Projector calibration method and device, electronic equipment and storage medium

Abstract

The invention relates to a projector calibration method and device, electronic equipment and a storage medium, and the method comprises the steps: photographing a first calibration board at different positions based on a camera, and photographing a second calibration board projected to the first calibration board by a projector, and obtaining a plurality of first photos and a plurality of second photos; and calibrating the internal reference of the camera according to the plurality of first photos. And then calibrating the internal reference of the projector according to the internal reference of the camera and the plurality of second photos. And finally, according to the first transformation matrix obtained in the camera internal reference calibration process and the second transformation matrix obtained in the projector internal reference calibration process, the external reference of the projector is calibrated, the scheme is simple to operate, the projector subjected to after-sales repair does not need to be sent back to a factory again for mass production calibration, and the production efficiency is improved. The calibration can be completed only through the first calibration plate and the second calibration plate, the deployment cost is low, the transportation cost and the time cost are not additionally increased, the calibration cost of the projector can be reduced, and the calibration efficiency of the projector is improved.

Description

Technical Field

[0001] The present application relates to the field of computer vision technology, and in particular to a projector calibration method, device, electronic device and storage medium. Background Art

[0002] As people's living standards improve, projectors with keystone correction functions are slowly replacing traditional projectors that rely on manual adjustment. In order to achieve the keystone correction function, a traditional projector is equipped with a camera as a sensor, and then the information sensed by the sensor is used in combination with an algorithm to achieve the keystone correction of the picture. The implementation of the algorithm strongly depends on the internal parameters of the camera and projector optical machine and the external parameters between them. Therefore, the projector will undergo a more complex mass production calibration in the factory before leaving the factory to obtain these parameters. However, these parameters will change significantly once they are disassembled after sales, replaced sensors, and other operations, thus affecting the final keystone correction effect.

[0003] In the related art, the projector that has undergone after-sales repair is sent back to the factory for mass production calibration. After calibration, the projector is sent back, which brings about a large transportation cost. The back and forth transportation of the projector also increases the time cost, resulting in low calibration efficiency. Summary of the invention

[0004] Based on this, the purpose of the present application is to provide a projector calibration method, device, electronic device and storage medium, which can improve the projector calibration efficiency and reduce the cost.

[0005] According to a first aspect of an embodiment of the present application, a projector calibration method is provided, comprising the following steps:

[0006] Acquire three-dimensional information of each first feature point of the first calibration plate in the calibration plate coordinate system;

[0007] Acquire a plurality of first photos of the first calibration plate taken by a camera on the projector when the projector moves to a plurality of different positions, and a plurality of second photos of the first calibration plate taken by the camera on the projector when the projector projects the second calibration plate onto the first calibration plate at a plurality of different positions;

[0008] Based on each first photo, obtain two-dimensional information of each first feature point of the first calibration plate in the camera coordinate system;

[0009] Determine the intrinsic parameters of the camera and the first transformation matrix between the camera coordinate system and the calibration plate coordinate system according to the three-dimensional information of each first feature point and the two-dimensional information of each first feature point;

[0010] Based on each second photo, obtain the two-dimensional information of each second feature point of the second calibration plate in the camera coordinate system, and determine the three-dimensional information of each second feature point of the second calibration plate in the calibration plate coordinate system according to the two-dimensional information of each second feature point, the intrinsic parameter of the camera and the first transformation matrix;

[0011] Determine the internal parameters of the projector and the second transformation matrix between the projector coordinate system and the calibration plate coordinate system according to the two-dimensional information of each second feature point of the second calibration plate in the projector coordinate system and the three-dimensional information of each second feature point in the calibration plate coordinate system;

[0012] According to the first transformation matrix and the second transformation matrix, the extrinsic parameters between the projector and the camera are determined.

[0013] According to a second aspect of an embodiment of the present application, a projector calibration device is provided, including:

[0014] A three-dimensional information acquisition module, used to acquire three-dimensional information of each first feature point of the first calibration plate in the calibration plate coordinate system;

[0015] a photo acquisition module, used to acquire a plurality of first photos obtained by taking the first calibration plate by the camera on the projector when the projector moves to a plurality of different positions, and a plurality of second photos obtained by taking the first calibration plate by the camera on the projector when the projector projects the second calibration plate onto the first calibration plate at a plurality of different positions;

[0016] A two-dimensional information obtaining module, used to obtain two-dimensional information of each first feature point of the first calibration plate in the camera coordinate system based on each first photo;

[0017] A camera intrinsic parameter determination module, used to determine the camera intrinsic parameters and a first transformation matrix between the camera coordinate system and the calibration plate coordinate system according to the three-dimensional information of each first feature point and the two-dimensional information of each first feature point;

[0018] A three-dimensional information determination module, used to obtain the two-dimensional information of each second feature point of the second calibration plate in the camera coordinate system based on each second photo, and determine the three-dimensional information of each second feature point of the second calibration plate in the calibration plate coordinate system according to the two-dimensional information of each second feature point, the intrinsic parameters of the camera and the first transformation matrix;

[0019] A projector internal parameter determination module, used to determine the internal parameters of the projector and the second transformation matrix between the projector coordinate system and the calibration plate coordinate system according to the two-dimensional information of each second feature point of the second calibration plate in the projector coordinate system and the three-dimensional information of each second feature point in the calibration plate coordinate system;

[0020] The extrinsic parameter determination module is used to determine the extrinsic parameters between the projector and the camera according to the first transformation matrix and the second transformation matrix.

[0021] According to a third aspect of an embodiment of the present application, there is provided an electronic device, comprising: a processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing any one of the projector calibration methods described above.

[0022] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the projector calibration method as described in any one of the above items is implemented.

