A testing method, device, equipment, system and medium for a relocation module

Abstract

The present application discloses a testing method, apparatus, equipment, system and medium for a repositioning module. The method comprises: obtaining first positioning auxiliary data collected from an object to be positioned; repositioning the object to be positioned based on the first positioning auxiliary data by using the repositioning module; and obtaining processing data of the repositioning process performed by the repositioning module, wherein the processing data is used to reflect the performance of the repositioning module. Through the above-mentioned manner, the present application can utilize the repositioning module to perform repositioning based on the first positioning auxiliary data collected from the object to be positioned, and obtain processing data during the repositioning process to reflect the performance of the repositioning module, thereby realizing performance evaluation of the repositioning module.

Description

Technical Field

[0001] The present application relates to the field of positioning technology, and in particular to a testing method, device, equipment, system and medium for a repositioning module. Background Art

[0002] When performing continuous pose estimation on the terminal, pose estimation interruption may often occur. Then, after the pose estimation is interrupted, when the pose estimation is performed again, repositioning can be performed through the repositioning module to determine whether the current pose estimation can be continued with the previous pose estimation. Usually, the repositioning module is the underlying algorithm, and the user can only subjectively feel the effect of repositioning from other display levels.

[0003] During the long-term research and development process, the applicant of this application found that there is currently no way to test and evaluate the repositioning effect and accuracy of the repositioning module itself, making it difficult to determine whether the repositioning effect and accuracy of the repositioning module meet the use requirements. Summary of the Invention

[0004] The present application at least provides a method, apparatus, device, system and medium for testing a relocation module.

[0005] The present application provides a testing method for a repositioning module, the method comprising: obtaining first positioning auxiliary data collected from an object to be positioned; repositioning the object to be positioned based on the first positioning auxiliary data using the repositioning module; and obtaining processing data of the repositioning process performed by the repositioning module, wherein the processing data is used to reflect the performance of the repositioning module.

[0006] Therefore, by utilizing the repositioning module to perform repositioning based on the first positioning auxiliary data collected by the object to be positioned, and obtaining processing data during the repositioning process to reflect the performance of the repositioning module, the performance evaluation of the repositioning module is achieved.

[0007] Among them, the processing data includes at least one of the execution status data of relocation, the test posture information obtained based on the relocation, and the performance loss data of the relocation process; the execution status data indicates whether the relocation is successful, and the performance loss data includes at least one of the time consumption of relocation and the resource occupancy of relocation.

[0008] Therefore, through at least one of the relocation execution status, test posture information and performance loss data, the performance of the relocation module can be reflected from at least one angle of the relocation success status, the relocation effect of the relocation module and the performance loss of the relocation module.

[0009] The test posture information includes the test posture of the object to be positioned obtained by repositioning, or the posture information of a virtual object displayed by the object to be positioned.

[0010] Therefore, the test posture of the object to be positioned obtained by repositioning or the posture information of the virtual object displayed by it can reflect the repositioning effect of the repositioning module.

[0011] Among them, the processed data includes the execution status data of the repositioning. After obtaining the processing data of the repositioning process performed by the repositioning module, the method also includes any one or more of the following steps: text prompts whether the repositioning is successful; voice prompts whether the repositioning is successful; in response to the repositioning being successful, displaying a virtual object based on the test posture of the object to be positioned obtained by the repositioning.

[0012] Therefore, the above method can prompt the user from at least one perspective that the relocation process is complete and whether the corresponding relocation is successful.

[0013] Among them, after obtaining the processing data of the relocation module during the relocation process, the method also includes: using the processing data to determine the performance characterization parameters of the relocation module, or sending the processing data to a preset terminal, wherein the preset terminal is used to determine the performance characterization parameters of the relocation module using the processing data.

[0014] Therefore, through the above-mentioned manner, the test device or the preset terminal can determine the performance characterization parameters for characterizing the performance of the relocation module based on the relocation processing data, so as to evaluate the performance of the relocation module.

[0015] Among them, using the processed data to determine the performance characterization parameters of the relocation module includes one or more of the following steps: in response to the processed data including execution status data, using the execution status data of multiple relocations to obtain the relocation success rate of relocation, wherein the relocation success rate of relocation is used as the performance characterization parameter, and the execution status data indicates whether the relocation is successful; in response to the processed data including the time consumed for relocation, using the time consumed for relocation as the performance characterization parameter; in response to the processed data including test posture information obtained based on relocation, comparing the test posture information with the true posture information to obtain the relocation accuracy, wherein the relocation accuracy is used as the performance characterization parameter.

[0016] Therefore, by processing different processing data separately, at least one of the relocation success rate, the relocation time consumption and the relocation accuracy can be obtained, so as to reflect the performance of the relocation module from different aspects.

[0017] Before comparing the test pose information with the true pose information, the method further includes: obtaining true pose information through a pose sensing system in a test environment, wherein the test environment is the environment in which the test equipment is located, or obtaining tracking pose information obtained by using a pose tracking algorithm before the pose tracking fails of the object to be positioned, and obtaining true pose information based on the tracking pose information, or obtaining image data collected before the pose tracking fails of the object to be positioned, and obtaining true pose information using the collected image data and preset map data of the test environment.

[0018] Therefore, the tracking pose information obtained by the pose tracking algorithm can be used to determine the true pose information for comparison with the test pose information, thereby reflecting the repositioning accuracy of the repositioning module.

[0019] Among them, after using the processed data to determine the performance characterization parameters of the relocation module, the method also includes any one or more of the following steps: for each performance characterization parameter, according to the numerical range in which the performance characterization parameter is located, determining the performance type corresponding to the performance characterization parameter; displaying or comparing and analyzing the performance information corresponding to multiple test situations, wherein the performance information includes at least one of the performance characterization parameters and the performance types corresponding to the performance characterization parameters, the multiple test situations include at least one of a first number of first test situations and a second number of second test situations, the first number of first test situations include using a first number of test devices to test the same relocation module respectively, and the second number of second test situations include using the same test device to test a second number of relocation modules respectively.

[0020] Therefore, by processing the performance characterization parameters to obtain the performance type, and displaying or comparing and analyzing the performance characterization parameters and the performance types corresponding to the performance characterization parameters, the performance of the relocation module can be reflected from different angles and in different ways.

[0021] The step of obtaining first positioning auxiliary data collected from the object to be positioned includes: obtaining the first positioning auxiliary data in response to detecting that posture tracking of the object to be positioned fails.

[0022] Therefore, when posture tracking fails, the first positioning auxiliary data is obtained for repositioning.

[0023] Among them, detecting that the posture tracking of the object to be positioned fails includes: detecting that the object to be positioned moves back and forth a preset number of times within a first time, or detecting that the object to be positioned fails to collect valid second positioning auxiliary data within a second time, wherein the second positioning auxiliary data is used to achieve posture tracking.

