Equipment wearing calibration methods, devices, computing equipment and testing systems

Abstract

This application provides a device wearing correction method, apparatus, computing device, and testing system, relating to the field of device testing technology. The method includes: acquiring first real-time posture data of the testing device and second real-time posture data of the head-mounted display device; determining real-time relative posture data between the first and second real-time posture data; then determining the relative posture deviation between the real-time relative posture data and reference relative posture data, wherein the reference relative posture data is the relative posture data between the head-mounted display device and the testing device when the head-mounted display device is in the target wearing position of the testing device; and outputting a prompt message when the relative posture deviation is greater than the target deviation. The technical solution provided by this application can improve the testing efficiency and reliability in the optical performance testing process of head-mounted display devices.

Description

Technical Field

[0001] This application relates to the field of equipment testing technology, and in particular to a device wearing calibration method, apparatus, computing device and testing system. Background Technology

[0002] With the rapid development of extended reality (XR) technologies such as Virtual Reality (VR) and Augmented Reality (AR), users have placed higher demands on the display quality, immersion, and comfort of XR head-mounted displays (HMRs). Therefore, during the research and development and production process, it is necessary to test the optical performance of HMRs, including field of view, distortion, brightness uniformity, and interpupillary distance matching.

[0003] In related technologies, during testing, the head-mounted display device under test is usually worn on a testing device, such as a simulated head shell, to simulate the wearing state of a real user. The content of the display screen is then captured by a simulated eye-like camera on the simulated head shell, and the optical performance is analyzed.

[0004] However, during testing, due to unstable mechanical fixation or accidental contact, the head-mounted display may slide or twist on the simulated head shell, causing its optical center to misalign with the center of the simulated pupil. This results in significant errors in subsequent optical test data such as field of view and distortion. In automated testing, this "misalignment" is difficult to detect with the naked eye and is often only discovered after the test is completed, requiring reinstallation and retesting, thus reducing testing efficiency and reliability. Summary of the Invention

[0005] In view of this, embodiments of this application provide a device wearing correction method, apparatus, computing device, and testing system to improve the testing efficiency and reliability of head-mounted display devices during optical performance testing.

[0006] To achieve the above objectives, in a first aspect, embodiments of this application provide a device wearing correction method, the method comprising: Acquire the first real-time attitude data of the test device and the second real-time attitude data of the head-mounted display device, and determine the real-time relative attitude data between the first real-time attitude data and the second real-time attitude data; Determine the relative attitude deviation between the real-time relative attitude data and the reference relative attitude data; the reference relative attitude data is the relative attitude data between the head-mounted display device and the test device when the head-mounted display device is in the target wearing position of the test device. If the relative attitude deviation is greater than the target deviation, output a prompt message.

[0007] In one possible implementation of the first aspect, before acquiring the first real-time attitude data and the second real-time attitude data, the method further includes: With the head-mounted display device in the target wearing position of the test device, the first initial posture data of the test device and the second initial posture data of the head-mounted display device are acquired, and the relative posture data between the first initial posture data and the second initial posture data is determined as the reference relative posture data.

[0008] In one possible implementation of the first aspect, the acquired attitude data is Euler angles. Determine the relative attitude deviation between real-time relative attitude data and reference relative attitude data, including: Determine the pitch angle difference, azimuth angle difference, and roll angle difference between the real-time relative attitude data and the reference relative attitude data; Target deviations include pitch deviation, azimuth deviation, and roll deviation; If the relative attitude deviation is greater than the target deviation, output a prompt message, including: If the pitch angle difference is greater than the pitch angle deviation, or the azimuth angle difference is greater than the azimuth angle deviation, or the roll angle difference is greater than the roll angle deviation, output a prompt message.

[0009] In one possible implementation of the first aspect, the acquired attitude data is a quaternion; Relative attitude deviation includes the difference in rotation angle between real-time relative attitude data and reference relative attitude data in the target coordinate system; target deviation includes rotation angle deviation.

[0010] In one possible implementation of the first aspect, the method further includes: The calibration method for the head-mounted display is determined based on the relative posture deviation.