[0023] The embodiment of the present application obtains the three-dimensional information of each first feature point of the first calibration plate in the calibration plate coordinate system; obtains a plurality of first photos of the first calibration plate taken by the camera on the projector when the projector moves to a plurality of different positions, and obtains a plurality of second photos of the first calibration plate taken by the camera on the projector when the projector projects the second calibration plate onto the first calibration plate at a plurality of different positions; based on each first photo, obtains the two-dimensional information of each first feature point of the first calibration plate in the camera coordinate system; determines the intrinsic parameters of the camera and the coordinate system of the camera and the calibration plate according to the three-dimensional information of each first feature point and the two-dimensional information of each first feature point The first transformation matrix between the two systems; based on each second photo, the two-dimensional information of each second feature point of the second calibration plate in the camera coordinate system is obtained, and the three-dimensional information of each second feature point of the second calibration plate in the calibration plate coordinate system is determined according to the two-dimensional information of each second feature point, the intrinsic parameters of the camera and the first transformation matrix; according to the two-dimensional information of each second feature point of the second calibration plate in the projector coordinate system and the three-dimensional information of each second feature point in the calibration plate coordinate system, the intrinsic parameters of the projector and the second transformation matrix between the projector coordinate system and the calibration plate coordinate system are determined; according to the first transformation matrix and the second transformation matrix, the external parameters between the projector and the camera are determined. The present application is based on the camera shooting the first calibration plate at different positions and shooting the second calibration plate projected by the projector to the first calibration plate, to obtain a plurality of first photos and a plurality of second photos. According to the plurality of first photos, the camera intrinsic parameters are calibrated. Afterwards, the projector intrinsic parameters are calibrated according to the camera intrinsic parameters and the plurality of second photos. Finally, the external parameters of the projector are calibrated according to the first transformation matrix obtained during the camera intrinsic parameter calibration and the second transformation matrix obtained during the projector intrinsic parameter calibration. The above scheme is simple to operate, and there is no need to send the projector that has undergone after-sales repair back to the factory for mass production calibration. Only the first calibration board and the second calibration board are needed to complete the calibration. The deployment cost is low, and there is no additional transportation cost and time cost. It can reduce the projector calibration cost and improve the efficiency of projector calibration.

[0024] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application.

[0025] For better understanding and implementation, the present invention is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of a process flow of a projector calibration method provided in one embodiment of the present application;

[0027] Figure 2 A display schematic diagram of a projector projecting a second calibration plate onto a first calibration plate in a projector calibration method provided in one embodiment of the present application;

[0028] Figure 3 A schematic diagram of a flow chart of step S40 in a projector calibration method provided in one embodiment of the present application;

[0029] Figure 4 A schematic diagram of a flow chart of step S50 in a projector calibration method provided in one embodiment of the present application;

[0030] Figure 5 A schematic diagram of a flow chart of step S50 in a projector calibration method provided in another embodiment of the present application;

[0031] Figure 6 A schematic diagram of a flow chart of step S60 in a projector calibration method provided in one embodiment of the present application;

[0032] Figure 7 A schematic diagram of a flow chart of step S70 in a projector calibration method provided in one embodiment of the present application;

[0033] Figure 8 A structural block diagram of a projector calibration device provided in one embodiment of the present application;

[0034] Fig. 9 A schematic block diagram of the structure of an electronic device provided for one embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to make the objectives, technical solutions and advantages of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0036] It should be clear that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0037] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the embodiments of the present application. The singular forms of "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0038] When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims. In the description of the present application, it should be understood that the terms "first", "second", "third", etc. are only used to distinguish similar objects, and do not have to be used to describe a specific order or sequence, nor can they be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0039] In addition, in the description of this application, unless otherwise specified, "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0040] In order to better understand the design scheme of the present application, it is explained below in conjunction with specific application scenarios.

[0041] The application scenarios of the projector calibration method of the embodiment of the present application include a projector, a camera on the projector and a projector calibration device. The projector and the camera are respectively connected to the projector calibration device. The projector calibration device can control the projector to project images and control the camera to take pictures.

[0042] The projector calibration method of the embodiment of the present application can be performed by a projector calibration device, which can be implemented by software and / or hardware. The projector calibration device can be composed of two or more physical entities, or it can be composed of one physical entity. The hardware pointed to by the projector calibration device essentially refers to computer equipment. For example, the projector calibration device can be a computer, a mobile phone, a tablet or a smart interactive tablet and other smart devices.

[0043] In order to better understand the design scheme of the present application, the projector calibration method of the related art is first introduced below.

[0044] A camera is installed as a sensor on a projector with a keystone correction function, and then the information sensed by the sensor is used in combination with an algorithm to implement keystone correction of the projector image. The implementation of the algorithm depends on the internal parameters of the camera and projector optical machine as well as the external parameters between them. Therefore, the projector will be calibrated with the internal parameters of the camera, the internal parameters of the projector, and the external parameters between the projector and the camera before leaving the factory. These parameters will be saved in the projector. After the projector leaves the factory, when the user uses the projector, the projector will call these parameters to implement keystone correction of the projector image.

[0045] However, after a projector or camera fails, the projector will be repaired or disassembled, or the camera will be replaced. At this time, the internal parameters of the camera, the internal parameters of the projector, and the external parameters between the projector and the camera will change and need to be recalibrated.

[0046] In the related art, the projector that has undergone after-sales repair is sent back to the factory for mass production calibration. After calibration, the projector is sent back, which brings about a large transportation cost. The back and forth transportation of the projector also increases the time cost, resulting in low calibration efficiency.

[0047] To this end, an embodiment of the present application proposes a projector calibration method.

[0048] See also Figure 1 , Figure 1 A schematic diagram of a projector calibration method provided in one embodiment of the present application, the method includes the following steps:

[0049] S10: Acquire three-dimensional information of each first feature point of the first calibration plate in the calibration plate coordinate system.

