Interaction method and device based on mixed reality, terminal and storage medium

Abstract

The invention provides an interaction method and device based on mixed reality, a terminal and a storage medium. The interaction method based on mixed reality comprises the following steps: acquiring an image; initializing a space coordinate origin based on an image through a space mapping and positioning module; constructing a global coordinate system based on the original point of the safe area through an algorithm module, and constructing a local coordinate system based on the calibration position; a sight line coordinate system, a ground coordinate system and a safe area coordinate system are generated through the runtime module and the engine module; constructing a conversion coefficient between a global coordinate system and a safe area coordinate system, a conversion coefficient between a local coordinate system and a sight line coordinate system and a conversion coefficient between the local coordinate system and a ground coordinate system through a space mapping and positioning module; and in response to an interaction operation event, performing coordinate data conversion between the global coordinate system and the safe area coordinate system, between the local coordinate system and the sight line coordinate system and / or between the local coordinate system and the ground coordinate system. According to the invention, the complex interaction of the MR scene is satisfied, and the use experience is optimized.

Description

Technical Field

[0001] The present disclosure relates to the field of information technology, and in particular to an interactive method and device based on mixed reality, a terminal and a storage medium. Background Art

[0002] In mixed reality (MR) application scenarios, virtual objects need to interact with the real environment. For example, virtual objects need to be bound to the real environment through spatial anchors or scene calibration to build a three-dimensional space where virtual scenes overlap with real scenes, achieving a "mixed" effect of virtual and reality. In MR scenarios, how to build a three-dimensional space associated with the real world and generate interaction is an important basis for realizing the MR experience.

[0003] In the existing solutions, MR, as a concept between virtual reality (VR) and augmented reality (AR), generally uses spatial mapping and localization (SLAM) systems and computer vision algorithms to understand the environment in real time, manually or automatically annotate key information in the physical scene, and generate spatial anchors or spatial models after the system processes this information, and then binds the virtual information in the head-mounted device to the position, orientation and size of the SLAM system, so that users can get a novel experience of superimposing virtual scenes and real scenes. When using the above existing solutions and systems, the coordinate system used by developers is relatively simple, strongly bound to the SLAM system, cannot support flexible conversion of coordinate systems, and cannot meet the diverse needs of developers. The overall development process is long and the experience is poor. On the other hand, compared with the traditional VR coordinate system, the MR scene coordinate system also has many characteristics, such as the coordinate system cannot be calibrated, supports coordinate system retrieval, supports complex interactions, etc. The system requires additional functional development to ensure the above characteristics, is easily coupled with other coordinate systems, and requires constraints on the use of developers, and has poor scalability. Summary of the invention

[0004] To solve the existing problems, the present disclosure provides an interactive method and device based on mixed reality, a terminal and a storage medium.

[0005] The present disclosure adopts the following technical solutions.

[0006] An embodiment of the present disclosure provides an interactive method based on mixed reality, which includes: acquiring an image; initializing a spatial coordinate origin based on the image through a spatial mapping and positioning module; constructing a global coordinate system based on a safe zone origin and a local coordinate system based on a calibration position through an algorithm module; generating a line of sight coordinate system, a ground coordinate system and a safe zone coordinate system through a runtime module and an engine module; constructing a conversion coefficient between the global coordinate system and the safe zone coordinate system, a conversion coefficient between the local coordinate system and the line of sight coordinate system, and a conversion coefficient between the local coordinate system and the ground coordinate system through the spatial mapping and positioning module; and performing coordinate data conversion between the global coordinate system and the safe zone coordinate system, between the local coordinate system and the line of sight coordinate system, and / or between the local coordinate system and the ground coordinate system in response to an interactive operation event.

