Calibration method, device, equipment, system and storage medium for head mounted display device

Abstract

The present invention discloses a calibration method, device, equipment, system and computer-readable storage medium for a head-mounted display device, the method comprising: obtaining 3D point coordinates corresponding to a target calibration card image; wherein the target calibration card image comprises an image of a calibration card, and the target calibration card image is an image captured by a positioning component when a preset image of a calibration card projected by an optical machine onto a perspective display under the viewing angle of a wearer of the head-mounted display device coincides with an actual calibration card; according to the 3D point coordinates, determining the correspondence between the projection coordinate system of the optical machine and the coordinate system of the positioning component; according to the correspondence, calibrating the display content of the head-mounted display device; the present invention simplifies the calibration data acquisition process by determining the correspondence between the projection coordinate system of the optical machine and the coordinate system of the positioning component according to the acquired 3D point coordinates corresponding to the target calibration card image, and only requires one alignment to complete the calibration, thus saving the calibration time.

Description

Technical Field

[0001] The present invention relates to the technical field of head-mounted display devices, and in particular to a calibration method, device, equipment, system and computer-readable storage medium for a head-mounted display device. Background Art

[0002] At present, transmissive projection head-mounted display devices such as AR (Augmented Reality) devices and MR (Mix Reality) devices can generate a virtual and real environment in which various computer-generated information is used to enhance or supplement the user's real environment. This information can be markers and 3D rendering models, or changes to the color or shadow in the real environment. Compared with virtual reality (VR) technology, transmissive projection head-mounted display devices such as augmented reality technology can bring the computer into the user's "world" instead of immersing the user in the computer's world. It allows users to receive various auxiliary information about these objects from the computer while interacting with real objects.

[0003] One of the key technologies of transmissive projection head-mounted display devices is the problem of precise positioning. When the user changes the viewing point, the virtual object must keep the same direction and position as the real object, so that the user can feel that the virtual object is integrated into the real environment. In order to accurately superimpose virtual objects on real objects, the position and direction of the real object and the virtual object in a certain world coordinate system must be known, the real and computer-generated objects must be accurately positioned, and the properties of the device must be precisely specified.

[0004] In the prior art, the traditional calibration method of transmissive projection head-mounted display devices requires a cumbersome process of repeatedly moving the head-mounted display device and aligning it repeatedly to collect data. The calibration time is too long and is not suitable for large-scale mass production. Therefore, how to simplify the calibration process of transmissive projection head-mounted display devices and save calibration time is an urgent problem to be solved today. Summary of the invention

[0005] The object of the present invention is to provide a calibration method, device, equipment, system and computer-readable storage medium for a head-mounted display device, so as to simplify the calibration process of a transmissive projection head-mounted display device and save calibration time.

[0006] In order to solve the above technical problems, the present invention provides a calibration method for a head mounted display device, comprising:

[0007] Obtaining 3D point coordinates corresponding to a target calibration chart image; wherein the target calibration chart image includes an image of a calibration chart, and the target calibration chart image is an image captured by a positioning component when a preset image of the calibration chart projected onto a perspective display by an optical machine from the perspective of a wearer of a head mounted display device coincides with the actual calibration chart;

[0008] Determine the correspondence between the projection coordinate system of the optical machine and the coordinate system of the positioning component according to the 3D point coordinates;

[0009] According to the corresponding relationship, the display content of the head mounted display device is calibrated.

[0010] Optionally, before obtaining the 3D point coordinates corresponding to the target calibration chart image, the method further includes:

[0011] The control host controls the camera under the wearer's viewing angle to capture the projection image of the perspective display;

[0012] Determining whether the preset image displayed by the perspective display in the projection image coincides with the actual calibration chart;

[0013] If yes, the step of obtaining the 3D point coordinates corresponding to the target calibration card image is performed.

