A projection correction method, projection device and storage medium

Abstract

The present application provides a projection correction method, a projection device and a storage medium, the method comprising: obtaining first position information before shaking and second position information after shaking of a projection picture shot by an image acquisition module in a camera coordinate system, determining a first transformation matrix between the projection picture after shaking and the projection picture before shaking based on the first position information and the second position information, and correcting the projection device or the projection picture according to the first transformation matrix, thereby realizing projection correction and improving the convenience of projection picture correction.

Description

Technical Field

[0001] The present application relates to the field of data processing, and in particular to a projection correction method, a projection device and a storage medium. Background Art

[0002] With the rapid development of display technology, projection equipment is being used more and more widely. Projection equipment is a device that can project images or videos onto a projection surface (such as a screen or wall). It is currently widely used in homes, offices, schools, and entertainment venues. Generally, a projection device projects an image or video onto a projection surface such as a screen or wall through an optical path system. However, during the projection process, the projection device has poor stability and may rotate, causing the projection image to shake. Summary of the invention

[0003] The embodiments of the present application are intended to provide a projection correction method, a projection device and a storage medium to solve the problem of projection image jitter in the related art.

[0004] The technical solution of the embodiment of the present application is implemented as follows:

[0005] In a first aspect, an embodiment of the present application provides a projection correction method, the method comprising:

[0006] Obtaining first position information of a first projection picture taken by the image acquisition module at a first moment in a camera coordinate system, and second position information of a second projection picture taken at a second moment in the camera coordinate system; wherein the first moment is before the second moment;

[0007] Determine a first transformation matrix between the second projection picture and the first projection picture according to the first position information and the second position information;

[0008] The projection device or the projection picture is corrected according to the first transformation matrix.

[0009] In a second aspect, an embodiment of the present application provides a projection correction device, the device comprising:

[0010] An acquisition module, used to obtain first position information of a first projection picture taken by the image acquisition module at a first moment in a camera coordinate system, and second position information of a second projection picture taken at a second moment in the camera coordinate system; wherein the first moment is before the second moment;

[0011] A processing module, configured to determine a first transformation matrix between the second projection picture and the first projection picture according to the first position information and the second position information;

[0012] A correction module is used to perform correction processing on the projection device or the projection picture according to the first transformation matrix.

[0013] In a third aspect, an embodiment of the present application provides a projection device, the projection device comprising: a processor, a memory, and a communication bus;

[0014] The communication bus is used to realize the communication connection between the processor and the memory;

[0015] The processor is used to execute the projection correction program stored in the memory to implement the above-mentioned projection correction method.

[0016] In a fourth aspect, an embodiment of the present application provides a storage medium, wherein the storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the projection correction method described above.

[0017] Embodiments of the present application provide a projection correction method, a projection device, and a storage medium, by obtaining first position information of a first projection picture taken by an image acquisition module at a first moment in a camera coordinate system, and second position information of a second projection picture taken at a second moment in the camera coordinate system; wherein the first moment is before the second moment; according to the first position information and the second position information, a first transformation matrix between the second projection picture and the first projection picture is determined; according to the first transformation matrix, the projection device or the projection picture is corrected; that is, the present application captures the first position information before shaking and the second position information after shaking of the projection picture in the camera coordinate system through the image acquisition module, determines the first transformation matrix between the projection picture after shaking and the projection picture before shaking based on the first position information and the second position information, and corrects the projection device or the projection picture according to the first transformation matrix, thereby realizing projection correction and improving the convenience of projection picture correction. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 An optional flowchart of the projection correction method provided in the embodiment of the present application;

[0019] Figure 2 A schematic diagram of a transformation matrix provided in an embodiment of the present application;

[0020] Figure 3 An optional flowchart of the projection correction method provided in the embodiment of the present application;

[0021] Figure 4 A schematic diagram of each axis in the spatial coordinate system provided in an embodiment of the present application;

[0022] Figure 5An optional flowchart of the projection correction method provided in the embodiment of the present application;

[0023] Figure 6 An optional flowchart of the projection correction method provided in the embodiment of the present application;

[0024] Figure 7 An optional flowchart of the projection correction method provided in the embodiment of the present application;

[0025] Figure 8 A schematic diagram of the positions of a full projection image and a non-full projection image displayed on the user side, i.e., in the camera coordinate system, of the projection device provided in an embodiment of the present application in a side projection situation;

[0026] Fig. 9 An optional flowchart of the projection correction method provided in the embodiment of the present application;

[0027] Fig.10 An optional flowchart of the projection correction method provided in the embodiment of the present application;

[0028] Fig.11 A schematic diagram of a full projection image and a non-full projection image displayed on the projection optical machine side, i.e., the projection optical machine coordinate system, of the projection device provided in an embodiment of the present application in a side projection situation;

[0029] Fig.12 A schematic diagram of projection images corresponding to different zoom positions provided in an embodiment of the present application;

[0030] Fig.13 An optional structural diagram of a projection correction device provided in an embodiment of the present application;

[0031] Fig.14 An optional structural schematic diagram of a projection device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0033] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0034] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0035] See also Figure 1 , Figure 1 1 is a schematic diagram of an implementation flow of a projection correction method provided in an embodiment of the present application, which is applied to a projection device. The projection correction method includes the following steps:

[0036] Step 101: Obtain first position information of a first projection picture taken by an image acquisition module at a first moment in a camera coordinate system, and second position information of a second projection picture taken at a second moment in the camera coordinate system.

[0037] Among them, the first moment is before the second moment.

[0038] In an embodiment of the present application, the position information may be the coordinates of each corner point of the projection image in the camera coordinate system, or the position information may be the coordinates that can characterize the position of the projection image in the camera coordinate system. The present application does not impose any specific restrictions on this.

[0039] In the embodiment of the present application, the first position information is the position information of the first projection picture taken by the image acquisition module at the first moment in the camera coordinate system, and the second position information is the position information of the second projection picture taken by the image acquisition module at the second moment after the first moment in the camera coordinate system. Exemplarily, the projection picture is generally a regular shape, such as a rectangle or a trapezoid, and the position information can be the coordinates of the four corner points of the projection picture. Among them, the first moment and the second moment can be any moment during the projection picture formed by the projection device projecting onto the projection area, and the second moment is after the first moment.