[0011] In one possible implementation of the first aspect, a prompt message is output, including at least one of the following: The display shows calibration prompts; the calibration prompts indicate the calibration method for the head-mounted display. A pop-up notification box appears; A notification sound will be emitted.

[0012] In one possible implementation of the first aspect, the first real-time attitude data is measured by a first inertial measurement unit on a test device, and the second real-time attitude data is measured by a second inertial measurement unit on a head-mounted display device.

[0013] Secondly, embodiments of this application provide a device wearing correction device, the device comprising: The acquisition module is used to test the first real-time attitude data of the device and the second real-time attitude data of the head-mounted display device. The determination module is used to determine the real-time relative posture data between the first real-time posture data and the second real-time posture data; and to determine the relative posture deviation between the real-time relative posture data and the reference relative posture data; the reference relative posture data is the relative posture data between the head-mounted display device and the test device when the head-mounted display device is in the target wearing position of the test device. The output module is used to output a prompt message when the relative attitude deviation is greater than the target deviation.

[0014] In one possible implementation of the second aspect, the acquisition module is further configured to: acquire the first initial posture data of the test device and the second initial posture data of the head-mounted display device when the head-mounted display device is in the target wearing position of the test device before acquiring the first real-time posture data and the second real-time posture data; The determination module is also used to: determine the relative attitude data between the first initial attitude data and the second initial attitude data as the reference relative attitude data.

[0015] In one possible implementation of the second aspect, the acquired attitude data is Euler angles. Specifically, the determination module is used to: determine the pitch angle difference, azimuth angle difference, and roll angle difference between real-time relative attitude data and reference relative attitude data; Target deviations include pitch deviation, azimuth deviation, and roll deviation; The output module is specifically used to output a prompt message when the pitch angle difference is greater than the pitch angle deviation, or the azimuth angle difference is greater than the azimuth angle deviation, or the roll angle difference is greater than the roll angle deviation.

[0016] In one possible implementation of the second aspect, the acquired attitude data is a quaternion; Relative attitude deviation includes the difference in rotation angle between real-time relative attitude data and reference relative attitude data in the target coordinate system; target deviation includes rotation angle deviation.

[0017] In one possible implementation of the first aspect, the determining module is further configured to: determine the correction method of the head-mounted display device based on the relative posture deviation.

[0018] In one possible implementation of the second aspect, the output module outputs at least one of the following: The display shows calibration prompts; the calibration prompts indicate the calibration method for the head-mounted display. A pop-up notification box appears; A notification sound will be emitted.

[0019] In one possible implementation of the second aspect, the first real-time attitude data is measured by a first inertial measurement unit on the test device, and the second real-time attitude data is measured by a second inertial measurement unit on the head-mounted display device.

[0020] Thirdly, embodiments of this application provide a computing device, including: a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the method described in the first aspect or any embodiment of the first aspect when the computer program is invoked.

[0021] Fourthly, embodiments of this application provide a testing system, including testing equipment, a head-mounted display device, and a computing device as described in the third aspect.

[0022] Fifthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect or any embodiment of the first aspect.

[0023] In a sixth aspect, embodiments of this application provide a computer program product that, when run on a computing device, causes the computing device to execute the device wearing correction method described in any of the first aspects above.

[0024] The technical solution provided in this application, after acquiring the first real-time posture data of the testing device and the second real-time posture data of the head-mounted display device, can determine the real-time relative posture data between the first and second real-time posture data. Then, it can determine the relative posture deviation between the real-time relative posture data and the reference relative posture data. The reference relative posture data is the relative posture data between the head-mounted display device and the testing device when the head-mounted display device is in the target wearing position of the testing device. If the relative posture deviation is greater than the target deviation, a prompt message can be output. Based on the above solution, by determining the relative posture deviation between the real-time relative posture data and the reference relative posture data, minute wearing misalignments can be detected instantly. When the relative posture deviation is greater than the target deviation, a prompt message is output, allowing for wearing adjustments. This avoids discovering data anomalies only after the test is completed. This not only provides prompts for testers but also shortens testing time, reduces repetitive testing, and significantly improves the overall efficiency of production line testing or R&D verification. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the architecture of a testing system provided in an embodiment of this application; Figure 2 A schematic flowchart illustrating the device wearing calibration method provided in this application embodiment; Figure 3This is a schematic diagram of the device wearing correction device provided in the embodiments of this application; Figure 4 A schematic diagram of the structure of a computing device provided in an embodiment of this application. Detailed Implementation

