Calibration method, device, system and storage medium of head-mounted display device

Abstract

The application relates to a calibration method, device, system and storage medium of a head-mounted display device, wherein the calibration method of the head-mounted display device comprises: jointly calibrating an observation camera and a tracking camera to obtain external parameters between the observation camera and the tracking camera and internal parameters of the observation camera; when jointly calibrating, the observation camera photographs a calibration object through eyeglass lenses of the head-mounted display device; based on a virtual pattern on a display screen of the head-mounted display device, three-dimensional feature coordinates of the calibration object are determined, and a target image obtained by photographing the virtual pattern by the observation camera is acquired; and according to the three-dimensional feature coordinates, the target image, the internal parameters of the observation camera and the external parameters between the observation camera and the tracking camera, an optical perspective calibration result for the head-mounted display device is determined. The influence of the eyeglass lenses on virtual-real combined calibration can be considered, so that the accuracy of the virtual-real calibration result is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent wear, in particular to a calibration method, device, system and storage medium of a head-mounted display device. BACKGROUND

[0002] Augmented reality (AR) glasses, or mixed reality (MR) glasses, can serve as a core device for human-computer interaction and play an important role in the fields of industrial manufacturing, medical treatment, social entertainment and education. Calibrating the virtual-real combination of AR / MR glasses is to solve the spatial relationship alignment problem between the virtual world and the real world presented on the AR / MR glasses, so as to ensure the immersion and interaction accuracy of user experience.

[0003] At present, when calibrating the virtual world and the real world, a single-point interactive calibration method or a camera-based calibration method is usually used. The single-point interactive calibration method needs to manually collect corresponding data between a virtual target and a real target, so as to calibrate the spatial relationship between the virtual world and the real world. The camera-based calibration method is based on photographing a specific calibration object to complete the calibration of the virtual-real combination.

[0004] Since the distortion of the glasses lens itself affects the accuracy of the calibration result of the virtual-real combination, the above calibration methods still have the problem of low calibration result accuracy to be solved. SUMMARY

[0005] A calibration method, device, system and storage medium of a head-mounted display device are provided in the present embodiment to solve the problem of low calibration result accuracy in the related art.

[0006] In a first aspect, a calibration method of a head-mounted display device is provided in the present embodiment, comprising:

[0007] According to a set of calibration object images obtained by simultaneously photographing a preset calibration object by an observation camera and a tracking camera, jointly calibrating the observation camera and the tracking camera to obtain extrinsic parameters between the observation camera and the tracking camera, and an observation camera intrinsic parameter; wherein the observation camera photographs the calibration object through the glasses lens of the head-mounted display device; and the tracking camera is arranged on the head-mounted display device;

[0008] Drawing a virtual pattern for the calibration object on a display screen of the head-mounted display device;

[0009] Based on the virtual pattern, determining a three-dimensional feature coordinate of the calibration object, and obtaining a target image obtained by photographing the virtual pattern by the observation camera;

[0010] determine, according to the three-dimensional feature coordinates, the target image, and the observation camera intrinsic parameter, in combination with the extrinsic parameter between the observation camera and the tracking camera, an optical perspective calibration result for the head-mounted display device.

[0011] In some embodiments, determining, based on the virtual pattern, three-dimensional feature coordinates of the calibration object comprises:

[0012] extracting two-dimensional feature coordinates of the calibration object from the virtual pattern;

[0013] determining, according to the two-dimensional feature coordinates and a pre-obtained virtual camera intrinsic parameter, the three-dimensional feature coordinates of the calibration object in a three-dimensional coordinate system established with a plane on which the display screen is located; the virtual camera intrinsic parameter is determined based on a field of view parameter of the head-mounted display device.

[0014] In some embodiments, determining, according to the three-dimensional feature coordinates, the target image, and the observation camera intrinsic parameter, in combination with the extrinsic parameter between the observation camera and the tracking camera, an optical perspective calibration result for the head-mounted display device comprises:

[0015] extracting, from the target image, a calibration feature of the calibration object to obtain two-dimensional image coordinates of the calibration feature in the target image;

[0016] determining a first conversion relationship according to the three-dimensional feature coordinates, the two-dimensional image coordinates, and the observation camera intrinsic parameter; the first conversion relationship represents a conversion relationship between an observation camera coordinate system and a virtual world coordinate system; the virtual world coordinate system is a two-dimensional coordinate system of a virtual world presented by the display screen;

[0017] determining, according to the first conversion relationship, in combination with the extrinsic parameter between the observation camera and the tracking camera, an optical perspective calibration result for the head-mounted display device.

[0018] In some embodiments, determining a first conversion relationship according to the three-dimensional feature coordinates, the two-dimensional image coordinates, and the observation camera intrinsic parameter comprises:

[0019] performing geometric solving according to the three-dimensional feature coordinates, the two-dimensional image coordinates, and the observation camera intrinsic parameter to determine a third conversion relationship; the third conversion relationship is a conversion relationship between a three-dimensional coordinate system established with a plane on which the display screen is located and the observation camera coordinate system;

[0020] determining the first conversion relationship according to the third conversion relationship.

[0021] In some embodiments, the optical see-through calibration result of the head-mounted display device is determined according to the first conversion relationship and the extrinsic parameters between the observation camera and the tracking camera.

[0022] The second conversion relationship between the physical space coordinate system established by the tracking camera and the observation camera coordinate system is determined according to the extrinsic parameters between the observation camera and the tracking camera.

[0023] The optical see-through calibration result of the head-mounted display device is determined according to the first conversion relationship and the second conversion relationship.

[0024] In some embodiments, the observation camera and the tracking camera are jointly calibrated according to a set of calibration object images obtained by simultaneously photographing a preset calibration object by the observation camera and the tracking camera, to obtain the extrinsic parameters between the observation camera and the tracking camera, and the observation camera intrinsic parameters, including:

[0025] The set of calibration object images obtained by simultaneously photographing a preset calibration object by the observation camera and the tracking camera.

[0026] Feature extraction is performed on each image in the set of calibration object images to determine calibration features of the calibration object in the images.

[0027] The extrinsic parameters between the observation camera and the tracking camera, and the observation camera intrinsic parameters are determined according to the image coordinates of each calibration feature in the set of calibration object images.

