Method, device, electronic equipment and system for measuring wearing attitude angle of head-mounted equipment

Abstract

The invention relates to a head-mounted equipment wearing attitude angle measurement method, device, electronic equipment and system, and the method comprises the steps: controlling the head-mounted equipment to display a set picture under the condition that a head model is worn with the head-mounted equipment, and enabling the set picture to display a set visual mark; a set picture image and a standard image are obtained, the set picture image is an image obtained by shooting a set picture through a camera arranged at any eye part of the head model, and the set visual mark displayed by the standard image is free of perspective deformation and distortion; determining a homography matrix according to the set picture image and the standard image; decomposing according to the homography matrix to obtain a rotation matrix; determining a wearing attitude angle of the head-mounted device according to the rotation matrix; and displaying the wearing attitude angle of the head-mounted device on a display interface.

Description

Technical Field

[0001] This disclosure relates to the field of head-mounted device technology, and more specifically, to a method, apparatus, electronic device, and system for measuring the wearing posture angle of a head-mounted device. Background Technology

[0002] Before determining relevant parameters based on the head-mounted device, such as FOV (Field of View) and exit pupil distance, it is necessary to determine whether the head-mounted device is worn in a standard position.

[0003] Existing technologies mainly rely on manual determination of whether the head-mounted device is worn correctly, that is, on the operator's naked eye to judge whether the head-mounted device is worn correctly. This manual judgment method results in poor consistency and low accuracy.

[0004] Currently, there is a need for an automated, high-precision, and quantifiable calibration method for the posture of head-mounted devices. Summary of the Invention

[0005] One objective of this invention is to provide a new technical solution for measuring the wearing posture angle of a head-mounted device.

[0006] According to a first aspect of the present invention, a method for measuring the wearing posture angle of a head-mounted device is provided, comprising: With the head model already wearing the head-mounted device, the head-mounted device is controlled to display a setting screen, wherein the setting screen displays setting visual markers; Acquire a set screen image and a standard image, wherein the set screen image is an image obtained by a camera set at any eye part of the head model to capture the set screen, and the standard image shows that the set visual mark has no perspective distortion and no distortion; Determine the homography matrix based on the set screen image and the standard image; The rotation matrix is ​​obtained by decomposing the homography matrix. The wearing posture angle of the head-mounted device is determined based on the rotation matrix; The display interface shows the wearing posture angle of the head-mounted device.

[0007] Optionally, the visual marker is set as a quadrilateral pattern, wherein determining the homography matrix based on the set image and the standard image includes: Determine a first homogeneous coordinate set and a second homogeneous coordinate set, wherein the first homogeneous coordinate set includes the homogeneous coordinate information of the four corner points of the set visual mark display area in the set screen image, and the second homogeneous coordinate set includes the homogeneous coordinate information of the four corner points of the set visual mark display area in the standard image; Obtain a first scale factor, wherein the first scale factor is a normalized parameter used to measure the scale difference between the four corner points of the set visual mark display area in the set image and the four corner points of the set visual mark display area in the standard image; The homography matrix is ​​determined based on the first homogeneous coordinate set, the second homogeneous coordinate set, and the first scale factor.

[0008] Optionally, obtaining the rotation matrix based on the homography matrix decomposition includes: The rotation matrix is ​​obtained by decomposing the homography matrix using the decomposeHomographyMat function.

[0009] Optionally, determining the wearing posture angle of the head-mounted device based on the rotation matrix includes: The yaw angle, pitch angle, and roll angle are obtained by decomposing the rotation matrix.

[0010] Optionally, the method further includes: Obtain the mapping relationship between head model identifier, head-wearing device identifier and standard posture angle under different head-wearing states of different head-wearing devices in different head models, the current head model identifier, and the identifier of the head-wearing device currently worn by the head model; Based on the mapping relationship, the identifier of the current head model, and the identifier of the head-mounted device worn by the current head model, the standard posture angle is determined; Based on the standard posture angle and the wearing posture angle, determine the wearing status information of the head-mounted device currently worn by the head model; If the wearing status information of the head-mounted device currently worn by the head model is abnormal, a reminder message will be issued.

[0011] Optionally, before determining the homography matrix based on the set image and the standard image, the method further includes: Detect whether the set screen image includes the image corresponding to the set visual marker, and obtain the detection result; If the detection result does not include the image corresponding to the set visual marker, a reminder message will be issued.

