WO2020087689A1 - 图像处理方法、装置和设备 - Google Patents

图像处理方法、装置和设备 Download PDF

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Publication number
WO2020087689A1
WO2020087689A1 PCT/CN2018/121748 CN2018121748W WO2020087689A1 WO 2020087689 A1 WO2020087689 A1 WO 2020087689A1 CN 2018121748 W CN2018121748 W CN 2018121748W WO 2020087689 A1 WO2020087689 A1 WO 2020087689A1
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row
column
pixel
period
laser projection
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PCT/CN2018/121748
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English (en)
French (fr)
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高文刚
庞凤颖
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歌尔股份有限公司
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Publication of WO2020087689A1 publication Critical patent/WO2020087689A1/zh

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    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • 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
    • G03B21/00—Projectors or projection-type viewers; Accessories therefor
    • G03B21/14—Details
    • G03B21/147—Optical correction of image distortions, e.g. keystone

Definitions

  • the invention relates to the field of computer technology, in particular to image processing methods, devices and equipment.
  • LBS projection technology has the advantages of touch interaction, no need to focus, and small size.
  • LBS technology can achieve infinite focus, wide color gamut and glossy display of static / dynamic images; based on the same resolution, LBS technology has high contrast, low power consumption, thinner and lighter, and embedded performance Excellent.
  • LBS technology can achieve precise positioning of the touch without adding a depth-of-field camera module, which helps reduce costs.
  • embodiments of the present invention provide an image processing method, device, and equipment.
  • the present invention requires a simple and effective method for processing a projected image in order to achieve distortion-free projection.
  • an embodiment of the present invention provides an image processing method, including:
  • the laser projection angle determine the target row and column scanning period corresponding to the row and column index number
  • each pixel in the pixel row or pixel column corresponding to each row and column index number is sequentially displayed.
  • an embodiment of the present invention provides an image processing apparatus, including:
  • An obtaining module used to obtain the row and column index number of the pixel row or pixel column to be projected and the corresponding laser projection angle
  • a period determining module configured to determine a target row and column scanning period corresponding to the row and column index number according to the laser projection angle
  • the display module is configured to sequentially display each pixel point in the pixel row or pixel column corresponding to each row and column index number according to the target row and column scanning period.
  • a laser beam scanning projection device the device includes:
  • External active clock frequency adjustment device, tilt angle measurement device, period calculation device;
  • the external active clock is connected to the frequency adjustment device, and the tilt angle measurement device is connected to the period calculation device and the frequency adjustment device;
  • the tilt angle measuring device sends the tilt angle to the period calculation device to output a period adjustment signal
  • the frequency adjustment device adjusts the frequency of the external active clock according to the received period adjustment signal, and outputs a target row and column scanning period.
  • An embodiment of the present invention provides a computer storage medium for storing a computer program that implements the image processing method in the first aspect above when the computer program is executed by a computer.
  • the image processing method provided by the embodiment of the present invention obtains the row and column index number of the pixel row or pixel column to be projected and the corresponding laser projection angle during laser projection; according to the laser projection angle, the target corresponding to the row and column index number is determined Row and column scanning period; further, according to the target row and column scanning period of each pixel row or pixel column, the pixels in the pixel row or pixel column corresponding to each row and column index number are displayed in the specified order.
  • the laser is sorted according to the row and column index numbers, from top to bottom, from left to right (in actual application, other laser projection sequences can also be set) to achieve laser projection display. For different row and column index numbers, there are different target row and column scanning cycles.
  • the corresponding projection start position is set for each pixel row or pixel column, and the pixel row and / or the image can be obtained
  • the alignment of the pixel columns is simple and effective to correct the laser projection image.
  • LBS laser beam scanning projector
  • FIG. 2 is a schematic diagram of a distortion projection image and a projection image after correction is provided by an embodiment of the present invention
  • FIG. 3 is a schematic flowchart of an image processing method provided by 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 device according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of a laser projection angle relationship provided by an embodiment of the present invention.
  • FIG. 7 is a timing diagram of image correction provided by an embodiment of the present invention.
  • the words “if” and “if” as used herein can be interpreted as “at ! or “when ! or “in response to determination” or “in response to detection”.
  • the phrases “if determined” or “if detected (statement or event stated)” may be interpreted as “when determined” or “in response to determination” or “when detected (statement or event stated ) “Or” in response to detection (statement or event stated) ".
  • LBS laser beam scanning projector
  • HUD head-up display
  • the LBS mainly includes: a video input interface for receiving image data output from a PC, a set-top box, etc., and performing image data processing.
  • the laser controller is used to control the brightness of the RGB (red, green, blue) three-color laser.
  • the pixel data of the image received from the image input interface is simultaneously lit by the RGB three-color laser and synthesized into one pixel color.
  • RGB three-color laser under the control of the laser controller, the three-color laser sequentially synthesizes image pixels according to image information.
