WO2022088419A1 - Projection method, apparatus, and device, and computer-readable storage medium - Google Patents

Abstract

A projection method, apparatus, and device, and a computer-readable storage medium. The projection method comprises: obtaining three-dimensional coordinate information corresponding to a plurality of preset original feature points in a test image in a world coordinate system (S100); according to the three-dimensional coordinate information corresponding to the plurality of original feature points, obtaining, from a projection scene image, a region to be converted which meets a projection requirement (S200); converting said region into a projection device space coordinate system according to a transmission conversion relationship of the projection device space coordinate system with respect to the world coordinate system so as to obtain a target region (S300); and projecting a target projection image to the target region (S400). The projection method can simplify a positioning process of the target region, and can also adapt to projection scenes having different complexity levels.

Description

投影方法、装置、投影设备及计算机可读存储介质Projection method, apparatus, projection apparatus, and computer-readable storage medium 技术领域technical field

本申请投影技术领域，具体而言，涉及一种投影方法、装置、投影设备及计算机可读存储介质。The present application is in the field of projection technology, and in particular, relates to a projection method, an apparatus, a projection device, and a computer-readable storage medium.

背景技术Background technique

投影设备，又称投影仪或投影机，是一种可以将图像内容投影到目标区域(例如，投影幕布区域、墙壁空白区域等)上的电子设备。现有技术中，在通过投影设备将图像内容投影到目标区域之前，均需要人工手动对投影设备进行调整，以实现目标区域的合理定位，整个调节过程较为繁琐。A projection device, also known as a projector or projector, is an electronic device that can project image content onto a target area (eg, a projection screen area, a blank area of a wall, etc.). In the prior art, before projecting the image content to the target area through the projection device, the projection device needs to be manually adjusted manually to achieve reasonable positioning of the target area, and the entire adjustment process is cumbersome.

发明内容SUMMARY OF THE INVENTION

本申请实施例的目的在于，提供一种投影方法、装置、投影设备及计算机可读存储介质，以解决上述问题。The purpose of the embodiments of the present application is to provide a projection method, an apparatus, a projection device and a computer-readable storage medium to solve the above problems.

第一方面，投影方法，包括：The first aspect, the projection method, includes:

获取测试图像中预设的多个原始特征点在世界坐标系下所对应的三维坐标信息；Obtain the three-dimensional coordinate information corresponding to the multiple original feature points preset in the test image in the world coordinate system;

根据多个原始特征点所对应的三维坐标信息，从投影场景图像中，获取满足投影要求的待转换区域；According to the three-dimensional coordinate information corresponding to the plurality of original feature points, from the projected scene image, the to-be-transformed area that meets the projection requirements is obtained;

根据投影设备空间坐标系相对于世界坐标系的透射变换关系，将待转换区域转换至投影设备空间坐标系下，获得目标区域；According to the transmission transformation relationship between the projection device space coordinate system and the world coordinate system, the area to be converted is converted into the projection device space coordinate system to obtain the target area;

将目标投影图像投影至目标区域。Projects the target projection image onto the target area.

结合第一方面，本申请实施例还提供了第一方面的第一种可选的实施方式，获取测试图像中预设的多个原始特征点在世界坐标系下所对应的三维坐标信息，包括：In conjunction with the first aspect, the embodiment of the present application also provides the first optional implementation manner of the first aspect, obtaining the three-dimensional coordinate information corresponding to the multiple original feature points preset in the test image in the world coordinate system, including :

在将测试图像投影至当前投影场景之后，通过摄像设备采集当前投影场景中投影出的测试画面，测试图像中预设有多个原始特征点；After projecting the test image to the current projection scene, the test image projected in the current projection scene is collected by the camera device, and a plurality of original feature points are preset in the test image;

确定出测试画面中与多个原始特征点对应的多个投影特征点；Determine multiple projection feature points corresponding to multiple original feature points in the test image;

获取多个投影特征点在世界坐标系下的三维坐标信息，作为多个原始特征点在世界坐标系下所对应的三维坐标信息。The three-dimensional coordinate information of the plurality of projected feature points in the world coordinate system is obtained as the three-dimensional coordinate information corresponding to the plurality of original feature points in the world coordinate system.

结合第一方面的第一种可选的实施方式，本申请实施例还提供了第一方面的第二种可选的实施方式，根据投影设备空间坐标系相对于世界坐标系的透射变换关系，将待转换区域转换至投影设备空间坐标系下，获得目标区域之前，投影方法还包括：In combination with the first optional implementation manner of the first aspect, the embodiment of the present application also provides the second optional implementation manner of the first aspect, according to the transmission transformation relationship between the projection device space coordinate system and the world coordinate system, Convert the to-be-transformed area to the projection device space coordinate system, and before obtaining the target area, the projection method further includes:

获取多个原始特征点在测试图像中的位置信息；Obtain the position information of multiple original feature points in the test image;

根据多个原始特征点在测试图像中的位置信息和多个原始特征点在世界坐标系下所对应的三维坐标信息，获得投影设备空间坐标系相对于世界坐标系的透射变换关系。According to the position information of the multiple original feature points in the test image and the three-dimensional coordinate information corresponding to the multiple original feature points in the world coordinate system, the transmission transformation relationship between the projection device space coordinate system and the world coordinate system is obtained.

结合第一方面，本申请实施例还提供了第一方面的第三种可选的实施方式，根据多个原始特征点所对应的三维坐标信息，从投影场景图像中，获取满足投影要求的待转换区域，包括：In combination with the first aspect, the embodiment of the present application also provides a third optional implementation manner of the first aspect, according to the three-dimensional coordinate information corresponding to a plurality of original feature points, from the projection scene image, to obtain the to-be-to-be-projected-required image. Transform areas, including:

对投影场景图像进行分割，获得多个第一待选投影区域；segmenting the projection scene image to obtain a plurality of first candidate projection areas;

从多个第一待选投影区域中，选取出面积最大的第一待选投影区域，作为第二待选投影区域；From the plurality of first candidate projection areas, the first candidate projection area with the largest area is selected as the second candidate projection area;

根据多个原始特征点所对应的三维坐标信息，判断第二待选投影区域中是否存在平面区域；According to the three-dimensional coordinate information corresponding to the plurality of original feature points, determine whether there is a plane area in the second to-be-selected projection area;

若第二待选投影区域中存在多个平面区域，则根据多个平面区域中面积最大的平面区域，获取满足投影要求的待转换区域。If there are multiple plane areas in the second to-be-selected projection area, the area to be converted that meets the projection requirements is acquired according to the plane area with the largest area among the multiple plane areas.

结合第一方面的第三种可选的实施方式，本申请实施例还提供了第一方面的第四种可选的实施方式，对投影场景图像进行分割，获得多个第一待选投影区域，包括：In combination with the third optional implementation manner of the first aspect, the embodiment of the present application also provides the fourth optional implementation manner of the first aspect, dividing the projection scene image to obtain a plurality of first candidate projection regions ,include:

通过颜色分割算法对投影场景图像进行分割，获得多个第一待选投影区域，或通过亮度分割算法对投影场景图像进行分割，获得多个第一待选投影区域。The projection scene image is segmented by a color segmentation algorithm to obtain a plurality of first candidate projection areas, or the projection scene image is segmented by a luminance segmentation algorithm to obtain a plurality of first candidate projection areas.

结合第一方面的第三种可选的实施方式，本申请实施例还提供了第一方面的第五种可选的实施方式，根据多个原始特征点所对应的三维坐标信息，判断第二待选投影区域中是否存在平面区域，包括：In combination with the third optional implementation manner of the first aspect, the embodiment of the present application also provides a fifth optional implementation manner of the first aspect, which is to determine the second Whether there is a plane area in the projection area to be selected, including:

从多个原始特征点所对应的三维坐标信息中，选取出位于第二待选投影区域的多个待选坐标信息；From the three-dimensional coordinate information corresponding to the plurality of original feature points, select a plurality of candidate coordinate information located in the second to-be-selected projection area;

判断多个待选坐标信息是否位于不同纵向平面；Determine whether multiple candidate coordinate information is located in different longitudinal planes;

若多个待选坐标信息位于不同纵向平面，则判定第二待选投影区域中存在多个平面区域，并对每个纵向平面中包括的待选坐标信息进行拟合，获得多个平面区域。If the multiple candidate coordinate information is located in different longitudinal planes, it is determined that there are multiple planar areas in the second candidate projection area, and the candidate coordinate information included in each longitudinal plane is fitted to obtain multiple planar areas.

结合第一方面的第三种可选的实施方式，本申请实施例还提供了第一方面的第六种可选的实施方式，若第二待选投影区域中存在多个平面区域，则根据多个平面区域中面积最大的平面区域，获取满足投影要求的待转换区域，包括：In combination with the third optional implementation manner of the first aspect, the embodiment of the present application also provides the sixth optional implementation manner of the first aspect. For the plane area with the largest area among the multiple plane areas, obtain the area to be converted that meets the projection requirements, including:

若第二待选投影区域中存在多个平面区域，则确定出多个平面中面积最大的平面区域，作为待处理平面；If there are multiple plane areas in the second to-be-selected projection area, determine the plane area with the largest area among the multiple planes as the plane to be processed;

获取待处理平面的最大内接矩形区域；Get the maximum inscribed rectangular area of the plane to be processed;

将最大内接矩形区域作为待转换区域。Take the largest inscribed rectangular area as the area to be converted.

