Binocular virtual reality equipment test equipment and system, and simulation and test method

Abstract

The invention relates to the technical field of binocular virtual reality equipment, in particular to binocular virtual reality equipment testing equipment and system and a simulation and testing method, and the equipment comprises the steps that a binocular camera or the binocular camera and real binocular virtual reality equipment are placed on a rotating platform; the controller is used for controlling the rotating platform to rotate so as to maintain the binocular camera and the real binocular virtual reality equipment or the virtual binocular virtual reality equipment displayed by the simulation display equipment to synchronously track a target tracking point; the display effect of the real binocular virtual reality equipment is determined based on the synchronous tracking image of the binocular camera and the real binocular virtual reality equipment, and the parameters for designing the binocular virtual reality equipment are determined based on the synchronous tracking image of the binocular camera and the virtual binocular virtual reality equipment. Therefore, the problems that in the related technology, subjective feeling of a user is ignored, specific product design parameters influencing the final presentation effect cannot be accurately determined, and the accuracy and practicability of simulation and testing are low are solved.

Description

Technical Field

[0001] This application relates to the field of binocular virtual reality equipment technology, and in particular to a binocular virtual reality equipment testing device, system, simulation and testing method. Background Technology

[0002] Virtual reality devices are based on computer technology and integrate the latest developments in various high-tech fields such as 3D graphics, multimedia, simulation, display, and servo technologies to create a realistic virtual world that provides a multi-sensory experience, including visual, tactile, and olfactory sensations, thus giving people in the virtual world a sense of immersion.

[0003] In related technologies, most simulations use the calibration parameters of binocular virtual reality devices and the images collected to simulate the scene. However, this simulation test cannot replace the user's real experience and cannot accurately determine the specific product design parameters that affect the final presentation effect, resulting in low accuracy and practicality of the simulation and test. Summary of the Invention

[0004] This application provides a binocular virtual reality device testing device, system, simulation, and testing method to solve the problems in related technologies that ignore the user's subjective feelings, cannot accurately determine the specific product design parameters that affect the final presentation effect, and result in low accuracy and practicality of simulation and testing.

[0005] The first aspect of this application provides a binocular virtual reality device testing device, comprising: a rotating platform; a binocular camera or a binocular camera and a real binocular virtual reality device placed on the rotating platform; and a controller for controlling the rotation of the rotating platform to maintain the binocular camera and the real binocular virtual reality device or the binocular camera and a virtual binocular virtual reality device displayed by a simulation display device synchronously tracking a target tracking point, thereby realizing the determination of the display effect of the real binocular virtual reality device based on the synchronous tracking image of the binocular camera and the real binocular virtual reality device, and the determination of the design parameters of the binocular virtual reality device based on the synchronous tracking image of the binocular camera and the virtual binocular virtual reality device.

[0006] A second aspect of this application provides a binocular virtual reality device testing system, comprising: a binocular virtual reality device testing device and a host computer; the testing device includes: a rotating platform and a controller, wherein a binocular camera or a binocular camera and a real binocular virtual reality device are placed on the rotating platform; the controller is used to control the rotation of the rotating platform to maintain the binocular camera and the real binocular virtual reality device or the binocular camera and a virtual binocular virtual reality device displayed by a simulation display device synchronously tracking a target tracking point; the host computer is used to send control commands from the rotating platform to the testing device, and determine the display effect of the real binocular virtual reality device based on the synchronous tracking image of the binocular camera and the real binocular virtual reality device, and determine the design parameters of the virtual binocular virtual reality device based on the synchronous tracking image of the binocular camera and the virtual binocular virtual reality device.

[0007] A third aspect of this application provides a method for simulating a binocular virtual reality device, comprising the following steps: constructing a simulated virtual environment for the binocular virtual reality device; controlling a binocular camera and the virtual binocular virtual reality device to synchronously track virtual tracking points in the simulated virtual environment, and acquiring a first binocular image displayed by the virtual binocular virtual reality device and a second binocular image captured by the binocular camera; calculating the video perspective effect of the virtual binocular virtual reality device based on the first binocular image and the second binocular image, and designing the parameters of the binocular virtual reality device based on the video perspective effect.

[0008] Optionally, calculating the video perspective effect of the virtual stereo virtual reality device based on the first binocular image and the second binocular image includes: calculating the display parameters of the virtual tracking point based on the first binocular image; calculating the real parameters of the virtual tracking point based on the second binocular image; and calculating the video perspective effect of the virtual stereo virtual reality device based on the display parameters and the real parameters.

[0009] Optionally, the first binocular image includes a first screen image and a second screen image. The step of calculating the display parameters of the virtual tracking point based on the first binocular image includes: establishing a screen coordinate system; identifying the first pixel coordinate and the second pixel coordinate corresponding to the virtual tracking point in the first screen image and the second screen image in the screen coordinate system; and calculating the display parameters of the virtual tracking point based on the first pixel coordinate and the second pixel coordinate.

[0010] Optionally, the second stereo image includes a first camera image and a second camera image. Calculating the true parameters of the virtual tracking point based on the second stereo image includes: establishing a camera coordinate system; identifying the third pixel coordinate and the fourth pixel coordinate corresponding to the virtual tracking point in the first camera image and the second camera image under the camera coordinate system, respectively; and calculating the true parameters of the virtual tracking point based on the third pixel coordinate and the fourth pixel coordinate.

[0011] Optionally, calculating the video perspective effect of the binocular virtual reality device based on the display parameters and the real parameters includes: calculating at least one of depth error, convergence angle error, sway angle, display trajectory length, and scaling ratio based on the display parameters and the real parameters; and determining the video perspective effect of the binocular virtual reality device based on at least one of the depth error, convergence angle error, sway angle, display trajectory length, and scaling ratio.

