A vehicle-mounted projection correction method and a vehicle-mounted projection system

Abstract

An embodiment of the present invention provides a vehicle-mounted projection correction method and a vehicle-mounted projection system. Among them, the method includes: obtaining a target image captured by a camera, which includes a projection screen and a projection curtain; identifying the boundary of the projection screen and the boundary of the projection curtain in the target image to obtain a first boundary and a second boundary; calculating the projection boundary of the vehicle-mounted projector according to a preset scaling ratio and the first boundary to obtain a third boundary; calculating the transformation relationship between the vehicle-mounted projector coordinate system and a preset projection area according to the second boundary, the third boundary, the size of the projection curtain, and the size and position of the preset projection area in the projection curtain, as a first transformation relationship; based on the first transformation relationship, controlling the vehicle-mounted projector to project an image and / or video onto the preset projection area. By the method of the present invention, the problem of difficult vehicle-mounted projection correction caused by the projection screen, the vehicle-mounted projection curtain, and the surrounding environment not being in the same plane can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of in-vehicle projection, and particularly to an in-vehicle projection correction method and an in-vehicle projection system. Background Art

[0002] With the rise and development of intelligent cockpits, in-vehicle projectors and projection screens are usually provided in some vehicles. The projection screen can display the projection image of the in-vehicle projector, facilitating passengers to watch movies during the ride. Since the in-vehicle projector and the projection screen are not completely matched, there is a certain angle and distance between the plane where the projection lens of the in-vehicle projector is located and the plane where the projection screen is located, resulting in abnormal display of the projection image such as the boundary of the projection image of the in-vehicle projector exceeding the boundary of the projection screen. Therefore, it is necessary to automatically correct the projection image of the in-vehicle projector to make the projection image normally displayed within the projection screen. The above process is called the in-vehicle projection correction process. However, due to the complex environment in the vehicle, it is difficult to realize the correction of the projection image of the in-vehicle projector. Summary of the Invention

[0003] The purpose of the embodiments of the present invention is to provide an in-vehicle projection correction method and an in-vehicle projection system to realize the correction of the projection image of the in-vehicle projector. The specific technical solutions are as follows:

[0004] The embodiments of the present invention provide an in-vehicle projection correction method, and the method includes:

[0005] Obtain a target image captured by a camera, including a projection image and a projection screen; wherein, the projection image is an image and / or video projected by an in-vehicle projector according to a preset scaling ratio and displayed on the projection screen;

[0006] Identify the boundary of the projection image in the target image to obtain a first boundary of the projection image in the image coordinate system, and identify the boundary of the projection screen in the target image to obtain a second boundary of the projection screen in the image coordinate system;

[0007] According to the preset scaling ratio and the first boundary, calculate the projection boundary of the in-vehicle projector as a third boundary of the projection boundary in the image coordinate system; wherein, the projection boundary is the boundary of the area formed by the light emitted by the in-vehicle projector on the plane where the projection screen is located;

[0008] According to the second boundary, the third boundary, the size of the projection screen, and the size and position of a preset projection area in the projection screen, calculate the transformation relationship between the in-vehicle projector coordinate system and the preset projection area as a first transformation relationship;

[0009] Based on the first transformation relationship, control the in-vehicle projector to project an image and / or video onto the preset projection area.

[0010] In a possible embodiment, calculating the transformation relationship between the in-vehicle projector coordinate system and the preset projection area according to the second boundary, the third boundary, the size of the projection screen, and the size and position of the preset projection area in the projection screen, and using it as the first transformation relationship includes:

[0011] Calculating the transformation relationship between the in-vehicle projector coordinate system and the projection screen coordinate system according to the second boundary and the third boundary, and using it as the second transformation relationship;

[0012] Calculating the third transformation relationship between the projection screen coordinate system and the preset projection area according to the size of the projection screen and the size and position of the preset projection area in the projection screen;

[0013] Calculating the transformation relationship between the in-vehicle projector coordinate system and the preset projection area according to the second transformation relationship and the third transformation relationship, and using it as the first transformation relationship.

[0014] In a possible embodiment, calculating the transformation relationship between the in-vehicle projector coordinate system and the projection screen coordinate system according to the second boundary and the third boundary, and using it as the second transformation relationship includes:

[0015] Calculating the transformation relationship between the camera coordinate system and the in-vehicle projector coordinate system according to the third boundary, and using it as the fourth transformation relationship;

[0016] Calculating the transformation relationship between the camera coordinate system and the projection screen coordinate system according to the second boundary, and using it as the fifth transformation relationship;

[0017] Calculating the transformation relationship between the in-vehicle projector coordinate system and the projection screen coordinate system according to the fourth transformation relationship and the fifth transformation relationship, and using it as the second transformation relationship.

[0018] In a possible embodiment, calculating the transformation relationship between the in-vehicle projector coordinate system and the preset projection area according to the second boundary, the third boundary, the size of the projection screen, and the size and position of the preset projection area in the projection screen, and using it as the first transformation relationship includes:

[0019] Calculating the third transformation relationship between the projection screen coordinate system and the preset projection area according to the size of the projection screen and the size and position of the preset projection area in the projection screen;

[0020] According to the third boundary, calculate the transformation relationship between the camera coordinate system and the vehicle-mounted projector coordinate system as the fourth transformation relationship;

[0021] According to the second boundary, calculate the transformation relationship between the camera coordinate system and the projection screen coordinate system as the fifth transformation relationship;

[0022] According to the third transformation relationship, the fourth transformation relationship, and the fifth transformation relationship, calculate the transformation relationship between the vehicle-mounted projector coordinate system and the preset projection area as the first transformation relationship.

[0023] In a possible embodiment, the obtaining of the target image including the projection picture and the projection screen captured by the camera includes:

[0024] Obtain the original image including the projection picture and the projection screen captured by the camera;

[0025] Perform distortion processing on the original image to obtain the target image.

[0026] An embodiment of the present invention further provides a vehicle-mounted projection system, and the vehicle-mounted projection system includes: a vehicle-mounted projector, a projection screen, a camera, and a processor;

[0027] The vehicle-mounted projector is configured to project an image and / or video onto the projection screen;

[0028] The camera is configured to capture a target image including a projection picture and a projection screen and send the target image to the processor; wherein, the projection picture is a picture projected by the vehicle-mounted projector on the projection screen according to a preset scaling ratio for an image and / or video;

[0029] The processor is configured to receive the target image, identify the boundary of the projection picture in the target image to obtain the first boundary of the projection picture in the image coordinate system, and identify the boundary of the projection screen in the target image to obtain the second boundary of the projection screen in the image coordinate system; according to the preset scaling ratio and the first boundary, calculate the projection boundary of the vehicle-mounted projector as the third boundary of the projection boundary in the image coordinate system; wherein, the projection boundary is the boundary of the area formed by the light emitted by the vehicle-mounted projector on the plane where the projection screen is located; according to the second boundary, the third boundary, the size of the projection screen, and the size and position of the preset projection area in the projection screen, calculate the transformation relationship between the vehicle-mounted projector coordinate system and the preset projection area as the first transformation relationship; based on the first transformation relationship, control the vehicle-mounted projector to project an image and / or video onto the preset projection area.

[0030] In a possible embodiment, the vehicle-mounted projector and the camera are fixedly arranged at the same position;

[0031] The optical axis of the vehicle-mounted projector is parallel to the optical axis of the camera.

[0032] The embodiment of the present invention further provides a vehicle-mounted projection correction device, and the device includes:

[0033] An image acquisition module, configured to acquire a target image including a projection screen and a projection curtain captured by the camera; wherein, the projection screen is a screen projected by the vehicle-mounted projector on the image and / or video according to a preset scaling ratio and displayed in the projection curtain;

[0034] A boundary recognition module, configured to recognize the boundary of the projection screen in the target image to obtain a first boundary of the projection screen in the image coordinate system, and recognize the boundary of the projection curtain in the target image to obtain a second boundary of the projection curtain in the image coordinate system;

[0035] A boundary calculation module, configured to calculate a projection boundary of the vehicle-mounted projector according to the preset scaling ratio and the first boundary as a third boundary of the projection boundary in the image coordinate system; wherein, the projection boundary is a boundary of a region formed by the light emitted by the vehicle-mounted projector on the plane where the projection curtain is located;

[0036] A transformation relationship calculation module, configured to calculate a transformation relationship between the vehicle-mounted projector coordinate system and the preset projection region according to the second boundary, the third boundary, the size of the projection curtain, and the size and position of a preset projection region in the projection curtain as a first transformation relationship;

[0037] A projection control module, configured to control the vehicle-mounted projector to project an image and / or video onto the preset projection region based on the first transformation relationship.