[0050] The calibration plate coordinate system is a three-dimensional coordinate system established based on the first calibration plate, specifically, a spatial rectangular coordinate system established with the long side of the first calibration plate as the X-axis, the short side as the Y-axis, and the plane as z=0.

[0051] The first calibration plate includes a plurality of first calibration codes, each of which includes at least one first feature point, and the three-dimensional information of the first feature point refers to the three-dimensional coordinates of the first feature point in the calibration plate coordinate system. Specifically, the first calibration plate includes but is not limited to an aruco code calibration plate, a checkerboard calibration plate, a Halcon calibration plate, an AYC calibration plate, and a dot calibration plate.

[0052] In an embodiment of the present application, the first calibration plate is an Aruco code calibration plate, each first calibration code is an Aruco code of different encodings, and the first feature point on the first calibration code is the corner point of the first calibration code, and the corner points of the first calibration code are distributed at the edges of the first calibration code. The first calibration plate is placed on the plane projected by the projector. Specifically, the pattern of the first calibration plate can be printed to obtain the first calibration plate, and the first calibration plate is pasted on the white flat wall projected by the projector. Since the first calibration plate is printed, the three-dimensional information of each first feature point on the first calibration plate can be measured. Specifically, each first feature point on the first calibration plate is marked, and the distance from each first feature point to the X-axis and Y-axis of the calibration plate coordinate system is measured using a distance measurement tool to obtain the X coordinate and Y coordinate of each first feature point. Since each first feature point is on the first calibration plate, the Z coordinate of each first feature point is 0, thereby obtaining the three-dimensional coordinates of each first feature point.

[0053] S20: Acquire a plurality of first photos of the first calibration plate taken by the camera on the projector when the projector moves to a plurality of different positions, and a plurality of second photos of the first calibration plate taken by the camera on the projector when the projector projects the second calibration plate onto the first calibration plate at a plurality of different positions.

[0054] Among them, several different positions are different placement points of the projector. Specifically, the projector can be placed at different positions of the support platform, and the support platform includes but is not limited to a table, a projector bracket, etc.

[0055] The second calibration plate includes but is not limited to an aruco code calibration plate, a checkerboard calibration plate, a Halcon calibration plate, an AYC calibration plate, and a dot calibration plate. The second calibration plate includes a plurality of second calibration codes, each of which includes at least one second feature point.

[0056] In the embodiments of this application, please refer to Figure 2, the second calibration plate is an Aruco code calibration plate, each second calibration code is an Aruco code of different encoding, the second characteristic point on the second calibration code is the corner point of the second calibration code, and the corner points of the second calibration code are distributed at the edges of the second calibration code. The first calibration plate is fixed on the white flat wall and does not move. The second calibration plate is projected onto the white flat wall where the first calibration plate is located as a projection picture by the optical machine of the projector. The camera is installed on the projection and moves synchronously with the projector. Specifically, the camera is turned on at the placement point 1 to shoot the first calibration plate (calibration plate 1), and the first photo obtained is recorded as photo 1. Then, the second calibration plate (calibration plate 2) is projected onto the white flat wall by the optical machine of the projector, and then the camera is turned on to shoot the picture after the first calibration plate and the second calibration plate overlap, and the second photo obtained is recorded as photo 2. Then, the projector is moved to the positions 2, 3, etc. respectively, and the above-mentioned photo-taking process is repeated to obtain several first photos and several second photos.

[0057] S30: Based on each first photo, obtain two-dimensional information of each first feature point of the first calibration plate in the camera coordinate system.

[0058] The camera coordinate system is a three-dimensional rectangular coordinate system with the focal center of the camera as the origin and the optical axis as the Z axis. The X-axis and Y-axis of the camera coordinate system are parallel to the x-axis and y-axis of the image taken by the camera, and the Z-axis is perpendicular to the image plane.

[0059] The two-dimensional information of the first feature point refers to the two-dimensional coordinates of the first feature point in the camera coordinate system.

[0060] In an embodiment of the present application, the two-dimensional coordinates of each first feature point in the first photo can be identified by a feature point detection tool, wherein the feature point detection tool includes but is not limited to an Opencv feature point detection tool, a Harris feature point detection tool, a FAST feature point detection tool, a SIFT feature point detection tool, and a SURF feature point detection tool.

[0061] S40: Determine the intrinsic parameters of the camera and a first transformation matrix between the camera coordinate system and the calibration plate coordinate system according to the three-dimensional information of each first feature point and the two-dimensional information of each first feature point.

[0062] Among them, the camera's intrinsic parameters are parameters related to the camera's own characteristics, such as the camera's focal length, pixel size, etc.

[0063] The first transformation matrix is ​​used to indicate the rotation information and translation information of a space point converted from the camera coordinate system to the calibration plate coordinate system.

[0064] In an embodiment of the present application, the intrinsic parameters of the camera and the first transformation matrix can be determined according to the three-dimensional coordinates of each first feature point in the calibration plate coordinate system and the two-dimensional coordinates of each first feature point in the camera coordinate system.

[0065] S50: Based on each second photo, obtain the two-dimensional information of each second feature point of the second calibration plate in the camera coordinate system, and determine the three-dimensional information of each second feature point of the second calibration plate in the calibration plate coordinate system according to the two-dimensional information of each second feature point, the intrinsic parameters of the camera and the first transformation matrix.

[0066] The two-dimensional information of the second feature point refers to the two-dimensional coordinates of the second feature point in the camera coordinate system, and the three-dimensional information of the second feature point refers to the three-dimensional coordinates of the second feature point in the calibration plate coordinate system.

