Head-mounted device wearing posture angle measurement method and device, electronic device and system

Abstract

The present disclosure relates to a head-mounted device wearing posture angle measurement method and device, electronic equipment and system, the method comprising: in the case where a head model has worn a head-mounted device, controlling the head-mounted device to display a setting picture, wherein the setting picture displays a setting visual marker; acquiring a setting picture image and a standard image, wherein the setting picture image is an image obtained by a camera arranged at any eye part of the head model shooting the setting picture, and the setting visual marker displayed by the standard image has no perspective distortion and no distortion; determining a homography matrix according to the setting picture image and the standard image; decomposing the homography matrix to obtain a rotation matrix; determining a wearing posture angle of the head-mounted device according to the rotation matrix; and displaying the wearing posture angle of the head-mounted device on a display interface.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of head-mounted devices, and more particularly, to a head-mounted device wearing posture angle measurement method, device, electronic device and system. BACKGROUND

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

[0003] The prior art mainly relies on manual determination of whether the wearing position of the head-mounted device is standard, that is, relying on the naked eye of the operator to judge whether the wearing position of the head-mounted device is standard. The consistency of the final output of this manual judgment method is poor, and the accuracy is low.

[0004] At present, it is necessary to provide an automatic, high-precision and quantifiable calibration method for the wearing position of the head-mounted device. SUMMARY

[0005] An object of the present application is to provide a new technical solution for a head-mounted device wearing posture angle measurement method.

[0006] According to a first aspect of the present application, a head-mounted device wearing posture angle measurement method is provided, comprising:

[0007] In the case where the head model has worn the head-mounted device, the head-mounted device is controlled to display a setting picture, wherein the setting picture displays a setting visual marker;

[0008] A setting picture image and a standard image are obtained, wherein the setting picture image is an image obtained by a camera arranged at any eye part of the head model shooting the setting picture, and the setting visual marker displayed in the standard image has no perspective distortion and no distortion;

[0009] A homography matrix is determined according to the setting picture image and the standard image;

[0010] A rotation matrix is obtained by decomposing the homography matrix;

[0011] The wearing posture angle of the head-mounted device is determined according to the rotation matrix;

[0012] The wearing posture angle of the head-mounted device is displayed on the display interface.

[0013] Optionally, the setting visual marker is a quadrilateral pattern, and wherein the homography matrix is determined according to the setting picture image and the standard image, comprising:

[0014] determining a first homogeneous coordinate set and a second homogeneous coordinate set, wherein the first homogeneous coordinate set comprises homogeneous coordinate information of four corner points of a designated visual marker display area in the designated picture image, and the second homogeneous coordinate set comprises homogeneous coordinate information of four corner points of a designated visual marker display area in the standard image;

[0015] obtaining a first scale factor, wherein the first scale factor is a normalized parameter for measuring scale difference between the four corner points of the designated visual marker display area in the designated picture image and the four corner points of the designated visual marker display area in the standard image;

[0016] determining the homography matrix according to the first homogeneous coordinate set, the second homogeneous coordinate set and the first scale factor.

[0017] Optionally, the decomposing the homography matrix to obtain a rotation matrix comprises:

[0018] obtaining a rotation matrix from the homography matrix based on a decomposeHomographyMat function.

[0019] Optionally, the determining the wearing pose angle of the head-mounted device according to the rotation matrix comprises:

[0020] obtaining a yaw angle, a pitch angle and a roll angle from the rotation matrix.

[0021] Optionally, the method further comprises:

[0022] obtaining a mapping relationship of a head model identifier, a head-mounted device identifier and a standard pose angle in a standard state of a wearing state of different head-mounted devices on different head models, an identifier of a current head model and an identifier of a head-mounted device worn by the current head model;

[0023] determining a standard pose angle according to the mapping relationship, the identifier of the current head model and the identifier of the head-mounted device worn by the current head model;

[0024] determining wearing state information of the head-mounted device worn by the current head model according to the standard pose angle and the wearing pose angle;

[0025] in a case where the wearing state information of the head-mounted device worn by the current head model is abnormal wearing, issuing a prompt message.

