Image output method, device and system

Abstract

The invention provides an image output method, device and system, and relates to the technical field of image processing. The method comprises the following steps: acquiring a human eye position collected by a tracking and positioning module; determining an image distortion correction parameter according to the human eye position and a pre-obtained coordinate difference set; performing image adjustment on a first image to be output according to the image distortion correction parameter to obtain a second image; and outputting the second image, and projecting the second image to a free-form mirror. According to the image output method provided by the embodiment of the invention, the to-be-output image is adjusted, distortion generated by the virtual image projected by the free-form surface mirror can be adjusted, and the problems that the projected virtual image is easy to distort by the free-form surface mirror with relatively large magnification and potential safety hazards exist in professional application are solved.

Description

Technical Field

[0001] The present invention relates to the field of image processing technology, and in particular to an image output method, device and system. Background Art

[0002] Using the principle that a free-form mirror can be used to project a small-sized image to a distance to form an enlarged virtual image, many special display devices can be made. When using a free-form mirror to project a virtual image, when the screen size of the picture generation unit (PGU) is fixed and the distance from the PGU to the free-form mirror is also fixed, as the size of the projected virtual image increases or the projection distance of the projected virtual image increases, the magnification of the free-form mirror needs to be increased. However, the greater the magnification of the free-form mirror, the more likely it is that errors will occur in the processing process, which can easily cause the projected virtual image to be distorted, posing a safety hazard in professional applications. Summary of the invention

[0003] The embodiments of the present invention provide an image output method, device and system to solve the problem in the prior art that a free-form surface mirror with a large magnification ratio easily causes distortion of the projected virtual image, which poses a safety hazard in professional applications.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] An image output method, comprising:

[0006] Obtain the human eye position collected by the tracking and positioning module;

[0007] Determining image distortion correction parameters according to the human eye position and a pre-acquired coordinate difference set;

[0008] Performing image adjustment on the first image to be output according to the image distortion correction parameter to obtain a second image;

[0009] The second image is outputted so as to be projected onto a free-form surface mirror.

[0010] Furthermore, the method for obtaining the coordinate difference set includes:

[0011] Collecting third coordinates of a plurality of third pixel points by cameras arranged at a plurality of preset coordinate points, wherein the third pixel points are pixel points of a third image displayed on a target display after the first image is refracted by the free-form surface mirror;

[0012] Determine, according to the third coordinate, a coordinate difference between the third coordinate and a corresponding first coordinate, where the first coordinate is a coordinate of a first pixel point on the first image corresponding to the third pixel point;

[0013] The coordinate difference set is determined according to the coordinate differences corresponding to the plurality of preset coordinate points.

[0014] Furthermore, determining the image distortion correction parameters according to the eye position and the pre-acquired coordinate difference set includes:

[0015] Comparing the coordinates of the human eye position with a plurality of the preset coordinate points;

[0016] If there is a first preset coordinate point matching the position of the human eye among the plurality of preset coordinate points, the coordinate difference corresponding to the first preset coordinate point is the image distortion correction parameter;

[0017] If there is no preset coordinate point matching the human eye position among the multiple preset coordinate points, then two second preset coordinate points whose coordinate distances to the human eye position are closest to each other are determined, and according to the coordinates of the human eye position, the coordinate differences corresponding to the second preset coordinate points are calculated by an interpolation algorithm, and the obtained target coordinate differences are used as the image distortion correction parameters.

[0018] Further, determining the coordinate difference between the third coordinate and the corresponding first coordinate according to the third coordinate includes:

[0019] Determine four first characteristic pixel points that are closest to the first target pixel point in four directions of up, down, left, and right of the first target pixel point in the first image;

[0020] Determine a second target pixel point corresponding to the target pixel point in the third image;

[0021] Determine four second characteristic pixel points in the third image that are closest to the second target pixel point in four directions of up, down, left, and right;

[0022] Calculating the difference between the coordinates of the first characteristic pixel point and the second characteristic pixel point to obtain four sets of coordinate difference values;

[0023] The coordinate difference between the third coordinate and the corresponding first coordinate is determined according to the four sets of coordinate difference values.

[0024] Further, determining the coordinate difference between the third coordinate and the corresponding first coordinate according to the four sets of coordinate difference values ​​includes:

[0025] Calculating the distortion weight of the third pixel point corresponding to each group of coordinate differences;

[0026] The coordinate difference is determined according to the distortion weight and the four sets of coordinate difference values.