[0028] In a second aspect, a calibration device for a head-mounted display device is provided in the present embodiment, including a joint calibration module, a pattern display module, an acquisition module, and an optical see-through calibration module; wherein:

[0029] The joint calibration module is configured to jointly calibrate the observation camera and the tracking camera according to a set of calibration object images obtained by simultaneously photographing a preset calibration object by the observation camera and the tracking camera, to obtain the extrinsic parameters between the observation camera and the tracking camera, and the observation camera intrinsic parameters; wherein the observation camera photographs the calibration object through the eyeglass lens of the head-mounted display device; and the tracking camera is arranged on the head-mounted display device.

[0030] The pattern display module is configured to draw a virtual pattern for the calibration object on the display screen of the head-mounted display device.

[0031] The acquisition module is configured to determine three-dimensional feature coordinates of the calibration object based on the virtual pattern, and to acquire a target image obtained by photographing the virtual pattern by the observation camera.

[0032] The optical perspective calibration module is configured to determine an optical perspective calibration result for the head-mounted display device according to the three-dimensional feature coordinates, the target image, the internal parameters of the observation camera, and the external parameters between the observation camera and the tracking camera.

[0033] In a third aspect, a calibration system of a head-mounted display device is provided in the present embodiment, comprising an observation camera, a fixing support, and a server, wherein the observation camera is in communication connection with the server.

[0034] The fixing support is configured to fix the observation camera and a head-mounted display device to be calibrated, and the head-mounted display device is arranged between the lens of the observation camera and a calibration object.

[0035] The server is configured to execute the calibration method of the head-mounted display device as described in the first aspect.

[0036] In a fourth aspect, an electronic device is provided in the present embodiment, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the calibration method of the head-mounted display device as described in the first aspect.

[0037] In a fifth aspect, a storage medium is provided in the present embodiment, and the storage medium stores a computer program executable by a processor to implement the calibration method of the head-mounted display device as described in the first aspect.

[0038] Compared with the related art, the calibration method, device, system and storage medium of the head-mounted display device are provided in the embodiment. The calibration method of the head-mounted display device comprises jointly calibrating an observation camera and a tracking camera according to a set of calibration object images obtained by simultaneously photographing a preset calibration object by the observation camera and the tracking camera, obtaining an extrinsic parameter between the observation camera and the tracking camera and an intrinsic parameter of the observation camera, wherein the observation camera photographs the calibration object through a spectacle lens of the head-mounted display device, and the tracking camera is arranged on the head-mounted display device; a virtual pattern for the calibration object is drawn on a display screen of the head-mounted display device; based on the virtual pattern, a three-dimensional feature coordinate of the calibration object is determined, and a target image obtained by photographing the virtual pattern by the observation camera is acquired; and an optical perspective calibration result for the head-mounted display device is determined according to the three-dimensional feature coordinate, the target image, the intrinsic parameter of the observation camera, and the extrinsic parameter between the observation camera and the tracking camera. The observation camera is introduced, the image photographed by the observation camera through the spectacle lens is jointly calibrated with the tracking camera, and then the virtual-real calibration result is determined according to the joint calibration result and the calibration object, so that the influence of the spectacle lens on the virtual-real combined calibration can be considered, thereby improving the accuracy of the virtual-real calibration result.

[0039] The details of one or more embodiments of the present application are presented in the following drawings and description to make other features, objects and advantages of the present application more apparent. BRIEF DESCRIPTION OF DRAWINGS

[0040] The accompanying drawings illustrated herein are used to provide further understanding of the present application, constitute a part of the present application, and the illustrative embodiments of the present application and their descriptions are used to explain the present application, and do not constitute improper limitations on the present application. In the drawings:

[0041] Figure 1 is a hardware structure block diagram of a terminal of the calibration method of the head-mounted display device of the embodiment of the present application;

[0042] Figure 2 is a flowchart of the calibration method of the head-mounted display device of the embodiment of the present application;

[0043] Figure 3a is an inaccurate virtual-real combined schematic diagram of the head-mounted display device;

[0044] Figure 3b is an accurate virtual-real combined schematic diagram of the head-mounted display device;

[0045] Figure 4a is an ideal light ray propagation path schematic diagram;

[0046] Figure 4b is an actual light ray propagation path schematic diagram;

[0047] Figure 5is a flowchart of a calibration method of a head-mounted display device of some embodiments of the present application;

[0048] Figure 6 is a structural block diagram of a calibration device of a head-mounted display device of an embodiment of the present application;

[0049] Figure 7 is a structural schematic diagram of a calibration system of a head-mounted display device of an embodiment of the present application. DETAILED DESCRIPTION

[0050] In order to more clearly understand the objects, technical solutions and advantages of the present application, the present application will be described and explained in detail below in conjunction with the accompanying drawings and embodiments.

[0051] Unless otherwise defined, technical terms or scientific terms used in the present application shall have the general meaning understood by a person with ordinary skill in the art to which the present application belongs. In the present application, "one", "a", "an", "the", "these" and similar words do not represent a quantitative limitation, but can be singular or plural. In the present application, the terms "include", "contain", "have" and any variants thereof are intended to cover non-exclusive inclusion; for example, a process, method and system, product or device containing a series of steps or modules (units) are not limited to the listed steps or modules (units), but can include steps or modules (units) not listed, or can include other steps or modules (units) inherent to the process, method, product or device. In the present application, the terms "connected", "connected", "coupled" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. In the present application, "multiple" means two or more. The association between the associated objects is described by "and / or", which means that there can be three relationships, for example, "A and / or B" can mean that A exists alone, A and B exist together, and B exists alone. In general, the character " / " represents an "or" relationship between the objects before and after it. In the present application, the terms "first", "second", "third" and the like are only used to distinguish similar objects, and do not represent a specific order of the objects.

