WO2023066331A1

WO2023066331A1 - Automatic calibration method, and device, system and computer-readable storage medium

Info

Publication number: WO2023066331A1
Application number: PCT/CN2022/126368
Authority: WO
Inventors: 谷飞; 杨思琪; 周伟明; 李屹
Original assignee: 深圳光峰科技股份有限公司
Priority date: 2021-10-20
Filing date: 2022-10-20
Publication date: 2023-04-27
Also published as: CN115994949A

Abstract

Disclosed in the present application are an automatic calibration method, and a device, a system and a computer-readable storage medium, wherein the method is applied to a calibration control device. The method comprises: sending a first control instruction to a projection device, such that the projection device projects a plurality of projection pictures; sending a second control instruction to a photographic device, such that the photographic device photographs the projection pictures, so as to obtain a plurality of photographed projection images; and processing the plurality of photographed projection images, so as to obtain calibration parameters of the photographic device, wherein the calibration parameters comprise an internal parameter and a distortion parameter of the photographic device. In this way, the present application makes it possible to automatically calibrate a photographic device, thereby improving the efficiency of calibration.

Description

An automatic calibration method, device, system and computer-readable storage medium

technical field

The present application relates to the field of display technology, in particular to an automatic calibration method, device, system and computer-readable storage medium.

Background technique

In the image measurement process and machine vision applications, in order to determine the relationship between the three-dimensional geometric position of a certain point on the surface of a space object and its corresponding point in the image, it is necessary to establish a geometric model of the imaging device imaging, and the geometric model parameters are the parameters of the camera device ( That is, internal parameters, external parameters or distortion parameters), these parameters can be obtained through experiments and calculations, the process of solving the parameters is camera equipment calibration (or camera calibration), and the calibration results can be used to correct the distortion of the camera equipment and obtain the captured image The coordinates of the image, etc., and the calibration accuracy of the camera equipment and the stability of the algorithm directly affect the accuracy of subsequent operations (such as: image recognition, image reconstruction or projection). The current camera equipment calibration scheme is to first fix the position of the camera equipment, place a standard calibration plate on the front of the camera equipment, and adjust the relative position or pose of the calibration plate and the camera equipment to make the shape and shape of the calibration plate in the imaging of the camera equipment The postures are different, so a series of images for the calculation of camera equipment parameters are captured, and the camera equipment parameters are calculated by using a series of captured images; the image acquisition stage of this calibration process requires continuous manual intervention. In the case of equipment calibration, the efficiency is low.

Contents of the invention

The present application provides an automatic calibration method, device, system and computer-readable storage medium, which can realize automatic calibration of imaging equipment and improve calibration efficiency.

In order to solve the above technical problems, the technical solution adopted by this application is to provide an automatic calibration method, which is applied to calibration control equipment, and the method includes: sending a first control command to the projection equipment, so that the projection equipment projects multiple projecting images; sending a second control command to the imaging device, so that the imaging device captures the projection images to obtain a plurality of projection images; processing the plurality of projection images to obtain calibration parameters of the imaging equipment, the calibration parameters including the imaging equipment Intrinsic parameters and distortion parameters.

In order to solve the above technical problems, another technical solution adopted by the present application is to provide a calibration control device, which includes a memory and a processor connected to each other, wherein the memory is used to store a computer program, and the computer program is processed When the device is executed, it is used to realize the automatic calibration method in the above technical solution.

In order to solve the above technical problems, another technical solution adopted by the present application is to provide a display system, the display system includes a projection device, a camera device and a calibration control device, the calibration control device is used to control the projection device and the camera device, The calibration parameters of the camera equipment are calculated, and the calibration control equipment is the calibration control equipment in the above technical solution.

In order to solve the above-mentioned technical problems, another technical solution adopted by the present application is to provide a computer-readable storage medium, which is used to store a computer program, and when the computer program is executed by a processor, it is used to realize the above-mentioned The automatic calibration method in the technical scheme.