[0024] Therefore, whether the pose tracking status is failed can be determined in different ways.

[0025] The method further includes: in response to detecting that the posture tracking of the object to be positioned fails, prompting that the posture tracking fails.

[0026] Therefore, when posture tracking fails, a prompt may be given to allow the user to confirm that the current posture tracking has failed.

[0027] Before obtaining the first positioning auxiliary data collected from the object to be positioned, the method further includes: scanning the test environment to obtain a scene map of the test environment.

[0028] Therefore, by scanning the test environment, a scene map can be obtained for relocalization.

[0029] The repositioning of the object to be positioned based on the first positioning auxiliary data includes: obtaining a test pose of the object to be positioned based on the first positioning auxiliary data and the scene map.

[0030] Therefore, repositioning can be achieved through the first auxiliary data and the scene map, and a test pose can be obtained for subsequent evaluation of the repositioning accuracy.

[0031] The posture tracking step includes: obtaining tracking posture information of the object to be positioned based on the second positioning auxiliary data and the scene map collected from the object to be positioned.

[0032] Therefore, through the second positioning auxiliary data and the scene map, posture tracking can be achieved to obtain tracking posture information for obtaining true posture information.

[0033] The method further includes: during the process of scanning the test environment, prompting completeness information of the environment scan.

[0034] Therefore, by prompting the completeness information, the user can determine the completeness of the current environment scan.

[0035] The method further includes: before scanning the test environment, adjusting the parameters of the light source of the test environment to meet preset requirements, the parameters of the light source including at least one of intensity and color.

[0036] Therefore, by adjusting the light source of the test environment, a test environment under different light conditions can be constructed, so that the processed data can reflect the performance of the relocation module under different light conditions.

[0037] The testing method of the relocation module is executed before the relocation module is integrated into the application program.

[0038] Therefore, the relocation module can be decoupled from other modules of the application. Compared with using the integrated application to test the performance of the relocation module in the application, only testing the relocation module can reduce the impact of other modules of the application on the relocation, and thus can accurately determine the performance of the relocation module itself, and reduce the location analysis of problems obtained from the test; in addition, by executing the testing method of the relocation module before integration, the probability of integrating a low-performance relocation module into the application can be reduced, thereby avoiding the impact of the poor performance of the relocation module on the application.

[0039] Among them, the relocalization module is used to be integrated into augmented reality applications.

[0040] Therefore, by integrating the relocalization module into the augmented reality application, the performance of the relocalization module for the augmented reality application can be accurately evaluated, and then the relocalization module can be accurately improved based on the performance, which can subsequently improve the relocalization performance of the augmented reality application.

[0041] The present application provides a testing method for a relocation module, the method comprising: obtaining processing data of a relocation process performed by the relocation module on an object to be located; and determining performance characterization parameters of the relocation module using the processing data.

[0042] The present application provides a testing device for a repositioning module, which includes: a first acquisition module, a repositioning module, and a second acquisition module, wherein the first acquisition module is used to acquire first positioning auxiliary data collected from an object to be positioned; the repositioning module is used to use the repositioning module to reposition the object to be positioned based on the first positioning auxiliary data; the second acquisition module is used to acquire processing data of the repositioning module during the repositioning process, wherein the processing data is used to reflect the performance of the repositioning module.

[0043] The present application provides a testing device for a relocation module, which includes: a third acquisition module and a characterization module, wherein the third acquisition module is used to obtain processing data of the relocation module during the relocation process of the object to be located; and the characterization module is used to use the processing data to determine the performance characterization parameters of the relocation module.

[0044] The present application provides an electronic device, which includes a processor and a memory, wherein the memory is used to store program data, and the processor is used to execute the program data to implement any of the above methods.

[0045] The present application provides a testing system for a relocation module, which includes a processing device and a testing device, wherein the processing device is used to execute the method whose execution subject is the processing device, and the testing device is used to execute the method whose execution subject is the testing device.

[0046] The present application provides a computer-readable storage medium, which is used to store program data. The program data can be executed to implement any of the above methods.

[0047] In the above solution, the relocation module is used to perform relocation based on the first positioning auxiliary data collected from the object to be positioned, and processing data during the relocation process is obtained to reflect the performance of the relocation module, thereby achieving performance evaluation of the relocation module. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 1 is a flow chart of an embodiment of a method for testing a relocation module of the present application;

[0049] Figure 2 1 is a flow chart of another embodiment of the testing method of the relocation module of the present application;

[0050] Figure 3 1 is a flow chart of another embodiment of the testing method of the relocation module of the present application;

[0051] Figure 4 1 is a schematic diagram of a framework of an embodiment of a testing device for a relocation module of the present application;

[0052] Figure 5 1 is a schematic diagram of a framework of another embodiment of a testing device for a relocation module of the present application;

[0053] Figure 6 This is a schematic diagram of the framework of an embodiment of the electronic device of the present application;

[0054] Figure 7 It is a schematic diagram of a framework of an embodiment of a test system for a relocation module of the present application;

[0055] Figure 8 It is a schematic diagram of a framework of an embodiment of a computer-readable storage medium of the present application. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solutions and effects of this application clearer and more specific, this application is further described in detail below with reference to the accompanying drawings and examples.

[0057] The term "and / or" in this document simply describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the related objects are in an "or" relationship. Furthermore, "many" in this document means two or more than two.

[0058] It can be understood that the method of the present application may include the method provided by any one of the following method embodiments and any non-conflicting combination of the following method embodiments.

[0059] It is understood that the testing method for the relocation module can be roughly divided into two phases: the first phase is to perform relocation and obtain processing data during the relocation process, and the second phase is to perform performance evaluation based on the processing data during the relocation process. The relevant steps of the first phase can be performed by a test device, and the relevant steps of the second phase can be performed by a processing device. The processing device and the test device can be the same device or different devices.

[0060] The relocation module tested in this application can be integrated into an application for use. Instead of running the application integrated with the relocation module to obtain processing data, the test device runs the relocation module independently, thereby decoupling the relocation module from other modules in the application and testing the relocation module independently. The test method for the relocation module in this application is performed before the relocation module is integrated into the application. After the test is completed, the relocation module can be integrated into the application.

[0061] See also Figure 1 , Figure 1 It is a flow chart of an embodiment of the test method of the repositioning module of the present application. This embodiment is explained by taking the repositioning by the test device and obtaining the processing data during the repositioning process as an example, and the execution subject is the test device. In some cases, a map of the current environment is pre-stored in the device. When the device is within the range of the map, the device can determine the current posture based on the map. Due to some interference reasons, the device changes from the posture tracking state to the tracking failure state, and then it can be judged by repositioning whether it is still in the environment before the tracking failure. If it is, the repositioning posture can be determined. Among them, the device that runs the repositioning is the object to be positioned. During the test process, the test device can pre-store a scene map of the test environment. After repositioning, the test posture of the object to be positioned (test device) can be obtained. The method includes:

[0062] Step S110: Acquire first positioning auxiliary data collected from the object to be positioned.