结合第一方面的第三种可选的实施方式，本申请实施例还提供了第一方面的第七种可选的实施方式，根据多个原始特征点所对应的三维坐标信息，判断第二待选投影区域中是否存在平面区域之后，投影方法还包括：In combination with the third optional implementation manner of the first aspect, the embodiment of the present application also provides the seventh optional implementation manner of the first aspect, which determines the second After determining whether there is a plane area in the to-be-selected projection area, the projection method further includes:

若第二待选投影区域中不存在平面区域，则生成提示信息，提示信息用于表征当前投影场景中不存在满足投影要求的可投影区域；If there is no plane area in the second to-be-selected projection area, generating prompt information, where the prompt information is used to indicate that there is no projectable area that meets the projection requirements in the current projection scene;

控制投影设备对提示信息进行播报。Control the projection equipment to broadcast the prompt information.

结合第一方面，本申请实施例还提供了第一方面的第八种可选的实施方式，根据多个原始特征点所对应的三维坐标信息，从投影场景图像中，获取满足投影要求的待转换区域之前，投影方法还包括：In combination with the first aspect, the embodiment of the present application also provides an eighth optional implementation manner of the first aspect, according to the three-dimensional coordinate information corresponding to a plurality of original feature points, from the projected scene image, to obtain the to-be-to-be-projected-required image. Before converting regions, the projection method also includes:

判断投影场景图像中是否包括投影幕布区域；Determine whether the projection scene image includes the projection screen area;

若投影场景图像中包括投影幕布区域，则将投影幕布区域作为目标区域；If the projection scene image includes the projection screen area, the projection screen area is used as the target area;

若投影场景图像中不包括投影幕布区域，则执行根据多个原始特征点所对应的三维坐标信息，从投影场景图像中，获取满足投影要求的待转换区域的步骤。If the projection scene image does not include the projection screen area, the step of obtaining the to-be-transformed area that meets the projection requirements from the projection scene image according to the three-dimensional coordinate information corresponding to the plurality of original feature points is performed.

结合第一方面，本申请实施例还提供了第一方面的第九种可选的实施方式，根据多个原始特征点所对应的三维坐标信息，从投影场景图像中，获取满足投影要求的待转换区域之前，投影方法还包括：In combination with the first aspect, the embodiment of the present application also provides the ninth optional implementation manner of the first aspect, according to the three-dimensional coordinate information corresponding to a plurality of original feature points, from the projected scene image, to obtain the to-be-to-be-projected-required image. Before converting regions, the projection method also includes:

采集当前投影场景的环境光亮度信息；Collect ambient light brightness information of the current projection scene;

根据环境光亮度信息，判断当前投影场景的环境亮度是否处于预设可拍摄亮度范围；According to the ambient light brightness information, determine whether the ambient brightness of the current projection scene is within the preset shooting brightness range;

若当前投影场景的环境亮度处于预设可拍摄亮度范围，则通过摄像设备采集当前投影场景的环境图像，作为投影场景图像；If the ambient brightness of the current projection scene is within the preset photographable brightness range, the ambient image of the current projection scene is collected by the camera device as the projection scene image;

若当前投影场景的环境亮度超过预设可拍摄亮度范围，则控制投影设备投射出纯色图像，并在投影设备投射出纯色图像之后，通过摄像设备采集当前投影场景的环境图像，作为投影场景图像。If the ambient brightness of the current projection scene exceeds the preset shooting brightness range, the projection device is controlled to project a solid-color image, and after the projection device projects the solid-color image, the camera device captures the ambient image of the current projection scene as the projection scene image.

第二方面，本申请实施例还提供了一种投影装置，包括：In a second aspect, an embodiment of the present application further provides a projection device, including:

坐标信息获取模块，用于获取测试图像中预设的多个原始特征点在世界坐标系下所对应的三维坐标信息；The coordinate information acquisition module is used to acquire the three-dimensional coordinate information corresponding to the plurality of original feature points preset in the test image in the world coordinate system;

待转换区域获取模块，用于根据多个原始特征点所对应的三维坐标信息，从投影场景图像中，获取满足投影要求的待转换区域；A to-be-converted area acquisition module, configured to acquire a to-be-converted area that meets the projection requirements from the projected scene image according to the three-dimensional coordinate information corresponding to the plurality of original feature points;

第一目标区域获取模块，用于根据投影设备空间坐标系相对于世界坐 标系的透射变换关系，将待转换区域转换至投影设备空间坐标系下，获得目标区域；The first target area acquisition module is used to convert the area to be converted into the projection equipment space coordinate system according to the transmission transformation relationship of the projection equipment space coordinate system relative to the world coordinate system to obtain the target area;

投影控制模块，用于将目标投影图像投影至目标区域。The projection control module is used for projecting the target projection image to the target area.

第三方面，本申请实施例还提供了一种投影设备，包括处理器和存储器，存储器上存储有计算机程序，处理器用于执行计算机程序，以实现上述第一方面，或第一方面的任意一种可选的实施方式所提供的投影方法。In a third aspect, embodiments of the present application further provide a projection device, including a processor and a memory, where a computer program is stored on the memory, and the processor is configured to execute the computer program to implement the first aspect or any one of the first aspect The projection method provided by an optional implementation manner.

第四方面，本申请实施例还提供了一种计算机可读存储介质，计算机可读存储介质上存储有计算机程序，计算机程序被执行时，实现上述第一方面，或第一方面的任意一种可选的实施方式所提供的投影方法。In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed, the first aspect or any one of the first aspect is implemented. Projection method provided by an optional embodiment.

本申请实施例提供的投影方法能够获取测试图像中预设的多个原始特征点在世界坐标系下所对应的三维坐标信息，根据多个原始特征点所对应的三维坐标信息，从投影场景图像中，自动获取满足投影要求的待转换区域，再根据投影设备空间坐标系相对于世界坐标系的透射变换关系，将待转换区域转换至投影设备空间坐标系下，获得目标区域，最后，将目标投影图像投影至目标区域，显然，本申请实施例提供的投影方法能够实现目标区域的自动定位，相对于现有技术中，在通过投影设备将图像内容投影到目标区域之前，均需要人工手动对投影设备进行调整，以实现目标区域的合理定位的方法而言，简化了目标区域的定位过程，同时，也能够适应不同复杂程度的投影场景。The projection method provided by the embodiment of the present application can obtain the three-dimensional coordinate information corresponding to the multiple original feature points preset in the test image in the world coordinate system, and according to the three-dimensional coordinate information corresponding to the multiple original feature points, from the projected scene image , automatically obtain the area to be converted that meets the projection requirements, and then convert the area to be converted to the space coordinate system of the projection device according to the transmission transformation relationship between the projection device space coordinate system and the world coordinate system to obtain the target area, and finally, convert the target The projection image is projected to the target area. Obviously, the projection method provided by the embodiment of the present application can realize the automatic positioning of the target area. Compared with the prior art, before the image content is projected to the target area through the projection device, manual adjustment is required. In terms of the method of adjusting the projection equipment to realize the reasonable positioning of the target area, the positioning process of the target area is simplified, and at the same time, it can also adapt to projection scenes of different degrees of complexity.

本申请实施例提供的投影装置、投影设备及计算机可读存储介质具有与上述第一方面，或第一方面的任意一种可选的实施方式所提供的投影方法相同的有益效果，此处不作赘述。The projection apparatus, projection device, and computer-readable storage medium provided in the embodiments of the present application have the same beneficial effects as those of the first aspect or the projection method provided by any optional implementation manner of the first aspect. Repeat.

附图说明Description of drawings

为了更清楚地说明本申请实施例的技术方案，下面将对本申请实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本申请 的某些实施例，因此不应被看作是对范围的限定，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相关的附图。In order to explain the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that need to be used in the embodiments of the present application. It should be understood that the following drawings only show some embodiments of the present application, therefore It should not be regarded as a limitation of the scope. For those of ordinary skill in the art, other related drawings can also be obtained from these drawings without any creative effort.

图1为本申请实施例提供的一种投影设备的示意性结构框图。FIG. 1 is a schematic structural block diagram of a projection device according to an embodiment of the present application.

图2为本申请实施例提供的投影设备的另一种示意性结构框图。FIG. 2 is another schematic structural block diagram of a projection device provided by an embodiment of the present application.

图3为本申请实施例提供的一种投影方法的步骤流程图。FIG. 3 is a flowchart of steps of a projection method provided by an embodiment of the present application.

图4为本申请实施例提供的一种投影装置的示意性结构框图。FIG. 4 is a schematic structural block diagram of a projection apparatus according to an embodiment of the present application.

附图标记：100-投影设备；110-处理器；120-存储器；130-摄像设备；300-投影装置；310-坐标信息获取模块；320-待转换区域获取模块；330-第一目标区域获取模块；340-投影控制模块。Reference signs: 100-projection equipment; 110-processor; 120-memory; 130-camera equipment; 300-projection device; 310-coordinate information acquisition module; 320-to-be-transformed area acquisition module; 330-first target area acquisition Module; 340 - Projection Control Module.

具体实施方式Detailed ways

为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行描述。此外，应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。In order to make the purposes, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application. Furthermore, it should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it need not be further defined and defined in subsequent figures. explain.

请参阅图1，为本申请实施例提供的一种应用投影方法及装置的投影设备100的示意性结构框图。在结构上，投影设备100可以包括处理器110和存储器120。Please refer to FIG. 1 , which is a schematic structural block diagram of a projection apparatus 100 using a projection method and apparatus according to an embodiment of the present application. Structurally, the projection apparatus 100 may include a processor 110 and a memory 120 .