Through the above scheme, the beneficial effect of the present application is that: the calibration control device controls the projection device, so that the projection device emits a plurality of projection pictures required for calculating the calibration parameters; the calibration control device controls the camera device, so that the camera device controls the projection screen Shooting to obtain a plurality of projection images; the calibration control device obtains the calibration parameters of the camera equipment by processing the multiple projection images, and the calibration parameters include the internal parameters and distortion parameters of the camera equipment; in the scheme provided by this application, the The calibration control equipment controls the projection equipment and the camera equipment, so that the camera equipment automatically shoots each projection screen projected by the projection equipment, and obtains multiple projection images used to calculate the calibration parameters, and then the calibration control equipment shoots these images After image analysis and processing, the calibration parameters of the camera equipment can be obtained, and the automatic calibration of the camera equipment can be realized. The whole calibration process does not require manual placement/adjustment of the calibration board, and the calibration without manual intervention is realized. Since there is no need for manual adjustment of the calibration board and The angle and/or distance of the camera equipment, etc., the calibration efficiency is high, and it can also reduce the labor cost; moreover, in some display systems that need to use the camera equipment, if the management error causes the camera equipment to not match the calibration parameters, it will be The display is abnormal or the predetermined effect cannot be achieved, but the automatic calibration scheme provided by this application through the cooperation of calibration control equipment, projection equipment and camera equipment can be used. Since the calibration takes a short time, the calibration parameters can be calculated in time , so as to ensure the normal display effect and improve the anti-risk ability of the display system.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, other drawings can also be obtained based on these drawings without creative effort. in:

Fig. 1 is a schematic flow chart of an embodiment of the automatic calibration method provided by the present application;

Fig. 2 is a schematic flow chart of another embodiment of the automatic calibration method provided by the present application;

Fig. 3 is a schematic diagram of the imaging effect of the lens horizontal displacement control provided by the present application;

Fig. 4 is a schematic diagram of the imaging effect of the lens vertical displacement control provided by the present application;

Figure 5(a) is a schematic diagram of the imaging effect provided by the present application when not zooming;

Figure 5(b) is a schematic diagram of the imaging effect when the focal length of the lens provided by the present application is reduced;

Figure 5(c) is a schematic diagram of the imaging effect when the focal length of the lens provided by the present application becomes larger;

Figure 6 (a) is a schematic diagram of the imaging effect when the calibration plate provided by the present application does not rotate;

Figure 6(b) is a schematic diagram of the imaging effect when the top of the calibration plate provided by the present application is far away from the imaging device;

Figure 6(c) is a schematic diagram of the imaging effect when the top of the calibration plate is close to the imaging device provided by the present application;

Figure 6(d) is a schematic diagram of the imaging effect when the left side of the calibration plate is far away from the imaging device provided by the present application;

Figure 6(e) is a schematic diagram of the imaging effect when the left side of the calibration plate is close to the imaging device provided by the present application;

Figure 7(a) is a schematic diagram of the imaging effect of the horizontal keystone correction provided by the present application;

Figure 7(b) is another schematic diagram of the imaging effect of the horizontal keystone correction provided by the present application;

Figure 7(c) is a schematic diagram of the imaging effect of the vertical keystone correction provided by the present application;

Figure 7(d) is another schematic diagram of the imaging effect of the vertical keystone correction provided by the present application;

FIG. 8 is a schematic structural diagram of an embodiment of a calibration control device provided by the present application;

FIG. 9 is a schematic structural diagram of an embodiment of a display system provided by the present application;

Fig. 10 is a schematic structural diagram of an embodiment of a computer-readable storage medium provided by the present application.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

Each projection device has inherent parameters. In actual use, if the parameters of the projection device are not accurate enough or the projection device does not match the parameters, the calculated coordinate error of the display screen will be large, which will affect the final display effect. For the situation of inaccurate or mismatched parameters, this application proposes a calibration method based on projection equipment, which can calculate the parameters of projection equipment in real time in the application scene, and improve the anti-risk ability of the display system. The following uses this application The plan is described in detail.

Please refer to Fig. 1. Fig. 1 is a schematic flow chart of an embodiment of an automatic calibration method provided by the present application. The method is applied to a calibration control device. The control device may be an independent device, or may be integrally formed with the projection device, or integrally formed with the imaging device. The method includes:

Step 11: Sending a first control instruction to the projection device, so that the projection device projects a plurality of projection images.

