Projection calibration method and device, electronic equipment and storage medium

Abstract

The application discloses a projection calibration method and device, electronic equipment and a storage medium, and relates to the technical field of projection. The method comprises the following steps: establishing a first screen coordinate system and a second screen coordinate system; obtaining an included angle between a horizontal axis of the first screen coordinate system and a horizontal axis of the second screen coordinate system as a horizontal axis included angle; obtaining actual coordinate information and / or actual angle information of a projection device in the first screen coordinate system based on the horizontal axis included angle; obtaining standard coordinate information and / or standard angle information of the projection device in the first screen coordinate system; determining a projection adjustment parameter according to the actual position information and the standard position information; and adjusting at least one of a projection position and a projection direction of the projection device according to the projection adjustment parameter. In this way, the picture projected by the projection device can be displayed completely and without distortion on the screen, the time-consuming of user adjustment is reduced, and the user experience is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of projection technology, and more particularly, to a projection calibration method and device, an electronic device, and a storage medium. BACKGROUND

[0002] A projector is a device that can project an image or video onto a screen for display. It can be connected to a computer, smartphone, tablet, game console, etc. through different interfaces to obtain an image or video to be projected.

[0003] In actual applications, there is generally a deviation between the projection area of the projector and the screen, which causes the projected image to not be completely displayed on the screen. The traditional method is for the user to manually adjust the position of the projector to align the projection area with the screen. However, this method requires the user to observe the position of the projected image after each adjustment of the position of the projector and then gradually adjust the position of the projector, which consumes a lot of time and effort of the user and reduces the user experience. SUMMARY

[0004] Therefore, the present application provides a projection calibration method and device, an electronic device, and a storage medium.

[0005] In a first aspect, an embodiment of the present application provides a projection calibration method, which includes: establishing a first screen coordinate system and a second screen coordinate system, the first screen coordinate system being established with the horizontal direction of the screen as the horizontal axis direction, and the second screen coordinate system being determined based on a positioning image projected onto the screen by a projection device; obtaining an included angle between the horizontal axis of the first screen coordinate system and the horizontal axis of the second screen coordinate system as a horizontal axis included angle; obtaining actual position information of the projection device in the first screen coordinate system based on the horizontal axis included angle, the actual position information including actual coordinate information and / or actual angle information; obtaining standard position information of the projection device in the first screen coordinate system, the standard position information including standard coordinate information and / or standard angle information; determining a projection adjustment parameter according to the actual position information and the standard position information; and adjusting at least one of the projection position and the projection direction of the projection device according to the projection adjustment parameter, so that the image projected by the projection device is completely and non-distortedly displayed on the screen.

[0006] In a second aspect, an embodiment of the present application provides a projection calibration device, the device comprising: a coordinate system establishing module, an included angle obtaining module, an actual position obtaining module, a standard position obtaining module, an adjustment parameter determining module, and an adjustment module. The coordinate system establishing module is configured to establish a first screen coordinate system and a second screen coordinate system, the first screen coordinate system being established with a horizontal direction of a screen as a horizontal axis direction, and the second screen coordinate system being determined based on a positioning image projected by a projection device onto the screen. The included angle obtaining module is configured to obtain an included angle between a horizontal axis of the first screen coordinate system and a horizontal axis of the second screen coordinate system as a horizontal axis included angle. The actual position obtaining module is configured to obtain actual position information of the projection device in the first screen coordinate system based on the horizontal axis included angle, the actual position information comprising actual coordinate information and / or actual angle information. The standard position obtaining module is configured to obtain standard position information of the projection device in the first screen coordinate system, the standard position information comprising standard coordinate information and / or standard angle information. The adjustment parameter determining module is configured to determine a projection adjustment parameter according to the actual position information and the standard position information. The adjustment module is configured to adjust at least one of a projection position and a projection direction of the projection device according to the projection adjustment parameter, so that a picture projected by the projection device is displayed completely and without distortion on the screen.

[0007] In a third aspect, an embodiment of the present application provides an electronic device, comprising: one or more processors; a memory; one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the projection calibration method provided in the first aspect.

[0008] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, wherein the computer readable storage medium stores program code, and the program code can be invoked by a processor to execute the projection calibration method provided in the first aspect.

[0009] In the scheme provided in the present application, a first screen coordinate system and a second screen coordinate system are established; an included angle between a horizontal axis of the first screen coordinate system and a horizontal axis of the second screen coordinate system is obtained as a horizontal axis included angle; actual position information of the projection device in the first screen coordinate system is obtained based on the horizontal axis included angle, the actual position information including actual coordinate information and / or actual angle information; standard position information of the projection device in the first screen coordinate system is obtained, the standard position information including standard coordinate information and / or standard angle information; projection adjustment parameters are determined according to the actual position information and the standard position information; and at least one of a projection position and a projection direction of the projection device is adjusted according to the projection adjustment parameters. In this way, by calculating the adjustment parameters and adjusting the projection position and the projection direction of the projection device according to the adjustment parameters, the projection device can be adjusted to the standard position more accurately, so that the picture projected by the projection device can be displayed more completely and without distortion on the screen, and the user does not need to adjust the projection device gradually by observing the alignment degree of the projected picture and the screen, thereby reducing the time consumed by the user for adjustment and improving the user experience. BRIEF DESCRIPTION OF DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0011] Figure 1 An architecture schematic diagram of a projection calibration system provided in an embodiment of the present application is shown.

[0012] Figure 2 A schematic diagram of an image projected on a screen by a projector and photographed by a camera is shown.

[0013] Figure 3 A flowchart of a projection calibration method provided in an embodiment of the present application is shown.

[0014] Figure 4 A schematic diagram of a horizontal axis of a screen coordinate system provided in an embodiment of the present application is shown.

[0015] Figure 5 A schematic diagram of angle parameterization of a projection device provided in an embodiment of the present application is shown.

[0016] Figure 6 A flowchart of a projection calibration method provided in another embodiment of the present application is shown.

[0017] Figure 7 A schematic diagram of a projection calibration system provided in another embodiment of the present application is shown. Figure 6The step S303 shown in the figure is a sub-step flowchart in an embodiment.

[0018] Figure 8 The position of the screen is shown. Figure 7 The step S3031 shown in the figure is a sub-step flowchart in an embodiment.

[0019] Figure 9 The position of the screen is shown.

[0020] Figure 10 The position of the screen is shown.

[0021] Figure 11 The position of the screen is shown.

[0022] Figure 12 The position of the screen is shown. Figure 7 The step S3033 shown in the figure is a sub-step flowchart in an embodiment.

[0023] Figure 13 The position of the screen is shown.

[0024] Figure 14 The position of the screen is shown. Figure 6 The step S304 shown in the figure is a sub-step flowchart in an embodiment.

[0025] Figure 15 The position of the screen is shown. Figure 14 The step S3044 shown in the figure is a sub-step flowchart in an embodiment.

[0026] Figure 16 The position of the screen is shown. Figure 15 The step S3044-1 shown in the figure is a sub-step flowchart in an embodiment.

[0027] Figure 17 The position of the screen is shown.

[0028] Figure 18 The position of the screen is shown.

[0029] Figure 19 The position of the screen is shown.

[0030] Figure 20 The position of the screen is shown. Figure 6 The step S305 shown in the figure is a sub-step flowchart in an embodiment.

[0031] Figure 21 A schematic diagram of a position of a projection device in a first screen coordinate system is shown.

[0032] Figure 22 is a block diagram of a projection calibration device according to an embodiment of the present application.

[0033] Figure 23 is a block diagram of an electronic device for performing a projection calibration method according to an embodiment of the present application.

[0034] Figure 24 is a storage unit for storing or carrying program code for implementing a projection calibration method according to an embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application.

[0036] In actual applications, there is generally a deviation between the projection area of the projector and the screen, which further causes the picture projected by the projector to be unable to be displayed completely on the screen. The traditional method is for the user to manually adjust the position of the projector so as to align the projection area with the screen. However, the user needs to observe the position of the projection picture and the screen after adjusting the position of the projector each time, and then gradually adjust the position of the projector, which consumes a lot of time and effort of the user and reduces the user experience.