[0012] A fourth aspect of this application provides a method for testing a binocular virtual reality device, comprising the following steps: controlling a binocular camera and a real binocular virtual reality device to synchronously track real tracking points in a real test environment, and acquiring a third binocular image displayed by the real binocular virtual reality device and a fourth binocular image captured by the binocular camera; calculating the video perspective effect of the real binocular virtual reality device based on the third binocular image and the fourth binocular image, and evaluating the display effect of the real binocular virtual reality device based on the video perspective effect.

[0013] A fifth aspect of this application provides a binocular virtual reality device simulation apparatus, comprising: a setup module for setting up a simulated virtual environment for the binocular virtual reality device; a first control module for controlling a binocular camera and a virtual binocular virtual reality device displayed by a simulation display device to synchronously track virtual tracking points in the simulated virtual environment, and to acquire a first binocular image displayed by the virtual binocular virtual reality device and a second binocular image acquired by the binocular camera; and a first calculation module for calculating the video perspective effect of the virtual binocular virtual reality device based on the first binocular image and the second binocular image, and for designing the parameters of the binocular virtual reality device based on the video perspective effect.

[0014] A sixth aspect of this application provides a binocular virtual reality device testing apparatus, comprising: a second control module, configured to control a binocular camera and a real binocular virtual reality device to synchronously track real tracking points in a real test environment, and acquire a third binocular image displayed by the real binocular virtual reality device and a fourth binocular image captured by the binocular camera; and a second calculation module, configured to calculate the video perspective effect of the real binocular virtual reality device based on the third binocular image and the fourth binocular image, and evaluate the display effect of the real binocular virtual reality device based on the video perspective effect.

[0015] Therefore, this application has at least the following beneficial effects:

[0016] (1) The embodiments of this application can control the turntable platform to simulate the real rotation of a human head, rotate the binocular camera and synchronously track the target tracking point with the real binocular virtual reality device or the virtual binocular virtual reality device displayed by the simulation display device to obtain the corresponding synchronous tracking image, thereby determining the display effect of the real binocular virtual reality device or designing the parameters of the binocular virtual reality device. By using the binocular camera to replace the user's eyes, dynamic evaluation and simulation of the real binocular virtual reality device and the virtual binocular virtual reality device can be carried out, and the binocular visual effect can be evaluated to ensure alignment with the user's subjective feelings, thereby improving the accuracy and practicality of simulation and testing.

[0017] (2) In the embodiments of this application, a simulated virtual environment for a binocular virtual reality device can be built during simulation. The virtual tracking points in the simulated virtual environment are synchronously tracked by the binocular camera and the virtual binocular virtual reality device. The video perspective effect of the virtual binocular virtual reality device is calculated based on the first binocular image displayed by the virtual binocular virtual reality device and the second binocular image captured by the binocular camera. The parameters for designing the binocular virtual reality device are then derived. Based on the evaluation of the visual effect of the virtual binocular virtual reality device, the various parameters for the actual design of the binocular virtual display device are obtained, making the design easier and more human-centered.

[0018] (3) In this embodiment of the application, during testing, the actual tracking points in the real test environment can be tracked synchronously by a binocular camera and a real binocular virtual reality device, and the video perspective effect of the real binocular virtual reality device can be calculated based on the third binocular image displayed by the real binocular virtual reality device and the fourth binocular image captured by the binocular camera, thereby determining the display effect of the real binocular virtual reality device and improving the accuracy of the test.

[0019] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0020] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0021] Figure 1 This is a block diagram of a binocular virtual reality device testing device according to an embodiment of this application;

[0022] Figure 2 This is a block diagram of a binocular virtual reality device testing device according to another embodiment of this application;

[0023] Figure 3 This is a three-dimensional schematic diagram of a binocular testing device according to an embodiment of this application for testing binocular virtual reality devices;

[0024] Figure 4 This is a three-dimensional schematic diagram of the overall testing equipment for a binocular virtual reality device according to an embodiment of this application;

[0025] Figure 5 This is a block diagram of a binocular virtual reality device testing system according to an embodiment of this application;

[0026] Figure 6 This is a flowchart of a binocular virtual reality device simulation method provided according to an embodiment of this application;

[0027] Figure 7 This is a schematic diagram illustrating the spatial position calculation of a binocular virtual reality device according to an embodiment of this application;

[0028] Figure 8 This is a schematic diagram of a binocular virtual reality device simulation process according to an embodiment of this application;

[0029] Figure 9 This is a flowchart of a binocular virtual reality device testing method according to an embodiment of this application;

[0030] Figure 10 This is a block diagram of a binocular virtual reality device simulation apparatus provided according to an embodiment of this application;

[0031] Figure 11 This is a block diagram of a binocular virtual reality device testing apparatus provided according to an embodiment of this application. Detailed Implementation

[0032] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0033] The following description, with reference to the accompanying drawings, describes the simulation and testing methods, apparatus, devices, systems, and storage media of a binocular virtual reality device according to embodiments of this application. Addressing the problems mentioned in the background art, such as neglecting the user's subjective experience and failing to accurately determine the specific product design parameters affecting the final presentation effect, leading to low accuracy and practicality in simulation and testing, this application provides a binocular virtual reality device testing device. By controlling a turntable platform to simulate the real rotation of a human head, the device rotates a binocular camera to synchronously track target tracking points with the real binocular virtual reality device or a virtual binocular virtual reality device displayed by a simulation display device, obtaining corresponding synchronous tracking images. This determines the display effect of the real binocular virtual reality device or the parameters for designing the binocular virtual reality device. By using a binocular camera to replace the user's eyes, dynamic evaluation and simulation of the real and virtual binocular virtual reality devices are performed, evaluating the binocular visual effect to ensure alignment with the user's subjective experience, thus improving the accuracy and practicality of simulation and testing. Therefore, this solves the problems of neglecting the user's subjective experience and failing to accurately determine the specific product design parameters affecting the final presentation effect, resulting in low accuracy and practicality in simulation and testing.