[0026] Optionally, before the determining the homography matrix according to the designated picture image and the standard image, the method further comprises:

[0027] detecting whether the designated picture image comprises an image corresponding to the designated visual marker to obtain a detection result;

[0028] In a case where the detection result is that the image corresponding to the set visual marker is not included, a prompt message is sent.

[0029] Optionally, the method further comprises:

[0030] The display interface displays the set picture image.

[0031] According to a second aspect of the present application, there is provided a head-mounted device wearing pose angle measuring apparatus, comprising:

[0032] A control module is configured to control the head-mounted device to display a set picture in a case where the head model has worn the head-mounted device, wherein the set picture displays a set visual marker.

[0033] An acquisition module is configured to acquire a set picture image and a standard image, wherein the set picture image is an image obtained by a camera arranged at any eye part of the head model capturing the set picture, and the standard image displays the set visual marker without perspective distortion and without distortion.

[0034] A homography matrix determination module is configured to determine a homography matrix according to the set picture image and the standard image.

[0035] A rotation matrix determination module is configured to obtain a rotation matrix according to decomposition of the homography matrix.

[0036] A pose angle determination module is configured to determine a wearing pose angle of the head-mounted device according to the rotation matrix.

[0037] A display module is configured to display the wearing pose angle of the head-mounted device on a display interface.

[0038] According to a third aspect of the present application, there is provided an electronic device comprising a memory and a processor, wherein the memory stores a computer program configured to control the processor to perform the method according to any one of the first aspect.

[0039] According to a fourth aspect of the present application, there is provided a head-mounted device wearing pose angle measuring system, comprising: a head model, a camera arranged at any eye part of the head model, and a head-mounted device wearing pose angle measuring apparatus according to the second aspect, or

[0040] a head model, a camera arranged at any eye part of the head model, and an electronic device according to the third aspect.

[0041] The present disclosure provides a head-mounted device wearing posture angle measurement method, in the case that a head model has worn a head-mounted device, a display setting picture of the head-mounted device is controlled, a setting picture image and a standard image are obtained, the setting picture image is an image obtained by a camera arranged at any eye part of the head model shooting the setting picture, the setting visual marker shown by the standard image has no perspective distortion and no distortion, a homography matrix is determined according to the setting picture image and the standard image, a rotation matrix is obtained by decomposition according to the homography matrix, and the wearing posture angle of the head-mounted device is determined according to the rotation matrix, the wearing posture angle of the head-mounted device is displayed on a display interface, compared with the prior art, the detection efficiency is improved without relying on manual detection of whether the head-mounted device is abnormally worn, the detection precision is improved by quantifying the wearing posture of the head-mounted device, and in addition, the wearing posture angle is displayed, so that an intuitive prompt can be provided for an operator in the case that the head-mounted device is abnormally worn.

[0042] The features and advantages of the embodiments of the present disclosure will be apparent from the following detailed description of exemplary embodiments of the present disclosure, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0043] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the embodiments of the present disclosure.

[0044] Figure 1 FIG. 1 is a flow diagram of a head-mounted device wearing posture angle measurement method according to an embodiment of the present disclosure.

[0045] Figure 2 FIG. 2 is an interface diagram of a display interface according to an embodiment of the present disclosure.

[0046] Figure 3 FIG. 3 is an interface diagram of a display interface according to an embodiment of the present disclosure.

[0047] Figure 4 FIG. 4 is a schematic diagram of an electronic device according to an embodiment of the present disclosure.

[0048] Figure 5 FIG. 5 is a schematic diagram of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0049] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. If it is considered that specific detailed descriptions of known functions or configurations make the

[0050] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application or uses.

[0051] It should be noted that like reference numerals and letters refer to like items throughout the several views, and once an item is defined in one view, it should not have to be discussed further in subsequent views.

[0052] To solve the above technical problems, the present disclosure provides a head-mounted device wearing posture angle measurement method. In the case where a head model has worn a head-mounted device, a setting picture is displayed by the head-mounted device. A setting picture image and a standard image are obtained. The setting picture image is an image obtained by a camera arranged at any eye part of the head model shooting the setting picture. The standard image shows the setting visual marker without perspective distortion and without distortion. A homography matrix is determined. A rotation matrix is obtained according to the homography matrix decomposition. According to 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 with the prior art, the detection efficiency is improved without relying on manual detection of whether the head-mounted device is abnormally worn. The detection accuracy is improved by quantifying the wearing posture of the head-mounted device. In addition, the wearing posture angle is displayed, so that the operator can be provided with intuitive prompts in the case where the head-mounted device is abnormally worn.