[0026] The embodiments of this application are described below with reference to the accompanying drawings. The terminology used in the implementation section of this application is only for explaining specific embodiments and is not intended to limit the application. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0027] The technical solution of this application can correct the wearing posture of extended reality devices. Extended reality devices can include virtual reality (VR) devices, augmented reality (AR) devices, and mixed reality (MR) devices. Among them, common examples include head-mounted display devices (hereinafter referred to as head-mounted displays). For ease of understanding, this application embodiment uses head-mounted displays as an example for illustrative purposes.

[0028] Figure 1 This is a schematic diagram of the architecture of a testing system provided in an embodiment of this application. For example... Figure 1 As shown, the system may include a test device 1, a head-mounted display device 2, and a computing device 3. The test device 1 and the head-mounted display device 2 can be connected to the computing device 3 via wired or wireless means.

[0029] After the head-mounted display device 2 is worn on the testing device 1, the computing device 3 can acquire the posture data of the testing device 1 and the head-mounted display device 2 for data processing. Taking the testing device 1 as a simulated head shell as an example, the simulated head shell may include a simulated eye-tracking camera module. A first sensor module can be set on the simulated head shell. The first sensor module can be set at any position on the simulated head shell. For example, the first sensor module can be set inside or adjacent to the simulated eye-tracking camera module, thereby enabling real-time measurement of the simulated eye's posture and improving measurement accuracy.

[0030] The first sensor module can measure real-time sensor data from the simulated eye-camera module. For example, the sensor data can be Euler angles. Euler angles can include roll, pitch, and yaw. The roll angle indicates the angle of rotation of the simulated eye-camera module about its x-axis, the pitch angle indicates the angle of rotation of the simulated eye-camera module about its y-axis, and the yaw angle indicates the angle of rotation of the simulated eye-camera module about its z-axis.

[0031] Sensor data can also be rotation vector quadruples, that is, attitude quaternions representing the rotation vector of the simulated eye-camera module. These attitude quaternions can be represented as Q(x,y,z,w), where (x,y,z) indicates the rotation axis and w indicates the rotation angle. The first sensor module may include a first inertial measurement unit (IMU).

[0032] Head-mounted displays typically include a second sensor module. This second sensor module measures real-time sensor data from the head-mounted display. The types of sensor data can be found in the description of the first sensor module, and will not be repeated here. The second sensor module may include a second inertial measurement unit.

[0033] For ease of explanation, the following description will use the first inertial measurement unit and the second inertial measurement unit as examples.

[0034] The computing device 3 can process the attitude data measured by the first inertial measurement unit and the attitude data measured by the second inertial measurement unit. The acquisition frequency can be 100Hz. Of course, the computing device 3 can also acquire the data at other frequencies. This application embodiment does not impose any particular limitation on this.

[0035] The computing device can be a standalone device. In some embodiments, the computing device 3 can also be integrated into the test device 1 or into the head-mounted display device 2 to simplify the system architecture.

[0036] Figure 2 This is a schematic flowchart of the device wearing correction method provided in the embodiments of this application, as shown below. Figure 2 As shown, the method may include the following steps: Step S110: Obtain the first real-time attitude data of the test device and the second real-time attitude data of the head-mounted display device, and determine the real-time relative attitude data between the first real-time attitude data and the second real-time attitude data.

[0037] After the head-mounted display is worn on the simulated head shell, the computing device can simultaneously acquire the real-time attitude data measured by the first measurement unit (hereinafter referred to as the first real-time attitude data) and the real-time attitude data measured by the second inertial measurement unit (hereinafter referred to as the second real-time attitude data) to determine the real-time relative attitude data between the first real-time attitude data and the second real-time attitude data.