[0027] Furthermore, the calculating of the distortion weight of the third pixel point corresponding to each group of the coordinate difference values ​​includes:

[0028] Calculating a first distance between the third pixel point and each corresponding second feature pixel point;

[0029] The distortion weight is determined according to the first distance.

[0030] Furthermore, performing image adjustment on the first image to be output according to the image distortion correction parameter includes:

[0031] The position of each pixel of the first image is adjusted according to the image distortion correction parameter.

[0032] The embodiment of the present invention further provides an image output device, comprising:

[0033] An acquisition module, used to acquire the human eye position collected by the tracking and positioning module;

[0034] A determination module, used to determine image distortion correction parameters according to the human eye position and a pre-acquired coordinate difference set;

[0035] An acquisition module, used for performing image adjustment on the first image to be output according to the image distortion correction parameter to obtain a second image;

[0036] An output module is used to output the second image so that the second image is projected onto the free-form surface mirror.

[0037] An embodiment of the present invention also provides an image output system, comprising: a transceiver, a processor, a memory, and a program or instruction on the memory and executable on the processor; characterized in that the processor implements the image output method as described above when executing the program or instruction.

[0038] Furthermore, the processor comprises:

[0039] An image generating unit is provided with a grating device.

[0040] The beneficial effects of the present invention are:

[0041] The image output method of the embodiment of the present invention collects the position information of the human eye through the tracking and positioning module, and determines the distortion correction for the image to be output through the position of the human eye and the pre-acquired coordinate difference set, and outputs the second image obtained after the distortion correction. The image output method of the embodiment of the present invention can adjust the distortion of the virtual image projected by the free-form surface mirror by adjusting the image to be output, thereby solving the problem that the free-form surface mirror with a large magnification ratio easily causes the projected virtual image to be distorted, which poses a safety hazard in professional applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 The schematic diagram showing the projection using a free-form mirror;

[0043] Figure 2 A schematic diagram showing the distortion caused by projecting a virtual image using a free-form surface mirror;

[0044] Figure 3 A schematic diagram showing the steps of the image output method according to an embodiment of the present invention;

[0045] Figure 4 A schematic diagram showing the structure of an image output device according to an embodiment of the present invention;

[0046] Figure 5 A schematic diagram showing the structure of an image output system for a head-up display of an automobile according to an embodiment of the present invention;

[0047] Figure 6 A schematic diagram showing the structure of a PGU module according to an embodiment of the present invention;

[0048] Figure 7 One of the structural schematic diagrams showing an embodiment of the present invention applied to an image output system of a head-up display of an automobile;

[0049] Figure 8 The second structural schematic diagram shows an image output system applied to a head-up display of an automobile according to an embodiment of the present invention. DETAILED DESCRIPTION

[0050] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0051] Aiming at the problem that a free-form surface mirror with a large magnification ratio easily causes distortion of a projected virtual image, which poses a potential safety hazard in professional applications, the present invention provides an image output method, device and system.

[0052] By using the principle that a free-form surface mirror can project a small-sized image to a distant place to form an enlarged virtual image, many special display devices can be made and applied in the fields of automotive head-up display, desktop display, etc. Figure 1 As shown:

[0053] The free-form mirror 100 reflects the light of the small-size image provided by the image generation unit 101 to the human eye 103. The human eye looks against the light and can see a virtual image surface 102 in the distance.

[0054] If there are errors or aberrations in the free-form mirror, the projected virtual image will be deformed and distorted, and it will be a three-dimensional rather than a flat virtual image surface. At this time, parallax will be formed when viewed through both eyes, but this parallax is a clue that does not originally exist in the image generated by the PGU, that is, a three-dimensional distortion effect is produced, which will cause a wrong three-dimensional sense and easily cause dizziness if viewed for a long time. Figure 2 As shown, due to distortion, the virtual image surface 102 changes from a plane in an ideal state to a three-dimensional curved surface, which will form parallax in both eyes, resulting in a visual error of a three-dimensional curved surface. And since each point on the free-form surface mirror may have errors or aberrations, the three-dimensional degree of the virtual image surface finally formed is more complicated.