[0038] In a possible embodiment, the calculating a transformation relationship between the vehicle-mounted projector coordinate system and the preset projection region according to the second boundary, the third boundary, the size of the projection curtain, and the size and position of a preset projection region in the projection curtain as a first transformation relationship includes:

[0039] Calculating a transformation relationship between the vehicle-mounted projector coordinate system and the projection curtain coordinate system according to the second boundary and the third boundary as a second transformation relationship;

[0040] Calculate a third transformation relationship between the projection screen coordinate system and the preset projection area according to the size of the projection screen and the size and position of the preset projection area in the projection screen;

[0041] Calculate a transformation relationship between the vehicle-mounted projector coordinate system and the preset projection area according to the second transformation relationship and the third transformation relationship, and use it as the first transformation relationship.

[0042] In a possible embodiment, the calculating a transformation relationship between the vehicle-mounted projector coordinate system and the projection screen coordinate system according to the second boundary and the third boundary, and using it as the second transformation relationship includes:

[0043] Calculate a transformation relationship between the camera coordinate system and the vehicle-mounted projector coordinate system according to the third boundary, and use it as the fourth transformation relationship;

[0044] Calculate a transformation relationship between the camera coordinate system and the projection screen coordinate system according to the second boundary, and use it as the fifth transformation relationship;

[0045] Calculate a transformation relationship between the vehicle-mounted projector coordinate system and the projection screen coordinate system according to the fourth transformation relationship and the fifth transformation relationship, and use it as the second transformation relationship.

[0046] In a possible embodiment, the calculating a transformation relationship between the vehicle-mounted projector coordinate system and the preset projection area according to the second boundary, the third boundary, the size of the projection screen, and the size and position of the preset projection area in the projection screen, and using it as the first transformation relationship includes:

[0047] Calculate a third transformation relationship between the projection screen coordinate system and the preset projection area according to the size of the projection screen and the size and position of the preset projection area in the projection screen;

[0048] Calculate a transformation relationship between the camera coordinate system and the vehicle-mounted projector coordinate system according to the third boundary, and use it as the fourth transformation relationship;

[0049] Calculate a transformation relationship between the camera coordinate system and the projection screen coordinate system according to the second boundary, and use it as the fifth transformation relationship;

[0050] Calculate a transformation relationship between the vehicle-mounted projector coordinate system and the preset projection area according to the third transformation relationship, the fourth transformation relationship, and the fifth transformation relationship, and use it as the first transformation relationship.

[0051] In a possible embodiment, obtaining a target image including a projection screen and a projection curtain captured by a camera includes:

[0052] Obtaining an original image including a projection screen and a projection curtain captured by a camera;

[0053] Performing distortion processing on the original image to obtain a target image.

[0054] An embodiment of the present invention further provides an electronic device, including:

[0055] A memory for storing a computer program;

[0056] A processor for implementing the vehicle-mounted projection correction method described in any one of the above when executing the program stored on the memory.

[0057] An embodiment of the present invention further provides a computer program product containing instructions, which, when running on a computer, causes the computer to execute the vehicle-mounted projection correction method described in any one of the above.

[0058] Advantages of the embodiments of the present invention:

[0059] An in-vehicle projection correction method and an in-vehicle projection system provided by an embodiment of the present invention project an image and / or a video by an in-vehicle projector according to a preset scaling ratio, so that the image and / or the video projected by the in-vehicle projector are completely displayed on a projection screen, and a projection picture is obtained. By acquiring a target image including the projection picture and the projection screen captured by a camera and identifying the boundary of the projection picture in the target image to obtain the first boundary of the projection picture in the image coordinate system, the position of the projection picture in the image coordinate system is determined. Thus, according to the preset scaling ratio and the first boundary, the boundary of the projection area formed by the light emitted by the in-vehicle projector on the plane where the projection screen is located can be calculated as the third boundary, that is, the position of the projection boundary in the image coordinate system is obtained. It can be understood that there are other objects such as seat backs behind the projection screen suspended in the vehicle. Therefore, the projection picture of the in-vehicle projector may fall on other objects and be displayed, and the other objects and the projection screen are not in the same plane. Therefore, if the boundaries of the projection pictures on different planes in the image captured by the camera are directly identified, the recognition result will be inaccurate, making it difficult to correct the projection picture of the in-vehicle projector. However, in the embodiment of the present application, since the projection picture is completely displayed on the projection screen when the target image is captured, when the first boundary is obtained by recognizing the target image, the projection pictures are in the same plane, and thus an accurate first boundary can be recognized. Moreover, since the third boundary is calculated according to the first boundary and the preset scaling ratio, even if some of the light emitted by the in-vehicle projector during projection is displayed on other objects, it will not affect the calculation of the third boundary, and thus an accurate third boundary is obtained, avoiding the influence of the in-vehicle environment. The transformation relationship between the in-vehicle projector coordinate system and the preset projection area can be calculated according to the second boundary, the third boundary, the size of the projection screen, and the size and position of the preset projection area in the projection screen as the first transformation relationship, and based on the first transformation relationship, the in-vehicle projector is controlled to project the image and / or the video onto the preset projection area, thereby realizing the correction of the projection picture of the in-vehicle projector.

[0060] Of course, it is not necessary for any product or method implementing the present invention to achieve all the above advantages simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other embodiments according to these drawings.

[0062] Figure 1A schematic flowchart of a vehicle-mounted projection correction method provided by an embodiment of the present application;

[0063] Figure 2a A schematic structural diagram of a vehicle-mounted projection system provided by an embodiment of the present application;

[0064] Figure 2b Another schematic structural diagram of a vehicle-mounted projection system provided by an embodiment of the present application;

[0065] Figure 3 A schematic flowchart of a method for obtaining a target image provided by an embodiment of the present application;

[0066] Figure 4 A schematic projection diagram of a vehicle-mounted projector provided by an embodiment of the present application;

[0067] Figure 5 A schematic diagram of the projection correction effect of a vehicle-mounted projector provided by an embodiment of the present application;

[0068] Figure 6 Another schematic flowchart of a vehicle-mounted projection correction method provided by an embodiment of the present application;

[0069] Figure 7 Another schematic flowchart of a vehicle-mounted projection correction method provided by an embodiment of the present application;

[0070] Figure 8 Another schematic flowchart of a vehicle-mounted projection correction method provided by an embodiment of the present application;

[0071] Figure 9 Another schematic flowchart of a vehicle-mounted projection correction method provided by an embodiment of the present application;

[0072] Figure 10 A schematic structural diagram of a vehicle-mounted projection correction device provided by an embodiment of the present application;

[0073] Figure 11 A schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0074] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art based on the present application belong to the scope of protection of the present invention.

[0075] To more clearly illustrate the vehicle-mounted projection correction method and vehicle-mounted projection system provided in this application, the application scenarios of the vehicle-mounted projection correction method and vehicle-mounted projection system provided in this application will be described by way of example below. It can be understood that the following examples are only one possible application scenario of the vehicle-mounted projection correction method and vehicle-mounted projection system provided in this application. In other possible embodiments, the vehicle-mounted projection correction method and vehicle-mounted projection system provided in this application can also be applied to other scenarios, and the following examples do not make any limitations in this regard.