[0038] In some implementations, the first real-time attitude data and the second real-time attitude data can be Euler angles, which may include roll angle, pitch angle and azimuth angle.

[0039] For example, the real-time roll angle difference, real-time pitch angle difference, and real-time azimuth angle difference between the first real-time attitude data and the second real-time attitude data can be determined respectively, and used as real-time relative attitude data.

[0040] For example, the computing device can synchronously acquire the real-time Euler angles (A1) of the first measurement unit. roll-current A1 pitch-current A1 yaw-current ), and the real-time Euler angles of the second measurement unit (A2) roll-current A2 pitch-current A2 yaw-current ), and calculate the real-time roll angle difference ΔRoll respectively. current Real-time pitch difference ΔPitch current The difference between the real-time azimuth angle and the real-time ΔYaw current Among them, the real-time roll angle difference ΔRoll current =A2 roll-current - A1 roll-current Real-time pitch difference ΔPitch current = A2 pitch-current - A1 pitch-current Real-time azimuth difference ΔYaw current =A2 yaw-current - A1 yaw-current .

[0041] In some implementations, the first real-time attitude data and the second real-time attitude data can be quaternions.

[0042] For example, Q eye The quaternion Q represents the attitude of the simulated eye-camera module's coordinate system relative to the world coordinate system (or Earth coordinate system), as measured by the first inertial measurement unit. dev The quaternion of the head-mounted display device measured by the second inertial measurement unit can represent the attitude of the head-mounted display device coordinate system relative to the world coordinate system.

[0043] To remove the influence of the world coordinate system, coordinate system alignment can be performed.

[0044] Taking the transformation of quaternions from the test equipment to the head-mounted display coordinate system as an example, the quaternions of the simulated eye-camera module can be transformed from the simulated eye-camera module coordinate system to the head-mounted display coordinate system according to the following formula, so as to obtain the real-time relative attitude quaternion, that is, the real-time relative attitude data, denoted as Q. relative-current .

[0045] Q relative =Q eye 1 *Qdev ; Among them, Q eye 1 For Q eye The conjugate quaternion (for a unit quaternion, the conjugate is equal to the inverse), * denotes quaternion multiplication.

[0046] In this embodiment of the application, by employing this formula, Q can be utilized. eye 1 The rotation aligns the coordinate system of the simulated eye-camera module to the world coordinate system, and then uses Q... dev The rotation aligns the world coordinate system to the head-mounted display coordinate system, thereby achieving alignment from the simulated eye-camera module coordinate system to the head-mounted display coordinate system. At this point, the target coordinate system is the head-mounted display coordinate system.

[0047] This application embodiment reduces deviation and improves the accuracy of test results by aligning the coordinate system of the head-mounted display device with the coordinate system of the simulated eye-camera module. Furthermore, by using quaternions instead of Euler angles, the gimbal lock problem that may exist with Euler angles can be effectively avoided, improving the reliability of the device wearing correction method.

[0048] It is understandable that when the coordinate system of the head-mounted display device is aligned to the coordinate system of the simulated eye-camera module, the target coordinate system is the coordinate system of the simulated eye-camera module.

[0049] Step S120: Determine the relative attitude deviation between the real-time relative attitude data and the reference relative attitude data.

[0050] In some embodiments, the method may further include step S210 before acquiring the first real-time attitude data and the second real-time attitude data.

[0051] Step S210: When the head-mounted display is in the target wearing position of the test device, acquire the first initial posture data of the test device and the second initial posture data of the head-mounted display, and determine the relative posture data between the first initial posture data and the second initial posture data as the reference relative posture data.

