CN109634032B - Image processing method and device - Google Patents
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- CN109634032B CN109634032B CN201811290917.4A CN201811290917A CN109634032B CN 109634032 B CN109634032 B CN 109634032B CN 201811290917 A CN201811290917 A CN 201811290917A CN 109634032 B CN109634032 B CN 109634032B
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- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
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Abstract
The embodiment of the invention provides an image processing method and device, wherein the method comprises the following steps: acquiring a row-column index number and a corresponding laser projection angle of a pixel row or a pixel column to be projected; determining a target row-column scanning period corresponding to the row-column index number according to the laser projection angle; and sequentially displaying each pixel point in the pixel row or the pixel column corresponding to each row-column index number according to the target row-column scanning period. The method of adjusting the target row-column scanning period and the pixel point display period corresponding to each row-column index number is adopted to set the corresponding projection initial position for each pixel row or pixel column, so that the edge alignment of the pixel rows and/or pixel columns of the image can be obtained, and the correction of the laser projection image can be simply and effectively realized.
Description
Technical Field
The invention relates to the technical field of computers, in particular to an image processing method and device.
Background
At present, projection technologies are widely applied, and common projection modes include dlp (digital Light processing) projection, lcos (liquid Crystal on silicon) projection, lbs (laser beam scanning) projection, and the like. The LBS projection technology has the advantages of touch interaction, no need of focusing, small size and the like. On the premise of presenting clear projection, the LBS technology can realize infinite focusing, wide color gamut and bright display of static/dynamic image projection; based on the same resolution, the LBS technology has high contrast, low power consumption, light weight and excellent embedding performance. Importantly, the LBS technology can realize accurate positioning touch without increasing a depth-of-field camera module, and is beneficial to reducing cost.
In the prior art, because an included angle exists between the projector and the light curtain, and the optical path distances from each edge of an image presented by the projector to the projector are different, the image projected on the light curtain is distorted. In the prior art, the distortion degree of an image projected on a light curtain is reduced by adding a curved mirror or adjusting the distance and the included angle between a projector and the light curtain. Still other projectors use rectification algorithms to rectify the image, which results in the loss of rectified image content or insignificant effects.
Based on this, there is a need for a simple and efficient solution for processing a projected image in order to achieve distortion-free projection.
Disclosure of Invention
In view of the foregoing, embodiments of the present invention provide an image processing method and apparatus, and a simple and effective scheme for processing a projection image to achieve distortion-free projection is needed in the present invention.
In a first aspect, an embodiment of the present invention provides an image processing method, including:
acquiring a row-column index number and a corresponding laser projection angle of a pixel row or a pixel column to be projected;
determining a target row-column scanning period corresponding to the row-column index number according to the laser projection angle;
and sequentially displaying each pixel point in the pixel row or the pixel column corresponding to each row-column index number according to the target row-column scanning period.
In a second aspect, an embodiment of the present invention provides an image processing apparatus, including:
the acquisition module is used for acquiring the row and column index numbers of the pixel rows or pixel columns to be projected and the corresponding laser projection angles;
the period determining module is used for determining a target row-column scanning period corresponding to the row-column index number according to the laser projection angle;
and the display module is used for sequentially displaying each pixel point in the pixel row or the pixel column corresponding to each row-column index number according to the target row-column scanning period.
An embodiment of the present invention provides a computer storage medium for storing a computer program, where the computer program is used to enable a computer to implement the image processing method in the first aspect when executed.
According to the image processing method provided by the embodiment of the invention, when laser projection is carried out, row and column index numbers of pixel rows or pixel columns to be projected and corresponding laser projection angles are obtained; determining a target row-column scanning period corresponding to the row-column index number according to the laser projection angle; further, according to the target row-column scanning period of each pixel row or pixel column, displaying the pixel points in the pixel row or pixel column corresponding to each row-column index number according to the specified sequence. When laser projection is performed, the laser device realizes laser projection display according to the sequence of the row and column index numbers and the sequence from top to bottom and from left to right (in practical application, other laser projection sequences can be set). And aiming at different row and column index numbers, different target row and column scanning periods are provided. By adopting the technical scheme, the corresponding projection initial positions are set for the pixel rows or the pixel columns by adjusting the target row-column scanning period and the pixel point display period corresponding to the row-column index numbers, so that the edge alignment of the pixel rows and/or the pixel columns of the image can be obtained, and the correction of the laser projection image can be simply and effectively realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a laser beam scanning projector (LBS) according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a distorted projected image and a corrected projected image provided by an embodiment of the present invention;
FIG. 3 is a flowchart illustrating an image processing method according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an image processing apparatus according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a laser beam scanning projection apparatus according to an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating a relationship between laser projection angles according to an embodiment of the present invention;
fig. 7 is a timing chart of image rectification according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and "a" and "an" generally include at least two, but do not exclude at least one, unless the context clearly dictates otherwise.
