Calibration method, device and equipment of projection light machine and storage medium

Abstract

The invention relates to the technical field of projection, and provides a calibration method, device and equipment of a projection light machine and a storage medium, the calibration method and device are applied to near-eye display equipment, the near-eye display equipment comprises the projection light machine and an optical waveguide, and the calibration method comprises the following steps: controlling the projection light machine of the near-eye display equipment to project a preset calibration image onto the optical waveguide of the near-eye display equipment; the preset calibration image comprises a target virtual calibration object; obtaining a target calibration image obtained by shooting the optical waveguide by the camera; the target calibration image comprises a preset calibration image projected on the optical waveguide; a connection relation is established between the camera and the near-to-eye display equipment; light machine parameters of the projection light machine are determined according to the target calibration images corresponding to the multiple preset calibration images; wherein the shapes of the target virtual calibration objects in the plurality of preset calibration images are the same, and the rotation angles of the target virtual calibration objects are different, so that the calibration convenience of the projection light machine is improved.

Description

Technical Field

[0001] The present application relates to the field of projection technology, and in particular to a calibration method, device, equipment and storage medium for a projection optical machine. Background Art

[0002] With the development of near-eye display, more and more near-eye display devices have begun to introduce projection light machines for near-eye display. Take the augmented reality (AR) glasses included in the near-eye display device as an example. The projection light machine set on the AR glasses can provide a field of view penetration effect, and can display virtual images to the user's eyes without blocking the normal environment field of view. Accordingly, the virtual image can be superimposed and aligned with the actual image of the real environment, thereby achieving the effect of augmented reality.

[0003] Since there are processing and assembly errors in the actual production and assembly process of the projection optical machine, it is easy to cause the actual optical machine parameters of the projection optical machine to be inconsistent with the theoretical optical machine parameters, so the projection optical machine needs to be calibrated. Based on this, it is urgent to improve the convenience of calibrating the projection optical machine. Summary of the invention

[0004] The main purpose of this application is to provide a calibration method, device, equipment and storage medium for a projection optical machine, aiming to solve the technical problem of how to improve the convenience of calibration of the projection optical machine.

[0005] In a first aspect, the present application provides a calibration method for a projection optical machine, which is applied to a near-eye display device, wherein the near-eye display device includes a projection optical machine and an optical waveguide, and the calibration method includes:

[0006] Controlling the projection optical machine of the near-eye display device to project a preset calibration image onto the optical waveguide of the near-eye display device; the preset calibration image includes a target virtual calibration object;

[0007] Acquire a target calibration image obtained by photographing the optical waveguide with a camera; the target calibration image includes a preset calibration image projected onto the optical waveguide; the camera is connected to the near-eye display device;

[0008] The optical and mechanical parameters of the projection optical machine are determined according to the target calibration images corresponding to each of the plurality of preset calibration images; wherein the shapes of the target virtual calibration objects in the plurality of preset calibration images are the same, and the rotation angles of the target virtual calibration objects are different.

[0009] In a second aspect, the present application provides a calibration device for a projection optical machine, the calibration device comprising:

[0010] An image projection module, used to control a projection optical machine of a near-eye display device to project a preset calibration image onto an optical waveguide of the near-eye display device; the preset calibration image includes a target virtual calibration object;

[0011] An image acquisition module, used for acquiring a target calibration image obtained by photographing the optical waveguide with a camera, wherein the target calibration image includes a target virtual calibration object; the camera is connected to the near-eye display device;

[0012] The projection optical machine calibration module is used to determine the optical machine parameters of the projection optical machine according to the target calibration images corresponding to each of the plurality of preset calibration images; wherein the shapes of the target virtual calibration objects in the plurality of preset calibration images are the same, and the rotation angles of the target virtual calibration objects are different.

[0013] In a third aspect, the present application provides a near-eye display device, the near-eye display device comprising a projection optical machine, an optical waveguide, a memory, and a processor;

[0014] The memory is used to store computer programs;

[0015] The processor is used to execute the computer program and implement the steps of the above-mentioned method for calibrating the projection optical engine when executing the computer program.

[0016] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-mentioned method for calibrating a projection optical machine are implemented.

[0017] The present application provides a calibration method, device, equipment and storage medium for a projection optical machine. The calibration method includes: controlling a projection optical machine of a near-eye display device to project a preset calibration image onto an optical waveguide of the near-eye display device; the preset calibration image includes a target virtual calibration object; obtaining a target calibration image obtained by photographing the optical waveguide with a camera; the target calibration image includes a preset calibration image projected onto the optical waveguide; a camera is connected to the near-eye display device; and optical and mechanical parameters of the projection optical machine are determined according to target calibration images corresponding to each of a plurality of preset calibration images; wherein the shapes of the target virtual calibration objects in the plurality of preset calibration images are the same, and the rotation angles of the target virtual calibration objects are different.

[0018] In the case where the shapes of the target virtual calibration objects in multiple preset calibration images are the same and the rotation angles of the target virtual calibration objects are different, multiple target calibration images can be used to determine the posture relationship between the projection optical machine and the target virtual calibration objects with different rotation angles. Accordingly, since the target calibration image is taken by a camera, and the preset calibration image projected onto the optical waveguide included in the target calibration image is a projection of the projection optical machine, the near-eye display device can determine the posture relationship between the projection optical machine and the camera based on the target calibration image. Based on this, multiple target calibration images can be used to determine the optical and mechanical parameters of the projection optical machine, which is conducive to improving the convenience of calibrating the projection optical machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 It is a flowchart of a calibration method of a projection optical machine provided in an embodiment of the present application;

[0021] Figure 2 is a schematic diagram of a first virtual calibration object involved in the first embodiment of the present application;

[0022] Figure 3 is a schematic block diagram of a calibration device for a projection optical machine provided in an embodiment of the present application;

[0023] Figure 4 It is a schematic block diagram of a near-eye display device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0025] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0026] The embodiments of the present application provide a calibration method, device, equipment and storage medium for a projection optical machine. The calibration method of the projection optical machine can be applied to a near-eye display device. The near-eye display device includes a projection optical machine and an optical waveguide. This is not limited here. The near-eye display device may include augmented reality (AR) glasses, mixed reality (MR) glasses, AR helmets, MR helmets, and the like, which are not limited here. The calibration method of the projection optical machine can also be applied to a server, which can be a separate server or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDN), and big data and artificial intelligence platforms. The near-eye display device can communicate with the server to calibrate the projection optical machine through the server.

