CN116266341A - Projector correction method and system - Google Patents
Projector correction method and system Download PDFInfo
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- CN116266341A CN116266341A CN202111543562.7A CN202111543562A CN116266341A CN 116266341 A CN116266341 A CN 116266341A CN 202111543562 A CN202111543562 A CN 202111543562A CN 116266341 A CN116266341 A CN 116266341A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/80—Geometric correction
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/60—Rotation of whole images or parts thereof
- G06T3/608—Rotation of whole images or parts thereof by skew deformation, e.g. two-pass or three-pass rotation
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- G—PHYSICS
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Abstract
The invention provides a projector correction method and a projector correction system. The projector comprises a collimation element and a diffraction optical element, and the correction method comprises the following steps: the central axis of the camera is coincided with the central axis of the collimating element arranged on the clamp; the camera recognizes the pose difference of the collimating element and the diffraction optical element, and performs rotation correction based on the pose difference; selecting a pattern of the first area for defocus test, obtaining an optimal position of a vertical distance between the collimating element and the diffraction optical element, and performing corresponding position adjustment; performing definition contrast on four corners of the obtained region pattern of the first region, and performing inclination correction according to a contrast result; obtaining the position coordinates of the optical center point according to the center point coordinates of the feature points of the area pattern; and carrying out translation correction on the alignment element and the diffraction optical element according to the obtained central point position coordinates, so that the central point coordinates are overlapped with the central point of the camera. The invention realizes automatic calibration and can improve the calibration precision and quality of the projector.
Description
Technical Field
The invention relates to the technical field of projectors, in particular to a projector correction method and system.
Background
With the rise of the structured light technology, the use of projectors has a tendency of rapid increase, and meanwhile, the requirements of a back-end algorithm on the quality of the projectors are severe, so that the high-quality projectors have positive effects on the service occupancy. In the prior art, a transmission type projector is mainly used for correcting, but partial images are generally selected for correcting, so that the phenomena of large leveling deviation, gaps of imaging patterns and the like can be caused by the large leveling deviation.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a projector correction method and a projector correction system, wherein the projector correction method has high correction precision and good product quality through automatic correction.
An embodiment of the present invention provides a projector correction method, the projector including a collimating element and a diffractive optical element, the method including the steps of:
coinciding a central axis of the camera with a central axis of the collimating element placed on the fixture;
the camera recognizes pose differences of the collimating element and the diffractive optical element, and performs rotation correction based on the pose differences;
selecting a pattern of a first area for defocus test, obtaining an optimal position of the vertical distance between the collimating element and the diffraction optical element, and performing corresponding position adjustment;
performing definition contrast on four corners of the obtained region pattern of the first region, and performing inclination correction according to a contrast result;
obtaining the position coordinates of the optical center point according to the center point coordinates of the feature points of the area pattern;
and carrying out translation correction on the collimating element and the diffraction optical element according to the obtained central point position coordinates, so that the central point coordinates are overlapped with the central point of the camera.
In some embodiments, the camera is a full-frame camera.
In some embodiments, before the pattern of the first area is selected for the defocus test, the method includes the following steps:
the camera identifying contour points of the overall pattern projected via the diffractive optical element;
acquiring the position coordinates of the pre-optical center according to the contour points;
and selecting the region pattern of the first region by taking the pre-optical center as a central coordinate.
In some embodiments, before the camera identifies contour points of the overall pattern projected via the diffractive optical element, the method further comprises the steps of:
selecting an area pattern of a first area with a camera as a center;
gray scale arrangement is carried out on all pixels of the selected pattern;
selecting a pixel high_n with the brightness of n percent or more and a pixel Low_n with the brightness of n percent or less, and calculating the ratio of the pixel high_n to the pixel Low_n with the brightness of n percent or less, wherein n is more than or equal to 10 and less than or equal to 30;
when the ratio is greater than or equal to a preset contrast threshold, determining that the outline of the projected overall pattern is fully presented.
In some embodiments, the camera identifying contour points of the overall pattern projected via the diffractive optical element further comprises the steps of:
calculating standard deviation values of the transverse brightness and the longitudinal brightness in the whole pattern;
when the standard deviation value exceeds a preset standard deviation threshold, then it is confirmed as one point in the contour, and the points of all contours are calculated in this way.