[0014] Optionally, after the control host controls the camera under the wearer's perspective to capture the projection image of the perspective display, the control further includes:

[0015] If it does not coincide with the actual calibration chart, the mobile device of the calibration chart is controlled according to the projection image to move the position of the calibration chart.

[0016] Optionally, obtaining the 3D point coordinates corresponding to the target calibration card image includes:

[0017] The head mounted display device determines the 3D point coordinates using the calibration pattern in the target calibration chart image according to the acquired calibration chart alignment instruction.

[0018] Optionally, when the corresponding relationship is a 3*4 projection matrix, determining the corresponding relationship between the projection coordinate system of the optical machine and the coordinate system of the positioning component according to the 3D point coordinates includes:

[0019] According to the 3D point coordinates, the 3*4 projection matrix is ​​calculated by singular value decomposition.

[0020] The present invention provides a calibration device for a head mounted display device, comprising:

[0021] An acquisition module is used to acquire the 3D point coordinates corresponding to the target calibration chart image; wherein the target calibration chart image includes an image of the calibration chart, and the target calibration chart image is an image captured by the positioning component when the preset image of the calibration chart projected onto the perspective display by the optical machine from the perspective of the wearer of the head mounted display device coincides with the actual calibration chart;

[0022] A determination module, used to determine the correspondence between the projection coordinate system of the optical machine and the coordinate system of the positioning component according to the 3D point coordinates;

[0023] A calibration module is used to calibrate the display content of the head mounted display device according to the corresponding relationship.

[0024] The present invention provides a calibration device for a head mounted display device, comprising:

[0025] Memory for storing computer programs;

[0026] A processor is used to implement the steps of the calibration method of the head mounted display device as described above when executing the computer program.

[0027] The present invention provides a calibration system for a head-mounted display device, comprising: a head-mounted display device and a control host; wherein the control host is the calibration device for the head-mounted display device as described above.

[0028] Optionally, the system further includes:

[0029] A camera, configured to capture a projection image of a see-through display of the head mounted display device from the perspective of a wearer of the head mounted display device;

[0030] The mobile device is used to move the position of the calibration chart according to the control of the control host.

[0031] The present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the calibration method for a head-mounted display device as described above are implemented.

[0032] A calibration method for a head-mounted display device provided by the present invention comprises: obtaining 3D point coordinates corresponding to a target calibration chart image; wherein the target calibration chart image comprises an image of a calibration chart, and the target calibration chart image is an image captured by a positioning component when a preset image of a calibration chart projected by an optical machine onto a perspective display under the perspective of a wearer of the head-mounted display device coincides with an actual calibration chart; determining a correspondence between a projection coordinate system of the optical machine and a coordinate system of the positioning component according to the 3D point coordinates; and calibrating display content of the head-mounted display device according to the correspondence;

[0033] It can be seen that the present invention simplifies the calibration data acquisition process by determining the corresponding relationship between the projection coordinate system of the optical machine and the coordinate system of the positioning component according to the 3D point coordinates corresponding to the acquired target calibration chart image, and only needs one alignment to complete the calibration, saving the calibration time and being suitable for large-scale mass production. In addition, the present invention also provides a calibration device, equipment, system and computer-readable storage medium for a head-mounted display device, which also have the above-mentioned beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0035] Figure 1 A flowchart of a calibration method for a head mounted display device provided by an embodiment of the present invention;

[0036] Figure 2 A schematic diagram of the principle of another calibration method for a head mounted display device provided by an embodiment of the present invention;

[0037] Figure 3 A schematic diagram of a calibration system for a head mounted display device provided by an embodiment of the present invention;

[0038] Figure 4 A display diagram of a calibration chart provided by an embodiment of the present invention;

[0039] Figure 5 A flowchart of another method for calibrating a head mounted display device provided by an embodiment of the present invention;

[0040] Figure 6 A structural block diagram of a calibration device for a head mounted display device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] Please refer to Figure 1 , Figure 1A flow chart of a calibration method for a head mounted display device provided by an embodiment of the present invention. The method may include:

[0043] Step 101: Obtain the 3D point coordinates corresponding to the target calibration card image; wherein the target calibration card image includes an image of the calibration card, and the target calibration card image is an image captured by the positioning component when a preset image of the calibration card projected onto the perspective display by an optical machine from the perspective of a wearer of a head-mounted display device coincides with the actual calibration card.