[0027] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0028] See also Figure 1 , Figure 1 It is a flow chart of a method for calibrating a projection optical machine provided in an embodiment of the present application. It should be noted that the method for calibrating a projection optical machine provided in an embodiment of the present application can be used in a near-eye display device, which includes a projection optical machine and an optical waveguide, and is not limited here.

[0029] Exemplarily, the near-eye display device includes a projection optical machine and an optical waveguide, and the projection optical machine and the optical waveguide are arranged on the near-eye display device. The near-eye display device can control the projection optical machine based on the connection relationship between the near-eye display device and the projection optical machine. Correspondingly, the near-eye display device can also control the optical waveguide based on the connection relationship between the near-eye display device and the optical waveguide. The connection relationship may include at least one of a physical connection and a communication connection, which is not limited here. For example, when the near-eye display device controls the projection optical machine to project the corresponding image onto the optical waveguide, the optical waveguide can transmit the light corresponding to the image projected on the optical waveguide to the eyes of the user wearing the near-eye display device, and the user can view the image projected on the optical waveguide.

[0030] Exemplarily, a near-eye display device can establish a connection relationship with a camera. The connection relationship may include at least one of a physical connection and a communication connection, which is not limited here. The camera can be used to simulate the eye sight of a user wearing a near-eye display device to obtain a corresponding image that the user can view, such as a target calibration image. The camera can be a pre-calibrated camera, which is not limited here. In some embodiments, the camera may include an industrial camera. Through the industrial assembly line corresponding to the same industrial camera, different near-eye display devices can be moved and set to preset calibration positions respectively, thereby calibrating the projection optical machines of different near-eye display devices at preset calibration positions. Of course, it is not limited to this and is not limited here.

[0031] like Figure 1 As shown, the calibration method of the projection optical engine includes steps S101 to S103.

[0032] S101, controlling a projection optical machine of a near-eye display device to project a preset calibration image onto an optical waveguide of the near-eye display device; the preset calibration image includes a target virtual calibration object.

[0033] In some embodiments, when the near-eye display device controls the projection optical machine to project the preset calibration image onto the optical waveguide, the preset calibration image may be projected onto the optical waveguide.

[0034] For example, the target virtual calibration object may include calibration points. The number of calibration points may include at least two, which is not limited here. When the near-eye display device controls the projection optical machine to project the preset calibration image onto the optical waveguide of the near-eye display device, the optical waveguide of the near-eye display device may project the calibration points included in the target virtual calibration object.

[0035] The preset calibration image projected onto the optical waveguide of the near-eye display device can be used for subsequent calibration of the optical and mechanical parameters of the projection optical machine.

[0036] Exemplarily, the near-eye display device may determine a target virtual calibration object.

[0037] In some embodiments, a first virtual calibration object is obtained; a second size of the first virtual calibration object is adjusted according to a first size of the optical waveguide to obtain a second virtual calibration object; and the second virtual calibration object is rotated according to a rotation angle indicated by a preset rotation parameter to obtain a target virtual calibration object corresponding to different rotation angles.

[0038] For example, the first virtual calibration object may include calibration points. The near-eye display device may determine the second size of the first virtual calibration object according to the size of the calibration points and the distance between two adjacent calibration points. Figure 2As shown, the calibration point in the first virtual calibration object is apriltags as an example. The total number of columns of calibration points corresponding to the first virtual calibration object is tagClos, and the total number of rows of calibration points is tagRows. The size of the calibration point includes the side length of the calibration point. Taking the side length of the calibration points as a and the spacing between two adjacent calibration points as b as an example, the near-eye display device can determine the second size of the first virtual calibration object based on the total number of columns of calibration points tagClos, the total number of rows of calibration points tagRows, the side length a and the spacing b.

[0039] The first virtual calibration object and the second size of the first virtual calibration object may be used to determine the target virtual calibration object.

[0040] In the case where the first size of the optical waveguide does not match the second size of the first virtual calibration object, if the near-eye display device directly projects the preset calibration image corresponding to the first virtual calibration object onto the optical waveguide of the near-eye display device, it is easy for the preset calibration image to not be completely projected onto the optical waveguide due to the second size being larger than the first size, or it is easy for the optical waveguide to have blank areas in addition to the preset calibration image projected thereon due to the second size being smaller than the first size. In the case where the preset calibration image cannot be completely projected onto the optical waveguide, or there are blank areas on the optical waveguide, it is easy to have an adverse effect on the positioning accuracy of the calibration points in the preset calibration image, thereby affecting the subsequent calibration accuracy of the optical and mechanical parameters of the projection optical machine. Based on this, it is necessary to adjust the second size of the first virtual calibration object.

[0041] For example, the first size of the optical waveguide may include a first width of the optical waveguide and a first height of the optical waveguide. The second size of the first virtual calibration object may include a second width and a second height of the first virtual calibration object.

[0042] For example, the first width of the optical waveguide is display_w, the first height is display_h, the second width of the first virtual calibration object is target_w, and the second height is target_h. The near-eye display device can adjust the second width of the first virtual calibration object according to the first width of the optical waveguide. The near-eye display device can adjust the second height of the first virtual calibration object according to the first height of the optical waveguide. Accordingly, the near-eye display device can determine the adjusted first virtual calibration object as the second virtual calibration object.

[0043] The second virtual calibration object may be used to determine the target virtual calibration object.