[0012] Optionally, the method further includes: The setting screen image is displayed on the display interface.

[0013] According to a second aspect of the present invention, a head-mounted device wearing posture angle measuring device is provided, comprising: The control module is used to control the head-mounted device to display a setting screen when the head model is wearing the head-mounted device, wherein the setting screen displays setting visual markers; The acquisition module is used to acquire a set screen image and a standard image, wherein the set screen image is an image obtained by a camera set at any eye part of the head model to capture the set screen, and the standard image displays the set visual mark without perspective distortion and distortion; The homography matrix determination module is used to determine the homography matrix based on the set screen image and the standard image; A rotation matrix determination module is used to obtain a rotation matrix based on the homography matrix decomposition. The posture angle determination module is used to determine the wearing posture angle of the head-mounted device based on the rotation matrix. The display module is used to display the wearing posture angle of the head-mounted device on the display interface.

[0014] According to a third aspect of the present invention, an electronic device is provided, including a memory and a processor, the memory storing a computer program for controlling the processor to operate in order to perform the method according to any one of the first aspects.

[0015] According to a fourth aspect of the present invention, a head-mounted device wearing posture angle measurement system is provided, comprising: a head model, a camera disposed at any eye portion of the head model, and a head-mounted device wearing posture angle measurement device as described in the second aspect, or... The head model, a camera positioned at any eye of the head model, and an electronic device as described in the third aspect.

[0016] This disclosure provides a method for measuring the wearing posture angle of a head-mounted device. With the head-mounted device already worn on a head model, the method controls the head-mounted device to display a set screen, acquires a set screen image and a standard image. The set screen image is an image captured by a camera positioned at any eye of the head model. The standard image shows that the set visual markers have no perspective distortion or aberration. Based on the set screen image and the standard image, a homography matrix is ​​determined. A rotation matrix is ​​obtained by decomposing the homography matrix. Based on the rotation matrix, the wearing posture angle of the head-mounted device is determined. The wearing posture angle of the head-mounted device is displayed on the display interface. Compared to existing technologies, this method eliminates the reliance on manual inspection of whether the head-mounted device is worn abnormally, improving detection efficiency. Furthermore, it quantifies the wearing posture of the head-mounted device, improving detection accuracy. The display of the wearing posture angle provides an intuitive prompt to the operator in case of abnormal head-mounted device wear.

[0017] The features and advantages of the embodiments of this specification will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments of this specification and, together with their description, serve to explain the principles of these embodiments.

[0019] Figure 1 This is a flowchart illustrating a method for measuring the wearing posture angle of a head-mounted device according to an embodiment of the present invention.

[0020] Figure 2 This is a schematic diagram of a display interface according to an embodiment of the present invention.

[0021] Figure 3 This is a schematic diagram of a display interface according to an embodiment of the present invention.

[0022] Figure 4 This is a schematic block diagram of a head-mounted device for measuring posture angles according to an embodiment of the present invention.

[0023] Figure 5 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0024] Various exemplary embodiments of this specification will now be described in detail with reference to the accompanying drawings.

[0025] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the embodiments of this specification or their application or use.

[0026] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0027] To address the aforementioned technical problems, this disclosure provides a method for measuring the wearing posture angle of a head-mounted device. With the head model already wearing the head-mounted device, the method controls the head-mounted device to display a set screen, acquires a set screen image and a standard image. The set screen image is an image captured by a camera positioned at any eye location on the head model. The standard image displays the set visual markers without perspective distortion or aberration. A homography matrix is ​​determined, and a rotation matrix is ​​obtained by decomposing the homography matrix. Based on the rotation matrix, the wearing posture angle of the head-mounted device is determined and displayed on the display interface. Compared to existing technologies, this method eliminates the reliance on manual inspection for abnormal head-mounted device wear, improving detection efficiency. Furthermore, it quantifies the wearing posture of the head-mounted device, improving detection accuracy. The display of the wearing posture angle provides intuitive prompts to the operator in cases of abnormal head-mounted device wear.

[0028] In one embodiment of the present invention, a method for measuring the wearing posture angle of a head-mounted device is provided. According to... Figure 1 As shown, the head-mounted device wearing posture angle measurement method of this embodiment includes the following steps S110 to S160.

[0029] Step S110: With the head model already wearing the head-mounted device, control the head-mounted device to display a setting screen, wherein the setting screen displays setting visual markers.