[0037] In view of the above problems, the present application provides a projection calibration method, device, electronic device and storage medium, which can obtain an adjustment parameter for a projection device based on actual position information and standard position information of the projection device, and adjust at least one of the projection position and the projection direction of the projection device according to the adjustment parameter, so that the picture projected by the projection device is displayed completely and without distortion on the screen. The content will be described in detail below.

[0038] Please refer to Figure 1 , Figure 1A schematic diagram of an architecture of a projection calibration system 10 is provided in an embodiment of the present application. In the embodiment, the projection calibration system 10 includes a screen 110, a projector 120, a camera 130, and a master control module 140, wherein the screen 110 can be a television screen or a curtain; the master control module 140 can be disposed in the projector 120 or in other electronic devices (such as a smart phone or a dedicated projection calibration instrument); the camera 130 can be disposed in the projector 120 or can be a dedicated image acquisition equipment outside the electronic device where the master control module is located, and the embodiment does not limit the same. The projector 120 and the camera 130 can be in the same local area network, and the master control module 140 can acquire an image projected on the screen 110 by the projector 120 and captured by the camera 130, as shown in FIG. 1, if the image includes a two-dimensional code, the master control module 140 can perform image recognition on the two-dimensional code image to read IP address information contained in the two-dimensional code, and establish a communication connection with the projector 120 based on the IP address information. Based on the communication connection, the master control module 140 can perform data transmission (such as transmission of a video source) with the projector 120. The master control module 140 can also determine the actual position of the projector 120 relative to the screen 110 based on the display position of the projection image on the screen 110. Figure 2 Figure 2 Figure 2

[0039] In some embodiments, the master control module 140 can transmit a video source to the projector 120, the projector 120 receives the video source and projects the video source on the screen 110 for display, and then the camera 130 can capture the projection image displayed on the screen 110, take the captured image containing the screen 110 as a captured picture, and transmit the captured picture to the master control module 140. The master control module 140 receives the captured picture, calculates the actual position and the standard position of the projector 120 relative to the screen 110 based on the captured picture, determines the adjustment parameters and the adjustment suggestions for the projector 120 according to the actual position and the standard position, and finally displays the adjustment parameters and the adjustment suggestions on the screen 110.

[0040] Please refer to Figure 3 , Figure 3 A schematic diagram of a flow of a projection calibration method is provided in an embodiment of the present application. The projection calibration method provided in the embodiment of the present application will be described in detail below. The projection calibration method can include the following steps: Figure 3

[0041] ​​​​Step S201: establishing a first screen coordinate system and a second screen coordinate system, the first screen coordinate system is established in the horizontal direction of the screen as the horizontal axis direction, and the second screen coordinate system is determined based on the positioning image projected by the projection device onto the screen.

[0042] In the embodiment, the projection device is the projector 120 in the system described above. To facilitate subsequent calculation of the position information of the projection device, the position information of the projection device can be represented by coordinate information in the established coordinate system.

[0043] The coordinate system can include a camera coordinate system, a display image coordinate system, and a screen coordinate system. The x and y directions of the camera coordinate system correspond to the horizontal and vertical coordinates of the captured image, respectively, and the unit is pixel. The display image coordinate system, also known as the Digital Micromirror Device (DMD) coordinate system, refers to the projection picture itself, which can be considered as the coordinate system on the spatial light modulator, and the unit is pixel. The screen coordinate system refers to the coordinate system fixed on the screen, i.e., the three-dimensional coordinate system established based on the plane on which the screen is located, and the unit can be length units such as centimeters or millimeters. The embodiment does not limit this. Based on this, the projection image projected by the projection device onto the screen is obtained by image recognition, and the actual position and the standard position of the projection device in the screen coordinate system are calculated based on the known preset conversion relationship between the camera coordinate system, the display image coordinate system, and the screen coordinate system. The projection device is then adjusted to the standard position by manual or automatic means.

[0044] Specifically, referring to Figure 4 The first screen coordinate system can be established based on the horizontal direction of the screen. Specifically, the horizontal direction of the screen is obtained as the x-axis direction of the first screen coordinate system, the direction perpendicular to the horizontal direction of the screen is obtained as the y-axis direction of the first screen coordinate system, and the direction perpendicular to the plane on which the screen is located is obtained as the z-axis direction of the first screen coordinate system. The origin of the first screen coordinate system can be the lower left corner of the screen or other points on the screen, and the embodiment does not limit this.

[0045] Optionally, still referring to Figure 4The second screen coordinate system is determined based on a positioning image projected onto the screen by the projection device. Specifically, the positioning image is obtained, which is an irregular quadrilateral image on the screen formed by projecting a square image on a display plane onto the screen; a straight line where a connecting line of two intersection points of two groups of opposite side extension lines of the irregular quadrilateral image is located is obtained as an infinite line; a direction parallel to the infinite line is taken as an X-axis, a direction perpendicular to the X-axis on a plane where the screen is located is taken as a Y-axis, and a direction perpendicular to the plane where the screen is located is taken as a Z-axis direction, so as to establish the second screen coordinate system.

[0046] Step S202: An included angle between a horizontal axis of the first screen coordinate system and a horizontal axis of the second screen coordinate system is obtained as a horizontal axis included angle.

[0047] Referring to Figure 4 The included angle between the X-axis of the first screen coordinate system and the X-axis of the second screen coordinate system is obtained as the horizontal axis included angle.

[0048] Step S203: Actual position information of the projection device in the first screen coordinate system is obtained based on the horizontal axis included angle, and the actual position information includes actual coordinate information and / or actual angle information.

[0049] Step S204: Standard position information of the projection device in the first screen coordinate system is obtained, and the standard position information includes standard coordinate information and / or standard angle information.

[0050] Step S205: Projection adjustment parameters are determined according to the actual position information and the standard position information.

[0051] It can be understood that in actual projection applications, due to inaccurate position and angle of the projection device or projection offset of the projection device itself, the projected image of the projection device may be offset, for example, the projected image is not completely displayed on the screen or the projected image is not displayed at the center of the screen, thereby resulting in poor projection effect. Therefore, the first screen coordinate system and the second screen coordinate system can be established, the actual position information of the projection device in the first screen coordinate system is obtained according to the horizontal axis included angle γ3, the standard position information of the projection device in the first screen coordinate system is obtained, and then the projection adjustment parameters of the projection device are determined according to the actual position information and the standard position information, so as to adjust the projection device according to the projection adjustment parameters, so that the projected image of the projection device is located at the center of the screen and the projection effect is ensured.

[0052] In some embodiments, the projection adjustment parameter can include coordinate adjustment parameters and angle adjustment parameters, the actual position information can include actual coordinate information and actual angle information, and the standard coordinate information can include standard coordinate information and standard angle information. The coordinate adjustment parameters of the projection device are determined based on the actual coordinate information and the standard coordinate information, the angle adjustment parameters of the projection device are determined based on the actual angle information and the standard angle information, and the coordinate adjustment parameters and the angle adjustment parameters are obtained as the projection adjustment parameters.

[0053] Optionally, the coordinate adjustment parameters can include adjustment parameters in three movement directions (such as x-axis direction, y-axis direction, and z-axis direction in the first screen coordinate system). After obtaining the standard coordinate information and the actual coordinate information of the projection device in the first screen coordinate system, the coordinate adjustment parameters can be determined according to the coordinate values of the x-axis direction, the y-axis direction, and the z-axis direction in the standard coordinate information and the actual coordinate information. For example, the standard coordinate information is (10, 15, 20), and the actual coordinate information is (5, 10, 22). The adjustment parameter in the x-axis direction is +5, which indicates that the projection device is moved by 5 units (such as centimeters, millimeters, etc.) in the positive direction of the x-axis. The adjustment parameter in the y-axis direction is +5, which indicates that the projection device is moved by 5 units in the positive direction of the y-axis. The adjustment parameter in the z-axis direction is -2, which indicates that the projection device is moved by 5 units in the negative direction of the z-axis.