[0055] like Figure 3 As shown, an image output method comprises the following steps:

[0056] Step 301, obtaining the human eye position collected by the tracking and positioning module;

[0057] Step 302, determining image distortion correction parameters according to the eye position and a pre-acquired coordinate difference set;

[0058] Step 303, performing image adjustment on the first image to be output according to the image distortion correction parameter to obtain a second image;

[0059] Step 304: output the second image and project the second image onto a free-form surface mirror.

[0060] Optionally, the tracking and positioning module includes one of the following:

[0061] Monocular or binocular camera, structured light positioning device or time of flight (TOF) positioning device;

[0062] The tracking and positioning module is used to obtain the three-dimensional coordinate information of the positions of the user's eyes.

[0063] The image output method of the embodiment of the present invention collects the position information of the human eye through the tracking and positioning module, and determines the distortion correction for the image to be output through the position of the human eye and the pre-acquired coordinate difference set, and outputs the second image obtained after the distortion correction. The image output method of the embodiment of the present invention can adjust the distortion of the virtual image projected by the free-form surface mirror by adjusting the image to be output, thereby solving the problem that the free-form surface mirror with a large magnification ratio easily causes the projected virtual image to be distorted, which poses a safety hazard in professional applications.

[0064] Optionally, the method for obtaining the coordinate difference set includes:

[0065] Collecting third coordinates of a plurality of third pixel points by cameras arranged at a plurality of preset coordinate points, wherein the third pixel points are pixel points of a third image displayed on a target display after the first image is refracted by the free-form surface mirror;

[0066] Determine, according to the third coordinate, a coordinate difference between the third coordinate and a corresponding first coordinate, where the first coordinate is a coordinate of a first pixel point on the first image corresponding to the third pixel point;

[0067] The coordinate difference set is determined according to the coordinate differences corresponding to the plurality of preset coordinate points.

[0068] Optionally, the coordinate difference set includes a plurality of preset coordinate points and the coordinate differences corresponding to the preset coordinate points.

[0069] Optionally, the camera collects third coordinates of a plurality of third pixel points, including:

[0070] Copying, by the camera, a third image of the first image displayed on a target display after being refracted by the free-form surface mirror;

[0071] Processing the third image according to a preset image mode;

[0072] Acquire the third pixel point on the processed third image.

[0073] In one embodiment of the present invention, the preset image mode is a checkerboard image or an image of other modes with distinct feature points; the third image and the first image are both processed using the preset image mode to obtain the first pixel point and the first coordinate on the first image, and to obtain the third pixel point and the third coordinate on the third image.

[0074] Optionally, performing image adjustment on the first image to be output includes:

[0075] Performing distortion correction on the left-eye mode image and the right-eye mode image respectively;

[0076] The corrected left-eye mode image and the corrected right-eye mode image are encoded to obtain the second image.

[0077] Optionally, determining, according to the third coordinate, a coordinate difference between the third coordinate and the corresponding first coordinate includes:

[0078] Determine four first characteristic pixel points that are closest to the first target pixel point in four directions of up, down, left, and right of the first target pixel point in the first image;

[0079] Determine a second target pixel point corresponding to the target pixel point in the third image;

[0080] Determine four second characteristic pixel points in the third image that are closest to the second target pixel point in four directions of up, down, left, and right;

[0081] Calculating the difference between the coordinates of the first characteristic pixel point and the second characteristic pixel point to obtain four sets of coordinate difference values;

[0082] The coordinate difference between the third coordinate and the corresponding first coordinate is determined according to the four sets of coordinate difference values.

[0083] Optionally, determining the coordinate difference between the third coordinate and the corresponding first coordinate according to the four groups of coordinate difference values ​​includes:

[0084] Calculating the distortion weight of the third pixel point corresponding to each group of coordinate differences;

[0085] The coordinate difference is determined according to the distortion weight and the four sets of coordinate difference values.

[0086] Optionally, calculating the distortion weight of the third pixel point corresponding to each group of the coordinate difference values ​​includes:

[0087] Calculating a first distance between the third pixel point and each corresponding second feature pixel point;

[0088] The distortion weight is determined according to the first distance.