[0044] For example, in the process of calibrating the optomechanical parameters of the projection optical machine, the near-eye display device can use the preset calibration images corresponding to the same target virtual calibration object at different rotation angles to calibrate the optomechanical parameters of the projection optical machine. Based on this, the near-eye display device can obtain the preset rotation parameters when determining the target virtual calibration object. The preset rotation parameters can be used to indicate the rotation angle when the second virtual calibration object is rotated. Accordingly, the near-eye display device can rotate the second virtual calibration object according to the rotation angle indicated by the preset rotation parameters to obtain the corresponding target virtual calibration object. Similarly, the near-eye display device can rotate the second virtual calibration object according to the rotation angle indicated by different preset rotation parameters to obtain target virtual calibration objects corresponding to different rotation angles. The preset rotation parameters can be pre-set or set by the user, which is not limited here.

[0045] Since the near-eye display device does not change the calibration points included in the first virtual calibration object and the second virtual calibration object respectively during the process of adjusting the second size of the first virtual calibration object and rotating the second virtual calibration object, the target virtual calibration object and the first virtual calibration object and the second virtual calibration object all include the same calibration points. Accordingly, the target virtual calibration object and the first virtual calibration object are equivalent to two calibration objects with the same shape and different scaling ratios. The target virtual calibration object and the second virtual calibration object are equivalent to two calibration objects with the same shape and different rotation angles. Based on this, when the near-eye display device rotates the second virtual calibration object according to the rotation angles indicated by different preset rotation parameters, the target virtual calibration objects corresponding to the different rotation angles obtained can be determined as multiple calibration objects with the same shape and different rotation angles.

[0046] In this way, when the target virtual calibration object is determined, the near-eye display device can use the target virtual calibration object to determine the projection parameters of the projection light machine, which is conducive to improving the convenience of calibrating the projection light machine. Correspondingly, when it is determined that there are multiple target virtual calibration objects, the near-eye display device can use the characteristics of the same shape and different rotation angles between the multiple target virtual calibration objects to determine the projection parameters of the projection light machine, which is conducive to improving the convenience and accuracy of calibrating the projection light machine.

[0047] In some implementations, a scaling ratio corresponding to the first virtual calibration object is determined according to a ratio between the first size and the second size; and the second size is adjusted according to the scaling ratio to obtain the second virtual calibration object.

[0048] For example, the first width of the optical waveguide is display_w, the first height is display_h, the second width of the first virtual calibration object is target_w, and the second height is target_h. The near-eye display device can determine the ratio between the first width display_w and the second width target_w as scale_w. The ratio scale_w can be expressed as The near-eye display device may determine the ratio between the first height display_h and the second height display_h as scale_h. The ratio scale_h may be expressed as The near-eye display device may determine the scale scale_w and the scale scale_h as the scaling ratio corresponding to the first virtual calibration object. Accordingly, the near-eye display device may adjust the second width target_w according to the scale scale_w to obtain the adjusted second width. The near-eye display device may adjust the second height target_h according to the scale scale_h to obtain the adjusted second height. According to the adjusted second width and the adjusted second height, the second virtual calibration object may be determined.

[0049] In this way, when the first size and the second size are obtained, the near-eye display device can determine the scaling ratio corresponding to the first virtual calibration object, which is conducive to improving the convenience of determining the scaling ratio corresponding to the first virtual calibration object. Correspondingly, the scaling ratio can be used to determine the second virtual calibration object, which is conducive to improving the convenience of determining the second virtual calibration object.

[0050] In some embodiments, the second virtual calibration object is rotated according to at least one of the X-axis rotation angle, the Y-axis rotation angle, and the Z-axis rotation angle indicated by the preset rotation parameters to obtain the target virtual calibration object corresponding to different rotation angles.

[0051] When the second virtual calibration object is determined, the near-eye display device can rotate the second virtual calibration object in the space where the projection light machine is located, such as performing a 3D rotation operation on the second virtual calibration object, to determine the corresponding target virtual calibration object. The preset rotation parameter can be used to indicate at least one of the X-axis rotation angle, the Y-axis rotation angle, and the Z-axis rotation angle. For example, when the preset rotation parameter indicates the X-axis rotation angle, the near-eye display device can control the second virtual calibration object to rotate around the X-axis of the spatial coordinate system where the projection light machine is located at a corresponding rotation angle. For another example, when the preset rotation parameter indicates the Y-axis rotation angle, the near-eye display device can control the second virtual calibration object to rotate around the Y-axis of the spatial coordinate system where the projection light machine is located at a corresponding rotation angle. By analogy, when the preset rotation parameter indicates the Z-axis rotation angle, the near-eye display device can control the second virtual calibration object to rotate around the Z-axis of the spatial coordinate system where the projection light machine is located at a corresponding rotation angle. Of course, it is not limited to this. When the preset rotation parameter indicates any two or three of the X-axis rotation angle, the Y-axis rotation angle, and the Z-axis rotation angle, the near-eye display device can control the second virtual calibration object to rotate the corresponding rotation angle according to any two or three of the X-axis rotation angle, the Y-axis rotation angle, and the Z-axis rotation angle. The preset rotation parameter can be pre-set or set by the user, which is not limited here.

[0052] For example, the near-eye display device can rotate the same second virtual calibration object according to different preset rotation parameters to obtain target virtual calibration objects corresponding to different rotation angles. The target virtual calibration objects corresponding to different rotation angles can be multiple calibration objects with the same shape and different rotation angles. The target virtual calibration objects can be used for subsequent calibration of the optical and mechanical parameters of the projection optical machine.

[0053] In this way, the near-eye display device rotates the second virtual calibration object according to the instructions of the preset rotation parameters to obtain the target virtual calibration object corresponding to different rotation angles, which is conducive to improving the convenience of determining the target virtual calibration object. The target virtual calibration object can be used for subsequent calibration of the optical and mechanical parameters of the projection optical machine, which is conducive to improving the convenience of calibration of the projection optical machine.

[0054] S102, obtaining a target calibration image obtained by photographing the optical waveguide with a camera; the target calibration image includes a preset calibration image projected onto the optical waveguide; and the camera is connected to a near-eye display device.