[0054] Optionally, referring to Figure 5 , the angle adjustment parameters can include a heading angle β (an angle of rotation around the z-axis), a roll angle γ1 (an angle of rotation around the y-axis), and a pitch angle α (an angle of rotation around the x-axis). The angle adjustment parameters of the projection device are determined based on the actual angle information and the standard angle information. The angle information of the x-axis, the y-axis, and the z-axis in the first screen coordinate system can be used as the standard angle information. Based on this, the actual angle information obtained can be used as the angle adjustment parameters of the projection device. For example, if the actual angle information of the projection device includes a pitch angle α that rotates clockwise by 10 degrees around the x-axis, a heading angle β that rotates clockwise by 20 degrees around the z-axis, and a roll angle γ1 that rotates clockwise by 15 degrees around the y-axis. At this time, the projection direction of the projection device can be adjusted according to the three degrees of freedom in the actual angle information. The adjustable device is controlled to rotate clockwise by 10 degrees around the x-axis, rotate clockwise by 20 degrees around the z-axis, and rotate clockwise by 15 degrees around the y-axis. The projection direction of the projection device is adjusted to the standard projection direction, so that the picture projected by the projection device is displayed completely and without distortion in the center of the screen.

[0055] In some embodiments, the projection adjustment parameter can include both the coordinate adjustment parameter and the angle adjustment parameter, and correspondingly, the actual position information can include both the actual coordinate information and the actual angle information, and the standard coordinate information can include both the standard coordinate information and the standard angle information. The coordinate adjustment parameter and the angle adjustment parameter of the projection device are determined based on the actual coordinate information, the actual angle information, the standard coordinate information and the standard angle information; and the coordinate adjustment parameter and the angle adjustment parameter are obtained as the projection adjustment parameter.

[0056] In some other embodiments, the projection adjustment parameter can include only the coordinate adjustment parameter, and correspondingly, the actual position information can include only the actual coordinate information, and the standard coordinate information can include only the standard coordinate information. The coordinate adjustment parameter of the projection device is determined based on the actual coordinate information and the standard coordinate information; and the coordinate adjustment parameter is obtained as the projection adjustment parameter.

[0057] In some other embodiments, the projection adjustment parameter can include only the angle adjustment parameter, and correspondingly, the actual position information can include only the actual angle information, and the standard coordinate information can include only the standard angle information. The angle adjustment parameter of the projection device is determined based on the actual angle information and the standard angle information; and the angle adjustment parameter is obtained as the projection adjustment parameter.

[0058] In the present embodiment, after the coordinate adjustment parameter and the angle adjustment parameter are obtained, the projection position of the projection device can be adjusted according to the coordinate adjustment parameter, and / or the projection direction of the projection device can be adjusted according to the angle adjustment parameter. Understandably, the six degrees of freedom (three position degrees of freedom and three angle degrees of freedom) of the projection device are adjusted so that the projection device meets the preset projection requirement in both the position and the projection direction. The meeting of the preset projection requirement can be understood as that the picture projected by the projection device is displayed completely and without distortion on the screen.

[0059] Optionally, the projection device can be fixed on the adjustable device, and the position and the direction of the adjustable device are adjusted to achieve the adjustment of at least one of the projection position and the projection direction of the projection device, i.e., only the projection position of the projection device can be adjusted, only the projection direction of the projection device can be adjusted, or both the projection position and the projection direction of the projection device can be adjusted. The present embodiment does not limit this.

[0060] In some embodiments, when the adjustable device is an automatic six-axis adjustment stand or an automatic mechanical arm or other automatic adjustable device, the automatic adjustment of the projection position and the projection direction of the projection device can be achieved. Specifically, after the coordinate adjustment parameter and the angle adjustment parameter are determined, the coordinate adjustment parameter and the angle adjustment parameter can be sent to the automatic adjustable device, and the automatic adjustable device can adjust at least one of the projection position and the projection direction of the projection device according to the coordinate adjustment parameter and the angle adjustment parameter, so that the picture projected by the projection device is displayed completely and without distortion in the center of the screen.

[0061] In some embodiments, when the adjustable device is a manual adjustable device (e.g., a manual adjustment stand or a manual adjustment foot), the projection position and the projection direction of the projection device can be manually adjusted. After the coordinate adjustment parameter and the angle adjustment parameter for the projection device are obtained, a prompt message can be generated according to the coordinate adjustment parameter and the angle adjustment parameter, such as adjusting the projection device to move 5 cm in the positive direction of the x-axis and to rotate 10 degrees counterclockwise around the x-axis. The adjustment parameter and the prompt message can be projected onto the screen to prompt the user to adjust at least one of the projection position and the projection direction of the projection device according to the prompt message, so that the picture projected by the projection device is displayed completely and without distortion in the center of the screen.

[0062] In some embodiments, the adjustable device can include both an automatic adjustable device and a manual adjustable device. In this case, the projection position and the projection direction of the projection device can be semi-automatically adjusted. Specifically, the automatic adjustable device can be automatically adjusted according to the coordinate adjustment parameter and the angle adjustment parameter, so that the projection direction of the projection device is automatically adjusted. Meanwhile, the user can manually adjust the manual adjustable device according to the prompt message generated according to the coordinate adjustment parameter and the angle adjustment parameter, so that the projection position of the projection device is manually adjusted. Alternatively, the projection position of the projection device can be automatically adjusted, and the projection direction of the projection device can be manually adjusted by the user. This embodiment is not limited in this regard.

[0063] In this embodiment, the coordinate adjustment parameter and the angle adjustment parameter are calculated, and the projection position and the projection direction of the projection device are adjusted according to the coordinate adjustment parameter and the angle adjustment parameter, so that the projection device can be more accurately adjusted to the standard position. As a result, the picture projected by the projection device can be displayed completely and without distortion on the screen. The user does not need to gradually adjust the projection device by observing the alignment of the projected picture and the screen, which reduces the time-consuming of manually adjusting the projection device by the user and improves the user experience. In addition, the projection device can be fixed on the adjustable device, and different adjustment devices can provide automatic, manual, and semi-automatic adjustment of the projection device, which better meets the adjustment requirements of the projection device in different application scenarios.

[0064] Please refer to Figure 6 , Figure 6 A flowchart of a projection calibration method provided by an embodiment of the present application is shown. The projection calibration method provided by the embodiment of the present application will be described in detail below. Figure 6 The projection calibration method provided by the embodiment of the present application can include the following steps:

[0065] Step S301: establishing a first screen coordinate system and a second screen coordinate system, the first screen coordinate system is established in the horizontal direction of the screen as the horizontal axis direction, and the second screen coordinate system is determined based on the positioning image projected by the projection device onto the screen.

[0066] Step S302: obtaining the included angle between the horizontal axis of the first screen coordinate system and the horizontal axis of the second screen coordinate system as the horizontal axis included angle.

[0067] In the embodiment, the specific implementation of steps S301 to S302 can refer to the content in the foregoing embodiments, which will not be described here.

[0068] Step S303: obtaining the standard coordinate information of the projection device in the first screen coordinate system.

[0069] Please refer to Figure 7 In some embodiments, step S303 can include the following steps:

[0070] Step S3031: obtaining the horizontal offset ratio and the vertical offset ratio of the projection device.

[0071] Please refer to Figure 8 In some embodiments, step S3031 can include the following steps:

[0072] Step S3031-1: obtaining the pixel coordinates of the center point of the display plane in the display image coordinate system as the center point pixel coordinates, the display plane is an imaginary plane parallel to the infinity plane, the infinity plane is a plane passing through the projection device and perpendicular to the principal axis of the projection device, and the display image coordinate system is a coordinate system on the spatial light modulator.