[0034] Specifically, Figure 1 This is a block diagram of a binocular virtual reality device testing device provided in an embodiment of this application.

[0035] like Figure 1 and Figure 2 As shown, the binocular virtual reality device test device 10 includes a rotating platform 120 and a controller 140.

[0036] The rotating platform 120 is equipped with a binocular camera 230, or a binocular camera 230 and a real binocular virtual reality device 220. The controller 140 controls the rotation of the rotating platform 120 to maintain the binocular camera 230 and the real binocular virtual reality device 220 or the binocular camera and the virtual binocular virtual reality device displayed by the simulation display device to synchronously track the target tracking point. This enables the display effect of the real binocular virtual reality device 220 to be determined based on the synchronous tracking image of the binocular camera 230 and the real binocular virtual reality device 220, and the parameters of the designed binocular virtual reality device to be determined based on the synchronous tracking image of the binocular camera 230 and the virtual binocular virtual reality device.

[0037] It is understood that the embodiments of this application can use a controller to control a turntable platform to simulate the real rotation of a human head, and coordinate a binocular camera with a real binocular virtual reality device or a binocular camera with a virtual binocular virtual reality device displayed by a simulation display device to synchronously track target tracking points, thereby determining the display effect or design parameters of the binocular virtual reality device. By using a binocular camera to replace the user's eyes, dynamic evaluation and simulation can be performed to evaluate the binocular visual effect, ensure alignment with the user's subjective experience, and improve the accuracy and practicality of simulation and testing.

[0038] It should be noted that the test device 10 in this embodiment can be used not only for testing the display effect of a real binocular virtual reality device 220, but also for simulating a virtual binocular virtual reality device 220, wherein, for example Figure 1 and Figure 3 As shown, when testing the display effect of the real binocular virtual reality device 220, a binocular camera 230 and the real binocular virtual reality device 220 are placed on the rotating platform. The binocular camera 230 is aligned and placed in front of or behind the real binocular virtual reality device, and the target tracking point is synchronously tracked by rotating the platform 120. Figure 2 As shown, if a virtual binocular virtual reality device is simulated, a binocular camera 230 is placed on the rotating platform 120, and the virtual binocular virtual reality device displayed by the simulation display device realizes synchronous tracking of the target tracking point.

[0039] In testing the display effect of a binocular virtual reality device, the target tracking point is a real tracking point; in simulating a binocular virtual reality device, the target tracking point is a virtual tracking point. The methods for testing the display effect of a binocular virtual reality device and for simulating a binocular virtual reality device will be described in the following embodiments; to avoid redundancy, they will not be elaborated upon here.

[0040] Specifically, such as Figure 3 and Figure 4 As shown, a rotating platform 120 is mounted on the base 110, and a support frame 130 is connected to the rotating platform 120. The support frame 130 is equipped with a placement platform 150 and a clamp 160. The placement platform 150 is used to place a stereo camera, or a stereo camera and a real stereo virtual reality device. The clamp 160 is used to hold the real stereo virtual reality device, depending on actual needs. A controller 140 can be located inside the base 110, which also houses a drive motor. The controller 140 controls the drive motor to rotate the rotating platform 120, and can control the rotation speed and angle of the rotating platform 120. The rotating platform 120 has multiple fixing holes for fixing the support frame 130. Figure 3Taking the support frame 130 fixed at the center of the rotating platform 120 as an example, in specific applications, the support frame 130 can be fixed at any fixing hole position according to actual needs.

[0041] The support frame 130 can be a telescopic support, which may include an adjustment knob, a telescopic sleeve, and a telescopic rod. The telescopic length of the telescopic rod can be adjusted by adjusting the knob, thereby adjusting the height of the platform and clamp. Figure 3 As shown, the placement platform 150 and the clamp 160 can be mounted on the connecting piece 170, and one end of the connecting piece 170 is detachably fixedly connected to the support frame 130.

[0042] like Figure 3 As shown, the test device 10 in this embodiment of the application further includes a power supply component 180 and a communication interface 190. The power supply component 180 includes a housing, a power supply disposed inside the housing, a switch 181 disposed inside the housing, and a charging port 182 reserved on the housing. The communication interface 190 can be connected to a host computer 240 to receive control commands from the host computer 240.

[0043] According to the binocular virtual reality device testing device proposed in the embodiments of this application, the binocular camera is rotated to synchronously track the target tracking point with the real or virtual binocular virtual reality device to obtain the corresponding synchronous tracking image, thereby determining the display effect or design parameters of the binocular virtual reality device. The binocular camera replaces the user's eyes to perform dynamic evaluation and simulation of the real binocular virtual reality device and the virtual binocular virtual reality device, evaluate the binocular visual effect, ensure alignment with the user's subjective experience, and improve the accuracy and practicality of simulation and testing.

[0044] Figure 5 This is a block diagram of a binocular virtual reality device testing system provided in an embodiment of this application.

[0045] like Figure 5 As shown, the testing system 20 for the binocular virtual reality device includes: a binocular virtual reality device testing device 10 and a host computer 210.