[0052] The method embodiments provided in the present embodiment can be executed in a terminal, a computer or a similar computing device. For example, the method embodiments are executed on a terminal, Figure 1 is a hardware structural block diagram of a terminal of a calibration method of a head-mounted display device of the present embodiment. As shown in Figure 1 , the terminal can include one or more (CPU) processors, Figure 1The terminal shown in FIG. 1 includes one processor 102 and a memory 104 for storing data, wherein the processor 102 can include, but is not limited to, a processing device such as a microprocessor (MCU) or a programmable logic device (FPGA). The terminal can further include a transmission device 106 for communication function and an input / output device 108. Those skilled in the art can understand that Figure 1 The structure shown in FIG. 1 is only schematic and does not limit the structure of the terminal. For example, the terminal can include more or less components than those shown in FIG. 1, or have a different configuration from that shown in FIG. 1. Figure 1 For example, the terminal can include more or less components than those shown in FIG. 1, or have a different configuration from that shown in FIG. 1. Figure 1 For example, the terminal can include more or less components than those shown in FIG. 1, or have a different configuration from that shown in FIG. 1.

[0053] The memory 104 can be used to store computer programs, such as software programs of application software and modules, for example, a computer program corresponding to the calibration method of the head-mounted display device in the present embodiment. The processor 102 can execute various functional applications and data processing by running the computer program stored in the memory 104, i.e., implement the method described above. The memory 104 can include a high-speed random access memory and further include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some examples, the memory 104 can further include a memory remotely arranged with respect to the processor 102, which can be connected to the terminal through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0054] The transmission device 106 is used to receive or send data via a network. The network includes a wireless network provided by a communication provider of the terminal. In one example, the transmission device 106 includes a network adapter (NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet in a wireless manner.

[0055] In the present embodiment, a calibration method of a head-mounted display device is provided, Figure 2 The calibration method of the head-mounted display device in the present embodiment is shown in a flowchart as shown in FIG. 2, which includes the following steps: Figure 2

[0056] ​In step S210, the observation camera and the tracking camera are jointly calibrated according to a set of calibration object images obtained by simultaneously capturing the preset calibration object by the observation camera and the tracking camera, to obtain an extrinsic parameter between the observation camera and the tracking camera and an intrinsic parameter of the observation camera; wherein the observation camera captures the calibration object through the eyeglass lens of the head-mounted display device; and the tracking camera is arranged on the head-mounted display device.

[0057] The head-mounted display device is a smart wearable device based on an optical see-through (OST) augmented reality display technology, which superimposes virtual information into a real field of view of a user through a transparent optical element. Exemplarily, the head-mounted display device can be AR glasses or MR glasses. In order to achieve accurate and natural interaction by using the head-mounted display device, optical see-through calibration of the head-mounted display device is required. The optical see-through calibration specifically refers to calibration of a spatial relationship between a virtual world presented by a display screen of the head-mounted display device and an actual real physical world. That is, the spatial relationship alignment between the virtual world and the real physical world is achieved through virtual-real combined calibration.

[0058] Figure 3a An inaccurate virtual-real combined schematic diagram of the head-mounted display device; Figure 3b An accurate virtual-real combined schematic diagram of the head-mounted display device. Please refer to Figure 3a , the light ray extension line of the virtual image observed by the left camera from the left screen of the head-mounted display device is the left dotted line in Figure 3a , and the light ray extension line of the virtual image observed by the right camera from the right screen of the head-mounted display device is the right dotted line in Figure 3a . If the left dotted line and the right dotted line do not intersect, it indicates that the virtual object and the real space object (the four-star pattern in Figure 3a ) seen by the left camera and the right camera are not aligned, and thus belong to the inaccurate virtual-real combined case. In Figure 3a , the X, Y and Z axes on the left camera represent a camera coordinate system in which the left camera is located; and the X, Y and Z axes on the right camera represent a camera coordinate system in which the right camera is located.

[0059] Next, please refer to Figure 3b , Figure 3b , the light ray extension line of the virtual image observed by the left camera from the left screen of the head-mounted display device is the left dotted line in Figure 3b , and the light ray extension line of the virtual image observed by the right camera from the right screen of the head-mounted display device is the right dotted line in Figure 3b . Figure 3b In Figure 3b , the left dotted line and the right dotted line intersect at a point (the four-star pattern in Figure 3bA point in the physical space is imaged on the left and right screens of the head-mounted display device and observed by the left and right cameras respectively. This is a correct combination of virtual and real. Figure 3b The X, Y, and Z axes on the left camera in the middle represent the camera coordinate system of the left camera; the X, Y, and Z axes on the right camera represent the camera coordinate system of the right camera.

[0060] The optical perspective calibration of AR / MR glasses is to calculate the spatial relationship between the virtual world and the real physical space (the following description is based on the real world for convenience). RW It can be understood that T RW Represents the transformation relationship between real-world coordinates and virtual-world coordinates. Real-world coordinates are three-dimensional, and a three-dimensional coordinate system can be established on a tracking camera of a head-mounted display device to represent the real-world coordinate system. For example, the left eye camera of AR / MR glasses can be used to establish the real-world coordinate system. Virtual-world coordinates are two-dimensional and are displayed on the display screen of the head-mounted display device. Therefore, the relationship between virtual-world coordinates and real-world coordinates can be as follows:

[0061] ;

[0062] Among them, P W represents the three-dimensional real-world coordinates, p R Represents the two-dimensional virtual world coordinates, K R The virtual world imaging camera is an imaginary camera that does not exist in the physical world and is used to draw virtual object content on the display screen of the head-mounted display device. The calibration method of the head-mounted display device of this embodiment is used to complete the calibration of T RW The solution.

[0063] Among them, in this step, in order to achieve T RW To solve this problem, an observation camera is used to establish this spatial transformation relationship. Specifically, when calibrating with a calibration object, the head-mounted display device can be fixed between the observation camera lens and the calibration object. This allows the observation camera to simulate the human eye's perspective of the head-mounted display device, observing the calibration object through the head-mounted display lens. This step considers the influence of the head-mounted display lens on imaging when positioning the observation camera, head-mounted display device, and calibration object.

[0064] Figure 4a It is a schematic diagram of an ideal light propagation path; Figure 4b It is a schematic diagram of the actual light propagation path. Figure 4aAs shown, the light ray parallel to the horizontal plane enters from the left side, and after passing through the optical element, it will converge at a certain point on the optical axis. As shown in the figure Figure 4b , in actual cases, the light ray will also be deflected when propagating due to the influence of the eyeglass lens Figure 4b (the meniscus figure), and finally affect the position of the convergence point on the optical axis. Thus, the present embodiment is precisely considering the AR / MR glasses produced in actual production, which will have a layer of glass lens assembled on the outer layer of the optical display assembly, and this layer of glass lens will cause a certain distortion to the light propagation.