[0055] For example, when a preset calibration image is projected on the optical waveguide, the near-eye display device can control the camera to shoot the optical waveguide to obtain a target calibration image based on the connection relationship between the near-eye display device and the camera. The target calibration image includes the preset calibration image projected onto the optical waveguide. Accordingly, when the preset calibration image includes a target virtual calibration object, the target calibration image may also include the target virtual calibration object. When the target virtual calibration object includes calibration points, the target calibration image may also include corresponding calibration points.

[0056] In this way, when the near-eye display device obtains the target calibration image obtained by photographing the optical waveguide with a camera, the target calibration image can be used to calibrate the optical and mechanical parameters of the projection optical machine.

[0057] S103, determining the optical and mechanical parameters of the projection optical machine according to the target calibration images corresponding to each of the plurality of preset calibration images; wherein the shapes of the target virtual calibration objects in the plurality of preset calibration images are the same, and the rotation angles of the target virtual calibration objects are different.

[0058] For example, when projecting multiple preset calibration images, since the shapes of the target virtual calibration objects in the multiple preset calibration images are the same and the rotation angles of the target virtual calibration objects are different, the near-eye display device can achieve the transformation of the position information of the target virtual calibration object by changing the rotation angle of the target virtual calibration object without changing the posture relationship between the projection optical machine and the camera. Accordingly, the near-eye display device can calibrate the optical parameters of the projection optical machine according to the position information of the target virtual calibration object in the corresponding target calibration image at different rotation angles.

[0059] Exemplarily, the target virtual calibration object includes calibration points. The near-eye display device can determine the position information of the target virtual calibration object in different target calibration images according to the position information of the calibration points.

[0060] In some embodiments, first position information of each calibration point corresponding to each target calibration image on the target calibration image is determined; first external parameters of the target virtual calibration object and the camera corresponding to each target calibration image are obtained; based on a first association relationship between the first position information and the optomechanical parameters, and a second association relationship between the first external parameter and the optomechanical external parameter, the optomechanical parameters of the projection optical machine are determined according to multiple first position information and multiple first external parameters.

[0061] For example, when a target calibration image is acquired, the near-eye display device can determine the first position information of each calibration point of the target virtual calibration object corresponding to the target calibration image on the target calibration image through an image recognition algorithm. The first position information may include 2D coordinates. Take the jth calibration point in the target virtual calibration object as an example. The first position information of the jth calibration point on the target calibration image can be expressed as u ij By analogy, when multiple target calibration images are acquired, the near-eye display device can determine the first position information of each calibration point corresponding to each target calibration image on the target calibration image, thereby determining multiple first position information. The multiple target calibration images correspond to the multiple first position information one by one.

[0062] For example, when determining the target virtual calibration object corresponding to the target calibration image, the near-eye display device can calibrate the target virtual calibration object and the first external parameter of the camera according to the size information of the target virtual calibration object, the first position information of each calibration point of the target virtual calibration object on the target calibration image, and the camera parameters of the camera. For example, the near-eye display device can determine the first external parameter by combining the size information, the first position information and the camera internal participation camera distortion of the target virtual calibration object through a monocular camera pose estimation algorithm, such as a PnP (pespective-n-point) algorithm. The camera internal participation camera distortion of the camera can be pre-calibrated and is not limited here. By analogy, when the target virtual calibration objects corresponding to multiple target calibration images are of the same shape and have different rotation angles, the first external parameter corresponding to each target calibration image can be determined according to the first position information of each calibration point of the target virtual calibration object of each target calibration image on the corresponding target calibration image, thereby determining multiple first external parameters. Among them, multiple target calibration images correspond to multiple first external parameters one by one.

[0063] Since the target calibration image is obtained by shooting a preset calibration image projected onto the optical waveguide by a camera, the target virtual calibration object can be converted from the spatial coordinate system of the camera to the camera coordinate system corresponding to the camera through the first external parameter, and under the action of the camera internal parameter and camera distortion, it is converted to the pixel coordinate system where the target calibration image is located. Since the preset calibration image is projected onto the optical waveguide by the projection optical machine, the preset calibration image is equivalent to converting the target virtual calibration object from the spatial coordinate system where the projection optical machine is located to the optical coordinate system corresponding to the projection optical machine through the optical mechanical external parameter of the projection optical machine, and under the action of the optical mechanical internal parameter and optical mechanical distortion of the projection optical machine, it is converted to the pixel coordinate system where the preset calibration image is located. In the case where the target calibration image includes the preset calibration image projected onto the optical waveguide, it can be determined that there is an association relationship between the camera parameters of the camera and the optical mechanical parameters of the projection optical machine. Based on this, the near-eye display device can establish a first association relationship between the first position information and the optical mechanical parameters, and a second association relationship between the first external parameter and the optical mechanical external parameter.

[0064] Based on this, when determining the first position information of each calibration point corresponding to each target calibration image on the target calibration image and the first external parameter corresponding to each target calibration image, the near-eye display device can determine the optical and mechanical parameters of the projection optical machine in combination with the first association relationship, the second association relationship, multiple first position information and multiple first external parameters.

[0065] Exemplarily, the optomechanical parameters include optomechanical intrinsic parameters, optomechanical extrinsic parameters, and optomechanical distortion.

[0066] In some embodiments, based on the second association relationship, according to the first external parameter and the current optomechanical extrinsic parameter, the target virtual calibration object and the second external parameter of the projection optical machine corresponding to the target calibration image are determined; based on the first association relationship, according to the first position information and the second external parameter, the current optomechanical intrinsic parameter and the current optomechanical distortion corresponding to the current optomechanical extrinsic parameter are determined; based on the preset nonlinear optimization algorithm, the current optomechanical extrinsic parameter, the current optomechanical intrinsic parameter and the current optomechanical distortion are iteratively optimized to obtain the optomechanical extrinsic parameter, the optomechanical intrinsic parameter and the optomechanical distortion.

[0067] For example, the near-eye display device can substitute the first external parameter and the current optical machine external parameter into the second association relationship to obtain the second external parameter of the projection optical machine and the camera.