[0063] The test device is the object to be located, and the test device may include an acquisition module for acquiring positioning-assisting data. The positioning-assisting data may reflect information about the current environment. For example, the acquisition module may be an image acquisition module, and the positioning-assisting data may be feature point information. The feature point information may be processed based on image data acquired by the image acquisition module.

[0064] Typically, during relocalization, the device may no longer be within the map range it was previously in, making it impossible to relocalize and determine the device's current position on the map. Furthermore, even if the device remains within the map range, relocalization may not be completed and the current position may not be determined. Furthermore, in some cases, even if relocalization is successful, the resulting position may differ from the actual position.

[0065] In order to test and evaluate the performance of the relocation module, the test can be carried out in the same test environment before and after relocation. In this way, there will be no situation where relocation cannot be achieved due to differences in the environment in which the equipment is located. The test results can reflect the actual relocation situation when the relocation conditions are met, and thus can reflect the performance of the relocation module.

[0066] Since the test device is always in the test environment during the test process, the first positioning assistance data collected from the object to be positioned in step S110 can actually be used to reflect information in the test environment.

[0067] Step S120: using a repositioning module to reposition the object to be positioned based on the first positioning assistance data.

[0068] The test device may pre-store a scene map of the test environment, which may include positioning assistance data within the test environment, reflecting information within the test environment. The relocation module then relocates the target object based on the first positioning assistance data. Specifically, the first positioning assistance data may be compared with the positioning assistance data in the scene map of the test environment for relocation. The test device can then determine whether it is currently in the test environment and, if so, its current test pose within the test environment. If the test pose is achieved within a preset time, the relocation is considered successful.

[0069] It is understood that if the test pose cannot be obtained within the preset time, then the relocalization can be considered a failure. The preset time can be determined by the user based on needs.

[0070] Step S130: Acquire processing data of the relocation process performed by the relocation module.

[0071] Among them, the processing data may include at least one of the execution status data of relocation, the test posture information obtained based on the relocation, and the performance loss data of the relocation process. The execution status data indicates whether the relocation is successful or failed. The performance loss data includes at least one of the resource occupancy of the relocation and the relocation time when the relocation is successful. The resource occupancy may include at least one of the occupancy of the CPU, GPU and memory.

[0072] The processing data can be used to reflect the performance of the relocation module. Specifically, it can reflect the relocation success rate of the relocation module when the relocation conditions are met, as well as the relocation speed, accuracy and performance loss.

[0073] In the above solution, the relocation module is used to perform relocation based on the first positioning auxiliary data collected from the object to be positioned, and processing data during the relocation process is obtained to reflect the performance of the relocation module, thereby achieving performance evaluation of the relocation module.

[0074] In addition, the testing method of the relocation module is executed before the relocation module is integrated into the application program, which can decouple the relocation module from other modules of the application program. Compared with using the integrated application program to test the performance of the relocation module in the application program, only testing the relocation module can reduce the influence of other modules of the application program on the relocation, thereby accurately determining the performance of the relocation module itself and reducing the location analysis of problems obtained from the test; in addition, by executing the testing method of the relocation module before integration, the probability of integrating a low-performance relocation module into the application program can be reduced, thereby avoiding the influence of the poor performance of the relocation module on the application program.

[0075] See also Figure 2 , Figure 2 1 is a flow chart of another embodiment of the test method for the repositioning module of the present application. The repositioning module tested in the embodiment of the present application can be used for integration into augmented reality applications, such as AR games, AR navigation, AR tour guides, and the like. By integrating the repositioning module into the augmented reality application, an accurate evaluation of the performance of the repositioning module for the augmented reality application can be achieved, and then the repositioning module can be accurately improved based on the performance, thereby improving the repositioning performance of the augmented reality application.

[0076] It should be noted that during normal use of the relocation module, the terminal device running the relocation module can also communicate with the cloud server to obtain auxiliary information from the cloud server to assist the relocation module in relocation. To facilitate testing of the relocation module, the relocation module running in the test device can be run offline, that is, without obtaining auxiliary information from the cloud server, and only using the relocation module to perform relocation.

[0077] In this embodiment, the execution subject is a test device, wherein the test device executes one of step S250 and step S260. If the test device and the processing device are the same device, then step S250 is executed and performance evaluation is performed based on the processing data during the relocation process. If the test device and the processing device are different devices, then step S260 is executed and the processing device performs performance evaluation based on the processing data during the relocation process. The method includes:

[0078] Step S210: Scan the test environment to obtain a scene map of the test environment.

[0079] The test scene map is a map used for relocalization. The map may be pre-stored in the test device or constructed by scanning the test device. The latter is used as an example in this embodiment.

[0080] Scanning the test environment in step S210 can obtain information in the test environment for use in constructing a scene map of the test environment. Scanning the test environment can be achieved using an image acquisition module. In some embodiments, a Bluetooth module and a geomagnetic module can also be used in addition to the image acquisition module. For example, the image acquisition module can be used to acquire image data of the test environment, and based on the image data, a feature point cloud of the test environment can be processed as feature point information to construct a scene map of the test environment. The Bluetooth information of the test environment can be acquired using the Bluetooth module, and the geomagnetic information of the test environment can be acquired using the geomagnetic module. The Bluetooth information and geomagnetic information can be used to assist the feature point cloud in constructing a scene map.

[0081] It should be noted that the scene map of the test environment may include positioning assistance data in the test environment, which is used to reflect information about the test environment. The positioning assistance data may include feature point information, which may be obtained by processing image data of the test environment. In some embodiments, the positioning assistance data may also include Bluetooth information, geomagnetic information, etc.

[0082] In some embodiments, during the process of scanning the test environment, the device can determine whether the information obtained from the current scan can construct a complete scene map, obtain the completeness information of the environment scan, and can prompt the user of the completeness information of the environment scan so that the user can determine the completeness of the current scan. When the completeness meets the preset requirements, the user can determine that the scene map construction is completed, end the scan of the test environment, and enter the relocation test phase.

[0083] In order to judge the repositioning accuracy, the posture of the test device is controlled to remain unchanged before entering the positioning and tracking failure stage and after completing the repositioning. Ideally, the test posture obtained based on repositioning should be consistent with the posture before entering the positioning and tracking failure stage. In this way, the posture before entering the positioning and tracking failure stage can be considered to be the true posture. By comparing the test posture and the true posture, the positioning accuracy of the repositioning module can be reflected.

[0084] Step S220: In response to detecting that the posture tracking of the object to be positioned fails, obtaining first positioning auxiliary data.