[0030] With the head model already wearing a head-mounted device, the head-mounted device ensures a snug fit to the head model's contours.

[0031] The visual marker can be a quadrilateral pattern, such as a QR code.

[0032] Step S120: Obtain a setting screen image and a standard image. The setting screen image is an image obtained by a camera set at any eye part of the head model to capture the setting screen. The standard image shows that the setting visual mark has no perspective distortion and no distortion.

[0033] The camera can be placed on the left eye area of ​​the head model or on the right eye area of ​​the head model.

[0034] The camera can be a wide-angle camera, such as a fisheye camera.

[0035] Step S130: Determine the homography matrix based on the set screen image and the standard image.

[0036] When the visual marker is set as a quadrilateral pattern, step S130 specifically includes steps S131 to S133.

[0037] Step S131: Determine the first homogeneous coordinate set and the second homogeneous coordinate set, wherein the first homogeneous coordinate set includes the homogeneous coordinate information of the four corner points of the set visual mark display area in the set image, and the second homogeneous coordinate set includes the homogeneous coordinate information of the four corner points of the set visual mark display area in the standard image.

[0038] The AprilTag visual detection algorithm is used to determine the positions of the four corner points of the designated visual marker display area within a specified image. Specifically, all contours in the specified image are identified. From these contours, the four contours corresponding to the designated visual marker are selected. Then, based on all adjacent pairs of these four contours, the four corner points of the designated visual marker display area are determined; that is, the intersection of adjacent contours is considered a corner point of the designated visual marker display area. This determines the positions of the four corner points of the designated visual marker display area within the specified image. Based on these positions, the homogeneous coordinate information of the four corner points of the designated visual marker display area within the specified image is determined.

[0039] The homogeneous coordinates of a corner point in the visual marker display area of ​​the image are set as follows. .

[0040] The AprilTag visual detection algorithm is used to determine the positions of the four corner points of the designated visual marker display area in a standard image. Specifically, all contours in the standard image are identified, and the four contours corresponding to the designated visual marker are selected from all contours in the standard image. Then, based on all adjacent pairs of the four contours corresponding to the designated visual marker, the four corner points of the designated visual marker display area are determined. That is, the intersection of adjacent contours is a corner point of the designated visual marker display area. This determines the positions of the four corner points of the designated visual marker display area in the standard image. Based on the positions of the four corner points of the designated visual marker display area in the standard image, the homogeneous coordinate information of the four corner points of the designated visual marker display area in the standard image is determined.

[0041] The homogeneous coordinates of a corner point in the visual marker display area of ​​the standard image are as follows. .

[0042] It should be noted that the homogeneous coordinates of the four corner points of the visual marker display area in the standard image are information under a preset coordinate system and are known quantities.

[0043] Step S132: Obtain the first scale factor, wherein the first scale factor is a normalized parameter used to measure the scale difference between the four corner points of the set visual mark display area in the set image and the four corner points of the set visual mark display area in the standard image.

[0044] Step S133: Determine the homography matrix based on the first homogeneous coordinate set, the second homogeneous coordinate set, and the first scale factor.

[0045] The homography matrix is ​​a 3x3 matrix.

[0046] The homography matrix is ​​determined based on the following formula.

[0047] Where s is the first scale factor, H is the homography matrix, ( )and( Refer to the above explanation of this part. It should be noted that when using this formula to determine the homography matrix, it is necessary to set the homogeneous coordinates of the four corner points of the visual marker display area in the image and the four corner points of the visual marker display area in the standard image.

[0048] Step S140: Obtain the rotation matrix based on the homography matrix decomposition.

[0049] The `decomposeHomographyMat` function is used to decompose the homography matrix to obtain the rotation matrix. `decomposeHomographyMat` is a function in the OpenCV library.

[0050] In this embodiment, other parameters can also be obtained from the homography matrix, such as the second scale factor, translation vector, normal vector of the plane where the head-mounted device display is located, and distance between the plane where the head-mounted device display is located and the optical center of the camera. The relationship between these parameters, the rotation matrix, and the homography matrix is ​​as follows:

[0051] Where H is the homography matrix, R is the rotation matrix, λ is the second scale factor, t is the translation vector, n is the normal vector of the plane where the visual marker is located in the virtual scene, d is the distance between the plane where the visual marker is located in the virtual scene and the optical center of the camera, and T is the matrix transpose symbol in the calculation formula.

[0052] Step S150: Determine the wearing posture angle of the head-mounted device based on the rotation matrix.