[0067] In an embodiment of the present application, after obtaining the intrinsic parameters of the camera and the first transformation matrix, the three-dimensional coordinates of each second feature point in the calibration plate coordinate system can be accurately restored according to the two-dimensional coordinates of each second feature point in the camera coordinate system, the intrinsic parameters of the camera and the first transformation matrix. Specifically, a mapping model between the two-dimensional coordinates of the feature point in the camera coordinate system and the three-dimensional coordinates of the feature point in the calibration plate coordinate system can be established according to the intrinsic parameters of the camera and the first transformation matrix. In the mapping model, a two-dimensional coordinate is input and a three-dimensional coordinate is output. The intrinsic parameters of the camera and the first transformation matrix are model parameters of the mapping model.

[0068] S60: Determine the intrinsic parameters of the projector and the second transformation matrix between the projector coordinate system and the calibration plate coordinate system according to the two-dimensional information of each second feature point of the second calibration plate in the projector coordinate system and the three-dimensional information of each second feature point in the calibration plate coordinate system.

[0069] Among them, the intrinsic parameters of the projector refer to parameters related to the projector's own characteristics, such as the projector's focal length, pixel size, etc.

[0070] The second transformation matrix refers to the rotation information and translation information used to indicate the transformation of a spatial point from the projector coordinate system to the calibration plate coordinate system.

[0071] In an embodiment of the present application, the intrinsic parameters of the projector and the second transformation matrix can be determined according to the three-dimensional coordinates of each second feature point in the calibration plate coordinate system and the two-dimensional coordinates of each second feature point in the projector coordinate system.

[0072] S70: Determine extrinsic parameters between the projector and the camera according to the first transformation matrix and the second transformation matrix.

[0073] Among them, the external parameters between the projector and the camera are used to indicate the rotation information and translation information of a spatial point converted from the projector coordinate system to the camera coordinate system.

[0074] In the embodiment of the present application, after obtaining the first transformation matrix and the second transformation matrix, the extrinsic parameters between the projector and the camera can be calculated.

[0075] By using the embodiment of the present application, a plurality of first photos and a plurality of second photos are obtained based on the camera shooting the first calibration plate at different positions and shooting the second calibration plate projected onto the first calibration plate by the projector. According to the plurality of first photos, the camera internal parameters are calibrated. Afterwards, the projector internal parameters are calibrated according to the camera internal parameters and the plurality of second photos. Finally, according to the first transformation matrix obtained during the calibration of the camera internal parameters and the second transformation matrix obtained during the calibration of the projector internal parameters, the external parameters of the projector are calibrated. The above scheme is simple to operate, and there is no need to send the projector that has undergone after-sales repair back to the factory for mass production calibration. Only the first calibration plate and the second calibration plate are needed to complete the calibration. The deployment cost is low, and there is no additional transportation cost and time cost. The calibration cost of the projector can be reduced and the efficiency of the projector calibration can be improved.

[0076] In an alternative embodiment, see Figure 3 , step S40, including steps S41 to S42, are as follows:

[0077] S41: constructing a first objective function according to the three-dimensional information of each first feature point, the two-dimensional information of each first feature point, the intrinsic parameters of the camera to be solved, and the first transformation matrix between the camera coordinate system to be solved and the calibration plate coordinate system.

[0078] In the embodiment of the present application, the expression of the first objective function is as follows:

[0079]

[0080] in, represents the two-dimensional coordinates of the jth first feature point in the first photo corresponding to the i-th placement point, represents the three-dimensional coordinates of the jth first feature point at the i-th placement point, K cam represents the intrinsic parameters of the camera to be solved, represents the first transformation matrix between the camera coordinate system and the calibration plate coordinate system corresponding to the i-th placement point to be solved, || || represents the absolute value, n represents the number of placement points, n is greater than or equal to 3, and m represents the number of first feature points in the first photo.

[0081] S42: Minimize the first objective function to obtain the intrinsic parameters of the camera and the first transformation matrix between the camera coordinate system and the calibration plate coordinate system.

[0082] In the embodiment of the present application, the expressions for obtaining the intrinsic parameters of the camera and the first transformation matrix are as follows:

[0083]

[0084] Among them, argmin represents the variable value when the first objective function takes the minimum value, and the variable value is expressed as

[0085] By establishing the first objective function and minimizing the first objective function, the intrinsic parameters of the camera and the first transformation matrix between the camera coordinate system and the calibration plate coordinate system corresponding to each placement point can be automatically and quickly obtained.

[0086] In an alternative embodiment, see Figure 4 In step S50, based on each second photo, two-dimensional information of each second feature point of the second calibration plate in the camera coordinate system is obtained, including steps S51 to S53, which are specifically as follows:

[0087] S51: Identify the calibration code in each second photo and obtain the code of each calibration code; wherein the calibration code includes a first calibration code belonging to the first calibration plate and a second calibration code belonging to the second calibration plate.

[0088] The code of each calibration code is used to uniquely identify the calibration code. Specifically, the code can be the number of the calibration code, and the number can be a number, a letter, or a symbol.

[0089] In the embodiment of the present application, the second photo includes a first calibration plate and a second calibration plate, the first calibration plate includes a plurality of first calibration codes, the second calibration plate includes a plurality of second calibration codes, and the encoding of each first calibration code and each second calibration code is different. Each second photo is scanned horizontally or vertically, the first calibration code and the second calibration code in each second photo are identified, and the encoding of the first calibration code and the second calibration code is obtained.

[0090] S52: Determine a second calibration code belonging to the second calibration plate according to the codes of the calibration codes.

[0091] In the embodiment of the present application, since the code of each calibration code is unique, the code of the second calibration code can be screened out from the codes of all calibration codes in each second photo.

[0092] S53: extracting second feature points from the second calibration code to obtain two-dimensional information of each second feature point of the second calibration plate in the camera coordinate system.