In order to realize the automatic calibration based on the projected picture, the mutual cooperation of three devices (including calibration control equipment, camera equipment and projection equipment) is required. The calibration control equipment is used to control the camera equipment and projection equipment. The calibration control equipment can first generate the first control command, and then send the first control command to the projection device, so that the projection device sequentially projects a plurality of different projection images.

In a specific embodiment, the projection device is a camera with a lens control function and a keystone correction function. The lens of the projection device has zoom and displacement control functions. The zoom function is used to adjust the size of the projection screen, and the displacement control function is used to adjust The position of the projected image within the imaging range of the camera device; the trapezoidal correction function of the projection device can be adjusted mechanically, or electronically adjusted to achieve the trapezoidal correction function, which is used to adjust the shape of the projected image.

Further, the projection device can project the projection picture onto the calibration object (such as: whiteboard, projection screen, display or wall), the content of the projection picture includes but not limited to black and white checkerboard, and the image generated by projection (denoted as calibration image) It can be displayed in the center, on the top, on the bottom, on the left or on the right within the imaging range.

It can be understood that projection images of different shapes, sizes or positions can be projected according to preset projection rules. For example, the projection screen can be set to be projected at the maximum size first, and then the size of the projection screen can be gradually reduced. , adjust the position of the projected picture and the shape of the projected picture, so as to obtain multiple projected pictures.

Step 12: Sending a second control instruction to the imaging device, so that the imaging device captures the projected images to obtain a plurality of projected images.

After the calibration control device sends the first control command, the calibration control device can generate a second control command and send the second control command to the imaging device; after receiving the second control command, the imaging device can photograph the calibration object , to obtain a projected shot image, which is in one-to-one correspondence with the projected picture emitted by the projection device; specifically, the shot device is used to shoot a preset marked area to obtain a projected shot image, and the preset marked area includes the projected picture. area, which may be the imaging range of the camera device.

It can be understood that, in other embodiments, in order to determine when the imaging device will take pictures, the projection device may send a notification message to the calibration control to indicate that it has projected a projected picture, so that the calibration control device can control the imaging device to take pictures in time; Or the calibration control device actively monitors the projection device to prevent the camera device from capturing images that do not contain projection images.

Step 13: Process multiple projected images to obtain calibration parameters of the imaging device.

The calibration parameters of the camera equipment to be calibrated are unknown. The calibration parameters include internal parameters, distortion coefficients or external parameters; The program corresponding to the method), calculate the internal parameters, distortion coefficient and external parameters of the camera equipment, and complete the calibration. It can be understood that the method for calculating the calibration parameter based on multiple images is the same as that used in the related art, and will not be described in this embodiment.

In the related art, during the calibration process, it is necessary to perform operations such as rotation or translation on the calibration plate, so that calibration patterns of different shapes and sizes are presented in the imaging pattern of the imaging device; however, the solution adopted in this embodiment, through the projection device The lens control or trapezoidal correction function is used to simulate the realization, and the calibration plate is replaced by the specific projection screen displayed by the projection equipment, which realizes the automatic calculation of the calibration parameters, and does not need to manually adjust the shape of the calibration plate, saving the time spent on calibration, and applicable In the application scenario of large-scale calibration.

Please refer to FIG. 2. FIG. 2 is a schematic flow chart of another embodiment of the automatic calibration method provided by the present application. The method is applied to calibration control equipment, and the method includes:

Step 21: Send a position adjustment instruction to the projection device, so that the lens of the projection device is displaced, and project a projection picture; send a first shooting control command to the camera device, so that the camera device shoots the projection picture.

The position adjustment command is an command to control the movement of the lens of the projection device, and the calibration control device sends the position adjustment command to the projection device, so that the position of the projected image emitted by the projection device changes. Specifically, in order to make the calibration image appear in every area within the imaging range, it is necessary to manually move the calibration board in the related art to adjust the horizontal position and the vertical position of the calibration board. The displacement control is simulated to achieve the same imaging effect.