[0053] The yaw, pitch, and roll angles are obtained by decomposing the rotation matrix. The rotation matrix can be decomposed into Euler angles, such as yaw, pitch, and roll. These three angles can be decomposed from the rotation matrix using the following formulas.

[0054]

[0055] Where R is a 3x3 rotation matrix, φ is the yaw angle, θ is the pitch angle, and α is the roll angle.

[0056] For example, the rotation matrix is ​​R = .

[0057] Use the following formula to extract the pitch angle θ.

[0058] Where atan is the arctangent function and sqrt is the square root function. The following formulas are used to extract the pitch angle θ, yaw angle φ, and roll angle α.

[0059]

[0060]

[0061] Where atan is the arctangent function and sqrt is the square root function.

[0062] Step S160: Display the wearing posture angle of the head-mounted device on the display interface.

[0063] The wearing posture angle of the head-mounted device is demonstrated in conjunction with a head model; see details below. Figure 2 The yaw angle, pitch angle, and roll angle are all displayed in conjunction with the head model.

[0064] In some embodiments, the method further includes the following steps S170 to S200.

[0065] Step S170: Obtain the mapping relationship between the head model identifier, head-wearing device identifier, and standard posture angle of different head-wearing devices in different head-wearing states under standard state, the identifier of the current head model, and the identifier of the head-wearing device currently worn by the head model.

[0066] The standard posture angles corresponding to different head-mounted devices in different head-mounted models under the standard state are pre-calibrated values.

[0067] The mapping relationship between head-mounted devices and head-mounted device identifiers and standard posture angles under different head-mounted device wearing states can be represented by a mapping table.

[0068] Step S180: Determine the standard posture angle based on the mapping relationship, the identifier of the current head model, and the identifier of the head-mounted device worn by the current head model.

[0069] Step S190: Determine the wearing status information of the head-mounted device currently worn by the head model based on the standard posture angle and the wearing posture angle.

[0070] The standard posture angle is a range of angles. When the posture angle falls within this range, the wearing status of the head-mounted device worn by the current head model is determined to be normal. When the posture angle does not fall within this range, the wearing status of the head-mounted device worn by the current head model is determined to be abnormal.

[0071] Step S200: If the wearing status information of the head-mounted device currently worn by the head model is abnormal, a reminder message is issued.

[0072] The alert message can be sent in any of the following ways: voice alert, text alert, or flashing indicator light alert. Upon receiving the alert message, the operator can promptly adjust the wearing posture of the head-mounted device.

[0073] In some embodiments, before determining the homography matrix based on the set screen image and the standard image, the method further includes: detecting whether the set screen image includes the image corresponding to the set visual mark, and obtaining a detection result; if the detection result indicates that the image corresponding to the set visual mark is not included, issuing a reminder message.

[0074] In this embodiment, the purpose of detecting whether the set screen image includes the image corresponding to the set visual mark is to detect that the camera's field of view is not obstructed, so as to ensure that the camera can capture the image corresponding to the set visual mark.

[0075] The alert message can be sent in any of the following ways: voice alert, text alert, or flashing indicator light alert. Upon receiving the alert message, the operator can promptly perform actions such as removing obstructions or adjusting the wearing posture of the head-mounted device.

[0076] In some embodiments, the method further includes: displaying a setting screen image on a display interface.

[0077] according to Figure 3 As shown, the display interface shows a setting screen image, which includes a setting visual marker, a QR code pattern. The operator can perform a coarse identification of the head-mounted device's wearing posture based on whether the QR code pattern is located in the center area of ​​the setting screen image. If the QR code pattern is not located in the center area of ​​the setting screen image, the coarse identification result of the head-mounted device's wearing posture is determined to be abnormal, and the operator can adjust the wearing posture of the head-mounted device based on the setting screen image. If the QR code pattern is located in the center area of ​​the setting screen image, the coarse identification result of the head-mounted device's wearing posture is determined to be normal, and further detection is required according to steps S130-S150 above to obtain the accurate wearing posture angle.

[0078] One embodiment of the present invention provides a device for measuring the wearing posture angle of a head-mounted device. According to... Figure 4 As shown, the head-mounted device for measuring posture angle includes a control module 410, an acquisition module 420, a homography matrix determination module 430, a rotation matrix determination module 440, a posture angle determination module 450, and a display module 460.

