Posture determination method and apparatus, and computer readable storage medium

Abstract

The application discloses a posture determination method and device and a computer readable storage medium, wherein the method is applied to a projection test system, and comprises the following steps: controlling a shooting device to shoot a light curtain on which a target image is projected, and acquiring a light curtain image shot by the shooting device; determining distance information between mark points in the light curtain image; and outputting the distance information, so as to determine a shooting posture of the shooting device relative to the light curtain according to the distance information. The application aims to improve the accuracy of determining the shooting posture of the shooting device in the projection test system.

Description

Technical Field

[0001] This invention relates to the field of projection technology, and in particular to an attitude determination method, apparatus, and computer-readable storage medium. Background Technology

[0002] A projector is a device that projects images or videos onto a screen. To understand the performance of a projector in various aspects, it needs to be tested. During the testing process, a camera is used to test the visual effects. To obtain accurate test results, the camera needs to be held perpendicular to the projection screen.

[0003] In related technologies, the perpendicularity of the camera to the projection screen (i.e., camera posture) is determined by human eyes. This can only roughly determine the distortion effect of the projected image captured by the camera, and determine whether the camera is perpendicular to the projection screen based on the distortion effect. Therefore, the accuracy of determining the camera posture is too low.

[0004] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main objective of this invention is to provide a posture determination method, apparatus, and computer-readable storage medium, aiming to improve the accuracy of determining the posture of the imaging device in a projection testing system.

[0006] To achieve the above objectives, the present invention provides a posture determination method applied to a projection testing system. The projection testing system includes an imaging device and a light screen. The imaging device is used to capture a projected image formed on the light screen. The method includes:

[0007] The camera is controlled to capture images of a light screen projected with a target image, and the image of the light screen captured by the camera is obtained.

[0008] Determine the distance information between the marker points in the light curtain image;

[0009] The distance information is output to determine the shooting posture of the shooting device relative to the light screen based on the distance information.

[0010] Optionally, the step of determining the distance information between marker points in the light curtain image includes:

[0011] The light curtain image is binarized;

[0012] The coordinate information of the marker point is determined based on the binarization processing result;

[0013] Sort the coordinate information and obtain the sorting result;

[0014] Based on the sorting result and the coordinate information, determine the distance information between the center marker point and each non-center marker point. Optionally, after the step of outputting the distance information, the method further includes:

[0015] The length difference between each non-center marker point and the center marker point is determined based on the distance information;

[0016] The offset direction and offset amount of the shooting device relative to the light screen are determined based on the length difference;

[0017] The shooting posture is adjusted according to the offset direction and the offset amount.

[0018] Optionally, the step of determining the distance information between marker points in the light curtain image includes:

[0019] The coordinate information of the marker point is determined based on the light curtain image;

[0020] Determine the association between the coordinate information and the marker point;

[0021] The distance information between the center marker point and each of the non-center marker points is determined based on the association relationship and the coordinate information.

[0022] Optionally, the step of outputting the distance information includes:

[0023] A distance image is generated based on the distance information and the markers associated with the distance information;

[0024] The distance image is projected onto the light screen.

[0025] Optionally, the projection testing system includes a projector, and before the step of controlling the shooting device to capture a light screen projecting a target image and acquiring the image of the light screen captured by the shooting device, the system further includes:

[0026] The projector is controlled to project the target image onto the light screen;

[0027] The shooting device is controlled to capture images of a light screen projected with the target image according to a preset time.

[0028] Optionally, the step of controlling the projector to project the target image onto the light screen includes:

[0029] Obtain the image information of the target image;

[0030] The center marker point of the target image is determined based on the image information;

[0031] The center marker is projected onto the center of the light screen.

[0032] Optionally, the projection testing system includes a projector, and before the step of controlling the shooting device to capture a light screen projecting a target image and acquiring the image of the light screen captured by the shooting device, the system further includes:

[0033] Control the projector to project the target image onto the light screen;

[0034] Obtain the acceleration information of the imaging device;

[0035] After the acceleration information reaches a preset condition, the camera is controlled to capture a light screen projecting the target image.

[0036] In addition, to achieve the above objectives, the present invention also provides an attitude determination apparatus, the attitude determination apparatus including a memory, a processor, and an attitude determination program stored in the memory and executable on the processor, wherein the attitude determination program, when executed by the processor, implements the steps of the attitude determination method as described above.