[0044] It is understandable that the optical machine, the perspective display and the positioning component in this step can all be components of the head mounted display device. This embodiment does not limit the specific spare parts types of the optical machine, the perspective display and the positioning component, such as Figure 2 As shown, when the head mounted display device is an AR device, the optical machine may be an optical machine of an AR display system, the perspective display may be a display lens of an AR display system, and the positioning component may be a 6DOF positioning component of a 6DOF (degree of freedom) positioning system. The preset image of the calibration chart in this step may be a preset image on the perspective display (such as Figure 2 An image containing a calibration chart is displayed on the display lens in the image.

[0045] Specifically, the target calibration card image in this step can be an image (i.e., a calibration card image) when a preset image displayed in a perspective display under the perspective of the wearer of the head-mounted display device captured by a shooting device in the positioning component coincides with an actual calibration card that can be viewed through the perspective display. For example, a user can wear a head-mounted display device for calibration. When the preset image displayed in the perspective display viewed through the head-mounted display device coincides with an actual calibration card in the outside world, the positioning component of the head-mounted display device is controlled to capture the target calibration card image. The control host can use a camera (such as a camera) under the perspective of the wearer of the head-mounted display device. Figure 3 The head mounted display device is calibrated by an industrial camera in the perspective display. When the preset image of the calibration card displayed on the perspective display in the projection image of the perspective display captured by the camera coincides with the actual calibration card, the positioning component of the head mounted display device is controlled to collect the target calibration card image.

[0046] Correspondingly, the 3D point coordinates corresponding to the target calibration card image in this step may be the 3D point coordinates determined using the calibration card in the target calibration card image. That is, the calibration card in this embodiment may include a calibration pattern for determining the 3D point coordinates, such as Figure 4 The QR code chessboard in the figure; accordingly, the calibration chart can also include an alignment auxiliary mark pattern, such as Figure 4 The crosshairs in the image are used to confirm the alignment of the preset image with the actual calibration chart. Figure 3 and Figure 4As shown, after the original image of the preset image of the calibration card displayed on the perspective display is printed, it can be placed on a mobile device. During the calibration process, the calibration card is moved by the mobile device until the image of the calibration card and the virtual image (i.e., the preset image) displayed on the perspective display overlap and align; the calibration card includes a QR code chessboard and a crosshair, and the QR code in the QR code chessboard is used to number the corner points of the chessboard, and the crosshair is used as an auxiliary alignment mark to facilitate the detection of display alignment.

[0047] It should be noted that the method provided in this embodiment can be applied to the control host, that is, the processor in the control host can execute the steps of the method provided in this embodiment to calibrate the head-mounted display device; the method provided in this embodiment can also be applied to the head-mounted display device, that is, the processor of the head-mounted display device can execute the steps of the method provided in this embodiment to calibrate itself; this embodiment does not impose any restrictions on this.

[0048] Specifically, the specific method for the processor to obtain the 3D point coordinates corresponding to the target calibration card image in this step can be set by the designer according to practical scenarios and user needs. For example, when the processor of the control host determines that the preset image displayed on the perspective display under the perspective of the wearer of the head-mounted display device coincides with the actual calibration card, it controls the positioning component (such as a 6DOF positioning component) of the head-mounted display device to collect the target calibration card image and calculate the 3D point coordinates corresponding to the target calibration card image, and obtain the 3D point coordinates sent by the head-mounted display device. The processor of the head-mounted display device determines the 3D point coordinates based on the calibration card alignment instruction obtained and the calibration pattern in the target calibration card image; for example, the processor of the head-mounted display device can operate the calibration card alignment instruction generated by the head-mounted display device when the wearer determines that the preset image displayed on the perspective display coincides with the actual calibration card, and controls the positioning component to collect the target calibration card image and calculate the 3D point coordinates corresponding to the target calibration card image.