Further, the position adjustment command includes a horizontal position adjustment command and a vertical position adjustment command, the number of the horizontal position adjustment command and the vertical position adjustment command may be one or more, and the calibration control device sends the horizontal position adjustment command to the projection device, so that the projection device moves a preset distance along the horizontal direction and project a projection picture; and a vertical position adjustment command is sent to the projection device, so that the projection device moves a preset distance along the vertical direction and projects a projection picture.

After the projection device emits the projection screen, the calibration control device sends the first shooting control command to the camera device, controls the camera device to shoot the current projection screen of the projection device, and receives the projected image returned by the camera device.

In a specific embodiment, as shown in FIG. 3 , the lens (not marked in the figure) of the projection device 31 is controlled for horizontal displacement, and the camera device 32 is controlled for shooting, and 33 is a projected picture. , so that the projected image 34 moves in the horizontal direction to obtain different projected images 34a-34b. As shown in Figure 4, the vertical displacement control is performed on the lens (not marked in the figure) of the projection device 41, and the shooting control is performed on the camera device 42. By moving the position of the lens vertically, the projection screen 43 is moved in the vertical direction , to obtain different projection captured images 44a-44b.

Step 22: Send a focus adjustment instruction to the projection device, so that the projection device projects a projected image with at least two preset focal lengths; send a second shooting control instruction to the camera device, so that the camera device shoots the projected image.

In the related art, the distance between the calibration board and the camera equipment is manually adjusted. When the calibration board is closer to the camera device, the calibration board pattern in the imaging pattern becomes larger; when the calibration board is farther away from the camera device, the calibration board pattern in the imaging pattern become smaller; the change in the size of the calibration plate pattern can be simulated by the lens zoom control of the projection device to achieve the purpose of adjusting the size of the projected image in the imaging pattern; then the calibration control device sends a second shooting control command to The camera device is controlled to shoot the current projected image of the projection device, and the projected image returned by the camera device is received.

Further, the size of the projected image changes with the value of at least two preset focal lengths, the number of focus adjustment instructions can be two or more, and can be set according to specific needs; for example, the number of focus adjustment instructions is two For example, the focus adjustment instruction includes a first focus adjustment instruction and a second focus adjustment instruction, and the first focus adjustment instruction may be sent to the projection device, so that the projection device projects a projection screen with a first preset focal length, and the projection screen corresponds to The size of the calibration image is smaller than the first preset size; a second focus adjustment command is sent to the projection device, so that the projection device projects a projection screen with a second preset focal length, and the size of the calibration image corresponding to the projection screen is larger than the second preset size, the first preset focal length is smaller than the second preset focal length, and the first preset size is smaller than the second preset size.

For example, as shown in Figures 5(a)-5(c), Figure 5(a) is the situation without zooming, and the lens (not marked in the figure) of the projection device 51 is controlled by zooming, so that the projected picture 53a 5 (b) and 53 c in FIG. 5 (c), and 54 a - 54 c are projection images captured by the imaging device 52 .

In other embodiments, it can also be judged whether the projected images corresponding to all the preset focal lengths have been acquired, and if all the projected images corresponding to the preset focal lengths have been obtained, then perform step 23; otherwise, continue to perform step 22 until The projection shooting images corresponding to all the preset focal lengths are obtained.

Step 23: Sending a pose adjustment command to the projection device to adjust the shape of the projected picture; sending a third shooting control command to the camera device so that the camera device shoots the projected picture.

In the related art, it is necessary to manually adjust the posture of the calibration plate relative to the camera equipment, so that the plane where the camera equipment is located and the plane where the calibration board is located form different angles, so that the calibration board patterns in the imaging pattern present different quadrilateral shapes; as shown in Figure 6 ( As shown in a), ideally, the plane where the calibration plate 62 is located is parallel to the plane where the imaging device 61 is located, and the calibration plate pattern 63 presents a regular rectangular shape; The pattern shape of the upper trapezoid or the lower trapezoid, as shown in Figure 6 (b)-6 (c); shape, as shown in Fig. 6(d)-6(e).