[0065] In the related art, when calibrating the virtual-real combination of the head-mounted display device, the ideal light propagation path in the related art Figure 4a is often assumed, and the calibration is completed on this basis. Therefore, the virtual-real combination calibration of the related art which ignores the influence of the glass lens is not accurate enough in the final calibration result.

[0066] The present embodiment precisely considers the influence of the glass lens on the virtual-real combination calibration result, and thus introduces an observation camera. After introducing the observation camera, the solution of the spatial conversion relationship between the real world and the virtual world can be divided into the solution of the conversion relationship T CW between the real world coordinate system and the observation camera coordinate system, and the solution of the conversion relationship T RC between the observation camera coordinate system and the virtual world coordinate system. That is:

[0067] ;

[0068] In order to solve the above two conversion relationships, it is necessary to first calibrate the observation camera and the tracking camera to obtain the intrinsic parameters of the observation camera, the extrinsic parameters between the observation camera and the tracking camera, and in addition, the intrinsic parameters of the tracking camera can also be solved.

[0069] The observation cameras can also include a left-eye camera (hereinafter referred to as a left-eye observation camera) and a right-eye camera (hereinafter referred to as a right-eye observation camera). During joint calibration, the left-eye observation camera observes the calibration board through the left-eye lens of the head-mounted display device, and the right-eye observation camera observes the calibration board through the right-eye lens of the head-mounted display device. A tracking camera can be arranged on the head-mounted display device glasses. The tracking camera can include multiple tracking cameras, which can be arranged on the side of the head-mounted display device glasses or in the middle of the head-mounted display device glasses. For example, one tracking camera is arranged on the left side of the left-eye lens, and another tracking camera is arranged on the right side of the right-eye lens. The tracking camera on the left side of the left-eye lens is a left-eye tracking camera, and the tracking camera on the right side of the right-eye lens is a right-eye tracking camera. In some embodiments, in order to improve the stability of data acquisition, a fixed support can be used to fix the observation cameras and the head-mounted display device, and the fixed support can adjust the positions of the observation cameras and the head-mounted display device.

[0070] Subsequently, based on the pre-set data automatic acquisition program, the observation cameras can be controlled to move to different positions in a fixed manner relative to the head-mounted display device in synchronization with the tracking cameras to synchronously capture the calibration object fixed in the scene in the form of program instructions, that is, the left-eye observation camera, the right-eye observation camera, the left-eye tracking camera, and the right-eye tracking camera are simultaneously triggered to capture the calibration object. It can be understood that the observation cameras include two left and right cameras, and the tracking cameras include two left and right cameras, so that a set of data obtained by one-time acquisition includes four calibration object images from different cameras. Synchronous shooting at different positions can obtain multiple sets of calibration object images, which can form a calibration object image set. Subsequently, the observation cameras and the tracking cameras are jointly calibrated using the calibration object image set. Since the observation cameras capture the calibration object through the lens of the head-mounted display device, the intrinsic parameters of the observation cameras finally calibrated actually include the influence of the lens of the head-mounted display device on imaging.

[0071] The intrinsic parameters of the observation cameras can include the focal length, principal point, distortion coefficient, and other parameters of the observation cameras, and the extrinsic parameters between the observation cameras and the tracking cameras can include the relative pose and attitude relationship between the observation cameras and the tracking cameras.

[0072] In the actual calibration process, one of the left eye tracking camera or the right eye tracking camera can be selected to establish a three-dimensional coordinate system representing the real world coordinate system. For example, the left eye tracking camera is used to establish a three-dimensional coordinate system, and the intrinsic parameters of the left eye observation camera, the intrinsic parameters of the right eye observation camera, and the extrinsic parameters between the left eye observation camera and the left eye tracking camera, and the extrinsic parameters between the right eye observation camera and the left eye tracking camera can be obtained during joint calibration. When setting the three-dimensional coordinate system representing the real world coordinate system, one tracking camera or multiple tracking cameras can be selected according to the actual application scenario requirements, or the structure design of the head-mounted display device and the product use preference, which is not limited in the embodiment.

[0073] In step S220, a virtual pattern for the calibration object is drawn on the display screen of the head-mounted display device.

[0074] The head-mounted display device presents the virtual world on the display screen, which is theoretically a two-dimensional plane, so the imaging plane of the observation camera and the display screen satisfy the homography. The homography is a kind of projective transformation, which describes the mapping relationship between two planes. That is, there is a certain transformation relationship between the imaging plane of the observation camera and the two-dimensional plane where the display screen is located. Based on this, in order to realize the conversion relationship between the observation camera coordinate system and the virtual world coordinate system, the pattern of the calibration object with known scale can be drawn on the display screen of the head-mounted display device. The calibration object can be a calibration board with a pattern drawn on it, or a combination of a fixed plane and a plurality of marker points. The pattern on the calibration object can be a chessboard, a dot, an AprilGrid or a custom pattern suitable for camera calibration according to the actual application scenario requirements. For example, when the calibration object is a calibration board containing a chessboard pattern, a chessboard with known scale can be drawn on the display screen.

[0075] In step S230, based on the virtual pattern, the three-dimensional feature coordinates of the calibration object are determined, and a target image obtained by the observation camera shooting the virtual pattern is acquired.

[0076] The three-dimensional coordinate system R can be established based on the plane where the display screen is located, and then the calibration features of the virtual pattern on the display screen are obtained, and the three-dimensional coordinates in the three-dimensional coordinate system R are obtained, thereby obtaining the three-dimensional feature coordinates of the calibration object. RiThe calibration features can be features that can be extracted from the virtual pattern for calibration, such as the corners of the checkerboard for a checkerboard pattern, and i can represent the ith calibration feature, such as the ith corner of the checkerboard. In addition, the virtual pattern displayed on the display screen can be captured by the observation camera to obtain a two-dimensional image containing the virtual pattern as a target image.

[0077] In step S240, the optical perspective calibration result for the head-mounted display device is determined according to the three-dimensional feature coordinates, the target image, the observation camera intrinsic parameters, and the extrinsic parameters between the observation camera and the tracking camera.