In some embodiments, the acquiring the position coordinates of the pre-optical center according to the contour point of the projection pattern includes the steps of:
carrying out weight calculation on the contour points to obtain weight centers OC_weight_x and OC_weight_y;
based on the obtained weight center, the weight is calculatedCalculating the position coordinates (OC) of the pre-optical center x ，OC y )。
In some embodiments, the calculating pre-optical center position coordinates (OC x ，OC y ) The formula is satisfied:
OC X ＝OC_weight_x+(OC_weight_x-Sensor_x)*factor_x；
OC Y ＝OC_weight_y+(OC_weight_y-Sensor_y)*factor_y；
wherein, sensor_x is the camera center X coordinate, factor_x is the camera X direction distortion factor, sensor_y is the camera center Y coordinate, and factor_Y is the camera Y direction distortion factor.
In some embodiments, the selecting the pattern of the first region for defocus testing further comprises the steps of:
and performing defocusing test in a contrast mode, and obtaining the point of the optimal position of the projector when the contrast is highest.
In some embodiments, the method further includes the steps of:
searching a plurality of characteristic points by comparing the characteristic points with a standard template;
and calculating the position coordinates of the center point according to the characteristic points.
In some embodiments, the method further includes the steps of:
calculating a plurality of characteristic points through an algorithm;
and confirming the position coordinates of the zero poles according to the position relation between the characteristic points and the central points.
In some embodiments, after the translational corrective adjustment is made such that the center point coordinates and the camera center point coincide, the method further comprises:
and curing the collimating element and the diffraction optical element through dispensing and UV exposure.
The present invention provides a projector correction system comprising a collimating element and a diffractive optical element, the system comprising a camera, a fixture and a controller, the fixture being for fixing the collimating element of the projector, the system being for implementing a projector correction method as described above.
The projector correction method and system provided by the invention have the following advantages:
the projector correction method provided by the invention can realize automatic calibration and can improve the calibration precision and quality of products.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the following drawings.
FIG. 1 is a schematic diagram of a projector correction method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the method steps prior to the preferred step S300 provided by the present invention;
FIG. 3 is a profile view of a projection pattern acquired by a camera according to an embodiment of the present invention;
FIG. 4 is a schematic diagram showing steps of a method before step S210 according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of method steps further included in step S210 according to an embodiment of the present invention;
FIG. 6 is a schematic illustration of a defocus test of an embodiment provided by the present invention;
FIGS. 7a and 7b are schematic diagrams of a projector according to an embodiment of the present invention before and after inclination correction;
FIG. 8 is a schematic diagram of finding a light center point according to an embodiment of the present invention;
fig. 9 is a flowchart of a projector correction method according to an embodiment of the invention.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be embodied in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus a repetitive description thereof will be omitted. "or", "or" in the specification may each mean "and" or ".
As shown in fig. 1, the present invention provides a projector correction method, the projector including a collimating element and a diffractive optical element, the method comprising the steps of:
s100: coinciding a central axis of the camera with a central axis of the collimating element placed on the fixture;
in particular, the camera is a full-frame camera that can capture the entire pattern projected onto the screen via the diffractive optical element. When the collimating element coincides with the center of the diffractive optical element, then the axis of the center point of the entire pattern, the projector center point axis, and the axis of the center point of the camera coincide. The center point position of the camera is unchanged, and the center point position of the pattern depends on the alignment of the center points of the collimating element and the diffractive optical element. Therefore, the centers of the collimating element and the diffractive optical element can be aligned according to the relative position difference between the center point of the camera and the center point of the projected whole pattern, so that a projector with good quality is obtained. The center axis of the camera is overlapped with the center axis of the collimating element placed on the fixture, and the center position of the pattern formed by the diffraction optical element is located near the center point of the camera as far as possible, so that the position difference of the diffraction optical element and the collimating element is convenient to adjust, and the adjustment efficiency is improved.
S200: the camera recognizes pose differences of the collimating element and the diffractive optical element, and performs rotation correction based on the pose differences;
specifically, the camera obtains the pose difference of the collimating element and the diffractive optical element according to the obtained contour difference by searching the contours of the collimating element and the diffractive optical element, and performs rotation correction on the collimating element and the diffractive optical element, namely correction around the OZ axis direction.
S300: selecting a pattern of a first area for defocus test, obtaining an optimal position of the vertical distance between the collimating element and the diffraction optical element, and performing corresponding position adjustment;
the optimal position of the vertical distance between the collimating element and the diffractive optical element is the position of the clearest point of the two elements in the Z-axis direction, and when the two elements are adjusted to the optimal position in the Z-axis direction, the pattern is displayed as the clearest pattern in the Z-axis.