[0049] Step 102: Determine the correspondence between the projection coordinate system of the optical machine and the coordinate system of the positioning component according to the 3D point coordinates.

[0050] It is understandable that if Figure 2 As shown, the AR device uses the 6DOF positioning component to obtain the coordinate conversion from the world coordinate system W to the coordinate system C of the 6DOF positioning system (i.e., the projection coordinate system), that is, the corresponding relationship T; the dotted frame in the figure can be the virtual image surface displayed by the display lens, that is, the two-dimensional uv coordinate system (i.e., the projection coordinate system L of the optical machine); the corresponding relationship G from the coordinate system C of the 6DOF positioning system to the projection coordinate system L of the optical machine is the value to be solved, and a point P in the world coordinate system W has a corresponding P' in the virtual image surface.

[0051] Correspondingly, Figure 2 The coordinate transformation process from point P to point P' can be abstracted as a virtual camera model. The virtual image plane represented by the dotted box can be used to simulate the image plane of the virtual camera. The virtual camera model is described in detail below:

[0052] The coordinate transformation of point P(x, y, z) in the world coordinate system to point P'(u, v) in the image coordinate system can be decomposed into two steps: the first step is the transformation of point P to the coordinate system C of the 6DOF positioning system. This process can be directly solved by the 6DOF positioning component, that is, P c =TP, where P c Indicates the corresponding point of point P in the coordinate system of the positioning component, P c =(x c ,y c ,z c ); Step 2, P c The transformation to the projection coordinate system of the optical machine, that is, P s =K[R cv |T cv ]P c =GP c , where P s Indicates P c The corresponding point of the point in the optical machine projection coordinate system, R cv is a 3*3 rotation matrix, indicating P c Rotation of the projection coordinate system to the optical machine; T cv is a 3*1 translation vector, indicating P c Translation to the projection coordinate system of the optical machine; introducing homogeneous coordinate transformation, expanding the above formula, the virtual camera projection model can be expressed as follows:

[0053]

[0054] The overall projection transformation defined by the virtual camera can be represented by a 3*4 projection matrix (i.e., a 3*4 projection matrix), that is, the corresponding relationship G between the coordinate system C of the 6DOF positioning system and the projection coordinate system L of the optical machine can be the above 3*4 projection matrix; the overall projection matrix g ij It can be directly estimated and calculated without using the actual internal and external parameters of the camera, making the solution simple and convenient.

[0055] Correspondingly, the estimation of the 3*4 projection matrix is ​​a standard technique commonly used in computer vision; calibration is performed by collecting the 2D image coordinates of some known 3D calibration points, and the correspondence between 3D and 2D coordinates defines a linear system that is solved using the projection matrix G.

[0056] That is to say, in this step, the processor can use the acquired 3D point coordinates and the 2D point coordinates corresponding to the 3D point coordinates in the projection coordinate system of the optical machine (i.e., the 2D point coordinates corresponding to the preset image displayed on the perspective display) to determine the correspondence between the projection coordinate system of the optical machine and the coordinate system of the positioning component (such as the above-mentioned 3*4 projection matrix G); for example, in this step, the processor can calculate the correspondence between the projection coordinate system of the optical machine and the coordinate system of the positioning component (such as the above-mentioned 3*4 projection matrix G) through singular value decomposition (SVD) based on the acquired 3D point coordinates.

[0057] Step 103: Calibrate the display content of the head mounted display device according to the corresponding relationship.