[0078] The two-dimensional image coordinates {p ci} of the calibration features in the image coordinate system of the target image can be extracted from the target image. Ri ci The three-dimensional feature coordinates {P RC}, the two-dimensional image coordinates {p RC}, and the observation camera intrinsic parameters are taken as inputs to solve the Perspective-n-Point (PnP) problem, and finally the conversion relationship T RC between the observation camera coordinate system and the virtual world coordinate system is solved. Then, based on the conversion relationship between the observation camera coordinate system and the virtual world coordinate system and the conversion relationship between the real world coordinate system and the observation camera coordinate system, the conversion relationship between the real world coordinate system and the virtual world coordinate system is solved, and the optical perspective calibration for the head-mounted display device is completed.

[0079] Compared with the related art, the influence of the glasses lenses on the virtual-real calibration is taken into account, and a more accurate virtual-real calibration method is provided. Furthermore, based on the more accurate virtual-real calibration, the reality and immersion of the user experience can be improved.

[0080] Therefore, the above steps S210 to S240 jointly calibrate the observation camera and the tracking camera according to the set of calibration object images obtained by simultaneously capturing the preset calibration object by the observation camera and the tracking camera, to obtain the extrinsic parameters between the observation camera and the tracking camera and the intrinsic parameters of the observation camera, wherein the observation camera captures the calibration object through the glasses lens of the head-mounted display device, the tracking camera is arranged on the head-mounted display device, a virtual pattern for the calibration object is drawn on the display screen of the head-mounted display device, the three-dimensional feature coordinates of the calibration object are determined based on the virtual pattern, and a target image obtained by capturing the virtual pattern by the observation camera is acquired, and the optical perspective calibration result for the head-mounted display device is determined according to the three-dimensional feature coordinates, the target image, the intrinsic parameters of the observation camera, and the extrinsic parameters between the observation camera and the tracking camera. The observation camera is introduced, the virtual-real combined calibration result is determined according to the joint calibration result and the calibration object based on the joint calibration of the image captured by the observation camera through the glasses lens and the tracking camera, and the influence of the glasses lens on the virtual-real combined calibration can be considered, so that the accuracy of the virtual-real combined calibration result is improved.

[0081] In one embodiment, based on the above step S230, the three-dimensional feature coordinates of the calibration object are determined based on the virtual pattern, which can specifically include:

[0082] The two-dimensional feature coordinates of the calibration object are extracted from the virtual pattern, and the three-dimensional feature coordinates of the calibration object in a three-dimensional coordinate system established based on the plane of the display screen are determined according to the two-dimensional feature coordinates and the virtual camera intrinsic parameters obtained in advance. The virtual camera intrinsic parameters are determined based on the field of view parameters of the head-mounted display device.

[0083] Since the virtual pattern of a known scale is drawn on the display screen, the image coordinates of the calibration features of the virtual pattern can be directly extracted as the two-dimensional feature coordinates {p Ri}. That is, the two-dimensional feature coordinates here are known. A three-dimensional coordinate system R is established based on the plane of the display screen, and the three-dimensional coordinates of the calibration features of the virtual pattern in the three-dimensional coordinate system R can be calculated by referring to the following formula:

[0084] ;

[0085] wherein K R is the virtual camera intrinsic parameters. The virtual camera is a virtual world imaging camera mentioned above, which is used to draw the virtual pattern on the display screen of the head-mounted display device. The virtual camera intrinsic parameters can be obtained based on the factory FOV parameters of the optical components of the head-mounted display device.

[0086] Therefore, the embodiment can determine the three-dimensional coordinates of the calibration features of the virtual pattern on the display screen based on the homography between the imaging plane of the observation camera and the display screen in a three-dimensional coordinate system R constructed by the display screen, and further solve the conversion relationship between the observation camera coordinate system and the virtual world coordinate system by refining the PnP problem of the external parameter solving of the display screen three-dimensional coordinate system R to the observation camera. Thus, the target image of the virtual pattern captured by the observation camera can be combined to provide an accurate and reliable basis for subsequent PnP problem solving.

[0087] In addition, in one embodiment, based on the above step S240, the optical perspective calibration result for the head-mounted display device is determined according to the three-dimensional feature coordinates, the target image, the observation camera internal parameter, and the external parameter between the observation camera and the tracking camera, which can specifically include:

[0088] The calibration features of the calibration object are extracted from the target image to obtain the two-dimensional image coordinates of the calibration features in the target image; the first conversion relationship is determined according to the three-dimensional feature coordinates, the two-dimensional image coordinates, and the observation camera internal parameter; the first conversion relationship represents the conversion relationship between the observation camera coordinate system and the virtual world coordinate system; the virtual world coordinate system is a two-dimensional coordinate system of the virtual world presented by the display screen; and the optical perspective calibration result for the head-mounted display device is determined according to the first conversion relationship and the external parameter between the observation camera and the tracking camera.

[0089] Firstly, the image processing technology can be used to extract the calibration features from the target image captured by the observation camera, and then the conversion relationship between the observation camera coordinate system and the virtual world coordinate system is determined based on the two-dimensional image coordinates of the calibration features in the target image, the three-dimensional feature coordinates in the above three-dimensional coordinate system R, and the observation camera internal parameter. Since the conversion relationship between the observation camera coordinate system and the real world coordinate system can be determined according to the external parameter between the observation camera and the tracking camera, the conversion relationship between the real world coordinate system and the virtual world coordinate system can be determined by combining the first conversion relationship with the external parameter between the observation camera and the tracking camera.

[0090] Therefore, in the case of introducing the observation camera, the virtual-real calibration considering the lens distortion is realized by combining the observation camera internal parameter, thereby improving the accuracy of the calibration result.

[0091] Specifically, in one embodiment, the first conversion relationship can be determined according to the three-dimensional feature coordinates, the two-dimensional image coordinates, and the observation camera internal parameter, which can include:

[0092] According to the three-dimensional feature coordinates, the two-dimensional image coordinates, and the internal parameters of the observation camera, a geometric solution is performed to determine a third conversion relationship; the third conversion relationship is a conversion relationship between a three-dimensional coordinate system established based on the display screen and a coordinate system of the observation camera; and the first conversion relationship is determined according to the third conversion relationship.