[0046] The testing equipment 10 includes a rotating platform 120 and a controller 140. A binocular camera 230, or a binocular camera 230 and a real binocular virtual reality device 220, is placed on the rotating platform 120. The controller 140 controls the rotation of the rotating platform 120 to maintain the binocular camera 230 and the real binocular virtual reality device 220 or the binocular camera 230 and a virtual binocular virtual reality device displayed by a simulation display device synchronously tracking the target tracking point based on the rotation of the rotating platform 120. The host computer 210 sends control commands from the rotating platform 120 to the testing equipment 10, determines the display effect of the real binocular virtual reality device 220 based on the synchronous tracking image of the binocular camera 230 and the real binocular virtual reality device 220, and determines the parameters of the designed binocular virtual reality device based on the synchronous tracking image of the binocular camera 230 and the virtual binocular virtual reality device.

[0047] According to the testing system for binocular virtual reality devices proposed in the embodiments of this application, a real testing environment for binocular virtual reality devices is built. The display effect of the real binocular virtual reality device is determined based on the synchronous tracking images of the binocular camera and the real binocular virtual reality device, and the design parameters of the virtual binocular virtual reality device are determined based on the synchronous tracking images of the binocular camera and the virtual binocular virtual reality device. The system fully combines the user's subjective experience with simulation to evaluate the visual effect of the binocular virtual reality device, thereby fundamentally improving the accuracy of the test.

[0048] Figure 6 This is a flowchart illustrating a binocular virtual reality device simulation method provided in an embodiment of this application.

[0049] like Figure 6 As shown, the binocular virtual reality device simulation method includes the following steps:

[0050] In step S101, a simulated virtual environment for the binocular virtual reality device is built.

[0051] It is understood that the embodiments of this application can build a simulated virtual environment for binocular virtual reality devices using 3D rendering engines such as Unity, Blender, and UE (User Experience).

[0052] In step S102, the binocular camera and the virtual binocular virtual reality device are controlled to synchronously track virtual tracking points in the simulated virtual environment, and the first binocular image displayed by the virtual binocular virtual reality device and the second binocular image captured by the binocular camera are acquired.

[0053] The virtual binocular virtual reality device displays two images corresponding to the left and right positions of the human eyes. Therefore, the first binocular image may include the first screen image and the second screen image, and similarly, the second binocular image may include the first camera image and the second camera image.

[0054] It is understood that the embodiments of this application can control the binocular camera and the virtual binocular virtual reality device to synchronously track virtual tracking points in the simulated virtual environment, and acquire the first binocular image displayed by the virtual binocular virtual reality device and the second binocular image captured by the binocular camera, so as to facilitate the subsequent calculation of the video perspective effect of the virtual binocular virtual reality device.

[0055] It should be noted that the second binocular image captured by the aforementioned binocular camera is a real image of the virtual tracking point, which can be understood as the image directly seen by the human eye. The binocular image acquisition methods in step S102 can include: 1. Acquisition Method One: During the process of the binocular camera and the virtual binocular virtual reality device synchronously tracking the virtual tracking point in the simulated virtual environment, the first binocular image displayed by the virtual binocular virtual reality device is captured; 2. Acquisition Method Two: During the process of the binocular camera and the virtual binocular virtual reality device synchronously tracking the virtual tracking point in the simulated virtual environment, the first binocular image displayed by the virtual binocular virtual reality device is captured using the binocular camera. Specifically:

[0056] 1. The simulation process corresponding to method one includes:

[0057] Step (1) Build a simulated virtual environment for the binocular virtual reality device, wherein the virtual binocular virtual reality device is displayed using the first simulation display device and the virtual tracking point is displayed using the second simulation display device.

[0058] Step (2) Place the binocular camera on the rotating platform of the above embodiment, control the rotating platform to rotate, and realize the binocular camera and the virtual binocular virtual reality device to synchronously track the virtual tracking point. During the synchronous tracking of the virtual tracking point, the binocular camera is used to collect the second binocular image of the virtual tracking point, and the first simulation display device captures the first binocular image displayed by the virtual binocular virtual reality device through screenshot or screen recording technology.

[0059] Therefore, the embodiments of this application can acquire the first binocular image and the second binocular image simultaneously with a single control, thereby improving the efficiency of simulation.

[0060] 2. The simulation process corresponding to method two includes:

[0061] Step (1) Build a simulated virtual environment for the binocular virtual reality device, wherein the simulation display device can display the virtual binocular virtual reality device and the virtual tracking point;

[0062] Step (2) Place the binocular camera on the rotating platform of the above embodiment, control the simulation display device to display the virtual binocular virtual reality device, control the rotating platform to rotate, so that the binocular camera and the virtual binocular virtual reality device can synchronously track the virtual tracking point. During the synchronous tracking of the virtual tracking point, the binocular camera is used to capture the first binocular image displayed by the virtual binocular virtual reality device.

[0063] Step (3) Place the binocular camera on the rotating platform of the above embodiment, control the simulation display device to display the virtual tracking point, and do not display the virtual binocular virtual reality device. Control the rotating platform to rotate, so that the binocular camera and the virtual binocular virtual reality device can synchronously track the virtual tracking point. During the synchronous tracking of the virtual tracking point, the binocular camera is used to collect the second binocular image of the virtual tracking point.

[0064] In the simulation process corresponding to the above acquisition method 2, the order of steps (2) and (3) can be interchanged. That is to say, the acquisition order of the first binocular image and the second binocular image is not limited. In the process of executing steps (2) and (3), the rotation parameters of the rotating platform are kept unchanged to reduce the error when comparing the first binocular image and the second binocular image in the future.

[0065] In step S103, the video perspective effect of the virtual binocular virtual reality device is calculated based on the first binocular image and the second binocular image, and the design parameters of the binocular virtual reality device are deduced based on the video perspective effect.

[0066] The design parameters include the left and right visual parallax of the binocular camera, visual depth, and spatial visual position.