[0076] When setting up a vehicle-mounted projector and a projection screen on a vehicle, generally, the vehicle-mounted projector is placed above the rear of the second row of the vehicle, and a projection screen is placed between the second row of seats and the front row of seats in the vehicle. The vehicle-mounted projector can project the image and / or video to be projected onto the projection screen. Since the vehicle-mounted projector and the projection screen do not match exactly, there is a certain angle and distance between the plane where the projection lens of the vehicle-mounted projector is located and the plane where the projection screen is located, which may cause abnormal display of the projection screen, such as the boundary of the projection screen of the vehicle-mounted projector exceeding the boundary of the projection screen. Therefore, when installing and arranging the vehicle-mounted projector and the projection screen, it is necessary to automatically correct the projection screen of the vehicle-mounted projector so that the projection screen is normally displayed within the projection screen. The above process is called the vehicle-mounted projection correction process. The projection screen in this article refers to: when the vehicle-mounted projector projects an image and / or video onto a certain plane, the area where the image and / or video is displayed on this plane; the boundary of this area is the boundary of the projection screen.

[0077] In addition, it can be understood that the running of the vehicle will cause certain bumps, which will change the positions of some objects that cannot be firmly set on the vehicle, such as objects like pendants, tissues, vehicle-mounted projectors, projection screens, etc. Then, even if vehicle-mounted projection correction is performed when installing and arranging the vehicle-mounted projector and the projection screen, when the positions of the vehicle-mounted projector and the projection screen change, there may still be abnormal display of the projection screen, such as the boundary of the projection screen of the vehicle-mounted projector exceeding the boundary of the projection screen. Therefore, in addition to automatically correcting the projection screen of the vehicle-mounted projector when installing and arranging the vehicle-mounted projector and the projection screen, it is also necessary to automatically correct the projection screen of the vehicle-mounted projector every time the vehicle-mounted projector and the projection screen are used.

[0078] Since the projection screen is generally set between the second-row seats and the front-row seats of the vehicle, the projection screen and the surrounding vehicle interior structures are not in the same vertical plane. Moreover, the projection image of the in-vehicle projector may be projected onto other objects such as the seat backrest, resulting in the projection images of the in-vehicle projector being on different planes. Also, compared with the scenario of hanging a projection screen on the indoor white wall of a conventional home or office, in the scenario of setting up a projection screen in a vehicle, the vehicle environment where the projection screen is located is more complex, and the interior colors of the vehicle vary. Therefore, during the in-vehicle projection correction process, if, after obtaining an image containing the projection image of the in-vehicle projector, the boundary of the projection image in the image is directly recognized, due to the situation that the projection images in the image are on different planes and the influence of the complex vehicle environment, the recognition result of the projection image boundary may be inaccurate, making it difficult to correct the projection image based on the recognized projection image boundary. Therefore, how to achieve the correction of the projection image of the in-vehicle projector has become an urgent problem to be solved.

[0079] Based on this, an embodiment of the present application provides an in-vehicle projection correction method, see Figure 1 , the method includes:

[0080] S101, obtain a target image captured by a camera and including a projection image and a projection screen.

[0081] Wherein, the projection image is an image projected by the in-vehicle projector on the image and / or video according to a preset scaling ratio and displayed on the projection screen.

[0082] S102, recognize the boundary of the projection image in the target image to obtain a first boundary of the projection image in the image coordinate system, and recognize the boundary of the projection screen in the target image to obtain a second boundary of the projection screen in the image coordinate system.

[0083] S103, calculate the projection boundary of the in-vehicle projector according to the preset scaling ratio and the first boundary, and use it as a third boundary of the projection boundary in the image coordinate system.

[0084] Wherein, the projection boundary is the boundary of the area formed by the light emitted by the in-vehicle projector on the plane where the projection screen is located.

[0085] S104, calculate the transformation relationship between the in-vehicle projector coordinate system and the preset projection area according to the second boundary, the third boundary, the size of the projection screen, and the size and position of the preset projection area in the projection screen, and use it as a first transformation relationship.

[0086] S105, based on the first transformation relationship, control the in-vehicle projector to project the image and / or video onto the preset projection area.

[0087] Applying the embodiments of the present application, by means of the vehicle-mounted projector projecting an image and / or video according to a preset scaling ratio, the image and / or video projected by the vehicle-mounted projector is completely displayed on the projection screen, and a projection screen is obtained. And by acquiring a target image including the projection screen and the projection screen captured by the camera, and identifying the boundary of the projection screen in the target image, and obtaining the first boundary of the projection screen in the image coordinate system, the position of the projection screen in the image coordinate system is determined. Thus, according to the preset scaling ratio and the first boundary, the boundary of the projection area formed by the light emitted by the vehicle-mounted projector on the plane where the projection screen is located can be calculated as the third boundary, that is, the position of the projection boundary in the image coordinate system is obtained. It can be understood that there are other objects such as seat backs behind the projection screen suspended in the vehicle. Therefore, the projection screen of the vehicle-mounted projector may fall on other objects and be displayed, and the other objects and the projection screen are not in the same plane. Therefore, if the boundaries of the projection screens on different planes in the image captured by the camera are directly identified, the recognition result will be inaccurate, making it difficult to correct the projection screen of the vehicle-mounted projector. In the embodiments of the present application, since the projection screen is completely displayed on the projection screen when the target image is captured, when the first boundary is obtained by identifying the target image, the projection screens are in the same plane, and an accurate first boundary can be identified. And since the third boundary is calculated according to the first boundary and the preset scaling ratio, even if some of the light emitted by the vehicle-mounted projector during projection is displayed on other objects, it will not affect the calculation of the third boundary, thus obtaining an accurate third boundary and avoiding the influence of the vehicle interior environment. The transformation relationship between the vehicle-mounted projector coordinate system and the preset projection area can be calculated according to the second boundary, the third boundary, the size of the projection screen, and the size and position of the preset projection area in the projection screen as the first transformation relationship. And based on the first transformation relationship, the vehicle-mounted projector is controlled to project the image and / or video onto the preset projection area, thus realizing the correction of the projection screen of the vehicle-mounted projector.

[0088] To facilitate the description of the vehicle-mounted projection correction method provided by the present application, the vehicle-mounted projection system provided by the present application will be first described exemplarily. Refer to Figure 2a , the vehicle-mounted projection system includes:

[0089] A vehicle-mounted projector 210, a projection screen 220, a camera 230, and a processor 240.

[0090] The vehicle-mounted projector 210 is configured to project an image and / or video onto the projection screen 220.

[0091] The camera 230 is configured to capture a target image including the projection screen and the projection screen 220, and send the target image to the processor 240.Figure 2a The connection line between the camera 230 and the processor 240 is used to represent the data transmission process in which the camera 230 sends the target image to the processor 240.

[0092] The processor 240 is configured to receive the target image and execute the foregoing S102 - S105. By the way of the processor 240 receiving the target image, the step of obtaining the target image in the foregoing S101 can be implemented. Therefore, the step of the processor 240 receiving the target image is equivalent to the foregoing S101. Therefore, the processor 240 can be used to execute the foregoing S101 - S105. Figure 2a The connection line between the in - vehicle projector 210 and the processor 240 is used to represent the data transmission process in which the processor 240 controls the in - vehicle projector 210 to project an image and / or video onto a preset projection area.

[0093] See Figure 2b , the processor 240 can be an external electronic device to the camera 230 and the in - vehicle projector 210, and this electronic device can implement the foregoing S101 - S105. For example, the electronic device can refer to a laptop computer, a server, etc. It can be understood that Figure 2b This is only an example of a possible in - vehicle projection system. In other possible embodiments, the processor 240 can also refer to a processing chip built into the in - vehicle projector 210.

[0094] When setting the Figure 2a shown in - vehicle projection system on the vehicle, the camera 230 can be set at any position where an image including the complete projection screen 220 can be captured. The camera 230 can be set at the same position as the in - vehicle projector 210 or at different positions.