[0093] The PnP problem refers to solving the pose (i.e., a rotation matrix and a translation vector) of a camera by using known three-dimensional points (in a world coordinate system) and their corresponding two-dimensional projection points (in an image plane). Therefore, in the embodiment, the three-dimensional feature coordinates in the three-dimensional coordinate system R can be regarded as a known three-dimensional point, and the two-dimensional image coordinates extracted from the target image captured by the observation camera can be regarded as a two-dimensional projection point corresponding to the known three-dimensional point in the image plane, so that the extrinsic parameters of the three-dimensional coordinate system R to the observation camera can be solved by using the PnP problem, and the third conversion relationship T CR is obtained. Then, the first conversion relationship T RC is calculated according to the following formula:

[0094] ;

[0095] Therefore, the embodiment can solve the conversion relationship between the observation camera coordinate system and the virtual world coordinate system as a PnP problem, and finally accurately solve the first conversion relationship by using the three-dimensional coordinates of the calibration features of the calibration object in the three-dimensional coordinate system established based on the screen and the two-dimensional image coordinates in the target image captured by the observation camera.

[0096] In addition, in an embodiment, the optical perspective calibration result of the head-mounted display device is determined according to the first conversion relationship and the extrinsic parameters between the observation camera and the tracking camera, and specifically can include the following steps.

[0097] The second conversion relationship between the physical space coordinate system established based on the tracking camera and the observation camera coordinate system is determined according to the extrinsic parameters between the observation camera and the tracking camera; and the optical perspective calibration result of the head-mounted display device is determined according to the first conversion relationship and the second conversion relationship.

[0098] Since the real world coordinate system is established based on the coordinate system of the tracking camera, the conversion relationship between the real world coordinate system and the observation camera coordinate system can be determined as the second conversion relationship T CW according to the extrinsic parameters between the observation camera and the tracking camera. The observation camera coordinate system is a three-dimensional coordinate system. Then, T RC is obtained based on the first conversion relationship T CW and the second conversion relationship T RW .

[0099] The embodiment decomposes the solution of the spatial relationship between the real world and the virtual world by introducing the observation camera, and finally realizes accurate virtual-real calibration.

[0100] In addition, in one embodiment, the observation camera and the tracking camera are jointly calibrated according to a set of calibration object images obtained by simultaneously photographing a preset calibration object by the observation camera and the tracking camera, to obtain the extrinsic parameters between the observation camera and the tracking camera, and the intrinsic parameters of the observation camera, which can specifically include:

[0101] According to a set of calibration object images obtained by simultaneously photographing a preset calibration object by the observation camera and the tracking camera; performing feature extraction on each image in the set of calibration object images to determine the calibration features of the calibration object in each image; and determining the extrinsic parameters between the observation camera and the tracking camera, and the intrinsic parameters of the observation camera according to the image coordinates of each calibration feature in the set of calibration object images.

[0102] Taking an observation camera including a left-eye observation camera and a right-eye observation camera, a tracking camera including a left-eye tracking camera and a right-eye tracking camera, and a marker board with a checkerboard pattern as examples, the following is described. Based on a pre-set data automatic acquisition program, a left-eye observation camera and a right-eye observation camera can be controlled to move to different positions in a fixed manner relative to a head-mounted display device, and to be synchronized with a left-eye tracking camera and a right-eye tracking camera to photograph a marker board fixed in a scene. The left-eye observation camera, the right-eye observation camera, the left-eye tracking camera, and the right-eye tracking camera are triggered to photograph the marker board at the same time. Each time image acquisition is performed, a set of four calibration object images can be obtained, and multiple sets of calibration object images can be obtained after multiple acquisitions to form a set of calibration object images. The left-eye observation camera, the right-eye observation camera, the left-eye tracking camera, and the right-eye tracking camera are then jointly calibrated using the set of calibration object images. Since the left-eye observation camera and the right-eye observation camera photograph the calibration object through the eyeglass lenses of the head-mounted display device, the intrinsic parameters of the left-eye observation camera and the intrinsic parameters of the right-eye observation camera finally calibrated actually include the influence of the eyeglass lenses of the head-mounted display device on imaging. Therefore, the joint calibration based on the embodiment can improve the accuracy of subsequent virtual-real calibration of the head-mounted display device.

[0103] It should be noted that after the joint calibration is completed, the left eye observation camera is used to capture the virtual checkerboard drawn on the display screen to obtain a left eye target image; the right eye observation camera is used to capture the virtual checkerboard drawn on the display screen to obtain a right eye target image. Then, the spatial relationship calculation between the virtual world and the real world is performed for the left eye observation camera and the right eye observation camera respectively. According to the left eye target image, the intrinsic parameter of the left eye observation camera, and the three-dimensional feature coordinates of the corner points of the checkerboard in the three-dimensional coordinate system R established on the display screen, the spatial relationship calculation between the virtual world and the real world for the left display screen of the head-mounted display device is obtained; according to the right eye target image, the intrinsic parameter of the right eye observation camera, and the three-dimensional feature coordinates of the corner points of the checkerboard in the three-dimensional coordinate system R established on the display screen, the spatial relationship calculation between the virtual world and the real world for the right display screen is obtained.

[0104] Figure 5 is a flowchart of a calibration method of a head-mounted display device in some embodiments, as shown in Figure 5 the calibration method of the head-mounted display device comprises the following steps:

[0105] Step S501, based on the calibration object, jointly calibrate the observation camera and the tracking camera; the specific joint calibration process can refer to the above embodiments, which will not be repeated here.

[0106] Step S502, the observation camera captures a virtual pattern on the display screen of the head-mounted display device to obtain a target image;

[0107] Step S503, calculate the three-dimensional feature coordinates of the virtual pattern in the three-dimensional coordinate system R of the display screen, and the two-dimensional image coordinates of the calibration features in the target image;

[0108] Step S504, according to the data obtained in steps S501 to S503, solve the spatial relationship between the virtual world and the observation camera;

[0109] Step S505, according to the joint calibration result of step S501 and the spatial relationship obtained in step S504, solve the spatial relationship between the virtual world and the real world.

[0110] The above steps S501 to S505 realize an automatic calibration considering the influence of lens distortion on virtual-real combined calibration, the calibration result is more accurate, and the calibration process can be automatically executed based on program control throughout the process without human intervention, which improves the efficiency of head-mounted display device calibration and saves labor cost.