[0068] The second relationship includes:

[0069]

[0070] in, Used to indicate the current external parameters of the projection optical machine. It is used to indicate the first external parameter of the target virtual calibration object and the camera corresponding to the target calibration image. A second external parameter used to indicate the target virtual calibration object and the projection optical machine corresponding to the target calibration image.

[0071] By analogy, when the projection optical machine acquires multiple target calibration images, the near-eye display device can determine the second extrinsic parameters corresponding to each of the multiple target calibration images by combining the first extrinsic parameters corresponding to each target calibration image and the current optical machine extrinsic parameters of the projection optical machine.

[0072] The second external parameters corresponding to each of the multiple target calibration images can be used by the near-eye display device to calibrate the optical and mechanical parameters of the projection optical machine.

[0073] For example, the projection optical machine may substitute the first position information and the second external parameter into the first association relationship to obtain the current optical machine internal parameter and the current optical machine distortion of the projection optical machine.

[0074] The first association relationship includes:

[0075]

[0076] Where n is used to indicate the number of target calibration images, m is used to indicate the number of calibration points in the target virtual calibration object, i is used to indicate the i-th target calibration image, j is used to indicate the j-th calibration point, and K Display Used to indicate the current internal parameters of the projection optical machine, D Display Used to indicate the current optical distortion of the projection optical machine. The second external parameter u is used to indicate the target virtual calibration object and the projection optical machine corresponding to the target calibration image. ij Used to indicate the first position information of the jth calibration point on the i-th target calibration image, X j It is used to indicate the second position information of the jth calibration point in the spatial coordinate system of the projection optical machine, and x′ is used to indicate the second position information of the jth calibration point after the current optical machine internal parameter K Display 、Second external reference and the current camera distortion D Display The third position information of the j-th calibration point obtained after the transformation in the pixel coordinate system corresponding to the projection optical machine.

[0077] The near-eye display device can obtain the first position information u of the jth calibration point indicated by the target calibration image. ij The difference between the third position information x′ of the j-th calibration point and the second external parameter x′ corresponding to the target calibration image determined according to the second association relationship Determine the current optomechanical intrinsic parameters and the current optomechanical distortion corresponding to the current optomechanical extrinsic parameters. When the target virtual calibration object includes multiple calibration points, the near-eye display device can combine the first position information and the third position information of each calibration point corresponding to the same target calibration image, and the second extrinsic parameter corresponding to the target calibration image. The current optical-mechanical internal parameters and the current optical-mechanical distortion corresponding to the target calibration image are determined. Based on the first external parameter corresponding to the target calibration image and the current optomechanical external parameter, the near-eye display device can establish a corresponding relationship between the current optomechanical external parameter, the current optomechanical intrinsic parameter, and the current optomechanical distortion, thereby determining that the current optomechanical intrinsic parameter and the current optomechanical distortion are the current optomechanical intrinsic parameter and the current optomechanical distortion corresponding to the current optomechanical extrinsic parameter.

[0078] In some embodiments, the second position information of each calibration point corresponding to the target calibration image in the spatial coordinate system of the projection optical machine is obtained; based on the second position information and the second external parameter, the third position information of each calibration point in the pixel coordinate system corresponding to the projection optical machine and the third association relationship corresponding to the current optical machine parameters are determined; the first position information, the second position information, the third association relationship and the second external parameter are substituted into the first association relationship to obtain the current optical machine intrinsic parameters and the current optical machine distortion.

[0079] Since the second position information is the position of the target virtual calibration object corresponding to the target calibration image in the space coordinates where the projection optical machine is located, the second position information may include 3D coordinates.

[0080] For example, when the near-eye display device controls the projection optical machine to project the preset calibration image onto the optical waveguide, the rotation angle of the target virtual calibration object corresponding to the preset calibration image can be adjusted according to the projection information of the preset calibration image on the optical waveguide. For example, when the projection information indicates that the preset calibration image is not completely within the position range corresponding to the optical waveguide, and the projection position of the preset calibration image is biased to the left side of the optical waveguide, the near-eye display device can adjust the projection position of the preset calibration image on the optical waveguide to the right by adjusting the rotation angle corresponding to the target virtual calibration object. For another example, when the projection information indicates that the preset calibration image is not completely within the position range corresponding to the optical waveguide, and the projection position of the preset calibration image is biased to the upper side of the optical waveguide, the near-eye display device can adjust the projection position of the preset calibration image on the optical waveguide downward by adjusting the rotation angle corresponding to the target virtual calibration object. And so on, until the preset calibration image is completely within the position range corresponding to the optical waveguide. Accordingly, when the rotation angle corresponding to the target virtual calibration object is adjusted, the near-eye display device may update the rotation angle corresponding to the target virtual calibration object according to the adjusted rotation angle.

[0081] In the case where the projection information indicates that the preset calibration image is completely within the position range corresponding to the optical waveguide, the near-eye display device can determine the second position information of each calibration point of the target virtual calibration object corresponding to the preset calibration image in combination with the position information of the optical waveguide in the spatial coordinate system where the projection optical machine is located. Accordingly, since the target calibration image includes the preset calibration image projected onto the optical waveguide, the near-eye display device can determine the second position information of each calibration point of the target virtual calibration object corresponding to the preset calibration image as the second position information of each calibration point of the target virtual calibration object corresponding to the target calibration image.

[0082] When the projection information indicates that the preset calibration image is completely within the position range corresponding to the optical waveguide, the near-eye display device can determine the second position information of each calibration point of the target virtual calibration object corresponding to the determined target calibration image as the reference position information of each calibration point.

[0083] Accordingly, since the shapes of the target virtual calibration objects in multiple preset calibration images are the same and the rotation angles of the target virtual calibration objects are different, the near-eye display device can rotate the reference position information of each calibration point in combination with the rotation angles of the target virtual calibration objects corresponding to each of the multiple preset calibration images to obtain the second position information of each calibration point corresponding to each of the multiple preset calibration images, that is, determine the second position information of each calibration point corresponding to each of the multiple target calibration images.