[0093] In an embodiment of the present application, each second calibration code includes at least one second feature point. Specifically, each second calibration code may include four second feature points, and the four second feature points are distributed around the edges of the second calibration code. Using a feature point detection tool, the second feature point of the second calibration code can be extracted to obtain the two-dimensional coordinates of the second feature point in the camera coordinate system. Among them, the feature point detection tool includes but is not limited to the Opencv feature point detection tool, the Harris feature point detection tool, the FAST feature point detection tool, the SIFT feature point detection tool and the SURF feature point detection tool.

[0094] By determining the code of the second calibration plate, only the second feature point on the second calibration plate is identified, thereby improving the efficiency of acquiring the two-dimensional information of the second feature point.

[0095] In an alternative embodiment, see Figure 5 In step S50, the three-dimensional information of each second feature point of the second calibration plate in the calibration plate coordinate system is determined according to the two-dimensional information of each second feature point, the intrinsic parameters of the camera and the first transformation matrix, including steps S501 to S505, which are specifically as follows:

[0096] S501: Obtain the rotation part and the translation part of the first transformation matrix.

[0097] Among them, the first transformation matrix includes a rotation part and a translation part. The rotation part is used to indicate the rotation information of a spatial point transformed from the camera coordinate system to the calibration plate coordinate system, and the translation part is used to indicate the translation information of a spatial point transformed from the camera coordinate system to the calibration plate coordinate system.

[0098] In the embodiment of the present application, the rotation part of the first transformation matrix is ​​obtained to obtain the rotation matrix. The translation part of the first transformation matrix is ​​obtained to obtain the translation vector. The rotation matrix is ​​expressed as The translation vector is represented by express.

[0099] S502: Determine the origin of the camera coordinate system according to the rotation part and the translation part.

[0100] In the embodiment of the present application, the transposed matrix of the rotation matrix is ​​multiplied by the translation vector to obtain the product result, and the inverse of the product result is used as the origin of the camera coordinate system. Specifically, the expression of the origin of the camera coordinate system is as follows:

[0101]

[0102] Where p represents the origin of the camera coordinate system, Represents the transposed matrix of a rotation matrix.

[0103] S503: Determine a direction vector of a line between each second feature point and the origin of the camera coordinate system according to the rotation part, the intrinsic parameters of the camera and the two-dimensional information of each second feature point.

[0104] In the embodiment of the present application, the transposed matrix of the rotation matrix, the inverse matrix of the intrinsic parameters of the camera, and the two-dimensional information of the second feature point are multiplied to obtain the direction vector of the line between the second feature point and the origin of the camera coordinate system. Specifically, the expression of the direction vector is as follows:

[0105]

[0106] Where n represents the direction vector, represents the inverse matrix of the camera's intrinsic parameters, Represents the two-dimensional information of the second feature point.

[0107] S504: Obtain three-dimensional information of each second feature point of the second calibration plate to be solved according to the origin of the camera coordinate system, the direction vector, and the length of the line segment between each second feature point to be solved and the origin of the camera coordinate system.

[0108] In the embodiment of the present application, after obtaining the origin and direction vector of the camera coordinate system, the three-dimensional coordinates of each second feature point of the second calibration plate to be solved can be determined. Specifically, the expression of the three-dimensional coordinates of the second feature point to be solved is as follows:

[0109] q=p+sn

[0110] Wherein, q represents the three-dimensional coordinates of the second feature point to be solved, and s represents the length of the line segment between the second feature point to be solved and the origin of the camera coordinate system.

[0111] S505: According to the three-dimensional information of each second feature point of the second calibration plate to be solved and the plane equation of the plane where the second calibration plate is located, the three-dimensional information of each second feature point of the second calibration plate is obtained by solving.

[0112] In the embodiment of the present application, the plane equation of the plane where the second calibration plate is located is z=0, that is, the z-direction component of the three-dimensional coordinate q of the second feature point to be solved is 0. Since the origin p and the direction vector n of the camera coordinate system are known, the length s of the line segment between the second feature point to be solved and the origin of the camera coordinate system can be calculated based on the z-direction component of the three-dimensional coordinate q being 0. After calculating s, the x-direction component and the y-direction component of the three-dimensional coordinate q can be calculated based on the origin p of the camera coordinate system, the direction vector n, and the expression of the three-dimensional coordinate x of the second feature point to be solved.

[0113] Through the camera's intrinsic parameters and the first transformation matrix, the direction vector of the line between each second feature point and the origin of the camera coordinate system and the origin of the camera coordinate system can be determined. Combined with the z-direction coordinate of each second feature point, the three-dimensional coordinates of each second feature point of the second calibration plate can be automatically and quickly obtained.

[0114] In an alternative embodiment, see Figure 6 Step S60 includes steps S61 to S62, which are specifically as follows:

[0115] S61: Construct a second objective function according to the three-dimensional information of each second feature point in the calibration plate coordinate system, the two-dimensional information of each second feature point in the projector coordinate system, the internal parameters of the projector to be solved, and the second transformation matrix between the projector coordinate system and the calibration plate coordinate system to be solved.

[0116] In the embodiment of the present application, the expression of the second objective function is as follows:

[0117]

[0118] in, represents the two-dimensional coordinates of the jth second feature point in the second photo corresponding to the i-th placement point, represents the three-dimensional coordinates of the jth second feature point at the i-th placement point, K prj represents the intrinsic parameters of the camera to be solved, represents the second transformation matrix between the projector coordinate system and the calibration plate coordinate system corresponding to the i-th placement point to be solved, and k represents the number of second feature points in the second photo.

[0119] S62: Minimize the second objective function to obtain the internal parameters of the projector and the second transformation matrix between the projector coordinate system and the calibration plate coordinate system.