[0089] Specifically, the preset coordinate point (Xc, Yc, Zc) is set in the space, and for any feature point P, it is located in the left eye mode image I L The coordinates on the right eye image I are P(x, y). RThe coordinates on the left eye mode image are P'(x', y'). Then the coordinate difference between the feature point on the left eye mode image and the right eye mode image is (Δx, Δy), where Δx = x-x', Δy = y-y';

[0090] For the left eye mode image I L Any pixel point K in the right eye mode image I L The four feature points closest to the top, bottom, left and right are P1, P2, P3 and P4 respectively. The four pixels (feature points) are in the right eye mode image I R The corresponding points on the K point are P1′, P2′, P3′, P4′, and their coordinate differences are (Δx1, Δy1), (Δx2, Δy2), (Δx3, Δy3), (Δx4, Δy4). The distances from P1, P2, P3, P4 to point K are L1, L2, L3, L4 respectively. We can calculate I according to the following formula L The pixel K in I R The coordinate difference of the corresponding pixel point K' on:

[0091]

[0092]

[0093] in,

[0094] In one embodiment of the present invention, for the first image and the third image, the coordinate difference between the third coordinate and the first coordinate is calculated by the above method. The coordinate difference is calculated for the camera in different position coordinates, so as to obtain different spatial coordinate positions (Xc, Yc, Zc) and the coordinates of the corresponding positions. L The coordinate difference set S of all feature points in:

[0095]

[0096] Wherein, M is a plurality of the preset coordinate points (or a set of preset coordinate points).

[0097] Optionally, the distance between the camera and the target display is a first preset value;

[0098] The number of the cameras is two, the distance between the two cameras is a second preset value, and one camera is used to capture images in a left eye mode, and the other camera is used to capture images in a right eye mode.

[0099] In one embodiment of the present invention, the distance between the camera and the target display is greater than or equal to 3 meters; the distance between the two cameras is 6-7 cm.

[0100] Optionally, the camera is arranged facing the center position of the virtual image surface formed by the free-form surface mirror; and if there are two cameras, the two cameras need to be calibrated in advance.

[0101] Optionally, determining the image distortion correction parameter according to the human eye position and a pre-acquired coordinate difference set includes:

[0102] Comparing the coordinates of the human eye position with a plurality of the preset coordinate points;

[0103] If there is a first preset coordinate point matching the position of the human eye among the plurality of preset coordinate points, the coordinate difference corresponding to the first preset coordinate point is the image distortion correction parameter;

[0104] If there is no preset coordinate point matching the human eye position among the multiple preset coordinate points, then two second preset coordinate points whose coordinate distances to the human eye position are closest to each other are determined, and according to the coordinates of the human eye position, the coordinate differences corresponding to the second preset coordinate points are calculated by an interpolation algorithm, and the obtained target coordinate differences are used as the image distortion correction parameters.

[0105] In one embodiment of the present invention, the coordinates of the eye position are compared with a plurality of preset coordinate points in the coordinate difference set:

[0106] If there is a first preset coordinate point having the same coordinates as the human eye position, the coordinate difference corresponding to the first preset coordinate point is the image distortion correction parameter;

[0107] If there is no preset coordinate point with the same coordinate as the eye position, then determine the two preset coordinate points closest to the eye position. i and C j , assuming that the three-dimensional distances from these two coordinates to the coordinates of the eye position are F1 and F2 respectively, for C i and C j The corresponding coordinate difference set M i and M j Interpolation operation is performed on each coordinate difference value to obtain the coordinate difference set M of the viewpoint position. The calculation method is shown in the following formula:

[0108]

[0109] The image output method of the embodiment of the present invention, before projecting the image, first compensates the image for distortion according to the image distortion correction parameters, and then passes through a free-form surface mirror and is refracted to the human eye or passes through other reflective media and enters the human eye. The image synthesized in the brain will offset the stereoscopic distortion caused by the virtual image surface.

[0110] Optionally, performing image adjustment on the first image to be output according to the image distortion correction parameter includes:

[0111] The position of each pixel of the first image is adjusted according to the image distortion correction parameter.

[0112] like Figure 4 As shown, the embodiment of the present invention further provides an image output device 400, including:

[0113] An acquisition module 401 is used to acquire the eye position collected by the tracking and positioning module;

[0114] A determination module 402, configured to determine image distortion correction parameters according to the eye position and a pre-acquired coordinate difference set;

[0115] An acquisition module 403 is used to perform image adjustment on the first image to be output according to the image distortion correction parameter to obtain a second image;

[0116] The output module 404 is used to output the second image so that the second image is projected onto the free-form surface mirror.