[0073] Step S3031-2: obtaining the pixel coordinates of the offset origin in the display image coordinate system as the offset origin pixel coordinates, the offset origin is the intersection of the principal axis of the projection device and the display plane;

[0074] In the embodiment, the pixel coordinates of the intersection of the principal axis of the projection device and the display plane (i.e. the DMD plane) in the display image coordinate system, i.e. the offset origin pixel coordinates, can be obtained first, such as (3000, 500), and the pixel coordinates of the center point of the display plane in the display image coordinate system are obtained as the center point pixel coordinates, please refer to Figure 9 Point B1 is the offset origin. Wherein, the infinity plane is a plane passing through the projection device and perpendicular to the principal axis of the projection device, the DMD plane is an imaginary plane parallel to the infinity plane, and the positional relationship between the infinity plane and the DMD plane can be referred to Figure 10As shown, the display image coordinate system is a coordinate system on the spatial light modulator, the x-axis and the y-axis of the display image coordinate system are in the same plane as the DMD plane, the display image coordinate system can take the point at the lower left corner of the DMD plane as the origin, of course, other points in the DMD plane can also be taken as the origin, and the present embodiment does not limit this.

[0075] Step S3031-3: According to the horizontal coordinate of the offset origin pixel coordinate and the horizontal coordinate of the center point pixel coordinate, the offset proportion of the offset origin relative to the center point in the direction of the horizontal axis of the display image coordinate system is obtained as the horizontal offset proportion.

[0076] Specifically, the difference between the horizontal coordinate of the center point pixel coordinate and the horizontal coordinate of the offset origin pixel coordinate is obtained, and the ratio of the difference to the horizontal coordinate of the center point pixel coordinate is obtained as the horizontal offset proportion.

[0077] For example, referring to Figure 11 , point B1 is the offset origin on the DMD plane, the pixel coordinate of the offset origin B1 is (3000, 500), point P1 is the center point on the DMD plane, and the pixel coordinate of the center point P1 is (1920, 1080); therefore, the horizontal coordinate of the offset origin pixel coordinate is 3000, the horizontal coordinate of the center point pixel coordinate is 1920, and the horizontal offset proportion is (1920-3000) ÷ 1920 = 56.25%.

[0078] Step S3031-4: According to the vertical coordinate of the offset origin pixel coordinate and the vertical coordinate of the center point pixel coordinate, the offset proportion of the offset origin relative to the center point in the direction of the vertical axis of the display image coordinate system is obtained as the vertical offset proportion.

[0079] Specifically, the difference between the vertical coordinate of the center point pixel coordinate and the vertical coordinate of the offset origin pixel coordinate is obtained, and the ratio of the difference to the vertical coordinate of the center point pixel coordinate is obtained as the second offset proportion. For example, still referring to Figure 11 , the vertical coordinate of the offset origin pixel coordinate is 500, the horizontal coordinate of the second pixel coordinate is 1080, and offset-y = (1080-500) ÷ 1080 = 53.7%.

[0080] Step S3032: The coordinate information of the center point of the screen in the first screen coordinate system is obtained as the center coordinate information.

[0081] In the embodiment, taking the lower left corner of the screen as the origin of the first screen coordinate system as an example, the coordinate information of the center point of the screen in the first screen coordinate system can be obtained as the center coordinate information according to the size of the screen. Specifically, half of the horizontal size of the screen is obtained as the horizontal coordinate of the center coordinate information, and half of the vertical size of the screen is obtained as the vertical coordinate of the center coordinate information.

[0082] Step S3033: obtaining the standard coordinate information of the projection device in the first screen coordinate based on the horizontal offset ratio, the vertical offset ratio, and the center coordinate information.

[0083] Please refer to Figure 12 In some embodiments, the standard coordinate information includes a horizontal coordinate value, a vertical coordinate value, and a vertical coordinate value, and step S3033 can include the following steps:

[0084] Step S3033-1: obtaining the horizontal coordinate value of the standard coordinate information according to the horizontal offset ratio and the horizontal coordinate of the center coordinate information.

[0085] In the embodiment, since the intersection of the principal axis of the projection device and the DMD plane (i.e. the offset degree of the offset origin B1 on the DMD plane relative to the center point of the DMD plane) is the same as the offset degree of the intersection of the principal axis of the projection device and the screen (i.e. the intersection point B2 of the principal ray on the screen) relative to the center point of the screen, the offset degree obtained on the DMD plane and the coordinate information of the center point of the screen can be combined to calculate the standard coordinate information of the offset origin on the screen in the first screen coordinate system.

[0086] Specifically, the product of the horizontal offset ratio and the horizontal coordinate of the center coordinate information is obtained as the horizontal offset distance, and the difference between the horizontal coordinate of the center coordinate information and the horizontal offset distance is obtained as the horizontal coordinate value of the standard coordinate information.

[0087] Step S3033-2: obtaining the vertical coordinate value of the standard coordinate information according to the vertical offset ratio and the vertical coordinate of the center coordinate information.

[0088] Specifically, the product of the vertical offset ratio and the vertical coordinate of the center coordinate information is obtained as the vertical offset distance, and the difference between the vertical coordinate of the center coordinate information and the vertical offset distance is obtained as the vertical coordinate value of the standard coordinate information.

[0089] Step S3033-3: obtaining the product of the width of the screen and the projection ratio of the projection device as the vertical coordinate value of the standard coordinate information.

[0090] In the embodiment, the width of the screen is the horizontal size of the screen.

[0091] Optionally, referring to Figure 13 , the horizontal size of the screen is L, the vertical size of the screen is H, the projection ratio is T, the point P is the center point of the screen, the point N is the standard position of the projection device, and the coordinate information of the point N is the standard coordinate information (X0, Y0, Z0). X0, Y0, and Z0 can be calculated by the following formulas:

[0092] X0 = 0.5L - 0.5L × horizontal offset ratio

[0093] Y0 = 0.5H - 0.5H × vertical offset ratio

[0094] Z0 = L × T

[0095] Step S304: based on the horizontal axis included angle, obtaining the actual coordinate information of the projection device in the first screen coordinate system.

[0096] Referring to Figure 14 , in some embodiments, step S304 can include the following steps:

[0097] Step S3041: obtaining the pixel coordinate of the offset origin in the display image coordinate system as the offset origin pixel coordinate;

[0098] In this embodiment, the specific implementation of step S3041 can refer to the content in the foregoing embodiments, which will not be described here.

[0099] Step S3042: obtaining the intersection of the main optical axis of the projection device and the screen as the main light ray intersection point;

[0100] Step S3043: according to the preset conversion relationship between the display image coordinate system and the first screen coordinate system and the offset origin pixel coordinate, determining the coordinate system of the main light ray intersection point in the first screen coordinate system as the target coordinate information;

[0101] Still referring to Figure 9 , the intersection B2 of the main optical axis of the projection device and the screen is obtained as the main light ray intersection point. According to the preset conversion relationship between the display image coordinate system and the first screen coordinate system, the offset origin pixel coordinate of the offset origin B1 is converted into the coordinate information of the main light ray intersection point B2 in the first screen coordinate system as the target coordinate information.

[0102] Step S3044: based on the horizontal axis included angle and the target coordinate information, obtaining the actual coordinate information of the projection device in the first screen coordinate system.

[0103] Referring to Figure 15 , in some embodiments, step S3044 can include the following steps:

[0104] Step S3044-1: Obtain the included angle between the infinite plane and the plane where the screen is located as the plane included angle.

[0105] Still referring to Figure 9 According to the trigonometric relationship, DE = OB1*tan ∠1 + OB1*tan ∠2, It can be obtained that Since the line segment OE is parallel to the screen, it can be determined that ∠3 and γ2 are equal and are homological angles, Based on this, the length formula of the line segment DE can be further expressed as As can be seen, if the length of the line segment DE and the length of the line segment OB1 are obtained, the angle size of the plane included angle γ2 can be calculated.

[0106] Please refer to Figure 16 In some embodiments, step S3044-1 can include the following steps:

[0107] Step S3044-1-1: Obtain the product of the projection ratio and the lateral resolution of the projection device as a second vertical distance, the second vertical distance representing the vertical distance from the projection device to the display plane.

[0108] Still referring to Figure 9 The vertical distance from the projection device to the DMD plane is the line segment OB1, therefore, the second vertical distance is the length of the line segment OB1, and the projection ratio T and the lateral resolution R of the projection device are both known values, therefore, the second vertical distance OB1 = R x T.

