Projection optimization method and device for man-machine cooperation assembly, terminal and medium

Abstract

The invention discloses a projection optimization method and device for man-machine cooperation assembly, a terminal and a medium. The method comprises the following steps: acquiring a target initial pose, wherein the target initial pose comprises initial poses of a target observer, a target projected object and a target projector; constructing a target projection model, and mapping a projection scene in the target projection model based on the initial pose; a target key point is obtained, a target mapping relation is obtained based on the target key point, and the target mapping relation is the relation between the target projected object and the projected image; constructing a projection layout optimization model based on the target mapping relation, and calculating a target projection position based on the projection layout optimization model; and adjusting the position of the target projector based on the target projection position. According to the projection optimization method for man-machine cooperation assembly provided by the invention, the flexibility of the projection layout can be effectively improved, and adaptive generation of the projection layout in a man-machine cooperation environment is realized. 本发明公开了面向人机协作装配的投影优化方法、装置、终端及介质。方法包括：获取目标初始位姿，所述目标初始位姿包括目标观察者、目标被投影物体和目标投影仪的初始位姿；构建目标投影模型，基于所述初始位姿在所述目标投影模型中进行投影场景的映射；获取目标关键点，基于所述目标关键点获取目标映射关系，所述目标映射关系为所述目标被投影物体与被投影图像的关系；基于所述目标映射关系构建投影布局优化模型，基于所述投影布局优化模型计算目标投影位置；基于所述目标投影位置调整所述目标投影仪的位置。本发明提供的面向人机协作装配的投影优化方法能有效的提高投影布局的灵活性，实现了人机协作环境下的投影布局的自适应生成。