[0067] It is understood that the embodiments of this application can calculate the video perspective effect of the virtual binocular virtual reality device based on the first binocular image and the second binocular image, and then reverse-engineer the parameters of the binocular virtual reality device based on the video perspective effect. This fully combines the user's subjective feelings with simulation, and by evaluating the visual effect of the virtual binocular virtual reality device, the design parameters that affect the final effect can be deduced, thereby fundamentally improving the accuracy and practicality of the simulation.

[0068] In this embodiment of the application, calculating the video perspective effect of the virtual binocular virtual reality device based on the first binocular image and the second binocular image includes: calculating the display parameters of the virtual tracking point based on the first binocular image; calculating the real parameters of the virtual tracking point based on the second binocular image; and calculating the video perspective effect of the virtual binocular virtual reality device based on the display parameters and the real parameters.

[0069] The display parameters include the left and right visual parallax, visual depth, and spatial visual position of the virtual tracking point in the simulated binocular virtual reality environment.

[0070] It is understood that the embodiments of this application can calculate the display parameters of the virtual tracking points based on the first binocular image, calculate the real parameters of the virtual tracking points based on the second binocular image, and calculate the video perspective effect of the virtual binocular virtual reality device based on the display parameters and real parameters. This allows for a full combination of the user's subjective experience and simulation, and an evaluation of the visual effect of the virtual binocular virtual reality device. This results in the various parameters for the actual design of the binocular virtual display device, making the design easier and more human-centered.

[0071] In this embodiment of the application, calculating the display parameters of the virtual tracking point based on the first binocular image includes: establishing a screen coordinate system; identifying the first pixel coordinate and the second pixel coordinate corresponding to the virtual tracking point in the screen coordinate system in the first screen image and the second screen image, respectively; and calculating the display parameters of the virtual tracking point based on the first pixel coordinate and the second pixel coordinate.

[0072] It is understood that the embodiments of this application can establish a screen coordinate system and identify the first pixel coordinates and second pixel coordinates corresponding to the virtual tracking points in the screen coordinate system in the first screen image and the second screen image to calculate the display parameters of the virtual tracking points. This can fully combine the user's subjective feelings with simulation and evaluate the visual effects of the virtual binocular virtual reality device to obtain various parameters when designing the actual binocular virtual display device.

[0073] Specifically, such as Figure 7 As shown, during the motion, the path is calculated based on the virtual effect. First, the coordinates of the first pixel and the second pixel are determined respectively. Then, the first left and right visual disparity of the virtual tracking point is calculated based on the first and second pixel coordinates. Finally, the first visual depth is calculated based on the first visual depth, and the first visual spatial position is reconstructed based on the first visual depth. The specific process is as follows:

[0074] During the movement, the virtual tracking point is recorded on the first and second screen images corresponding to the left and right screens of the virtual binocular virtual reality device, and recorded as a frame. L1 and frame R1 The first and second pixel coordinates are obtained by using a virtual scene simulation model overlay display pipeline algorithm through a 3D rendering engine, and recorded as U. l1 and U r1 The display pipeline algorithm includes a distortion correction algorithm and a viewpoint conversion algorithm.

[0075] Calculate the first left-right visual disparity based on the first pixel coordinates and the second pixel coordinates:

[0076] Δpixel1=U l1 -U r1 ;

[0077] Among them, U l1 and U r1 These represent the horizontal pixel coordinates on the left and right sides of the screen, respectively.

[0078] Calculate the first visual depth based on the first left and right visual disparity:

[0079] Z c1 =f*b / Δpixel1,

[0080] Where f represents the screen focal length, b represents the baseline distance between the left and right screens, and Δpixel1 represents the first left-right parallax.

[0081] The first visual spatial position of the virtual tracking point is calculated based on the first visual depth:

[0082]

[0083] Among them, U l1 and U r1 R represents the coordinates of the first and second pixels. -1 The T matrix comes from the camera's calibration extrinsic parameters, f x and f y It is the camera's internal calibration parameters.

[0084] In this embodiment of the application, calculating the real parameters of the virtual tracking point based on the second binocular image includes: establishing a camera coordinate system; identifying the third pixel coordinate and the fourth pixel coordinate corresponding to the virtual tracking point in the camera coordinate system in the first camera image and the second camera image, respectively; and calculating the real parameters of the virtual tracking point based on the third pixel coordinate and the fourth pixel coordinate.

[0085] It is understood that the embodiments of this application can establish a camera coordinate system and identify the third pixel coordinates and fourth pixel coordinates corresponding to the virtual tracking points in the screen coordinate system in the first camera image and the second camera image to calculate the real parameters of the virtual tracking points. This allows for a full combination of the user's subjective experience and simulation, and an evaluation of the visual effects of the virtual binocular virtual reality device. This results in the various parameters for the actual design of the binocular virtual display device, making the design easier and more human-centered.

[0086] It should be noted that this application transforms the camera coordinate system into the image coordinate system. The transformation from the camera coordinate system to the image coordinate system is a projection relationship, which is a transformation from 3D to 2D. Since both the pixel coordinate system and the image coordinate system are on the imaging plane, only their origins and units of measurement are different, the image coordinate system can be transformed into the pixel coordinate system, and the relevant parameters can be calculated using the pixel coordinate system.

[0087] Specifically, such as Figure 7As shown, while recording the virtual tracking points in the simulated virtual environment synchronously tracked by the virtual binocular virtual reality device, the binocular camera is used to record the images of the first camera and the second camera corresponding to the human eye, respectively. The second left-right visual disparity is calculated based on the first and second camera images, the second visual depth is calculated based on the second left-right visual disparity, and the second visual spatial position is reconstructed based on the second visual depth. Specifically:

[0088] During the movement, the first camera image frame of the stereo camera is recorded. L2 Second camera image frame R2 By establishing a camera coordinate system using physical coordinates and camera intrinsic and extrinsic parameters, image recognition technology is used to identify the pixel coordinates of the virtual tracking point in the first and second camera images, respectively, to obtain the third pixel coordinate U. l2 and the fourth pixel coordinate U r2 .