[0095] In a possible embodiment, see Figure 2b , the in - vehicle projector 210 and the camera 230 are fixedly set at the same position. The same position in this article means that the distance between the in - vehicle projector 210 and the camera 230 is small enough. In this example, the camera 230 and the in - vehicle projector 210 can be set at the same position in a non - detachable manner or in a detachable manner. For example, a groove can be set below the in - vehicle projector 210, and a protrusion can be set above the camera 230. By fixing the protrusion of the camera 230 in the groove of the in - vehicle projector 210, the camera 230 and the in - vehicle projector 210 are installed together. By removing the protrusion of the camera 230 from the groove of the in - vehicle projector 210, the camera 230 can be detached from the in - vehicle projector 210. It can be understood that Figure 2bThis is only an example of the settings for one possible camera 230 and in-vehicle projector 210. In other possible embodiments, the camera 230 can also be set above, or to the right, or to the left, etc. of the in-vehicle projector 210.

[0096] Moreover, in this example, the optical axis of the in-vehicle projector 210 and the optical axis of the camera 230 can be parallel, or can have a certain deflection angle. In Figure 2b the example shown, the in-vehicle projector 210 and the camera 230 are fixedly set at the same position, and the optical axis of the in-vehicle projector 210 and the optical axis of the camera 230 are parallel. If the optical axis of the in-vehicle projector 210 and the optical axis of the camera 230 are parallel, then when calculating the transformation relationship between the in-vehicle projector coordinate system and the preset projection area, that is, when calculating the first transformation relationship, the rotation angle between the in-vehicle projector 210 and the camera 230 can be not considered, reducing the amount of calculation when calculating the first transformation relationship.

[0097] In other possible embodiments, if the in-vehicle projector 210 is set above the rear of the second row of the vehicle, and the projection screen 220 is set between the second row seat and the front row seat of the vehicle, the camera 230 can be placed near the right or left door of the second row of the vehicle, as long as it is ensured that the camera 230 can capture an image including the complete projection screen 220 at the set position.

[0098] In the above embodiments, the vehicle having two rows of seats is taken as an example for illustrative description. In other possible embodiments, the vehicle can also have three rows or more rows of seats. In this embodiment, the placement methods of the in-vehicle projector 210, the projection screen 220, and the camera 230 can be: the in-vehicle projector 210 can be set above the rear of the last row of the vehicle, the projection screen 220 can be set between the second row seat and the front row seat of the vehicle, the camera 230 can be set at the same position as the in-vehicle projector 210, and the camera 230 can also be placed near the right or left door of the second row of the vehicle, as long as it is ensured that the camera 230 can capture an image including the complete projection screen 220 at the set position. In this embodiment, the in-vehicle projector 210, the projection screen 220, and the camera 230 can also be placed according to the needs of the user, as long as it is ensured that the camera 230 can capture an image including the complete projection screen 220 at the set position. The present application does not impose any restrictions on the placement methods of the in-vehicle projector 210, the projection screen 220, and the camera 230.

[0099] The in-vehicle projection system for implementing the in-vehicle projection correction method provided by the present application has been described by way of example above. Now, please look back Figure 1 , to Figure 1An exemplary description of the vehicle-mounted projection correction method shown above is given, that is, an exemplary description of the aforementioned S101 - S105:

[0100] Among them, in S101, the preset scaling ratio can be set according to the user's needs or past experience, as long as it is ensured that when the vehicle-mounted projector projects an image and / or video according to the preset scaling ratio, the image and / or video can be completely displayed on the projection screen, that is, the projection picture is completely displayed on the projection screen.

[0101] Since the projection picture can be completely displayed on the projection screen, if the camera can capture the entire projection screen, then the camera can also capture the target image including the projection picture and the projection target. Therefore, when setting the camera in the vehicle in the aforementioned vehicle-mounted projection system, it is only necessary to ensure that the camera can capture an image including the entire projection screen at the set position. Exemplarily, if the vehicle-mounted projector is set above the rear of the second row of the vehicle and the projection screen is set between the second row seat and the front row seat of the vehicle, the camera can be placed near the right or left door of the second row of the vehicle, or the camera can also be placed above the rear of the second row of the vehicle together with the vehicle-mounted projector.

[0102] It can be understood that there is a certain distortion in the image captured by the camera compared to the real object, and this distortion may cause inaccurate recognition of the first boundary and the second boundary in the subsequent process, thereby affecting the accuracy of correcting the projection picture of the vehicle-mounted projector. Based on this, in a possible embodiment, refer to Figure 3 , S101 includes:

[0103] S1011, obtaining the original image including the projection picture and the projection screen captured by the camera.

[0104] S1012, performing distortion processing on the original image to obtain the target image.

[0105] Distortion processing can refer to reconstructing the original image through polynomial transformation or correction function; distortion processing can also refer to restoring the straight lines and parallelism in the original image through perspective transformation or distortion correction; distortion processing can also refer to estimating the distortion parameters of the camera by detecting the straight lines in the original image and correcting the original image according to the distortion parameters.

[0106] Selecting this embodiment, the image including the projection picture and the projection screen captured by the camera can be used as the original image, and distortion processing is performed on the original image to obtain the target image, thereby reducing or eliminating the influence of camera distortion on the authenticity of the target image, improving the accuracy of recognizing the first boundary and the second boundary in the subsequent target image, and further improving the accuracy of correcting the projection picture of the vehicle-mounted projector.

[0107] In S102, the boundary of the projection screen in the target image can be recognized through a boundary recognition algorithm to obtain the first boundary of the projection screen in the image coordinate system, and the boundary of the projection curtain in the target image can be recognized to obtain the second boundary of the projection curtain in the image coordinate system. The boundary recognition algorithm can be any algorithm capable of recognizing boundaries, such as a template matching algorithm, a feature recognition algorithm, a deep learning algorithm, etc. The present application does not make any limitation in this regard.

[0108] Specifically, the boundary recognition algorithm can recognize the four endpoints of the boundary of the projection screen in the target image and output the coordinates of the four endpoints of the boundary of the projection screen in the image coordinate system. Then, the boundary of the quadrilateral region with the four endpoints of the boundary of the projection screen as vertices in the image coordinate system is the first boundary, that is, the first boundary can be represented by the coordinates of the four endpoints of the boundary of the projection screen in the image coordinate system.

[0109] Similarly, the boundary recognition algorithm can recognize the four endpoints of the boundary of the projection curtain in the target image and output the coordinates of the four endpoints of the boundary of the projection curtain in the image coordinate system. Then, the boundary of the region formed by the coordinates of the four endpoints of the boundary of the projection curtain in the image coordinate system is the second boundary, that is, the second boundary can be represented by the coordinates of the four endpoints of the boundary of the projection curtain in the image coordinate system.

[0110] In S103, referring to Figure 4 the projection schematic diagram shown, where 41 is the first boundary, 42 is the second boundary, and 43 is the third boundary. When the in-vehicle projector projects an image and / or video according to a preset scaling ratio, if all the light emitted by the in-vehicle projector is projected onto the plane where the projection curtain is located, the region formed by the light emitted by the in-vehicle projector on the plane where the projection curtain is located is Figure 4 the region formed by the third boundary 43 in

[0111] and the ratio between the size of the region formed by the third boundary 43 and the size of the region formed by the first boundary 41 is the preset scaling ratio.

[0112] In S104, the preset projection area is any area determined by the user on the projection screen, and the size of the preset projection area can be set according to the user's needs. It can be understood that after calibrating the projection screen of the in-vehicle projector, the projection screen should be located within the preset projection area. Therefore, in order for the user to view the projection screen completely, the size of the preset projection area should be less than or equal to the size of the projection screen. For example, the length and width of the projection screen size can each be reduced by 10 mm to obtain the size of the preset projection area.

[0113] It can be understood that the conversion relationship between different coordinate systems can be obtained by fitting the coordinates of the same object in different coordinate systems. Since the second boundary of the projection screen in the image coordinate system and the third boundary of the projection boundary in the image coordinate system have been obtained in the aforementioned S102 - S103, and at the same time, the size, position of the preset projection area in the projection screen in the projection screen coordinate system, and the position of the projection boundary under the in-vehicle projector are also known. Therefore, based on the above information, the transformation relationship between the three different coordinate systems of the image coordinate system, the projection screen coordinate system, and the in-vehicle projector coordinate system can be obtained by fitting, and thus the transformation relationship between the in-vehicle projector coordinate system and the preset projection area can be obtained as the first transformation relationship. In the following text, the first transformation relationship is denoted as Mpt. An exemplary description of how to calculate the first transformation relationship Mpt will be given below and will not be elaborated here.