[0085] It is understandable that after completing the construction of the scene map of the test environment, the device can continue to collect the second positioning auxiliary data to achieve posture tracking of the object to be positioned (test device). Posture tracking may include: obtaining tracking posture information of the object to be positioned based on the second positioning auxiliary data and scene map collected from the object to be positioned. In some cases, the test device interrupts its own posture tracking, and then it cannot be positioned. After detecting that the posture tracking of the object to be positioned has failed, the test device can be repositioned.

[0086] In a specific application scenario, in order to turn the test device into a posture tracking failure state, the tester can quickly shake the device or block the camera for a long time to turn the test device into a posture tracking failure state and start repositioning.

[0087] In response to detecting that the posture tracking of the object to be positioned fails, it may specifically include: detecting that the object to be positioned moves back and forth a preset number of times within the first time, or detecting that no valid second positioning auxiliary data is collected for the object to be positioned within the second time, wherein, if the object to be positioned moves back and forth a preset number of times within the first time, then the test device will not be able to perform posture tracking based on the data collected within the first time, and the test device will change to a posture tracking failure state, and the second positioning auxiliary data is used to achieve posture tracking. If the valid second positioning auxiliary data cannot be collected, then the posture tracking is interrupted, and the test device will change to a posture tracking failure state.

[0088] In some embodiments, to facilitate the tester's determination of a posture tracking failure, the test device may, in response to detecting a posture tracking failure of the object to be located, provide a posture tracking failure prompt. This prompt may be provided in a variety of ways, depending on the user's needs, such as text prompts, voice prompts, and the like.

[0089] Step S230: using a repositioning module to reposition the object to be positioned based on the first positioning assistance data.

[0090] In a specific application scenario, after completing the construction of the scene map, the test device is placed in a preset posture, and then enters a tracking failure state, so that the test device is repositioned under the above preset posture to obtain a test posture. The preset posture can be used as the true posture. In order to ensure the accuracy of the test, markers can be set in the test environment, and the markers can be used to place the test device in a preset posture, which can ensure that the preset posture can be used as the true posture.

[0091] Step S230 may specifically be to obtain a test pose of the object to be positioned based on the first positioning assistance data and the scene map. Specifically, the first positioning assistance data may be compared with the positioning assistance data contained in the scene map. Taking the positioning assistance data as feature point information as an example, the feature point information collected during repositioning is matched with the feature point information contained in the scene map. If the two match, the test pose is further determined based on the matched feature point pair information. If the positioning assistance data includes Bluetooth information, the Bluetooth information in the first positioning assistance data may be compared with the Bluetooth information contained in the scene map to assist in determining the test pose.

[0092] Step S240: Acquire processing data of the relocation process performed by the relocation module.

[0093] Step S240 can be implemented by running a test tool on a test device, and the processing data of the relocation module during the relocation process can be obtained through the test tool.

[0094] It should be noted that, generally speaking, the repositioning process of the repositioning module is imperceptible to the user, but in order to facilitate testing and enable the tester to determine the start and end of a test, after completing a test, the test equipment can prompt the end of the test so that the tester can determine the end of the current test. The end of the test can be divided into two situations, one is that the repositioning is successful within the preset time, then the test ends, and the other is that the repositioning is not completed within the preset time, then the repositioning fails, and the test ends. The prompt of the end of the test can be achieved by prompting the execution status of the repositioning of this test, and the prompt can be implemented in a variety of ways, and the prompt method can be determined according to user needs, for example, text prompts, voice prompts, etc.

[0095] In a specific application scenario, after obtaining the processed data, the test device can use text prompts to indicate whether the relocation is successful.

[0096] In a specific application scenario, after obtaining the processed data, the test device can use voice prompts to indicate whether the relocation is successful.

[0097] In some embodiments, the tester can also be prompted to the end of this test by means of a preset virtual object. Specifically, a virtual object is pre-set. If the repositioning is successful, the test device can display the virtual object at the corresponding position after obtaining the test posture. If the tester can see the virtual object at the corresponding position, then it can be considered that this test is over and the repositioning is successful. If the virtual object cannot be seen within the preset time, then it can be considered that the repositioning has failed. Furthermore, the virtual object can always maintain a relative posture unchanged with the object to be positioned, or the posture of the virtual object remains unchanged, so that the tester can view the virtual object at a fixed position or at a relative position.

[0098] The processed data may include at least one of repositioning execution status data, test pose information obtained based on repositioning, and performance loss data of the repositioning process. The test pose information may include a test pose of the object to be positioned obtained by repositioning.

[0099] In some embodiments, the virtual object can not only be used to prompt the end of the test, but also to determine the test posture information. The test posture information may include the posture information of the virtual object displayed by the object to be located. Specifically, if the virtual object can always maintain an unchanged relative posture with the object to be located, then the posture information of the virtual object may be the posture of the virtual object obtained based on the test posture. If the posture of the virtual object remains unchanged, then the posture information of the virtual object may be the relative posture between the virtual object and the object to be located obtained based on the test posture.

[0100] The test pose information may correspond to the true pose information, and the contents of the two are corresponding. If the test pose information includes the test pose of the object to be located obtained by repositioning, then the corresponding true pose information may include the preset pose of the object to be located. If the test pose information includes the pose information of the virtual object displayed by the object to be located, it is further divided into: when the virtual object and the object to be located always maintain an unchanged relative pose, the test pose information includes the pose of the virtual object obtained based on the test pose and the fixed relative pose, and the corresponding true pose information may be the pose of the virtual object obtained based on the preset pose and the fixed relative pose. When the pose of the virtual object remains unchanged, the test pose information includes the relative pose between the virtual object and the object to be located obtained based on the test pose and the fixed pose of the virtual object, and the corresponding true pose information may be the relative pose between the virtual object and the object to be located obtained based on the preset pose and the fixed pose of the virtual object.

[0101] It should be noted that in order to comprehensively test the relocation module and understand its performance on different terminals, multiple terminal devices can be selected as test devices. One of the multiple terminal devices can then be selected as the execution subject of the method steps of this embodiment. Step S240 can then involve obtaining the processed data obtained by the terminal device and the processed data obtained by other test devices. In a specific application scenario, the terminal device is a mobile phone, and several models of mobile phones can be selected as test devices.

[0102] In order to test the performance of the repositioning module in different environments, multiple locations can be selected as test environments in at least one real environment. It can be understood that different locations in a larger environmental range can also be considered as different test environments. For each test device, repositioning is performed in each test environment. A set of processing data can be obtained by performing one repositioning. A set of processing data also includes at least one of the execution status data of the repositioning, the test posture information obtained based on the repositioning, and the performance loss data of the repositioning process. In some embodiments, when conducting a test, before scanning the test environment, the light source parameters of the test environment are adjusted to meet the preset requirements. The parameters of the light source include at least one of intensity and color. Therefore, a test environment with different light can be further constructed based on a certain test environment. Based on the different light conditions of the test environment, the performance of the repositioning module under different light conditions can also be reflected accordingly.