处理器110与存储器120直接或间接地电性连接，以实现数据的传输或交互，例如，这些元件相互之间可通过一条或多条通讯总线或信号线实现电性连接。投影装置200包括至少一个可以软件或固件(Firmware)的形式存储在存储器120中或固化在投影设备100的操作***(Operating System，OS)中的软件模块。处理器110用于执行存储器120中存储的可执行模块，例如，投影装置200所包括的软件功能模块及计算机程序等，以实现投影 方法。处理器110可以在接收到执行指令后，执行计算机程序。The processor 110 and the memory 120 are electrically connected directly or indirectly to realize data transmission or interaction. For example, these elements can be electrically connected to each other through one or more communication buses or signal lines. The projection apparatus 200 includes at least one software module which may be stored in the memory 120 in the form of software or firmware (Firmware) or solidified in an operating system (Operating System, OS) of the projection apparatus 100 . The processor 110 is configured to execute executable modules stored in the memory 120, such as software function modules and computer programs included in the projection apparatus 200, to implement the projection method. The processor 110 may execute the computer program after receiving the execution instruction.

其中，处理器110可以是一种集成电路芯片，具有信号处理能力。处理器110也可以是通用处理器，例如，可以是数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、分立门或晶体管逻辑器件、分立硬件组件，可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图，此外，通用处理器可以是微处理器或者任何常规处理器等。The processor 110 may be an integrated circuit chip with signal processing capability. The processor 110 can also be a general-purpose processor, for example, can be a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a discrete gate or transistor logic device, a discrete hardware component, and can be To implement or execute the methods, steps, and logical block diagrams disclosed in the embodiments of the present application, in addition, the general-purpose processor may be a microprocessor or any conventional processor or the like.

存储器120可以是，但不限于，随机存取存储器(Random Access Memory，RAM)、只读存储器(Read Only Memory，ROM)、可编程只读存储器(Programmable Read-Only Memory，PROM)、可擦可编程序只读存储器(Erasable Programmable Read-Only Memory，EPROM)，以及电可擦编程只读存储器(Electric Erasable Programmable Read-Only Memory，EEPROM)。存储器120用于存储程序，处理器110在接收到执行指令后，执行该程序。The memory 120 can be, but is not limited to, random access memory (Random Access Memory, RAM), read only memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only Memory, PROM), erasable and programmable Erasable Programmable Read-Only Memory (EPROM), and Electrical Erasable Programmable Read-Only Memory (EEPROM). The memory 120 is used for storing a program, and the processor 110 executes the program after receiving the execution instruction.

应当理解，图1所示的结构仅为示意，本申请实施例提供的投影设备100还可以具有比图1更少或更多的组件，或是具有与图1所示不同的配置，例如，如图2所示，本申请实施例提供的投影设备100还可以包括摄像设备130，摄像设备130与处理器110直接或间接地电性连接。It should be understood that the structure shown in FIG. 1 is only for illustration, and the projection apparatus 100 provided in this embodiment of the present application may also have fewer or more components than those shown in FIG. 1 , or have different configurations from those shown in FIG. 1 , for example, As shown in FIG. 2 , the projection device 100 provided in this embodiment of the present application may further include a camera device 130 , and the camera device 130 is electrically connected to the processor 110 directly or indirectly.

请参阅图3，图3为本申请实施例提供的投影方法的流程示意图，该方法应用于图1或图2所示的投影设备100。所应说明的是，本申请实施例提供的投影方法不以图3及以下所示的顺序为限制，以下结合图3对投影方法的具体流程及步骤进行描述。Please refer to FIG. 3 , which is a schematic flowchart of a projection method provided by an embodiment of the present application, and the method is applied to the projection apparatus 100 shown in FIG. 1 or FIG. 2 . It should be noted that the projection method provided by the embodiments of the present application is not limited to the sequence shown in FIG. 3 and the following, and the specific flow and steps of the projection method are described below with reference to FIG. 3 .

步骤S100，获取测试图像中预设的多个原始特征点在世界坐标系下所对应的三维坐标信息。Step S100: Acquire three-dimensional coordinate information corresponding to a plurality of original feature points preset in the test image in the world coordinate system.

本申请实施例中，测试图像预设于投影设备中，且测试图像中预设有多个原始特征点。对于步骤S100，本申请实施例中，其可以通过基于(Time-of-Flight，TOF)原理制造的3D相机获取当前环境的3D图像，再根 据当前环境的3D图像执行步骤S100，以获取测试图像中预设的多个原始特征点在世界坐标系下所对应的三维坐标信息。此外，对于步骤S100，其也可以通过双摄立体视觉***构建方法实现，还可以通过结构光的三维坐标信息获取方法实现，本申请实施例对此不作具体限制。In the embodiment of the present application, the test image is preset in the projection device, and a plurality of original feature points are preset in the test image. For step S100, in the embodiment of the present application, a 3D image of the current environment may be obtained by a 3D camera manufactured based on the (Time-of-Flight, TOF) principle, and then step S100 may be performed according to the 3D image of the current environment to obtain a test image The three-dimensional coordinate information corresponding to the multiple original feature points preset in the world coordinate system. In addition, step S100 may also be implemented by a method for constructing a dual-camera stereo vision system, or by a method for acquiring three-dimensional coordinate information of structured light, which is not specifically limited in this embodiment of the present application.

以步骤S100，通过结构光的三维坐标信息获取方法实现为例，投影设备在每次启动之后，都需要控制投影设备将测试图像投影至当前投影场景中，以获取测试图像中预设的多个原始特征点在世界坐标系下所对应的三维坐标信息，而具体实施时，对于步骤S100，作为一种可选的实施方式，其可以包括步骤S110、步骤S120和S130。Taking step S100 as an example, the method for obtaining three-dimensional coordinate information of structured light is used as an example. After each startup of the projection device, it needs to control the projection device to project the test image into the current projection scene, so as to obtain multiple presets in the test image. The three-dimensional coordinate information corresponding to the original feature point in the world coordinate system, and during specific implementation, as an optional implementation manner, step S100 may include steps S110, S120 and S130.

步骤S110，在将测试图像投影至当前投影场景之后，通过摄像设备采集当前投影场景中投影出的测试画面。Step S110, after projecting the test image to the current projection scene, collect the test picture projected in the current projection scene through the camera device.

本申请实施例中，摄像设备可以为传统相机。在控制投影设备将测试图像投影至当前投影场景中，以在当前投影场景中投影出的测试画面之后，生成第一图像采集指令，控制摄像设备启动，采集当前投影场景中投影出的测试画面。In this embodiment of the present application, the imaging device may be a conventional camera. After controlling the projection device to project the test image into the current projection scene to obtain the test image projected in the current projection scene, a first image acquisition instruction is generated, the camera device is controlled to start, and the test image projected in the current projection scene is collected.

步骤S120，确定出测试画面中与多个原始特征点对应的多个投影特征点。In step S120, a plurality of projected feature points corresponding to the plurality of original feature points in the test image are determined.

本申请实施例中，可以通过预设的特征点提取算法，确定出测试画面中的多个投影特征点，而预设的特征点提取算法可以是角点检测算法，例如，基于灰度图像的角点检测、基于二值图像的角点检测，或基于轮廓曲线的角点检测，预设的特征点提取算法也可以是尺度不变特征变换(Scale-invariant feature transform，SIFT)算法，预设的特征点提取算法还可以是基于圆心检测的特征点提取算法，本申请实施例对此不作具体限制。In this embodiment of the present application, a plurality of projection feature points in the test image can be determined through a preset feature point extraction algorithm, and the preset feature point extraction algorithm may be a corner point detection algorithm, for example, a grayscale image-based Corner detection, corner detection based on binary image, or corner detection based on contour curve, the preset feature point extraction algorithm can also be a scale-invariant feature transform (SIFT) algorithm, the preset The feature point extraction algorithm may also be a feature point extraction algorithm based on circle center detection, which is not specifically limited in this embodiment of the present application.

在确定出测试画面中的多个投影特征点之后，还可以通过特征点匹配算法进一步确定出多个投影特征点与多个原始特征点的对应关系，也即，确定出多个投影特征点中，每个投影特征点在测试图像中所对应的坐标信 息。After the multiple projection feature points in the test image are determined, the corresponding relationship between the multiple projection feature points and the multiple original feature points can be further determined through the feature point matching algorithm, that is, the multiple projection feature points among the multiple projection feature points are determined. , the coordinate information corresponding to each projected feature point in the test image.

步骤S130，获取多个投影特征点在世界坐标系下的三维坐标信息，作为多个原始特征点在世界坐标系下所对应的三维坐标信息。Step S130 , acquiring the three-dimensional coordinate information of the plurality of projected feature points in the world coordinate system as the three-dimensional coordinate information corresponding to the plurality of original feature points in the world coordinate system.

在执行步骤S120，以确定出测试画面中与多个原始特征点对应的多个投影特征点之后，可以通过三维坐标信息构建方法，获取多个投影特征点在世界坐标系下的三维坐标信息，作为多个原始特征点在世界坐标系下所对应的三维坐标信息。实际实施时，步骤S130所采用的三维坐标信息构建方法可以是结构光***构建方法，也可以是双摄立体视觉***构建方法，本申请实施例对此不作具体限制。After step S120 is performed to determine multiple projected feature points corresponding to multiple original feature points in the test image, the three-dimensional coordinate information of the multiple projected feature points in the world coordinate system can be obtained by using the three-dimensional coordinate information construction method, As the three-dimensional coordinate information corresponding to multiple original feature points in the world coordinate system. In actual implementation, the method for constructing the three-dimensional coordinate information used in step S130 may be a method for constructing a structured light system or a method for constructing a dual-camera stereo vision system, which is not specifically limited in this embodiment of the present application.