[0120] In the embodiment of the present application, the expressions for obtaining the intrinsic parameters of the projector and the first transformation matrix are as follows:

[0121]

[0122] Among them, argmin represents the variable value when the second objective function takes the minimum value, and the variable value is expressed as

[0123] By establishing the second objective function and minimizing the second objective function, the internal parameters of the projector and the second transformation matrix between the projector coordinate system and the calibration plate coordinate system corresponding to each placement point can be automatically and quickly obtained.

[0124] In an alternative embodiment, see Figure 7Step S70 includes steps S71 to S72, which are specifically as follows:

[0125] S71: Construct a third objective function according to the first transformation matrix, the second transformation matrix, and the external parameters between the projector and the camera to be solved.

[0126] In the embodiment of the present application, the expression of the third objective function is as follows:

[0127]

[0128] in, represents the inverse matrix of the first transformation matrix, Represents the extrinsic parameters between the projector and the camera to be solved.

[0129] S72: Minimize the third objective function to obtain external parameters between the projector and the camera.

[0130] In the embodiment of the present application, the expression for solving the external parameter between the projector and the camera is as follows:

[0131]

[0132] Among them, argmin represents the variable value when the third objective function takes the minimum value, and the variable value is expressed as

[0133] By establishing the third objective function and minimizing the third objective function, the external parameters between the projector and the camera can be automatically and quickly obtained.

[0134] The present application also provides an apparatus embodiment, which can be used to execute the content of the method in the embodiment 1 of the present application. For details not disclosed in the apparatus embodiment of the present application, please refer to the content of the method in the embodiment 1 of the present application.

[0135] See also Figure 8 , which shows a schematic diagram of the structure of a living body detection device provided by an embodiment of the present application. The projector calibration device 8 provided by the embodiment of the present application includes:

[0136] A three-dimensional information acquisition module 81 is used to acquire three-dimensional information of each first feature point of the first calibration plate in the calibration plate coordinate system;

[0137] a photo acquisition module 82, for acquiring a plurality of first photos obtained by taking the first calibration plate by a camera on the projector when the projector moves to a plurality of different positions, and a plurality of second photos obtained by taking the first calibration plate by a camera on the projector when the projector projects the second calibration plate onto the first calibration plate at a plurality of different positions;

[0138] A two-dimensional information obtaining module 83, used to obtain two-dimensional information of each first feature point of the first calibration plate in the camera coordinate system based on each first photo;

[0139] A camera intrinsic parameter determination module 84, used to determine the camera intrinsic parameters and a first transformation matrix between the camera coordinate system and the calibration plate coordinate system according to the three-dimensional information of each first feature point and the two-dimensional information of each first feature point;

[0140] A three-dimensional information determination module 85 is used to obtain the two-dimensional information of each second feature point of the second calibration plate in the camera coordinate system based on each second photo, and determine the three-dimensional information of each second feature point of the second calibration plate in the calibration plate coordinate system according to the two-dimensional information of each second feature point, the intrinsic parameters of the camera and the first transformation matrix;

[0141] A projector internal parameter determination module 86, for determining the internal parameters of the projector and the second transformation matrix between the projector coordinate system and the calibration plate coordinate system according to the two-dimensional information of each second feature point of the second calibration plate in the projector coordinate system and the three-dimensional information of each second feature point in the calibration plate coordinate system;

[0142] The external parameter determination module 87 is used to determine the external parameters between the projector and the camera according to the first transformation matrix and the second transformation matrix.

[0143] Optionally, a camera internal parameter determination module includes:

[0144] A first objective function construction unit, configured to construct a first objective function according to the three-dimensional information of each first feature point, the two-dimensional information of each first feature point, the intrinsic parameters of the camera to be solved, and the first transformation matrix between the camera coordinate system to be solved and the calibration plate coordinate system;

[0145] The camera intrinsic parameter obtaining unit is used to minimize the first objective function, obtain the camera intrinsic parameters and the first transformation matrix between the camera coordinate system and the calibration plate coordinate system.

[0146] Optionally, a three-dimensional information determination module includes:

[0147] A calibration code recognition unit, used to recognize the calibration code in each second photo and obtain the code of each calibration code; wherein the calibration code includes a first calibration code belonging to the first calibration plate and a second calibration code belonging to the second calibration plate;

[0148] A second calibration code determining unit, configured to determine a second calibration code belonging to a second calibration plate according to the codes of the calibration codes;

[0149] The second feature point extraction unit is used to extract the second feature points of the second calibration code to obtain the two-dimensional information of each second feature point of the second calibration plate in the camera coordinate system.

[0150] Optionally, a three-dimensional information determination module includes:

[0151] A rotation part acquisition unit, used to acquire a rotation part and a translation part of a first transformation matrix;

[0152] An origin determination unit, used to determine the origin of the camera coordinate system according to the rotation part and the translation part;

[0153] Determine the direction vector of the line between each second feature point and the origin of the camera coordinate system according to the rotation part, the intrinsic parameters of the camera and the two-dimensional information of each second feature point;

[0154] A three-dimensional information obtaining unit, used to obtain the three-dimensional information of each second feature point of the second calibration plate to be solved according to the origin of the camera coordinate system, the direction vector and the length of the line segment connecting each second feature point to be solved and the origin of the camera coordinate system;

[0155] The three-dimensional information solving unit is used to solve and obtain the three-dimensional information of each second feature point of the second calibration plate according to the three-dimensional information of each second feature point of the second calibration plate to be solved and the plane equation of the plane where the second calibration plate is located.

[0156] Optionally, a projector internal parameter determination module includes:

[0157] A second objective function construction unit, used to construct a second objective function according to the three-dimensional information of each second feature point in the calibration plate coordinate system, the two-dimensional information of each second feature point in the projector coordinate system, the internal parameters of the projector to be solved, and the second transformation matrix between the projector coordinate system to be solved and the calibration plate coordinate system;

[0158] The projector internal parameter obtaining unit is used to minimize the second objective function, obtain the internal parameters of the projector and the second transformation matrix between the projector coordinate system and the calibration plate coordinate system.