[0109] Step S3044-1-2: Obtain the distance from the target point to the auxiliary line on the display plane as a second target distance, the distance from the target point to the infinite line being equal to the distance from the projection device to the infinite line.

[0110] Still referring to Figure 9 Point D is the target point mentioned above, point G is the transverse section point of the infinite line mentioned above, and point E is the transverse section point of the auxiliary line on the display plane mentioned above. The distance from the target point D to the auxiliary line on the display plane is the length of the line segment DE, and the electronic device can automatically obtain the length of the second target distance DE.

[0111] Step S3044-1-3: Determine the plane included angle based on the second vertical distance and the second target distance.

[0112] Based on this, after obtaining the second vertical distance OB1 and the second target distance DE, according to the aforementioned obtained formula The angle size of γ2 can be calculated, that is, the angle size of the plane included angle γ2 is determined.

[0113] Step S3044-2: Obtain the vertical distance from the projection device to the screen as a first vertical distance.

[0114] Please refer to Figure 17 , point A is the vertical mapping point of the projection device O on the screen, and the first vertical distance from the projection device to the screen is the length of the line segment OA. According to the trigonometric relationship, the first vertical distance OA = OG sin γ2, where γ2 is the aforementioned obtained plane angle, and the line segment OG is the vertical distance from the projection device to the infinite line on the infinite plane.

[0115] Wherein, the length of the line segment OG can be obtained by obtaining the intersection point of the diagonal line of the virtual positioning image and the infinite line as the 45-degree intersection point, the virtual positioning image being a virtual trapezoidal image mapped on the screen from a virtual square image on the display plane; obtaining the vertical mapping point of the projection device on the infinite line as the 0-degree intersection point; and obtaining the distance between the 45-degree intersection point and the 0-degree intersection point as the length of the line segment OG. Please refer to Figure 18 , the two diagonal lines of the virtual positioning image are compared with points I and K respectively, points I and K being the two aforementioned 45-degree intersection points, and point G being the aforementioned 0-degree intersection point, the 0-degree intersection point being the intersection point of all vertical edges of the virtual positioning image. Since the virtual positioning image is obtained by mapping a virtual square image, the diagonal lines of the square are perpendicular to each other, therefore, the two diagonal lines of the virtual positioning image are also perpendicular to each other and equal, and further, it can be determined that the line segments OI and OK are also perpendicular and equal, and further, it can be determined that the triangle OIK is an isosceles right triangle, and OG is the perpendicular bisector of the isosceles right triangle, therefore, OG = IG = GK. Therefore, the distance (IG or GK) between the 45-degree intersection point (point I or point K) and the 0-degree intersection point (point G) can be obtained by the distance formula between two points, that is, the length of the line segment OG is obtained.

[0116] Step S3044-3: According to the first vertical distance and the plane angle, obtain the distance between the main light intersection point and the vertical mapping point of the projection device on the screen as a first target distance.

[0117] Further, still referring to Figure 17 , after obtaining the first vertical distance OA and the plane angle γ2, the distance between the vertical mapping point A and the main light intersection point B2 can be obtained according to the trigonometric relationship, AB2 = OA tan γ2, that is, the first target distance AB2 is obtained.

[0118] Step S3044-4: Obtain actual coordinate information of the projection device in the first screen coordinate system based on the target coordinate information, the first target distance, the horizontal axis included angle and the first vertical distance.

[0119] Referring to Figure 19 After obtaining the point B2 target coordinate information, the first target distance AB2 and the horizontal axis included angle γ3, the coordinate value of the point A in the x-axis direction and the coordinate value of the point A in the y-axis direction can be determined according to the trigonometric function relationship in the figure. The coordinate value of the point A in the x-axis direction is obtained as the horizontal coordinate value in the actual coordinate information, the coordinate value of the point A in the y-axis direction is obtained as the vertical coordinate value in the actual coordinate information, and the vertical distance of the projection device to the screen is obtained as the vertical coordinate value in the actual coordinate information.

[0120] Specifically, the actual coordinate information is represented as (X1, Y1, Z1), and the coordinate information of the point B2 is represented as (X3, Y3, Z3), wherein the horizontal coordinate value X1, the vertical coordinate value Y1 and the vertical coordinate value Z1 can be calculated at the same time by:

[0121] X1 = X3 + AB2 sin γ3

[0122] Y1 = Y3 - AB2 sin γ3

[0123] Z1 = OG sin γ2

[0124] Step S305: Obtain the actual angle information of the projection device in the first screen coordinate system based on the horizontal axis included angle.

[0125] Referring to Figure 20 In some embodiments, step S305 can include the following steps:

[0126] Step S3051: Obtain the horizontal roll angle of the projection device.

[0127] In this embodiment, the parameterized definition of the horizontal roll angle can be understood as that a point with a horizontal offset ratio and a vertical offset ratio of 0 in the DMD plane displays a directly upward arrow, and the included angle between the display direction of the arrow on the screen and the y-axis of the first screen coordinate system is taken as the horizontal roll angle. Based on this, the electronic device can obtain the arrow displayed by the point with a horizontal offset ratio and a vertical offset ratio of 0 in the DMD plane, and obtain the arrow display direction of the arrow on the screen according to the preset conversion relationship between the DMD coordinate system and the screen coordinate system, and obtain the included angle between the arrow display direction and the y-axis of the first screen coordinate system as the horizontal roll angle.

[0128] Step S3052: determining the heading angle and the pitch angle of the projection device based on the horizontal axis included angle and the plane included angle.

[0129] Please refer to Figure 21 In some embodiments, step S3052 can include the following contents:

[0130] obtaining the vertical mapping point of the horizontal axis of the main light ray intersection point B2 on the first screen coordinate system as the horizontal axis mapping point S, and obtaining the vertical mapping point of the main light ray intersection point B2 on the vertical axis of the first screen coordinate system as the vertical axis mapping point R, determining a plurality of geometric regions based on the projection device O, the vertical mapping point A of the projection device on the screen, the main light ray intersection point B2, the horizontal axis mapping point S and the vertical axis mapping point R, and determining the heading angle and the pitch angle of the projection device based on the horizontal axis included angle, the plane included angle and the plurality of geometric regions.

[0131] Specifically, the included angle between line segment OR and line segment OA is the pitch angle α, and the included angle between line segment OA and line segment OS is the heading angle β. The degrees of the pitch angle α and the heading angle β can be obtained based on the trigonometric relationship in Figure 21 In order to facilitate calculation, it can be assumed that the length of line segment OA is 1, in right triangle RAO, ∠OAR is a right angle, and the length of line segment AR is the product of the length of line segment OA and the tangent value of the pitch angle α, the formula for solving the length of AR can be expressed as AR = OA tan α = tan α, since the length of line segment B2S is equal to the length of line segment AR, the length of line segment B2S can be obtained as tan α; in right triangle OAS, ∠OAS is a right angle, and the length of line segment AS is the product of the length of line segment OA and the tangent value of the heading angle β, the formula for solving the length of AS can be expressed as AS = OA tan β = tan β; in right triangle OAB2, ∠OAB2 is a right angle, and the length of line segment AB2 is the product of the length of line segment OA and the tangent value of the included angle ∠4, the formula for solving the length of line segment AB2 can be expressed as AB2 = OA tan ∠4 = tan ∠4, in the foregoing embodiment, the included angle between line segment OA and line segment OB2 is the plane included angle γ2, so AB2 = tan γ2.

[0132] Further, in right triangle ASB2, the product of the length of line segment AB2 and the sine value of the included angle ∠5 is obtained as the length of line segment B2S, that is, tan α = tan γ2 sin ∠5, since the included angle ∠5 is the horizontal axis included angle, tan α = tan γ2 sin θ. Therefore, The product of the length of line segment AB2 and the cosine value of the included angle ∠5 is obtained as the length of line segment AS, that is, Thus, in the case that the first included angle γ3 and the second included angle γ2 have been acquired, the angles of the pitch angle α and the heading angle β can be acquired.