[0089] Calculate the second left-right visual disparity based on the coordinates of the third and fourth pixels:

[0090] Δpixel2=U l2 -U r2 .

[0091] Calculate the second visual depth based on the second left and right eye parallax:

[0092] Z c2 =f*b / Δpixel2,

[0093] Where f represents the camera focal length, b represents the distance between the left and right eye baselines of the binocular camera, and Δpixel2 represents the second left and right eye parallax.

[0094] The second visual spatial position of the virtual tracking point is calculated based on the second visual depth:

[0095]

[0096] Among them, R -1 The T matrix represents the calibration extrinsic parameters of the stereo camera, and f... x and f y This is the internal calibration parameter for a binocular camera.

[0097] It should be noted that after calculating the display parameters and the true parameters using the above method, since the camera coordinate system and the screen coordinate system are different coordinate systems, it is not convenient for calculating video perspective effects. Therefore, it is necessary to transform the true parameters from the camera coordinate system to the screen coordinate system, or to transform the display parameters from the screen coordinate system to the camera coordinate system, so that the display parameters and the true parameters are in the same coordinate system, which facilitates the calculation of video perspective effects. The transformation between the camera coordinate system and the screen coordinate system can be achieved by pre-calibrating the mapping relationship, and the coordinate system transformation can be carried out based on the pre-calibrated mapping relationship.

[0098] In this embodiment of the application, calculating the video perspective effect of the binocular virtual reality device based on display parameters and real parameters includes: calculating at least one of depth error, convergence angle error, sway angle, display trajectory length, and scaling ratio based on display parameters and real parameters; and determining the video perspective effect of the binocular virtual reality device based on at least one of depth error, convergence angle error, sway angle, display trajectory length, and scaling ratio.

[0099] Among them, depth error, convergence angle error, wobbling angle, display trajectory length, and scaling ratio can respectively represent the subjective feelings of following, wobbling, scaling ratio of objects, and depth when the head-mounted display device moves, without specific limitations.

[0100] It is understood that the embodiments of this application calculate at least one of depth error, convergence angle error, wobbling angle, display trajectory length, and scaling ratio based on display parameters and real parameters, thereby determining the video perspective effect of the binocular virtual reality device. This fully combines the user's subjective feelings with simulation to evaluate the visual effect of the binocular virtual reality device, fundamentally improving the accuracy and practicality of the simulation.

[0101] Specifically, depth error refers to the error between the depth of an object observed by a user using a binocular virtual reality device and the object's actual depth; convergence angle error refers to the error between the binocular convergence angle when observing an object using a binocular virtual reality device and the binocular convergence angle when observing the object's actual position; sway angle refers to the difference between the perceived angle of an object observed under the video perspective effect of the head-mounted display device during dynamic motion and the actual angle in physical space; sway trajectory length indicates the length of the motion trajectory observed by an object under the video perspective effect of the head-mounted display device during dynamic motion; and magnification / reduction ratio represents the ratio of the size of an object after binocular imaging under the video perspective effect of the head-mounted display device to its actual size.

[0102] According to the binocular virtual reality device simulation method proposed in this application, a simulated virtual environment for the binocular virtual reality device is built. Virtual tracking points in the simulated virtual environment are synchronously tracked by a binocular camera and the virtual binocular virtual reality device. The video perspective effect of the virtual binocular virtual reality device is calculated based on the first binocular image displayed by the virtual binocular virtual reality device and the second binocular image captured by the binocular camera. Thus, the display effect or design parameters of the binocular virtual reality device are deduced. This fully combines the user's subjective experience with the simulation, evaluates the visual effect of the virtual binocular virtual reality device, and deduces the design parameters that affect the final effect, fundamentally improving the accuracy and practicality of the simulation.

[0103] Next, a testing method for a binocular virtual reality device according to an embodiment of this application is described with reference to the accompanying drawings.

[0104] Figure 9 This is a flowchart of a testing method for a binocular virtual reality device according to an embodiment of this application.

[0105] like Figure 9 As shown, the testing method for this binocular virtual reality device includes the following steps:

[0106] In step S201, the binocular camera is controlled to synchronously track real tracking points in the real test environment with the real binocular virtual reality device, and the third binocular image displayed by the real binocular virtual reality device and the fourth binocular image captured by the binocular camera are acquired.

[0107] It is understood that the embodiments of this application can control the binocular camera and the real binocular virtual reality device to synchronously track real tracking points in the real test environment, and acquire the third binocular image displayed by the virtual binocular virtual reality device and the fourth binocular image captured by the binocular camera, so as to facilitate the subsequent calculation of the video perspective effect of the binocular virtual reality device.

[0108] In step S202, the video perspective effect of the real binocular virtual reality device is calculated based on the third binocular image and the fourth binocular image, and the display effect of the real binocular virtual reality device is evaluated based on the video perspective effect.

[0109] It is understood that the embodiments of this application can calculate the video perspective effect of the real binocular virtual reality device based on the third binocular image and the fourth binocular image, evaluate the display effect of the real binocular virtual reality device based on the video perspective effect, fully combine the user's subjective feelings with simulation, evaluate the visual effect of the binocular virtual reality device, and fundamentally improve the accuracy and practicality of the test.