In this embodiment, the adjustment of the posture of the calibration plate in the imaging pattern is simulated through the trapezoidal correction function of the projection device, and the calibration control device sends out a pose adjustment instruction for performing trapezoidal correction on the lens of the projection device, that is, the first control instruction also includes pose An adjustment instruction to change the shape of the projected picture, the pose adjustment instruction includes at least one of a horizontal keystone correction instruction and a vertical keystone correction instruction, the horizontal keystone correction instruction corresponds to the horizontal keystone correction function of the projection device, and is used for horizontal keystone correction. direction to adjust the projected picture so that the upper and lower borders of the adjusted projected picture are not horizontal; the vertical keystone correction command corresponds to the vertical keystone correction function of the projection device, and is used to adjust the projected picture in the vertical direction to So that the left and right borders of the adjusted projection screen are not horizontal.

Further, under the condition that both the projection device and the shooting device remain still, use the horizontal keystone correction function and the vertical keystone correction function of the projection device to simulate various quadrilateral shapes in Fig. 6(a)-6(e); as As shown in Fig. 7(a)-7(b), the horizontal trapezoidal correction function of the projection device 71 is used to simulate the imaging shape reaching the left side of the calibration plate away from or close to the

imaging device

72, 73a-73b is the projection screen, and 74a-74b is Projection shooting image; As shown in Figure 7 (c)-7 (d), use the vertical trapezoidal correction function of projection device 71 to simulate and reach the imaging shape that the top of the calibration plate is away from or close to the

imaging device

72, 73c-73d is the projection picture, 74c-74d capture images for projection.

Step 24: Judging whether the projected images corresponding to all the preset projected shapes have been acquired.

The calibration control device judges whether the shooting of the projection pictures of all preset projection shapes has been completed, and the preset projection shapes include rectangle or trapezoid; if the shooting of the projection pictures of all preset projection shapes has been completed, step 25 is performed; if If the shooting of the projection pictures of all the preset projection shapes is not completed, return to the step of sending the pose adjustment command to the projection device, that is, return to step 23 until the projection images corresponding to all the preset projection shapes are obtained.

Step 25: If all the projected images corresponding to the preset projection shapes are obtained, determine whether the projected images corresponding to the preset projection positions are obtained.

There are at least two preset projection positions, and the calibration control device judges whether image shooting for all preset projection positions has been completed, the preset projection positions include horizontal projection positions or vertical projection positions; if all preset projection positions have been completed If the image capture of all preset projection positions is not completed, then return to the step of sending the position adjustment command to the projection device, that is, return to step 21 until all preset projection positions corresponding to projected images.

Step 26: Process the multiple projected images to obtain the calibration parameters of the imaging device.

Step 26 is the same as step 13 in the above embodiment, and will not be repeated here.

This embodiment proposes a method for automatically calibrating the camera device based on the picture displayed by the projection device, using the lens zoom function, lens shift function of the projection device, and the horizontal and vertical trapezoidal correction function of the projection device to simulate manual calibration during the calibration process. The calibration plate performs operations such as translation or rotation; based on the imaging effect of the calibration image simulated by the projection device, the automatic calibration of the camera equipment is completed. By controlling the projection equipment to simulate various calibration board postures, the calibration process can be fully automated and the production efficiency can be improved. In addition, in the application scenario with only projection equipment and camera equipment, the calibration parameters can be calculated completely automatically, no need to search Professional calibration board, easy to use and simplify operation.

Please refer to Fig. 8, Fig. 8 is a schematic structural diagram of an embodiment of the calibration control device provided by the present application, the calibration control device 80 includes a memory 81 and a processor 82 connected to each other, the memory 81 is used to store computer programs, and the computer programs are processed When executed by the device 82, it is used to realize the automatic calibration method in the above-mentioned embodiment.

In order to obtain more accurate calibration parameters, the calibration plate pattern needs to appear in every area within the imaging range as much as possible, and the relative pose of the calibration plate and the camera equipment should be richer; the traditional calibration process is achieved by manually moving or rotating the calibration plate. To achieve the above goals, in this embodiment, through various controls on the projection equipment to simulate the realization of automatic calibration of the camera equipment, without the need to manually adjust the pose of the calibration board, it helps to improve calibration efficiency and reduce manual cost.

