratio;
  • the fourth determination module 46 is configured to determine the second mapping relationship according to the position of the target point and the first predetermined position;
  • the fifth determination The module 48 is used to obtain the target coordinates according to the second predetermined position coordinates and the second mapping relationship, wherein the target coordinates are the projection coordinates set when
  • the maximum projection area that has been passed determines the technical effect of the projection coordinates, and then solves the technical problem that due to the existence of a side projection angle, optical zooming after keystone correction will cause the rectangle that has been adjusted by keystone correction to become a trapezoid.
  • a non-volatile storage medium is also provided, where the non-volatile storage medium includes a stored program, wherein when the program runs, the device where the non-volatile storage medium is located is controlled to execute any arbitrary program.
  • a method of determining the coordinates of a target is also provided, where the non-volatile storage medium includes a stored program, wherein when the program runs, the device where the non-volatile storage medium is located is controlled to execute any arbitrary program.
  • the above-mentioned storage medium is used to store program instructions for executing the following functions, and realize the following functions: determining the first distance between the first predetermined position of the first projection area and the equivalent optical zoom reference point, wherein, according to the initial optical zoom reference The point and the first mapping relationship determine an equivalent optical zoom reference point, the first projection area is the projection image after zooming in the second projection area, and the optical zoom reference point is a preset in the projection plane for zooming the projection image determine the second distance between the second predetermined position of the second projection area and the equivalent optical zoom reference point; determine the ratio of the first distance to the second distance, and determine the equivalent optical zoom reference point and the second The position of the target point between the predetermined positions; the second mapping relationship is determined according to the position of the target point and the first predetermined position; the target coordinates are obtained according to the coordinates of the second predetermined position and the second mapping relationship, wherein the target coordinates are performed by the projection device. Projection coordinates to set when projecting.
  • a processor is also provided, and the processor is configured to run a program, wherein, when the program runs, any method for determining target coordinates is executed.
  • the above-mentioned processor is used to call the program instructions in the memory, and realize the following function: determine the first distance between the first predetermined position of the first projection area and the equivalent optical zoom reference point, wherein, according to the initial optical zoom reference point and The first mapping relationship determines an equivalent optical zoom reference point, the first projection area is the projection image after zooming in the second projection area, and the optical zoom reference point is a preset reference in the projection plane for zooming the projection image point; determine the second distance between the second predetermined position of the second projection area and the equivalent optical zoom reference point; determine the ratio of the first distance to the second distance, and determine the equivalent optical zoom reference point and the second predetermined position according to the ratio According to the position of the target point and the first predetermined position, the second mapping relationship is determined; the target coordinates are obtained according to the second predetermined position coordinates and the second mapping relationship, wherein the target coordinates are when the projection device projects Set projected coordinates.
  • the disclosed technical content can be implemented in other ways.
  • the device embodiments described above are only illustrative, for example, the division of the units may be a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components may be combined or Integration into another system, or some features can be ignored, or not implemented.
  • the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of units or modules, and may be in electrical or other forms.
  • the units described as separate components may or may not be physically separated, and components shown as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as an independent product, may be stored in a computer-readable storage medium.
  • the technical solutions of the present application can be embodied in the form of software products in essence, or the parts that contribute to the prior art, or all or part of the technical solutions, and the computer software products are stored in a storage medium , including several instructions for causing a computer device (which may be a personal computer, a server, or a network 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, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes .

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • Geometry (AREA)
  • Transforming Electric Information Into Light Information (AREA)
  • Projection Apparatus (AREA)
  • Image Processing (AREA)

Abstract

La présente demande divulgue un procédé et un appareil de détermination de coordonnées cibles. Le procédé comprend les étapes suivantes : détermination d'une première distance entre une première position prédéterminée d'une première zone de projection et un point de référence de zoom optique équivalent, la première zone de projection étant une image de projection ayant fait l'objet d'un zoom d'une seconde zone de projection ; détermination d'une seconde distance entre une seconde position prédéterminée de la seconde image de projection et le point de référence de zoom optique équivalent ; détermination d'un rapport entre la première distance et la seconde distance, et détermination d'une position d'un point cible entre le point de référence de zoom optique équivalent et la seconde position prédéterminée selon le rapport ; détermination d'une seconde relation de mappage selon la position du point cible et la première position prédéterminée ; et obtention de coordonnées cibles selon les coordonnée de la seconde position prédéterminée et la seconde relation de mappage, les coordonnées cibles étant un ensemble de coordonnées de projection lorsque l'appareil de projection réalise une projection. La présente demande résout le problème technique selon lequel, en raison de l'existence d'un angle de projection, un zoom optique après correction de trapèze provoque le rétablissement d'un rectangle corrigé en trapèze en trapèze.
PCT/CN2021/120719 2021-03-31 2021-09-26 Procédé et appareil de détermination de coordonnées cibles WO2022205814A1 (fr)

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CN110290364A (zh) * 2019-06-04 2019-09-27 成都极米科技股份有限公司 侧投模式下的无极变焦方法、装置及可读存储介质

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