  • the scanning control system is used to output 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
  • MEMS Micro Electro Mechanical System
  • the projected image obtained by the projection device is shown in FIG. 2. Due to the angle between the laser and the light curtain, the optical path length is different, and the projected image is distorted. Further, the target row and column scanning cycle of each pixel row or pixel column in the image is adjusted to obtain a corrected image displayed in the shaded portion. Specifically, the technical solution of the present invention can be adopted to adjust the image line distortion.
  • the image processing method is as follows:
  • FIG. 3 is a schematic flowchart of an image processing method provided by an embodiment of the present invention.
  • the image processing method may be executed by a projection device. The method includes the following steps:
  • the row-column index number mentioned here may be the row-column index number obtained by serially calibrating the row or column according to the display image resolution. For example, assuming that the display image resolution is X * Y, then the row index number corresponding to each row is 0 ⁇ (X-1).
  • the laser projection angle can be understood as the angle between the pixel row or pixel column to be projected and the horizontal plane; for example, the laser projection angle corresponding to the pixel row L1 at the top of the display image is ⁇ 1, and the laser projection angle corresponding to the last pixel row Ln is ⁇ n. The greater the laser projection angle corresponding to the upper pixel row.
  • Different row and column index numbers correspond to different laser projection angles, and there is a one-to-one correspondence between row and column index numbers and laser projection images.
  • each pixel row is scanned and displayed according to the same row and column scanning period, the start position and end position of each pixel row are different.
  • the shortest line of a pixel row is used as a reference pixel row, and the starting positions of other pixel rows are adjusted to a position consistent with the starting position of the reference pixel row.
  • the row-column scanning cycle mentioned here is the period during which the laser performs laser projection.
  • the pixel display period is the period during which a single pixel is displayed. During the laser projection process, multiple pixel rows or pixel columns are projected. pixel. In other words, the row-column scanning period should be greater than or equal to the pixel dot display period.
  • the sequential display here refers to the scanning sequence when the laser projects laser light for scanning display, for example, it may be displayed in the order from top to bottom and from left to right. Since the display is performed in the order of the row and column index numbers in the data table at the start time, all the pixels in the rows and columns in the data table must be displayed.
  • the above 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 and column scan period.
  • the acquiring the row and column index numbers of the pixel row or pixel column to be projected and the corresponding laser projection angle may specifically include: acquiring the tilt angle of the laser projection device; according to the tilt angle
  • the row and column index numbers corresponding to the rows or columns of pixels to be projected determine the laser projection angle.
  • FIG. 6 is a schematic diagram of a laser projection optical path provided by an embodiment of the present invention.
  • the angle between the laser and the supporting plane is ⁇
  • the angle between the optical path and the horizontal plane is ⁇ .
  • the pixel rows corresponding to the same row and column index number have different laser projection angles when the corresponding tilt angles are different. Therefore, in practical applications, when calculating the laser projection angle, it needs to be calculated according to the tilt angle.
  • the determining the target row and column scan period corresponding to the row and column index number according to the laser projection angle may specifically include: obtaining a preset laser projection period table; wherein, The laser projection period table includes: a laser projection angle, a row and column index number and a corresponding target row and column scanning period; and according to the laser projection angle and the laser projection period table, a target row and column scanning period corresponding to the row and column index number is determined.
  • the laser projection angle is in a one-to-one correspondence with the row and column index numbers and the target row and column scanning period.
  • the tilt angle of the laser device may be different, which will cause the laser projection angle to change. Therefore, for the same row and column index number, multiple sets of laser projection angles and corresponding target row and column scanning periods can be simultaneously provided. For example, assuming that the row and column index number is Ln, correspondingly, when the laser projection angle is ⁇ 1, the corresponding target row and column scanning period is T1; when the laser projection angle is ⁇ 2, the corresponding target row and column scanning period is T2.
  • the target row and column scanning period corresponding to the current laser projection angle can be determined by table lookup according to the row and column index number.
  • the manner of determining the laser projection period table may specifically include: obtaining a reference row and column scanning period; and determining the row and column according to the laser projection angle and the reference row and column scanning period A target row and column scanning period corresponding to the index number; generating the laser projection period table according to the laser projection angle, the target row and column scanning period, and the corresponding row and column index number.
  • each line is adjusted to the same starting position as the last pixel line L8 in the figure; it is assumed that the laser projection angle corresponding to L1 is ⁇ 1 and the laser projection corresponding to L2 The angle is ⁇ 2 and so on; suppose that the number of pixels included in each pixel row is n.
  • the period change amount can be calculated and expressed by a functional relationship f ( ⁇ ).
  • a laser projection period table may be established by row and column index numbers, corresponding laser projection angles, target row and column scan periods, and so on. In the later practical application, by looking up the table, the required target row and column scanning cycle can be directly obtained.
  • the method may further include: acquiring a reference scan start time of the reference row-column scan period; acquiring the reference row-column scan period and The period difference between the target row and column scan periods; the target scan start time is determined according to the period difference and the reference scan start time.