Please refer to FIG. 9 . FIG. 9 is a schematic structural diagram of an embodiment of a display system provided by the present application. The display system 90 includes a projection device 91 , an imaging device 92 and a calibration control device 93 .

The calibration control device 93 is used to control the projection device 91 and the imaging device 92, and calculate the calibration parameters of the imaging device 92, and the calibration control device 93 is the calibration control device in the above embodiment. Specifically, the calibration parameters include the internal parameters of the imaging device 92 and the distortion parameters of the imaging device 92. The projection device 91 is used to project the projection picture; De-distortion processing is performed on the projected image to obtain a de-distorted image, and the coordinates of the de-distorted image in the coordinate system of the imaging device 92 are obtained based on internal parameters.

In a specific embodiment, as shown in FIG. 9 , the projection device 91 includes a first projector 911 and a second projection projector, and the calibration control device 93 and the first projector 911, the second projector 912 and the imaging device 92 connection, the calibration control device 93 is used to control the first projector 911, the second projector 912 and the camera device 92, so that the first projection picture projected by the first projector 911 and the projected picture projected by the second projector 912 The second projection screen overlaps; by arranging two projectors (i.e. the first projector 911 and the second projection projector), and controlling the overlapping of the screens projected by the two projectors, the brightness of the projected screen can be increased, This makes the projected picture cleaner and more convenient for users to watch.

Further, the imaging device 92 respectively photographs the first projection image and the second projection image to obtain the first projection image and the second projection image, and calculates the position of the first projection image in the coordinate system of the imaging device 92 based on internal parameters. and the coordinates of the second projected captured image in the coordinate system of the imaging device 92 , and send these two coordinates to the calibration control device 93 .

The calibration control device 93 controls the first projector 911 and the second projector 912 based on the coordinates of the first projected captured image in the coordinate system of the camera device 92 and the coordinates of the second projected captured image in the coordinate system of the camera device 92, so that the first projection picture and the second projection picture overlap. Specifically, the calibration control device 93 adjusts the projection parameters of the first projector 911 and the projection parameters of the second projector 912. The projection parameters include projection size, projection brightness, projection shape or projection angle. The coordinates in the coordinate system of the imaging device 92 and the coordinates of the second projected captured image in the coordinate system of the imaging device 92 are the same.

Understandably, in other embodiments, more than two cameras can also be set to further enhance the brightness of the projected picture; or, different projectors can also be set to display different projected pictures; the number of projectors and the projected picture It can be set according to specific application needs, so no more examples are given here.

The scheme adopted in this embodiment realizes the automatic calibration of the camera equipment through the cooperation of the projection equipment, the camera equipment and the calibration control equipment, so that the projection images of the two projectors can overlap, and the brightness of the projection images is improved, which contributes to Improve the display effect of the display system.

Please refer to FIG. 10. FIG. 10 is a schematic structural diagram of an embodiment of a computer-readable storage medium provided by the present application. The computer-readable storage medium 100 is used to store a computer program 101. When the computer program 101 is executed by a processor, it is used to implement The automatic calibration method in the above-mentioned embodiment.

The computer-readable storage medium 100 can be a server, a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, etc. medium for program code.

In the several implementation manners provided in this application, it should be understood that the disclosed methods and devices may be implemented in other ways. For example, the device implementations described above are only illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or May be integrated into another system, or some features may be ignored, or not implemented.

A unit described as a separate component may or may not be physically separated, and a component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

The above is only an embodiment of the application, and does not limit the patent scope of the application. Any equivalent structure or equivalent process conversion made by using the specification and drawings of the application, or directly or indirectly used in other related technologies fields, are all included in the scope of patent protection of this application in the same way.