[0133] Step S3053: Acquire the roll angle, the heading angle and the pitch angle as the actual angle information of the projection device.

[0134] Step S306: Determine the projection adjustment parameter according to the actual coordinate information, the standard coordinate information, the actual angle information and the standard angle information.

[0135] Step S307: Adjust at least one of the projection position and the projection direction of the projection device according to the projection adjustment parameter, so that the picture projected by the projection device is displayed completely and without distortion on the screen.

[0136] In the embodiment, the specific implementation of steps S306 to S307 can refer to the content in the foregoing embodiments, which will not be described here again.

[0137] In the embodiment, by calculating the coordinate adjustment parameter and the angle adjustment parameter, and adjusting the projection position and the projection direction of the projection device according to the coordinate adjustment parameter and the angle adjustment parameter, the projection device can be adjusted to the standard position more accurately, so that the picture projected by the projection device can be displayed more completely and without distortion on the screen, and the user does not need to adjust the projection device step by step by observing the alignment degree of the projected picture and the screen, thereby reducing the time-consuming of manually adjusting the projection device by the user and improving the user experience. In addition, the projection device can be fixed on the adjustable device, and according to the difference of the adjustable device, automatic, manual and semi-automatic adjustment modes of the projection device are provided, so as to better meet the adjustment requirements of the projection device in different application scenarios.

[0138] Please refer to Figure 22 A structure block diagram of a projection calibration device 400 provided by an embodiment of the present application is shown in the figure. The device 400 can include a coordinate system establishing module 410, an included angle acquiring module 420, an actual position acquiring module 430, a standard position acquiring module 440, an adjustment parameter determining module 450 and an adjustment module 460.

[0139] The coordinate system establishing module 410 is configured to establish a first screen coordinate system and a second screen coordinate system. The first screen coordinate system is established with the transverse direction of the screen as the transverse axis direction, and the second screen coordinate system is determined based on the positioning image projected by the projection device onto the screen.

[0140] The included angle acquiring module 420 is configured to acquire the included angle between the transverse axis of the first screen coordinate system and the transverse axis of the second screen coordinate system as the transverse axis included angle.

[0141] The actual position obtaining module 430 is configured to obtain actual position information of the projection device in the first screen coordinate system based on the horizontal angle, the actual position information including actual coordinate information and / or actual angle information.

[0142] The standard position obtaining module 440 is configured to obtain standard position information of the projection device in the first screen coordinate system, the standard position information including standard coordinate information and / or standard angle information.

[0143] The adjustment parameter determining module 450 is configured to determine a projection adjustment parameter according to the actual position information and the standard position information.

[0144] The adjustment module 460 is configured to adjust at least one of a projection position and a projection direction of the projection device according to the projection adjustment parameter, so that a picture projected by the projection device is displayed completely and without distortion on the screen.

[0145] In some embodiments, the coordinate system establishing module 410 can be specifically configured to: obtain a positioning image on the screen, the positioning image being an irregular quadrilateral image projected by a square image on a display plane on the screen; obtain a straight line where a connecting line of two intersection points of two sets of opposite side extension lines of the irregular quadrilateral image is located as an infinite line; and establish the second screen coordinate system with a direction parallel to the infinite line as an X axis and a direction perpendicular to the X axis on a plane where the screen is located as a Y axis.

[0146] In some embodiments, the standard position obtaining module 440 can include an offset ratio obtaining unit, a center coordinate obtaining unit and a standard coordinate obtaining unit. The offset ratio obtaining unit can be configured to obtain a horizontal offset ratio and a vertical offset ratio of the projection device. The center coordinate obtaining unit can be configured to obtain coordinate information of a center point of the screen in the first screen coordinate system as center coordinate information. The standard coordinate obtaining unit can be configured to obtain the standard coordinate information of the projection device in the first screen coordinate system based on the horizontal offset ratio, the vertical offset ratio and the center coordinate information.

[0147] In this mode, the offset ratio obtaining unit can be specifically configured to: obtain a pixel coordinate of a center point of a display plane in a display image coordinate system as a center point pixel coordinate, the display plane being an imaginary plane parallel to an infinite plane, the infinite plane being a plane passing through the projection device and being perpendicular to a principal optical axis of the projection device, the display image coordinate system being a coordinate system on a spatial light modulator; obtain a pixel coordinate of an offset origin in the display image coordinate system as an offset origin pixel coordinate, the offset origin being an intersection point of the principal optical axis of the projection device and the display plane; and obtain an offset ratio of the offset origin relative to the center point in a direction of a horizontal axis of the display image coordinate system as a horizontal offset ratio according to a horizontal coordinate of the offset origin pixel coordinate and a horizontal coordinate of the center point pixel coordinate; and obtain an offset ratio of the offset origin relative to the center point in a direction of a vertical axis of the display image coordinate system as a vertical offset ratio according to a vertical coordinate of the offset origin pixel coordinate and a vertical coordinate of the center point pixel coordinate.

[0148] In this mode, the standard coordinate information includes a horizontal coordinate value, a vertical coordinate value and a vertical coordinate value, and the standard coordinate obtaining unit can be specifically configured to: obtain the horizontal coordinate value of the standard coordinate information according to the horizontal offset ratio and the horizontal coordinate of the center coordinate information; obtain the vertical coordinate value of the standard coordinate information according to the vertical offset ratio and the vertical coordinate of the center coordinate information; and obtain a product of the width of the screen and the projection ratio of the projection device as the vertical coordinate value of the standard coordinate information.

[0149] In some embodiments, the actual position obtaining module 430 can include an offset origin coordinate obtaining unit, a principal ray intersection point obtaining unit, a target coordinate obtaining unit and an actual coordinate obtaining unit. The offset origin coordinate obtaining unit can be configured to obtain a pixel coordinate of an offset origin in a display image coordinate system as an offset origin pixel coordinate. The principal ray intersection point obtaining unit can be configured to obtain an intersection point of a principal optical axis of the projection device and the screen as a principal ray intersection point. The target coordinate obtaining unit can be configured to determine a coordinate system of the principal ray intersection point in the first screen coordinate system as target coordinate information according to a preset conversion relationship between the display image coordinate system and the first screen coordinate system and the offset origin pixel coordinate. The actual coordinate obtaining unit can be configured to obtain actual coordinate information of the projection device in the first screen coordinate system based on the horizontal axis angle and the target coordinate information.

[0150] In some embodiments, the actual coordinate acquisition unit can be specifically configured to: acquire an angle between the infinite plane and the plane on which the screen is located as a plane angle; acquire a vertical distance from the projection device to the screen as a first vertical distance; acquire a distance between the main ray intersection point and a vertical mapping point of the projection device on the screen as a first target distance according to the first vertical distance and the plane angle; and acquire actual coordinate information of the projection device in the first screen coordinate system based on the target coordinate information, the first target distance, the horizontal axis angle, and the first vertical distance.

[0151] In this way, the actual coordinate acquisition unit can also be configured to: acquire a product of a projection ratio of the projection device and a horizontal resolution as a second vertical distance, the second vertical distance representing a vertical distance from the projection device to the display plane; acquire a distance from a target point to an auxiliary line on the display plane as a second target distance, the distance from the target point to the infinite line being equal to the distance from the projection device to the infinite line; and determine the plane angle based on the second vertical distance and the second target distance.

[0152] In some embodiments, the actual position acquisition module 430 can include an actual angle acquisition unit. The actual angle acquisition unit can be specifically configured to: acquire a horizontal roll angle of the projection device; determine a heading angle and a pitch angle of the projection device based on the horizontal axis angle and the plane angle; and acquire the horizontal roll angle, the heading angle, and the pitch angle as the actual angle information of the projection device.

[0153] In this way, the actual angle acquisition unit can also be specifically configured to: acquire a direction in which an arrow on the display plane is mapped to an arrow on the screen as an arrow display direction according to a preset conversion relationship between the display image coordinate system and the first screen coordinate system; and acquire an angle between the arrow display direction and a Y-axis of the first screen coordinate system as the horizontal roll angle of the projection device.