[0111] In this embodiment, a calibration device for a head-mounted display device is also provided. The device is used to implement the above-mentioned embodiments and preferred implementation modes. The details that have been described will not be repeated here. The terms "module", "unit", "sub-unit", etc. used below refer to a combination of software and / or hardware that can implement predetermined functions. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and conceivable.

[0112] Figure 6 : is a structural block diagram of the calibration device 60 of the head mounted display device of this embodiment. Figure 6 As shown, the calibration device 60 of the head-mounted display device includes: a joint calibration module 62, a pattern display module 64, an acquisition module 66 and an optical perspective calibration module 68; wherein:

[0113] The joint calibration module 62 is used to jointly calibrate the observation camera and the tracking camera based on the calibration object image set obtained by simultaneously photographing the preset calibration object with the observation camera and the tracking camera, so as to obtain the external parameters between the observation camera and the tracking camera, as well as the internal parameters of the observation camera; wherein, the observation camera photographs the calibration object through the glasses lens of the head-mounted display device; the tracking camera is set on the head-mounted display device; the pattern display module 64 is used to draw a virtual pattern for the calibration object on the display screen of the head-mounted display device; the acquisition module 66 is used to determine the three-dimensional feature coordinates of the calibration object based on the virtual pattern, and to obtain the target image obtained by photographing the virtual pattern with the observation camera; the optical perspective calibration module 68 is used to determine the optical perspective calibration result for the head-mounted display device based on the three-dimensional feature coordinates, the target image, the internal parameters of the observation camera, and the external parameters between the observation camera and the tracking camera.

[0114] It should be noted that the above modules can be functional modules or program modules, and can be implemented through software or hardware. For modules implemented through hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0115] It should be noted that, for specific examples in this embodiment, reference may be made to the examples described in the above embodiments and optional implementation modes, and will not be repeated in this embodiment.

[0116] In this embodiment, a calibration system for a head-mounted display device is also provided. Figure 7 FIG. 7 is a structural diagram of a calibration system 70 for a head mounted display device according to this embodiment. Figure 7 As shown, the calibration system 70 of the head mounted display device includes: an observation camera 72, a fixing bracket 74 and a server 76; the observation camera 72 is in communication with the server 76;

[0117] The fixing support 74 is used for fixing the observation camera 72 and the head-mounted display device to be calibrated; the head-mounted display device is arranged between the lens of the observation camera 72 and the calibration object; the observation camera 72 is used for photographing the calibration object through the eyeglass lens of the head-mounted display device, and photographing a virtual pattern drawn on the display screen of the head-mounted display device; and the server 76 is used for performing the calibration method of the head-mounted display device provided in any of the above embodiments.

[0118] The observation camera 72 can include a left-eye observation camera 721 and a right-eye observation camera 722; the left-eye observation camera 721 can photograph the calibration object through the left eyeglass lens of the head-mounted display device; and the right-eye observation camera 722 can photograph the calibration object through the right eyeglass lens of the head-mounted display device. The fixing support 74 is used for fixing the observation camera 72 and the head-mounted display device, and the support height of the observation camera 72 and the head-mounted display device under the support of the fixing support 74 and the distance between the observation camera 72 and the head-mounted display device can be adjusted through the extension of the fixing support 74.

[0119] In the embodiment, a calibration system for optical see-through calibration of a head-mounted display device is provided. The calibration system 70 of the head-mounted display device based on the embodiment can realize a convenient and accurate virtual-real combined calibration considering the influence of lens distortion. In addition, the calibration system 70 of the head-mounted display device based on the embodiment can realize automatic calibration without relying on manual participation, so as to be applicable to factory calibration of the head-mounted display device in a mass production environment.

[0120] In the embodiment, an electronic device is also provided, which includes a memory and a processor, the memory stores a computer program, and the processor is configured to execute the computer program to perform the steps in any of the above method embodiments.

[0121] Optionally, the electronic device can further include a transmission device and an input-output device, wherein the transmission device is connected with the processor, and the input-output device is connected with the processor.

[0122] Optionally, in the embodiment, the processor can be configured to execute the following steps through the computer program:

[0123] S1, jointly calibrating the observation camera and the tracking camera according to a calibration object image set obtained by simultaneously photographing a preset calibration object by the observation camera and the tracking camera, to obtain an external parameter between the observation camera and the tracking camera and an internal parameter of the observation camera; wherein the observation camera photographs the calibration object through the eyeglass lens of the head-mounted display device; and the tracking camera is arranged on the head-mounted display device.

[0124] S2, draw a virtual pattern for the calibration object on the display screen of the head-mounted display device;

[0125] S3, determine the three-dimensional feature coordinates of the calibration object based on the virtual pattern, and obtain a target image obtained by photographing the virtual pattern by the observation camera;

[0126] S4, determine the optical perspective calibration result for the head-mounted display device according to the three-dimensional feature coordinates, the target image, the internal parameters of the observation camera, and the external parameters between the observation camera and the tracking camera.

[0127] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementation manners, which will not be described herein again.

[0128] In addition, in combination with the calibration method of the head-mounted display device provided in the above embodiments, a storage medium can also be provided to implement the calibration method of the head-mounted display device in this embodiment. The storage medium has a computer program stored thereon; the computer program is executed by a processor to implement any one of the calibration methods of the head-mounted display device in the above embodiments.

[0129] It should be understood that the specific embodiments described herein are only used to explain this application, but not to limit it. According to the embodiments provided in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the present application.

[0130] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties.

[0131] Obviously, the drawings are only some examples or embodiments of the present application, and those skilled in the art can also apply the present application to other similar situations according to the drawings without creative labor. In addition, it can be understood that although the work done in the development process may be complex and long, for those skilled in the art, some design, manufacture or production changes according to the technical content disclosed in the present application are only routine technical means and should not be regarded as insufficient disclosure of the present application.

[0132] The word "implementation" in this application refers to the specific features, structures, or characteristics described in connection with an implementation can be included in at least one implementation of the present application. The phrase appears in various places throughout the specification is not necessarily meant to refer to the same implementation, nor is it meant to imply that the features, structures, or characteristics so described can not be implemented in other implementations. It will be apparent to those having ordinary skill in the art that the implementations described herein can be combined with other implementations without losing the intended effect.