[0117] The image output device of the embodiment of the present invention collects the position information of the human eye through the tracking and positioning module, and determines the distortion correction for the image to be output through the position of the human eye and the pre-acquired coordinate difference set, and outputs the second image obtained after the distortion correction. The image output method of the embodiment of the present invention can adjust the distortion of the virtual image projected by the free-form surface mirror by adjusting the image to be output, thereby solving the problem that the free-form surface mirror with a large magnification ratio easily causes the projected virtual image to be distorted, which poses a safety hazard in professional applications.

[0118] An embodiment of the present invention also provides an image output system, comprising: a transceiver, a processor, a memory, and a program or instruction on the memory and executable on the processor; characterized in that the processor implements the image output method as described above when executing the program or instruction.

[0119] Optionally, the processor includes:

[0120] An image generating unit is provided with a grating device.

[0121] Optionally, the grating device can be a lens grating or a parallax barrier grating, and the grating is attached to the PGU screen by optical glue.

[0122] First embodiment

[0123] The image output system is a head-up display (HUD) for an automobile, specifically:

[0124] like Figure 5 As shown, the PGU of the HUD generates an image, which is then projected onto a diffusion screen 107, and then projected from the diffusion screen to the free-form mirror 100, and then refracted to the front windshield 108 and reflected into the human eye. The human eye can see the virtual image in front of the car against the light, and the virtual image plane is generally more than 3 meters away from the human eye. It is necessary to place a tracking and positioning system 104 in the car facing the human eye, and it is also necessary to attach a grating device to the diffusion screen of the PGU. The PGU performs distortion correction on the output image according to the input image distortion correction parameters. The image after distortion correction is split by the grating device, projected onto the free-form mirror, and then reflected to the front windshield and enters the human eye. The human eye sees a distortion-free virtual image against the light;

[0125] like Figure 6 As shown, the image generated by the PGU module with the grating device attached is projected onto the semi-reflective and semi-transmissive mirror 105, and then refracted onto the free-form mirror 100, and the human eye observes a distant magnified virtual image. The image generated by the PGU is subjected to distortion correction according to the human eye position obtained by the tracking and positioning device 104 before being projected; the image after distortion correction is directed by the grating device attached to 101 to project part of the pixel light to the left eye and part to the right eye; since the PGU used in the HUD is generally a high-brightness silicon-based liquid crystal (Liquid Crystal on Silicon, LCOS) and digital light processing (Digital Light Processor, DLP) projection system, their size is very small, usually as a projection system, the image is projected onto the free-form mirror, so the grating device here cannot be placed directly on the screen, but is attached to a diffusion screen for receiving the LCOS or DLP projected image, generally a grating device is attached below and above the diffusion screen, respectively, to play the role of directional light propagation.

[0126] Second embodiment

[0127] The image output system is a virtual image desktop display, specifically:

[0128] The image generated by the PGU of the virtual desktop display is projected onto a free-form mirror through a semi-reflective and semi-transmissive plane mirror. The free-form mirror reflects the light into the human eye, during which it passes through the semi-reflective and semi-transmissive plane mirror. The human eye can see a virtual image surface in the distance against the light. Due to the long distance, generally > 3 meters, it is conducive to the relaxation of the viewer's eyes, has an auxiliary effect on myopia treatment, and can prevent and treat myopia. The PGU of the eye protection fog screen generally uses an LCD screen. We add a tracking and positioning device to the eye protection fog screen and attach a grating device to the PGU screen, such as Figure 7 and Figure 8 As shown in the figure, PGU adjusts the output image according to the input distortion correction parameters. The image after distortion correction is split by the grating device, projected onto the free-form mirror, and then reflected onto the front windshield to enter the human eye. The human eye sees a distortion-free virtual image against the light.

[0129] The image generated by the PGU module 1 with the grating device attached is projected onto the semi-reflective and semi-transmissive mirror 105, and then refracted onto the free-form mirror 100, and the human eye observes a distant magnified virtual image; the image generated by the PGU is projected after distortion correction based on the human eye position obtained by the tracking and positioning device 104. The image after distortion correction is directed by the grating device attached to 101, and part of the pixel light is projected to the left eye and part to the right eye.

[0130] It should be noted that the image output system is also applicable to 3D display applications of virtual images. As long as the image generated by the PGU is changed into a left-eye image and a right-eye image with initial parallax, the calculation of the coordinate difference between the first image and the third image is replaced with the image for the left eye and the image for the right eye; because during the distortion correction process, if the original image is a left-eye view with parallax, this parallax will not be calculated. After the distortion-corrected image is projected to the left and right eyes respectively, the image synthesized by the brain can also restore the initial parallax of the original image. Therefore, the present invention is also applicable to 3D display of virtual images based on free-form surface mirrors.