[0037] In addition, to achieve the above objectives, the present invention also provides a computer-readable storage medium storing an attitude determination program, which, when executed by a processor, implements the steps of the attitude determination method as described above.

[0038] This invention provides a posture determination method, apparatus, and computer-readable storage medium. The method involves controlling an imaging device to capture images of a light screen projected with a target image, acquiring the captured image of the light screen, determining distance information between marker points in the light screen image, and outputting the distance information to determine the imaging posture of the imaging device relative to the light screen. By capturing images of the light screen with the target image, determining the distance information between marker points in the light screen image, and outputting the distance information, the method leverages the fact that, due to visual principles, the distances between marker points captured by the imaging device differ depending on its posture. Therefore, the imaging posture of the imaging device relative to the light screen can be determined based on the distance information, thereby improving the accuracy of determining the posture of the imaging device in a projection testing system. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the terminal structure of the hardware operating environment involved in the embodiments of the present invention;

[0040] Figure 2 This is a flowchart illustrating an embodiment of the attitude determination method of the present invention;

[0041] Figure 3 This is a flowchart illustrating another embodiment of the attitude determination method of the present invention;

[0042] Figure 4 This is an example image of the target image involved in the attitude determination method of the present invention.

[0043] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0044] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0045] Because in related technologies, the perpendicularity of the camera to the projection screen (i.e., the camera posture) is determined by human eyes, and the distortion effect of the projected image captured by the camera is roughly determined by human eyes, the accuracy of determining the camera posture relative to the projection screen is too low.

[0046] To improve the accuracy of determining the attitude of the imaging device in a projection testing system, this invention provides an attitude determination method, apparatus, and computer-readable storage medium. The main steps of the method include:

[0047] The camera is controlled to capture images of a light screen projected with a target image, and the image of the light screen captured by the camera is obtained.

[0048] Determine the distance information between the marker points in the light curtain image;

[0049] The distance information is output to determine the shooting posture of the shooting device relative to the light screen based on the distance information.

[0050] By capturing images of a light screen containing the target image, the distance information between marker points in the light screen image is determined and output. Based on this distance information, the shooting posture of the shooting device relative to the light screen is determined. This method is more accurate than determining the shooting posture based on the distortion effect perceived by the naked eye, thereby improving the accuracy of determining the shooting device posture in the projection testing system.

[0051] The claims of this invention will be described in detail below with reference to the accompanying drawings.

[0052] like Figure 1 As shown, Figure 1 This is a schematic diagram of the terminal structure of the hardware operating environment involved in the embodiments of the present invention.

[0053] In this embodiment of the invention, the terminal can be an attitude determination device.

[0054] like Figure 1As shown, the terminal may include: a processor 1001, such as a CPU, a memory 1003, and a communication bus 1002. The communication bus 1002 is used to enable communication between these components. The memory 1003 may be a high-speed RAM or a stable, non-volatile memory, such as a disk drive. Optionally, the memory 1003 may also be a storage device independent of the aforementioned processor 1001.

[0055] Those skilled in the art will understand that Figure 1 The terminal structure shown does not constitute a limitation on the terminal and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0056] like Figure 1 As shown, the memory 1003, which serves as a computer storage medium, may include an operating system and an attitude determination program.

[0057] exist Figure 1 In the terminal shown, the processor 1001 can be used to call the attitude determination program stored in the memory 1003 and perform the following operations:

[0058] The camera is controlled to capture images of a light screen projected with a target image, and the image of the light screen captured by the camera is obtained.

[0059] Determine the distance information between the marker points in the light curtain image;

[0060] The distance information is output to determine the shooting posture of the shooting device relative to the light screen based on the distance information.

[0061] Furthermore, the processor 1001 can call the attitude determination program stored in the memory 1003 and also perform the following operations:

[0062] The light curtain image is binarized;

[0063] The coordinate information of the marker point is determined based on the binarization processing result;

[0064] Sort the coordinate information;

[0065] Based on the sorting results and the coordinate information, the distance information between the center marker point and each non-center marker point is determined.