[0040] In an embodiment of the present application, in the process of the projection device projecting a projection picture onto the projection area, the projection device obtains the first position information of the first projection picture taken by the image acquisition module at the first moment in the camera coordinate system, and the second position information of the second projection picture taken at a second moment after the first moment in the camera coordinate system.

[0041] The projection area may refer to an area of ​​a projection screen divided on a curtain or a wall for receiving a projection image projected by a projection device.

[0042] In the embodiment of the present application, there is a communication connection between the image acquisition module and the projection device. The image acquisition module can be a fixed shooting device, such as the image acquisition module is fixedly set on the projection device, or the image acquisition module is set at a fixed position indoors. The image acquisition module can also be a mobile shooting device, and the present application does not make specific restrictions on this. For example, if the image acquisition module is a camera set on the projection device, the projection screen at different times is photographed by the camera set on the projection device, and the camera can be a wide-angle camera; or, the projection screen at different times is photographed by a camera set at a fixed position indoors.

[0043] In the embodiment of the present application, the projection device is a device with computing capabilities, and the projection device can set the configuration parameters of the image acquisition module, that is, the shooting configuration parameters such as the shooting angle range, shooting distance range and shooting focal length of the image acquisition module are set according to actual needs to ensure that the image captured by the image acquisition module has good clarity and high resolution. The projection device can also analyze and process the images captured by the image acquisition module.

[0044] In practical applications, projection equipment includes but is not limited to a projection controller, a micro-projection controller, a projection control machine, an intelligent camera, an intelligent projection control machine, and the like.

[0045] Step 102: Determine a first transformation matrix between the second projection picture and the first projection picture according to the first position information and the second position information.

[0046] In the embodiment of the present application, the first transformation matrix is ​​used to represent the homography information when the second projection picture at the second moment (ie, the projection picture after shaking) is mapped to the first projection picture at the first moment (ie, the projection picture before shaking).

[0047] In an embodiment of the present application, the projection device determines the first transformation matrix between the second projection screen and the first projection screen based on the second position information of the second projection screen and the first position information of the first projection screen by using methods such as direct linear transformation (DLT), that is, calculates the first transformation matrix corresponding to mapping the second projection screen to the first projection screen.

[0048] In one possible scenario, refer to Figure 2 As shown, Figure 2 The projection images of the projection area before and after the shaking are taken by the image acquisition device, wherein: Figure 2 A in the figure is the projection image of the projection area before the shaking, which is taken by the image acquisition device. Figure 2 B in the figure is the projection image of the projection area after shaking captured by the image acquisition device. The image acquisition module captures the projection area to obtain projection images at different positions displayed under the same camera image 201. Here, Figure 2 A in FIG. 2 shows the position of the first projection picture 202 in the camera picture 201 before the projection picture shakes. Figure 2 B in the figure shows the position of the second projection picture 203 in the camera picture 201 after the projection picture is shaken, and then according to the second position information of the second projection picture and the first position information of the first projection picture, the first transformation matrix H1 corresponding to mapping the second projection picture to the first projection picture is calculated. It should be noted that the camera picture 201 is the full projection picture displayed in the projection area under the camera coordinate system.

[0049] In some embodiments, before determining the first transformation matrix between the second projection picture and the first projection picture in step 102, the following steps may also be performed: determining whether the first position information and the second position information match; if the first position information and the second position information do not match, determining that the projection picture is shaking.

[0050] In the embodiment of the present application, in order to determine whether the projection picture is shaking, it is possible to determine whether the first position information and the second position information match, and then detect whether the projection picture is moving based on the matching result.

[0051] In an embodiment of the present application, determining whether the first position information matches the second position information can be understood as whether the position difference between the first position information and the second position information is within a difference threshold range. If the position difference is within the difference threshold range, it is determined that the first position information matches the second position information; if the position difference is not within the difference threshold range, it is determined that the first position information does not match the second position information.

[0052] In the embodiment of the present application, after the projection device obtains the first position information of the first projection picture in the camera coordinate system and obtains the second position information of the second projection picture in the camera coordinate system, the projection device can also determine whether the first position information matches the second position information. If the first position information and the second position information match, it is determined that the projection picture has not jittered; if the first position information and the second position information do not match, it is determined that the projection picture has jittered, and then the first transformation matrix between the second projection picture and the first projection picture is determined based on the first position information and the second position information.

[0053] Step 103: perform correction processing on the projection device or the projection picture according to the first transformation matrix.

[0054] In the embodiment of the present application, the correction processing of the projection device or the projection screen according to the first transformation matrix can be understood as the correction processing of the projection device according to the first transformation matrix, or the correction processing of the projection screen according to the first transformation matrix. Here, the correction processing of the projection device can be that the projection device adjusts the posture of the projection device according to the first transformation matrix, and the correction processing of the projection screen can be that the projection device adjusts the shape, size and / or projection position of the projection screen projected by the projection device according to the first transformation matrix, and this application does not make specific restrictions on this.

[0055] In an embodiment of the present application, according to the first position information of the first projection picture taken by the image acquisition module at the first moment in the camera coordinate system, and the second position information of the second projection picture taken at the second moment in the camera coordinate system, the projection device obtains the first transformation matrix between the first projection picture and the second projection picture based on the first position information of the first projection picture and the second position information of the second projection picture; and performs correction processing on the projection device or the projection picture projected by the projection device according to the first transformation matrix, so that the final projection picture formed by the projection device in the projection area matches the shape and size of the projection screen. Here, the final projection picture is adapted to the shape and size of the projection screen, which can be the same shape and size as the projection screen; or the final projection picture is located inside the projection screen, which is not limited in this embodiment.

[0056] In some embodiments, step 103 performs correction processing on the projection device or the projection screen according to the first transformation matrix, and can also be implemented through the following process: obtaining the projection scene of the projection device, and performing correction processing on the target object corresponding to the projection scene according to the first transformation matrix, wherein the target object includes the projection device or the projection screen projected by the projection device.

[0057] In the embodiment of the present application, the projection scene includes a scene in which the projection device projects a projection picture in the forward direction (referred to as front projection) and a scene in which the projection device projects a projection picture in the side direction (referred to as side projection). Among them, the projection picture projected in the forward direction by the projection device can be understood as the projection picture projected by the projection device to the projection area as a full picture, and the projection picture projected by the projection device in the side direction can be understood as the projection picture projected by the projection device to the projection area as a non-full picture.