[0052] The target wearing position can be the alignment point between the optical center of the head-mounted display (HMD) and the pupil center of the simulated eye camera module after the HMD is worn on the test equipment. This can be determined using an image recognition-based optical alignment method. For example, the HMD can display a preset calibration image, and the simulated eye camera module can capture real-time images of the calibration image. The sharpness and geometric centrality of the real-time image are then analyzed. When the sharpness of the real-time image exceeds a preset sharpness threshold, and the geometric center of the calibration image coincides with the center of the real-time image, the HMD is determined to be in the target wearing position.

[0053] When the head-mounted display is in the target wearing position, the computing device can simultaneously acquire the first initial posture data of the test device and the second initial posture data of the head-mounted display.

[0054] When both the first initial attitude data and the second initial attitude data are Euler angles, the relative attitude data between the first initial attitude data and the second initial attitude data can be calculated. For example, the relative attitude data may include the initial roll angle difference, the initial pitch angle difference, and the initial azimuth angle difference between the first initial attitude data and the second initial attitude data, and the relative attitude data is used as the reference relative attitude data.

[0055] For example, during calibration, after the tester clicks the "Calibration" button on the software interface to start the calibration program, the computing device can simultaneously acquire the initial Euler angles (A1) of the first measurement unit. roll-initial A1 pitch-initial A1 yaw-initial ), and the initial Euler angles of the second measurement unit (A2) roll-initial A2 pitch-initial A2 yaw-initial ), and calculate the initial roll angle difference ΔRoll respectively. initial Initial pitch angle difference ΔPitch initial The difference between the initial azimuth angle and the initial azimuth angle ΔYaw initial Among them, the initial roll angle difference ΔRoll initial =A2 roll-initial - A1 roll-initial Initial pitch angle difference ΔPitch initial = A2 pitch-initial - A1 pitch-initial Initial azimuth difference ΔYaw initial = A2 yaw-initial -A1 yaw-initialThis allows us to obtain baseline relative attitude data. The initial roll angle difference, initial pitch angle difference, and initial azimuth angle difference can represent the calibrated position of the head-mounted display relative to the test equipment, and can indicate the specific spatial attitude of the head-mounted display relative to the test equipment when it is not tilted.

[0056] When both the first and second initial attitude data are quaternions, similar to determining the real-time relative attitude data, the reference relative attitude data between the first and second initial attitude data can be determined using the above formula, denoted as Q. relative-initial .

[0057] After determining the baseline relative attitude data, the difference between the real-time relative attitude data and the baseline relative attitude data can be determined, and the absolute value of this difference can be used as the relative attitude deviation.

[0058] When the attitude data is in Euler angles, the relative attitude deviation can include roll angle difference, pitch angle difference, and azimuth angle difference. For example, the roll angle difference can be the real-time roll angle difference ΔRoll. current The difference between the initial roll angle and the initial roll angle ΔRoll initial The absolute value of the difference, the pitch angle difference can be the real-time pitch angle difference ΔPitch. current The difference between the initial pitch angle and the initial pitch angle ΔPitch initial The absolute value of the difference, the azimuth difference can be the real-time azimuth difference ΔYaw. current The difference between the initial azimuth angle and the initial azimuth angle ΔYaw initial The absolute value of the difference.

[0059] When the attitude data is a quaternion, the relative attitude deviation can include a rotation angle difference. Optionally, the absolute value of the angle difference between the real-time relative attitude data and the reference relative attitude data in the target coordinate system can be used as the rotation angle difference. For example, the real-time relative attitude data Q can be determined by the following formula. relative-current Relative attitude data Q to the reference relative-initial The difference in rotation angle in the target coordinate system.

[0060] θ = 2 * arccos( | dot(Q relative-initial Q relative-current ) | ); Where θ is the rotation angle difference, which can represent the degree of relative rotation between the test device and the head-mounted display device, dot represents the dot product of quaternions, and || represents the absolute value after the dot product is calculated.

[0061] Step S130: If the relative attitude deviation is greater than the target deviation, output a prompt message.

[0062] After obtaining the relative attitude deviation, the relative attitude deviation can be compared with the target deviation.