[0066] Furthermore, the processor 1001 can call the attitude determination program stored in the memory 1003 and also perform the following operations:

[0067] The length difference between each of the center marker points and each of the non-center marker points is determined based on the distance information;

[0068] The offset direction and offset amount of the shooting device relative to the light screen are determined based on the length difference;

[0069] The shooting posture is adjusted according to the offset direction and the offset amount.

[0070] Furthermore, the processor 1001 can call the attitude determination program stored in the memory 1003 and also perform the following operations:

[0071] The coordinate information of the marker point is determined based on the light curtain image;

[0072] Determine the association between the coordinate information and the marker point;

[0073] The distance information between the center marker point and each non-center marker point is determined based on the association relationship and the coordinate information.

[0074] Furthermore, the processor 1001 can call the attitude determination program stored in the memory 1003 and also perform the following operations:

[0075] A distance image is generated based on the distance information and the markers associated with the distance information;

[0076] The distance image is projected onto the light screen.

[0077] Furthermore, the processor 1001 can call the attitude determination program stored in the memory 1003 and also perform the following operations:

[0078] The projector is controlled to project the target image onto the light screen;

[0079] The shooting device is controlled to capture images of a light screen projected with the target image according to a preset time.

[0080] Furthermore, the processor 1001 can call the attitude determination program stored in the memory 1003 and also perform the following operations:

[0081] Obtain the image information of the target image;

[0082] The center marker point of the target image is determined based on the image information;

[0083] The center marker is projected onto the center of the light screen.

[0084] Furthermore, the processor 1001 can call the attitude determination program stored in the memory 1003 and also perform the following operations:

[0085] Control the projector to project the target image onto the light screen;

[0086] Obtain the acceleration information of the imaging device;

[0087] After the acceleration information reaches a preset condition, the camera is controlled to capture a light screen projecting the target image.

[0088] A projector is a device that projects images or videos onto a screen. To understand the performance of a projector, it needs to be tested. During the testing process, a camera is used to photograph the projection on the screen to test the visual effects. To obtain accurate test results, the camera needs to be positioned perpendicular to the projection screen when taking pictures.

[0089] In related technologies, the perpendicularity of the camera to the projection screen (i.e., camera posture) is determined by human eyes. Therefore, it can only roughly determine the distortion effect of the projected image captured by the camera. The camera is then used to determine whether it is perpendicular to the projection screen based on the distortion effect. This results in a very low accuracy of the determined camera posture and is not conducive to adjusting the camera posture.

[0090] Therefore, the aforementioned defects exist in the relevant attitude determination methods. To address these defects, this invention proposes an attitude determination method for projection testing systems. The method aims to improve the accuracy of determining the attitude of the imaging device in the projection testing system by capturing an image of a light screen containing a target image using an imaging device, and then determining the distance information between marked points in the light screen image.

[0091] The following explanation, through specific exemplary solutions, clarifies the scope of protection claimed in the claims of this invention, so that those skilled in the art can better understand the scope of protection of the claims. It is understood that the following exemplary solutions do not limit the scope of protection of this invention, but are only used to explain this invention.

[0092] For example, refer to Figure 2 In one embodiment of the attitude determination method of the present invention, the attitude determination method includes the following steps:

[0093] Step S10: Control the shooting device to capture the light screen projected with the target image, and acquire the light screen image captured by the shooting device;

[0094] In this embodiment, the attitude determination method is used in a projection testing system. This system tests various aspects of a projector's performance. To test the projector's visual projection effect, a camera is used to capture the projected image onto a light screen. Therefore, the projection testing system includes a camera and a light screen. The camera can be an industrial camera, which converts light signals into ordered electrical signals and performs A / D conversion on these signals. Therefore, images captured by an industrial camera are easier to process, analyze, and identify later. The camera is mounted facing the light screen to capture the screen and the projected image on it. After receiving an attitude determination command related to the attitude, the system controls the projector to project a target image onto the light screen. The target image is a specially created, identifiable image with several distinctive marker points. These marker points can be central or non-central, and their shape is not specifically limited; they can be circular, rectangular, etc. Figure 4 .