[0103] In addition, since the relocation module can be continuously iterated, the above test can be performed for each version of the relocation module. That is, for each version of the relocation module, it is run on all test devices and relocated respectively under different test environments. For example, test devices include A and B, and test environments include a, b, and c. Relocation module 1 is run on test device A and test device B respectively, and relocation is performed once in test environments a, b, and c. The same is true for relocation module 2. Then, processing data corresponding to 12 relocations is obtained.

[0104] Step S250: Determine performance characterization parameters of the relocation module using the processed data.

[0105] Step S250 may specifically include one or more of the following steps: in response to the processing data including execution status data, using the execution status data of multiple repositionings to obtain the repositioning success rate of repositioning, wherein the execution status data indicates whether the repositioning is successful, and the repositioning success rate serves as a performance characterization parameter; in response to the processing data including the time consumed for repositioning, using the time consumed for repositioning as a performance characterization parameter; in response to the processing data including test posture information obtained based on repositioning, comparing the test posture information with the true posture information to obtain the repositioning accuracy, wherein the repositioning accuracy serves as a performance characterization parameter.

[0106] It should be noted that before comparing the test pose information with the true pose information, the test equipment can obtain the true pose information in advance. In fact, the true pose information reflects the preset pose, and there are many ways to obtain it. For example, the true pose information can be obtained by the test equipment. The tracking pose information of the object to be positioned is obtained by using the pose tracking algorithm before the pose tracking fails, and the true pose information is obtained based on the pose tracking information.

[0107] In some embodiments, a posture sensing system may be provided in the test environment, and the true posture information of the test device may be determined using the posture sensing system, wherein the posture sensing system may include several cameras and / or sensors, etc.

[0108] In some embodiments, other devices can also be used to pre-build preset map data of the test environment. For example, high-precision acquisition equipment can be used to collect and build preset map data, and the image data collected by the test equipment before the posture tracking fails can be used. Further, it can be the last image data collected, combined with the preset map data, to obtain the true value posture information.

[0109] In some embodiments, a plane map of the test environment can be pre-constructed, and based on the position and angle of the test device in the plane map, the position and angle of the test device in the direction perpendicular to the plane map can be controlled on this basis, so that the true value pose information can be obtained. Among them, the repositioning success rate can be obtained by dividing the number of successful repositioning by the total number of repositioning, and the repositioning accuracy can be obtained based on the difference between the test pose information and the true value pose information. In some embodiments, the repositioning accuracy can be obtained based on the pose difference, or the test pose information and the true value pose information can be converted into position information accordingly, and the repositioning accuracy can be obtained based on the difference in position information. For example, the contents included in the test pose information and the true value pose information are corresponding, and the two are compared accordingly. For example, the test pose information includes a test position, and the true value pose information includes a true value position. Then, based on the difference between the test position and the true value position, the repositioning accuracy can be determined. For example, the difference can be directly used as the repositioning accuracy, or the repositioning accuracy can be determined by comparing the difference with the expected value of the error.

[0110] In some embodiments, the performance loss data in the processing data may also include the relocated resource occupancy. The resource occupancy may then be used directly as a performance characterization parameter, or compared with an expected value of the resource occupancy, and the comparison result may be used as a performance characterization parameter.

[0111] It should be noted that some performance characterization parameters can be obtained based on the processing data of multiple relocations, such as the relocation success rate, and some performance characterization parameters can be obtained based on the processing data of a single relocation, such as the relocation time, relocation accuracy, etc. For the latter, after obtaining a performance characterization parameter value based on the processing data of a single relocation, the performance characterization parameters corresponding to the multiple relocations can be further statistically processed from multiple dimensions. For example, the average, mode, and median of the relocation time corresponding to the same test device, as well as the average, mode, and median of the relocation time corresponding to the same test environment, can be statistically analyzed separately. In this way, the performance characterization parameters of the relocation module can be understood from multiple dimensions, and the performance of the relocation module can be reflected from multiple dimensions.

[0112] Step S260: Send the processed data to a preset terminal.

[0113] Then, the preset terminal acts as a processing device to process the processing data and obtain performance characterization parameters of the relocation module. For a description of how the processing device obtains the performance characterization parameters, reference may be made to the relevant content of step S250.

[0114] In some embodiments, after obtaining the performance characterization parameters, the test device may further determine, for each performance characterization parameter, the corresponding performance type according to the numerical range of the performance characterization parameter. The numerical range of the performance characterization parameter and the classification of performance types may be configured based on user needs. For example, one classification of performance types may be excellent, fair, or poor.

[0115] In a specific application scenario, for the repositioning success rate, if the repositioning success rate is greater than 80%, then the performance type corresponding to the repositioning success rate can be determined to be excellent; if the repositioning success rate is less than or equal to 80% and greater than 65%, then the performance type corresponding to the repositioning success rate can be determined to be general; if the repositioning success rate is less than or equal to 65%, then the performance type corresponding to the repositioning success rate can be determined to be poor.

[0116] In a specific application scenario, for the relocation time, if the relocation time is less than 200ms, then the performance type corresponding to the relocation time can be determined to be excellent; if the relocation time is greater than or equal to 200ms and less than 1s, then the performance type corresponding to the relocation time can be determined to be general; if the relocation time is greater than 1s, then the performance type corresponding to the relocation time can be determined to be poor.

[0117] In some embodiments, the test device may also display or compare and analyze performance information corresponding to various test conditions, where the performance information may include at least one of a performance characterization parameter and a performance type corresponding to the performance characterization parameter. This display may be performed in a variety of ways, such as directly displaying the performance information content or displaying the performance information in the form of a chart.

[0118] Among them, the multiple test conditions include at least one of a first number of first test conditions and a second number of second test conditions, wherein the first number of first test conditions include using a first number of test devices to test the same relocation module respectively, and the second number of second test conditions include using the same test device to test a second number of relocation modules respectively.

[0119] In a specific application scenario, three terminal devices A, B, and C are selected as test devices, and two relocation modules a and b are selected as the relocation modules to be tested. Then, one of the first test conditions can be to run the relocation module a on these three terminal devices A, B, and C respectively. Then, based on the performance information corresponding to this test condition, the performance of the relocation module a on different terminal devices can be displayed and analyzed. One of the second test conditions can be to run the relocation modules a and b respectively on the terminal device A. Then, based on the performance information corresponding to this test condition, the performance of different relocation modules on the same terminal device can be displayed and analyzed.