步骤S200，根据多个原始特征点所对应的三维坐标信息，从投影场景图像中，获取满足投影要求的待转换区域。In step S200, according to the three-dimensional coordinate information corresponding to the plurality of original feature points, the to-be-transformed area that meets the projection requirements is acquired from the projected scene image.

本申请实施例中，在执行步骤S100，以获取测试图像中预设的多个原始特征点在世界坐标系下所对应的三维坐标信息之后，可以生成第二图像采集指令，控制摄像设备启动，采集当前投影场景的图像信息，作为投影场景图像。为保证投影场景图像的图像质量(例如，图像亮度和图像对比度)，本申请实施例中，作为第一种可选的实施方式，可以通过步骤S001、步骤S002，以及步骤S003或步骤S004实现采集当前投影场景的图像信息，作为投影场景图像的过程。In the embodiment of the present application, after step S100 is performed to obtain the three-dimensional coordinate information corresponding to the plurality of original feature points preset in the test image in the world coordinate system, a second image acquisition instruction may be generated to control the camera device to start, The image information of the current projection scene is collected as the projection scene image. In order to ensure the image quality (for example, image brightness and image contrast) of the projected scene image, in this embodiment of the present application, as a first optional implementation manner, the collection can be implemented through steps S001, S002, and S003 or S004. The image information of the currently projected scene is used as the process of projecting the scene image.

步骤S001，采集当前投影场景的环境光亮度信息。Step S001, collecting ambient light brightness information of the current projection scene.

本申请实施例中，投影设备中还可以设置光亮度感测器件，用于采集当前投影场景的环境光亮度信息，在第二图像采集指令之后，可以立即生成光亮度信息采集指令，控制光亮度感测器件采集当前投影场景的环境光亮度信息，在采集到当前投影场景的环境光亮度信息之后，再通过第二图像采集指令控制摄像设备启动，采集当前投影场景的图像信息。In the embodiment of the present application, a brightness sensing device may also be set in the projection device to collect ambient light brightness information of the current projection scene. After the second image acquisition instruction, a brightness information acquisition instruction may be generated immediately to control the brightness The sensing device collects the ambient light brightness information of the current projection scene, and after collecting the ambient light brightness information of the current projection scene, controls the camera device to start up through the second image acquisition instruction to collect the image information of the current projection scene.

步骤S002，根据环境光亮度信息，判断当前投影场景的环境亮度是否处于预设可拍摄亮度范围。Step S002, according to the ambient light brightness information, it is determined whether the ambient brightness of the current projection scene is within a preset shootingable brightness range.

本申请实施例中，预设可拍摄亮度范围可以是能够保证摄像设备正常采集投影场景图像的亮度范围，具体可以根据实际需求设定，本申请实施例对此不作具体限制。In the embodiment of the present application, the preset photographable brightness range may be a brightness range that can ensure that the camera device normally captures the projection scene image, which may be specifically set according to actual needs, which is not specifically limited in the embodiment of the present application.

步骤S003，若当前投影场景的环境亮度处于预设可拍摄亮度范围，则通过摄像设备采集当前投影场景的环境图像，作为投影场景图像。Step S003 , if the ambient brightness of the current projection scene is within a preset range of photographable brightness, an ambient image of the current projection scene is collected by a camera device as a projection scene image.

步骤S004，若当前投影场景的环境亮度超过预设可拍摄亮度范围，则控制投影设备投射出纯色图像，并在投影设备投射出纯色图像之后，通过摄像设备采集当前投影场景的环境图像，作为投影场景图像。Step S004, if the ambient brightness of the current projection scene exceeds the preset photographable brightness range, then the projection device is controlled to project a solid-color image, and after the projection device projects the solid-color image, the ambient image of the current projection scene is collected by the camera device as a projection. scene image.

本申请实施例中，若当前投影场景的环境亮度处于预设可拍摄亮度范围，则说明当前投影场景的环境光亮度为能够保证摄像设备正常采集投影场景图像的亮度范围，因此，可以通过摄像设备直接采集当前投影场景的环境图像，作为投影场景图像，也即，在执行步骤S002之后，可以直接跳转执行步骤S003。In this embodiment of the present application, if the ambient brightness of the current projection scene is within the preset range of photographable brightness, it means that the ambient brightness of the current projection scene is within the brightness range that can ensure that the camera equipment can normally collect the images of the projected scene. The environmental image of the current projection scene is directly collected as the projection scene image, that is, after step S002 is performed, step S003 may be directly skipped.

本申请实施例中，若当前投影场景的环境亮度超过预设可拍摄亮度范围，则说明当前投影场景的环境光亮度无法保证摄像设备正常采集投影场景图像，也即，当前投影场景的环境光亮度过低，因此，可以控制投影设备投射出纯色图像，并在投影设备投射出纯色图像之后，通过摄像设备采集当前投影场景的环境图像，作为投影场景图像，也即，在执行步骤S002之后，可以直接跳转执行步骤S004，以通过投影设备投射出的纯色图像，增强当前投影场景的环境光亮度。基于此，可以理解的是，本申请实施例中，纯色图像可以是白色图像、淡黄色图像等照明色所对应的单一色图像。In the embodiment of the present application, if the ambient brightness of the current projection scene exceeds the preset range of photographable brightness, it means that the ambient brightness of the current projection scene cannot ensure that the imaging device can normally collect the projection scene image, that is, the ambient brightness of the current projection scene is too low, therefore, the projection device can be controlled to project a solid-color image, and after the projection device projects the solid-color image, the environmental image of the current projection scene is collected by the camera device as the projection scene image, that is, after step S002 is performed, it can be Step S004 is directly jumped to, so as to enhance the ambient light brightness of the current projection scene through the solid-color image projected by the projection device. Based on this, it can be understood that, in this embodiment of the present application, the solid-color image may be a single-color image corresponding to an illumination color such as a white image, a pale yellow image, or the like.

同样，本申请实施例中，为保证投影场景图像的图像质量，本申请实施中，作为第二种可选的实施方式，摄像设备可以是红外相机，基于此，本申请实施例中，在生成第二图像采集指令之后，可以通过第二图像采集指令控制红外相机直接采集当前投影场景的图像信息，作为投影场景图像，而无需执行步骤S001、步骤S002，以及步骤S003或步骤S004。Similarly, in the embodiment of the present application, in order to ensure the image quality of the projected scene image, in the implementation of the present application, as a second optional implementation manner, the imaging device may be an infrared camera. After the second image capture instruction, the infrared camera can be controlled by the second image capture instruction to directly capture the image information of the current projection scene as the projection scene image without performing steps S001, S002, and S003 or S004.

此外，本申请实施例中，满足投影要求的待转换区域即为平面区域，而为提高投影画面的显示效果，本申请实施例中，可以获取投影场景图像中最大的平面区域，再根据最大的平面区域，获取满足投影要求的待转换区域，而具体实施时，对于步骤S200，其可以包括步骤S210、步骤S220、步骤S230和步骤S240。In addition, in the embodiment of the present application, the area to be converted that meets the projection requirements is the plane area, and in order to improve the display effect of the projection image, in the embodiment of the present application, the largest plane area in the projected scene image can be obtained, and then according to the largest plane area For the plane area, the to-be-converted area that meets the projection requirements is obtained, and during specific implementation, step S200 may include steps S210 , S220 , S230 and S240 .

步骤S210，对投影场景图像进行分割，获得多个第一待选投影区域。Step S210, segment the projection scene image to obtain a plurality of first candidate projection regions.

本申请实施例中，在通过摄像设备采集当前投影场景的图像信息，作为投影场景图像之后，可以对投影场景图像进行分割，获得多个第一待选投影区域，对于步骤S210，其具体实现过程可以是，通过颜色分割算法对投影场景图像进行分割，获得多个第一待选投影区域，也可以是通过亮度分割算法对投影场景图像进行分割，获得多个第一待选投影区域，本申请实施例对此不作具体限制。In the embodiment of the present application, after the image information of the current projection scene is collected by the camera device and used as the projection scene image, the projection scene image may be segmented to obtain a plurality of first candidate projection areas. For step S210, the specific implementation process is It may be that the projection scene image is segmented by a color segmentation algorithm to obtain a plurality of first candidate projection areas, or the projection scene image may be segmented by a luminance segmentation algorithm to obtain a plurality of first candidate projection areas. The present application The embodiment does not specifically limit this.

步骤S220，从多个第一待选投影区域中，选取出面积最大的第一待选投影区域，作为第二待选投影区域。Step S220, from the plurality of first candidate projection areas, select the first candidate projection area with the largest area as the second candidate projection area.

步骤S230，根据多个原始特征点所对应的三维坐标信息，判断第二待选投影区域中是否存在平面区域。Step S230, according to the three-dimensional coordinate information corresponding to the plurality of original feature points, determine whether there is a plane area in the second candidate projection area.

本申请实施例中，可以从多个原始特征点所对应的三维坐标信息中，选取出位于第二待选投影区域的多个待选坐标信息，而将超出第二待选投影区域的其他三维坐标信息删除，此后，判断多个待选坐标信息是否位于不同纵向平面，若多个待选坐标信息位于不同纵向平面，则判定第二待选投影区域中存在多个平面区域，并对每个纵向平面中包括的待选坐标信息进行拟合，获得多个平面区域。此外，需要说明的是，本申请实施例中，纵向平面为垂直于投影设备当前投影方向的平面，例如，若投影设备的当前投影方向为水平方向，则纵向平面为竖直方向，再例如，若投影设备的当前投影方向为竖直方向，则纵向平面为水平方向，但通常情况下，投影设备的当前投影方向为水平方向，而纵向平面为竖直方向。In the embodiment of the present application, a plurality of candidate coordinate information located in the second candidate projection area may be selected from the 3D coordinate information corresponding to the plurality of original feature points, while other 3D coordinate information beyond the second candidate projection area may be selected. The coordinate information is deleted, and thereafter, it is determined whether the multiple candidate coordinate information is located in different longitudinal planes, and if the multiple candidate coordinate information is located in different longitudinal planes, it is determined that there are multiple plane areas in the second candidate projection area, and each The candidate coordinate information included in the longitudinal plane is fitted to obtain a plurality of plane regions. In addition, it should be noted that in this embodiment of the present application, the longitudinal plane is a plane perpendicular to the current projection direction of the projection device. For example, if the current projection direction of the projection device is the horizontal direction, the longitudinal plane is the vertical direction. For another example, If the current projection direction of the projection device is the vertical direction, the longitudinal plane is the horizontal direction, but in general, the current projection direction of the projection device is the horizontal direction, and the longitudinal plane is the vertical direction.