[0114] In S105, since the first transformation relationship Mpt refers to the transformation relationship between the in-vehicle projector coordinate system and the preset projection area, the in-vehicle projector can project the image and / or video onto the preset projection area according to the parameters in the first transformation relationship Mpt. Refer to Figure 5 the schematic diagram of the projection calibration effect shown in Figure 5 where 51 is the uncalibrated projection screen and 52 is the calibrated projection screen. If the projection screen of the in-vehicle projector is not calibrated, the uncalibrated projection screen 51 may exceed the projection screen 220. Assuming that the size of the preset projection area is equal to the size of the projection screen 220, the calibrated projection screen 52 can be fully displayed on the entire projection screen 220.

[0115] The above-mentioned S101 - S105 have been described exemplarily above. An exemplary description of how to calculate the first transformation relationship Mpt will be given below. In one possible embodiment, reference can be made to Figure 6 Figure 6 the embodiment shown in

[0116] S101, obtain a target image including a projection screen and a projection curtain captured by a camera.

[0117] ​Among them, the projection screen is the screen projected by the in-vehicle projector on the image and / or video according to a preset scaling ratio and displayed on the projection screen.

[0118] S102. Identify the boundary of the projection screen in the target image to obtain the first boundary of the projection screen in the image coordinate system, and identify the boundary of the projection screen in the target image to obtain the second boundary of the projection screen in the image coordinate system.

[0119] S103. Calculate the projection boundary of the in-vehicle projector according to the preset scaling ratio and the first boundary, and use it as the third boundary of the projection boundary in the image coordinate system.

[0120] Among them, the projection boundary is the boundary of the area formed by the light emitted by the in-vehicle projector on the plane where the projection screen is located.

[0121] S1041. Calculate the transformation relationship between the in-vehicle projector coordinate system and the projection screen coordinate system according to the second boundary and the third boundary, and use it as the second transformation relationship.

[0122] S1042. Calculate the third transformation relationship between the projection screen coordinate system and the preset projection area according to the size of the projection screen and the size and position of the preset projection area in the projection screen.

[0123] S1043. Calculate the transformation relationship between the in-vehicle projector coordinate system and the preset projection area according to the second transformation relationship and the third transformation relationship, and use it as the first transformation relationship.

[0124] S105. Based on the first transformation relationship, control the in-vehicle projector to project the image and / or video onto the preset projection area.

[0125] Figure 6 The embodiment shown is similar to Figure 1 the embodiment shown, the difference is only that Figure 6 in the embodiment shown, S104 is refined into S1041, S1042 and S1043, so only S1041, S1042 and S1043 will be described below.

[0126] Among them, in S1041, since the in-vehicle projector coordinate system is constructed depending on the pose of the in-vehicle projector and the projection boundary is obtained by projecting with the in-vehicle projector, the projection boundary can be used to characterize the pose of the in-vehicle projector. Similarly, since the projection screen coordinate system is constructed depending on the projection screen, the boundary of the projection screen can be used to characterize the pose of the projection screen. Moreover, since the third boundary can represent the position of the projection boundary in the image coordinate system and the second boundary can represent the position of the boundary of the projection screen in the image coordinate system, the transformation relationship between the pose of the in-vehicle projector and the pose of the projection screen can be calculated through the transformation relationship between the second boundary and the third boundary in the image coordinate system, that is, the transformation relationship between the in-vehicle projector coordinate system and the projection screen coordinate system is calculated as the second transformation relationship. In the following text, the second transformation relationship is denoted as Mps. An exemplary description of how to calculate the second transformation relationship Mps will be given in the following text and will not be elaborated here.

[0127] In S1042, as described in the aforementioned S104, if the preset projection area is any area determined by the user on the projection screen, the coordinates of the four endpoints of the preset projection area in the projection screen coordinate system can be obtained according to the size and position of the preset projection area in the projection screen. Moreover, since the projection screen coordinate system is constructed depending on the pose of the projection screen, the coordinates of the four endpoints of the projection screen in the projection screen coordinate system can be obtained according to the size of the projection screen. Thus, the size displacement parameter between the preset projection area and the projection screen, that is, the transformation relationship between the preset projection area and the projection screen, can be determined according to the coordinates of the preset projection area and the projection screen in the projection screen coordinate system respectively, and the third transformation relationship between the projection screen coordinate system and the preset projection area can be calculated. In the following text, the third transformation relationship is denoted as Mst.

[0128] In S1043, the product of the second transformation relationship Mps and the third transformation relationship Mst is used as the transformation relationship between the in-vehicle projector coordinate system and the preset projection area, that is, the first transformation relationship Mpt = Mps × Mst. The product of the second transformation relationship Mps and the third transformation relationship Mst refers to the product of the second transformation relationship Mps and the third transformation relationship Mst obtained through matrix multiplication.

[0129] An exemplary description of how to calculate the first transformation relationship Mpt has been given in the above text. An exemplary description of how to calculate the second transformation relationship Mps will be given in the following text. Refer to Figure 7 , Figure 7 The embodiments shown include:

[0130] S101, obtaining a target image including a projection picture and a projection screen captured by a camera.

[0131] Among them, the projection screen is the screen projected by the in-vehicle projector on the image and / or video according to a preset scaling ratio and displayed on the projection screen.

[0132] S102. Identify the boundary of the projection screen in the target image to obtain the first boundary of the projection screen in the image coordinate system, and identify the boundary of the projection screen in the target image to obtain the second boundary of the projection screen in the image coordinate system.

[0133] S103. Calculate the projection boundary of the in-vehicle projector according to the preset scaling ratio and the first boundary, and use it as the third boundary of the projection boundary in the image coordinate system.

[0134] Among them, the projection boundary is the boundary of the area formed by the light emitted by the in-vehicle projector on the plane where the projection screen is located.

[0135] S10411. Calculate the transformation relationship between the camera coordinate system and the in-vehicle projector coordinate system according to the third boundary, and use it as the fourth transformation relationship.

[0136] S10412. Calculate the transformation relationship between the camera coordinate system and the projection screen coordinate system according to the second boundary, and use it as the fifth transformation relationship.

[0137] S10413. Calculate the transformation relationship between the in-vehicle projector coordinate system and the projection screen coordinate system according to the fourth transformation relationship and the fifth transformation relationship, and use it as the second transformation relationship.

[0138] S1042. Calculate the third transformation relationship between the projection screen coordinate system and the preset projection area according to the size of the projection screen and the size and position of the preset projection area in the projection screen.

[0139] S1043. Calculate the transformation relationship between the in-vehicle projector coordinate system and the preset projection area according to the second transformation relationship and the third transformation relationship, and use it as the first transformation relationship.

[0140] S105. Based on the first transformation relationship, control the in-vehicle projector to project the image and / or video onto the preset projection area.

[0141] Figure 7 In the shown embodiment, it is similar to the Figure 6 shown embodiment, and the only difference is that Figure 7 in the shown embodiment, S1041 is refined into S10411, S10412, and S10413. Therefore, only S10411, S10412, and S10413 will be described below.

[0142] Among them, in S10411, since the target image is obtained by a camera, the transformation relationship between the camera coordinate system and the image coordinate system can be calculated according to the parameters of the camera. And as described in S1041 above, the projection boundary can be used to characterize the pose of the vehicle-mounted projector, and the third boundary can represent the position of the projection boundary in the image coordinate system. Therefore, the transformation relationship between the image coordinate system and the vehicle-mounted projector coordinate system can be obtained by fitting according to the positions of the projection boundary in the vehicle-mounted projector coordinate system and the image coordinate system respectively. According to the transformation relationship between the camera coordinate system and the image coordinate system and the transformation relationship between the image coordinate system and the vehicle-mounted projector coordinate system, the transformation relationship between the camera coordinate system and the vehicle-mounted projector coordinate system can be calculated as the fourth transformation relationship. In the following text, the fourth transformation relationship is denoted as Mcp.