  • the starting position of the pixel row to be corrected is different, and the method of calculating the target scanning start time is different.
  • the desired target scan start time can be calculated according to the comparison between the actual target start position and the reference start position.
  • the method may further include: acquiring the number of pixels of the pixel row or pixel column to be projected; according to the target row The scanning period and the number of pixels determine the pixel display period.
  • the row and column index number is L1
  • the number of corresponding pixels is n
  • the row and column scanning period is T
  • the pixel display period Tpix T / n.
  • the number of pixels in the pixel row or pixel column corresponding to the row and column index number is determined by the resolution of the image to be displayed or the projection device.
  • the sequentially displaying each pixel in the pixel row or pixel column corresponding to each row and column index number according to the target row and column scanning period may specifically include: In the display frame image, obtain the row and column index numbers corresponding to each pixel row or pixel column to be displayed; according to the arrangement order of the row and column index numbers in the laser projection periodic table, sequentially display the corresponding row and column index numbers Pixels in rows or columns of pixels; wherein the frame image period of the frame image to be displayed is greater than the target row and column scan period.
  • the projection display of the pixel points, pixel rows, and pixel columns in the foregoing embodiments are all based on the same frame of image.
  • an S-shaped scanning track can be used for display, which can effectively reduce the switching time for the laser to switch to the next pixel row or pixel column.
  • the frame image period is greater than the sum of the scanning cycle time of all pixel rows or pixel columns in the current image.
  • an embodiment of the present invention also provides an image processing device. As shown in FIG. 4, the device includes:
  • the obtaining module 41 is used to obtain the row and column index number of the pixel row or pixel column to be projected and the corresponding laser projection angle;
  • the period determining module 42 is used to determine the target row and column scanning period corresponding to the row and column index number according to the laser projection angle;
  • the display module 43 is configured to sequentially display each pixel in the pixel row or pixel column corresponding to each row and column index number according to the target row and column scanning period.
  • the acquisition module 41 is used to acquire the tilt angle of the laser projection device
  • the laser projection angle is determined according to the tilt angle and the row and column index corresponding to the row or column of pixels to be projected.
  • the period determination module 42 is configured to obtain a preset laser projection period table; wherein, the laser projection period table includes: a laser projection angle, a row and column index number, and a corresponding target row and column scanning period;
  • the target row and column scanning period corresponding to the row and column index number is determined.
  • the manner of determining the periodic table of laser projection may specifically include:
  • the laser projection period table is generated according to the laser projection angle, the target row and column scan period, and the corresponding row and column index number.
  • the method further includes:
  • the target scan start time is determined according to the period difference and the reference scan start time.
  • the method further includes:
  • the pixel display period is determined.
  • the sequentially displaying each pixel in the pixel row or pixel column corresponding to each row and column index number according to the target row and column scanning period includes:
  • the frame image period of the frame image to be displayed is greater than the target row and column scanning period.
  • an embodiment of the present invention also provides a laser beam scanning projection device. As shown in FIG. 5, the device includes:
  • External active clock 51 frequency adjustment device 52, tilt angle measurement device 53, period calculation 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 tilt angle measuring device 52 sends the tilt angle to the period calculation device 54 to output a period adjustment signal;
  • the frequency adjustment device 52 performs frequency adjustment on the signal of the external active clock 51 according to the received period adjustment signal, and outputs a target row and column scanning period.
  • VS represents the effective signal of the frame image display
  • HS represents the effective signal of the pixel row in the image information of a frame
  • Pclk represents the effective image of a row
  • the shaded area in the HS is the period corresponding to the area that actually lights up pixels in a one-line image.
  • the frequency adjusting device 52 in the laser beam scanning projection device 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 to the first frequency multiplying device, frequency dividing device, and second frequency multiplying device;
  • the first frequency doubling device performs frequency doubling adjustment on the external clock signal, and outputs a first frequency doubling signal
  • the frequency dividing device divides the first frequency multiplied signal according to the period adjustment signal, and outputs a frequency divided signal
  • the second frequency multiplying device performs frequency multiplication adjustment on the frequency-divided signal, and outputs the target row and column scanning period.
  • the frequency multiplication operation is performed on the clock signal of the external active clock 51 by the first frequency multiplication device, so that when the frequency division operation is performed in the subsequent steps, the accuracy of the frequency division signal is improved.
  • the obtained first frequency-doubling signal is obviously higher than the desired signal frequency.
  • the first frequency-doubling signal is divided according to the calculated period adjustment signal to obtain the required periodic signal.
  • frequency multiplying operation is performed on the output frequency-divided signal, so that a desired target row and column scanning period can be obtained.
  • the device embodiments described above are only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located One place, or can be distributed to multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement without paying creative labor.
  • each embodiment can be implemented by adding a necessary universal hardware platform, and of course, can also be implemented by a combination of hardware and software.
  • the above technical solution can be embodied in the form of a computer product in essence or part of the contribution to the existing technology, and the present invention can adopt one or more computer-usable storages containing computer-usable program code
  • the form of computer program products implemented on media including but not limited to disk storage, CD-ROM, optical storage, etc.).