[0007] Another embodiment of the present disclosure provides an interactive device based on mixed reality, the interactive device comprising: an image acquisition unit, configured to acquire an image; an initialization unit, configured to initialize a spatial coordinate origin based on the image through a spatial mapping and positioning module; a coordinate system construction unit, configured to construct a global coordinate system based on the safety zone origin through an algorithm module, and to construct a local coordinate system based on a calibration position; a coordinate system generation unit, configured to generate a line of sight coordinate system, a ground coordinate system, and a safety zone coordinate system through a runtime module and an engine module; a conversion coefficient construction unit, configured to construct a conversion coefficient between the global coordinate system and the safety zone coordinate system, a conversion coefficient between the local coordinate system and the line of sight coordinate system, and a conversion coefficient between the local coordinate system and the ground coordinate system through the spatial mapping and positioning module; a coordinate data conversion unit, configured to perform coordinate data conversion between the global coordinate system and the safety zone coordinate system, between the local coordinate system and the line of sight coordinate system, and / or between the local coordinate system and the ground coordinate system in response to an interactive operation event.

[0008] In some embodiments, the present disclosure provides a terminal, comprising: at least one memory and at least one processor; wherein the memory is used to store program codes, and the processor is used to call the program codes stored in the memory to execute the above-mentioned mixed reality-based interaction method.

[0009] In some embodiments, the present disclosure provides a storage medium for storing program code, and the program code is used to execute the above-mentioned mixed reality-based interaction method.

[0010] The present disclosure generates a sight coordinate system, a ground coordinate system, and a safe zone coordinate system in a mixed reality scene, and performs coordinate data conversion between the global coordinate system and the safe zone coordinate system, between the local coordinate system and the sight coordinate system, and / or between the local coordinate system and the ground coordinate system, so as to ensure the real-time synchronization of coordinate data of various coordinate systems, provide users with more perspective options and spatial interactions, meet the complex interactions of MR scenes, optimize the user experience, and reduce the cost of understanding. In addition, the interaction method of the present disclosure meets the requirement that the MR coordinate system cannot be calibrated and supports coordinate system retrieval. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and that components and elements are not necessarily drawn to scale.

[0012] Figure 1 It is a flowchart of an interactive method based on mixed reality according to an embodiment of the present disclosure.

[0013] Figure 2 The coordinate system design and conversion relationship of each module of the embodiment of the present disclosure are shown.

[0014] Figure 3 The relationship between the local coordinate system and the sight line coordinate system and the relationship between the local coordinate system and the ground coordinate system of the embodiment of the present disclosure are shown.

[0015] Figure 4 The relationship between the global coordinate system and the safety zone coordinate system of the embodiment of the present disclosure is shown.

[0016] Figure 5 The conversion coefficients between various coordinate systems of the embodiments of the present disclosure are shown.

[0017] Figure 6 A system operation flow chart of an interactive method based on mixed reality according to an embodiment of the present disclosure is shown.

[0018] Figure 7 It is a partial module of an interactive device based on mixed reality according to another embodiment of the present disclosure.

[0019] Figure 8 It is a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0020] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0021] It should be understood that the various steps described in the method embodiments of the present disclosure can be performed in sequence and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0022] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0023] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0024] It should be noted that the modification of “one” mentioned in the present disclosure is illustrative rather than restrictive, and those skilled in the art should understand that it should be understood as “one or more” unless otherwise clearly indicated in the context.

[0025] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0026] The present disclosure is based on SLAM technology, which understands the environment in real time according to images, continuously locates and constructs spatial maps, and constructs spatial anchor points, environmental calibration and other data in the MR scene according to application needs, so as to realize the interaction of the physical environment in the virtual world. Developers only need to select a suitable coordinate system according to the current application and user posture, without having to worry about the complex coordinate conversion and calibration in the MR scene. After the user starts the application, SLAM will automatically obtain the current sensor posture according to user interaction or scene recognition, pass it to the underlying modules, perform multi-layer coordinate offset and conversion, and finally present the data of the coordinate system selected by the user. Similarly, the interactivity of the real data in the MR scene is stronger, and it is required to be able to modify the virtual mapping according to the changes in the real environment. Therefore, it is also necessary to support the user to input data, support the top-down inverse operation of the user input data, change the coordinate data from the user perspective to the system perspective, and pass it to the coordinate data that can be recognized by the SLAM system. For example, after the application sets the MR interaction coordinate system, when the user wants to create a spatial anchor point for the table, the SLAM system calculates the current handle ray collision posture and passes it to the algorithm module. The algorithm further maps the posture data into global and local coordinate system data that can be recognized at runtime, and then converts it into corresponding coordinate data according to the coordinate system set by the application for application calculation or overlay rendering on the perspective interface. If the position of the table in the real space moves subsequently, the user or system can modify the anchor point to the new position, and the current anchor point is converted by the runtime module and the algorithm module and recorded in the SLAM system, thus completing a complete anchor interaction process.