步骤S240，若第二待选投影区域中存在多个平面区域，则根据多个平面区域中面积最大的平面区域，获取满足投影要求的待转换区域。Step S240 , if there are multiple plane areas in the second to-be-selected projection area, obtain a to-be-converted area that meets the projection requirements according to the plane area with the largest area among the multiple plane areas.

本申请实施例中，若第二待选投影区域中存在多个平面区域，则确定出多个平面中面积最大的平面区域，作为待处理平面，并获取待处理平面的最大内接矩形区域，将最大内接矩形区域作为待转换区域。In this embodiment of the present application, if there are multiple plane regions in the second to-be-selected projection region, the plane region with the largest area among the multiple planes is determined as the plane to be processed, and the largest inscribed rectangular region of the plane to be processed is obtained, Take the largest inscribed rectangular area as the area to be converted.

需要说明的是，本申请实施例中，在执行步骤S230时，若多个待选坐标信息位于同一纵向平面，则判定第二待选投影区域中存在唯一平面区域，并对纵向平面中包括的待选坐标信息进行拟合，获得第二待选投影区域中存在的唯一平面区域，此后，将该平面区域直接作为待处理平面，并获取待处理平面的最大内接矩形区域，将最大内接矩形区域作为待转换区域。还需要说明的是，本申请实施例中，获取待处理平面的最大内接矩形区域，将最大内接矩形区域作为待转换区域具体可以是获取待处理平面的横向最大内接矩形区域，将横向最大内接矩形区域作为待转换区域。It should be noted that, in this embodiment of the present application, when step S230 is executed, if multiple candidate coordinate information is located in the same longitudinal plane, it is determined that there is a unique plane area in the second candidate projection area, and the The coordinate information to be selected is fitted to obtain the only plane area existing in the second candidate projection area. After that, the plane area is directly used as the plane to be processed, and the maximum inscribed rectangular area of the plane to be processed is obtained, and the maximum inscribed rectangular area is obtained. The rectangular area is used as the area to be converted. It should also be noted that, in this embodiment of the present application, the maximum inscribed rectangular area of the plane to be processed is obtained, and the maximum inscribed rectangular area is used as the area to be converted. Specifically, the horizontal maximum inscribed rectangular area of the to-be-processed plane is obtained, and the The largest inscribed rectangular area is used as the area to be converted.

此外，为保证投影画面的显示效果，本申请实施例中在获取到待处理平面的最大内接矩形区域之后，还可以对最大内接矩形区域的面积和长宽比例进行判断，若最大内接矩形区域的面积大于预设面积阈值，且长宽比例满足预设比例要求，则将最大内接矩形区域作为待转换区域，若最大内接矩形区域的面积小于预设面积阈值，或长宽比例不满足预设比例要求，则生成提示信息，并控制投影设备对提示信息进行播报，其中，提示信息用于表征当前投影场景中不存在满足投影要求的可投影区域，预设面积阈值和预设比例要求可以根据实际需求设定，本申请实施例对此不作具体限制。In addition, in order to ensure the display effect of the projection screen, in the embodiment of the present application, after the maximum inscribed rectangular area of the plane to be processed is obtained, the area and length-width ratio of the maximum inscribed rectangular area can also be judged. If the area of the rectangular area is greater than the preset area threshold, and the aspect ratio meets the preset ratio requirements, the largest inscribed rectangle area is used as the area to be converted. If the area of the largest inscribed rectangle area is smaller than the preset area threshold, or the aspect ratio If the preset ratio requirements are not met, prompt information is generated, and the projection device is controlled to broadcast the prompt information, wherein the prompt information is used to indicate that there is no projectable area that meets the projection requirements in the current projection scene, and the preset area threshold and preset The ratio requirement may be set according to actual needs, which is not specifically limited in this embodiment of the present application.

进一步地，本申请实施例中，在执行步骤S230之后，投影方法还可以包括步骤S005和步骤S007。Further, in this embodiment of the present application, after step S230 is performed, the projection method may further include steps S005 and S007.

步骤S005，若第二待选投影区域中不存在平面区域，则生成提示信息，提示信息用于表征当前投影场景中不存在满足投影要求的可投影区域。Step S005, if there is no plane area in the second to-be-selected projection area, generate prompt information, where the prompt information is used to indicate that there is no projectable area that meets the projection requirements in the current projection scene.

步骤S007，控制投影设备对提示信息进行播报。Step S007, controlling the projection device to broadcast the prompt information.

本申请实施例中，投影设备对提示信息进行播报可以是通过投影设备上设置的音频播放器进行播报，也可以是通过投影设备上设置的显示器件进行播报，本申请实施例对此不作具体限制。用户在接收到提示信息之后，可以移动投影设备的位置，以选择新的投影场景。In this embodiment of the present application, the projection device can broadcast the prompt information through an audio player set on the projection device, or through a display device set on the projection device, which is not specifically limited in this embodiment of the application. . After receiving the prompt information, the user can move the position of the projection device to select a new projection scene.

步骤S300，根据投影设备空间坐标系相对于世界坐标系的透射变换关系，将待转换区域转换至投影设备空间坐标系下，获得目标区域。Step S300, according to the transmission transformation relationship between the projection device space coordinate system and the world coordinate system, transform the area to be converted into the projection device space coordinate system to obtain the target area.

对于目标区域的获取，本申请实施例中，在执行步骤S200之前，还可以包括步骤S008、步骤S009和步骤S010。For the acquisition of the target area, in this embodiment of the present application, before step S200 is performed, step S008 , step S009 and step S010 may be further included.

步骤S008，判断投影场景图像中是否包括投影幕布区域。Step S008, judging whether the projection scene image includes a projection screen area.

步骤S009，若投影场景图像中包括投影幕布区域，则将投影幕布区域作为目标区域。Step S009, if the projection scene image includes the projection screen area, the projection screen area is used as the target area.

步骤S010，若投影场景图像中不包括投影幕布区域，则执行步骤S200，根据多个原始特征点所对应的三维坐标信息，从投影场景图像中，获取满足投影要求的待转换区域的步骤。Step S010, if the projection scene image does not include the projection screen area, then step S200 is executed to obtain a to-be-transformed area that meets the projection requirements from the projection scene image according to the three-dimensional coordinate information corresponding to the plurality of original feature points.

基于步骤S008、步骤S009和步骤S010，可以理解的是，本申请实施例中，在投影场景图像中包括投影幕布区域时，优先将投影幕布区域作为目标区域，只有在投影场景图像中不包括投影幕布区域时，再执行步骤S200，以根据多个原始特征点所对应的三维坐标信息，从投影场景图像中，获取满足投影要求的待转换区域，最后，再执行步骤S300，根据投影设备空间坐标系相对于世界坐标系的透射变换关系，将待转换区域转换至投影设备空间坐标系下，最终，获得目标区域。Based on step S008, step S009 and step S010, it can be understood that, in this embodiment of the present application, when the projection scene image includes the projection screen area, the projection screen area is preferentially used as the target area, and only the projection scene image does not include the projection screen area. When there is a screen area, step S200 is performed again to obtain a to-be-transformed area that meets the projection requirements from the projected scene image according to the three-dimensional coordinate information corresponding to the plurality of original feature points, and finally, step S300 is performed again, according to the spatial coordinates of the projection equipment According to the transmission transformation relationship between the system and the world coordinate system, the area to be converted is converted into the space coordinate system of the projection device, and finally, the target area is obtained.

本申请实施例中，在执行步骤S300之前，还可以包括步骤S011和步骤S012，以获得投影设备空间坐标系相对于世界坐标系的透射变换关系。In this embodiment of the present application, before step S300 is performed, steps S011 and S012 may be further included to obtain the transmission transformation relationship between the projection device's spatial coordinate system and the world coordinate system.

步骤S011，获取多个原始特征点在测试图像中的位置信息。Step S011, acquiring position information of a plurality of original feature points in the test image.

步骤S012，根据多个原始特征点在测试图像中的位置信息和多个原始 特征点在世界坐标系下所对应的三维坐标信息，获得投影设备空间坐标系相对于世界坐标系的透射变换关系。Step S012, according to the position information of the multiple original feature points in the test image and the corresponding three-dimensional coordinate information of the multiple original feature points in the world coordinate system, obtain the transmission transformation relationship of the projection device space coordinate system relative to the world coordinate system.

步骤S400，将目标投影图像投影至目标区域。Step S400, projecting the target projection image to the target area.

本申请实施例中，在获得目标区域之后，可以生成投影启动指令，控制投影设备将目标投影图像投影至目标区域。In this embodiment of the present application, after the target area is obtained, a projection start instruction may be generated to control the projection device to project the target projection image to the target area.

