CPC G06T 7/85 (2017.01) [G02B 27/01 (2013.01); G06F 3/0677 (2013.01); G06V 20/20 (2022.01); H04N 23/90 (2023.01); G02B 2027/0138 (2013.01); G02B 2027/0196 (2013.01)] | 18 Claims |
1. An image projection method, comprising:
acquiring a first camera coordinate of an area to be calibrated in a camera coordinate system of an Augmented Reality (AR) camera on a vehicle, wherein the area to be calibrated is located within a photographing range of the AR camera;
acquiring a relative conversion relationship between a first extrinsic parameter matrix of the AR camera and a second extrinsic parameter matrix of a head-up display on the vehicle, wherein the first extrinsic parameter matrix is used to realize a coordinate conversion between a world coordinate system and the camera coordinate system of the AR camera, and the second extrinsic parameter matrix is used to realize a coordinate conversion between the world coordinate system and a coordinate system of the head-up display;
determining, according to the first camera coordinate and the relative conversion relationship, a second camera coordinate of a projection symbol corresponding to the area to be calibrated in the coordinate system of the head-up display; and
controlling, according to the second camera coordinate, the head-up display to project an image comprising the projection symbol;
wherein the acquiring a relative conversion relationship between a first extrinsic parameter matrix of the AR camera and a second extrinsic parameter matrix of a head-up display on the vehicle, comprises:
acquiring a first relative conversion relationship between the first extrinsic parameter matrix and a third extrinsic parameter matrix of a first camera, wherein the first camera is set at a preset position on a driving position of the vehicle, wherein the third extrinsic parameter matrix is used to realize a coordinate conversion between the world coordinate system and a camera coordinate system of the first camera;
acquiring a second relative conversion relationship between the second extrinsic parameter matrix and the third extrinsic parameter matrix; and
acquiring, according to the first relative conversion relationship and the second relative conversion relationship, the relative conversion relationship.
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