[0095] Optionally, the location of the marker points can be set to be representative, obtaining the outline information of the light curtain, determining the key points on the light curtain based on the outline information, determining the marker points based on the association of the key points, and generating the target image based on the marker points. The marker points corresponding to the rectangular light curtain can form a rectangular shape, and the marker points corresponding to the circular light curtain can form an abstract circular shape. This makes it easier to accurately fix the target image on the light curtain, because it is only necessary to determine that the distance from the non-central marker points to the boundary of the light curtain is equal.

[0096] It should be noted that the target image includes several marker points. In order to more accurately determine the shooting posture, the target image has at least two non-center marker points on the first straight line in the horizontal direction and two on the second straight line in the vertical direction, as well as a center marker point on the perpendicular point of the first and second straight lines. The non-center marker points surround the center marker point and are in different directions relative to the center marker point, for a total of five marker points. This also makes subsequent calculations more convenient.

[0097] Step S20: Determine the distance information between the marker points in the light curtain image;

[0098] In this embodiment, the light curtain image is an image obtained by the shooting device from a light curtain on which the target image is projected. The target image contains marker points, so the light curtain image also contains marker points. The marker points on the light curtain image correspond one-to-one with the marker points on the target image. There are multiple marker points on the target image and multiple marker points on the light curtain image. The distance information between the marker points on the light curtain image should be determined.

[0099] It is important to understand that it is not necessarily necessary to determine the distance information between each marker point in the light curtain image; it is possible to determine the distance between the center marker point and each non-center marker point.

[0100] In one optional embodiment, the coordinate information of the marker points is determined based on the light curtain image; the association between the coordinate information and the marker points is determined; and the distance information between each non-center marker point and the center marker point is determined based on the association and the coordinate information. Since the imaging device is upright, the relative positions of the marker points in the light curtain image will not differ significantly from their actual relative positions. Therefore, the coordinate information closest to the theoretical coordinates of the target marker point in the target image is determined to be associated with the target marker point. This leads to the determination of the association between the coordinate information and the marker point. Based on the association, the coordinate information can be distinguished, and then the distance information between each non-center marker point and the center marker point is determined based on the association and the coordinate information.

[0101] In one optional embodiment, the light curtain image is binarized; the coordinate information of the marker points is determined based on the binarization result; the coordinate information is sorted according to the light curtain image; and the distance information between each non-center marker point and the center marker point is determined based on the sorting result and the coordinate information.

[0102] The light screen image is binarized to obtain a binarized image. Binarization refers to setting a threshold based on the projected image and converting the grayscale of the projected image to 0 or 255 according to the set threshold. In this embodiment, the threshold selection method is not specifically limited. Binarization algorithms are divided into fixed threshold and adaptive threshold. Commonly used binarization methods include the bimodal method, the P-parameter method, and the iterative method to determine the threshold. The resulting binarized image is more suitable for data processing. Based on the binarized image, the marker points on each image are identified, and the coordinates of each marker point are determined to obtain the coordinate information of the marker points.

[0103] It should be noted that since the marked points on the map occupy a certain area, it is necessary to determine the midpoint of the marked points. The coordinates of the midpoint can be used as the coordinates of the marked points.

[0104] The position information of each marker point is determined based on the light curtain image. The coordinates of each marker point are sorted to facilitate the identification of which marker point each coordinate corresponds to. Based on the sorting results, the coordinate information of the center marker point and the non-center marker points in each direction relative to the center marker point are determined. The distance information between each non-center marker point and the center marker point can be determined using the coordinate information.

[0105] Optionally, in order to sort the coordinate information and prevent errors caused by the inversion of the light curtain image, an initial marker point is determined among the marker points based on the light curtain image; the coordinate information is sorted based on the initial marker point. A special marker point, distinct from other marker points, can be set on the target image. For example, the special marker point may be square in shape, while other marker points may be circular. To distinguish directions, the special marker point cannot correspond to the center marker point on the light curtain image. In this way, the special marker point can be identified on the captured light curtain image, and the identified special marker point is used as the initial marker point. The relative positional relationship between the initial marker point and other marker points is determined, and the information on the left is sorted according to the relative positional relationship.

[0106] Optionally, to achieve visual effect testing of the projector, the shooting axis of the shooting device needs to be perpendicular to the light screen. Therefore, the shooting posture needs to be adjusted. The length difference between each of the non-center marker points and the center marker point is determined based on the distance information. The offset direction and amount of the shooting device relative to the light screen are determined based on the length difference. The shooting posture is then adjusted based on the offset direction and amount. By determining the offset direction and amount of the shooting device relative to the light screen through the length difference, and moving the shooting device in the opposite direction of the offset, with the movement proportional to the offset amount, the shooting posture can be adjusted.