[0058] In the embodiment of the present application, the correction processing of the target object corresponding to the projection scene according to the first transformation matrix can be understood as, when the projection scene is a scene in which the projection device projects the projection picture forward, the correction processing of the projection device corresponding to the projection scene is performed according to the first transformation matrix; when the projection scene is a scene in which the projection device projects the projection picture sideways, the correction processing of the projection picture projected by the projection device corresponding to the projection scene is performed according to the first transformation matrix. In this way, the embodiment of the present application determines the projection scene of the projection device, and according to the first transformation matrix, accurately corrects the target object corresponding to the projection scene, thereby realizing the convenience of improving the correction of the projection picture.

[0059] It should be noted that, when the executor of the projection correction method proposed in the present application is a projection device, the correction processing of the projection device or the projection screen according to the first transformation matrix may be that the projection device corrects its own posture or the built-in angular motion detection device according to the first transformation matrix, or corrects the position and size of the projection screen. When the executor of the projection device correction method proposed in the present disclosure is a server, the correction processing of the projection device or the projection screen according to the first transformation matrix may be that the server controls the projection device to correct its own posture or the posture of the built-in angular motion detection device, or the server controls the projection device to correct the position and size of the projection screen, and the present application does not impose specific restrictions on this.

[0060] From the above, it can be seen that the present application captures the first position information of the projection picture before shaking and the second position information after shaking in the camera coordinate system through the image acquisition module, and determines the first transformation matrix between the projection picture after shaking and the projection picture before shaking based on the first position information and the second position information, and corrects the projection device or the projection picture according to the first transformation matrix, thereby realizing projection correction and improving the convenience of projection picture correction.

[0061] In some embodiments, step 103 combines the process of correcting the projection device according to the first transformation matrix with Figure 3 The steps shown are explained below.

[0062] Step 301: When the projection screen projected by the projection device is a full screen, decompose the first transformation matrix to obtain the first pose change.

[0063] The first posture change includes a translation change component and / or a rotation change component of the projection device.

[0064] In the embodiment of the present application, the projection screen formed by the projection device projecting onto the projection area is a full screen, indicating that the projection device adopts a forward projection method. The projection screen formed by the projection device projecting onto the projection area is a full screen, which can be understood as having enough feature points of the projection screen and ensuring the accuracy of the position and posture.

[0065] In the embodiment of the present application, the transformation matrix can be expressed by formula (1):

[0066]

[0067] Among them, H is the transformation matrix, K is the camera intrinsic parameter, N is the normal vector of the plane where the projection image is located, R is the rotation correction component, t is the translation correction component, and d is the distance between the projection device and the projection area in the camera coordinate system.

[0068] In an embodiment of the present application, the first posture change amount includes the translation change component and / or rotation change component of the projection device from the first moment to the second moment. Among them, the translation change component includes the translation change components in different directions in the spatial coordinate system established by the projection device with its own center as the origin. Here, the translation change components in different directions include the translation change component in the X direction after translation along the X axis, the translation change component in the Y direction after translation along the Y axis, and the translation change component in the Z direction after translation along the Z axis. The rotation change component includes but is not limited to the rotation change components (i.e., rotation angles, also known as Euler angles) in different axial directions in the spatial coordinate system established by the projection device with its own center as the origin. Here, the rotation change components in different axial directions include the X rotation change component rotating around the X axis (i.e., Pitch), the Y rotation change component rotating around the Y axis (i.e., Yaw), and the Z rotation change component rotating around the Z axis (i.e., Roll). Exemplarily, referring to Figure 4 As shown, Figure 4 What is shown is a schematic diagram of the rotation of the projection device in different axial directions in a space coordinate system established with the center of the projection device as the origin.

[0069] In an embodiment of the present application, after the first transformation matrix between the second projection screen and the first projection screen, the projection scene of the projection device is obtained. If the projection scene of the projection device is a scene in which the projection device projects the projection screen in the forward direction, that is, the projection screen projected by the projection device is a full screen, the first transformation matrix is ​​decomposed by singular value decomposition (SVD), and the first posture change amount containing translation change components in various directions and / or rotation change components in various axial directions can be obtained, so as to correct the projection device according to the first posture change amount.

[0070] Step 302: Rotate the projection device according to the rotation change component and a preset rotation rule; and / or translate the projection device according to the translation change component to correct the position of the projection device.

[0071] In the embodiment of the present application, the rule can be understood as a Euler Angle Rotational Sequence (Euler Angle RotationalSequence). There are 12 rules, 6 rotations around three axes (also called Tait-Bryan Angle, XYZ, XZY, YXZ, YZX, ZXY, ZYX), and the other 6 rotations around only two axes (also called Proper Euler Angle, XYX, YXY, XZX, ZXZ, YZY, ZYZ). If two adjacent rotations are around the same axis, such as XXY, then it can actually be reduced to XY. Then it is not necessary to say that rotating around only one axis does not have enough degrees of freedom. In other words, there are a total of 12 basic rotation combinations that can rotate out all three-dimensional rotation states. So there are a total of 12 rotation rules. The embodiment of the present application uses the ZXY rule adopted by the DirectXMath library, which corresponds to Z-Roll, X-Pitch, and Y-Yaw respectively. It should be noted that due to the different rotation orders for different axial rotation angles, the position of the projected image of the projection device may also be different. Therefore, in order to improve the accuracy of the correction of the projection device, the present application adopts a preset rotation rule to set the rotation order of each axial direction of the projection device, thereby ensuring the accuracy of the position of the projection image and realizing the anti-shake function of the projection device.

[0072] In the embodiment of the present application, after obtaining the first posture change amount including the translation change components in each direction and / or the rotation change components in each axis, the projection device rotates the projection device according to the rotation change components in each axis, according to the preset rotation rule, and the external rotation method to correct the rotation of the projection screen caused by the shaking of the projection device, thereby correcting the position of the projection device, and / or, according to the translation change components in each direction, the projection device is translated to correct the offset of the projection screen caused by the shaking of the projection device, thereby correcting the position of the projection device. In this way, in the embodiment of the present application, when the projection screen is projected frontally, the position of the projection device is automatically corrected according to the translation correction component and / or the rotation correction component, thereby solving the movement caused by the instability of the projection device in the related art, providing the projection device with an accurate correction amount, and no manual adjustment by the user is required, thereby improving convenience. At the same time, the position of the screen is ensured to remain stationary, thereby achieving anti-shake.