[0058] It can be understood that in this step, the processor can use the correspondence between the projection coordinate system of the optical machine and the coordinate system of the positioning component to calibrate the display content of the head-mounted display device to achieve calibration of the head-mounted display device.

[0059] Specifically, the specific manner in which the processor calibrates the display content of the head-mounted display device according to the corresponding relationship in this step can be set by the designer. For example, the control host can send the corresponding relationship to the head-mounted display device, so that the head-mounted display device can use the corresponding relationship to compensate for the fixed deviation between the projection coordinate system of the optical machine and the coordinate system of the positioning component, so that the virtual objects rendered and displayed by the head-mounted display device match the real-world objects.

[0060] In this embodiment, the embodiment of the present invention simplifies the calibration data acquisition process by determining the correspondence between the projection coordinate system of the optical machine and the coordinate system of the positioning component according to the 3D point coordinates corresponding to the acquired target calibration chart image. The calibration can be completed with only one alignment, which saves the calibration time and is suitable for large-scale mass production.

[0061] Based on the above embodiments, the present invention also provides a calibration method for a head mounted display device applied to a control host to ensure the accuracy of the calibration of the head mounted display device. Figure 5 , Figure 5 A flowchart of another method for calibrating a head mounted display device provided by an embodiment of the present invention. The method may include:

[0062] Step 201: The control host controls a camera under the perspective of the wearer of the head mounted display device to capture a projection image of the perspective display.

[0063] Among them, the camera under the wearer's perspective in this step (such as Figure 3The industrial camera in the head-mounted display device can be located behind the perspective display of the head-mounted display device, acting as the role of human eyes during use, capturing the virtual image projected by the shooting light machine and the ambient light of the perspective display; the projected image captured by the camera may include a preset image of the calibration chart displayed on the perspective display and an actual image of the calibration chart outside the perspective display.

[0064] Specifically, the perspective display may be a display for displaying images projected by an optical machine of a head-mounted display device, such as a transparent lens. The user may see external ambient light through the perspective display, thereby achieving a perspective effect. This embodiment does not limit the transmissive display method of the perspective display, such as an optical waveguide display or a curved prism display.

[0065] Step 202: determine whether the preset image of the calibration chart displayed by the perspective display in the projection image coincides with the actual calibration chart; if so, proceed to step 203.

[0066] It can be understood that in this step, the control host can determine whether it can control the positioning component of the head-mounted display device to capture the target calibration card image by whether the preset image of the calibration card displayed by the perspective display in the projection image coincides with the image of the actual calibration card in the projection image; thereby, when the preset image coincides with the image of the actual calibration card, the positioning component is controlled to capture the target calibration card image to complete the calibration of the head-mounted display device.

[0067] Specifically, the specific method for the processor of the control host in this step to determine whether the preset image of the calibration card displayed by the perspective display in the projection image coincides with the actual calibration card can be set by the designer. For example, the control host can determine whether the preset image of the calibration card displayed by the perspective display in the projection image coincides with the actual calibration card based on the projection image sent by the acquired camera.

[0068] Correspondingly, for the case where the preset image in this step does not coincide with the actual calibration card, the designer can set it according to the practical scenario and user needs. For example, when the preset image does not coincide with the actual calibration card, the control host can output calibration card position adjustment information to prompt the calibrator to adjust the position of the calibration card; the control host can also control the mobile device of the calibration card to move the position of the calibration card. For example, the control host can control the mobile device of the calibration card to move the position of the calibration card according to the acquired projection image; Figure 3 As shown, when the preset image in the image taken by the industrial camera (i.e., the projected image) does not coincide with the actual calibration card, the control host can move the cart (i.e., the mobile device) on which the calibration card is placed accordingly according to the image taken by the industrial camera.

[0069] Step 203: Obtain the 3D point coordinates corresponding to the target calibration card image.

[0070] Step 204: Determine the correspondence between the projection coordinate system of the optical machine and the coordinate system of the positioning component according to the 3D point coordinates.