[0107] Step S30: Output the distance information to determine the shooting posture of the shooting device relative to the light screen based on the distance information.

[0108] In this embodiment, the distance information can be output by display and transmission. Due to the principle of vision, the light screen image captured by the camera device is different when it is in different shooting postures. This is mainly reflected in the distortion of the target image on the light screen image. The distortion results in different distance information between each marker point. Therefore, the shooting posture of the camera device can be determined based on the distance information. In this way, the relatively complex and difficult-to-measure vertical angle problem in three-dimensional space is simplified into a distance problem in two-dimensional space. Furthermore, the shooting posture can be adjusted after the shooting posture is determined.

[0109] In an optional implementation of this embodiment, a distance image is generated based on the distance information and the markers associated with the distance information; the distance image is then projected onto the light screen. The distance image includes each marker point and the distance information between the marker points, thus replacing the distortion effect perceived by the naked eye with a distance image, allowing adjustments to the shooting state based on the distance image.

[0110] The distance image also has markers, so the distance image can be used as the target image. The shooting device can acquire the light screen image projected onto the distance image light screen, determine the distance information between the markers in the light screen image based on the light screen image, generate a distance image based on the distance information, and update the projected image on the light screen until the target shooting posture is reached. This is more convenient for actual testing scenarios, reduces the time for adjusting the shooting posture of the shooting device in projection testing, and improves the efficiency of adjusting the shooting posture.

[0111] In the technical solution disclosed in this embodiment, the imaging device is controlled to capture images of a light screen projected with a target image, and the image of the light screen captured by the imaging device is acquired; the distance information between marker points in the light screen image is determined; and the distance information is output to determine the imaging posture of the imaging device relative to the light screen. By capturing images of a light screen with a target image, determining the distance information between marker points in the light screen image, and outputting the distance information, the imaging posture of the imaging device relative to the light screen can be determined based on the distance information, due to the visual principle that the distances between marker points captured by the imaging device differ at different postures. This improves the accuracy of determining the posture of the imaging device in the projection testing system.

[0112] Optionally, refer to Figure 3 Based on any of the above embodiments, in another embodiment of the attitude determination method of the present invention, the attitude determination method further includes:

[0113] Step S40: Control the projector to project the target image onto the light screen;

[0114] Step S50: Control the shooting device to capture the light screen projected with the target image according to the preset time.

[0115] In this embodiment, the projection testing system also includes a projector used to project images onto a light screen. The projector is not limited to the projector being tested by the projection testing system. The system controls the projector to project a target image onto the light screen. The target image includes multiple marker points, including multiple non-central marker points and one central marker point. After the target image is updated, the system can control the imaging device to capture images of the light screen projected with the target image, or it can capture images of the light screen projected with the target image according to a preset time.

[0116] In one optional embodiment, image information of the target image is acquired; a center marker point of the target image is determined based on the image information; and the center marker point is projected onto the center of the light screen. The image information of the target image contains positional information of each marker point. Based on this image information, the center marker point of the target image can be determined. Projecting the center marker point onto the exact center of the light screen facilitates determining the orientation of the shooting device relative to the light screen. Furthermore, the projection direction of the center marker point should be perpendicular to the light screen, with the perpendicular point located at the exact center of the light screen.

[0117] In one optional embodiment, the projector is controlled to project a target image onto the light screen; acceleration information of the shooting device is acquired; and after the acceleration information reaches a preset condition, the shooting device is controlled to capture the light screen projected with the target image. An acceleration sensor can be installed on the shooting device to detect its acceleration. When the shooting posture of the shooting device changes, the shooting device moves, triggering the acceleration sensor to detect shooting acceleration information. If the collected acceleration information of the shooting device is greater than a preset value, it is considered that the shooting posture is being adjusted. After this, if no acceleration information is collected within a preset time, it is considered that the shooting posture adjustment is complete. When the preset conditions corresponding to "initially adjusting the shooting posture" and "completely adjusting the shooting posture" are met, the shooting device is controlled to capture the light screen projected with the target image.