[0053] In an embodiment of the present application, a head-mounted device wearing posture angle measurement method is provided. According to Figure 1 As shown in the figure, the head-mounted device wearing posture angle measurement method of the present embodiment includes the following steps S110-S160.

[0054] Step S110, in the case where a head model has worn a head-mounted device, a setting picture is displayed by the head-mounted device. The setting picture shows a setting visual marker.

[0055] In the case where a head model has worn a head-mounted device, the head-mounted device ensures that it fits the contour of the head model.

[0056] The setting visual marker can be a quadrilateral pattern, for example, a two-dimensional code pattern.

[0057] Step S120, a setting picture image and a standard image are obtained. The setting picture image is an image obtained by a camera arranged at any eye part of the head model shooting the setting picture. The standard image shows the setting visual marker without perspective distortion and without distortion.

[0058] The camera can be arranged at the left eye part of the head model or at the right eye part of the head model.

[0059] The camera can be a wide-angle camera, for example, a fisheye camera.

[0060] Step S130, a homography matrix is determined according to the setting picture image and the standard image.

[0061] In the case of setting the visual marker as a quadrilateral pattern, step S130 specifically includes steps S131-S133.

[0062] In step S131, the first homogeneous coordinate set and the second homogeneous coordinate set are determined, wherein the first homogeneous coordinate set includes the homogeneous coordinate information of the four corner points of the display region of the set visual marker in the set picture image, and the second homogeneous coordinate set includes the homogeneous coordinate information of the four corner points of the display region of the set visual marker in the standard picture image.

[0063] The position of the four corner points of the display region of the set visual marker in the set picture image is determined by using the AprilTag visual detection algorithm. Specifically, all contours in the set picture image are determined, four contours corresponding to the set visual marker are selected from all the contours in the set picture image, and then the four corner points of the display region of the set visual marker are determined based on all adjacent two contours of the four contours corresponding to the set visual marker, i.e., the intersection of adjacent contours is a corner point of the display region of the set visual marker. The position of the four corner points of the display region of the set visual marker in the set picture image is determined. Based on the position of the four corner points of the display region of the set visual marker in the set picture image, the homogeneous coordinate information of the four corner points of the display region of the set visual marker in the set picture image is determined.

[0064] The homogeneous coordinate information of one corner point of the display region of the set visual marker in the set picture image is as follows,

[0065] .

[0066] The position of the four corner points of the display region of the set visual marker in the standard picture image is determined by using the AprilTag visual detection algorithm. Specifically, all contours in the standard picture image are determined, four contours corresponding to the set visual marker are selected from all the contours in the standard picture image, and then the four corner points of the display region of the set visual marker are determined based on all adjacent two contours of the four contours corresponding to the set visual marker, i.e., the intersection of adjacent contours is a corner point of the display region of the set visual marker. The position of the four corner points of the display region of the set visual marker in the standard picture image is determined. Based on the position of the four corner points of the display region of the set visual marker in the standard picture image, the homogeneous coordinate information of the four corner points of the display region of the set visual marker in the standard picture image is determined.

[0067] The homogeneous coordinate information of one corner point of the display region of the set visual marker in the standard picture image is as follows,

[0068] .

[0069] It should be noted that the homogeneous coordinate information of the four corner points of the display region of the set visual marker in the standard picture image is information in a preset coordinate system, which is a known quantity.

[0070] In step S132, a first scale factor is obtained, wherein the first scale factor is a normalized parameter for measuring the scale difference between the four corner points of the set visual marker display area in the setting picture image and the four corner points of the set visual marker display area in the standard image.

[0071] In step S133, a homography matrix is determined according to the first set of homogeneous coordinates, the second set of homogeneous coordinates and the first scale factor.

[0072] The homography matrix is a 3x3 matrix.