S400: performing definition contrast on four corners of the obtained region pattern of the first region, and performing inclination correction according to a contrast result;
specifically, when the collimation element and the diffractive optical element have an inclination angle, the obtained area pattern of the first area may be represented as a clear central area and a blurred edge area of the pattern. Thus, by adjusting the tilt angle of the diffractive optical element relative to the collimating element, i.e. rotating in the OX and OY directions, the entire area of the pattern is rendered clear.
S500: obtaining the position coordinates of the optical center point according to the center point coordinates of the feature points of the area pattern;
s600: and carrying out translation correction on the collimating element and the diffraction optical element according to the obtained central point position coordinates, so that the central point coordinates are overlapped with the central point of the camera.
Specifically, when the coordinates of the center point of the area pattern are obtained, the plane position coordinates of the optical center point of the projector are the same as the plane coordinates of the center point of the area pattern, that is, the position differences of the diffraction optical element and the collimation element with the center point of the camera in the X and Y directions can be obtained through the coordinates of the center point of the pattern, the position differences of the diffraction optical element and the collimation element with the center point of the camera in the X and Y directions are adjusted, and the centers of the collimation element and the diffraction optical element are aligned through the above-mentioned position adjustment, so that the calibration of the projector is completed. The correction method of the projector can control the rotation angle of the finished product of the projector to be below 0.5 degrees; the positional shift on the plane of the collimating element and the diffractive optical element is less than 2 pixels; the splice gap between the unit patterns formed by the projector is smaller than 2 pixels, and the unit correction capacity per hour is 100-120. By the correction method of the projector, the precision and quality of products can be improved, and the production efficiency can be improved.
As shown in fig. 2, before the pattern of the first area is selected for defocus testing in step S300, the method further includes the following steps:
s210: the camera identifying contour points of the overall pattern projected via the diffractive optical element;
s220: acquiring the position coordinates of the pre-optical center according to the contour points;
s230: and selecting the region pattern of the first region by taking the pre-optical center as a central coordinate.
As shown in fig. 3, the outline point of the overall pattern identified by the camera is a shape surrounded by the area indicated by the arrow, that is, the area with brighter color shown in the figure can be resolved into a plurality of square charts, and the area beyond the outline point, such as the area indicated by the circle, cannot be found due to too low brightness, but does not affect subsequent calculation.
As shown in fig. 4, before the camera identifies the contour point of the overall pattern projected through the diffractive optical element in step S210, the method further includes the steps of:
s201: a region pattern of the first region centered on the machine;
s202: gray scale arrangement is carried out on all pixels of the selected pattern;
s203: taking a pixel high_n with the brightness of n percent and a pixel Low_n with the brightness of n percent, and calculating the ratio of the pixel high_n to the pixel Low_n, wherein n is more than or equal to 10 and less than or equal to 30;
s204: and when the ratio is greater than or equal to a preset contrast threshold value, determining that the outline of the projected whole pattern is completely presented.
The six axes and the clamping jaw for the position adjustment are highly accurate, and therefore the pattern projected via the diffractive optics should be presented near the center of the camera. In this embodiment, the center of the camera is taken as the center point, a pattern of 300pixel areas is selected, gray scale arrangement of 0-255 is performed on all pixels in the selected areas, in this embodiment, a pixel high_20 with a brightness value of 20% at the front and a pixel low_20 with a brightness value of 20% at the rear are selected, a ratio of the high_20 to the low_20, that is, ratio=high_20/low_20, is calculated, pre-definition is performed through the ratio, and when the ratio is greater than or equal to a comparison threshold set by the pre-definition, the pre-definition is represented, so that the projection contour is integrally presented. Wherein the comparison threshold is an empirical value obtained through a large number of pictures.
When the overall outline of the projected pattern is pre-cleared, the outline of the pre-cleared pattern is to be determined, as shown in fig. 5, the step S210 of identifying the outline point of the overall pattern projected by the diffractive optical element by the camera further includes the following steps:
s211: calculating standard deviation values of brightness of unit patterns in the transverse direction and the longitudinal direction in the whole pattern;
s212: when the standard deviation value exceeds a preset standard deviation threshold value, the unit pattern is confirmed as one point in the outline, and the points of all outlines are calculated in this way.
As shown in fig. 3, the projected overall pattern is composed of a plurality of checkered patterns with different brightness, the checkered pattern outside the contour point has the lowest brightness, the checkered pattern inside the contour point has larger brightness, when the standard deviation of the brightness of the first row of the plurality of checkered patterns is calculated, when the standard deviation is larger than the preset standard deviation threshold value, the contour point which is considered to reach the pattern boundary can be confirmed, and so on, all contour points in the transverse and longitudinal directions can be obtained. The preset standard deviation threshold is an empirical value obtained through a large number of pictures.