[0084] When the near-eye display device controls the projection optical machine to project the preset calibration image onto the optical waveguide, the second position information of each calibration point will be affected by the optical machine internal parameters, optical machine distortion, and the target virtual calibration object and the second external parameters of the projection optical machine, resulting in deviations between the ideal position information of each calibration point in each target calibration image and the first position information. Based on the association of the second external parameter with the first external parameter and the current optical machine external parameter of the projection optical machine, the near-eye display device can establish a third association relationship between the third position information of each calibration point in the pixel coordinate system corresponding to the projection optical machine and the current optical machine parameters according to the second position information and the second external parameter.

[0085] When the second position information and the second external parameter of each calibration point corresponding to the target calibration image are determined, the near-eye display device can substitute the second position information, the first external parameter and the current optical-mechanical external parameter into the third association relationship to obtain the third association relationship corresponding to the third position information of the calibration point and the current optical-mechanical parameter. Accordingly, when the first position information, the second position information, the third association relationship and the second external parameter are determined, the first position information, the second position information, the third association relationship and the second external parameter can be substituted into the first association relationship to solve the current optical-mechanical intrinsic parameter and the current optical-mechanical distortion corresponding to the target calibration image, that is, to determine the current optical-mechanical intrinsic parameter and the current optical-mechanical distortion corresponding to the current optical-mechanical external parameter.

[0086] By analogy, when multiple target calibration images are acquired, the near-eye display device can determine the current optomechanical intrinsic parameters and the current optomechanical distortion corresponding to each of the multiple target calibration images, thereby determining the current optomechanical intrinsic parameters and the current optomechanical distortion corresponding to each of the multiple current optomechanical extrinsic parameters, which is equivalent to determining the current optomechanical parameters corresponding to each of the multiple target calibration images.

[0087] For example, when determining the current optomechanical parameters corresponding to each of the multiple target calibration images, the near-eye display device can iteratively optimize the current optomechanical extrinsics, the current optomechanical intrinsics, and the current optomechanical distortion based on a preset nonlinear optimization algorithm to determine the residual value of the current optomechanical parameters corresponding to the target calibration image. Accordingly, when the residual values ​​corresponding to the multiple target calibration images can no longer converge, the near-eye display device can select the current optomechanical parameters corresponding to the target calibration image with the smallest residual value from the multiple target calibration images as the optomechanical parameters of the projection optical machine.

[0088] In this way, the near-eye display device can determine the optical parameters of the projection optical machine based on the first association relationship, the second association relationship, multiple first position information and multiple first external parameters, which is conducive to improving the convenience of calibration of the projection optical machine.

[0089] The calibration method of the projection optical machine provided in the above embodiment includes: controlling the projection optical machine of the near-eye display device to project a preset calibration image onto the optical waveguide of the near-eye display device; the preset calibration image includes a target virtual calibration object; obtaining a target calibration image obtained by photographing the optical waveguide with a camera; the target calibration image includes a preset calibration image projected onto the optical waveguide; a connection relationship is established between the camera and the near-eye display device; and the optical and mechanical parameters of the projection optical machine are determined according to the target calibration images corresponding to each of the multiple preset calibration images; wherein the shapes of the target virtual calibration objects in the multiple preset calibration images are the same, and the rotation angles of the target virtual calibration objects are different.

[0090] In the case where the shapes of the target virtual calibration objects in multiple preset calibration images are the same and the rotation angles of the target virtual calibration objects are different, multiple target calibration images can be used to determine the posture relationship between the projection optical machine and the target virtual calibration objects with different rotation angles. Accordingly, since the target calibration image is taken by a camera, and the preset calibration image projected onto the optical waveguide included in the target calibration image is a projection of the projection optical machine, the near-eye display device can determine the posture relationship between the projection optical machine and the camera based on the target calibration image. Based on this, multiple target calibration images can be used to determine the optical and mechanical parameters of the projection optical machine, which is conducive to improving the convenience of calibrating the projection optical machine.

[0091] See also Figure 3 , Figure 3It is a schematic block diagram of a calibration device for a projection light machine provided in an embodiment of the present application. The calibration device for the projection light machine can be configured in a near-eye display device or a server to execute the calibration method for the projection light machine described above. The near-eye display device may include AR glasses, MR glasses, AR helmets, MR helmets, and the like, which are not limited here. The server may be a separate server, or it may be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content distribution networks, and big data and artificial intelligence platforms. The near-eye display device can communicate with the server to calibrate the projection light machine through the server.

[0092] like Figure 3 As shown, the calibration device of the projection optical machine includes an image projection module 110 , an image acquisition module 120 and a projection optical machine calibration module 130 .

[0093] The image projection module 110 is used to control the projection optical machine of the near-eye display device to project a preset calibration image onto the optical waveguide of the near-eye display device; the preset calibration image includes a target virtual calibration object.

[0094] The image acquisition module 120 is used to acquire a target calibration image obtained by photographing the optical waveguide with a camera; the target calibration image includes a preset calibration image projected onto the optical waveguide; and the camera is connected to the near-eye display device.

[0095] The projection optical machine calibration module 130 is used to determine the optical machine parameters of the projection optical machine according to the target calibration images corresponding to each of the plurality of preset calibration images; wherein the shapes of the target virtual calibration objects in the plurality of preset calibration images are the same, and the rotation angles of the target virtual calibration objects are different.

[0096] Exemplarily, the target virtual calibration object includes calibration points. The projection optical machine calibration module 130 includes a first position determination submodule, a first external parameter determination submodule and a parameter calibration submodule.

[0097] The first position determination submodule is used to determine first position information of each calibration point corresponding to each target calibration image on the target calibration image.

[0098] The first external parameter determination submodule is used to obtain the first external parameters of the target virtual calibration object and the camera corresponding to each of the target calibration images.