[0073] It should be noted that to obtain the change in posture, it is necessary to first match the feature points of the projection image with the feature points of the projection image of the projection area captured by the image acquisition module. However, in the video scene, some image features may be relatively few. In this case, it is impossible to calculate the change matrix of the previous and next images, and then obtain the change in posture. The projection equipment in the related technology basically has a built-in inertial measurement unit (IMU) such as an angular motion detection device and an accelerometer, which can directly obtain the change in posture. However, in actual use, due to the temperature drift phenomenon in the angular motion detection device, the rotation change obtained by the angular motion detection device is generally inaccurate.

[0074] In order to solve the above problem, in some embodiments, the process of performing correction processing on the projection device according to the first transformation matrix in step 103 is combined with Figure 5 The steps shown are explained below.

[0075] Step 501: When the projection screen projected by the projection device is a full screen, an angular motion detection device in the projection device is corrected according to a first transformation matrix.

[0076] In the embodiment of the present application, the projection screen formed by the projection device projecting onto the projection area is a full screen, indicating that the projection device adopts a forward projection method. The projection screen formed by the projection device projecting onto the projection area is a full screen, which can be understood as having enough feature points of the projection screen and ensuring the accuracy of the position and posture.

[0077] In the embodiment of the present application, the angular motion detection device is a device that uses the momentum of the high-speed rotating body to sense the rotation angle of the housing relative to the inertial space around one or more axes orthogonal to the rotation axis. The angular motion detection device is used to sense the rotation angle of one or more axes to accurately sense complex moving movements in free space. Here, the angular motion detection device can be a gyroscope.

[0078] In an embodiment of the present application, when it is determined that the projection screen projected by the projection device is a full screen, the projection device can correct the angular motion detection device with a correction function in the projection device according to the first transformation matrix, so as to perform correction processing on the projection device according to the corrected angular motion detection device.

[0079] Step 502: When the projection image projected by the projection device does not meet the projection condition, the second position change of the projection device is obtained by using the corrected angular motion detection device.

[0080] In the embodiment of the present application, the projection picture projected by the projection device does not meet the projection conditions, including: the number of feature points in the projection picture is less than the number threshold, or the transformation matrix calculation based on the position information of the projection pictures projected at different times fails.

[0081] Step 503: calibrate the projection device according to the second posture change amount.

[0082] In an embodiment of the present application, when the projection screen projected by the projection device does not meet the projection conditions, the projection device uses the modified angular motion detection device to obtain the second position change of the projection device, wherein the second position change includes the translation change component and / or the rotation change component of the projection device. Further, the projection device rotates the projection device according to the rotation change components in each axis, according to the preset rotation rule, and the external rotation mode to correct the rotation of the projection screen caused by the shaking of the projection device, thereby correcting the position of the projection device, and / or, according to the translation change components in each direction, the projection device is translated to correct the offset of the projection screen caused by the shaking of the projection device, thereby correcting the position of the projection device.

[0083] From the above, it can be seen that in the embodiment of the present application, when the projection screen is projected frontally, after the angular motion detection device is calibrated according to the first transformation matrix, when the number of feature points in the projection screen is less than the number threshold, or when the transformation matrix calculation based on the position information of the projection screen projected at different times fails, the projection device uses the calibrated angular motion detection device to extract the posture change amount, and then calibrates the projection device; in this way, the combined use of the joint posture estimation of the camera and IMU can achieve effective anti-shake in all projection usage scenarios to ensure the viewing experience; at the same time, there is no need for manual adjustment by the user, which improves convenience.

[0084] In some embodiments, the process of correcting the angular motion detection device in the projection device according to the first transformation matrix in step 501 is combined with Figure 6 The steps shown are explained below.

[0085] Step 601: Decompose the first transformation matrix to obtain the first pose change.

[0086] The first position change includes the rotation change component of the projection device.

[0087] In the embodiment of the present application, the transformation matrix can be expressed by the above formula (1).

[0088] In the embodiment of the present application, the first posture change includes the rotation change component of the projection device from the first moment to the second moment. The rotation change component includes but is not limited to the rotation change components (i.e., rotation angles, also known as Euler angles) in different axial directions in the spatial coordinate system established with the center of the projection device as the origin. Here, the rotation change components in different axial directions include the X rotation change component rotating around the X axis (i.e., Pitch), the Y rotation change component rotating around the Y axis (i.e., Yaw), and the Z rotation change component rotating around the Z axis (i.e., Roll). For example, refer to Figure 4 As shown, Figure 4 What is shown is a schematic diagram of the rotation of the projection device in different axial directions in a space coordinate system established with the center of the projection device as the origin.

[0089] In an embodiment of the present application, after the first transformation matrix between the second projection screen and the first projection screen, the first transformation matrix is ​​subjected to SVD decomposition to obtain a second posture change amount including rotational change components in each axial direction, so as to correct the angular motion detection device according to the second posture change amount.

[0090] Step 602: Obtain a third posture change of the angular motion detection device between the first moment and the second moment.

[0091] In the embodiment of the present application, the third posture change amount is used to characterize the posture change of the angular motion detection device in the projection device between different moments. Here, the third posture change amount is determined based on the second posture of the angular motion detection device obtained at the second moment and the first posture of the angular motion detection device obtained at the first moment.

[0092] In the embodiment of the present application, the third posture change component includes the rotation change component of the angular motion detection device in different axial directions from the first moment to the second moment. Here, the rotation change component in different axial directions includes the X rotation change component rotating around the X axis (ie, Pitch), the Y rotation change component rotating around the Y axis (ie, Yaw), and the Z rotation change component rotating around the Z axis (ie, Roll).

[0093] Step 603: Calculate the difference between the rotational change component of each axis in the third posture change and the rotational change component of the corresponding axis in the first posture change to obtain the offset difference of multiple axes of the angular motion detection device.