[0143] Exemplarily, the fourth transformation relationship Mcp can be represented by the following matrix:

[0144]

[0145] where f is the focal length of the camera, t 1 、t 2 、t 3 are used to represent the relative offset between the camera coordinate system and the vehicle-mounted projector coordinate system, and r 1,1 、r 1,2 、r 1,3 、r 2,1 、r 2,2 、r 2,3 、r 3,1 、r 3,2 、r 3,3 are used to represent the relative deflection between the camera coordinate system and the vehicle-mounted projector coordinate system.

[0146] It can be understood that although only the case of representing the fourth transformation relationship Mcp in matrix form is exemplified in this example, this does not mean that the fourth transformation relationship Mcp in this application must be represented in matrix form. For the case where the fourth transformation relationship Mcp is represented in other forms than matrix, the principle is exactly the same, and the difference lies only in the representation form of the fourth transformation relationship Mcp, so it will not be elaborated here. Similarly for the first transformation relationship, the second transformation relationship, the third transformation relationship and the fifth transformation relationship in this article.

[0147] In S10412, as described in S10411 above, the transformation relationship between the camera coordinate system and the image coordinate system can be calculated based on the parameters of the camera. Moreover, as described in S1041 above, the boundary of the projection screen can be used to represent the pose of the projection screen, and the second boundary can represent the position of the boundary of the projection screen in the image coordinate system. Therefore, the transformation relationship between the image coordinate system and the projection screen coordinate system can be obtained by fitting based on the positions of the boundary of the projection screen in the projection screen coordinate system and the image coordinate system respectively. According to the transformation relationship between the camera coordinate system and the image coordinate system and the transformation relationship between the image coordinate system and the projection screen coordinate system, the transformation relationship between the camera coordinate system and the projection screen coordinate system can be calculated, which is used as the fifth transformation relationship. In the following text, the fifth transformation relationship is denoted as Mcs.

[0148] In S10413, if the fourth transformation relationship Mcp is represented in matrix form, then the product of the inverse matrix of the fourth transformation relationship Mcp and the fifth transformation relationship Mcs is used as the transformation relationship between the vehicle-mounted projector coordinate system and the projection screen coordinate system, that is, the second transformation relationship Mps = Mcp -1 ×Mcs.

[0149] An exemplary description of how to calculate the second transformation relationship in S1041 has been given above. In the following text, an exemplary description of how to calculate the first transformation relationship Mpt in the aforementioned S104 will continue. In another possible embodiment, reference can be made to Figure 8 , Figure 8 The embodiments shown include:

[0150] S101, obtain a target image captured by the camera, including a projection screen and a projection curtain.

[0151] Among them, the projection screen is a screen projected by the vehicle-mounted projector on the projection curtain after scaling an image and / or video according to a preset scaling ratio.

[0152] S102, identify the boundary of the projection screen in the target image to obtain the first boundary of the projection screen in the image coordinate system, and identify the boundary of the projection curtain in the target image to obtain the second boundary of the projection curtain in the image coordinate system.

[0153] S103, calculate the projection boundary of the vehicle-mounted projector according to the preset scaling ratio and the first boundary, as the third boundary of the projection boundary in the image coordinate system.

[0154] Among them, the projection boundary is the boundary of the area formed by the light emitted by the vehicle-mounted projector on the plane where the projection curtain is located.

[0155] S104a. Calculate the third transformation relationship between the projection screen coordinate system and the preset projection area according to the size of the projection screen and the size and position of the preset projection area in the projection screen.

[0156] S104b. Calculate the transformation relationship between the camera coordinate system and the vehicle-mounted projector coordinate system according to the third boundary as the fourth transformation relationship.

[0157] S104c. Calculate the transformation relationship between the camera coordinate system and the projection screen coordinate system according to the second boundary as the fifth transformation relationship.

[0158] S104d. Calculate the transformation relationship between the vehicle-mounted projector coordinate system and the preset projection area according to the third transformation relationship, the fourth transformation relationship, and the fifth transformation relationship as the first transformation relationship.

[0159] S105. Based on the first transformation relationship, control the vehicle-mounted projector to project an image and / or video onto the preset projection area.

[0160] Figure 8 In the embodiment shown, it is similar to the embodiment shown Figure 1 The difference is only that Figure 8 In the embodiment shown, S104 is refined into S104a, S104b, S104c, and S104d, and S104a is the same as the aforementioned S1042, S104b is the same as the aforementioned S10411, and S104c is the same as the aforementioned S10412. Therefore, the relevant descriptions of S1042, S10411, and S10412 can be referred to above and will not be elaborated here. Only an exemplary description of S104d will be given below.

[0161] In S104d, if the fourth transformation relationship Mcp is represented in the form of a matrix, the product of the inverse matrix of the fourth transformation relationship Mcp, the fifth transformation relationship Mcs, and the third transformation matrix Mst can be used as the transformation relationship between the vehicle-mounted projector coordinate system and the preset projection area, that is, the first transformation relationship Mpt = Mcp -1 × Mcs × Mst.

[0162] In another possible implementation, the product of the inverse matrix of the fourth transformation relationship Mcp and the fifth transformation relationship Mcs can also be used first as the transformation relationship between the vehicle-mounted projector coordinate system and the projection screen coordinate system, that is, the second transformation relationship Mps = Mcp -1 × Mcs. Then, the product of the second transformation relationship Mps and the third transformation relationship Mst is used as the transformation relationship between the vehicle-mounted projector coordinate system and the preset projection area, that is, the first transformation relationship Mpt = Mps × Mst.

[0163] Corresponding to the foregoing vehicle-mounted projection system, the process when the foregoing vehicle-mounted projection system executes the vehicle-mounted projection correction method provided in this application can be as follows Figure 9 shown. Refer to Figure 9 , including:

[0164] S901, the projector is powered on.

[0165] Figure 9 The projector shown in Figure 2a or Figure 2b is the foregoing vehicle-mounted projector 210 shown in

[0166] S902, the projector projects a scaled image.

[0167] The certain ratio by which the projector scales when projecting in S902 is the foregoing preset scaling ratio in S101, and the image is the foregoing projection image in S101. Refer to the relevant description of S101 above, and details will not be repeated here.

[0168] S903, the camera captures the image.

[0169] S903 corresponds to the foregoing target image captured by the camera, which includes the projection image and the projection screen.

[0170] S904, the algorithm automatically identifies the boundary 1 of the projection image.

[0171] The boundary 1 of the projection image is the foregoing first boundary. S903 corresponds to the foregoing S102. Refer to the relevant description of S102 above, and details will not be repeated here.

[0172] S905, the algorithm calculates the original boundary 1' of the projection image.

[0173] The original boundary 1' of the projection image is the foregoing third boundary. S904 corresponds to the foregoing S103. Refer to the relevant description of S103 above, and details will not be repeated here.

[0174] S906, calculate the transformation matrix Mcp between the camera and the projector.

[0175] The transformation matrix Mcp between the camera and the projector is the foregoing fourth transformation relationship. S903 corresponds to the foregoing S10411. Refer to the relevant description of S10411 above, and details will not be repeated here.

[0176] S907, the algorithm automatically identifies the boundary 2 of the screen.

[0177] Figure 9 The screen shown in Figure 2a or Figure 2bThe projection screen 220 shown in []. The screen boundary 2 is the aforementioned second boundary. S903 corresponds to the aforementioned S102. For the relevant description of S102, please refer to the previous text and will not be repeated here.

[0178] S908, calculate the transformation matrix Mcs between the camera and the screen.

[0179] The transformation matrix Mcs between the camera and the screen is the aforementioned fifth transformation relationship. S903 corresponds to the aforementioned S10412. For the relevant description of S10412, please refer to the previous text and will not be repeated here.

[0180] S909, calculate the transformation matrix Mps between the projector and the screen.

[0181] The transformation matrix Mps between the projector and the screen is the aforementioned second transformation relationship. S903 corresponds to the aforementioned S10413. For the relevant description of S10413, please refer to the previous text and will not be repeated here.

[0182] S910, the size and position parameters of the screen and the target image.

[0183] S911, calculate the transformation matrix Mst between the screen and the screen target.