[0073] The homography matrix is determined based on the following calculation formula,

[0074]

[0075] wherein s is the first scale factor, H is the homography matrix, (X1, Y1, 1)Tis the first set of homogeneous coordinates, (X2, Y2, 1)Tis the second set of homogeneous coordinates, and (X3, Y3, 1)Tis the third set of homogeneous coordinates. The (X1, Y1, 1)T, (X2, Y2, 1)Tand (X3, Y3, 1)Trefer to the above description about this part. It should be noted that when the homography matrix is determined by using the calculation formula, the homogeneous coordinate information of the four corner points of the set visual marker display area in the setting picture image and the homogeneous coordinate information of the four corner points of the set visual marker display area in the standard image need to be set. ) and ( ) refer to the above description about this part. It should be noted that when the homography matrix is determined by using the calculation formula, the homogeneous coordinate information of the four corner points of the set visual marker display area in the setting picture image and the homogeneous coordinate information of the four corner points of the set visual marker display area in the standard image need to be set.

[0076] In step S140, a rotation matrix is obtained by decomposing the homography matrix.

[0077] The rotation matrix is obtained by decomposing the homography matrix based on the decomposeHomographyMat function. The decomposeHomographyMat function is a function in the OpenCV library.

[0078] In this embodiment, other parameters can also be obtained by decomposing the homography matrix, for example, a second scale factor, a translation vector, a normal vector of the plane where the display screen of the head-mounted device is located, and the distance between the plane where the display screen of the head-mounted device is located and the optical center of the camera. The relationship between these parameters, the rotation matrix and the homography matrix is as follows:

[0079]

[0080] wherein 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 set visual marker is located in the virtual scene, d is the distance between the plane where the set visual marker is located in the virtual scene and the optical center of the camera and the distance between the optical center of the camera, and T in the calculation formula is the matrix transpose symbol.

[0081] In step S150, a wearing posture angle of the head-mounted device is determined according to the rotation matrix.

[0082] The yaw angle, the pitch angle and the roll angle are obtained according to the decomposition of the rotation matrix. The rotation matrix can be decomposed into the Euler angle form, such as the yaw angle, the pitch angle and the roll angle. The three angles can be decomposed from the rotation matrix by the following calculation formula.

[0083]

[0084] wherein R is a 3x3 rotation matrix, φ is a yaw angle, θ is a pitch angle, and α is a roll angle.

[0085] For example, the rotation matrix is R = .

[0086] The pitch angle θ is extracted by using the following calculation formula,

[0087]

[0088] wherein atan is an inverse tangent function, and sqrt is a square root function. The pitch angle θ, the yaw angle φ and the roll angle α are extracted by using the following calculation formula,

[0089]

[0090]

[0091]

[0092] wherein atan is an inverse tangent function, and sqrt is a square root function.

[0093] In step S160, the wearing posture angle of the head-mounted device is displayed on the display interface.

[0094] The wearing posture angle of the head-mounted device is displayed in combination with the head model. For details, refer to Figure 2 The yaw angle, the pitch angle and the roll angle are displayed in combination with the head model.

[0095] In some embodiments, the method further includes steps S170-S200.

[0096] In step S170, the mapping relationship among the head model identifier, the head-mounted device identifier and the standard posture angle in the standard state of the wearing state of the different head-mounted devices in the different head models, the identifier of the current head model and the identifier of the head-mounted device worn by the current head model are obtained.

[0097] The corresponding standard posture angle of the different head-mounted devices in the different head models in the standard state of the wearing state is a pre-calibration value.

[0098] The mapping relationship among the head model identifier, the head-mounted device identifier and the standard posture angle in the standard state of the wearing state of the different head-mounted devices in the different head models can be a mapping table.

[0099] In step S180, the standard pose angle is determined according to the mapping relationship, the identifier of the current head model, and the identifier of the head-mounted device wearing the current head model.

[0100] In step S190, the wearing state information of the head-mounted device wearing the current head model is determined according to the standard pose angle and the wearing pose angle.

[0101] The standard pose angle is an angle range. In a case where the wearing pose angle is located in the angle range, the wearing state information of the head-mounted device wearing the current head model is determined as normal wearing. In a case where the wearing pose angle is not located in the angle range, the wearing state information of the head-mounted device wearing the current head model is determined as abnormal wearing.