[0027] Figure 1 A flow chart of an interactive method based on mixed reality of an embodiment of the present disclosure is provided. The interactive method based on mixed reality of the present disclosure may include step S101, acquiring an image. In some embodiments, in a mixed reality scene, an image is acquired by a camera of a head-mounted device (e.g., mixed reality glasses). By acquiring an image of the real environment, three-dimensional spatial modeling is performed on objects in the real environment, and then the virtual environment can be mixed with the real environment to produce a mixed reality effect.

[0028] In some embodiments, the method of the present disclosure may further include step S102, initializing the spatial coordinate origin based on the image through a spatial mapping and localization (SLAM) module. In some embodiments, the SLAM module determines the spatial coordinate origin (original point) when the system is started, tracks the device position and state in real time, and calculates the pose (position and posture) generated by the device and the handle ray as the data basis for the interaction of the entire MR system.

[0029] In some embodiments, the method of the present disclosure may further include step S103, wherein the algorithm module constructs a global coordinate system based on the origin of the safety zone and constructs a local coordinate system based on the calibration position. In some embodiments, the origins of the global coordinate system and the local coordinate system are respectively denoted as global and O local , the transformation matrix from SLAM coordinates to the algorithm coordinate system is recorded as T global and T local In some embodiments, the algorithm module generates a coordinate system used by the algorithm based on the original coordinates for environmental understanding and spatial recognition. The algorithm module records the algorithm's global and local coordinate systems based on the power-on position and calibration position, respectively. The origins of the two coordinate systems are both located at the center of the device, aligned with the direction of gravity.

[0030] In some embodiments, the method disclosed herein may further include step S104, generating a line of sight coordinate system, a ground coordinate system, and a safe zone coordinate system through a runtime module and an engine module. In some embodiments, the runtime module generates an OpenXR standard coordinate system, generates a safe zone space on the ground based on the safe zone initialization position, and the conversion matrix with the algorithm global coordinate system is denoted as T' rts , based on the application initialization or calibration position, the local space is generated, and the transformation matrix with the algorithm local coordinate system is recorded as T' rtl In some embodiments, the engine module generates three coordinate systems: the sight coordinate system, the ground coordinate system, and the safety zone coordinate system. The sight coordinate system is generated by combining the local space with the start position. The Y-axis height increases the distance from the origin position (StartMisregistration). The offset matrix is ​​recorded as T eye. In some embodiments, considering compatibility and scalability, the coordinate system design of the present disclosure is implemented based on the OpenXR standard coordinate system. There are three coordinate systems in the OpenXR standard: ViewSpace, Local Space, and Stage Space. The ViewSpace is often used as a device-following coordinate system for VR scenes. Local Space and Safe Zone Space are used in MR scenes to anchor virtual space, indicating the coordinate system of the application startup position and the safe zone (stage) position. In some embodiments, the engine module further encapsulates the OpenXR coordinate system into a line of sight coordinate system, a ground coordinate system, and a safe zone coordinate system. The three coordinate systems are suitable for different scenes for developers to choose to use. The line of sight coordinate system means that when the user enters the MR application, the eye position (device center) is used as the coordinate origin. At this time, it is expected to use the user's eye position as the reference. The ground coordinate system is the projection coordinate system of the line of sight coordinate system on the ground, that is, the origin of the line of sight coordinate system is translated downward along the Y axis by the height of the ground, and the direction remains unchanged. It is expected to use the ground position when the user is standing as the reference. The safe zone coordinate system is not related to the application startup location. The center point of the safe zone is used as the origin, and it is expected to be based on a certain original point of the entire physical environment.