[0184] The target image and the screen target in S910 and S911 are both the aforementioned preset projection area. The transformation matrix Mst between the screen and the screen target is the aforementioned third transformation relationship. S910 - S911 corresponds to the aforementioned S1042. For the relevant description of S1042, please refer to the previous text and will not be repeated here.

[0185] S912, calculate the transformation matrix Mpt between the projector and the screen target.

[0186] The transformation matrix Mpt between the projector and the screen target is the aforementioned first transformation relationship. S912 corresponds to the aforementioned S1043. For the relevant description of S1043, please refer to the previous text and will not be repeated here.

[0187] S913, output to the projector chip.

[0188] If the processor 240 is an electronic device as shown in Figure 2b The processor 240 needs to send the first transformation relationship to the projector chip.

[0189] S914, the projector realizes calibration.

[0190] S914 corresponds to the aforementioned S105. For the relevant description of S105, please refer to the previous text and will not be repeated here.

[0191] Corresponding to the aforementioned vehicle-mounted projection calibration method, the present application also provides a vehicle-mounted projection calibration device. Please refer to Figure 10, the device includes:

[0192] An image acquisition module 1001, configured to acquire a target image captured by a camera, the target image including a projection screen and a projection curtain; wherein, the projection screen is a screen projected by an in-vehicle projector on the projection curtain according to a preset scaling ratio for an image and / or a video;

[0193] A boundary recognition module 1002, configured to recognize the boundary of the projection screen in the target image to obtain a first boundary of the projection screen in the image coordinate system, and recognize the boundary of the projection curtain in the target image to obtain a second boundary of the projection curtain in the image coordinate system;

[0194] A boundary calculation module 1003, configured to calculate a projection boundary of the in-vehicle projector according to the preset scaling ratio and the first boundary, as a third boundary of the projection boundary in the image coordinate system; wherein, the projection boundary is the boundary of the area formed by the light emitted by the in-vehicle projector on the plane where the projection curtain is located;

[0195] A transformation relation calculation module 1004, configured to calculate a transformation relation between the in-vehicle projector coordinate system and a preset projection area according to the second boundary, the third boundary, the size of the projection curtain, and the size and position of a preset projection area in the projection curtain, as a first transformation relation;

[0196] A projection control module 1005, configured to control the in-vehicle projector to project an image and / or a video onto the preset projection area based on the first transformation relation.

[0197] In a possible embodiment, calculating a transformation relation between the in-vehicle projector coordinate system and a preset projection area according to the second boundary, the third boundary, the size of the projection curtain, and the size and position of a preset projection area in the projection curtain, as a first transformation relation, includes:

[0198] Calculating a transformation relation between the in-vehicle projector coordinate system and the projection curtain coordinate system according to the second boundary and the third boundary, as a second transformation relation;

[0199] Calculating a third transformation relation between the projection curtain coordinate system and the preset projection area according to the size of the projection curtain and the size and position of the preset projection area in the projection curtain;

[0200] Calculating a transformation relation between the in-vehicle projector coordinate system and the preset projection area according to the second transformation relation and the third transformation relation, as a first transformation relation.

[0201] In a possible embodiment, calculating a transformation relation between the in-vehicle projector coordinate system and the projection curtain coordinate system according to the second boundary and the third boundary, as a second transformation relation, includes:

[0202] According to the third boundary, calculate the transformation relationship between the camera coordinate system and the vehicle-mounted projector coordinate system as the fourth transformation relationship;

[0203] According to the second boundary, calculate the transformation relationship between the camera coordinate system and the projection screen coordinate system as the fifth transformation relationship;

[0204] According to the fourth transformation relationship and the fifth transformation relationship, calculate the transformation relationship between the vehicle-mounted projector coordinate system and the projection screen coordinate system as the second transformation relationship.

[0205] In a possible embodiment, according to the second boundary, the third boundary, the size of the projection screen, and the size and position of a preset projection area in the projection screen, calculate the transformation relationship between the vehicle-mounted projector coordinate system and the preset projection area as the first transformation relationship, including:

[0206] According to the size of the projection screen and the size and position of the preset projection area in the projection screen, calculate the third transformation relationship between the projection screen coordinate system and the preset projection area;

[0207] According to the third boundary, calculate the transformation relationship between the camera coordinate system and the vehicle-mounted projector coordinate system as the fourth transformation relationship;

[0208] According to the second boundary, calculate the transformation relationship between the camera coordinate system and the projection screen coordinate system as the fifth transformation relationship;

[0209] According to the third transformation relationship, the fourth transformation relationship, and the fifth transformation relationship, calculate the transformation relationship between the vehicle-mounted projector coordinate system and the preset projection area as the first transformation relationship.

[0210] In a possible embodiment, obtain a target image captured by a camera and including a projection picture and a projection screen, including:

[0211] Obtain an original image captured by the camera and including the projection picture and the projection screen;

[0212] Perform distortion processing on the original image to obtain the target image.

[0213] The embodiment of the present application also provides an electronic device, as Figure 11 shown, including:

[0214] A memory 111 for storing a computer program;

[0215] A processor 112, when executing the program stored in the memory 111, implements the following steps:

[0216] Obtain a target image captured by a camera, which includes a projection screen and a projection curtain; wherein, the projection screen is a screen projected by an in-vehicle projector on the projection curtain according to a preset scaling ratio for an image and / or a video.

[0217] Identify the boundary of the projection screen in the target image to obtain a first boundary of the projection screen in the image coordinate system, and identify the boundary of the projection curtain in the target image to obtain a second boundary of the projection curtain in the image coordinate system.

[0218] According to the preset scaling ratio and the first boundary, calculate the projection boundary of the in-vehicle projector as a third boundary of the projection boundary in the image coordinate system; wherein, the projection boundary is the boundary of the area formed by the light emitted by the in-vehicle projector on the plane where the projection curtain is located.

[0219] According to the second boundary, the third boundary, the size of the projection curtain, and the size and position of a preset projection area in the projection curtain, calculate the transformation relationship between the in-vehicle projector coordinate system and the preset projection area as a first transformation relationship.

[0220] Based on the first transformation relationship, control the in-vehicle projector to project an image and / or a video onto the preset projection area.

[0221] Moreover, the above-mentioned electronic device may further include a communication bus and / or a communication interface, and the processor 112, the communication interface, and the memory 111 complete communication with each other through the communication bus.

[0222] The communication bus mentioned in the above-mentioned electronic device may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, only a thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0223] The communication interface is used for communication between the above-mentioned electronic device and other devices.

[0224] The memory may include a Random Access Memory (RAM), and may also include a Non-Volatile Memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located far from the aforementioned processor.

[0225] The above-mentioned processor may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0226] In another embodiment provided by the present invention, a computer-readable storage medium is further provided. A computer program is stored in the computer-readable storage medium. When the computer program is executed by a processor, the steps of any of the above vehicle-mounted projection correction methods are implemented.

[0227] In another embodiment provided by the present invention, a computer program product containing instructions is further provided. When it runs on a computer, the computer is caused to execute any of the vehicle-mounted projection correction methods in the above embodiments.

[0228] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present invention are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server or data center that includes one or more integrated available media. The available medium may be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a Solid State Disk (SSD)).

[0229] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0230] Each embodiment in this specification is described in a related manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for embodiments of a system, device, electronic device, computer-readable storage medium, and computer program product containing instructions, since they are basically similar to the method embodiments, the description is relatively simple. For the relevant parts, reference can be made to the partial description of the method embodiments.

[0231] The above are only the preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention are included within the protection scope of the present invention.

Claims

1. A vehicle-mounted projection correction method, characterized in that: The method comprises: Acquire a target image including a projection picture and a projection screen captured by a camera; wherein the projection picture is a picture projected by the vehicle-mounted projector according to a preset zoom ratio on an image and / or video and displayed on the projection screen; Identify the boundary of the projection picture in the target image to obtain a first boundary of the projection picture in the image coordinate system, and identify the boundary of the projection screen in the target image to obtain a second boundary of the projection screen in the image coordinate system; According to the preset scaling ratio and the first boundary, a projection boundary of the vehicle-mounted projector is calculated as a third boundary of the projection boundary in the image coordinate system; wherein the projection boundary is a boundary of an area formed by the light emitted by the vehicle-mounted projector on the plane where the projection screen is located; According to the second boundary, the third boundary, the size of the projection screen, and the size and position of the preset projection area in the projection screen, a transformation relationship between the vehicle-mounted projector coordinate system and the preset projection area is calculated as a first transformation relationship; Based on the first transformation relationship, the vehicle-mounted projector is controlled to project the image and / or video to the preset projection area.