[0110] In this embodiment, calculating the video perspective effect of a real binocular virtual reality device based on a third binocular image and a fourth binocular image includes: calculating the display parameters of the real tracking points based on the third binocular image; calculating the real parameters of the real tracking points based on the fourth binocular image; and calculating the video perspective effect of the real binocular virtual reality device based on the display parameters and the real parameters.

[0111] In this embodiment, the third binocular image includes a third screen image and a fourth screen image. Calculating the display parameters of the real tracking point based on the third binocular image includes: establishing a screen coordinate system; identifying the fifth pixel coordinate and the sixth pixel coordinate corresponding to the real tracking point in the screen coordinate system in the third screen image and the fourth screen image, respectively; and calculating the display parameters of the real tracking point based on the fifth pixel coordinate and the sixth pixel coordinate.

[0112] In this embodiment, the fourth binocular image includes a third camera image and a fourth camera image. Calculating the true parameters of the actual tracking point based on the fourth binocular image includes: establishing a camera coordinate system; identifying the seventh pixel coordinate and the eighth pixel coordinate corresponding to the actual tracking point in the third camera image and the fourth camera image in the camera coordinate system, respectively; and calculating the true parameters of the actual tracking point based on the seventh pixel coordinate and the eighth pixel coordinate.

[0113] In this embodiment of the application, calculating the video perspective effect of a real binocular virtual reality device based on display parameters and real parameters includes: calculating at least one of depth error, convergence angle error, sway angle, display trajectory length, and scaling ratio based on display parameters and real parameters; and determining the video perspective effect of the binocular virtual reality device based on at least one of depth error, convergence angle error, sway angle, display trajectory length, and scaling ratio.

[0114] It should be noted that the calculation method for the video perspective effect of a real binocular virtual reality device is the same as that of a virtual binocular virtual reality device. Please refer to the explanation of the calculation method for the video perspective effect of a virtual binocular virtual reality device in the above embodiments. To avoid redundancy, it will not be repeated here.

[0115] According to the testing method for binocular virtual reality devices proposed in this application, a binocular camera and a real binocular virtual reality device synchronously track real tracking points in a real test environment. The video perspective effect of the real binocular virtual reality device is calculated based on the third binocular image displayed by the real binocular virtual reality device and the fourth binocular image captured by the binocular camera, thereby determining the test result of the real binocular virtual reality device. This method fully combines the user's subjective experience with simulation to evaluate the visual effect of the real binocular virtual reality device, fundamentally improving the accuracy of the test.

[0116] Next, the binocular virtual reality device simulation apparatus proposed according to the embodiments of this application is described with reference to the accompanying drawings.

[0117] Figure 10 This is a flowchart of the simulation device for a binocular virtual reality device according to an embodiment of this application.

[0118] like Figure 10 As shown, the simulation device 30 of the binocular virtual reality device includes: a construction module 310, a first control module 320, and a first computing module 330.

[0119] The setup module 310 is used to build a simulated virtual environment for the binocular virtual reality device; the first control module 320 is used to control the binocular camera and the virtual binocular virtual reality device displayed by the simulation display device to synchronously track virtual tracking points in the simulated virtual environment, and to acquire the first binocular image displayed by the virtual binocular virtual reality device and the second binocular image captured by the binocular camera; the first calculation module 330 is used to calculate the video perspective effect of the virtual binocular virtual reality device based on the first and second binocular images, and to reverse-engineer the parameters of the virtual binocular virtual reality device based on the video perspective effect.

[0120] It should be noted that the foregoing explanation of the embodiment of the binocular virtual reality device simulation method also applies to the simulation device of the binocular virtual reality device in this embodiment, and will not be repeated here.

[0121] According to the simulation device for binocular virtual reality equipment proposed in the embodiments of this application, a simulated virtual environment for binocular virtual reality equipment is built. Virtual tracking points in the simulated virtual environment are synchronously tracked by a binocular camera and the virtual binocular virtual reality equipment. The video perspective effect of the virtual binocular virtual reality equipment is calculated based on the first binocular image displayed by the virtual binocular virtual reality equipment and the second binocular image captured by the binocular camera. The display effect or design parameters of the virtual binocular virtual reality equipment are then deduced. This fully combines the user's subjective experience with the simulation, evaluates the visual effect of the virtual binocular virtual reality equipment, and deduces the design parameters that affect the final effect, fundamentally improving the accuracy and practicality of the simulation.

[0122] Next, the binocular virtual reality device testing apparatus according to the embodiments of this application is described with reference to the accompanying drawings.

[0123] Figure 11 This is a block diagram of a test apparatus for a binocular virtual reality device according to an embodiment of this application.

[0124] like Figure 11 As shown, the test device 40 for the binocular virtual reality device includes: a second control module 410 and a second computing module 420.

[0125] The second control module 410 is used to control the binocular camera and the real binocular virtual reality device to synchronously track real tracking points in the real test environment, and to acquire the third binocular image displayed by the virtual binocular virtual reality device and the fourth binocular image captured by the binocular camera; the second calculation module 420 is used to calculate the video perspective effect of the real binocular virtual reality device based on the third binocular image and the fourth binocular image, and to evaluate the display effect of the real binocular virtual reality device based on the video perspective effect.

[0126] It should be noted that the foregoing explanation of the test method embodiment for binocular virtual reality devices also applies to the test apparatus for the binocular virtual reality devices in this embodiment, and will not be repeated here.

[0127] According to the testing apparatus for binocular virtual reality devices proposed in the embodiments of this application, a real testing environment for binocular virtual reality devices is built. A binocular camera and a real binocular virtual reality device synchronously track real tracking points in the real testing environment. The video perspective effect of the real binocular virtual reality device is calculated based on the third binocular image displayed by the virtual binocular virtual reality device and the fourth binocular image captured by the binocular camera, thereby determining the test result of the real binocular virtual reality device. This fully combines the user's subjective experience with simulation to evaluate the visual effect of the real binocular virtual reality device, fundamentally improving the accuracy of the test.