  • These computer program instructions can be provided to the processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable coordinate determination device to produce a machine that enables the generation of instructions executed by the processor of the computer or other programmable coordinate determination device
  • These computer program instructions may also be stored in a computer readable memory that can guide a computer or other programmable coordinate determination device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device
  • the device implements the functions specified in one block or multiple blocks of the flowchart one flow or multiple flows and / or block diagrams.
  • These computer program instructions can also be loaded onto a computer or other programmable coordinate determination device, so that a series of operating steps are performed on the computer or other programmable device to produce computer-implemented processing, which is executed on the computer or other programmable device
  • the instructions provide steps for implementing the functions specified in one block or multiple blocks of the flowchart one flow or multiple flows and / or block diagrams.
  • the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.
  • processors CPUs
  • input / output interfaces output interfaces
  • network interfaces network interfaces
  • memory volatile and non-volatile memory
  • the memory may include non-permanent memory, random access memory (RAM) and / or non-volatile memory in computer-readable media, such as read only memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
  • RAM random access memory
  • ROM read only memory
  • flash RAM flash memory
  • Computer-readable media including permanent and non-permanent, removable and non-removable media, can store information by any method or technology.
  • the information may be computer readable instructions, data structures, modules of programs, 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 technologies, read-only compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, Magnetic tape cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices.
  • computer-readable media does not include temporary computer-readable media (transitory media), such as modulated data signals and carrier waves.

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Abstract

本发明实施例提供图像处理方法、装置和设备，该方法包括：获取待投射像素行或像素列的行列索引号和对应的激光投射角；根据所述激光投射角，确定所述行列索引号对应的目标行列扫描周期；根据所述目标行列扫描周期，顺序显示各所述行列索引号对应的像素行或像素列中的各个像素点。采用调整各行列索引号对应的目标行列扫描周期、像素点显示周期的方式，为各像素行或像素列设定对应的投射起始位置，能够获得图像的像素行和/或像素列列的边沿对齐，简单、有效的实现对激光投射图像的矫正。