[0159] Optional, external parameter determination module, including:

[0160] A third objective function construction unit, configured to construct a third objective function according to the first transformation matrix, the second transformation matrix, and an external parameter between the projector and the camera to be solved;

[0161] The external parameter obtaining unit is used to minimize the third objective function and obtain the external parameters between the projector and the camera.

[0162] By using the embodiment of the present application, a plurality of first photos and a plurality of second photos are obtained based on the camera shooting the first calibration plate at different positions and shooting the second calibration plate projected onto the first calibration plate by the projector. According to the plurality of first photos, the camera internal parameters are calibrated. Afterwards, the projector internal parameters are calibrated according to the camera internal parameters and the plurality of second photos. Finally, according to the first transformation matrix obtained during the calibration of the camera internal parameters and the second transformation matrix obtained during the calibration of the projector internal parameters, the external parameters of the projector are calibrated. The above scheme is simple to operate, and there is no need to send the projector that has undergone after-sales repair back to the factory for mass production calibration. Only the first calibration plate and the second calibration plate are needed to complete the calibration. The deployment cost is low, and there is no additional transportation cost and time cost. The calibration cost of the projector can be reduced and the efficiency of the projector calibration can be improved.

[0163] The present application also provides a device embodiment, which can be used to execute the content of the method in Embodiment 1 of the present application. For details not disclosed in the device embodiment of the present application, please refer to the content of the method in Embodiment 1 of the present application.

[0164] See also Fig. 9 The present application also provides an electronic device 300, which may be a computer, a mobile phone, a tablet computer, a projector calibration device, etc. In an exemplary embodiment of the present application, the electronic device 300 is a projector calibration device, which includes: at least one processor 301, at least one memory 302, at least one display, at least one network interface 303, a user interface 304, and at least one communication bus 305.

[0165] The user interface 304 is mainly used to provide an input interface for the user and obtain data input by the user. Optionally, the user interface may also include a standard wired interface or a wireless interface.

[0166] The network interface 303 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0167] The communication bus 305 is used to realize the connection and communication between these components.

[0168] Among them, the processor 301 may include one or more processing cores. The processor uses various interfaces and lines to connect various parts of the entire electronic device, and executes various functions of the electronic device and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory, and calling data stored in the memory. Optionally, the processor can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor can integrate one or more combinations of central processing unit (Central Processing Unit, CPU), image processor (Graphics Processing Unit, GPU) and modem. Among them, the CPU mainly processes the operating system, user interface and application program, etc.; the GPU is responsible for rendering and drawing the content to be displayed by the display layer; the modem is used to process wireless communication. It can be understood that the above-mentioned modem may not be integrated into the processor, but implemented by a single chip.

[0169] Among them, the memory 302 may include a random access memory (Random Access Memory, RAM) and may also include a read-only memory (Read-Only Memory). Optionally, the memory includes a non-transitory computer-readable storage medium. The memory can be used to store instructions, programs, codes, code sets or instruction sets. The memory may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned method embodiments, etc.; the data storage area may store data involved in the above-mentioned method embodiments, etc. The memory may also be optionally at least one storage device located away from the aforementioned processor. As Fig. 9 As shown, the memory as a computer storage medium may include an operating system, a network communication module, a user interface module, and an operating application program.

[0170] The processor can be used to call the application of the projector calibration method stored in the memory, and specifically execute the method steps of the above-mentioned embodiment 1. The specific execution process can refer to the specific description shown in embodiment 1, which will not be repeated here.

[0171] The present application also provides a computer-readable storage medium on which a computer program is stored, and the instructions are suitable for being loaded by a processor and executing the method steps of the above-mentioned embodiment 1. The specific execution process can refer to the specific description shown in the embodiment, and will not be repeated here. The device where the storage medium is located can be a personal computer, a laptop computer, a smart phone, a tablet computer and other electronic devices.

[0172] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can refer to the partial description of the method embodiments. The device embodiments described above are merely schematic, wherein the components described as separate parts may or may not be physically separated, and the parts displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present application scheme. A person of ordinary skill in the art can understand and implement it without paying any creative work.

[0173] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0174] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing device to work in a specific way, so that the instructions stored in the computer-readable memory produce a product including an instruction device, which implements the function selected in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 function selected in a box or multiple boxes.

[0175] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 steps for the function selected in a box or multiple boxes.

[0176] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0177] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0178] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0179] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0180] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A projector calibration method, characterized in that: The steps include: Acquire three-dimensional information of each first feature point of the first calibration plate in the calibration plate coordinate system; Acquire a plurality of first photos of the first calibration plate taken by a camera on the projector when the projector moves to a plurality of different positions, and a plurality of second photos of the first calibration plate taken by the camera on the projector when the projector projects the second calibration plate onto the first calibration plate at the plurality of different positions; Based on each of the first photos, obtaining two-dimensional information of each of the first feature points of the first calibration plate in a camera coordinate system; Determine the intrinsic parameters of the camera and a first transformation matrix between the camera coordinate system and the calibration plate coordinate system according to the three-dimensional information of each of the first feature points and the two-dimensional information of each of the first feature points; Based on each of the second photos, obtain the two-dimensional information of each second feature point of the second calibration plate in the camera coordinate system, and determine the three-dimensional information of each of the second feature points of the second calibration plate in the calibration plate coordinate system according to the two-dimensional information of each of the second feature points, the intrinsic parameters of the camera and the first transformation matrix; Determine the intrinsic parameters of the projector and the second transformation matrix between the projector coordinate system and the calibration plate coordinate system according to the two-dimensional information of each of the second feature points of the second calibration plate in the projector coordinate system and the three-dimensional information of each of the second feature points in the calibration plate coordinate system; According to the first transformation matrix and the second transformation matrix, an extrinsic parameter between the projector and the camera is determined.