[0099] The parameter calibration submodule determines the optical-mechanical parameters of the projection optical machine based on a first association relationship between the first position information and the optical-mechanical parameters, and a second association relationship between the first external parameter and the optical-mechanical external parameter, according to a plurality of the first position information and a plurality of the first external parameters.

[0100] Exemplarily, the optomechanical parameters include optomechanical intrinsic parameters, optomechanical extrinsic parameters and optomechanical distortion. The parameter calibration submodule includes a second extrinsic parameter determination submodule, a first optomechanical parameter determination submodule and an iterative optimization submodule.

[0101] The second extrinsic parameter determination submodule is used to determine the second extrinsic parameters of the target virtual calibration object and the projection optical machine corresponding to the target calibration image based on the second association relationship and according to the first extrinsic parameter and the current optical machine extrinsic parameter.

[0102] The first optical-mechanical parameter determination submodule is used to determine the current optical-mechanical intrinsic parameter and the current optical-mechanical distortion corresponding to the current optical-mechanical extrinsic parameter based on the first association relationship, according to the first position information and the second extrinsic parameter.

[0103] The iterative optimization submodule is used to iteratively optimize the current optical-mechanical extrinsic parameters, the current optical-mechanical intrinsic parameters and the current optical-mechanical distortion based on a preset nonlinear optimization algorithm to obtain the optical-mechanical extrinsic parameters, the optical-mechanical intrinsic parameters and the optical-mechanical distortion.

[0104] Exemplarily, the first optomechanical parameter determination submodule includes a second position determination submodule, a third position determination submodule, and a second optomechanical parameter determination submodule.

[0105] The second position determination submodule is used to obtain second position information of each calibration point corresponding to the target calibration image in the spatial coordinate system where the projection optical machine is located.

[0106] The third position determination submodule is used to determine the third association relationship between the third position information of each calibration point in the pixel coordinate system corresponding to the projection optical machine and the current optical machine parameter according to the second position information and the second external parameter.

[0107] The second optical-mechanical parameter determination submodule is used to substitute the first position information, the second position information, the third association relationship and the second external parameter into the first association relationship to obtain the current optical-mechanical internal parameter and the current optical-mechanical distortion.

[0108] Exemplarily, the calibration device further includes a first calibration object acquisition submodule, a size adjustment submodule and a first rotation submodule.

[0109] The first calibration object acquisition submodule is used to acquire a first virtual calibration object.

[0110] The size adjustment submodule is used to adjust the second size of the first virtual calibration object according to the first size of the optical waveguide to obtain a second virtual calibration object.

[0111] The first rotation submodule is used to rotate the second virtual calibration object according to the rotation angle indicated by the preset rotation parameter to obtain the target virtual calibration object corresponding to different rotation angles.

[0112] Exemplarily, the size adjustment submodule includes a ratio determination submodule and an adjustment submodule.

[0113] The ratio determination submodule is used to determine the scaling ratio corresponding to the first virtual calibration object according to the ratio between the first size and the second size.

[0114] The adjusting submodule is used to adjust the second size according to the scaling ratio to obtain a second virtual calibration object.

[0115] Exemplarily, the first rotating submodule includes the second rotating submodule.

[0116] The second rotation submodule is used to rotate the second virtual calibration object according to at least one of the X-axis rotation angle, the Y-axis rotation angle, and the Z-axis rotation angle indicated by the preset rotation parameter to obtain the target virtual calibration object corresponding to different rotation angles.

[0117] It should be noted that technicians in the relevant field can clearly understand that for the convenience and simplicity of description, the specific working processes of the above-described devices and modules and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0118] The method of the present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld devices or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0119] Exemplarily, the above-mentioned method and apparatus can be implemented in the form of a computer program, which can be run on a near-eye display device or server to calibrate the optical parameters of the projection optical machine. Exemplarily, the near-eye display device can include AR glasses, MR glasses, AR helmets, MR helmets, etc., which are not limited here. The server can be a separate server or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content distribution networks, and big data and artificial intelligence platforms.

[0120] See also Figure 4 , Figure 4 It is a schematic block diagram of the structure of a near-eye display device provided in an embodiment of the present application.

[0121] like Figure 4 As shown, the near-eye display device includes a projection optical machine, an optical waveguide, a memory and a processor. The memory and the processor may be connected via a system bus, and the memory may include a storage medium and an internal memory.

[0122] The storage medium can store an operating system and a computer program. When the computer program is executed, the processor can execute any calibration method of the projection optical machine.

[0123] The processor is used to provide computing and control capabilities to support the operation of the entire near-eye display device.

[0124] The internal memory provides an environment for the operation of the computer program in the storage medium. When the computer program is executed by the processor, the processor can execute any calibration method of the projection optical machine.

[0125] Those skilled in the art will understand that Figure 4 The structure shown in the figure is merely a block diagram of a portion of the structure related to the scheme of the present application, and does not constitute a limitation on the near-eye display device to which the scheme of the present application is applied. The specific near-eye display device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0126] It should be understood that the processor may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0127] In one embodiment, the processor is used to execute a computer program and implement the following steps when executing the computer program:

[0128] Controlling the projection optical machine of the near-eye display device to project a preset calibration image onto the optical waveguide of the near-eye display device; the preset calibration image includes a target virtual calibration object;

[0129] Acquire a target calibration image obtained by photographing the optical waveguide with a camera; the target calibration image includes a preset calibration image projected onto the optical waveguide; the camera is connected to the near-eye display device;

[0130] The optical and mechanical parameters of the projection optical machine are determined according to the target calibration images corresponding to each of the plurality of preset calibration images; wherein the shapes of the target virtual calibration objects in the plurality of preset calibration images are the same, and the rotation angles of the target virtual calibration objects are different.

[0131] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the calibration of the projection optical engine described above can refer to the corresponding process in the aforementioned embodiment of the calibration method of the projection optical engine, and will not be repeated here.

[0132] The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. The method implemented when the computer program is executed by a processor can refer to the various embodiments of the calibration method of the projection optical machine of the present application.