[0102] In step S200, a reminder message is sent in a case where the wearing state information of the head-mounted device wearing the current head model is abnormal wearing.

[0103] The reminder message is sent in any of the following manners, for example, voice reminder, text display reminder, and indicator light flickering reminder. After receiving the reminder message, an operator can timely adjust the wearing pose of the head-mounted device.

[0104] In some embodiments, before determining the homography matrix according to the setting picture image and the standard image, the method further includes: detecting whether the setting picture image includes an image corresponding to the setting visual marker, to obtain a detection result; and in a case where the detection result is that the setting picture image does not include the image corresponding to the setting visual marker, sending a reminder message.

[0105] In the embodiment, the purpose of detecting whether the setting picture image includes the image corresponding to the setting visual marker is to detect whether the field of view of the camera is not blocked, so as to ensure that the camera can capture the image corresponding to the setting visual marker.

[0106] The reminder message is sent in any of the following manners, for example, voice reminder, text display reminder, and indicator light flickering reminder. After receiving the reminder message, an operator can timely perform operations such as moving away the blocking object and adjusting the wearing pose of the head-mounted device.

[0107] In some embodiments, the method further includes: displaying the setting picture image on the display interface.

[0108] According to Figure 3As shown, the display interface displays a setting picture image, and the setting picture image includes a setting visual marker, which is a two-dimensional code pattern. The operator can perform coarse identification of the wearing posture of the head-mounted device according to whether the two-dimensional code pattern is located in the center area of the setting picture image. In the case where the two-dimensional code pattern is not located in the center area of the setting picture image, it is determined that the coarse identification result of the wearing posture of the head-mounted device is abnormal, and the operator can adjust the wearing posture of the head-mounted device based on the setting picture image. In the case where the two-dimensional code pattern is located in the center area of the setting picture image, it is determined that the coarse identification result of the wearing posture of the head-mounted device is normal, and further detection needs to be performed according to the above steps S130-S150 to obtain an accurate wearing posture angle.

[0109] One embodiment of the present application provides a head-mounted device wearing posture angle measuring device. According to the present application, the head-mounted device wearing posture angle measuring device comprises a control module, an acquisition module, a homography matrix determination module, a rotation matrix determination module, a posture angle determination module, and a display module. Figure 4 As shown, the head-mounted device wearing posture angle measuring device comprises 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.

[0110] The control module 410 is configured to control the head-mounted device to display a setting picture when the head model has worn the head-mounted device, wherein the setting picture displays a setting visual marker.

[0111] The acquisition module 420 is configured to acquire a setting picture image and a standard image, wherein the setting picture image is an image obtained by a camera arranged at any eye part of the head model to capture the setting picture, and the standard image displays the setting visual marker without perspective distortion and without distortion.

[0112] The homography matrix determination module 430 is configured to determine a homography matrix according to the setting picture image and the standard image.

[0113] The rotation matrix determination module 440 is configured to obtain a rotation matrix according to decomposition of the homography matrix.

[0114] The posture angle determination module 450 is configured to determine a wearing posture angle of the head-mounted device according to the rotation matrix.

[0115] The display module 460 is configured to display the wearing posture angle of the head-mounted device on a display interface.

[0116] In some embodiments, the visual marker is set as a quadrilateral pattern. The homography matrix determination module 430 is configured to determine a first set of homogeneous coordinates and a second set of homogeneous coordinates, wherein the first set of homogeneous coordinates comprises homogeneous coordinate information of four corner points of the display area of the set visual marker in the set picture image, and the second set of homogeneous coordinates comprises homogeneous coordinate information of four corner points of the display area of the set visual marker in the standard image; obtain a first scale factor, wherein the first scale factor is a normalized parameter for measuring the scale difference between the four corner points of the display area of the set visual marker in the set picture image and the four corner points of the display area of the set visual marker in the standard image; and determine a homography matrix based on the first set of homogeneous coordinates, the second set of homogeneous coordinates, and the first scale factor.

[0117] In some embodiments, the rotation matrix determination module 440 is configured to decompose the homography matrix to obtain a rotation matrix based on a decomposeHomographyMat function.