[0120] It should be noted that each first / second test situation can also include multiple relocation test processes. For example, when running the relocation module a on the three terminal devices A, B, and C respectively, each terminal device can run the relocation module a in multiple test environments, so the performance information of the relocation module can also be displayed or analyzed based on the dimension of the test environment.

[0121] In addition, the performance information corresponding to multiple first test situations can be displayed or compared and analyzed, or the performance information corresponding to multiple second test situations can be displayed or compared and analyzed. For example, the relocation module a is run on the three terminal devices A, B, and C, and the relocation module b is run on the three terminal devices A, B, and C. The performance information corresponding to these two first test situations is displayed and compared and analyzed, which can also reflect the performance of the relocation module a and the relocation module b on the terminal devices.

[0122] In this embodiment, after the test device executes step S260, steps related to obtaining performance characterization parameters based on the processed data and further processing the performance characterization parameters may all be executed by the preset terminal.

[0123] Generally speaking, the repositioning of the repositioning module can, to a certain extent, reflect the changes in the content displayed to the user by the application in which it is located. For example, in AR navigation, after the navigation is lost and repositioning is performed, the AR icon displayed to the user may change, such as reappearing or changing its position. The testing method of the repositioning module provided in this application can reflect the performance of the repositioning module alone by processing data, without relying on the subjective feeling of the repositioning module during the application process, and can evaluate the repositioning module more objectively and accurately.

[0124] In the above scheme, the repositioning module is used to perform repositioning based on the first positioning auxiliary data collected from the object to be positioned, and the processed data during the repositioning process is obtained to reflect the performance of the repositioning module. Different processed data are processed separately to obtain performance characterization parameters, thereby realizing performance evaluation of the repositioning module from multiple aspects.

[0125] See also Figure 3 , Figure 3 FIG. 1 is a flow chart of another embodiment of the test method for the relocation module of the present application. In this embodiment, the execution subject is a processing device. The method includes:

[0126] Step S310: obtaining processing data of the relocation process of the object to be located by the relocation module.

[0127] Step S310 is to obtain processing data from the test device. If there are multiple test devices, the processing device can obtain processing data from the multiple test devices respectively.

[0128] Step S320: Determine performance characterization parameters of the relocation module using the processed data.

[0129] The relevant description of step S320 can refer to the relevant content of the aforementioned step S250. After obtaining the performance characterization parameters, further processing and analysis can be performed based on the performance characterization parameters. The relevant operations and descriptions can refer to the relevant operations performed after obtaining the performance characterization parameters in the aforementioned embodiment.

[0130] In the above solution, the processing data of the relocation process of the object to be located by the relocation module is obtained to reflect the performance of the relocation module, thereby achieving performance evaluation of the relocation module.

[0131] See also Figure 4 , Figure 4 It is a schematic diagram of the framework of an embodiment of a testing device for a relocation module of the present application.

[0132] In this embodiment, the testing device 40 of the repositioning module includes a first acquisition module 41, a repositioning module 42 and a second acquisition module 42, wherein the first acquisition module 41 can be used to obtain first positioning auxiliary data collected from the object to be positioned; the repositioning module 42 can be used to use the repositioning module to reposition the object to be positioned based on the first positioning auxiliary data; the second acquisition module 43 can be used to obtain processing data of the repositioning process performed by the repositioning module, wherein the processing data is used to reflect the performance of the repositioning module.

[0133] Among them, the processing data includes at least one of the execution status data of relocation, the test posture information obtained based on the relocation, and the performance loss data of the relocation process; the execution status data indicates whether the relocation is successful, and the performance loss data includes at least one of the time consumption of relocation and the resource occupancy of relocation.

[0134] The test posture information includes the test posture of the object to be positioned obtained by repositioning, or the posture information of a virtual object displayed by the object to be positioned.

[0135] Among them, the processed data includes the execution status data of the repositioning, and the testing device 40 of the repositioning module can also include a prompt module, which is used to execute any one or more of the following steps after obtaining the processing data of the repositioning process performed by the repositioning module: text prompt whether the repositioning is successful; voice prompt whether the repositioning is successful; in response to the success of the repositioning, display a virtual object based on the test posture of the object to be positioned obtained by the repositioning.

[0136] Among them, the testing device 40 of the relocation module can also include a characterization module, which is used to determine the performance characterization parameters of the relocation module using the processed data after obtaining the processing data of the relocation process of the relocation module, or to send the processed data to a preset terminal, wherein the preset terminal is used to determine the performance characterization parameters of the relocation module using the processed data.

[0137] Among them, the characterization module is used to use the processing data to determine the performance characterization parameters of the repositioning module, including one or more of the following steps: in response to the processing data including execution status data, using the execution status data of multiple repositionings to obtain the repositioning success rate of repositioning, wherein the repositioning success rate of repositioning is used as the performance characterization parameter, and the execution status data indicates whether the repositioning is successful; in response to the processing data including the time consumed for repositioning, the time consumed for repositioning is used as the performance characterization parameter; in response to the processing data including the test posture information obtained based on the repositioning, the test posture information and the true posture information are compared to obtain the repositioning accuracy, wherein the repositioning accuracy is used as the performance characterization parameter.

[0138] Among them, the testing device 40 of the repositioning module can also include a tracking module, which is used to obtain true pose information through a pose sensing system in a test environment before comparing the test pose information with the true pose information, wherein the test environment is the environment in which the test equipment is located; or, obtain tracking pose information obtained by using a pose tracking algorithm before the pose tracking fails of the object to be positioned, and obtain true pose information based on the tracking pose information, or obtain image data collected before the pose tracking fails of the object to be positioned, and obtain true pose information using the collected image data and preset map data of the test environment.

[0139] Among them, the characterization module can also be used to, after using the processed data to determine the performance characterization parameters of the relocation module, determine, for each performance characterization parameter, the performance type corresponding to the performance characterization parameter according to the numerical range in which the performance characterization parameter is located; display or compare and analyze the performance information corresponding to multiple test situations, wherein the performance information includes at least one of the performance characterization parameters and the performance types corresponding to the performance characterization parameters, the multiple test situations include at least one of a first number of first test situations and a second number of second test situations, the first number of first test situations include using a first number of test devices to test the same relocation module respectively, and the second number of second test situations include using the same test device to test a second number of relocation modules respectively.

[0140] The first acquisition module 41 is used to acquire first positioning auxiliary data collected by the object to be positioned, including: acquiring the first positioning auxiliary data in response to detecting that the posture tracking of the object to be positioned fails.

[0141] Among them, detecting that the posture tracking of the object to be positioned fails includes: detecting that the object to be positioned moves back and forth a preset number of times within a first time, or detecting that the object to be positioned fails to collect valid second positioning auxiliary data within a second time, wherein the second positioning auxiliary data is used to achieve posture tracking.

[0142] The prompt module may also be configured to prompt that the posture tracking has failed in response to detecting that the posture tracking of the object to be positioned has failed.