[0071] Step 205: Calibrate the display content of the head mounted display device according to the corresponding relationship.

[0072] Specifically, step 203 to step 205 correspond to step 101 to step 103 in the above embodiment, and will not be described in detail here.

[0073] In this embodiment, the embodiment of the present invention utilizes a camera under the perspective of the wearer of the head mounted display device to replace human eye recognition, and controls the host to identify the coincidence alignment result, which has high reliability and precise control, and improves the efficiency of the calibration work.

[0074] Corresponding to the above method embodiment, an embodiment of the present invention further provides a calibration device for a head-mounted display device. The calibration device for a head-mounted display device described below and the calibration method for a head-mounted display device described above can refer to each other.

[0075] Please refer to Figure 6 , Figure 6 This is a structural block diagram of a calibration device for a head mounted display device provided by an embodiment of the present invention. The device may include:

[0076] The acquisition module 10 is used to acquire the 3D point coordinates corresponding to the target calibration chart image; wherein the target calibration chart image includes an image of the calibration chart, and the target calibration chart image is an image captured by the positioning component when a preset image of the calibration chart projected onto the perspective display by the optical machine from the perspective of the wearer of the head mounted display device coincides with the actual calibration chart;

[0077] A determination module 20, for determining the correspondence between the projection coordinate system of the optical machine and the coordinate system of the positioning component according to the 3D point coordinates;

[0078] The calibration module 30 is used to calibrate the display content of the head mounted display device according to the corresponding relationship.

[0079] Optionally, when the device is applied to a control host, it also includes:

[0080] A control module, used to control the camera under the wearer's perspective to capture the projection image of the perspective display;

[0081] The judging module is used to judge whether the preset image displayed by the perspective display in the projection image coincides with the actual calibration chart; if so, a start signal is sent to the acquisition module 10.

[0082] Optionally, the judgment module may include:

[0083] The moving submodule is used to control the moving device of the calibration card to move the position of the calibration card according to the projected image if it does not coincide with the actual calibration card.

[0084] Optionally, when the apparatus is applied to a head mounted display device, the acquisition module 10 can be specifically used for the head mounted display device to determine the 3D point coordinates using the calibration pattern in the target calibration card image according to the acquired calibration card alignment instruction.

[0085] Optionally, when the corresponding relationship is a 3*4 projection matrix, the determination module 20 may be specifically configured to calculate the 3*4 projection matrix by singular value decomposition according to the 3D point coordinates.

[0086] In this embodiment, the embodiment of the present invention determines the correspondence between the projection coordinate system of the optical machine and the coordinate system of the positioning component according to the 3D point coordinates corresponding to the acquired target calibration chart image by the determination module 20, thereby simplifying the calibration data acquisition process. Only one alignment is required to complete the calibration, saving the calibration time and being suitable for large-scale mass production.

[0087] Corresponding to the above method embodiment, an embodiment of the present invention further provides a calibration device for a head-mounted display device. The calibration device for a head-mounted display device described below and the calibration method for a head-mounted display device described above can refer to each other.

[0088] An embodiment of the present invention provides a calibration device for a head mounted display device, comprising:

[0089] Memory for storing computer programs;

[0090] The processor is used to implement the steps of the head mounted display device calibration method provided in the above embodiment when executing the computer program.

[0091] Specifically, the calibration device provided in this embodiment may be a head mounted display device or a control host.

[0092] Corresponding to the above method embodiment, an embodiment of the present invention further provides a calibration system for a head-mounted display device. The calibration system for a head-mounted display device described below and the calibration method for a head-mounted display device described above can refer to each other.

[0093] An embodiment of the present invention provides a calibration system for a head-mounted display device, comprising: a head-mounted display device and a control host; wherein the control host is a calibration device for the head-mounted display device provided in the above embodiment.

[0094] Optionally, the system may further include:

[0095] The camera is used to capture a projected image of the see-through display of the head mounted display device from the perspective of the wearer of the head mounted display device.