[0094] In the embodiment of the present application, the projection device calculates the X rotation change component of the first pose change amount rotating around the X axis (i.e., Pitch), subtracts the X rotation change component of the third pose change amount rotating around the X axis (i.e., Pitch), and obtains the X offset difference; calculates the Y rotation change component of the first pose change amount rotating around the Y axis (i.e., Yaw), subtracts the Y rotation change component of the third pose change amount rotating around the Y axis (i.e., Yaw), and obtains the Y offset difference; calculates the Z rotation change component of the first pose change amount rotating around the Z axis (i.e., Roll), subtracts the Z rotation change component of the third pose change amount rotating around the Z axis (i.e., Roll), and obtains the Z offset difference; wherein the multiple offset differences include an X offset difference, a Y offset difference, and a Z offset difference.

[0095] Step 604: Utilize the multiple offset differences to rotate the angular motion detection device to correct the angular motion detection device.

[0096] In the embodiment of the present application, after obtaining multiple offset differences including X offset difference, Y offset difference and Z offset difference, the projection device uses multiple offset differences to rotate the angular motion detection device, thereby correcting the temperature offset parameters of the angular motion detection device, solving the temperature drift problem of the angular motion detection device, ensuring the consistency of the angular motion detection device and the camera estimation accuracy, and realizing the anti-shake function of the projection device. It should be noted that since the angular motion detection device may have temperature drift during actual use, the temperature offset parameters of the angular motion detection device may be corrected at intervals by the method provided in the embodiment of the present application. In this way, in the embodiment of the present application, in extreme scenarios where the features of the projection picture are not obvious, by jointly correcting the temperature drift of the angular motion detection device, effective anti-shake in all projection usage scenarios is achieved.

[0097] In addition, the first posture transformation includes the translation change component of the projection device. The projection device can translate the projection device according to the translation change components in various directions to correct the offset of the projection picture caused by the shaking of the projection device, thereby correcting the position of the projection device.

[0098] From the above, it can be seen that the embodiment of the present application automatically corrects the position of the projection device according to the translation correction component and / or the rotation correction component, solves the movement caused by the instability of the projection device in the related technology, provides accurate correction amount for the angular motion detection device and the projection device, and does not require manual adjustment by the user, thereby improving convenience.

[0099] In some embodiments, step 103 combines the process of correcting the projection device according to the first transformation matrix with Figure 7 The steps shown are explained below.

[0100] Step 701: When the projection picture projected by the projection device is not a full picture, obtain a full projection picture in the projection device.

[0101] In the embodiment of the present application, the full projection image can be understood as a projection image of the projection device in a front projection or side projection scenario without digitally cropping the projection image.

[0102] In the embodiment of the present application, the projection screen formed by the projection device projecting to the projection area is not a full screen, indicating that the projection device adopts a side projection method. Since the projection device adopts a side projection method, if the full projection screen projected by the projection device is not processed, the shape of the full projection screen projected to the projection area is non-rectangular, resulting in poor viewing effect for users. Figure 8 As shown, Figure 8 In the side projection scenario, the full projection screen 801 viewed from the user's side is shown. In order to ensure the effect of the user viewing the projection screen, the projection device digitally crops the full projection screen that needs to be displayed in the projection area, and the resulting projection screen is not a full screen. Therefore, the projection screen in the image obtained by the image acquisition module in the embodiment of the present application when shooting the projection area is not a full screen. Figure 8 , Figure 8 8 shows the position of the first projection picture 802 before shaking and the position of the second projection picture 803 after shaking in the side projection case.

[0103] Step 702: Obtain third position information of the full projection image in the projection optical machine coordinate system and fourth position information of the second projection image in the projection optical machine coordinate system.

[0104] In the embodiment of the present application, the third position information is the position information of the full projection screen in the projection optical machine coordinate system, and the fourth position information is the position information of the second projection screen in the projection optical machine coordinate system. Exemplarily, the projection screen is generally a regular shape, such as a rectangle or a trapezoid, and the third position information can be the coordinates of each corner point of the full projection screen in the projection optical machine coordinate system, and the fourth position information can be the coordinates of each corner point of the second projection screen in the projection optical machine coordinate system.

[0105] Step 703: Correct the projection image according to the third position information, the fourth position information and the first transformation matrix.

[0106] In an embodiment of the present application, when the projected projection picture is not a full picture, the projection device obtains a full projection picture in the projection device, and then the projection device obtains third position information of the full projection picture in the projection optical machine coordinate system and fourth position information of the second projection picture in the projection optical machine coordinate system; finally, the projection device performs correction processing on the projection picture projected by the projection device according to the third position information, the fourth position information and the first transformation matrix.

[0107] In the embodiment of the present application, step 703 combines the process of correcting the projection image according to the third position information, the fourth position information and the first transformation matrix. Fig. 9 The steps shown are explained below.

[0108] Step 901: Determine a second transformation matrix between the second projection picture and the full projection picture according to the third position information and the fourth position information.

[0109] In the embodiment of the present application, in the embodiment of the present application, the second transformation matrix is ​​used to represent the homography information when the second projection picture (that is, the projection picture after dithering) is mapped to the full projection picture.

[0110] In an embodiment of the present application, the projection device determines the second transformation matrix between the second projection screen and the full projection screen based on the fourth position information of the second projection screen and the third position information of the full projection screen using the DLT method, that is, calculates the second transformation matrix corresponding to mapping the second projection screen to the full projection screen.

[0111] Step 902: merge the first transformation matrix and the second transformation matrix to obtain a third transformation matrix.

[0112] In an embodiment of the present application, fusing the first transformation matrix and the second transformation matrix to obtain the third transformation matrix can be understood as: multiplying the first transformation matrix and the second transformation matrix to obtain the third transformation matrix; or, adding the first transformation matrix and the second transformation matrix to obtain the third transformation matrix; or, subtracting the first transformation matrix and the second transformation matrix to obtain the third transformation matrix; or, respectively setting a first weight and a second weight for the first transformation matrix and the second transformation matrix, and based on the first weight and the second weight, respectively performing weighted processing on the first transformation matrix and the second transformation matrix to obtain the third transformation matrix. The present application does not make any specific restrictions on this.