[0143] The testing device 40 of the repositioning module may further include a scanning module for scanning the test environment to obtain a scene map of the test environment before acquiring the first positioning auxiliary data collected from the object to be positioned.

[0144] The repositioning module 42 is configured to reposition the object to be positioned based on the first positioning auxiliary data, including obtaining a test pose of the object to be positioned based on the first positioning auxiliary data and the scene map.

[0145] The tracking module performs posture tracking, including: obtaining tracking posture information of the object to be positioned based on the second positioning auxiliary data and the scene map collected from the object to be positioned.

[0146] The prompt module may also be used to provide completeness information of the environment scan during the test environment scan process.

[0147] The scanning module may also be used to adjust the parameters of the light source of the test environment to meet preset requirements before scanning the test environment, where the parameters of the light source include at least one of intensity and color.

[0148] Among them, the testing of the relocation module is performed before the relocation module is integrated into the application.

[0149] Among them, the relocalization module is used to be integrated into augmented reality applications.

[0150] See also Figure 5 , Figure 5 It is a schematic diagram of the framework of another embodiment of the testing device of the relocation module of the present application.

[0151] In this embodiment, the testing device 50 of the relocation module includes a third acquisition module 51 and a characterization module 52, wherein the third acquisition module 51 is used to obtain the processing data of the relocation process of the relocation module on the object to be positioned; the characterization module 52 is used to use the processing data to determine the performance characterization parameters of the relocation module.

[0152] See also Figure 6 , Figure 6It is a schematic diagram of the framework of an embodiment of the electronic device of the present application.

[0153] In this embodiment, the electronic device 60 includes a memory 61 and a processor 62, wherein the memory 61 is coupled to the processor 62. Specifically, the various components of the electronic device 60 may be coupled together via a bus, or the processor 62 of the electronic device 60 may be connected one-to-one with the other components. The electronic device 60 may be any device with processing capabilities, such as a computer, a tablet computer, a mobile phone, etc.

[0154] The memory 61 is used to store program data executed by the processor 62 and data processed by the processor 62, such as test posture information, performance characterization parameters, etc. The memory 61 includes a non-volatile storage portion for storing the above program data.

[0155] The processor 62 controls the operation of the electronic device 60 and may also be referred to as a CPU (Central Processing Unit). The processor 62 may be an integrated circuit chip having signal processing capabilities. The processor 62 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The general-purpose processor may be a microprocessor or any conventional processor. In addition, the processor 62 may be implemented by multiple integrated circuit chips.

[0156] The processor 62 calls the program data stored in the memory 61 to execute instructions to implement any of the above-mentioned testing methods for the relocation module.

[0157] See also Figure 7 , Figure 7 It is a schematic diagram of the framework of an embodiment of a test system for the relocation module of the present application.

[0158] In this embodiment, the test system 70 for the relocation module includes a processing device 71 and a test device 72. The processing device 71 and the test device 72 are different devices. The test device 72 can be used to execute the test method for the relocation module in which the execution subject is the test device, run the relocation module, and obtain processed data. The processing device 71 can be used to execute the test method for the relocation module in which the execution subject is the processing device, process the processing device, and obtain performance characterization parameters. In some embodiments, the test device 72 can also be used to obtain true value pose information.

[0159] See also Figure 8 , Figure 8 It is a schematic diagram of a framework of an embodiment of a computer-readable storage medium of the present application.

[0160] In this embodiment, the computer-readable storage medium 80 stores program data 81 executable by a processor. The program data can be executed to implement any of the above-mentioned testing methods for the relocation module.

[0161] The computer-readable storage medium 80 can specifically be a medium that can store program data, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, or it can also be a server that stores the program data. The server can send the stored program data to other devices for execution, or it can also execute the stored program data itself.

[0162] In some embodiments, the computer readable storage medium 80 may also be Figure 6 Memory shown.

[0163] Some embodiments of the present disclosure relate to the field of augmented reality, which obtains image information of target objects in a real environment, and then uses various vision-related algorithms to detect or identify the relevant features, states and attributes of the target objects, thereby obtaining an AR effect that combines virtual and reality and matches the specific application. For example, the target object may involve faces, limbs, gestures, movements, etc. related to the human body, or markers, landmarks related to objects, or sand tables, display areas or display items related to venues or places. Vision-related algorithms may involve visual positioning, SLAM, 3D reconstruction, image registration, background segmentation, key point extraction and tracking of objects, and object posture or depth detection. Specific applications can not only involve interactive scenes such as guided tours, navigation, explanations, reconstruction, virtual effect overlay displays, etc. related to real scenes or objects, but also special effects processing related to people, such as makeup beautification, body beautification, special effects display, virtual model display and other interactive scenes.

[0164] Convolutional neural networks can be used to detect or identify the relevant features, states, and attributes of target objects. The above-mentioned convolutional neural networks are network models obtained by model training based on deep learning frameworks.

[0165] In some embodiments, the functions or modules included in the device provided by the embodiments of the present disclosure can be used to execute the method described in the above method embodiments. The specific implementation can refer to the description of the above method embodiments. For the sake of brevity, it will not be repeated here.

[0166] The above description of the various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced with each other and will not be repeated herein for the sake of brevity.

[0167] The above description is only an implementation method of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of this application, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for testing a relocation module, characterized in that: The method comprises: Acquire first positioning auxiliary data collected after the position tracking of the object to be positioned fails; Relocating the object to be located based on the first positioning assistance data using the relocation module; Acquiring processing data of the relocation process performed by the relocation module, wherein the processing data is used to reflect the performance of the relocation module; the processing data is used to determine performance characterization parameters of the relocation module; The processed data includes the test pose information obtained by repositioning, the performance characterization parameter includes the repositioning accuracy, and the step of obtaining the performance characterization parameter of the repositioning module includes: Obtaining tracking pose information of the object to be positioned obtained by using a pose tracking algorithm before pose tracking fails, and obtaining true pose information based on the tracking pose information; or obtaining image data collected before pose tracking fails of the object to be positioned, and obtaining true pose information using the collected image data and preset map data of the test environment; using landmarks in the test environment to maintain the pose of the object to be positioned unchanged before pose tracking fails and after the relocation is completed; The test pose information is compared with the true pose information to obtain the repositioning accuracy.

2. The method according to claim 1, characterized in that The processing data also includes at least one of the execution status data of the relocation and the performance loss data of the relocation process; the execution status data indicates whether the relocation is successful, and the performance loss data includes at least one of the time consumption of the relocation and the resource occupancy of the relocation.