Description

图像处理方法、装置和设备 技术领域
本发明涉及计算机技术领域，尤其涉及图像处理方法、装置和设备。
背景技术
目前投影技术的应用很广泛，较为常见的投影方式包括DLP(Digital Light Processing)投影、LCOS(Liquid Crystal on Silicon)投影和LBS(Laser Bean Scanning)投影等。其中，LBS投影技术具有触控交互、不需对焦、体积小等优点。在呈现清晰投影的前提下，LBS技术可实现无限聚焦、广阔的色域及静/动态图像投放的亮泽显示；基于相同的分辨率，LBS技术对比度高、功耗低、更轻薄，嵌入性能极佳。重要的是，LBS技术无需增加景深摄像模组即可实现精确定位触摸，有助于降低成本。
在现有技术中，由于投影仪与光幕之间存在夹角，并且投影仪所呈现的图像各个边沿到投影仪之间的光路距离不同，导致投射到光幕上的图像发生畸变。现有技术中，通常通过增加曲面镜或调整投影仪与光幕之间的距离、夹角，从而实现减弱投射到光幕上的图像的畸变程度。还有一些投影仪中采用矫正算法进行矫正，会使得得到矫正后的图像内容丢失或矫正后效果不明显。
基于此，需要一种简单、有效的对投影图像进行处理以便实现无畸变投影的方案。
发明内容
有鉴于此，本发明实施例提供图像处理方法、装置和设备，本发明需要一种简单、有效的对投影图像进行处理以便实现无畸变投影的方案。
第一方面，本发明实施例提供一种图像处理方法，包括：
获取待投射像素行或像素列的行列索引号和对应的激光投射角；
根据所述激光投射角，确定所述行列索引号对应的目标行列扫描周期；
根据所述目标行列扫描周期，顺序显示各所述行列索引号对应的像素行或像素列中的各个像素点。
第二方面，本发明实施例提供一种图像处理装置，包括：
获取模块，用于获取待投射像素行或像素列的行列索引号和对应的激光投射角；
周期确定模块，用于根据所述激光投射角，确定所述行列索引号对应的目标行列扫描周期；
显示模块，用于根据所述目标行列扫描周期，顺序显示各所述行列索引号对应的像素行或像素列中的各个像素点。
第三方面，一种激光束扫描投影设备，所述设备包括：
外部有源时钟、频率调节装置、倾斜角测量装置、周期计算装置；
所述外部有源时钟与所述频率调节装置连接，所述倾斜角测量装置与所述周期计算装置和所述频率调节装置连接；
所述倾斜角测量装置将倾斜角度发送给所述周期计算装置，输出周期调节信号；
所述频率调节装置，根据接收到的所述周期调节信号，对所述外部有源时钟进行频率调节，输出目标行列扫描周期。
本发明实施例提供了一种计算机存储介质，用于储存计算机程序，所述计算机程序使计算机执行时实现上述第一方面中的图像处理方法。
本发明实施例提供的图像处理方法，在进行激光投射时，获取到待投射像素行或像素列的行列索引号，和对应的激光投射角；根据激光投射角，确定该行列索引号对应的目标行列扫描周期；进一步地，根据各个像素行或像素列的目标行列扫描周期，按照指定的顺序显示各个行列索引号对应的像素行或像素列中的像素点。在进行激光投射时，激光器根据行列索引号的排序，按照从上 到下，从左到右的顺序(在实际应用中也可以设定其他的激光投射顺序)实现激光投射显示。针对不同的行列索引号，具有不同的目标行列扫描周期。通过上述技术方案，采用调整各行列索引号对应的目标行列扫描周期、像素点显示周期的方式，为各像素行或像素列设定对应的投射起始位置，能够获得图像的像素行和/或像素列列的边沿对齐，简单、有效的实现对激光投射图像的矫正。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的一种激光束扫描投影仪(LBS)的结构示意图；
图2为本发明实施例提供的畸变投影图像和完成矫正后的投影图像的示意图；
图3为本发明实施例提供的图像处理方法的流程示意图；
图4为本发明实施例提供的图像处理装置的结构示意图；
图5为本发明实施例提供的一种激光束扫描投影设备的结构示意图；
图6为本发明实施例提供的一种激光投射角关系示意图；
图7为本发明实施例提供的一种图像矫正时序图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本发明实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨 在限制本发明。在本发明实施例和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义，“多种”一般包含至少两种，但是不排除包含至少一种的情况。
应当理解，本文中使用的术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
取决于语境，如在此所使用的词语“如果”、“若”可以被解释成为“在……时”或“当……时”或“响应于确定”或“响应于检测”。类似地，取决于语境，短语“如果确定”或“如果检测(陈述的条件或事件)”可以被解释成为“当确定时”或“响应于确定”或“当检测(陈述的条件或事件)时”或“响应于检测(陈述的条件或事件)”。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的商品或者***不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种商品或者***所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的商品或者***中还存在另外的相同要素。
另外，下述各方法实施例中的步骤时序仅为一种举例，而非严格限定。