[0096] Optionally, the system may further include:

[0097] The mobile device is used to move the position of the calibration chart according to the control of the control host.

[0098] Corresponding to the above method embodiment, an embodiment of the present invention further provides a computer-readable storage medium. The computer-readable storage medium described below and the calibration method of a head-mounted display device described above can refer to each other.

[0099] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the head-mounted display device calibration method provided in the above method embodiment are implemented.

[0100] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the devices, equipment, systems and computer-readable storage media disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0101] The above is a detailed introduction to the calibration method, device, equipment, system and computer-readable storage medium of a head-mounted display device provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A calibration method for a head mounted display device, characterized in that: include: The control host controls the camera under the wearer's perspective to capture the projection image of the perspective display; Determining whether the preset image displayed by the perspective display in the projection image coincides with the actual calibration chart; If it does not coincide with the actual calibration chart, controlling the mobile device of the calibration chart to move the position of the calibration chart according to the projection image; If the target calibration chart image coincides with the actual calibration chart image, the 3D point coordinates corresponding to the target calibration chart image are obtained; wherein the target calibration chart image includes an image of the calibration chart, and the target calibration chart image is an image captured by the positioning component when the preset image of the calibration chart projected onto the perspective display by the optical machine from the perspective of the wearer of the head mounted display device coincides with the actual calibration chart image; Determine the correspondence between the projection coordinate system of the optical machine and the coordinate system of the positioning component according to the 3D point coordinates; According to the corresponding relationship, the display content of the head mounted display device is calibrated.

2. The calibration method for a head mounted display device according to claim 1, characterized in that: The step of obtaining the 3D point coordinates corresponding to the target calibration card image includes: The head mounted display device determines the 3D point coordinates using the calibration pattern in the target calibration chart image according to the acquired calibration chart alignment instruction.

3. The calibration method for a head mounted display device according to claim 1 or 2, characterized in that: When the corresponding relationship is a 3*4 projection matrix, determining the corresponding relationship between the projection coordinate system of the optical machine and the coordinate system of the positioning component according to the 3D point coordinates includes: According to the 3D point coordinates, the 3*4 projection matrix is ​​calculated by singular value decomposition.

4. A calibration device for a head mounted display device, characterized in that: include: An acquisition module is used to acquire the 3D point coordinates corresponding to the target calibration chart image; wherein the target calibration chart image includes an image of the calibration chart, and the target calibration chart image is an image captured by the positioning component when the preset image of the calibration chart projected onto the perspective display by the optical machine from the perspective of the wearer of the head mounted display device coincides with the actual calibration chart; A determination module, used to determine the correspondence between the projection coordinate system of the optical machine and the coordinate system of the positioning component according to the 3D point coordinates; A calibration module, used for calibrating the display content of the head mounted display device according to the corresponding relationship; When the device is applied to a control host, it also includes: A control module, used to control the camera under the wearer's perspective to capture the projection image of the perspective display; A judging module, used for judging whether the preset image displayed by the perspective display in the projection image coincides with the actual calibration chart; if so, sending a start signal to the acquisition module; The judging module comprises: The moving submodule is used to control the moving device of the calibration card to move the position of the calibration card according to the projection image if it does not coincide with the actual calibration card.

5. A calibration device for a head mounted display device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the steps of the head mounted display device calibration method according to any one of claims 1 to 3 when executing the computer program.

6. A calibration system for a head mounted display device, characterized in that: include: A head mounted display device and a control host; wherein the control host is a calibration device for the head mounted display device according to claim 5; A camera, configured to capture a projection image of a see-through display of the head mounted display device from the perspective of a wearer of the head mounted display device; The mobile device is used to move the position of the calibration chart according to the control of the control host.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the steps of the calibration method for the head-mounted display device according to any one of claims 1 to 3 are implemented.

Images