[0118] In some embodiments, the attitude angle determination module 450 is configured to decompose the rotation matrix to obtain a yaw angle, a pitch angle, and a roll angle.

[0119] In some embodiments, the device further comprises a reminding module. The reminding module is configured to obtain a mapping relationship of a headgear identifier, a head-mounted device identifier, and a standard attitude angle when different head-mounted devices are in a standard state, an identifier of a current headgear, and an identifier of a head-mounted device worn by the current headgear; determine a standard attitude angle based on the mapping relationship, the identifier of the current headgear, and the identifier of the head-mounted device worn by the current headgear; determine wearing state information of the head-mounted device worn by the current headgear based on the standard attitude angle and the wearing attitude angle; and issue a reminder message when the wearing state information of the head-mounted device worn by the current headgear is abnormal.

[0120] In some embodiments, the reminding module is configured to, before determining the homography matrix based on the set picture image and the standard image, detect whether the set picture image comprises an image corresponding to the set visual marker to obtain a detection result; and issue a reminder message when the detection result is that the set picture image does not comprise the image corresponding to the set visual marker.

[0121] In some embodiments, the display module is configured to display the set picture image on a display interface.

[0122] One embodiment of the present application provides an electronic device. According to Figure 5 As shown in FIG. 5, the head-mounted device wearing attitude angle measurement device comprises a memory 520 and a processor 510. The memory 520 stores a computer program, and the computer program is configured to control the processor 510 to perform the head-mounted device wearing attitude angle measurement method provided by any of the above embodiments.

[0123] The processor 510 is configured to execute computer instructions, which can be written in instruction sets of architectures such as x86, Arm, RISC, MIPS, SSE, etc. The memory 520 includes, for example, a ROM (Read-Only Memory), a RAM (Random Access Memory), a nonvolatile memory such as a hard disk, etc., without limitation.

[0124] One embodiment of the present application provides a head-mounted device wearing posture angle measurement system, comprising a head model, a camera arranged at any eye part of the head model, and a head-mounted device wearing posture angle measurement device as provided in any of the above embodiments.

[0125] One embodiment of the present application provides a head-mounted device wearing posture angle measurement system, comprising a head model, a camera arranged at any eye part of the head model, and an electronic device as provided in any of the above embodiments.

[0126] The present application can be a system, a method, and / or a computer program product. The computer program product can include a computer readable storage medium (or media) having computer readable program instructions thereon for causing a processor to carry out aspects of the present application.

[0127] The computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium can be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium include the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or punched tape, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.

[0128] Computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0129] Computer readable program instructions for carrying out operations of the present application can be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions can execute entirely on the user's computing / processing device, partly on the user's computing / processing device, as a stand-alone software package, partly on the user's computing / processing device and partly on a remote computing / processing device or entirely on the remote computing / processing device or server. In the latter scenario, the remote computing / processing device can be connected to the user's computing / processing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computing / processing device, for example, through the Internet using an Internet Service Provider. In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate arrays (FPGA), or programmable logic arrays (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present application.

[0130] The computer readable program instructions can also be loaded onto a computing / processing device, other programmable data processing apparatus, or other device to cause a series of operations to be performed on the computing / processing device, other programmable apparatus or other device to produce a computer implemented process, such that the instructions which execute on the computing / processing device, other programmable apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0131] These computer readable program instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer readable program instructions can also be stored in a computer readable storage medium that can include a non-transitory computer readable storage medium that can be a computer- readable storage medium having no data, programs, program modules, e.g., instructions for operation, or digital content stored thereon or therein for a short time or not at all. The computer readable storage medium can also have instructions stored thereon or therein which may

[0132] The computer readable program instructions can 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 apparatus or other device to produce a computer implemented process, such that the instructions which execute on the computer, other programmable data processing apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0133] The computer readable program instructions can 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 apparatus or other device to produce a computer implemented process, such that the instructions which execute on the computer, other programmable data processing apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0134] Having described various embodiments of the application, it is to be understood that the above description is meant to be illustrative only and not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art, without departing from the scope and spirit of the described embodiments. The selection of terms to be used in the description is intended to best explain the principles of the embodiments, the practical application, or technical improvement over the prior art, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of the application is defined by the claims appended hereto.