本发明技术方案可以应用在激光束扫描投影仪(LBS)、平视显示器(Head Up Display，HUD)等技术领域中。为了便于理解，下面以LBS为例进行说明。
如图1所示，在LBS中主要包含：影像输入接口，用于接收PC机、机顶盒等输出的图像数据，并进行图像数据处理。
激光器控制器，用于控制RGB(red、green、blue)三色激光的亮度，将从影像输入接口接收到的图像的像素数据，用RGB三色激光同时点亮并合成为一个像素色彩。
RGB三色激光，在激光器控制器的控制下，三色激光依次按照图像信息合成图像像素点。
扫描控制***，扫描控制***用于输出驱动信号控制MEMS(微机电***)同时在水平方向和垂直方向旋转。
MEMS(微机电***)，控制反射镜会围绕水平方向和垂直方向两个轴摆动。
通过该投影设备获得的投影图像如图2所示，由于激光器与光幕之间存在夹角，导致光路长度不同，投射得到的图像发生畸变。进一步地，对图像中各个像素行或像素列的目标行列扫描周期进行调整，得到阴影部分显示的校正后的图像。具体来说，可以采用本发明的技术方案，对图像行畸变进行调整，图像处理方法如下：
图3为本发明实施例提供的图像处理方法的流程示意图，在本实施例中图像处理方法可以由投影设备来执行。该方法包括以下步骤：
301：获取待投射像素行或像素列的行列索引号和对应的激光投射角。
这里所说的行列索引号，可以是根据显示图像分辨率对行或列进行序号标定后得到的行列索引号，比如，假设显示图像的分辨率为X*Y，那么对应各行的行索引号为0～(X-1)。激光投射角可以理解为，待投射像素行或像素列与水平面的夹角；例如，显示图像顶部像素行L1对应的激光投射角为α1，最后一行像素行Ln对应的激光投射角为αn，越是靠上的像素行对应的激光投射角越大。不同行列索引号对应不同的激光投射角，行列索引号与激光投射图像是一一对应的关系。
302：根据所述激光投射角，确定所述行列索引号对应的目标行列扫描周期。
例如，由图2显示可知，若各个像素行都按照相同的行列扫描周期进行扫描显示时，各个像素行的起始位置和终止位置各不相同。为了能够对图像进行校正，需要针对不同的行列索引号对应的像素行分别设定对应的目标行列扫描周期。一般来说，在进行图像调整时，根据像素行最短的一行作为参考像素行，其他像素行的起始位置调整到与参考像素行起始位置一致的位置。
303：根据所述目标行列扫描周期，顺序显示各所述行列索引号对应的像素行或像素列中的各个像素点。
如前文所述可知，这里所说的行列扫描周期是激光器进行激光投射的周期， 像素点显示周期是单个像素点显示的周期，在激光器投射过程中要投射出像素行或像素列中的多个像素点。换言之，行列扫描周期要大于或者等于像素点显示周期。
需要说明的是，这里所说的顺序显示，是激光器投射激光进行扫描显示时的扫描顺序，比如，可以是按照从上到下、从左到右的顺序显示。由于在进行显示时，是按照起始时间数据表中行列索引号的顺序进行显示的，所以在该数据表中的所有行、列中的像素点都要被显示。
上述扫描显示过程，是一帧图像进行显示的过程，各帧图像也在实时按照一定的周期进行更新。因此，在实际应用中，帧图像更新周期大于或等于行列扫描周期。
在本发明的一个或者多个实施例中，所述获取待投射像素行或像素列的行列索引号和对应的激光投射角，具体可以包括：获取激光投射装置的倾斜角度；根据所述倾斜角和待投射像素行或像素列对应的行列索引号，确定激光投射角。
在实际应用中，激光投射装置与光幕(用于成像的屏幕)之间存在一定的夹角(比如，俯角或仰角)，从而导致不同像素行发生不同程度的图像畸变。如前文所述可知，不同的像素行对应的激光投射角不同。如图6为本发明实施例提供的一种激光投射光路示意图。激光器与支撑平面之间的夹角为β，光路与水平面的夹角为α。同一个行列索引号对应的像素行，在对应的倾斜角度不同时，得到的激光投射角不同。因此，在实际应用中，计算激光投射角时，需要根据倾斜角度计算。
在本发明的一个或者多个实施例中，所述根据所述激光投射角，确定所述行列索引号对应的目标行列扫描周期，具体可以包括：获取预设的激光投射周期表；其中，所述激光投射周期表中包含：激光投射角、行列索引号和对应的目标行列扫描周期；根据所述激光投射角和所述激光投射周期表，确定所述行列索引号对应的目标行列扫描周期。
在激光投射周期表中，激光投射角与行列索引号、目标行列扫描周期是一一对应的关系。在实际应用中，由于激光设备的倾斜角度可能不同，从而会导 致激光投射角发生变化。因此，针对同一行列索引号，可以同时具有多组激光投射角和对应的目标行列扫描周期。例如，假设行列索引号为Ln，对应的，当激光投射角为α1时，对应的目标行列扫描周期为T1；当激光投射角为α2时，对应的目标行列扫描周期为T2。
在实际应用中，确定到待投射像素行或像素列的行列索引号和对应的激光投射角后，可以根据行列索引号，通过查表的方式，确定当前激光投射角对应的目标行列扫描周期。
在本发明的一个或者多个实施例中，确定所述激光投射周期表的方式，具体可以包括：获取参考行列扫描周期；根据所述激光投射角和所述参考行列扫描周期，确定所述行列索引号对应的目标行列扫描周期；根据所述激光投射角、所述目标行列扫描周期和对应的所述行列索引号，生成所述激光投射周期表。
例如，激光图像调整前和调整后如图2所示，假设，各行都调整到与图中最后一个像素行L8相同的起始位置；假设L1对应的激光投射角为α1，L2对应的激光投射角为α2等等；假设，各个像素行中包含的像素点的数量是n。计算方法举例来说，在L1的角度为α1时，调整后的L1对应的周期为T1＝T*L8/L1。具体的，根据激光投射角α、参考行列扫描周期T和目标行列扫描周期Tn，可以计算得到周期的变化量，通过函数关系式f(α)来表示。进一步地，可以将行列索引号、对应的激光投射角、目标行列扫描周期等，建立一个激光投射周期表。在后期实际应用中，通过查表，可以直接获得所需要的目标行列扫描周期。