[0031] In some embodiments, the method of the present disclosure may further include step S105, constructing the conversion coefficient between the global coordinate system and the safe zone coordinate system, the conversion coefficient between the local coordinate system and the line of sight coordinate system, and the conversion coefficient between the local coordinate system and the ground coordinate system through the spatial mapping and positioning module. Figure 3 The relationship between the local coordinate system (local level) and the eye coordinate system (eye level) and the relationship between the local coordinate system (local level) and the ground coordinate system (floor level) are shown. Figure 4 The relationship between the global coordinate system (global level) and the safe zone coordinate system (stage level) is shown. The position of the sight coordinate system is the position of the local coordinate system minus the value of the starting sensor position on the Y axis, the position of the ground coordinate system is the position of the local coordinate system plus the ground height, and the safe zone position is the product of the inverse of the original position of the safe zone and the global position. Figure 5 The conversion coefficients of the coordinate systems of each layer are shown.

[0032] In some embodiments, the method of the present disclosure may further include step S106, in response to an interactive operation event, performing coordinate data conversion between the global coordinate system and the safe zone coordinate system, between the local coordinate system and the line of sight coordinate system, and / or between the local coordinate system and the ground coordinate system. In some embodiments, the interactive operation event may include any operation event that causes the coordinate data to change, for example, creating a spatial anchor point, loading a spatial anchor point, and changes in coordinate data caused by object displacement. In some embodiments, the mixed reality application module accesses the engine module, performs a series of setup and initialization operations, processes interactive events between the user and the system, passes user instructions to the system, and drives the system to complete the save operation of the marked data.

[0033] For example, taking the line of sight coordinate system as an example, when the user needs to create a spatial anchor point, the current coordinate system point position and orientation are returned according to the selected position (handle / ray, etc.) and recorded as P eye , and then the engine module and runtime are responsible for superimposing the offsets recorded in each layer onto the spatial anchor point. Then the algorithm module records the global / local coordinate system data for algorithm data optimization, and finally maps it to the SLAM coordinate system (global / local coordinate system) to obtain the actual position P in space. slam , the overall coordinate transformation can be recorded as P eye ·T eye ·T' rtl ·T local For example, when a user needs to load a spatial anchor point, the process is the opposite of the above process. The corresponding point P of the SLAM coordinate system is obtained from the disk or memory. slam , the conversion process is bottom-up P slam ·T local ·T' rtl ·T eye Finally, the application gets the data P of the line of sight coordinate system eye , the application can perform calculations or rendering based on this point.

[0034] Figure 2The coordinate system design and conversion relationship of each module are shown, where the bidirectional arrows indicate that they can be converted to each other. The present disclosure generates a sight coordinate system, a ground coordinate system and a safe zone coordinate system in a mixed reality scene, and performs coordinate data conversion between the global coordinate system and the safe zone coordinate system, between the local coordinate system and the sight coordinate system, and / or between the local coordinate system and the ground coordinate system. This can ensure the real-time synchronization of coordinate data of various coordinate systems, provide users with more perspective options and spatial interactions, meet the complex interaction of MR scenes, optimize the user experience, and reduce the cost of understanding. In addition, the interaction method disclosed in the present disclosure meets the requirement that the MR coordinate system cannot be calibrated and supports coordinate system retrieval. Therefore, in a mixed reality scene, users can interact with the system from multiple perspectives, for example, from the perspective of the sight coordinate system or the perspective of the ground coordinate system. After conversion between coordinate systems, users can call any coordinate system to support various complex interactions. In particular, a top-down inverse operation is provided to change coordinate data from the user perspective to the system perspective, which is not achieved by current technology.

[0035] In some embodiments, the mixed reality-based interaction method of the present disclosure further includes: rendering and displaying the converted coordinate data. In some embodiments, after the coordinate data is converted, the changed coordinate data is rendered and displayed.