[0079] The control module 410 is used to control the head-mounted device to display a setting screen when the head model is wearing the head-mounted device, wherein the setting screen displays setting visual markers.

[0080] The acquisition module 420 is used to acquire a setting screen image and a standard image. The setting screen image is an image obtained by a camera set at any eye part of the head model to capture the setting screen. The standard image displays setting visual markers without perspective distortion or distortion.

[0081] The homography matrix determination module 430 is used to determine the homography matrix based on the set screen image and the standard image.

[0082] The rotation matrix determination module 440 is used to obtain the rotation matrix based on the homography matrix decomposition.

[0083] The attitude angle determination module 450 is used to determine the wearing attitude angle of the head-mounted device based on the rotation matrix.

[0084] Display module 460 is used to display the wearing posture angle of the head-mounted device on the display interface.

[0085] In some embodiments, the visual marker is set as a quadrilateral pattern. The homography matrix determination module 430 is used to determine a first homogeneous coordinate set and a second homogeneous coordinate set, wherein the first homogeneous coordinate set includes the homogeneous coordinate information of the four corner points of the visual marker display area in the set image, and the second homogeneous coordinate set includes the homogeneous coordinate information of the four corner points of the visual marker display area in the standard image; obtain a first scale factor, wherein the first scale factor is a normalized parameter used to measure the scale difference between the four corner points of the visual marker display area in the set image and the four corner points of the visual marker display area in the standard image; and determine the homography matrix based on the first homogeneous coordinate set, the second homogeneous coordinate set, and the first scale factor.

[0086] In some embodiments, the rotation matrix determination module 440 is used to decompose the rotation matrix from the homography matrix based on the decomposeHomographyMat function.

[0087] In some embodiments, the attitude angle determination module 450 is used to obtain the yaw angle, pitch angle and roll angle based on the rotation matrix decomposition.

[0088] In some embodiments, the device further includes a reminder module. The reminder module is used to obtain the mapping relationship between the head-mounted device identifier, the head-mounted device identifier, and the standard posture angle under different head-mounted devices in different head-mounted states when they are in a standard state; the identifier of the current head-mounted device; and the identifier of the head-mounted device currently worn by the head-mounted device. Based on the mapping relationship, the identifier of the current head-mounted device, and the identifier of the head-mounted device currently worn by the head-mounted device, the module determines the standard posture angle; based on the standard posture angle and the wearing posture angle, the module determines the wearing status information of the head-mounted device currently worn by the head-mounted device; and if the wearing status information of the head-mounted device currently worn by the head-mounted device indicates an abnormal wearing condition, a reminder message is issued.

[0089] In some embodiments, the reminder module is used to detect whether the setting screen image includes the image corresponding to the setting visual mark before determining the homography matrix based on the setting screen image and the standard image, and obtain a detection result; if the detection result is that the image corresponding to the setting visual mark is not included, a reminder message is issued.

[0090] In some embodiments, the display module is used to display a setting screen image on the display interface.

[0091] One embodiment of the present invention provides an electronic device. According to... Figure 5 As shown, the head-mounted device wearing posture angle measurement device includes a memory 520 and a processor 510. The memory 520 stores a computer program that controls the processor 510 to operate and execute the head-mounted device wearing posture angle measurement method provided according to any of the above embodiments.

[0092] The processor 510 is used to execute computer instructions, which can be written using instruction sets of architectures such as x86, Arm, RISC, MIPS, and SSE. The memory 520 includes, for example, ROM (Read-Only Memory), RAM (Random Access Memory), and non-volatile memory such as hard disks, etc., and is not limited thereto.

[0093] One embodiment of the present invention provides a head-mounted device wearing posture angle measurement system, comprising: a head model, a camera disposed at any eye portion of the head model, and a head-mounted device wearing posture angle measurement device as provided in any of the above embodiments.

[0094] One embodiment of the present invention provides a head-mounted device wearing posture angle measurement system, comprising: a head model, a camera disposed at any eye portion of the head model, and an electronic device as provided in any of the above embodiments.

[0095] This invention can be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of the invention.

[0096] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example, but not limited to, electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination thereof. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0097] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0098] The computer program instructions used to perform the operations of this invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partially on the user's computer, as a standalone 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 remote computers, the remote computer may be connected to the user's computer via 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., via the Internet using an Internet service provider). In some embodiments, electronic circuits, such as programmable logic circuits, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), are personalized by utilizing state information from computer-readable program instructions. These electronic circuits can execute computer-readable program instructions to implement various aspects of the present invention.