[0063] When the attitude data is Euler angles, the target deviation may include roll angle deviation, pitch angle deviation, and azimuth angle deviation. In some embodiments, the roll angle difference can be compared with the roll angle deviation, the pitch angle difference can be compared with the pitch angle deviation, and the azimuth angle difference can be compared with the azimuth angle deviation. The roll angle deviation, pitch angle deviation, and azimuth angle deviation can be set according to actual needs, and the embodiments of this application do not impose any special limitations on them.

[0064] If at least one of the pitch angle difference, azimuth angle difference, and roll angle difference exceeds its corresponding deviation threshold, it can be determined that the head-mounted display device is misaligned relative to the test device.

[0065] When the posture data is in quaternions, the target deviation can include rotation angle deviation, and the rotation angle difference can be compared with the rotation angle deviation. Taking a rotation angle deviation of 2° as an example, when the rotation angle difference θ is 5°, it can be determined that the head-mounted display is misaligned relative to the test device.

[0066] In some embodiments, the correction method for the head-mounted display device can also be determined based on the relative attitude deviation. For example, taking Euler angles as the attitude data, after determining that the roll angle difference is greater than the corresponding deviation threshold (i.e., roll angle deviation), the correction method can be determined based on the real-time roll angle difference ΔRoll. current The difference between the initial roll angle and the initial roll angle ΔRoll initial The sign of the difference determines the tilt direction of the head-mounted display. For example, if the difference is -5°, it can be determined that the head-mounted display is tilted 5° to the left (presenting a left-low, right-high state). A lookup table can then be used to retrieve a preset direction guidance mapping table to obtain a correction method for guiding the head-mounted display to be adjusted 5° to the right. The direction guidance mapping table can store correction methods corresponding to different relative posture deviations. This application embodiment does not impose any particular limitation on the specific guidance form of the correction method.

[0067] In some embodiments, when it is determined that the head-mounted display device is tilted, a prompt message may also be output to facilitate the tester's posture correction.

[0068] The prompts can include one or more of the following: displaying calibration prompts, pop-up prompts, and issuing prompts. Displaying calibration prompts can indicate the calibration method for the head-mounted display (HMD), for example, by demonstrating orientation adjustment through animation. Pop-up prompts can highlight the specific deviation value (e.g., "Roll angle: +5°") and provide a red text warning (e.g., "HMD is turning to the left, please adjust") on the monitoring interface, allowing testers to visually determine whether the HMD has been adjusted to the required posture. Prompts can be beeps; for example, different frequencies or rhythms of beeps can be used to differentiate the severity of the deviation (e.g., intermittent "beep" for minor deviations, and continuous rapid alarms for severe deviations), thus promptly alerting testers without relying on visual monitoring.

[0069] The device wearing correction method provided in this application, after acquiring the first real-time attitude data of the test device and the second real-time attitude data of the head-mounted display device, can determine the real-time relative attitude data between the first and second real-time attitude data. Then, it can determine the relative attitude deviation between the real-time relative attitude data and the reference relative attitude data, where the reference relative attitude data is the relative attitude data between the head-mounted display device and the test device when the head-mounted display device is in the target wearing position of the test device. If the relative attitude deviation is greater than the target deviation, a prompt message can be output. Through the above scheme, sub-degree accuracy wearing attitude monitoring and automated correction guidance can be achieved by comparing the attitude data measured by two inertial testing units in real time. Its core advantages are as follows: First, by utilizing the high sensitivity and real-time acquisition capability of the inertial measurement unit, even if the head-mounted display is worn in different positions each time, it can instantly capture minute wearing offsets (such as 0.5°), enabling immediate warnings during the testing process. This avoids repeated testing caused by discovering data anomalies only after the fact, as is the case in traditional methods, significantly shortening the testing cycle. Second, the above solution can not only determine whether the head-mounted display is worn crookedly in real time, but also accurately calculate the specific deviation angle and direction (such as "tilted 5° to the left"), providing testers with intuitive correction guidance and greatly reducing the difficulty of adjustment. In addition, the above solution can reuse the inertial measurement unit built into the head-mounted display, thereby achieving high-precision automated measurement at low cost. This effectively ensures the stability of test results and the reliability of data, thus greatly improving the overall efficiency of production line off-line testing and R&D verification.