[0036] In some embodiments, the image is a grayscale image obtained by converting an image captured by a camera of a mixed reality device, that is, the spatial coordinate origin is initialized based on the grayscale image by a spatial mapping and positioning module.

[0037] In some embodiments, the mixed reality-based interaction method of the present disclosure further includes: recording, through the runtime module, the offset (ground height) between the global coordinate system and the safe zone coordinate system, the offset (distance from the origin) between the local coordinate system and the line of sight coordinate system, and the offset (ground height) between the local coordinate system and the ground coordinate system. In some embodiments, these offsets can be used to construct conversion coefficients between coordinate systems.

[0038] In some embodiments, in response to an interactive operation event, coordinate data conversion between the global coordinate system and the safe zone coordinate system, between the local coordinate system and the sight line coordinate system, and / or between the local coordinate system and the ground coordinate system includes: in response to changes in the coordinate data of the sight line coordinate system, corresponding coordinate data of the local coordinate system is converted. In this way, the conversion from the user perspective to the system perspective is achieved. In some embodiments, in response to an interactive operation event, coordinate data conversion between the global coordinate system and the safe zone coordinate system, between the local coordinate system and the sight line coordinate system, and / or between the local coordinate system and the ground coordinate system includes: in response to changes in the coordinate data of the ground coordinate system, corresponding coordinate data of the local coordinate system is converted. In this way, the conversion from the ground perspective to the system perspective is achieved. In some embodiments, in response to an interactive operation event, coordinate data conversion between the global coordinate system and the safe zone coordinate system, between the local coordinate system and the sight line coordinate system, and / or between the local coordinate system and the ground coordinate system includes: in response to changes in the coordinate data of the safe zone coordinate system, corresponding coordinate data of the global coordinate system is converted. In this way, the conversion from the safe zone perspective to the system perspective is achieved.

[0039] Figure 6 A system operation flow chart of an interactive method based on mixed reality is shown. First, the system performs initialization, completes the configuration of relevant modules and parameters, and adjusts the status of required modules to the ready state. Then the MR application starts. Then the MR application sets the coordinate system, for example, the line of sight coordinate system. Then, the system calculates the offset matrix or conversion coefficient of each coordinate system. Then, based on the interactive operation event, the system completes the top-down (for example, user perspective to system perspective) and bottom-up (for example, system perspective to user perspective) coordinate conversion. Then, the MR application interacts with the underlying system, and then the MR application renders and displays based on the changes in coordinate data.

[0040] The present disclosure provides a coordinate conversion implementation method in a mixed reality scene, provides multiple mixed reality scene coordinate systems, optimizes the user experience, and reduces the cost of understanding. For example, users can interact from their own perspective. Furthermore, the interaction method of the present disclosure meets the complex interaction of mixed reality scenes, and supports coordinate system retrieval and coordinate system uncalibration.

[0041] The embodiment of the present disclosure also provides an interactive device 400 based on mixed reality. Figure 7An interactive device 400 based on mixed reality according to some embodiments is shown. The interactive device 400 based on mixed reality includes an image acquisition unit 401, an initialization unit 402, a coordinate system construction unit 403, a coordinate system generation unit 404, a conversion coefficient construction unit 405, and a coordinate data conversion unit. In some embodiments, the image acquisition unit 401 is configured to acquire an image. In some embodiments, the initialization unit 402 is configured to initialize the spatial coordinate origin based on the image through a spatial mapping and positioning module. In some embodiments, the coordinate system construction unit 403 is configured to construct a global coordinate system based on the origin of the safety zone through an algorithm module, and to construct a local coordinate system based on a calibration position. In some embodiments, the coordinate system generation unit 404 is configured to generate a line of sight coordinate system, a ground coordinate system, and a safety zone coordinate system through a runtime module and an engine module. In some embodiments, the conversion coefficient construction unit 405 is configured to construct a conversion coefficient between a global coordinate system and a safety zone coordinate system, a conversion coefficient between a local coordinate system and a line of sight coordinate system, and a conversion coefficient between a local coordinate system and a ground coordinate system through a spatial mapping and positioning module. In some embodiments, the coordinate data conversion unit 406 is configured to perform coordinate data conversion between the global coordinate system and the safety zone coordinate system, between the local coordinate system and the line of sight coordinate system, and / or between the local coordinate system and the ground coordinate system in response to an interactive operation event.