显然，本申请实施例提供的投影方法能够实现目标区域的自动定位，相对于现有技术中，在通过投影设备将图像内容投影到目标区域之前，均需要人工手动对投影设备进行调整，以实现目标区域的合理定位的方法而言，简化了目标区域的定位过程，同时，也能够适应不同复杂程度的投影场景。Obviously, the projection method provided by the embodiment of the present application can realize the automatic positioning of the target area. Compared with the prior art, before projecting the image content to the target area through the projection device, it is necessary to manually adjust the projection device to achieve In terms of the method of reasonable localization of the target area, the localization process of the target area is simplified, and at the same time, it can also adapt to projection scenes of different degrees of complexity.

基于与上述投影方法同样的发明构思，本申请实施例还提供了一种投影装置300。请参阅图4，本申请实施例提供的投影装置300包括坐标信息获取模块310、待转换区域获取模块320、第一目标区域获取模块330和投影控制模块340。Based on the same inventive concept as the above-mentioned projection method, an embodiment of the present application further provides a projection apparatus 300 . Referring to FIG. 4 , the projection apparatus 300 provided by the embodiment of the present application includes a coordinate information acquisition module 310 , a to-be-transformed area acquisition module 320 , a first target area acquisition module 330 , and a projection control module 340 .

坐标信息获取模块310，用于获取测试图像中预设的多个原始特征点在世界坐标系下所对应的三维坐标信息。The coordinate information acquisition module 310 is configured to acquire three-dimensional coordinate information corresponding to a plurality of original feature points preset in the test image in the world coordinate system.

待转换区域获取模块320，用于根据多个原始特征点所对应的三维坐标信息，从投影场景图像中，获取满足投影要求的待转换区域。The to-be-converted area acquisition module 320 is configured to acquire, from the projected scene image, the to-be-converted area that meets the projection requirements according to the three-dimensional coordinate information corresponding to the plurality of original feature points.

第一目标区域获取模块330，用于根据投影设备空间坐标系相对于世界坐标系的透射变换关系，将待转换区域转换至投影设备空间坐标系下，获得目标区域。The first target area acquisition module 330 is configured to convert the area to be converted into the projection device space coordinate system according to the transmission transformation relationship between the projection device space coordinate system and the world coordinate system to obtain the target area.

投影控制模块340，用于将目标投影图像投影至目标区域。The projection control module 340 is used for projecting the target projection image to the target area.

本申请实施例中，坐标信息获取模块310可以包括测试画面采集单元、投影特征点获取单元和坐标信息获取单元：In this embodiment of the present application, the coordinate information acquisition module 310 may include a test image acquisition unit, a projection feature point acquisition unit, and a coordinate information acquisition unit:

测试画面采集单元，用于在将测试图像投影至当前投影场景之后，通过摄像设备采集当前投影场景中投影出的测试画面，测试图像中预设有多 个原始特征点。The test image acquisition unit is used to collect the test image projected in the current projection scene through the camera device after projecting the test image to the current projection scene, and the test image is preset with a plurality of original feature points.

投影特征点获取单元，用于确定出测试画面中与多个原始特征点对应的多个投影特征点。The projection feature point acquiring unit is used for determining a plurality of projection feature points corresponding to the plurality of original feature points in the test picture.

坐标信息获取单元，用于获取多个投影特征点在世界坐标系下的三维坐标信息，作为多个原始特征点在世界坐标系下所对应的三维坐标信息。The coordinate information obtaining unit is used for obtaining the three-dimensional coordinate information of the plurality of projected feature points in the world coordinate system, as the three-dimensional coordinate information corresponding to the plurality of original feature points in the world coordinate system.

本申请实施例提供的投影装置300还可以包括位置信息获取模块和坐标变换模块。The projection apparatus 300 provided in this embodiment of the present application may further include a position information acquisition module and a coordinate transformation module.

位置信息获取模块，用于获取多个原始特征点在测试图像中的位置信息。The position information acquisition module is used to acquire the position information of multiple original feature points in the test image.

坐标变换模块，用于根据多个原始特征点在测试图像中的位置信息和多个原始特征点在世界坐标系下所对应的三维坐标信息，获得投影设备空间坐标系相对于世界坐标系的透射变换关系。The coordinate transformation module is used to obtain the transmission of the projection device space coordinate system relative to the world coordinate system according to the position information of multiple original feature points in the test image and the three-dimensional coordinate information corresponding to multiple original feature points in the world coordinate system Transform relationship.

本申请实施例中，待转换区域获取模块320可以包括第一待选投影区域获取单元、第二待选投影区域获取单元、平面区域判断单元和待转换区域获取单元。In this embodiment of the present application, the area to be converted acquisition module 320 may include a first to-be-selected projection area acquisition unit, a second to-be-selected projection area acquisition unit, a plane area determination unit, and a to-be-converted area acquisition unit.

第一待选投影区域获取单元，用于对投影场景图像进行分割，获得多个第一待选投影区域。The first candidate projection area acquisition unit is configured to segment the projection scene image to obtain a plurality of first candidate projection areas.

第二待选投影区域获取单元，用于从多个第一待选投影区域中，选取出面积最大的第一待选投影区域，作为第二待选投影区域。The second candidate projection area acquisition unit is configured to select the first candidate projection area with the largest area from the plurality of first candidate projection areas as the second candidate projection area.

平面区域判断单元，用于根据多个原始特征点所对应的三维坐标信息，判断第二待选投影区域中是否存在平面区域。The plane area determination unit is configured to determine whether there is a plane area in the second candidate projection area according to the three-dimensional coordinate information corresponding to the plurality of original feature points.

待转换区域获取单元，用于在第二待选投影区域中存在多个平面区域时，根据多个平面区域中面积最大的平面区域，获取满足投影要求的待转换区域。The to-be-converted area acquisition unit is configured to, when there are multiple plane areas in the second to-be-selected projection area, acquire a to-be-converted area that meets the projection requirements according to the plane area with the largest area among the multiple plane areas.

第一待选投影区域获取单元具体用于通过颜色分割算法对投影场景图像进行分割，获得多个第一待选投影区域，或通过亮度分割算法对投影场 景图像进行分割，获得多个第一待选投影区域。The first to-be-selected projection area acquisition unit is specifically configured to segment the projection scene image through a color segmentation algorithm to obtain a plurality of first to-be-selected projection areas, or to segment the projection scene image through a luminance segmentation algorithm to obtain a plurality of first to-be-selected projection areas. Select the projection area.

本申请实施例中，平面区域判断单元可以包括待选坐标信息获取子单元、待选坐标信息判断子单元和平面区域判断子单元。In this embodiment of the present application, the plane area determination unit may include a candidate coordinate information acquisition subunit, a candidate coordinate information determination subunit, and a plane area determination subunit.

待选坐标信息获取子单元，用于从多个原始特征点所对应的三维坐标信息中，选取出位于第二待选投影区域的多个待选坐标信息。The candidate coordinate information acquisition subunit is used to select a plurality of candidate coordinate information located in the second candidate projection area from the three-dimensional coordinate information corresponding to the plurality of original feature points.

待选坐标信息判断子单元，用于判断多个待选坐标信息是否位于不同纵向平面。The candidate coordinate information judgment subunit is used for judging whether a plurality of candidate coordinate information are located in different longitudinal planes.

平面区域判断子单元，用于若多个待选坐标信息位于不同纵向平面，则判定第二待选投影区域中存在多个平面区域，并对每个纵向平面中包括的待选坐标信息进行拟合，获得多个平面区域。The plane area judging subunit is used to determine that there are multiple plane areas in the second candidate projection area if the multiple candidate coordinate information is located in different longitudinal planes, and simulate the candidate coordinate information included in each longitudinal plane. combined to obtain multiple flat areas.

本申请实施例中，待转换区域获取单元可以包括待处理平面获取子单元、内接矩形区域获取子单元和待转换区域获取子单元。In this embodiment of the present application, the area to be converted acquisition unit may include a to-be-processed plane acquisition subunit, an inscribed rectangular area acquisition subunit, and a to-be-converted area acquisition subunit.

待处理平面获取子单元，用于若第二待选投影区域中存在多个平面区域，则确定出多个平面中面积最大的平面区域，作为待处理平面。The to-be-processed plane acquisition subunit is configured to, if there are multiple plane areas in the second to-be-selected projection area, determine the plane area with the largest area among the multiple planes as the to-be-processed plane.

内接矩形区域获取子单元，用于获取待处理平面的最大内接矩形区域。The inscribed rectangular area acquisition subunit is used to acquire the largest inscribed rectangular area of the plane to be processed.

待转换区域获取子单元，用于将最大内接矩形区域作为待转换区域。The subunit for obtaining the area to be converted is used for taking the largest inscribed rectangular area as the area to be converted.

本申请实施例提供的投影装置300还可以包括提示信息生成模块和播报模块。The projection apparatus 300 provided in the embodiment of the present application may further include a prompt information generating module and a broadcasting module.

提示信息生成模块，用于在第二待选投影区域中不存在平面区域时，生成提示信息，提示信息用于表征当前投影场景中不存在满足投影要求的可投影区域。The prompt information generation module is configured to generate prompt information when there is no plane area in the second candidate projection area, and the prompt information is used to indicate that there is no projectable area that meets the projection requirements in the current projection scene.

播报模块，用于控制投影设备对提示信息进行播报。The broadcast module is used to control the projection device to broadcast the prompt information.

本申请实施例提供的投影装置300还可以包括投影幕布区域判断模块、第二目标区域获取模块和跳转控制模块。投影幕布区域判断模块，用于判断投影场景图像中是否包括投影幕布区域。The projection apparatus 300 provided in this embodiment of the present application may further include a projection screen area determination module, a second target area acquisition module, and a jump control module. The projection screen area judgment module is used for judging whether the projection scene image includes the projection screen area.