[0070] Those skilled in the art will understand that the above embodiments are exemplary and not intended to limit this application. Where possible, the execution order of one or more of the above steps can be adjusted, or they can be selectively combined to obtain one or more other embodiments. Those skilled in the art can arbitrarily select and combine the above steps as needed, and all those that do not depart from the essence of this application fall within the protection scope of this application.

[0071] Based on the same inventive concept, as an implementation of the above method, this application provides a device wearing correction device. This device embodiment corresponds to the aforementioned method embodiment. For ease of reading, this device embodiment will not repeat the details of the aforementioned method embodiment one by one, but it should be clear that the device in this embodiment can correspondingly implement all the contents of the aforementioned method embodiment.

[0072] Figure 3 This is a schematic diagram of the device wearing correction device provided in the embodiments of this application, as shown below. Figure 3 As shown, the apparatus provided in this embodiment includes: The acquisition module 110 is used to test the first real-time attitude data of the device and the second real-time attitude data of the head-mounted display device. The determination module 120 is used to determine the real-time relative posture data between the first real-time posture data and the second real-time posture data; and to determine the relative posture deviation between the real-time relative posture data and the reference relative posture data; the reference relative posture data is the relative posture data between the head-mounted display device and the test device when the head-mounted display device is in the target wearing position of the test device. The output module 130 is used to output a prompt message when the relative attitude deviation is greater than the target deviation.

[0073] In one possible implementation, the acquisition module 110 is further configured to: acquire the first initial posture data of the test device and the second initial posture data of the head-mounted display device when the head-mounted display device is in the target wearing position of the test device before acquiring the first real-time posture data and the second real-time posture data; The determining module 120 is also used to: determine the relative attitude data between the first initial attitude data and the second initial attitude data as the reference relative attitude data.

[0074] In one possible implementation, the acquired attitude data is Euler angles. The determination module 120 is specifically used to: determine the pitch angle difference, azimuth angle difference, and roll angle difference between the real-time relative attitude data and the reference relative attitude data; Target deviations include pitch deviation, azimuth deviation, and roll deviation; The output module 130 is specifically used to output a prompt message when the pitch angle difference is greater than the pitch angle deviation, or the azimuth angle difference is greater than the azimuth angle deviation, or the roll angle difference is greater than the roll angle deviation.

[0075] In one possible implementation, the acquired attitude data is a quaternion; Relative attitude deviation includes the difference in rotation angle between real-time relative attitude data and reference relative attitude data in the target coordinate system; target deviation includes rotation angle deviation.

[0076] In one possible implementation, the determining module 120 is further configured to: determine the correction method of the head-mounted display device based on the relative posture deviation.

[0077] In one possible implementation, the output module 130 outputs at least one of the following: The display shows calibration prompts; the calibration prompts indicate the calibration method for the head-mounted display. A pop-up notification box appears; A notification sound will be emitted.

[0078] In one possible implementation, the first real-time attitude data is measured by a first inertial measurement unit on the test device, and the second real-time attitude data is measured by a second inertial measurement unit on the head-mounted display device.

[0079] The device wearing correction device provided in this embodiment can perform the above method embodiment, and its implementation principle and technical effect are similar, so it will not be described again here.

[0080] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0081] Based on the same inventive concept, embodiments of this application also provide a computing device. Figure 4 This is a schematic diagram of the structure of a computing device provided in an embodiment of this application, such as... Figure 4As shown, the computing device provided in this embodiment includes a memory 210 and a processor 220. The memory 210 is used to store computer programs; the processor 220 is used to execute the method described in the above method embodiment when the computer program is invoked.

[0082] The computing device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so they will not be described again here.

[0083] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the methods described in the above-described method embodiments.

[0084] This application also provides a computer program product that, when run on a computing device, enables the computing device to implement the method described in the above-described method embodiments.