[0042] It should be understood that the contents described about the interaction method based on mixed reality are also applicable to the interaction device 400 based on mixed reality herein, and for the sake of simplicity, a detailed description is not given here.

[0043] In some embodiments, the interactive device based on mixed reality also includes: a rendering and display unit configured to render and display the converted coordinate data. In some embodiments, the image is a grayscale image obtained by converting the image captured by the camera of the mixed reality device. In some embodiments, the coordinate system generation unit is further configured to record the offset between the global coordinate system and the safe zone coordinate system, the offset between the local coordinate system and the line of sight coordinate system, and the offset between the local coordinate system and the ground coordinate system through the runtime module. In some embodiments, in response to an interactive operation event, the coordinate data conversion between the global coordinate system and the safe zone coordinate system, between the local coordinate system and the line of sight coordinate system, and / or between the local coordinate system and the ground coordinate system includes: in response to the change of the coordinate data of the line of sight coordinate system, the corresponding coordinate data of the local coordinate system is converted. In some embodiments, in response to an interactive operation event, the coordinate data conversion between the global coordinate system and the safe zone coordinate system, between the local coordinate system and the line of sight coordinate system, and / or between the local coordinate system and the ground coordinate system includes: in response to the change of the coordinate data of the ground coordinate system, the corresponding coordinate data of the local coordinate system is converted. In some embodiments, in response to an interactive operation event, coordinate data conversion between a global coordinate system and a safe zone coordinate system, between a local coordinate system and a line of sight coordinate system, and / or between a local coordinate system and a ground coordinate system includes: in response to changes in coordinate data of the safe zone coordinate system, converting corresponding coordinate data of the global coordinate system.

[0044] In addition, the present disclosure also provides a terminal, including: at least one memory and at least one processor; wherein the memory is used to store program code, and the processor is used to call the program code stored in the memory to execute the above-mentioned mixed reality-based interaction method.

[0045] In addition, the present disclosure also provides a computer storage medium, which stores program code, and the program code is used to execute the above-mentioned mixed reality-based interaction method.

[0046] The above describes the mixed reality-based interaction method and device of the present disclosure based on the embodiments and application examples. In addition, the present disclosure also provides a terminal and a storage medium, which are described below.

[0047] Reference below Figure 8, which shows a schematic diagram of the structure of an electronic device (such as a terminal device or a server) 500 suitable for implementing the embodiment of the present disclosure. The terminal device in the embodiment of the present disclosure may include but is not limited to mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 8 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0048] like Figure 8 As shown, the electronic device 500 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 501, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage device 508 into a random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the electronic device 500 are also stored. The processing device 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0049] Typically, the following devices may be connected to the I / O interface 505: an input device 506 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 507 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 508 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 509. The communication device 509 may allow the electronic device 500 to communicate with other devices wirelessly or by wire to exchange data. Although Figure 8 The electronic device 500 is shown with various devices, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0050] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device 509, or installed from a storage device 508, or installed from a ROM 502. When the computer program is executed by the processing device 501, the above-mentioned functions defined in the method of the embodiment of the present disclosure are executed.

[0051] It should be noted that the computer-readable medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0052] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0053] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0054] The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device executes the method of the present disclosure.

[0055] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0056] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0057] The units involved in the embodiments described in the present disclosure may be implemented by software or hardware, wherein the name of a unit does not, in some cases, limit the unit itself.