第二目标区域获取模块，用于在投影场景图像中包括投影幕布区域时， 将投影幕布区域作为目标区域。The second target area acquisition module is configured to use the projection screen area as the target area when the projection scene image includes the projection screen area.

跳转控制模块，用于在投影场景图像中不包括投影幕布区域时，执行根据多个原始特征点所对应的三维坐标信息，从投影场景图像中，获取满足投影要求的待转换区域的步骤。The jump control module is configured to, when the projection scene image does not include the projection screen area, execute the step of obtaining the to-be-converted area that meets the projection requirements from the projection scene image according to the three-dimensional coordinate information corresponding to the plurality of original feature points.

本申请实施例提供的投影装置300还可以包括亮度信息采集模块、亮度判断模块、第一投影场景图像采集模块和第二投影场景图像采集模块。The projection apparatus 300 provided in this embodiment of the present application may further include a brightness information acquisition module, a brightness determination module, a first projection scene image acquisition module, and a second projection scene image acquisition module.

亮度信息采集模块，用于采集当前投影场景的环境光亮度信息。The brightness information collection module is used to collect the ambient light brightness information of the current projection scene.

亮度判断模块，用于根据环境光亮度信息，判断当前投影场景的环境亮度是否处于预设可拍摄亮度范围。The brightness judgment module is used for judging whether the ambient brightness of the current projection scene is within the preset shooting brightness range according to the ambient light brightness information.

第一投影场景图像采集模块，用于在当前投影场景的环境亮度处于预设可拍摄亮度范围时，通过摄像设备采集当前投影场景的环境图像，作为投影场景图像。The first projection scene image acquisition module is configured to collect an environmental image of the current projection scene through a camera device as a projection scene image when the ambient brightness of the current projection scene is within a preset photographable brightness range.

第二投影场景图像采集模块，用于在当前投影场景的环境亮度超过预设可拍摄亮度范围时，控制投影设备投射出纯色图像，并在投影设备投射出纯色图像之后，通过摄像设备采集当前投影场景的环境图像，作为投影场景图像。The second projection scene image acquisition module is used to control the projection device to project a solid-color image when the ambient brightness of the current projection scene exceeds the preset shooting brightness range, and after the projection device projects a solid-color image, collect the current projection through the camera device The ambient image of the scene, as the projected scene image.

由于本申请实施例提供的投影装置300是基于与上述投影方法同样的发明构思实现的，因此，投影装置300中，每个软件模块的具体描述，均可参见投影方法实施例中，相关步骤中的相关描述，本申请实施例对此不作赘述。Since the projection apparatus 300 provided in the embodiment of the present application is implemented based on the same inventive concept as the above-mentioned projection method, for the specific description of each software module in the projection apparatus 300, reference may be made to the projection method embodiments, in the relevant steps The relevant descriptions of the embodiments of the present application will not be repeated in this embodiment.

此外，本申请实施例还提供了一种计算机可读存储介质，计算机可读存储介质上存储有计算机程序，计算机程序被执行时，实现上述方法实施例所提供的投影方法，具体可参见上述方法实施例，本申请实施例对此不作赘述。In addition, an embodiment of the present application also provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed, the projection method provided by the above method embodiment is implemented. For details, please refer to the above method Embodiments, which are not described repeatedly in the embodiments of the present application.

综上所述，本申请实施例提供的投影方法能够获取测试图像中预设的多个原始特征点在世界坐标系下所对应的三维坐标信息，根据多个原始特 征点所对应的三维坐标信息，从投影场景图像中，自动获取满足投影要求的待转换区域，再根据投影设备空间坐标系相对于世界坐标系的透射变换关系，将待转换区域转换至投影设备空间坐标系下，获得目标区域，最后，将目标投影图像投影至目标区域，显然，本申请实施例提供的投影方法能够实现目标区域的自动定位，相对于现有技术中，在通过投影设备将图像内容投影到目标区域之前，均需要人工手动对投影设备进行调整，以实现目标区域的合理定位的方法而言，简化了目标区域的定位过程，同时，也能够适应不同复杂程度的投影场景。To sum up, the projection method provided in the embodiment of the present application can obtain the three-dimensional coordinate information corresponding to the plurality of original feature points preset in the test image in the world coordinate system, according to the three-dimensional coordinate information corresponding to the plurality of original feature points. , from the projection scene image, automatically obtain the area to be converted that meets the projection requirements, and then convert the area to be converted to the projection device space coordinate system according to the transmission transformation relationship between the projection device space coordinate system and the world coordinate system to obtain the target area. , and finally, project the target projection image to the target area. Obviously, the projection method provided by the embodiment of the present application can realize the automatic positioning of the target area. Compared with the prior art, before projecting the image content to the target area through the projection device, In terms of the method that requires manual adjustment of the projection equipment to achieve reasonable positioning of the target area, the positioning process of the target area is simplified, and at the same time, it can also adapt to projection scenes of different degrees of complexity.

本申请实施例提供的投影装置、投影设备及计算机可读存储介质具有与上述投影方法相同的有益效果，此处不作赘述。The projection apparatus, projection device, and computer-readable storage medium provided by the embodiments of the present application have the same beneficial effects as the above-mentioned projection method, which will not be repeated here.

在本申请所提供的几个实施例中，应该理解到，所揭露的方法和装置，也可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的，例如，附图中的流程图和框图显示了根据本申请的多个实施例的装置、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或代码的一部分，所述模块、程序段或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现方式中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的***来实现，或者可以用专用硬件与计算机指令的组合来实现。此外，在本申请每个实施例中的各功能模块可以集成在一起形成一个独立的部分，也可以是每个模块单独存在，也可以两个或两个以上模块集成形成一个独立的部分。In the several embodiments provided in this application, it should be understood that the disclosed method and apparatus may also be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architectures, functions and possible implementations of apparatuses, methods and computer program products according to various embodiments of the present application. operate. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more functions for implementing the specified logical function(s) executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in dedicated hardware-based systems that perform the specified functions or actions , or can be implemented in a combination of dedicated hardware and computer instructions. In addition, each functional module in each embodiment of the present application may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

此外，所述功能如果以软件功能模块的形式实现并作为独立的产品销 售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请每个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。Furthermore, the functions may be stored in a computer-readable storage medium if implemented in the form of software function modules and sold or used as a stand-alone product. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk and other mediums that can store program codes.

还需要说明的是，在本文中，诸如“第一”、“第二”、“第三”等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，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过程、方法、物品或者设备不仅包括那些要素，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过程、方法、物品或者设备所固有的要素。It should also be noted that in this document, relational terms such as "first", "second", "third", etc. are only used to distinguish one entity or operation from another entity or operation, while No such actual relationship or ordering between these entities or operations is necessarily required or implied. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus.

Claims (13)

1. 一种投影方法，其特征在于，包括：A projection method, comprising:

   获取测试图像中预设的多个原始特征点在世界坐标系下所对应的三维坐标信息；Obtain the three-dimensional coordinate information corresponding to the multiple original feature points preset in the test image in the world coordinate system;

   根据所述多个原始特征点所对应的所述三维坐标信息，从投影场景图像中，获取满足投影要求的待转换区域；According to the three-dimensional coordinate information corresponding to the plurality of original feature points, from the projected scene image, obtain the area to be converted that meets the projection requirements;

   根据投影设备空间坐标系相对于所述世界坐标系的透射变换关系，将所述待转换区域转换至所述投影设备空间坐标系下，获得目标区域；According to the transmission transformation relationship between the projection device space coordinate system and the world coordinate system, the to-be-transformed area is converted into the projection device space coordinate system to obtain a target area;

   将目标投影图像投影至所述目标区域。Projecting a target projection image onto the target area.
2. 根据权利要求1所述的投影方法，其特征在于，所述获取测试图像中预设的多个原始特征点在世界坐标系下所对应的三维坐标信息，包括：The projection method according to claim 1, wherein the acquiring the three-dimensional coordinate information corresponding to a plurality of original feature points preset in the test image in the world coordinate system comprises:

   在将所述测试图像投影至当前投影场景之后，通过摄像设备采集所述当前投影场景中投影出的测试画面，所述测试图像中预设有所述多个原始特征点；After projecting the test image to the current projection scene, a test image projected in the current projection scene is captured by a camera device, and the plurality of original feature points are preset in the test image;

   确定出所述测试画面中与所述多个原始特征点对应的多个投影特征点；determining a plurality of projection feature points corresponding to the plurality of original feature points in the test picture;

   获取所述多个投影特征点在世界坐标系下的三维坐标信息，作为所述多个原始特征点在所述世界坐标系下所对应的三维坐标信息。The three-dimensional coordinate information of the plurality of projected feature points in the world coordinate system is acquired as the three-dimensional coordinate information corresponding to the plurality of original feature points in the world coordinate system.
3. 根据权利要求2所述的投影方法，其特征在于，所述根据投影设备空间坐标系相对于所述世界坐标系的透射变换关系，将所述待转换区域转换至所述投影设备空间坐标系下，获得目标区域之前，所述投影方法还包括：The projection method according to claim 2, wherein, according to the transmission transformation relationship between the projection device's space coordinate system and the world coordinate system, the to-be-transformed area is converted into the projection device's space coordinate system , before obtaining the target area, the projection method further includes:

   获取所述多个原始特征点在所述测试图像中的位置信息；obtaining position information of the plurality of original feature points in the test image;