[0099] Various aspects of the present invention are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0100] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0101] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0102] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. It will be known to those skilled in the art that implementation in hardware, implementation in software, and implementation using a combination of software and hardware are equivalent.

[0103] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims

1. A method for measuring the wearing posture angle of a head-mounted device, characterized in that, include: With the head model already wearing the head-mounted device, the head-mounted device is controlled to display a setting screen, wherein the setting screen displays setting visual markers; Acquire a set screen image and a standard image, wherein the set screen image is an image obtained by a camera set at any eye part of the head model to capture the set screen, and the standard image shows that the set visual mark has no perspective distortion and no distortion; Determine the homography matrix based on the set screen image and the standard image; The rotation matrix is ​​obtained by decomposing the homography matrix. The wearing posture angle of the head-mounted device is determined based on the rotation matrix; The display interface shows the wearing posture angle of the head-mounted device.

2. The method according to claim 1, characterized in that, The visual marker is defined as a quadrilateral pattern, wherein determining the homography matrix based on the defined image and the standard image includes: Determine a first homogeneous coordinate set and a second homogeneous coordinate set, wherein the first homogeneous coordinate set includes the homogeneous coordinate information of the four corner points of the set visual mark display area in the set screen image, and the second homogeneous coordinate set includes the homogeneous coordinate information of the four corner points of the set visual mark display area in the standard image; Obtain a first scale factor, wherein the first scale factor is a normalized parameter used to measure the scale difference between the four corner points of the set visual mark display area in the set image and the four corner points of the set visual mark display area in the standard image; The homography matrix is ​​determined based on the first homogeneous coordinate set, the second homogeneous coordinate set, and the first scale factor.

3. The method according to claim 1, characterized in that, The step of obtaining the rotation matrix based on the homography matrix decomposition includes: The rotation matrix is ​​obtained by decomposing the homography matrix using the decomposeHomographyMat function.

4. The method according to claim 1, characterized in that, Determining the wearing posture angle of the head-mounted device based on the rotation matrix includes: The yaw angle, pitch angle, and roll angle are obtained by decomposing the rotation matrix.

5. The method according to claim 1, characterized in that, The method further includes: Obtain the mapping relationship between head model identifier, head-wearing device identifier and standard posture angle under different head-wearing states of different head-wearing devices in different head models, the current head model identifier, and the identifier of the head-wearing device currently worn by the head model; Based on the mapping relationship, the identifier of the current head model, and the identifier of the head-mounted device worn by the current head model, the standard posture angle is determined; Based on the standard posture angle and the wearing posture angle, determine the wearing status information of the head-mounted device currently worn by the head model; If the wearing status information of the head-mounted device currently worn by the head model is abnormal, a reminder message will be issued.

6. The method according to claim 1, characterized in that, Before determining the homography matrix based on the set image and the standard image, the method further includes: Detect whether the set screen image includes the image corresponding to the set visual marker, and obtain the detection result; If the detection result does not include the image corresponding to the set visual marker, a reminder message will be issued.

7. The method according to claim 1, characterized in that, The method further includes: The setting screen image is displayed on the display interface.

8. A device for measuring the wearing posture angle of a head-mounted device, characterized in that, include: The control module is used to control the head-mounted device to display a setting screen when the head model is wearing the head-mounted device, wherein the setting screen displays setting visual markers; The acquisition module is used to acquire a set screen image and a standard image, wherein the set screen image is an image obtained by a camera set at any eye part of the head model to capture the set screen, and the standard image displays the set visual mark without perspective distortion and distortion; The homography matrix determination module is used to determine the homography matrix based on the set screen image and the standard image; A rotation matrix determination module is used to obtain a rotation matrix based on the homography matrix decomposition. The posture angle determination module is used to determine the wearing posture angle of the head-mounted device based on the rotation matrix. The display module is used to display the wearing posture angle of the head-mounted device on the display interface.

9. An electronic device, characterized in that, It includes a memory and a processor, the memory storing a computer program for controlling the processor to operate in order to perform the method according to any one of claims 1 to 7.

10. A system for measuring the wearing posture angle of a head-mounted device, characterized in that, include: A head model, a camera positioned at any eye area of ​​the head model, and a head-mounted device wearing posture angle measuring device as described in claim 8, or, The head model, a camera disposed at any eye portion of the head model, and the electronic device as described in claim 9.

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