[0113] Step 903: Obtain fifth position information in the projection optical machine coordinate system according to the third transformation matrix and the third position information.

[0114] In the embodiment of the present application, the fifth position information is position information used to stabilize the projection image.

[0115] In an embodiment of the present application, after obtaining the third transformation matrix, the projection device multiplies the third transformation matrix with the third position information of the full projection image in the projection optical machine coordinate system to obtain the fifth position information used for anti-shake, so as to intercept the projection image corresponding to the fifth position information in the full projection image and project it to the projection area, thereby correcting the projection image projected by the projection device through digital cropping.

[0116] Step 904: intercepting a third projection picture corresponding to the fifth position information in the full projection picture, and projecting the third projection picture.

[0117] In the embodiment of the present application, the third projection picture can be understood as a projection picture obtained by re-cropping the full projection picture based on the fifth position information.

[0118] In a feasible scenario, continue to refer to Figure 8 In the side projection scene, when the projection screen is not shaken, the position of the first projection screen 802 projected by the projection device in the camera coordinate system is the first coordinate C1. After shaking, the position of the second projection screen 803 projected by the projection device in the camera coordinate system is the second coordinate C2, and the display area changes. Based on the first coordinate C1 of the first projection screen 802 and the second coordinate C2 of the second projection screen 803, the first transformation matrix H1 (also called the projection change matrix H) before and after shaking is obtained. Then, the third coordinate C3 of the full projection screen 801 in the projection optical machine coordinate system and the fourth coordinate C4 of the second projection screen 803 in the projection optical machine coordinate system are obtained. Based on the third coordinate C3 of the full projection screen 801 and the fourth coordinate C4 of the second projection screen 803, the second transformation matrix H2 (also called the projection change matrix H2) when the second projection screen 802 after shaking is mapped to the full projection screen 801 can be obtained. Furthermore, the first transformation matrix H1 and the second transformation matrix H2 are matrix multiplied to obtain a new lower point coordinate change matrix after anti-shake, that is, according to the first transformation matrix H1 and the second transformation matrix H2, a third transformation matrix H3 from the full projection screen 801 to the first projection screen before shaking can be obtained, such as H3=H1×H2; then, the third coordinate C3 of the full projection screen 801 is multiplied by the third transformation matrix H3 to calculate the final anti-shake lower point coordinate, that is, the fifth coordinate C5. It should be noted that the coordinate here corresponds to the fifth position information mentioned above; finally, the third projection screen corresponding to the fifth coordinate C5 in the full projection screen 801 is intercepted for screen cropping correction, and the third projection screen is projected, so that the projection screen after shaking is corrected to the projection screen before shaking, thereby achieving anti-shake.

[0119] From the above, it can be seen that in the present application, when the projection picture formed by the projection device projecting onto the projection area is not a full picture, the first transformation matrix is ​​determined based on the position of the projection picture before and after the jitter, and the second transformation matrix for mapping the second projection picture after the jitter of the projection device to the full projection picture is determined based on the position of the projection picture after the jitter in the projection optical machine coordinate system and the position of the full projection picture of the projection device in the projection optical machine coordinate system; and according to the first transformation matrix and the second transformation matrix, a third transformation matrix from the full projection picture 801 to the first projection picture before the jitter can be obtained; using the third position information of the full projection picture and the third transformation matrix, the fifth position of the final anti-shake lower point is calculated, and the projection picture corresponding to the first position in the full projection picture is intercepted and projected to the projection area, thereby realizing digital cropping of the full projection picture, ensuring that the display position of the projection picture in the display area does not change, and realizing the anti-shake operation of the projection picture.

[0120] In some embodiments, after executing step 904 to intercept the third projection picture corresponding to the fifth position information in the full projection picture, the projection device may also execute the following steps: Fig.10 The steps shown,

[0121] Step 1001: Determine sixth position information of a fourth projection image according to third position information and fifth position information.

[0122] The fourth projection picture is a minimum projection picture that is obtained by optically zooming the full projection picture and can cover the third projection picture.

[0123] In an embodiment of the present application, in the projection optical machine coordinate system of the projection device, in order to minimize the generated gray edges, the projection image can be optically zoomed first. Therefore, it is necessary to first determine the minimum projection image that can cover the third projection image after the full projection image is optically zoomed, that is, the fourth projection image.

[0124] In the embodiment of the present application, in the projection optical machine coordinate system (also called optical machine viewing angle) of the projection device, the relationship between the full projection image and the second projection image is as follows: Fig.11 As shown, 1101 represents the full projection picture in the projection optical machine coordinate system, and 1102 represents the second projection picture in the projection optical machine coordinate system. Specifically, the full projection picture 1101 in the projection optical machine coordinate system is rectangular as a whole, but usually due to the side projection method adopted by the projection device, after the full projection picture 1101 in the projection optical machine coordinate system is directly projected onto the projection area, the full projection picture displayed in the projection area is non-rectangular, that is, corresponding to Figure 8The full projection screen 801 in the camera coordinate system in the projection area; in order to adjust the non-rectangular projection screen in the projection area to a rectangle and realize the projection obstacle avoidance and other effects at the same time, the full projection screen 1101 in the projection optical machine coordinate system can be adjusted to the projection screen 1102 in the projection optical machine coordinate system. It should be noted that the projection screen 1102 is the projection screen that completes the trapezoidal correction and projection obstacle avoidance by the projection device with an algorithm, which is used for subsequent calculation and processing and will not be projected onto the projection plane for display. At this time, the projection device projects the projection screen 1102 in the projection optical machine coordinate system onto the projection area, and the obtained projection screen is mapped to the projection screen in the camera coordinate system, which is Figure 8 The second projection screen 803 is shown in FIG.

[0125] In some optional embodiments, step 1001 can determine the sixth position information of the fourth projection picture according to the third position information and the fifth position information by the following steps:

[0126] The first step is to determine an optical zoom reference point, where the optical zoom reference point is a preset reference point used to perform optical zoom processing on the projection image.

[0127] Here, refer to Fig.12 As shown, Fig.12 The figure shows the movement trajectory of the corresponding projection picture during the optical zoom process of the optical zoom lens of the projection device, wherein each projection ratio is the projection picture corresponding to different zoom positions, and o is the optical zoom reference point. It should be noted that the position of the optical zoom center o in the figure is only for reference, and it can be at any position in the picture, or even outside the picture. The actual position is determined according to the specific optical design.