[0058] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0059] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0060] According to one or more embodiments of the present disclosure, a mixed reality-based interaction method is provided, the mixed reality-based interaction method comprising: acquiring an image; initializing a spatial coordinate origin based on the image through a spatial mapping and positioning module; constructing a global coordinate system based on a safe zone origin and a local coordinate system based on a calibration position through an algorithm module; generating a line of sight coordinate system, a ground coordinate system and a safe zone coordinate system through a runtime module and an engine module; constructing a conversion coefficient between the global coordinate system and the safe zone coordinate system, a conversion coefficient between the local coordinate system and the line of sight coordinate system, and a conversion coefficient between the local coordinate system and the ground coordinate system through the spatial mapping and positioning module; and performing coordinate data conversion between the global coordinate system and the safe zone coordinate system, between the local coordinate system and the line of sight coordinate system, and / or between the local coordinate system and the ground coordinate system in response to an interactive operation event.

[0061] According to one or more embodiments of the present disclosure, the interaction method based on mixed reality further includes: rendering and displaying the converted coordinate data.

[0062] According to one or more embodiments of the present disclosure, the image is a grayscale image obtained by converting an image captured by a camera of a mixed reality device.

[0063] According to one or more embodiments of the present disclosure, the interaction method based on mixed reality also includes: recording, through the runtime module, the offset between the global coordinate system and the safe zone coordinate system, the offset between the local coordinate system and the line of sight coordinate system, and the offset between the local coordinate system and the ground coordinate system.

[0064] According to one or more embodiments of the present disclosure, in response to an interactive operation event, coordinate data conversion between the global coordinate system and the safe zone coordinate system, between the local coordinate system and the line of sight coordinate system, and / or between the local coordinate system and the ground coordinate system includes: in response to changes in coordinate data of the line of sight coordinate system, converting corresponding coordinate data of the local coordinate system.

[0065] According to one or more embodiments of the present disclosure, in response to an interactive operation event, coordinate data conversion between the global coordinate system and the safe zone coordinate system, between the local coordinate system and the line of sight coordinate system, and / or between the local coordinate system and the ground coordinate system includes: in response to changes in coordinate data of the ground coordinate system, converting corresponding coordinate data of the local coordinate system.

[0066] According to one or more embodiments of the present disclosure, in response to an interactive operation event, coordinate data conversion is performed between the global coordinate system and the safety zone coordinate system, between the local coordinate system and the line of sight coordinate system, and / or between the local coordinate system and the ground coordinate system, including: in response to changes in the coordinate data of the safety zone coordinate system, corresponding coordinate data of the global coordinate system is converted.

[0067] According to one or more embodiments of the present disclosure, a mixed reality-based interactive device is provided, the mixed reality-based interactive device comprising: an image acquisition unit, configured to acquire an image; an initialization unit, configured to initialize a spatial coordinate origin based on the image through a spatial mapping and positioning module; a coordinate system construction unit, configured to construct a global coordinate system based on a safe zone origin through an algorithm module, and to construct a local coordinate system based on a calibration position; a coordinate system generation unit, configured to generate a line of sight coordinate system, a ground coordinate system, and a safe zone coordinate system through a runtime module and an engine module; a conversion coefficient construction unit, configured to construct a conversion coefficient between the global coordinate system and the safe zone coordinate system, a conversion coefficient between the local coordinate system and the line of sight coordinate system, and a conversion coefficient between the local coordinate system and the ground coordinate system through the spatial mapping and positioning module; a coordinate data conversion unit, configured to perform coordinate data conversion between the global coordinate system and the safe zone coordinate system, between the local coordinate system and the line of sight coordinate system, and / or between the local coordinate system and the ground coordinate system in response to an interactive operation event.

[0068] According to one or more embodiments of the present disclosure, a terminal is provided, comprising: at least one memory and at least one processor; wherein the at least one memory is used to store program code, and the at least one processor is used to call the program code stored in the at least one memory to execute any one of the methods described above.

[0069] According to one or more embodiments of the present disclosure, a storage medium is provided, wherein the storage medium is used to store program code, and the program code is used to execute the above method.