[0133] The computer-readable storage medium may be an internal storage unit of the near-eye display device described in the aforementioned embodiment, such as a hard disk or memory of the near-eye display device. The computer-readable storage medium may also be an external storage device of the near-eye display device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc., equipped on the near-eye display device.

[0134] It should be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0135] It should also be understood that the term "and / or" used in the specification of this application and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, including these combinations. It should be noted that, in this article, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "including a..." does not exclude the presence of other identical elements in the process, method, article or system including the element.

[0136] The serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments. The above description is only a specific implementation mode of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for calibrating a projection optical machine, characterized in that: Applied to a near-eye display device, the near-eye display device includes a projection optical machine and an optical waveguide, and the calibration method includes: Controlling the projection optical machine of the near-eye display device to project a preset calibration image onto the optical waveguide of the near-eye display device; the preset calibration image includes a target virtual calibration object; Acquire a target calibration image obtained by photographing the optical waveguide with a camera; the target calibration image includes a preset calibration image projected onto the optical waveguide; the camera is connected to the near-eye display device; The optical and mechanical parameters of the projection optical machine are determined according to the target calibration images corresponding to each of the plurality of preset calibration images; wherein the shapes of the target virtual calibration objects in the plurality of preset calibration images are the same, and the rotation angles of the target virtual calibration objects are different.

2. The calibration method according to claim 1, characterized in that: The target virtual calibration object includes a calibration point; The step of determining the optical and mechanical parameters of the projection optical machine according to the target calibration images respectively corresponding to the plurality of preset calibration images comprises: Determine first position information of each calibration point corresponding to each target calibration image on the target calibration image; Acquire the first external parameter of the target virtual calibration object and the camera corresponding to each of the target calibration images; Based on a first association relationship between the first position information and the optical-mechanical parameters, and a second association relationship between the first external parameters and the optical-mechanical external parameters, the optical-mechanical parameters of the projection optical machine are determined according to a plurality of the first position information and a plurality of the first external parameters.

3. The calibration method according to claim 2, characterized in that: The optomechanical parameters include optomechanical intrinsic parameters, optomechanical extrinsic parameters and optomechanical distortion; The determining the optical-mechanical parameters of the projection optical machine based on the first association relationship between the first position information and the optical-mechanical parameters, and the second association relationship between the first external parameter and the optical-mechanical external parameter, according to a plurality of the first position information and a plurality of the first external parameters, comprises: Based on the second association relationship, determining the target virtual calibration object corresponding to the target calibration image and the second extrinsic parameter of the projection optical machine according to the first extrinsic parameter and the current optical machine extrinsic parameter; Based on the first association relationship, and according to the first position information and the second external parameter, determine the current optical-mechanical intrinsic parameter and the current optical-mechanical distortion corresponding to the current optical-mechanical external parameter; Based on a preset nonlinear optimization algorithm, the current optomechanical extrinsic parameters, the current optomechanical intrinsic parameters and the current optomechanical distortion are iteratively optimized to obtain the optomechanical extrinsic parameters, the optomechanical intrinsic parameters and the optomechanical distortion.

4. The calibration method according to claim 3, characterized in that: The determining, based on the first association relationship and according to the first position information and the second external parameter, a current optical-mechanical intrinsic parameter and a current optical-mechanical distortion corresponding to the current optical-mechanical external parameter includes: Acquire second position information of each calibration point corresponding to the target calibration image in the spatial coordinate system where the projection optical machine is located; Determine, according to the second position information and the second external parameter, a third association relationship between the third position information of each calibration point in the pixel coordinate system corresponding to the projection optical machine and the current optical machine parameter; Substitute the first position information, the second position information, the third association relationship and the second external parameter into the first association relationship to obtain the current optical-mechanical internal parameter and the current optical-mechanical distortion.

5. The calibration method according to any one of claims 1 to 4, characterized in that: Before controlling the projection optical machine to project the preset calibration image onto the optical waveguide of the near-eye display device, the calibration method further includes: Acquire a first virtual calibration object; According to the first size of the optical waveguide, adjusting the second size of the first virtual calibration object to obtain a second virtual calibration object; The second virtual calibration object is rotated according to the rotation angle indicated by the preset rotation parameter to obtain the target virtual calibration object corresponding to different rotation angles.

6. The calibration method according to claim 5, characterized in that: The adjusting the second size of the first virtual calibration object according to the first size of the optical waveguide to obtain the second virtual calibration object includes: Determining a scaling ratio corresponding to the first virtual calibration object according to a ratio between the first size and the second size; According to the scaling ratio, the second size is adjusted to obtain a second virtual calibration object.

7. The calibration method according to claim 5, characterized in that: The step of rotating the second virtual calibration object according to the rotation angle indicated by the preset rotation parameter to obtain the target virtual calibration object corresponding to different rotation angles includes: According to at least one of the X-axis rotation angle, the Y-axis rotation angle, and the Z-axis rotation angle indicated by the preset rotation parameter, the second virtual calibration object is rotated to obtain a target virtual calibration object corresponding to different rotation angles.

8. A calibration device for a projection optical machine, characterized in that: The calibration device comprises: An image projection module, used to control a projection optical machine of a near-eye display device to project a preset calibration image onto an optical waveguide of the near-eye display device; the preset calibration image includes a target virtual calibration object; An image acquisition module, used for acquiring a target calibration image obtained by photographing the optical waveguide with a camera; the target calibration image includes a preset calibration image projected onto the optical waveguide; the camera is connected to the near-eye display device; The projection optical machine calibration module is used to determine the optical machine parameters of the projection optical machine according to the target calibration images corresponding to each of the plurality of preset calibration images; wherein the shapes of the target virtual calibration objects in the plurality of preset calibration images are the same, and the rotation angles of the target virtual calibration objects are different.

9. A near-eye display device, characterized in that: The near-eye display device includes a projection optical machine, an optical waveguide, a memory and a processor; The memory is used to store computer programs; The processor is used to execute the computer program and implement the steps of the projection light engine calibration method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for calibrating a projection optical engine as claimed in any one of claims 1 to 7 are implemented.

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