[0154] In this way, the actual angle acquisition unit can also be specifically configured to: acquire a vertical mapping point of a horizontal axis of the main ray intersection point on the first screen coordinate system as a horizontal axis mapping point; acquire a vertical mapping point of a vertical axis of the main ray intersection point on the first screen coordinate system as a vertical axis mapping point; determine a plurality of geometric regions based on the projection device, the vertical mapping point of the projection device on the screen, the main ray intersection point, the horizontal axis mapping point, and the vertical axis mapping point; and determine the heading angle and the pitch angle of the projection device based on the horizontal axis angle, the plane angle, and the plurality of geometric regions.

[0155] In some embodiments, the adjustment parameter determination module 450 can be specifically configured to: determine a coordinate adjustment parameter of the projection device based on the actual coordinate information and the standard coordinate information; determine an angle adjustment parameter of the projection device based on the actual angle information and the standard angle information; and obtain the coordinate adjustment parameter and the angle adjustment parameter as the projection adjustment parameter.

[0156] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described device and module can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0157] In several embodiments provided in the present application, the coupling between the modules can be electrical, mechanical or other forms of coupling.

[0158] In addition, each functional module in each embodiment of the present application can be integrated into one processing module, or each module can exist physically independently, or two or more modules can be integrated into one module. The integrated module can be realized in the form of hardware or in the form of a software functional module.

[0159] To sum up, in the scheme provided in the embodiments of the present application, by calculating the coordinate adjustment parameter and the angle adjustment parameter, and adjusting the projection position and the projection direction of the projection device according to the coordinate adjustment parameter and the angle adjustment parameter, the projection device can be more accurately adjusted to the standard position, so that the picture projected by the projection device can be displayed more completely and without distortion on the screen, and the user does not need to observe the alignment degree of the projected picture and the screen to gradually adjust the projection device, which reduces the time-consuming of the user manually adjusting the projection device and improves the user experience; and the projection device can be fixed on the adjustable device, and according to the different adjustment devices, automatic, manual and semi-automatic adjustment modes of the projection device are provided, which better meets the adjustment requirements of the projection device in different application scenarios.

[0160] Next, an electronic device provided in the present application will be described with reference to the drawings.

[0161] Referring to Figure 23 , Figure 23 A structural block diagram of an electronic device 500 provided in an embodiment of the present application is shown, and the projection calibration method provided in the embodiment of the present application can be executed by the electronic device 500. The electronic device 500 can be a projector, a smart phone or a dedicated projection calibration instrument, etc., which can run an application program.

[0162] The electronic device 500 in the embodiments of the present application can include one or more of the following components: a processor 501, a memory 502, and one or more application programs, wherein the one or more application programs can be stored in the memory 502 and configured to be executed by the one or more processors 501, and the one or more programs are configured to perform the methods as described in the foregoing method embodiments.

[0163] The processor 501 can include one or more processing cores. The processor 501 connects various parts within the entire electronic device 500 through various interfaces and lines, performs various functions of the electronic device 500 and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 502, and calling data stored in the memory 502. Optionally, the processor 501 can be implemented in at least one of a hardware form of a digital signal processing (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 501 can integrate a combination of one or several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU is mainly used to process operating systems, user interfaces, and application programs; the GPU is used to be responsible for rendering and drawing display content; and the modem is used to process wireless communication. It can be understood that the above-mentioned modem can also be integrated into the processor 501, and be realized by a separate communication chip.

[0164] The memory 502 can include a random access memory (RAM) and can also include a read-only memory (ROM). The memory 502 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 502 can include a program storage area and a data storage area, wherein the program storage area can store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing each of the following method embodiments, etc. The data storage area can also store data created by the electronic device 500 in use (such as the various corresponding relationships described above) and the like.

[0165] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described devices and modules can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0166] In several embodiments provided in the present application, the coupling or direct coupling or communication connection between the modules shown or discussed can be indirect coupling or communication connection between some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0167] In addition, each functional module in the embodiments of the present application can be integrated in one processing module, or each module can be physically present alone, or two or more modules can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of a software functional module.

[0168] Please refer to Figure 24 which shows a structural block diagram of a computer readable storage medium provided by an embodiment of the present application. The computer readable medium 600 stores program codes, which can be called and executed by a processor to perform the methods described in the above method embodiments.

[0169] The computer readable storage medium 600 can be an electronic memory such as a flash memory, an EEPROM (Electrically Erasable Programmable Read-Only Memory), an EPROM, a hard disk or a ROM. Alternatively, the computer readable storage medium 600 includes a non-transitory computer readable medium. The computer readable storage medium 600 has a storage space for program codes 610 for performing any method steps in the above methods. These program codes can be read from or written into one or more computer program products. The program codes 610 can be compressed in an appropriate form, for example.

[0170] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not drive the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of projecting calibration, characterized by, The method comprises the following steps: establishing a first screen coordinate system and a second screen coordinate system, the first screen coordinate system is established in the horizontal direction of the screen as the horizontal axis direction, and the second screen coordinate system is determined based on a positioning image projected by the projection device onto the screen; obtaining the included angle between the horizontal axis of the first screen coordinate system and the horizontal axis of the second screen coordinate system as a horizontal axis included angle; based on the horizontal axis included angle, obtaining the actual position information of the projection device in the first screen coordinate system, the actual position information comprising actual coordinate information and / or actual angle information; obtaining the standard position information of the projection device in the first screen coordinate system, the standard position information comprising standard coordinate information and / or standard angle information; determining a projection adjustment parameter according to the actual position information and the standard position information; adjusting at least one of the projection position and the projection direction of the projection device according to the projection adjustment parameter, so that the picture projected by the projection device is displayed completely and without distortion on the screen; establishing the second screen coordinate system based on the positioning image projected by the projection device onto the screen, comprising: obtaining a positioning image on the screen, the positioning image being an irregular quadrilateral image projected by a square image on a display plane onto the screen, the display plane being an imaginary plane parallel to an infinite plane, and the infinite plane being a plane passing through the projection device and perpendicular to the principal axis of the projection device; obtaining a straight line where the connecting line of two intersection points of two sets of opposite side extension lines of the irregular quadrilateral image is located as an infinite line; establishing the second screen coordinate system with the direction parallel to the infinite line as the horizontal axis and the direction perpendicular to the horizontal axis on the plane where the screen is located as the vertical axis.

2. The method of claim 1, wherein, obtaining the standard coordinate information of the projection device in the first screen coordinate system, comprising: obtaining the horizontal offset ratio and the vertical offset ratio of the projection device; obtaining the coordinate information of the center point of the screen in the first screen coordinate system as the center coordinate information; based on the horizontal offset ratio, the vertical offset ratio and the center coordinate information, obtaining the standard coordinate information of the projection device in the first screen coordinate system.

3. The method of claim 2, wherein the horizontal offset ratio and the vertical offset ratio of the projection device are obtained by: obtaining the pixel coordinates of the center point of the display plane in the display image coordinate system as the center point pixel coordinates, the display image coordinate system being a coordinate system on the spatial light modulator; obtaining the pixel coordinates of the offset origin in the display image coordinate system as the offset origin pixel coordinates, the offset origin being the intersection of the principal axis of the projection device and the display plane; obtaining the horizontal offset ratio of the offset origin relative to the center point in the direction of the horizontal axis of the display image coordinate system according to the horizontal coordinate of the offset origin pixel coordinates and the horizontal coordinate of the center point pixel coordinates. According to the longitudinal coordinate of the offset origin pixel coordinate and the longitudinal coordinate of the center point pixel coordinate, an offset proportion of the offset origin relative to the center point in a direction in which a longitudinal axis of the display image coordinate system is located is obtained as a longitudinal offset proportion.