2. The method according to claim 1, characterized in that The calculation of the transformation relationship between the vehicle-mounted projector coordinate system and the preset projection area according to the second boundary, the third boundary, the size of the projection screen, and the size and position of the preset projection area in the projection screen as the first transformation relationship includes: According to the second boundary and the third boundary, a transformation relationship between a vehicle-mounted projector coordinate system and a projection screen coordinate system is calculated as a second transformation relationship; According to the size of the projection screen and the size and position of the preset projection area in the projection screen, a third transformation relationship between the projection screen coordinate system and the preset projection area is calculated; According to the second transformation relationship and the third transformation relationship, a transformation relationship between the vehicle-mounted projector coordinate system and the preset projection area is calculated as a first transformation relationship.

3. The method according to claim 2, characterized in that The calculation of the transformation relationship between the vehicle-mounted projector coordinate system and the projection screen coordinate system according to the second boundary and the third boundary as the second transformation relationship includes: According to the third boundary, a transformation relationship between the camera coordinate system and the vehicle-mounted projector coordinate system is calculated as a fourth transformation relationship; According to the second boundary, a transformation relationship between the camera coordinate system and the projection screen coordinate system is calculated as a fifth transformation relationship; According to the fourth transformation relationship and the fifth transformation relationship, the transformation relationship between the vehicle-mounted projector coordinate system and the projection screen coordinate system is calculated and obtained as the second transformation relationship.

4. The method according to claim 1, characterized in that: The calculation of the transformation relationship between the vehicle-mounted projector coordinate system and the preset projection area according to the second boundary, the third boundary, the size of the projection screen, and the size and position of the preset projection area in the projection screen as the first transformation relationship includes: According to the size of the projection screen and the size and position of the preset projection area in the projection screen, a third transformation relationship between the projection screen coordinate system and the preset projection area is calculated; According to the third boundary, a transformation relationship between the camera coordinate system and the vehicle-mounted projector coordinate system is calculated as a fourth transformation relationship; According to the second boundary, a transformation relationship between the camera coordinate system and the projection screen coordinate system is calculated as a fifth transformation relationship; According to the third transformation relationship, the fourth transformation relationship and the fifth transformation relationship, a transformation relationship between the vehicle-mounted projector coordinate system and the preset projection area is calculated as a first transformation relationship.

5. The method according to claim 1, characterized in that The acquisition of the target image including the projection picture and the projection screen captured by the camera includes: Obtaining the original image including the projection image and the projection screen captured by the camera; The original image is distorted to obtain a target image.

6. A vehicle-mounted projection system, characterized in that: The vehicle-mounted projection system includes: a vehicle-mounted projector, a projection screen, a camera and a processor; The vehicle-mounted projector is used to project images and / or videos onto the projection screen; The camera is used to capture a target image including a projection picture and a projection screen, and send the target image to the processor; wherein the projection picture is a picture in which the vehicle-mounted projector projects an image and / or video according to a preset zoom ratio and is displayed on the projection screen; The processor is used to receive the target image, identify the boundary of the projection picture in the target image, obtain the first boundary of the projection picture in the image coordinate system, and identify the boundary of the projection screen in the target image to obtain the second boundary of the projection screen in the image coordinate system; calculate the projection boundary of the vehicle-mounted projector according to the preset scaling ratio and the first boundary as the third boundary of the projection boundary in the image coordinate system; wherein the projection boundary is the boundary of the area formed by the light emitted by the vehicle-mounted projector on the plane where the projection screen is located; calculate the transformation relationship between the vehicle-mounted projector coordinate system and the preset projection area according to the second boundary, the third boundary, the size of the projection screen, and the size and position of the preset projection area in the projection screen as the first transformation relationship; based on the first transformation relationship, control the vehicle-mounted projector to project the image and / or video to the preset projection area.

7. The system according to claim 6, characterized in that The vehicle-mounted projector and the camera are fixedly arranged at the same position; The optical axis of the vehicle-mounted projector is parallel to the optical axis of the camera.

8. A vehicle-mounted projection correction device, characterized in that: The device comprises: An image acquisition module, used to acquire a target image including a projection picture and a projection screen captured by a camera; wherein the projection picture is a picture projected by the vehicle-mounted projector according to a preset zoom ratio on an image and / or video and displayed on the projection screen; A boundary recognition module, used to recognize the boundary of the projection screen in the target image, obtain a first boundary of the projection screen in the image coordinate system, and recognize the boundary of the projection screen in the target image, obtain a second boundary of the projection screen in the image coordinate system; a boundary calculation module, configured to calculate a projection boundary of the vehicle-mounted projector according to the preset zoom ratio and the first boundary, as a third boundary of the projection boundary in the image coordinate system; wherein the projection boundary is a boundary of an area formed by the light emitted by the vehicle-mounted projector on the plane where the projection screen is located; a transformation relationship calculation module, configured to calculate a transformation relationship between a vehicle-mounted projector coordinate system and the preset projection area according to the second boundary, the third boundary, the size of the projection screen, and the size and position of the preset projection area in the projection screen, as a first transformation relationship; A projection control module is used to control the vehicle-mounted projector to project the image and / or video to the preset projection area based on the first transformation relationship.

9. The device according to claim 8, characterized in that The calculation of the transformation relationship between the vehicle-mounted projector coordinate system and the preset projection area according to the second boundary, the third boundary, the size of the projection screen, and the size and position of the preset projection area in the projection screen as the first transformation relationship includes: According to the second boundary and the third boundary, a transformation relationship between a vehicle-mounted projector coordinate system and a projection screen coordinate system is calculated as a second transformation relationship; According to the size of the projection screen and the size and position of the preset projection area in the projection screen, a third transformation relationship between the projection screen coordinate system and the preset projection area is calculated; According to the second transformation relationship and the third transformation relationship, a transformation relationship between the vehicle-mounted projector coordinate system and the preset projection area is calculated as a first transformation relationship; The calculation of the transformation relationship between the vehicle-mounted projector coordinate system and the projection screen coordinate system according to the second boundary and the third boundary as the second transformation relationship includes: According to the third boundary, a transformation relationship between the camera coordinate system and the vehicle-mounted projector coordinate system is calculated as a fourth transformation relationship; According to the second boundary, a transformation relationship between the camera coordinate system and the projection screen coordinate system is calculated as a fifth transformation relationship; According to the fourth transformation relationship and the fifth transformation relationship, a transformation relationship between the vehicle-mounted projector coordinate system and the projection screen coordinate system is calculated as a second transformation relationship; The calculation of the transformation relationship between the vehicle-mounted projector coordinate system and the preset projection area according to the second boundary, the third boundary, the size of the projection screen, and the size and position of the preset projection area in the projection screen as the first transformation relationship includes: According to the size of the projection screen and the size and position of the preset projection area in the projection screen, a third transformation relationship between the projection screen coordinate system and the preset projection area is calculated; According to the third boundary, a transformation relationship between the camera coordinate system and the vehicle-mounted projector coordinate system is calculated as a fourth transformation relationship; According to the second boundary, a transformation relationship between the camera coordinate system and the projection screen coordinate system is calculated as a fifth transformation relationship; According to the third transformation relationship, the fourth transformation relationship and the fifth transformation relationship, a transformation relationship between the vehicle-mounted projector coordinate system and the preset projection area is calculated as a first transformation relationship; The acquisition of the target image including the projection picture and the projection screen captured by the camera includes: Obtaining the original image including the projection image and the projection screen captured by the camera; The original image is distorted to obtain a target image.

10. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, for implementing any of the methods described in claims 1-5 when executing a program stored in a memory.

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