Claims

1. A method for measuring the wearing posture angle of a head-mounted device, characterized in that, The method comprises: In the case that the headgear has worn the headgear, a setting picture is displayed by the headgear, wherein the setting picture displays a setting visual mark; An setting picture image and a standard image are obtained, wherein the setting picture image is an image obtained by a camera arranged at any eye part of the headgear shooting the setting picture, and the standard image displays the setting visual mark without perspective distortion and without distortion; A homography matrix is determined according to the setting picture image and the standard image; A rotation matrix is obtained by decomposing the homography matrix; A wearing posture angle of the headgear is determined according to the rotation matrix; The wearing posture angle of the headgear is displayed on a display interface.

2. The method of claim 1, wherein, The setting visual mark is a quadrilateral pattern, and the determination of the homography matrix according to the setting picture image and the standard image comprises: A first set of homogeneous coordinates and a second set of homogeneous coordinates are determined, wherein the first set of homogeneous coordinates comprises homogeneous coordinate information of four corner points of a setting visual mark display area in the setting picture image, and the second set of homogeneous coordinates comprises homogeneous coordinate information of four corner points of a setting visual mark display area in the standard image; A first scale factor is obtained, wherein the first scale factor is a normalized parameter for measuring the scale difference between the four corner points of the setting visual mark display area in the setting picture image and the four corner points of the setting visual mark display area in the standard image; The homography matrix is determined according to the first set of homogeneous coordinates, the second set of homogeneous coordinates, and the first scale factor.

3. The method of claim 1, wherein, The rotation matrix is obtained by decomposing the homography matrix, comprising: The rotation matrix is obtained by decomposing the homography matrix based on a decomposeHomographyMat function.

4. The method of claim 1, wherein, The wearing posture angle of the headgear is determined according to the rotation matrix, comprising: A heading angle, a pitch angle, and a roll angle are obtained by decomposing the rotation matrix.

5. The method of claim 1, wherein, The method further comprises: Obtaining a mapping relationship of a headgear identifier, a headgear identifier, and a standard posture angle of a different headgear in a standard state of a different headgear, an identifier of a current headgear, and an identifier of a headgear worn by the current headgear; Determining a standard posture angle according to the mapping relationship, the identifier of the current headgear, and the identifier of the headgear worn by the current headgear; Determining wearing state information of the headgear worn by the current headgear according to the standard posture angle and the wearing posture angle; In the case that the wearing state information of the headgear worn by the current headgear is abnormal, a prompt message is sent.

6. The method of claim 1, wherein, Before the determination of the homography matrix according to the setting picture image and the standard image, the method further comprises: Detecting whether the setting picture image comprises an image corresponding to the setting visual mark to obtain a detection result; In the case that the detection result is that the setting picture image does not comprise the image corresponding to the setting visual mark, a prompt message is sent.

7. The method of claim 1, wherein, The method further comprises: The setting picture image is displayed on the display interface.

8. A head-mounted device wearing posture angle measuring device characterized by comprising: The method comprises: A control module is configured to control the head-mounted device to display a setting picture when the headgear is worn by the headgear, wherein the setting picture displays a setting visual mark; An acquisition module is configured to acquire a setting picture image and a standard image, wherein the setting picture image is an image obtained by a camera arranged at any eye part of the headgear capturing the setting picture, and the standard image displays the setting visual mark without perspective distortion and without distortion; A homography matrix determination module is configured to determine a homography matrix according to the setting picture image and the standard image; A rotation matrix determination module is configured to obtain a rotation matrix according to decomposition of the homography matrix; A pose angle determination module is configured to determine a wearing pose angle of the head-mounted device according to the rotation matrix; A display module is configured to display the wearing pose angle of the head-mounted device on a display interface.

9. An electronic device, comprising: A computer program is stored in a memory and used to control a processor 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, comprise: a headgear, a camera arranged at any eye part of the headgear, and the head-mounted device wearing pose angle measuring device according to claim 8, or a headgear, a camera arranged at any eye part of the headgear, and the electronic device according to claim 9.

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