[0131] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary personnel in this technical field, several improvements and modifications can be made without departing from the principles described in the present invention. These improvements and modifications are also within the scope of protection of the present invention.

Claims

1. An image output method, It is characterized in that include: Obtain the human eye position collected by the tracking and positioning module; Determining image distortion correction parameters according to the human eye position and a pre-acquired coordinate difference set; Performing image adjustment on the first image to be output according to the image distortion correction parameter to obtain a second image; The second image is outputted so as to be projected onto a free-form surface mirror.

2. The image output method according to claim 1, It is characterized in that The method for obtaining the coordinate difference set includes: Collecting third coordinates of a plurality of third pixel points by cameras arranged at a plurality of preset coordinate points, wherein the third pixel points are pixel points of a third image displayed on a target display after the first image is refracted by the free-form surface mirror; Determine, according to the third coordinate, a coordinate difference between the third coordinate and a corresponding first coordinate, where the first coordinate is a coordinate of a first pixel point on the first image corresponding to the third pixel point; The coordinate difference set is determined according to the coordinate differences corresponding to the plurality of preset coordinate points.

3. The image output method according to claim 2, It is characterized in that The determining of image distortion correction parameters according to the human eye position and the pre-acquired coordinate difference set includes: Comparing the coordinates of the human eye position with a plurality of the preset coordinate points; If there is a first preset coordinate point matching the position of the human eye among the plurality of preset coordinate points, the coordinate difference corresponding to the first preset coordinate point is the image distortion correction parameter; If there is no preset coordinate point matching the human eye position among the multiple preset coordinate points, then two second preset coordinate points whose coordinate distances to the human eye position are closest to each other are determined, and according to the coordinates of the human eye position, the coordinate differences corresponding to the second preset coordinate points are calculated by an interpolation algorithm, and the obtained target coordinate differences are used as the image distortion correction parameters.

4. The image output method according to claim 2, It is characterized in that The step of determining the coordinate difference between the third coordinate and the corresponding first coordinate according to the third coordinate includes: Determine four first characteristic pixel points that are closest to the first target pixel point in four directions of up, down, left, and right of the first target pixel point in the first image; Determine a second target pixel point corresponding to the target pixel point in the third image; Determine four second characteristic pixel points in the third image that are closest to the second target pixel point in four directions of up, down, left, and right; Calculating the difference between the coordinates of the first characteristic pixel point and the second characteristic pixel point to obtain four sets of coordinate difference values; The coordinate difference between the third coordinate and the corresponding first coordinate is determined according to the four sets of coordinate difference values.

5. The image output method according to claim 4, It is characterized in that Determining the coordinate difference between the third coordinate and the corresponding first coordinate according to the four sets of coordinate difference values ​​includes: Calculating the distortion weight of the third pixel point corresponding to each group of coordinate differences; The coordinate difference is determined according to the distortion weight and the four sets of coordinate difference values.

6. The image output method according to claim 5, It is characterized in that The calculating the distortion weight of the third pixel point corresponding to each group of the coordinate difference values ​​includes: Calculating a first distance between the third pixel point and each corresponding second feature pixel point; The distortion weight is determined according to the first distance.

7. The image output method according to claim 1, It is characterized in that The step of performing image adjustment on the first image to be output according to the image distortion correction parameter comprises: The position of each pixel of the first image is adjusted according to the image distortion correction parameter.

8. An image output device, It is characterized in that include: An acquisition module, used to acquire the human eye position collected by the tracking and positioning module; A determination module, used to determine image distortion correction parameters according to the human eye position and a pre-acquired coordinate difference set; An acquisition module, used for performing image adjustment on the first image to be output according to the image distortion correction parameter to obtain a second image; An output module is used to output the second image so that the second image is projected onto the free-form surface mirror.

9. An image output system, It is characterized in that include: A transceiver, a processor, a memory, and a program or instruction on the memory and executable on the processor; characterized in that when the processor executes the program or instruction, the image output method according to any one of claims 1 to 7 is implemented.

10. The image output system according to claim 9, It is characterized in that The processor comprises: An image generating unit is provided with a grating device.

Images