3. The method according to claim 2, characterized in that The test posture information includes the test posture of the object to be positioned obtained by the repositioning, or posture information of a virtual object displayed by the object to be positioned; And / or, the processing data includes execution status data of the relocation, and after obtaining the processing data of the relocation process performed by the relocation module, the method further includes any one or more of the following steps: The text indicates whether the relocation is successful; Voice prompt whether the relocation is successful; In response to the repositioning being successful, a virtual object is displayed based on a test pose of the object to be positioned obtained by the repositioning.

4. The method according to claim 1, wherein After obtaining the processing data of the relocation process performed by the relocation module, the method further includes: Determining performance characterizing parameters of the relocation module using the processed data, or, The processed data is sent to a preset terminal, wherein the preset terminal is used to determine a performance characteristic parameter of the relocation module using the processed data.

5. The method according to claim 4, characterized in that Determining the performance characterization parameters of the relocation module by using the processed data further includes one or more of the following steps: In response to the processing data including execution status data, obtaining a relocation success rate of the relocation using the execution status data of the multiple relocations, wherein the relocation success rate of the relocation is used as the performance characterization parameter, and the execution status data indicates whether the relocation is successful; In response to the processing data including the time consumption of relocation, the time consumption of relocation is used as the performance characterization parameter.

6. The method according to claim 4 or 5, characterized in that After determining the performance characterization parameters of the relocation module using the processed data, the method further includes any one or more of the following steps: For each of the performance characterization parameters, determining the performance type corresponding to the performance characterization parameter according to the numerical range of the performance characterization parameter; Performance information corresponding to multiple test situations is displayed or compared and analyzed, wherein the performance information includes the performance characterization parameters and at least one of the performance types corresponding to the performance characterization parameters, the multiple test situations include at least one of a first number of first test situations and a second number of second test situations, the first number of first test situations include using a first number of test devices to test the same relocation module respectively, and the second number of second test situations include using the same test device to test a second number of relocation modules respectively.

7. The method according to claim 1, characterized in that The obtaining of first positioning auxiliary data collected after the position tracking of the object to be positioned fails includes: In response to detecting that the posture tracking of the object to be positioned fails, the first positioning assistance data is acquired.

8. The method according to claim 7, characterized in that The detecting that the posture tracking of the object to be positioned fails includes: detecting that the object to be positioned moves back and forth a preset number of times within a first time, or detecting that no valid second positioning auxiliary data is collected from the object to be positioned within a second time, wherein the second positioning auxiliary data is used to implement the posture tracking; And / or, the method further comprises: In response to detecting that the posture tracking of the object to be positioned fails, a prompt indicating that the posture tracking fails is given.

9. The method according to claim 7 or 8, characterized in that Before obtaining first positioning assistance data collected after the position tracking of the object to be positioned fails, the method further includes: Scanning the test environment to obtain a scene map of the test environment; The relocating the object to be located based on the first positioning assistance data includes: Obtaining a test pose of the object to be positioned based on the first positioning assistance data and the scene map; The posture tracking step includes: Based on the second positioning auxiliary data collected from the object to be positioned and the scene map, tracking pose information of the object to be positioned is obtained.

10. The method according to claim 9, characterized in that The method further comprises: During the scanning process of the test environment, prompting the completeness information of the environment scan; and / or, Before scanning the test environment, the parameters of the light source of the test environment are adjusted to meet preset requirements, and the parameters of the light source include at least one of intensity and color.

11. The method according to claim 1, characterized in that The testing method of the relocation module is performed before the relocation module is integrated into the application program; And / or, the repositioning module is used to be integrated into an augmented reality application.

12. A method for testing a relocation module, characterized in that: The method comprises: Obtaining processing data of a relocation process performed by the relocation module on the object to be located; Determining performance characterizing parameters of the relocation module using the processed data; The processed data includes the test pose information obtained by repositioning, the performance characterization parameter includes the repositioning accuracy, and the step of obtaining the performance characterization parameter of the repositioning module includes: Obtaining tracking pose information of the object to be positioned obtained by using a pose tracking algorithm before pose tracking fails, and obtaining true pose information based on the tracking pose information; or obtaining image data collected before pose tracking fails of the object to be positioned, and obtaining true pose information using the collected image data and preset map data of the test environment; using landmarks in the test environment to maintain the pose of the object to be positioned unchanged before pose tracking fails and after the relocation is completed; The test pose information is compared with the true pose information to obtain the repositioning accuracy.

13. A testing device for a relocation module, characterized in that: The device comprises: A first acquisition module is used to acquire first positioning auxiliary data collected after the posture tracking of the object to be positioned fails; a repositioning module, configured to reposition the object to be positioned based on the first positioning auxiliary data using the repositioning module; a second acquisition module, configured to acquire processing data of the relocation process performed by the relocation module, wherein the processing data is used to reflect the performance of the relocation module; and the processing data is used to determine performance characterization parameters of the relocation module; In which, the processed data includes the test posture information obtained by repositioning, the performance characterization parameters include the repositioning accuracy, and the steps of obtaining the performance characterization parameters of the repositioning module include: obtaining the tracking posture information of the object to be positioned using the posture tracking algorithm before the posture tracking fails, and obtaining the true posture information based on the tracking posture information; or, obtaining the image data collected before the posture tracking fails of the object to be positioned, and obtaining the true posture information using the collected image data and the preset map data of the test environment; using the markers in the test environment to keep the posture of the object to be positioned unchanged before the posture tracking fails and after the repositioning is completed; comparing the test posture information with the true posture information to obtain the repositioning accuracy.

14. A testing device for a relocation module, characterized in that: The device comprises: A third acquisition module is used to obtain processing data of the relocation process of the object to be located by the relocation module; A characterization module is used to use the processed data to determine the performance characterization parameters of the repositioning module, wherein the processed data includes test posture information obtained by repositioning, and the performance characterization parameters include repositioning accuracy. The steps of obtaining the performance characterization parameters of the repositioning module include: obtaining tracking posture information obtained by using a posture tracking algorithm for the object to be positioned before posture tracking fails, and obtaining true posture information based on the tracking posture information; or obtaining image data collected before posture tracking fails for the object to be positioned, and obtaining true posture information using the collected image data and preset map data of the test environment; using markers in the test environment to keep the posture of the object to be positioned unchanged before posture tracking fails and after the repositioning is completed; and comparing the test posture information with the true posture information to obtain the repositioning accuracy.

15. An electronic device, characterized in that: The electronic device includes a processor and a memory, wherein the memory is used to store program data, and the processor is used to execute the program data to implement the method according to any one of claims 1 to 11 or claim 12.

16. A testing system for a relocation module, characterized in that: The system comprises a processing device and a testing device, wherein the testing device is configured to execute the method according to any one of claims 1 to 11 , and the processing device is configured to execute the method according to claim 12 .

17. A computer-readable storage medium, characterized in that The computer-readable storage medium is used to store program data, and the program data can be executed to implement the method according to any one of claims 1 to 11 or claim 12.

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