Claims

An automatic calibration method, characterized in that it is applied to calibration control equipment, the method comprising:

sending a first control instruction to the projection device, so that the projection device projects a plurality of projection images;

Sending a second control instruction to the imaging device, so that the imaging device captures the projection picture to obtain a plurality of projection images;

The plurality of projected images are processed to obtain calibration parameters of the imaging device, where the calibration parameters include internal parameters of the imaging device and distortion parameters of the imaging device.
The automatic calibration method according to claim 1, wherein the first control instruction includes a focus adjustment instruction, and the method further includes:

sending the focus adjustment instruction to the projection device, so that the projection device projects the projection picture with at least two preset focal lengths, wherein the size of the projection picture follows the at least two preset focal lengths value changes.
The automatic calibration method according to claim 1, wherein the first control instruction also includes a position adjustment instruction, and the method further includes:

The position adjustment instruction is sent to the projection device, so that the lens of the projection device is displaced and the projection picture is projected.
The automatic calibration method according to claim 3, wherein the method further comprises:

judging whether a projected image corresponding to a preset projection position is acquired, where there are at least two preset projection positions;

If not, return to the step of sending the position adjustment command to the projection device until all projected images corresponding to the preset projection positions are obtained;

Wherein, the preset projection position includes a horizontal projection position or a vertical projection position.
The automatic calibration method according to claim 1, wherein the first control instruction also includes a pose adjustment instruction, and the method further includes:

Send the pose adjustment instruction to the projection device to adjust the shape of the projected picture.
The automatic calibration method according to claim 5, wherein the method further comprises:

Judging whether the projected images corresponding to all the preset projected shapes are obtained;

If not, return to the step of sending the pose adjustment instruction to the projection device until all projected images corresponding to the preset projection shapes are obtained;

Wherein, the preset projection shape includes a rectangle or a trapezoid.
The automatic calibration method according to claim 5, characterized in that,

The pose adjustment instruction includes at least one of a horizontal keystone correction instruction and a vertical keystone correction instruction.
The automatic calibration method according to claim 1, characterized in that,

The photographing device is configured to photograph a preset marked area to obtain the projected shot image, wherein the preset marked area includes the area where the projected image is located.
A calibration control device, characterized in that it includes a memory and a processor connected to each other, wherein the memory is used to store a computer program, and when the computer program is executed by the processor, it is used to realize claim 1- The automatic calibration method described in any one of 8.
A display system, characterized by comprising a projection device, an imaging device, and the calibration control device according to claim 9, the calibration control device is used to control the projection device and the imaging device, and calculate the Calibration parameters of camera equipment.
The display system according to claim 10, characterized in that,

The calibration parameters include internal parameters of the camera device and distortion parameters of the camera device, the projection device is used to project a projection screen; the camera device is used to shoot the projection screen to obtain a projected image, And performing de-distortion processing on the projected image based on the distortion parameters to obtain a de-distorted image, and obtaining coordinates of the de-distorted image in the camera equipment coordinate system based on the internal parameters.
The display system according to claim 11, characterized in that,

The projection device includes a first projector and a second projection projector, and the calibration control device is connected with the first projector, the second projector, and the camera device, and is used for the first projection The projector, the second projector and the imaging device are controlled so that the first projection picture projected by the first projector and the second projection picture projected by the second projector overlap.
The display system according to claim 12, characterized in that,

The imaging device is further configured to photograph the first projected picture and the second projected picture respectively to obtain a first projected image and a second projected image, and calculate the first projected image based on the internal parameters. The coordinates of the projected shot image in the coordinate system of the camera device and the coordinates of the second projected shot image in the coordinate system of the camera device; The coordinates in the coordinate system of the imaging device and the coordinates of the second projected captured image in the coordinate system of the imaging device are used to control the first projector and the second projector so that the first The projected picture overlaps with the second projected picture.
The display system according to claim 13, characterized in that,

The calibration control device is also used to adjust the projection parameters of the first projector and the projection parameters of the second projector, the projection parameters include projection size, projection brightness, projection shape or projection angle; The coordinates of the first projected shot image in the camera coordinate system and the coordinates of the second projected shot image in the camera coordinate system are the same.
A computer-readable storage medium for storing a computer program, wherein the computer program is used to implement the automatic calibration method according to any one of claims 1-8 when executed by a processor.