[0085] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted through the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, or magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0086] Those skilled in the art will understand that implementing all or part of the processes in the above embodiments can be accomplished by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The aforementioned storage medium can include various media capable of storing program code, such as ROM or random access memory (RAM), magnetic disks, or optical disks.

[0087] The naming or numbering of steps in this application does not mean that the steps in the method flow must be executed in the time / logical order indicated by the naming or numbering. The execution order of the named or numbered process steps can be changed according to the technical purpose to be achieved, as long as the same or similar technical effect can be achieved.

[0088] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0089] In the embodiments provided in this application, it should be understood that the disclosed apparatus / devices and methods can be implemented in other ways. For example, the apparatus / device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0090] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0091] In the description of this application, unless otherwise stated, " / " indicates that the objects before and after are in an "or" relationship. For example, A / B can mean A or B. "And / or" in this application is merely a description of the relationship between the related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. A and B can be singular or plural.

[0092] Furthermore, in the description of this application, unless otherwise stated, "multiple" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0093] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0094] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein.

[0095] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A device wearing correction method characterized by, include: Acquire the first real-time attitude data of the test device and the second real-time attitude data of the head-mounted display device, and determine the real-time relative attitude data between the first real-time attitude data and the second real-time attitude data; Determine the relative attitude deviation between the real-time relative attitude data and the reference relative attitude data; the reference relative attitude data is the relative attitude data between the head-mounted display device and the test device when the head-mounted display device is in the target wearing position of the test device. If the relative attitude deviation is greater than the target deviation, a prompt message will be output.

2. The method of claim 1, wherein, Before acquiring the first real-time attitude data and the second real-time attitude data, the method further includes: When the head-mounted display is in the target wearing position of the test device, the first initial posture data of the test device and the second initial posture data of the head-mounted display are acquired, and the relative posture data between the first initial posture data and the second initial posture data is determined as the reference relative posture data.

3. The method of claim 1, wherein, The acquired pose data is in Euler angles. Determining the relative attitude deviation between the real-time relative attitude data and the reference relative attitude data includes: Determine the pitch angle difference, azimuth angle difference, and roll angle difference between the real-time relative attitude data and the reference relative attitude data; The target deviations include pitch angle deviation, azimuth angle deviation, and roll angle deviation; When the relative attitude deviation is greater than the target deviation, a prompt message is output, including: If the pitch angle difference is greater than the pitch angle deviation, or the azimuth angle difference is greater than the azimuth angle deviation, or the roll angle difference is greater than the roll angle deviation, a prompt message will be output.

4. The method of claim 1, wherein, The acquired pose data is in the form of quaternions; The relative attitude deviation includes the difference in rotation angle between the real-time relative attitude data and the reference relative attitude data in the target coordinate system; the target deviation includes the rotation angle deviation.

5. The method of claim 1, wherein, The method further includes: determining the correction method of the head-mounted display device based on the relative posture deviation.

6. The method of claim 1, wherein, The output prompt information includes at least one of the following: The calibration prompt information is displayed; the calibration prompt information indicates the calibration method of the head-mounted display device; A pop-up notification box appears; A notification sound will be emitted.

7. The method according to any one of claims 1-6, characterized in that, The first real-time attitude data is measured by the first inertial measurement unit on the test equipment, and the second real-time attitude data is measured by the second inertial measurement unit on the head-mounted display equipment.

8. A device wearing correction device, characterized in that, include: The acquisition module is used to test the first real-time attitude data of the device and the second real-time attitude data of the head-mounted display device. The determination module is used to determine the real-time relative posture data between the first real-time posture data and the second real-time posture data; and to determine the relative posture deviation between the real-time relative posture data and the reference relative posture data; the reference relative posture data is the relative posture data between the head-mounted display device and the test device when the head-mounted display device is in the target wearing position of the test device; The output module is used to output a prompt message when the relative attitude deviation is greater than the target deviation.

9. A computing device, characterized in that, include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the method as described in any one of claims 1-7 when the computer program is invoked.

10. A testing system, characterized in that, It includes testing equipment, head-mounted display devices, and computing devices as described in claim 9.

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