[0128] In the second step, the optical zoom reference point is connected with each corner point of the third projection image to obtain a plurality of line segments, and a first distance corresponding to each line segment in the plurality of line segments is determined.

[0129] In the third step, based on each corner point of the third projection picture, a straight line parallel to the boundary of the full projection picture is drawn, and the straight line intersects with the multiple line segments at multiple intersection points.

[0130] In the fourth step, for any intersection among the multiple intersections, a second distance from the intersection to the optical zoom reference point is determined, and a ratio between the second distance and the first distance corresponding to the line segment where the intersection is located is calculated.

[0131] The fifth step is to determine the maximum ratio from the obtained multiple ratios, and determine the sixth position information of the fourth projection picture according to the maximum ratio and the first coordinate. Specifically, according to the third position information of each corner point of the full projection picture and the maximum ratio, the coordinate information of each corner point of the fourth projection picture is determined to obtain the sixth position information.

[0132] It should be noted that, in some special cases, the scaling ratios from the four corner points of the full projection image to the optical scaling reference point may be inconsistent. In this case, the maximum scale corresponding to each corner point needs to be calculated when determining the fourth projection image.

[0133] Step 1002: determine a target zoom position according to the third position information and the sixth position information, and control the projection device to perform optical zoom according to the target zoom position.

[0134] In an embodiment of the present application, before determining the target zoom position, it is necessary to first determine a first correlation relationship between the zoom position and the scaling ratio, wherein the scaling ratio is: for any zoom position, when projecting at the zoom position, the ratio between the distance from the corner point of the sixth projection image to the optical zoom reference point and the first distance corresponding to the line segment where the corner point is located.

[0135] Here, Fig.12 For example, the above scaling ratio is: at a certain zoom position bn (n>1), the ratio between the distance oTn from the corner point Tn of the projection image corresponding to the zoom position to the optical zoom reference point and the corresponding oT1. It can be seen that when the optical zoom position moves, the scaling ratios of the four points of the projection image relative to the optical zoom reference point are linearly scaled at the same ratio. Therefore, the first association relationship can be expressed by a linear relationship r=kb+c, where r represents the scaling ratio, and r=OTn / OT1, k, c are curve parameters, and b is the current zoom position.

[0136] It should be noted that if the distance change relationship between the four corner points of the projection screen and the optical zoom reference point is inconsistent, four curves need to be fitted respectively to represent the screen position; at the same time, the above fitting curves include but are not limited to the above linear relationship.

[0137] After determining the first association relationship between the zoom position and the zoom ratio, the ratio relationship between the third position information and the sixth position information can be determined, and the target zoom position can be determined based on the ratio relationship and the first association relationship. For example, if the ratio between the third position information and the sixth position information is r=oa / oA, then the target zoom position b=(rc) / k.

[0138] Step 1003: determining a fourth transformation matrix between the full projection picture and the fourth projection picture according to the third position information and the sixth position information;

[0139] Step 1004: Calculate the fifth position information according to the fourth transformation matrix to obtain seventh position information;

[0140] Step 1005 , intercepting a fifth projection picture corresponding to the seventh position information in the fourth projection picture, and projecting the fifth projection picture.

[0141] In an embodiment of the present application, the projection device calculates the fourth transformation matrix corresponding to mapping the fourth projection screen to the full projection screen according to the sixth position information of the four corner points of the fourth projection screen and the third position information of the four corner points of the full projection screen using the DLT method; then, the fifth position information of the four corner points of the third projection screen is transformed according to the fourth transformation matrix to obtain the seventh position information; finally, the projection screen corresponding to the seventh position information in the fourth projection screen is intercepted to obtain the fifth projection screen, and the fifth projection screen is projected to the projection area, thereby using optical zoom and digital cropping to correct the projection screen projected by the projection device while reducing resolution loss.

[0142] As can be seen from the above, for the projection device with optical zoom, according to the characteristics of optical zoom, the projection resolution will not be lost when the picture is scaled in the embodiment of the present application. The second projection picture after shaking is changed to the projection space, and the third position information and the fifth position information are used to determine whether the fourth projection picture obtained after optical zooming of the full projection picture is the minimum projection picture that can cover the third projection picture, that is, to calculate whether the current optical zoom is the minimum. If it can be further reduced, the target zoom position is determined according to the third position information and the sixth position information, and the projection device is controlled to perform optical zoom according to the target zoom position to achieve optical zooming; according to the third position information and the sixth position information, the fourth transformation matrix between the full projection picture and the fourth projection picture is determined, and the fifth position information of the four corner points of the third projection picture is transformed according to the fourth transformation matrix to obtain the seventh position information; finally, the projection picture corresponding to the seventh position information in the fourth projection picture is intercepted to obtain the fifth projection picture, so that the picture position is further adjusted, thereby reducing the resolution loss while achieving anti-shake.

[0143] The present application provides a projection correction device, which can be used to implement Figure 1 , Figure 3 , Figures 5 to 7 , Figures 9 and 10 A projection correction method provided by the corresponding embodiment refers to Fig.13 As shown, the projection correction device 13 includes:

[0144] An acquisition module 1301 is used to obtain first position information of a first projection picture taken by an image acquisition module at a first moment in a camera coordinate system, and second position information of a second projection picture taken at a second moment in a camera coordinate system; wherein the first moment is before the second moment;

[0145] A determination module 1302, configured to determine a first transformation matrix between the second projection picture and the first projection picture according to the first position information and the second position information;

[0146] The correction module 1303 is used to perform correction processing on the projection device or the projection picture according to the first transformation matrix.

[0147] The present application provides a projection device, which can be used to implement Figure 1 , Figure 3 , Figures 5 to 7 , Figures 9 and 10 A projection correction method provided by the corresponding embodiment refers to Fig.14 As shown, the projection device 14 ( Fig.14 The projection device 14 corresponds to Fig.13 The projection correction device 13) in the embodiment includes: a processor 1401, a memory 1402 and a communication bus 1403, wherein:

[0148] The communication bus 1403 is used to realize the communication connection between the processor 1401 and the memory 1402;

[0149] The processor 1401 is used to execute the projection correction program stored in the memory 1402 to implement the following steps:

[0150] Obtaining first position information of a first projection picture taken by the image acquisition module at a first moment in a camera coordinate system, and second position information of a second projection picture taken at a second moment in a camera coordinate system; wherein the first moment is before the second moment;

[0151] Determine a first transformation matrix between the second projection picture and the first projection picture according to the first position information and the second position information;

[0152] The projection device or the projection picture is corrected according to the first transformation matrix.