After determining the overall contour point of the projected pattern, the position coordinates of the pre-optical center can be obtained according to the contour point of the projected pattern, comprising the following steps:
carrying out weight calculation on the contour points to obtain weight centers OC_weight_x and OC_weight_y;
from the obtained weight center, the position coordinates (OC x ，OC y )。
The calculation of the position coordinates (OC) of the pre-optical center x ，OC y ) The formula is satisfied:
OC X ＝OC_weight_x+(OC_weight_x-Sensor_x)*factor_x；
OC Y ＝OC_weight_y+(OC_weight_y-Sensor_y)*factor_y；
wherein, sensor_x is the camera center X coordinate, factor_x is the camera X direction distortion factor, sensor_y is the camera center Y coordinate, and factor_Y is the camera Y direction distortion factor.
When the plane positions of the collimating element and the diffraction optical element have displacement deviation, the formed projection pattern has distortion, and the distortion needs to be compensated to obtain the position coordinates of the contour pre-optical center, and the precision of the pre-optical center can be controlled within 15 pixels.
After the position coordinates of the pre-optical center are determined, taking the pre-OC as the center, selecting a 300pixel area, as shown in fig. 6, performing defocus by using a contrast mode, and determining the optimal vertical distance between the collimation element and the diffraction optical element in the Z-axis direction, namely, the image in the selected area is the clearest. The selecting the pattern of the first area for defocus testing in step S300 further includes the following steps:
and performing defocusing test in a contrast mode, and obtaining the point of the optimal position of the projector when the contrast is highest.
FIG. 6 is a graph of the contrast defocus of a plurality of projectors, with the image being clearer as the contrast is greater. In fig. 6, the abscissa represents the distance between the collimating element and the diffractive optical element in the vertical direction, the ordinate represents the projector resolution value, i.e. the contrast value, and when the contrast value reaches the peak value, the abscissa corresponding to the peak point represents the optimal vertical distance value between the collimating element and the diffractive optical element, and the vertical distance between the collimating element and the diffractive optical element can be adjusted according to the obtained optimal vertical position.
When the collimation element and the diffraction optical element have inclination angles, the definition (i.e. contrast) of the image in the central area is different, as shown by the area indicated by the circle shown in the upper right corner of fig. 7a, and the image in the circular area is more blurred than the pattern in the central area. When the contrast of the four corners of the image is the same, i.e. the four corners are clear, the tilt correction is completed, as shown in fig. 7 b.
Next, step S500 obtains the position coordinates of the optical center point according to the center point coordinates of the feature points of the area pattern, and further includes the following steps:
searching a plurality of characteristic points by comparing with a standard template or calculating through an algorithm;
and calculating the position coordinates of the center point according to the characteristic points.
As shown in fig. 8, 12 feature points found in the elliptical ring in the vertical direction of the middle region, and the light center coordinates are obtained by the positional relationship between the feature points and the light center coordinates. The point indicated by the small circle in the central region in fig. 8 is the coordinates of the obtained light center point. And carrying out position translation adjustment on the collimating element and the diffraction optical element according to the obtained position coordinates of the light center point, so that the center of the camera coincides with the light center point, and thus, the correction of the collimating element and the diffraction optical element is completed.
After the translational correction is performed to enable the center point coordinate to coincide with the center point of the camera, the method further comprises:
and curing the collimating element and the diffraction optical element through dispensing and UV exposure, and forming the corrected projector module.
Fig. 9 is a schematic flow chart of a projector correction method, namely a simplified flow chart of the steps of the method, and the flow chart can be obtained from the figure, wherein the flow chart comprises feeding, rotation correction, pre-definition, pre-optical center, defocus, inclination correction, optical center correction, UV (Ultraviolet) curing and blanking, and according to the steps, the correction of the alignment element and the diffraction optical element can be completed, so that the projector with high alignment precision and good quality can be obtained.
Embodiments of the present invention also provide a projector correction system including a collimation element and a diffractive optical element, the system including a camera, a fixture for securing the collimation element of the projector, and a controller, the system for implementing the projector correction method as described above.
The projector correction method and system provided by the invention have the following advantages:
the invention provides a correction method of a projector, which can realize the pattern synchronization of an industrial camera and the projector, and has high calibration precision, good product quality and high production efficiency.