[0118] In the technical solution disclosed in this embodiment, the projector is controlled to project a target image onto a light screen. When conditions such as time or acceleration are met, the shooting device is controlled to capture an image of the light screen on which the target image is projected, thereby updating the target image, facilitating the adjustment of the shooting device, and improving the efficiency of adjusting the shooting posture.

[0119] Furthermore, this embodiment of the invention also proposes an attitude determination device, which includes a memory, a processor, and an attitude determination program stored in the memory and executable on the processor. When the attitude determination program is executed by the processor, it implements the steps of the attitude determination method described in the above embodiments.

[0120] Furthermore, embodiments of the present invention also propose a computer-readable storage medium storing an attitude determination program, which, when executed by a processor, implements the steps of the attitude determination method as described in the above embodiments.

[0121] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0122] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0123] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause the attitude determination device to execute the methods described in the various embodiments of the present invention.

[0124] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A method for determining attitude, characterized in that, An application is made in a projection testing system, the projection testing system including an imaging device and a light screen, the imaging device being used to capture a projected image formed on the light screen, the method comprising: The camera is controlled to capture images of a light screen projected with a target image, and the image of the light screen captured by the camera is obtained. The process involves determining the distance information between the center marker point and each non-center marker point in the light curtain image. The target image includes multiple non-center marker points and one center marker point, and the marker points in the light curtain image correspond one-to-one with the marker points in the target image. Determining the distance information between the center marker point and each non-center marker point in the light curtain image includes: performing binarization processing on the light curtain image; determining the coordinate information of each marker point based on the binarization processing result; determining an initial marker point among all marker points based on the light curtain image; determining the relative positional relationship between the initial marker point and other marker points; sorting the coordinate information of each marker point based on the relative positional relationship, wherein the shape of the initial marker point is different from the shape of other marker points in the target image; determining the coordinate information corresponding to the center marker point and the non-center marker points in each direction relative to the center marker point based on the sorting result; and determining the distance information between each non-center marker point and the center marker point using the coordinate information of the center marker point and the coordinates of each non-center marker point. Output the distance information, determine the length difference between each non-center marker point and the center marker point based on the distance information; determine the offset direction and offset amount of the shooting device relative to the light screen based on the length difference; adjust the shooting posture of the shooting device relative to the light screen based on the offset direction and the offset amount.

2. The attitude determination method as described in claim 1, characterized in that, The step of determining the distance information between the center marker point and each non-center marker point in the light curtain image includes: The coordinate information of the marker point is determined based on the light curtain image; Determine the association between the coordinate information and the marker point; The distance information between the center marker point and each of the non-center marker points is determined based on the association relationship and the coordinate information.

3. The attitude determination method as described in claim 1, characterized in that, The step of outputting the distance information includes: A distance image is generated based on the distance information and the markers associated with the distance information; The distance image is projected onto the light screen.

4. The attitude determination method as described in claim 1, characterized in that, The projection testing system includes a projector. Before the step of controlling the shooting device to capture a light screen projecting a target image and acquiring the image of the light screen captured by the shooting device, the system further includes: The projector is controlled to project the target image onto the light screen; The shooting device is controlled to capture images of a light screen projected with the target image according to a preset time.

5. The attitude determination method as described in claim 4, characterized in that, The step of controlling the projector to project the target image onto the light screen includes: Obtain the image information of the target image; The center marker point of the target image is determined based on the image information; The center marker is projected onto the center of the light screen.

6. The attitude determination method as described in claim 1, characterized in that, The projection testing system includes a projector. Before the step of controlling the shooting device to capture a light screen projecting a target image and acquiring the image of the light screen captured by the shooting device, the system further includes: Control the projector to project the target image onto the light screen; Obtain the acceleration information of the imaging device; After the acceleration information reaches a preset condition, the camera is controlled to capture a light screen projecting the target image.

7. An attitude determination device, characterized in that, The attitude determination device includes: a memory, a processor, and an attitude determination program stored in the memory and executable on the processor, wherein the attitude determination program, when executed by the processor, implements the steps of the attitude determination method as described in any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores an attitude determination program, which, when executed by a processor, implements the steps of the attitude determination method as described in any one of claims 1 to 6.

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