It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a good or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such good or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a commodity or system that includes the element.
In addition, the sequence of steps in each method embodiment described below is only an example and is not strictly limited.
The technical scheme of the invention can be applied to the technical fields of laser beam scanning projectors (LBS), Head Up Displays (HUD) and the like. For ease of understanding, the LBS is described below as an example.
As shown in fig. 1, the LBS mainly includes: and the image input interface is used for receiving image data output by a PC (personal computer), a set-top box and the like and processing the image data.
And a laser controller for controlling brightness of RGB laser, and simultaneously lighting and synthesizing pixel data of the image received from the image input interface into a pixel color by using the RGB laser.
RGB three-color laser, under the control of laser controller, three-color laser synthesizes image pixel point according to image information in proper order.
And a scanning control system for outputting a driving signal to control the MEMS (micro electro mechanical system) to rotate in the horizontal direction and the vertical direction at the same time.
MEMS (micro electro mechanical system), the control mirror swings around two axes of horizontal and vertical directions.
The projected image obtained by the projection device is shown in fig. 2, and due to the fact that the included angle exists between the laser and the light curtain, the optical path lengths are different, and the projected image is distorted. Further, the target row-column scanning period of each pixel row or pixel column in the image is adjusted to obtain a corrected image displayed by the shadow part. Specifically, the technical solution of the present invention may be adopted to adjust the line distortion of an image, and the image processing method includes:
fig. 3 is a flowchart illustrating an image processing method according to an embodiment of the present invention, where the image processing method may be executed by a projection device. The method comprises the following steps:
301: and acquiring the row and column index numbers of the pixel rows or pixel columns to be projected and the corresponding laser projection angles.
The column index number may be a column index number obtained by indexing a row or a column according to the resolution of the display image, for example, if the resolution of the display image is X × Y, the column index numbers corresponding to the respective rows are 0 to (X-1). The laser projection angle can be understood as the included angle between the pixel row or pixel column to be projected and the horizontal plane; for example, the laser projection angle α 1 corresponds to the top pixel line L1 of the display image, the laser projection angle α n corresponds to the last pixel line Ln, and the laser projection angle increases with the upper pixel line. Different row and column index numbers correspond to different laser projection angles, and the row and column index numbers and the laser projection images are in one-to-one correspondence.
302: and determining a target row-column scanning period corresponding to the row-column index number according to the laser projection angle.
For example, as shown in fig. 2, if each pixel row is scanned and displayed in the same row-column scanning period, the start position and the end position of each pixel row are different from each other. In order to correct the image, corresponding target row-column scanning periods need to be set for pixel rows corresponding to different row-column index numbers. In general, when image adjustment is performed, the line having the shortest pixel line is used as a reference pixel line, and the starting positions of the other pixel lines are adjusted to positions that coincide with the starting position of the reference pixel line.
303: and sequentially displaying each pixel point in the pixel row or the pixel column corresponding to each row-column index number according to the target row-column scanning period.
As described above, the row-column scanning period is a period of laser projection performed by the laser, and the pixel display period is a period of single pixel display, in which a plurality of pixels in a pixel row or a pixel column are projected during the laser projection process. In other words, the row-column scanning period is greater than or equal to the pixel display period.
The sequence display described here is a scanning sequence when the laser projects laser light to perform scanning display, and may be, for example, a display in order from top to bottom and from left to right. When displaying, the display is performed according to the sequence of the row and column index numbers in the initial time data table, so that the pixel points in all rows and columns in the data table are displayed.
The scanning display process is a process of displaying one frame of image, and each frame of image is also updated in real time according to a certain period. Therefore, in practical applications, the frame image update period is greater than or equal to the row-column scanning period.
In one or more embodiments of the present invention, the acquiring a row-column index number and a corresponding laser projection angle of a pixel row or a pixel column to be projected specifically includes: acquiring the inclination angle of the laser projection device; and determining a laser projection angle according to the inclination angle and the row-column index number corresponding to the pixel row or the pixel column to be projected.
In practical applications, a certain angle (e.g., a depression angle or an elevation angle) exists between the laser projection device and the light curtain (the screen for imaging), so that different pixel rows are distorted to different degrees. As can be seen from the foregoing, the laser projection angles for different pixel rows are different. Fig. 6 is a schematic diagram of a laser projection optical path according to an embodiment of the present invention. The included angle between the laser and the supporting plane is beta, and the included angle between the light path and the horizontal plane is alpha. And when the corresponding inclination angles of the pixel rows corresponding to the same row-column index number are different, the obtained laser projection angles are different. Therefore, in practical applications, the laser projection angle needs to be calculated according to the inclination angle.