[0133] The above-described implementations only express several implementation manners of the present application, which are described in detail and specifically, but cannot be understood as the limitation of the patent protection scope. It should be pointed out that for ordinary skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A calibration method for a head-mounted display device, characterized in that: include: The observation camera and the tracking camera are jointly calibrated based on a set of calibration object images obtained by simultaneously photographing a preset calibration object with the observation camera and the tracking camera to obtain external parameters between the observation camera and the tracking camera, as well as internal parameters of the observation camera. During the joint calibration, the head-mounted display device is fixed between the lens of the observation camera and the calibration object, so that the observation camera simulates the perspective of the human eye on the head-mounted display device and photographs the calibration object through the glasses lens of the head-mounted display device. The tracking camera is disposed on the head-mounted display device. Drawing a virtual pattern corresponding to the calibration object on a display screen of the head-mounted display device; determining the three-dimensional feature coordinates of the calibration object based on the virtual pattern, and acquiring a target image obtained by photographing the virtual pattern with the observation camera; An optical perspective calibration result for the head mounted display device is determined according to the three-dimensional feature coordinates, the target image, the internal parameters of the observation camera, and the external parameters between the observation camera and the tracking camera.

2. The calibration method for a head-mounted display device according to claim 1, wherein: Determining the three-dimensional feature coordinates of the calibration object based on the virtual pattern includes: extracting the two-dimensional feature coordinates of the calibration object from the virtual pattern; According to the two-dimensional feature coordinates and the pre-acquired virtual camera intrinsic parameters, the three-dimensional feature coordinates of the calibration object in the three-dimensional coordinate system established with the surface where the display screen is located are determined; the virtual camera intrinsic parameters are determined based on the field of view parameters of the head-mounted display device.

3. The calibration method for a head-mounted display device according to claim 1, wherein: Determining an optical perspective calibration result for the head-mounted display device according to the three-dimensional feature coordinates, the target image, the observation camera internal parameters, and the external parameters between the observation camera and the tracking camera, including: Extracting the calibration features of the calibration object from the target image, and obtaining the two-dimensional image coordinates of the calibration features in the target image; determining a first transformation relationship based on the three-dimensional feature coordinates, the two-dimensional image coordinates, and the observation camera internal parameters; the first transformation relationship represents a transformation relationship between an observation camera coordinate system and a virtual world coordinate system; the virtual world coordinate system is a two-dimensional coordinate system of the virtual world presented on the display screen; An optical perspective calibration result for the head mounted display device is determined according to the first conversion relationship and in combination with external parameters between the observation camera and the tracking camera.

4. The calibration method for a head-mounted display device according to claim 3, wherein: Determining a first conversion relationship according to the three-dimensional feature coordinates, the two-dimensional image coordinates, and the observation camera intrinsic parameters includes: Performing a geometric solution based on the three-dimensional feature coordinates, the two-dimensional image coordinates, and the observation camera internal parameters to determine a third transformation relationship; the third transformation relationship is a transformation relationship between a three-dimensional coordinate system established on the surface where the display screen is located and the observation camera coordinate system; The first conversion relationship is determined according to the third conversion relationship.

5. The calibration method for a head mounted display device according to claim 3, wherein: Determining an optical perspective calibration result for the head-mounted display device according to the first conversion relationship and in combination with external parameters between the observation camera and the tracking camera includes: determining a second transformation relationship between a physical space coordinate system established with the tracking camera and a coordinate system of the observation camera according to external parameters between the observation camera and the tracking camera; An optical perspective calibration result of the head-mounted display device is determined according to the first conversion relationship and the second conversion relationship.

6. The method for calibrating a head-mounted display device according to any one of claims 1 to 5, wherein: The observation camera and the tracking camera are jointly calibrated based on a set of calibration object images obtained by simultaneously photographing a preset calibration object with an observation camera and a tracking camera to obtain external parameters between the observation camera and the tracking camera, as well as internal parameters of the observation camera, including: A set of calibration object images obtained by simultaneously photographing the preset calibration object with the observation camera and the tracking camera; Performing feature extraction on each image in the calibration object image set to determine calibration features of the calibration object in each image; According to the image coordinates corresponding to each calibration feature in the calibration object image set, the external parameters between the observation camera and the tracking camera, as well as the internal parameters of the observation camera are determined.

7. A calibration device for a head-mounted display device, characterized in that: include: Combined calibration module, pattern display module, acquisition module and optical perspective calibration module; wherein: The joint calibration module is configured to perform joint calibration on the observation camera and the tracking camera based on a set of calibration object images obtained by simultaneously photographing a preset calibration object with the observation camera and the tracking camera, thereby obtaining external parameters between the observation camera and the tracking camera, as well as internal parameters of the observation camera. During the joint calibration, the head-mounted display device is fixed between the lens of the observation camera and the calibration object, so that the observation camera simulates the perspective of the human eye on the head-mounted display device and photographs the calibration object through the glasses lens of the head-mounted display device. The tracking camera is disposed on the head-mounted display device. The pattern display module is configured to draw a virtual pattern corresponding to the calibration object on the display screen of the head mounted display device; The acquisition module is configured to determine the three-dimensional feature coordinates of the calibration object based on the virtual pattern, and to acquire a target image obtained by photographing the virtual pattern with the observation camera; The optical perspective calibration module is used to determine an optical perspective calibration result for the head-mounted display device based on the three-dimensional feature coordinates, the target image, the observation camera internal parameters, and the external parameters between the observation camera and the tracking camera.

8. A calibration system for a head-mounted display device, characterized in that: include: An observation camera, a fixing bracket and a server; the observation camera is communicatively connected to the server; The fixing bracket is used to fix the observation camera and the head-mounted display device to be calibrated; the head-mounted display device is arranged between the observation camera lens and the calibration object; the observation camera is used to photograph the calibration object through the glasses lens of the head-mounted display device, and to photograph the virtual pattern drawn on the display screen of the head-mounted display device; The server is used to execute the calibration method of the head-mounted display device according to any one of claims 1 to 6.

9. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to execute the calibration method for a head-mounted display device according to any one of claims 1 to 6.

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 head-mounted display device according to any one of claims 1 to 6 are implemented.

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