The foregoing is a further detailed description of the invention in connection with the preferred embodiments, and it is not intended that the invention be limited to the specific embodiments described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the invention, and these should be considered to be within the scope of the invention.
Claims (12)
1. A method of projector correction, wherein the projector comprises a collimating element and a diffractive optical element, the method comprising the steps of:
coinciding a central axis of the camera with a central axis of the collimating element placed on the fixture;
the camera recognizes pose differences of the collimating element and the diffractive optical element, and performs rotation correction based on the pose differences;
selecting a pattern of a first area for defocus test, obtaining an optimal position of the vertical distance between the collimating element and the diffraction optical element, and performing corresponding position adjustment;
performing definition contrast on four corners of the obtained region pattern of the first region, and performing inclination correction according to a contrast result;
obtaining the position coordinates of the optical center point according to the center point coordinates of the feature points of the area pattern;
and carrying out translation correction on the collimating element and the diffraction optical element according to the obtained central point position coordinates, so that the central point coordinates are overlapped with the central point of the camera.
2. The projector corrective method of claim 1, wherein the camera is a full-frame camera.
3. The projector corrective method of claim 1, wherein before the selecting the pattern of the first area for the defocus test, comprising the steps of:
the camera identifying contour points of the overall pattern projected via the diffractive optical element;
acquiring the position coordinates of the pre-optical center according to the contour points;
and selecting the region pattern of the first region by taking the pre-optical center as a central coordinate.
4. The projector corrective method of claim 3, further comprising the steps of, before the camera identifies contour points of the overall pattern projected via the diffractive optical element:
selecting an area pattern of a first area with a camera as a center;
gray scale arrangement is carried out on all pixels of the selected pattern;
selecting a pixel high_n with the brightness of n percent or more and a pixel Low_n with the brightness of n percent or less, and calculating the ratio of the pixel high_n to the pixel Low_n with the brightness of n percent or less, wherein n is more than or equal to 10 and less than or equal to 30;
when the ratio is greater than or equal to a preset contrast threshold, determining that the outline of the projected overall pattern is fully presented.
5. The projector corrective method of claim 3, wherein the camera identifies contour points of the overall pattern projected via the diffractive optical element further comprising the steps of:
calculating standard deviation values of the transverse brightness and the longitudinal brightness in the whole pattern;
when the standard deviation value exceeds a preset standard deviation threshold, then it is confirmed as one point in the contour, and the points of all contours are calculated in this way.
6. The projector correction method according to claim 1, characterized in that the position coordinates of the pre-optical center are obtained from contour points of the projection pattern, comprising the steps of:
carrying out weight calculation on the contour points to obtain weight centers OC_weight_x and OC_weight_y;
from the obtained weight center, the position coordinates (OC x ，OC y )。
7. The projector corrective method of claim 6, wherein the calculating the position coordinates (OC x ，OC y ) The formula is satisfied:
OC X ＝OC_weight_x+(OC_weight_x-Sensor_x)*factor_x；
OC Y ＝OC_weight_y+(OC_weight_y-Sensor_y)*factor_y；
wherein, sensor_x is the camera center X coordinate, factor_x is the camera X direction distortion factor, sensor_y is the camera center Y coordinate, and factor_Y is the camera Y direction distortion factor.
8. The projector corrective method of claim 1, wherein selecting the pattern of the first area for defocus testing further comprises the steps of:
and performing defocusing test in a contrast mode, and obtaining the point of the optimal position of the projector when the contrast is highest.
9. The projector correction method as set forth in claim 1, wherein the position coordinates of the optical center point are obtained from the center point coordinates of the feature points of the area pattern, further comprising the steps of:
searching a plurality of characteristic points by comparing the characteristic points with a standard template;
and calculating the position coordinates of the center point according to the characteristic points.
10. The projector correction method as set forth in claim 1, wherein the position coordinates of the optical center point are obtained from the center point coordinates of the feature points of the area pattern, further comprising the steps of:
calculating a plurality of characteristic points through an algorithm;
and confirming the position coordinates of the zero poles according to the position relation between the characteristic points and the central points.
11. The projector corrective method of claim 1, wherein after said translational corrective adjustment is made such that the center point coordinates and the camera center point coincide, the method further comprises:
and curing the collimating element and the diffraction optical element through dispensing and UV exposure.
12. A projector correction system, the projector comprising a collimating element and a diffractive optical element, the system comprising a camera, a fixture and a controller, the fixture for securing the collimating element of the projector, the system for implementing the projector correction method of any of claims 1-11.
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