[0128] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0129] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0130] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0131] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0132] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0133] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A binocular virtual reality device testing device, characterized in that, include: Rotating platform; The rotating platform is equipped with a binocular camera or a binocular camera and a real binocular virtual reality device. The controller is used to control the rotation of the rotating platform to maintain the binocular camera and the real binocular virtual reality device or the binocular camera and the virtual binocular virtual reality device displayed by the simulation display device synchronously tracking the target tracking point, so as to determine the display effect of the real binocular virtual reality device based on the synchronous tracking image of the binocular camera and the real binocular virtual reality device, and determine the design parameters of the binocular virtual reality device based on the synchronous tracking image of the binocular camera and the virtual binocular virtual reality device.

2. A testing system for a binocular virtual reality device, characterized in that, include: Binocular virtual reality device testing equipment and host computer; The testing equipment includes a rotating platform and a controller, wherein a binocular camera or a binocular camera and a real binocular virtual reality device are placed on the rotating platform. The controller is used to control the rotation of the rotating platform to maintain the binocular camera and the real binocular virtual reality device or the binocular camera and the virtual binocular virtual reality device displayed by the simulation display device in synchronous tracking of the target tracking point; The host computer is used to send control commands from the rotating platform to the test equipment, and to determine the display effect of the real binocular virtual reality device based on the synchronized tracking images of the binocular camera and the real binocular virtual reality device, and to determine the parameters for designing the binocular virtual reality device based on the synchronized tracking images of the binocular camera and the virtual binocular virtual reality device.

3. A method for simulating a binocular virtual reality device, characterized in that, Includes the following steps: Build a simulated virtual environment for binocular virtual reality devices; The binocular camera is controlled to synchronously track virtual tracking points in the simulated virtual environment with the virtual binocular virtual reality device displayed by the simulation display device, and to acquire the first binocular image displayed by the virtual binocular virtual reality device and the second binocular image captured by the binocular camera; The video perspective effect of the virtual stereo virtual reality device is calculated based on the first stereo image and the second stereo image, and the parameters of the stereo virtual reality device are designed based on the video perspective effect.

4. The binocular virtual reality device simulation method according to claim 3, characterized in that, The step of calculating the video perspective effect of the virtual stereo virtual reality device based on the first stereo image and the second stereo image includes: Calculate the display parameters of the virtual tracking point based on the first binocular image; Calculate the true parameters of the virtual tracking point based on the second binocular image; The video perspective effect of the virtual binocular virtual reality device is calculated based on the display parameters and the actual parameters.

5. The binocular virtual reality device simulation method according to claim 4, characterized in that, The first binocular image includes a first screen image and a second screen image. The step of calculating the display parameters of the virtual tracking point based on the first binocular image includes: Establish a screen coordinate system; Identify the virtual tracking point in the first screen image and the second screen image respectively, and the first pixel coordinate and the second pixel coordinate corresponding to it in the screen coordinate system; The display parameters of the virtual tracking point are calculated based on the first pixel coordinate and the second pixel coordinate.

6. The binocular virtual reality device simulation method according to claim 4, characterized in that, The second stereo image includes a first camera image and a second camera image. The step of calculating the true parameters of the virtual tracking point based on the second stereo image includes: Establish a camera coordinate system; Identify the third and fourth pixel coordinates of the virtual tracking point in the first camera image and the second camera image, respectively, in the camera coordinate system; The true parameters of the virtual tracking point are calculated based on the coordinates of the third pixel and the fourth pixel.

7. The binocular virtual reality device simulation method according to claim 4, characterized in that, The step of calculating the video perspective effect of the virtual binocular virtual reality device based on the display parameters and the real parameters includes: Calculate at least one of the following based on the display parameters and the actual parameters: depth error, convergence angle error, wobbling angle, display trajectory length, and scaling ratio; The video perspective effect of the binocular virtual reality device is determined based on at least one of the depth error, the convergence angle error, the wobbling angle, the display trajectory length, and the scaling ratio.

8. A testing method for a binocular virtual reality device, characterized in that, Includes the following steps: The system controls a binocular camera to synchronously track real tracking points in a real test environment with a real binocular virtual reality device, and acquires a third binocular image displayed by the real binocular virtual reality device and a fourth binocular image captured by the binocular camera. The video perspective effect of the real binocular virtual reality device is calculated based on the third binocular image and the fourth binocular image, and the display effect of the real binocular virtual reality device is evaluated based on the video perspective effect.

9. A binocular virtual reality device simulation apparatus, characterized in that, include: The module is used to build a simulated virtual environment for binocular virtual reality devices; The first control module is used to control the binocular camera and the virtual binocular virtual reality device displayed by the simulation display device to synchronously track virtual tracking points in the simulation virtual environment, and to acquire the first binocular image displayed by the virtual binocular virtual reality device and the second binocular image captured by the binocular camera; The first calculation module is used to calculate the video perspective effect of the virtual stereo virtual reality device based on the first stereo image and the second stereo image, and to design the parameters of the virtual reality device based on the video perspective effect.

10. A testing device for binocular virtual reality equipment, characterized in that, include: The second control module is used to control the binocular camera and the real binocular virtual reality device to synchronously track the real tracking points in the real test environment, and to acquire the third binocular image displayed by the real binocular virtual reality device and the fourth binocular image captured by the binocular camera. The second calculation module is used to calculate the video perspective effect of the real binocular virtual reality device based on the third binocular image and the fourth binocular image, and to evaluate the display effect of the real binocular virtual reality device based on the video perspective effect.

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