[0153] An embodiment of the present application provides a computer storage medium, which stores one or more programs, and the one or more programs can be executed by one or more processors to implement Figure 1 , Figure 3 , Figures 5 to 7 , Figures 9 and 10 A corresponding embodiment provides a projection correction method.

[0154] It should be noted here that the description of the above storage medium and device embodiments is similar to the description of the above method embodiments, and has similar beneficial effects as the same method embodiments. For technical details not disclosed in the storage medium and device embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0155] The above-mentioned computer storage medium / memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory (Flash Memory), a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM) and the like; it can also be various terminals including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc.

[0156] It should be understood that the "one embodiment" or "an embodiment" or "an embodiment of the present application" or "the aforementioned embodiment" or "some embodiments" or "some implementation methods" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" or "an embodiment of the present application" or "the aforementioned embodiment" or "some embodiments" or "some implementation methods" appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the size of the sequence number of the above-mentioned processes does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application. The above-mentioned sequence numbers of the embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments.

[0157] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0158] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed on multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0159] In addition, all functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may be a separate unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0160] The methods disclosed in several method embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments.

[0161] The features disclosed in several product embodiments provided in this application can be arbitrarily combined without conflict to obtain new product embodiments.

[0162] The features disclosed in several method or device embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments or device embodiments.

[0163] A person skilled in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, etc., various media that can store program codes.

[0164] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application can essentially or in other words, the part that contributes to the relevant technology can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods of each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0165] It is worth noting that the drawings in the embodiments of the present application are only for illustrating the schematic positions of various components on the terminal device and do not represent the actual positions in the terminal device. The actual positions of various components or areas may be changed or offset accordingly according to actual conditions (for example, the structure of the terminal device), and the proportions of different parts of the terminal device in the drawings do not represent the actual proportions.

[0166] The above is only an implementation method of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A projection correction method, characterized in that: The method comprises: Obtaining first position information of a first projection picture taken by the image acquisition module at a first moment in a camera coordinate system, and second position information of a second projection picture taken at a second moment in the camera coordinate system; wherein the first moment is before the second moment; Determine a first transformation matrix between the second projection picture and the first projection picture according to the first position information and the second position information; The projection device or the projection picture is corrected according to the first transformation matrix.

2. The method according to claim 1, characterized in that The correcting the projection device according to the first transformation matrix includes: When the projection screen projected by the projection device is a full screen, the first transformation matrix is ​​decomposed to obtain a first pose change; wherein the first pose change includes a translation change component and / or a rotation change component of the projection device; According to the rotational change component, the projection device is rotated according to a preset rotation rule; and / or, according to the translational change component, the projection device is translated to correct the position of the projection device.

3. The method according to claim 1, characterized in that The correcting the projection device according to the first transformation matrix includes: When the projection screen projected by the projection device is a full screen, correcting the angular motion detection device in the projection device according to the first transformation matrix; When the projection picture projected by the projection device does not meet the projection condition, using the corrected angular motion detection device to obtain a second position change amount of the projection device; The projection device is corrected according to the second posture change.

4. The method according to claim 3, characterized in that The step of correcting the angular motion detection device in the projection device according to the first transformation matrix includes: Decomposing the first transformation matrix to obtain a first pose change; wherein the first pose change includes a rotation change component of the projection device; Acquire a third position change of the angular motion detection device between the first moment and the second moment; Calculating the difference between the rotational change component of each axial direction in the third posture change amount and the rotational change component of the corresponding axial direction in the first posture change amount to obtain the offset difference of multiple axial directions of the angular motion detection device; The angular motion detection device is rotated by using a plurality of the offset differences to correct the angular motion detection device.

5. The method according to claim 1, characterized in that The correcting the projection picture according to the first transformation matrix includes: When the projection picture projected by the projection device is not a full picture, obtaining a full projection picture in the projection device; Obtaining third position information of the full projection picture in the projection optical machine coordinate system and fourth position information of the second projection picture in the projection optical machine coordinate system; The projection picture is corrected according to the third position information, the fourth position information and the first transformation matrix.

6. The method according to claim 5, characterized in that The correcting the projection picture according to the third position information, the fourth position information and the first transformation matrix includes: Determining a second transformation matrix between the second projection picture and the full projection picture according to the third position information and the fourth position information; Merging the first transformation matrix and the second transformation matrix to obtain a third transformation matrix; Obtaining fifth position information in the projection optical machine coordinate system according to the third transformation matrix and the third position information; A third projection picture corresponding to the fifth position information in the full projection picture is intercepted, and the third projection picture is projected.

7. The method according to claim 6, characterized in that The method further comprises: Determine sixth position information of a fourth projection picture according to the third position information and the fifth position information; wherein the fourth projection picture is a minimum projection picture that can cover the third projection picture after optical zooming of the full projection picture; determining a target zoom position according to the third position information and the sixth position information, and controlling the projection device to perform optical zoom according to the target zoom position; Determining a fourth transformation matrix between the full projection picture and the fourth projection picture according to the third position information and the sixth position information; Calculating the fifth position information according to the fourth transformation matrix to obtain seventh position information; A fifth projection picture corresponding to the seventh position information in the fourth projection picture is intercepted, and the fifth projection picture is projected.

8. The method according to any one of claims 1 to 7, characterized in that: The method further comprises: Determining whether the first location information and the second location information match; If the first position information and the second position information do not match, it is determined that the projection image is shaking.

9. A projection device, characterized in that: The projection device comprises: a processor, a memory and a communication bus; The communication bus is used to realize the communication connection between the processor and the memory; The processor is used to execute a jitter correction program of the projection picture stored in the memory to implement the projection correction method according to any one of claims 1 to 8.

10. A storage medium, characterized in that: The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the projection correction method according to any one of claims 1 to 8.

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