在本发明的一个或者多个实施例中，确定所述行列索引号对应的目标行列扫描周期之后，还可以包括：获取参考行列扫描周期的参考扫描起始时刻；获取所述参考行列扫描周期与所述目标行列扫描周期之间的周期差值；根据所述周期差值和所述参考扫描起始时刻，确定目标扫描起始时刻。
例如，假设参考行列扫描周期为T，对应的目标行列扫描周期为Tn，参考扫描起始时刻为t,计算目标扫描起始时刻tn。若各个矫正后的行列像素中心对其，则，tn＝t+(T-Tn)/2。在实际应用中，需要矫正的像素行的起始位置不同，计算目标扫描起始时刻的方法不同。可以根据实际目标起始位置与参考起始位 置进行对比后计算得到所需的目标扫描起始时刻。
在本发明的一个或者多个实施例中，确定所述行列索引号对应的目标行列扫描周期之后，还可以包括：获取所述待投射像素行或像素列的像素点数量；根据所述目标行列扫描周期和所述像素点数量，确定像素点显示周期。
例如，假设行列索引号为L1，对应的像素点的数量为n，行列扫描周期为T，那么，可以知道像素点显示周期Tpix＝T/n。一般来说，行列索引号对应的像素行或像素列中的像素点的数量是由待显示图像或投影设备的分辨率决定的。
在本发明的一个或者多个实施例中，所述根据所述目标行列扫描周期，顺序显示各所述行列索引号对应的像素行或像素列中的各个像素点，具体可以包括：在当前待显示帧图像中，获取待显示的各像素行或像素列对应的所述行列索引号；根据所述激光投射周期表中各所述行列索引号的排列顺序，顺序显示各所述行列索引号对应的像素行或像素列中的像素点；其中，所述待显示帧图像的帧图像周期大于所述目标行列扫描周期。
需要说明的是，在上述各个实施例的像素点、像素行、像素列的投射显示，都是基于同一帧图像进行的。在根据行列索引号进行顺序显示时，可以采用S型扫描轨迹进行显示，这样可以有效减少激光器切换到下一像素行或像素列的切换时间。在实际应用中，帧图像周期要大于当前图像中所有像素行或像素列扫描周期时间的总和。
基于同样的思路，本发明实施例还提供一种图像处理装置，如图4所示，该装置包括：
获取模块41，用于获取待投射像素行或像素列的行列索引号和对应的激光投射角；
周期确定模块42，用于根据所述激光投射角，确定所述行列索引号对应的目标行列扫描周期；
显示模块43，用于根据所述目标行列扫描周期，顺序显示各所述行列索引号对应的像素行或像素列中的各个像素点。
进一步地，所述获取模块41，用于获取激光投射装置的倾斜角度；
根据所述倾斜角和待投射像素行或像素列对应的行列索引号，确定激光投射角。
进一步地，所述周期确定模块42，用于获取预设的激光投射周期表；其中，所述激光投射周期表中包含：激光投射角、行列索引号和对应的目标行列扫描周期；
根据所述激光投射角和所述激光投射周期表，确定所述行列索引号对应的目标行列扫描周期。
进一步地，所述确定激光投射周期表的方式，具体可以包括：
获取参考行列扫描周期；
根据所述激光投射角和所述参考行列扫描周期，确定所述行列索引号对应的目标行列扫描周期；
根据所述激光投射角、所述目标行列扫描周期和对应的所述行列索引号，生成所述激光投射周期表。
进一步地，确定所述行列索引号对应的目标行列扫描周期之后，还包括：
获取是参考行列扫描周期的参考扫描起始时刻；
获取所述参考行列扫描周期与所述目标行列扫描周期之间的周期差值；
根据所述周期差值和所述参考扫描起始时刻，确定目标扫描起始时刻。
进一步地，确定所述行列索引号对应的目标行列扫描周期之后，还包括：
获取所述待投射像素行或像素列的像素点数量；
根据所述目标行列扫描周期和所述像素点数量，确定像素点显示周期。
进一步地，所述根据所述目标行列扫描周期，顺序显示各所述行列索引号对应的像素行或像素列中的各个像素点，包括：
在当前待显示帧图像中，获取待显示的各像素行或像素列对应的所述行列索引号；
根据所述激光投射周期表中各所述行列索引号的排列顺序，顺序显示各所述行列索引号对应的像素行或像素列中的像素点；
其中，所述待显示帧图像的帧图像周期大于所述目标行列扫描周期。
基于同样的思路，本发明实施例还提供一种激光束扫描投影设备，如图5所示，所述设备包括：
外部有源时钟51、频率调节装置52、倾斜角测量装置53、周期计算装置54；
所述外部有源时钟51与所述频率调节装置52连接，所述倾斜角测量装置53与所述周期计算装置54和所述频率调节装置52连接；
所述倾斜角测量装置52将倾斜角度发送给所述周期计算装置54，输出周期调节信号；
所述频率调节装置52，根据接收到的所述周期调节信号，对所述外部有源时钟51的信号进行频率调节，输出目标行列扫描周期。
在同一帧图像中，激光设备输出目标行列扫描周期的信号关系如图7所示，图中VS表示帧图像显示有效信号，HS表示一帧图像信息中的像素行有效信号，Pclk表示一行图像有效中的每个像素显示周期。HS中阴影区域为一像素行图像中实际点亮像素的区域对应的周期。
进一步地，该激光束扫描投影设备中的频率调节装置52包括：第一倍频装置521、第二倍频装置523、分频装置522；
所述外部有源时钟依次与所述第一倍频装置、分频装置、第二倍频装置连接；
所述第一倍频装置对所述外部时钟信号进行倍频调节，输出第一倍频信号；
所述分频装置根据所述周期调节信号，对所述第一倍频信号进行分频，输出分频信号；
所述第二倍频装置对所述分频信号进行倍频调节，输出所述目标行列扫描周期。
通过第一倍频装置对外部有源时钟51的时钟信号进行倍频操作，以便后续步骤中进行分频操作时，提高分频信号精度。获得的第一倍频信号明显高于所需信号频率，进一步地，根据计算得到的周期调节信号，对该第一倍频信号进 行分频，得到所需的周期信号。进一步地，基于第二倍频装置，对输出的分频信号进行倍频操作，从而可以得到所需的目标行列扫描周期。