   根据所述多个原始特征点在所述测试图像中的位置信息和所述多个原始特征点在所述世界坐标系下所对应的三维坐标信息，获得所述投影设备空间坐标系相对于所述世界坐标系的透射变换关系。According to the position information of the plurality of original feature points in the test image and the three-dimensional coordinate information corresponding to the plurality of original feature points in the world coordinate system, the relative relationship between the projection device's spatial coordinate system and the The transmission transformation relationship of the world coordinate system is described.
4. 根据权利要求1所述的投影方法，其特征在于，所述根据所述多个原 始特征点所对应的三维坐标信息，从投影场景图像中，获取满足投影要求的待转换区域，包括：projection method according to claim 1, is characterized in that, described according to the corresponding three-dimensional coordinate information of described a plurality of original feature points, from the projection scene image, obtains the area to be converted that satisfies the projection requirement, comprises:

   对所述投影场景图像进行分割，获得多个第一待选投影区域；segmenting the projection scene image to obtain a plurality of first candidate projection areas;

   从所述多个第一待选投影区域中，选取出面积最大的第一待选投影区域，作为第二待选投影区域；From the plurality of first candidate projection areas, select the first candidate projection area with the largest area as the second candidate projection area;

   根据所述多个原始特征点所对应的所述三维坐标信息，判断所述第二待选投影区域中是否存在平面区域；According to the three-dimensional coordinate information corresponding to the plurality of original feature points, determine whether there is a plane area in the second to-be-selected projection area;

   若所述第二待选投影区域中存在多个平面区域，则根据所述多个平面区域中面积最大的平面区域，获取满足投影要求的所述待转换区域。If there are multiple plane areas in the second to-be-selected projection area, the to-be-converted area that meets the projection requirements is acquired according to the plane area with the largest area among the multiple plane areas.
5. 根据权利要求4所述的投影方法，其特征在于，所述对所述投影场景图像进行分割，获得多个第一待选投影区域，包括：The projection method according to claim 4, wherein the segmenting the projection scene image to obtain a plurality of first candidate projection areas, comprising:

   通过颜色分割算法对所述投影场景图像进行分割，获得多个第一待选投影区域，或通过亮度分割算法对所述投影场景图像进行分割，获得多个第一待选投影区域。The projection scene image is segmented by a color segmentation algorithm to obtain a plurality of first candidate projection areas, or the projection scene image is segmented by a luminance segmentation algorithm to obtain a plurality of first candidate projection areas.
6. 根据权利要求4所述的投影方法，其特征在于，所述根据所述多个原始特征点所对应的三维坐标信息，判断所述第二待选投影区域中是否存在平面区域，包括：The projection method according to claim 4, wherein the determining whether there is a plane area in the second to-be-selected projection area according to the three-dimensional coordinate information corresponding to the plurality of original feature points comprises:

   从所述多个原始特征点所对应的所述三维坐标信息中，选取出位于所述第二待选投影区域的多个待选坐标信息；From the three-dimensional coordinate information corresponding to the plurality of original feature points, select a plurality of coordinate information to be selected located in the second to-be-selected projection area;

   判断所述多个待选坐标信息是否位于不同纵向平面；judging whether the plurality of candidate coordinate information are located in different longitudinal planes;

   若所述多个待选坐标信息位于不同纵向平面，则判定所述第二待选投影区域中存在多个平面区域，并对每个所述纵向平面中包括的待选坐标信息进行拟合，获得所述多个平面区域。If the plurality of candidate coordinate information are located in different longitudinal planes, it is determined that there are multiple plane areas in the second candidate projection area, and the candidate coordinate information included in each of the longitudinal planes is fitted, The plurality of planar regions are obtained.
7. 根据权利要求4所述的投影方法，其特征在于，所述若所述第二待选投影区域中存在多个平面区域，则根据所述多个平面区域中面积最大的平面区域，获取满足投影要求的所述待转换区域，包括：The projection method according to claim 4, wherein, if there are multiple plane regions in the second candidate projection region, obtaining the projection satisfying the projection according to the plane region with the largest area among the multiple plane regions The required area to be converted includes:

   若所述第二待选投影区域中存在所述多个平面区域，则确定出所述多个平面中面积最大的平面区域，作为待处理平面；If the plurality of plane regions exist in the second to-be-selected projection region, determining the plane region with the largest area among the plurality of planes as the plane to be processed;

   获取所述待处理平面的最大内接矩形区域；obtaining the maximum inscribed rectangular area of the plane to be processed;

   将所述最大内接矩形区域作为满足投影要求的所述待转换区域。The largest inscribed rectangular area is used as the to-be-transformed area that meets the projection requirements.
8. 根据权利要求4所述的投影方法，其特征在于，所述根据所述多个原始特征点所对应的三维坐标信息，判断所述第二待选投影区域中是否存在平面区域之后，所述投影方法还包括：The projection method according to claim 4, wherein after determining whether there is a plane area in the second to-be-selected projection area according to the three-dimensional coordinate information corresponding to the plurality of original feature points, the projection Methods also include:

   若所述第二待选投影区域中不存在平面区域，则生成提示信息，所述提示信息用于表征当前投影场景中不存在满足投影要求的可投影区域；If there is no plane area in the second to-be-selected projection area, generating prompt information, where the prompt information is used to indicate that there is no projectable area that meets the projection requirements in the current projection scene;

   控制所述投影设备对所述提示信息进行播报。The projection device is controlled to broadcast the prompt information.
9. 根据权利要求1所述的投影方法，其特征在于，所述根据所述多个原始特征点所对应的三维坐标信息，从投影场景图像中，获取满足投影要求的待转换区域之前，所述投影方法还包括：The projection method according to claim 1, wherein, before acquiring the to-be-transformed area that meets the projection requirements from the projection scene image according to the three-dimensional coordinate information corresponding to the plurality of original feature points, the projection Methods also include:

   判断所述投影场景图像中是否包括投影幕布区域；judging whether the projection scene image includes a projection screen area;

   若所述投影场景图像中包括投影幕布区域，则将所述投影幕布区域作为所述目标区域；If the projection scene image includes a projection screen area, use the projection screen area as the target area;

   若所述投影场景图像中不包括投影幕布区域，则执行所述根据所述多个原始特征点所对应的所述三维坐标信息，从投影场景图像中，获取满足投影要求的待转换区域的步骤。If the projection scene image does not include a projection screen area, the step of obtaining a to-be-converted area that meets the projection requirements from the projection scene image according to the three-dimensional coordinate information corresponding to the plurality of original feature points is performed. .
10. 根据权利要求1所述的投影方法，其特征在于，所述根据所述多个原始特征点所对应的三维坐标信息，从投影场景图像中，获取满足投影要求的待转换区域之前，所述投影方法还包括：The projection method according to claim 1, wherein, before acquiring the to-be-transformed area that meets the projection requirements from the projection scene image according to the three-dimensional coordinate information corresponding to the plurality of original feature points, the projection Methods also include:

    采集当前投影场景的环境光亮度信息；Collect ambient light brightness information of the current projection scene;

    根据所述环境光亮度信息，判断所述当前投影场景的环境亮度是否处于预设可拍摄亮度范围；According to the ambient light brightness information, determine whether the ambient brightness of the current projection scene is within a preset photographable brightness range;

    若所述当前投影场景的环境亮度处于预设可拍摄亮度范围，则通过摄 像设备采集所述当前投影场景的环境图像，作为所述投影场景图像；If the ambient brightness of the current projection scene is within a preset range of photographable brightness, the ambient image of the current projection scene is collected by the imaging device as the projection scene image;

    若所述当前投影场景的环境亮度超过所述预设可拍摄亮度范围，则控制投影设备投射出纯色图像，并在所述投影设备透射出所述纯色图像之后，通过摄像设备采集所述当前投影场景的环境图像，作为所述投影场景图像。If the ambient brightness of the current projection scene exceeds the preset photographable brightness range, the projection device is controlled to project a solid-color image, and after the projection device transmits the solid-color image, the current projection is captured by a camera device An environmental image of the scene as the projected scene image.
11. 一种投影装置，其特征在于，包括：A projection device, comprising:

    坐标信息获取模块，用于获取测试图像中预设的多个原始特征点在世界坐标系下所对应的三维坐标信息；The coordinate information acquisition module is used to acquire the three-dimensional coordinate information corresponding to the plurality of original feature points preset in the test image in the world coordinate system;

    待转换区域获取模块，用于根据所述多个原始特征点所对应的三维坐标信息，从投影场景图像中，获取满足投影要求的待转换区域；A to-be-converted area acquisition module, configured to acquire a to-be-converted area that meets the projection requirements from the projected scene image according to the three-dimensional coordinate information corresponding to the plurality of original feature points;

    第一目标区域获取模块，用于根据投影设备空间坐标系相对于所述世界坐标系的透射变换关系，将所述待转换区域转换至所述投影设备空间坐标系下，获得目标区域；a first target area acquisition module, configured to convert the to-be-transformed area into the projection device space coordinate system according to the transmission transformation relationship between the projection device space coordinate system and the world coordinate system to obtain a target area;

    投影控制模块，用于将目标投影图像投影至所述目标区域。The projection control module is used for projecting the target projection image to the target area.
12. 一种投影设备，其特征在于，包括处理器和存储器，所述存储器上存储有计算机程序，所述处理器用于执行所述计算机程序，以实现权利要求1～10中任意一项所述的投影方法。A projection device, characterized by comprising a processor and a memory, wherein a computer program is stored on the memory, and the processor is configured to execute the computer program to realize the projection according to any one of claims 1 to 10 method.
13. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质上存储有计算机程序，所述计算机程序被执行时，实现权利要求1～10中任意一项所述的投影方法。A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed, the projection method according to any one of claims 1 to 10 is implemented.

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