In one or more embodiments of the present invention, the determining, according to the laser projection angle, a target line and column scanning period corresponding to the line and column index number may specifically include: acquiring a preset laser projection periodic table; wherein the laser projection periodic table comprises: the method comprises the following steps of (1) laser projection angle, row and column index numbers and corresponding target row and column scanning periods; and determining a target row and column scanning period corresponding to the row and column index number according to the laser projection angle and the laser projection period table.
In the laser projection period table, the laser projection angle is in one-to-one correspondence with the rank index number and the target rank scanning period. In practical applications, the inclination angle of the laser device may be different, which may cause the laser projection angle to vary. Therefore, for the same row and column index number, a plurality of groups of laser projection angles and corresponding target row and column scanning periods can be provided at the same time. For example, assuming that the row-column index number is Ln, and correspondingly, when the laser projection angle is α 1, the corresponding target row-column scanning period is T1; when the laser projection angle is α 2, the corresponding target row-column scanning period is T2.
In practical application, after determining the row-column index number of the pixel row or the pixel column to be projected and the corresponding laser projection angle, the target row-column scanning period corresponding to the current laser projection angle can be determined by a table look-up mode according to the row-column index number.
In one or more embodiments of the present invention, determining the manner of the laser projection periodic table may specifically include: acquiring a reference row-column scanning period; determining a target line and row scanning period corresponding to the line and row index number according to the laser projection angle and the reference line and row scanning period; and generating the laser projection period table according to the laser projection angle, the target row-column scanning period and the corresponding row-column index number.
For example, before and after the laser image adjustment as shown in fig. 2, it is assumed that each line is adjusted to the same start position as the last pixel line L8 in the figure; suppose that the laser projection angle corresponding to L1 is α 1, the laser projection angle corresponding to L2 is α 2, and so on; it is assumed that the number of pixels included in each pixel row is n. For example, when the angle of L1 is α 1, the adjusted period corresponding to L1 is T1 — T × L8/L1. Specifically, the variation of the period can be calculated according to the laser projection angle α, the reference line scanning period T and the target line scanning period Tn, and is expressed by the functional relation f (α). Further, a laser projection period table can be established according to the row and column index numbers, the corresponding laser projection angles, the target row and column scanning periods and the like. In later practical application, the required target line-column scanning period can be directly obtained through table lookup.
In one or more embodiments of the present invention, after determining the target row-column scanning period corresponding to the row-column index number, the method may further include: acquiring a reference scanning starting time of a reference row-column scanning period; obtaining a period difference value between the reference row-column scanning period and the target row-column scanning period; and determining the target scanning starting time according to the period difference and the reference scanning starting time.
For example, assuming that the reference column-row scanning period is T, the corresponding target column-row scanning period is Tn, the reference scanning start time is T, and the target scanning start time Tn is calculated. If the corrected row-column pixel center is aligned with the corrected row-column pixel center, Tn is T + (T-Tn)/2. In practical applications, the starting positions of the pixel rows to be corrected are different, and the method for calculating the target scanning starting time is different. The required target scanning starting time can be obtained by calculation after the actual target starting position is compared with the reference starting position.
In one or more embodiments of the present invention, after determining the target row-column scanning period corresponding to the row-column index number, the method may further include: acquiring the number of pixel points of the pixel row or the pixel column to be projected; and determining a pixel display period according to the target row-column scanning period and the pixel quantity.
For example, assuming that the column-row index number is L1, the number of corresponding pixels is n, and the column-row scanning period is T, it can be known that the pixel display period Tpix is T/n. Generally, the number of pixels in a pixel row or a pixel column corresponding to the row-column index is determined by the resolution of the image to be displayed or the projection device.
In one or more embodiments of the present invention, the sequentially displaying, according to the target row-column scanning period, each pixel point in the pixel row or the pixel column corresponding to each row-column index number may specifically include: acquiring the row-column index numbers corresponding to each pixel row or pixel column to be displayed in the current frame image to be displayed; sequentially displaying pixel points in pixel rows or pixel columns corresponding to the row and column index numbers according to the arrangement sequence of the row and column index numbers in the laser projection periodic table; and the frame image period of the frame image to be displayed is greater than the target line scanning period.