2. The projector calibration method according to claim 1, characterized in that: The step of determining the intrinsic parameters of the camera and the first transformation matrix between the camera coordinate system and the calibration plate coordinate system according to the three-dimensional information of each of the first feature points and the two-dimensional corner point information of each of the first feature points comprises: Constructing a first objective function according to the three-dimensional information of each of the first feature points, the two-dimensional information of each of the first feature points, the intrinsic parameters of the camera to be solved, and the first transformation matrix between the camera coordinate system and the calibration plate coordinate system to be solved; Minimize the first objective function to obtain the intrinsic parameters of the camera and a first transformation matrix between the camera coordinate system and the calibration plate coordinate system.

3. The projector calibration method according to claim 1, characterized in that: The step of obtaining the two-dimensional information of each second feature point of the second calibration plate in the camera coordinate system based on each second photo includes: Identify the calibration code in each of the second photos, and obtain the code of each of the calibration codes; wherein the calibration code includes a first calibration code belonging to the first calibration plate and a second calibration code belonging to the second calibration plate; Determining a second calibration code belonging to the second calibration plate according to the codes of the calibration codes; Perform second feature point extraction on the second calibration code to obtain two-dimensional information of each second feature point of the second calibration plate in the camera coordinate system.

4. The projector calibration method according to claim 1, characterized in that: The step of determining the three-dimensional information of each of the second feature points of the second calibration plate in the calibration plate coordinate system according to the two-dimensional information of each of the second feature points, the intrinsic parameters of the camera and the first transformation matrix comprises: Obtain the rotation part and the translation part of the first transformation matrix; Determine the origin of the camera coordinate system according to the rotation part and the translation part; Determine a direction vector of a line between each of the second feature points and the origin of the camera coordinate system according to the rotation part, the intrinsic parameters of the camera and the two-dimensional information of each of the second feature points; Obtaining three-dimensional information of each second feature point of the second calibration plate to be solved according to the origin of the camera coordinate system, the direction vector, and the length of a line segment connecting each second feature point to be solved and the origin of the camera coordinate system; The three-dimensional information of each second feature point of the second calibration plate to be solved is obtained according to the three-dimensional information of each second feature point of the second calibration plate to be solved and the plane equation of the plane where the second calibration plate is located.

5. The projector calibration method according to claim 1, characterized in that: The step of determining the intrinsic parameters of the projector and the second transformation matrix between the projector coordinate system and the calibration plate coordinate system according to the two-dimensional information of each of the second feature points of the second calibration plate in the projector coordinate system and the three-dimensional information of each of the second feature points in the calibration plate coordinate system comprises: Constructing a second objective function according to the three-dimensional information of each of the second feature points in the calibration plate coordinate system, the two-dimensional information of each of the second feature points in the projector coordinate system, the internal parameters of the projector to be solved, and the second transformation matrix between the projector coordinate system and the calibration plate coordinate system to be solved; The second objective function is minimized to obtain the intrinsic parameters of the projector and a second transformation matrix between the projector coordinate system and the calibration plate coordinate system.

6. The projector calibration method according to claim 1, characterized in that: The step of determining the extrinsic parameters between the projector and the camera according to the first transformation matrix and the second transformation matrix comprises: Constructing a third objective function according to the first transformation matrix, the second transformation matrix, and the extrinsic parameters between the projector and the camera to be solved; The third objective function is minimized to obtain external parameters between the projector and the camera.

7. The projector calibration method according to any one of claims 1 to 6, characterized in that: include: The first calibration plate includes a plurality of different first calibration codes; the second calibration plate includes a plurality of different second calibration codes; The first calibration code and the second calibration code are different; the first feature point is a corner point of the first calibration code; and the second feature point is a corner point of the second calibration code.

8. A projector calibration device, characterized in that: include: A three-dimensional information acquisition module, used to acquire three-dimensional information of each first feature point of the first calibration plate in the calibration plate coordinate system; a photo acquisition module, used for acquiring a plurality of first photos obtained by taking the first calibration plate by a camera on the projector when the projector moves to a plurality of different positions, and a plurality of second photos obtained by taking the first calibration plate by a camera on the projector when the projector projects the second calibration plate onto the first calibration plate at the plurality of different positions; A two-dimensional information obtaining module, used for obtaining two-dimensional information of each of the first feature points of the first calibration plate in a camera coordinate system based on each of the first photos; A camera intrinsic parameter determination module, used to determine the intrinsic parameters of the camera and a first transformation matrix between the camera coordinate system and the calibration plate coordinate system according to the three-dimensional information of each of the first feature points and the two-dimensional information of each of the first feature points; a three-dimensional information determination module, configured to obtain, based on each of the second photos, the two-dimensional information of each second feature point of the second calibration plate in the camera coordinate system, and determine the three-dimensional information of each of the second feature points of the second calibration plate in the calibration plate coordinate system according to the two-dimensional information of each of the second feature points, the intrinsic parameters of the camera, and the first transformation matrix; a projector internal parameter determination module, used to determine the internal parameters of the projector and the second transformation matrix between the projector coordinate system and the calibration plate coordinate system according to the two-dimensional information of each of the second feature points of the second calibration plate in the projector coordinate system and the three-dimensional information of each of the second feature points in the calibration plate coordinate system; An extrinsic parameter determination module is used to determine the extrinsic parameters between the projector and the camera according to the first transformation matrix and the second transformation matrix.

9. An electronic device, characterized in that: include: A processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing the projector calibration method as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the projector calibration method as described in any one of claims 1 to 7 is implemented.

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