以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下，即可以理解并实施。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到各实施方式可借助加必需的通用硬件平台的方式来实现，当然也可以通过硬件和软件结合的方式来实现。基于这样的理解，上述技术方案本质上或者说对现有技术做出贡献的部分可以以计算机产品的形式体现出来，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本发明是参照根据本发明实施例的方法、设备(***)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程坐标确定设备的处理器以产生一个机器，使得通过计算机或其他可编程坐标确定设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程坐标确定设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程坐标确定设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个 流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。
内存可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。内存是计算机可读介质的示例。
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按照本文中的界定，计算机可读介质不包括暂存电脑可读媒体(transitory media)，如调制的数据信号和载波。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。

Claims (10)

  1. 一种图像处理方法，其特征在于，所述方法包括：
    获取待投射像素行或像素列的行列索引号和对应的激光投射角；
    根据所述激光投射角，确定所述行列索引号对应的目标行列扫描周期；
    根据所述目标行列扫描周期，顺序显示各所述行列索引号对应的像素行或像素列中的各个像素点。
  2. 根据权利要求1所述的方法，其特征在于，所述获取待投射像素行或像素列的行列索引号和对应的激光投射角，包括：
    获取激光投射装置的倾斜角度；
    根据所述倾斜角和待投射像素行或像素列对应的行列索引号，确定激光投射角。
  3. 根据权利要求1所述的方法，其特征在于，所述根据所述激光投射角，确定所述行列索引号对应的目标行列扫描周期，包括：
    获取预设的激光投射周期表；其中，所述激光投射周期表中包含：激光投射角、行列索引号和对应的目标行列扫描周期；
    根据所述激光投射角和所述激光投射周期表，确定所述行列索引号对应的目标行列扫描周期。
  4. 根据权利要求3所述的方法，其特征在于，确定所述激光投射周期表的方式，包括：
    获取参考行列扫描周期；
    根据所述激光投射角和所述参考行列扫描周期，确定所述行列索引号对应的目标行列扫描周期；
    根据所述激光投射角、所述目标行列扫描周期和对应的所述行列索引号，生成所述激光投射周期表。
  5. 根据权利要求3所述的方法，其特征在于，确定所述行列索引号对应的目标行列扫描周期之后，还包括：
    获取参考行列扫描周期的参考扫描起始时刻；
    获取所述参考行列扫描周期与所述目标行列扫描周期之间的周期差值；
    根据所述周期差值和所述参考扫描起始时刻，确定目标扫描起始时刻。
  6. 根据权利要3所述的方法，其特征在于，确定所述行列索引号对应的目标行列扫描周期之后，还包括：
    获取所述待投射像素行或像素列的像素点数量；
    根据所述目标行列扫描周期和所述像素点数量，确定像素点显示周期。
  7. 根据权利要求1所述的方法，其特征在于，所述根据所述目标行列扫描周期，顺序显示各所述行列索引号对应的像素行或像素列中的各个像素点，包括：
    在当前待显示帧图像中，获取待显示的各像素行或像素列对应的所述行列索引号；
    根据所述激光投射周期表中各所述行列索引号的排列顺序，顺序显示各所述行列索引号对应的像素行或像素列中的像素点；
    其中，所述待显示帧图像的帧图像周期大于所述目标行列扫描周期。
  8. 一种图像处理装置，其特征在于，所述装置包括：
    获取模块，用于获取待投射像素行或像素列的行列索引号和对应的激光投射角；
    周期确定模块，用于根据所述激光投射角，确定所述行列索引号对应的目标行列扫描周期；
    显示模块，用于根据所述目标行列扫描周期，顺序显示各所述行列索引号对应的像素行或像素列中的各个像素点。
  9. 一种激光束扫描投影设备，其特征在于，所述设备包括：外部有源时钟、频率调节装置、倾斜角测量装置、周期计算装置；
    所述外部有源时钟与所述频率调节装置连接，所述倾斜角测量装置与所述周期计算装置和所述频率调节装置连接；
    所述倾斜角测量装置将倾斜角度发送给所述周期计算装置，输出周期调节 信号；
    所述频率调节装置，根据接收到的所述周期调节信号，对所述外部有源时钟进行频率调节，输出目标行列扫描周期。
  10. 根据权利要求9所述的设备，其特征在于，所述频率调节装置包括：第一倍频装置、第二倍频装置、分频装置；
    所述外部有源时钟依次与所述第一倍频装置、分频装置、第二倍频装置连接；
    所述第一倍频装置对所述外部时钟信号进行倍频调节，输出第一倍频信号；
    所述分频装置根据所述周期调节信号，对所述第一倍频信号进行分频，输出分频信号；
    所述第二倍频装置对所述分频信号进行倍频调节，输出所述目标行列扫描周期。
PCT/CN2018/121748 2018-10-31 2018-12-18 图像处理方法、装置和设备 WO2020087689A1 (zh)

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