[0070] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

[0071] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0072] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

Claims

1. An interactive method based on mixed reality, characterized in that: The mixed reality-based interaction method includes: Get the image; Initialize the spatial coordinate origin based on the image by a spatial mapping and positioning module; The algorithm module constructs a global coordinate system based on the origin of the safety zone and a local coordinate system based on the calibration position; Generate the line of sight coordinate system, ground coordinate system and safe zone coordinate system through the runtime module and engine module; Constructing, by means of the spatial mapping and positioning module, a conversion coefficient between the global coordinate system and the safety zone coordinate system, a conversion coefficient between the local coordinate system and the line of sight coordinate system, and a conversion coefficient between the local coordinate system and the ground coordinate system; In response to an interactive operation event, coordinate data conversion is performed between the global coordinate system and the safety zone coordinate system, between the local coordinate system and the line of sight coordinate system, and / or between the local coordinate system and the ground coordinate system.

2. The interactive method based on mixed reality according to claim 1, characterized in that: Also includes: Render and display the converted coordinate data.

3. The interactive method based on mixed reality according to claim 1, characterized in that: The image is a grayscale image obtained by converting an image captured by a camera of the mixed reality device.

4. The interactive method based on mixed reality according to claim 1, characterized in that: Also includes: The runtime module records the offset between the global coordinate system and the safety zone coordinate system, the offset between the local coordinate system and the line of sight coordinate system, and the offset between the local coordinate system and the ground coordinate system.

5. The interactive method based on mixed reality according to claim 1, characterized in that: In response to an interactive operation event, performing coordinate data conversion between the global coordinate system and the safety zone coordinate system, between the local coordinate system and the line of sight coordinate system, and / or between the local coordinate system and the ground coordinate system includes: In response to the change of the coordinate data of the sight line coordinate system, the corresponding coordinate data of the local coordinate system is transformed.

6. The interactive method based on mixed reality according to claim 1, characterized in that: In response to an interactive operation event, performing coordinate data conversion between the global coordinate system and the safety zone coordinate system, between the local coordinate system and the line of sight coordinate system, and / or between the local coordinate system and the ground coordinate system includes: In response to the change of the coordinate data of the ground coordinate system, the corresponding coordinate data of the local coordinate system is transformed.

7. The interactive method based on mixed reality according to claim 1, characterized in that: In response to an interactive operation event, performing coordinate data conversion between the global coordinate system and the safety zone coordinate system, between the local coordinate system and the line of sight coordinate system, and / or between the local coordinate system and the ground coordinate system includes: In response to the change of the coordinate data of the safety zone coordinate system, the corresponding coordinate data of the global coordinate system is transformed.

8. An interactive device based on mixed reality, characterized in that: The interactive device based on mixed reality includes: an image acquisition unit configured to acquire an image; an initialization unit, configured to initialize a spatial coordinate origin based on the image through a spatial mapping and positioning module; A coordinate system construction unit configured to construct a global coordinate system based on the origin of the safety zone and a local coordinate system based on the calibration position through an algorithm module; A coordinate system generation unit, configured to generate a sight line coordinate system, a ground coordinate system, and a safety zone coordinate system through a runtime module and an engine module; a conversion coefficient construction unit, configured to construct, through the space mapping and positioning module, a conversion coefficient between the global coordinate system and the safety zone coordinate system, a conversion coefficient between the local coordinate system and the line of sight coordinate system, and a conversion coefficient between the local coordinate system and the ground coordinate system; A coordinate data conversion unit is configured to perform coordinate data conversion between the global coordinate system and the safety zone coordinate system, between the local coordinate system and the line of sight coordinate system, and / or between the local coordinate system and the ground coordinate system in response to an interactive operation event.

9. A terminal, comprising: at least one memory and at least one processor; The at least one memory is used to store program code, and the at least one processor is used to call the program code stored in the at least one memory to execute the mixed reality-based interaction method described in any one of claims 1 to 7.

10. A storage medium, wherein the storage medium is used to store program code, wherein the program code is used to execute the mixed reality-based interaction method according to any one of claims 1 to 7.

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