The projection display of the pixel points, the pixel rows, and the pixel columns in the above embodiments is performed based on the same frame image. When the sequential display is carried out according to the row-column index numbers, the S-shaped scanning track can be adopted for displaying, so that the switching time of switching the laser to the next pixel row or pixel column can be effectively reduced. In practical applications, the frame image period is greater than the sum of the scan period times of all pixel rows or pixel columns in the current image.
Based on the same idea, an embodiment of the present invention further provides an image processing apparatus, as shown in fig. 4, the apparatus including:
an obtaining module 41, configured to obtain a row-column index number of a pixel row or a pixel column to be projected and a corresponding laser projection angle;
a period determining module 42, configured to determine, according to the laser projection angle, a target row-column scanning period corresponding to the row-column index number;
and a display module 43, configured to sequentially display each pixel point in the pixel row or the pixel column corresponding to each row-column index number according to the target row-column scanning period.
Further, the obtaining module 41 is configured to obtain an inclination angle of the laser projection device;
and determining a laser projection angle according to the inclination angle and the row-column index number corresponding to the pixel row or the pixel column to be projected.
Further, the period determining module 42 is configured to obtain a preset laser projection period table; wherein the laser projection periodic table comprises: the method comprises the following steps of (1) laser projection angle, row and column index numbers and corresponding target row and column scanning periods;
and determining a target row and column scanning period corresponding to the row and column index number according to the laser projection angle and the laser projection period table.
Further, the determining the laser projection periodic table may specifically include:
acquiring a reference row-column scanning period;
determining a target line and row scanning period corresponding to the line and row index number according to the laser projection angle and the reference line and row scanning period;
and generating the laser projection period table according to the laser projection angle, the target row-column scanning period and the corresponding row-column index number.
Further, after determining the target rank scanning period corresponding to the rank index number, the method further includes:
acquiring a reference scanning starting moment of a reference row-column scanning period;
obtaining a period difference value between the reference row-column scanning period and the target row-column scanning period;
and determining the target scanning starting time according to the period difference and the reference scanning starting time.
Further, after determining the target rank scanning period corresponding to the rank index number, the method further includes:
acquiring the number of pixel points of the pixel row or the pixel column to be projected;
and determining a pixel display period according to the target row-column scanning period and the pixel quantity.
Further, the sequentially displaying the pixel rows or the pixel points in the pixel columns corresponding to the row-column index numbers according to the target row-column scanning period includes:
acquiring the row-column index numbers corresponding to each pixel row or pixel column to be displayed in the current frame image to be displayed;
sequentially displaying pixel points in pixel rows or pixel columns corresponding to the row and column index numbers according to the arrangement sequence of the row and column index numbers in the laser projection periodic table;
and the frame image period of the frame image to be displayed is greater than the target line scanning period.
Based on the same idea, an embodiment of the present invention further provides a laser beam scanning projection apparatus, to which the image processing device in the foregoing embodiment can be applied, and as shown in fig. 5, the period determining module in the laser beam scanning projection apparatus includes:
an external active clock 51, a frequency adjusting device 52, a tilt angle measuring device 53, a period calculating device 54;
the external active clock 51 is connected to the frequency adjustment device 52, and the tilt angle measurement device 53 is connected to the period calculation device 54 and the frequency adjustment device 52;
the inclination angle measuring device 52 sends the inclination angle to the period calculating device 54, and outputs a period adjusting signal;
the frequency adjusting device 52 adjusts the frequency of the external active clock 51 according to the received period adjusting signal, and outputs a target column-row scanning period.
The signal relationship of the laser device output target row-column scanning period in the same frame image is shown in fig. 7, wherein VS represents a frame image display effective signal, HS represents a pixel row effective signal in one frame image information, and Pclk represents each pixel display period in one row image effective. The shaded area in HS is the period corresponding to the area where the pixels are actually lit in the image of a pixel row.
Further, the frequency adjustment device 52 in the laser beam scanning projection apparatus includes: a first frequency multiplying device 521, a second frequency multiplying device 523 and a frequency dividing device 522;
the external active clock is sequentially connected with the first frequency doubling device, the frequency dividing device and the second frequency doubling device;
the first frequency doubling device is used for carrying out frequency doubling regulation on the external clock signal and outputting a first frequency doubling signal;
the frequency division device divides the frequency of the first frequency multiplication signal according to the period adjustment signal and outputs a frequency division signal;
and the second frequency doubling device is used for carrying out frequency doubling regulation on the frequency division signal and outputting the target row-column scanning period.