4. The method of claim 2, wherein, The standard coordinate information includes a horizontal coordinate value, a longitudinal coordinate value and a vertical coordinate value, and the obtaining of the standard coordinate information of the projection device in the first screen coordinate based on the horizontal offset proportion, the longitudinal offset proportion and the center coordinate information includes: According to the horizontal coordinate of the center coordinate information and the horizontal offset proportion, a horizontal coordinate value of the standard coordinate information is obtained. According to the longitudinal coordinate of the center coordinate information and the longitudinal offset proportion, a longitudinal coordinate value of the standard coordinate information is obtained. A product of the width of the screen and a projection ratio of the projection device is obtained as a vertical coordinate value of the standard coordinate information.

5. The method of claim 1, wherein, The obtaining of the actual coordinate information of the projection device in the first screen coordinate system based on the horizontal axis included angle includes: Obtaining pixel coordinates of an offset origin in a display image coordinate system as offset origin pixel coordinates, the offset origin being an intersection of a main optical axis of the projection device and the display plane, and the display image coordinate system being a coordinate system on a spatial light modulator; Obtaining an intersection of the main optical axis of the projection device and the screen as a main light ray intersection point; According to a preset conversion relationship between the display image coordinate system and the first screen coordinate system and the offset origin pixel coordinates, a coordinate system of the main light ray intersection point in the first screen coordinate system is determined as target coordinate information; The obtaining of the actual coordinate information of the projection device in the first screen coordinate system based on the horizontal axis included angle and the target coordinate information includes:

6. The method of claim 5, wherein, Obtaining an included angle between an infinite plane and a plane on which the screen is located as a plane included angle; Obtaining a vertical distance from the projection device to the screen as a first vertical distance; According to the first vertical distance and the plane included angle, a distance between the main light ray intersection point and a vertical mapping point of the projection device on the screen is obtained as a first target distance; The obtaining of the actual coordinate information of the projection device in the first screen coordinate system based on the target coordinate information, the first target distance, the horizontal axis included angle and the first vertical distance. The obtaining of the plane included angle between the infinite plane and the plane on which the screen is located includes:

7. The method of claim 6, wherein, Obtaining a product of a projection ratio of the projection device and a horizontal resolution as a second vertical distance, the second vertical distance representing a vertical distance from the projection device to the display plane; Obtaining a distance from a target point to an auxiliary line on the display plane as a second target distance, the distance from the target point to an infinite line being equal to a distance from the projection device to the infinite line; The plane included angle is determined based on the second vertical distance and the second target distance. ​ 8. The method of claim 6, wherein, The actual angle information of the projection device in the first screen coordinate system is obtained based on the horizontal-axis included angle, and the actual angle information of the projection device in the first screen coordinate system comprises: A horizontal roll angle of the projection device is obtained; A heading angle and a pitch angle of the projection device are determined based on the horizontal-axis included angle and a plane included angle; The horizontal roll angle, the heading angle and the pitch angle are obtained as the actual angle information of the projection device.

9. The method of claim 8, wherein, The horizontal roll angle of the projection device is obtained, and the horizontal roll angle of the projection device comprises: An arrow display direction is obtained according to a preset conversion relationship between a display image coordinate system and the first screen coordinate system, the arrow display direction being a direction in which an arrow on a display plane of the projection device is mapped to an arrow on the screen, the arrow on the display plane of the projection device being a point display of a directly upward arrow with a horizontal offset ratio and a vertical offset ratio of the arrow on the display plane being 0; A horizontal-axis included angle between the arrow display direction and a Y axis of the first screen coordinate system is obtained as the horizontal roll angle of the projection device.

10. The method of claim 8, wherein, The heading angle and the pitch angle of the projection device are determined based on the horizontal-axis included angle and the plane included angle, and the heading angle and the pitch angle of the projection device are determined based on the horizontal-axis included angle and the plane included angle, and the heading angle and the pitch angle of the projection device comprise: A vertical mapping point of a horizontal axis on which a main light ray intersection point is located on the first screen coordinate system is obtained as a horizontal-axis mapping point; A vertical mapping point of a vertical axis on which the main light ray intersection point is located on the first screen coordinate system is obtained as a vertical-axis mapping point; A plurality of geometric regions are determined based on the projection device, the vertical mapping point of the projection device on the screen, the main light ray intersection point, the horizontal-axis mapping point and the vertical-axis mapping point; The heading angle and the pitch angle of the projection device are determined based on the horizontal-axis included angle, the plane included angle and the plurality of geometric regions.

11. The method according to any one of claims 1 to 10, characterized in that, The projection adjustment parameter is determined according to the actual position information and the standard position information, and the projection adjustment parameter is determined according to the actual position information and the standard position information, and the projection adjustment parameter comprises: A coordinate adjustment parameter of the projection device is determined based on the actual coordinate information and the standard coordinate information; An angle adjustment parameter of the projection device is determined based on the actual angle information and the standard angle information; The coordinate adjustment parameter and the angle adjustment parameter are obtained as the projection adjustment parameter.

12. A calibration apparatus of a projection device, characterized by comprising: The method comprises: A first screen coordinate system and a second screen coordinate system are established, the first screen coordinate system being established with a horizontal direction of a screen as a horizontal axis direction, and the second screen coordinate system being determined based on a positioning image projected onto the screen by a projection device, the second screen coordinate system being established based on the positioning image projected onto the screen by the projection device, and the second screen coordinate system being established based on the positioning image projected onto the screen by the projection device comprising: A positioning image on the screen is obtained, the positioning image being an irregular quadrilateral image obtained by projecting a square image on a display plane onto the screen, the display plane being an imaginary plane parallel to an infinite plane, and the infinite plane being a plane passing through the projection device and being perpendicular to a main optical axis of the projection device; A straight line on which a connecting line of two intersection points of two sets of opposite sides of the irregular quadrilateral image is located is obtained as an infinite line; The second screen coordinate system is established with a direction parallel to the infinite line as a horizontal axis and with a direction perpendicular to the horizontal axis on a plane on which the screen is located as a vertical axis. An included angle obtaining module is configured to obtain an included angle between a horizontal axis of the first screen coordinate system and a horizontal axis of the second screen coordinate system as a horizontal-axis included angle. An actual position obtaining module is configured to obtain actual position information of the projection device in the first screen coordinate system based on the horizontal-axis included angle, the actual position information including actual coordinate information and / or actual angle information. A standard position obtaining module is configured to obtain standard position information of the projection device in the first screen coordinate system, the standard position information including standard coordinate information and / or standard angle information. An adjustment parameter determining module is configured to determine a projection adjustment parameter according to the actual position information and the standard position information. An adjustment module is configured to adjust at least one of a projection position and a projection direction of the projection device according to the projection adjustment parameter, so that a picture projected by the projection device is displayed completely and without distortion on the screen.

13. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by a processor, implements the method of any one of claims 1-11.

14. An electronic device, comprising: The computer program, when executed by a processor, implements the method of any one of claims 1-11. The computer program, when executed by a processor, implements the method of any one of claims 1-11. The computer program, when executed by a processor, implements the method of any one of claims 1-11. The computer program, when executed by a processor, implements the method of any one of claims 1-11. The computer program, when executed by a processor, implements the method of any one of claims 1-11. The computer program, when executed by a processor, implements the method of any one of claims 1-11. The computer program, when executed by a processor, implements the method of any one of claims 1-11. The computer program, when executed by a processor, implements the method of any one of claims 1-11. The computer program, when executed by a processor, implements the method of any one of claims 1-11. The computer program, when executed by a processor, implements the method of any one of claims 1-11. The computer program, when executed by a processor, implements the method of any one of claims 1-11. The computer program, when executed by a processor, implements the method of any one of claims 1-11. The computer program, when executed by a processor, implements the method of any one of claims 1-11. The computer program, when executed by a processor, implements the method of any one of claims 1-11. The computer program, when executed by a processor, implements the method of any one of claims 1-11. The computer program, when executed by a processor, implements the method of any one of claims 1-11. The computer program, when executed by a processor, implements the method of any one of claims 1-11. The computer program, when executed by a processor, implements the method of any one of claims 1-11. The computer program, when executed by a processor, implements the method of any one of claims 1-11. The computer program, when executed by a processor, implements the method

Images