The first frequency multiplying device is used to perform frequency multiplication operation on the clock signal of the external active clock 51, so as to improve the precision of the frequency-divided signal when performing frequency division operation in the subsequent steps. And further, according to the calculated period adjusting signal, frequency division is carried out on the first frequency multiplication signal to obtain a required period signal. Further, based on the second frequency doubling device, the frequency-doubled operation is performed on the output frequency-divided signal, so that the required target row-column scanning period can be obtained.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by adding a necessary general hardware platform, and of course, can also be implemented by a combination of hardware and software. With this understanding in mind, the above-described aspects and portions of the present technology which contribute substantially or in part to the prior art may be embodied in the form of a computer program product, which may be embodied on one or more computer-usable storage media having computer-usable program code embodied therein, including without limitation disk storage, CD-ROM, optical storage, and the like.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable coordinate determination device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable coordinate determination device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable coordinate determination apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable coordinate determination device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer implemented process such that the instructions which execute on the computer or other programmable device provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (7)
1. An image processing method, characterized in that the method comprises:
acquiring a row-column index number and a corresponding laser projection angle of a pixel row or a pixel column to be projected;
determining a target row-column scanning period corresponding to the row-column index number according to the laser projection angle;
sequentially displaying each pixel point in the pixel row or the pixel column corresponding to each row-column index number according to the target row-column scanning period;
after determining the target rank scanning period corresponding to the rank index number, the method further includes:
acquiring a reference scanning starting time of a reference row-column scanning period;
obtaining a period difference value between the reference row-column scanning period and the target row-column scanning period;
and determining the target scanning starting time according to the period difference and the reference scanning starting time.
2. The method of claim 1, wherein the obtaining a row-column index number and a corresponding laser projection angle for a row or column of pixels to be projected comprises:
acquiring the inclination angle of the laser projection device;
and determining a laser projection angle according to the inclination angle and a row-column index number corresponding to the pixel row or the pixel column to be projected.
3. The method of claim 1, wherein determining a target line scan cycle corresponding to the line index number according to the laser projection angle comprises:
acquiring a preset laser projection periodic table; wherein the laser projection periodic table comprises: the method comprises the following steps of (1) laser projection angle, row and column index numbers and corresponding target row and column scanning periods;
and determining a target row and column scanning period corresponding to the row and column index number according to the laser projection angle and the laser projection period table.
4. The method of claim 3, wherein determining the manner in which the periodic table of laser projections is determined comprises:
acquiring a reference row-column scanning period;
determining a target line and row scanning period corresponding to the line and row index number according to the laser projection angle and the reference line and row scanning period;
and generating the laser projection period table according to the laser projection angle, the target row-column scanning period and the corresponding row-column index number.
5. The method of claim 3, wherein determining the target line scan cycle corresponding to the line index number further comprises:
acquiring the number of pixel points of the pixel row or the pixel column to be projected;
and determining a pixel display period according to the target row-column scanning period and the pixel quantity.
6. The method according to claim 3, wherein sequentially displaying each pixel point in the pixel row or the pixel column corresponding to each row-column index number according to the target row-column scanning period comprises:
acquiring the row-column index numbers corresponding to each pixel row or pixel column to be displayed in the current frame image to be displayed;
sequentially displaying pixel points in pixel rows or pixel columns corresponding to the row and column index numbers according to the arrangement sequence of the row and column index numbers in the laser projection periodic table;
and the frame image period of the frame image to be displayed is greater than the target line scanning period.
7. An image processing apparatus, characterized in that the apparatus comprises:
the acquisition module is used for acquiring the row and column index numbers of the pixel rows or pixel columns to be projected and the corresponding laser projection angles;
the period determining module is used for determining a target row-column scanning period corresponding to the row-column index number according to the laser projection angle;
the display module is used for sequentially displaying each pixel point in the pixel row or the pixel column corresponding to each row-column index number according to the target row-column scanning period;
wherein, the cycle determining module, after determining the target rank scanning cycle corresponding to the rank index number, further includes:
acquiring a reference scanning starting time of a reference row-column scanning period;
obtaining a period difference value between the reference row-column scanning period and the target row-column scanning period;
and determining the target scanning starting time according to the period difference and the reference scanning starting time.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811290917.4A CN109634032B (en) | 2018-10-31 | 2018-10-31 | Image processing method and device |
| PCT/CN2018/121748 WO2020087689A1 (en) | 2018-10-31 | 2018-12-18 | Image processing method and device, and apparatus |
Applications Claiming Priority (1)
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| CN114280895B (en) * | 2021-12-24 | 2024-01-05 | 深圳市先地图像科技有限公司 | Pixel row distribution method, system and related equipment in laser imaging process |
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| CN109634032A (en) | 2019-04-16 |
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