Display device, information processing device, control method of them, and information processing system

Abstract

To reduce an influence of a failure occurring in a system in which a display device and an information processing device are interconnected in a communicable manner.SOLUTION: An HMD 110 comprises: a control communication unit 114 which performs communication with a virtual image generation device 120; and a display unit 113 which displays an image. The control communication unit 114 acquires from the virtual image generation device 120 image data of an image to display on the display unit 113. The control communication unit 114 also generates meta data of information on a utilization situation and a communication situation in the HMD 110 to attach to data to transmit to the virtual image generation device 120.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an information processing system configured by connecting a display device and an information processing device so as to be able to communicate with each other. [Background technology]

[0002] VR is known as a technology that reproduces a virtual space. In addition, MR (mixed reality) technology and AR (augmented reality) are known as technologies that seamlessly fuse real space and virtual space in real time. These technologies are implemented, for example, using an HMD (head-mounted display). That is, a user (wearer) of an HMD can view and appreciate CG (computer graphics) images according to the position and posture of the HMD, regardless of whether they are superimposed on the field of view of real space. In such cases, some HMDs perform all processing related to the generation and display of CG images within the HMD, but in recent years, there has been an increase in usage patterns in which the HMD is connected to a network and part of the processing is performed by an information processing device (rendering device) connected to the network.

[0003] For example, Patent Document 1 discloses a system that displays an image transmitted from a rendering device on an HMD. In the system described in Patent Document 1, the HMD detects its own posture and receives frame data of an image to be displayed on the HMD and predicted posture information of the HMD synchronized therewith from the rendering device. Then, the HMD corrects the frame data of the image to match the latest posture based on the difference between the latest posture information detected by itself and the received predicted posture information. Patent Document 2 discloses an information processing device that includes information that enables selection of a bit rate for playing content in metadata when distributing content (video) in which the line of sight direction and viewpoint position can be freely set during playback. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-28368 A [Patent Document 2] International Publication No. 2020 / 116154 Summary of the Invention [Problem to be solved by the invention]

[0005] The technology disclosed in Patent Document 1 makes it possible to suppress the occurrence of so-called 3D motion sickness, and the technology disclosed in Patent Document 2 makes it possible to improve the robustness of content playback. However, Patent Documents 1 and 2 do not consider reducing the effects of processing delays caused by increased computation load, freezing of a processing unit within the device, and failures in signal transmission paths when these occur within the system.

[0006] An object of the present invention is to provide a technique for reducing the influence of a malfunction occurring in a system in which a display device and an information processing device are communicatively connected. [Means for solving the problem]

[0007] The display device of the present invention is a display device equipped with a communication means for communicating with an external device and a display means for displaying an image, and is characterized in that it also comprises an acquisition means for acquiring image data of an image to be displayed on the display means from the external device via the communication means, a correction means for correcting the image displayed on the display means, and a control means for generating first metadata regarding the operating status and communication status of the display device and attaching it to data to be transmitted to the external device. Effect of the Invention

[0008] According to the present invention, in a system in which a display device and an information processing device are communicatively connected, it is possible to reduce the influence of a malfunction occurring within the system. [Brief description of the drawings]

[0009] [Figure 1] 1 is a diagram showing a schematic configuration of a display communication system according to a first embodiment. [Diagram 2] FIG. 11 is a diagram showing a schematic configuration of a display communication system according to a second embodiment. [Diagram 3] FIG. 11 is a diagram showing a schematic configuration of a display communication system according to a third embodiment. [Figure 4] FIG. 13 is a diagram showing a schematic configuration of a display communication system according to a fourth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In each of the following embodiments, an information processing system will be described in which a display device that displays a virtual image in front of a user's eyes and an information processing device that generates the virtual image displayed on the display device are communicatively connected. An HMD (head mounted display) is taken as a specific example of the display device, and the information processing device is referred to as a "virtual image generating device." The virtual image generating device is, for example, a server (computer) or the like.

[0011] First Embodiment 1 is a diagram showing a schematic configuration of a display and communication system 100 according to a first embodiment. The display and communication system 100 is configured by connecting an HMD 110 and a virtual image generating device 120 via a network 130 so as to be able to communicate with each other.

[0012] The HMD 110 includes a sensor unit 111, an image correction unit 112, a display unit 113, and a control communication unit 114. The virtual image generation device 120 includes a control communication unit 121, a position and orientation calculation unit 122, and a CG generation unit 123.

[0013] A user of the HMD 110 can view virtual images and the like displayed on the display unit 113 by wearing the HMD 110 on the head. All of the components of the HMD 110 do not necessarily need to be worn on the user's head, and for example, some of the components of the HMD 110 may be worn on a part of the user's body such as the shoulder or waist, or placed on a desk, floor, etc. Such an aspect of the HMD 110 is similarly applied to the HMDs in the second to fourth embodiments described later.

[0014] The sensor unit 111 detects information (physical quantity) for estimating the position and / or orientation of the HMD 110, and outputs a signal (hereinafter referred to as a "sensor signal") corresponding to the detected physical quantity. The sensor unit 111 is often composed of an acceleration sensor or an angular velocity sensor, but is not limited to these, and may include a geomagnetic sensor, an air pressure sensor, and an imaging sensor that acquires an image of the outside world. For example, based on image information from the imaging sensor, the control communication unit 114 of the HMD 110 and the position and orientation calculation unit 122 of the virtual image generation device 120 can estimate the position and orientation of the user by identifying a predetermined object or feature point and performing calculation and matching. The sensor unit 111 may include a sensor such as TOF or LiDAR that acquires depth information from the time it takes for projected light to be reflected by the surface of an object and return, and it is also possible to estimate the position and orientation of the HMD 110 from the acquired depth information.

[0015] When the sensor signal output from the sensor unit 111 is an analog electric signal, the control communication unit 114 performs A / D conversion of the analog electric signal to generate a digital signal (hereinafter referred to as "sensor data"). The sensor unit 111 may be configured to perform A / D conversion itself and output the sensor data. The control communication unit 114 transmits the sensor data in a predetermined file format to the virtual image generation device 120 via the network 130. When the sensor unit 111 is composed of multiple sensors, sensor data related to the sensor signals of all the sensors is transmitted to the virtual image generation device 120.

[0016] Image correction unit 112 performs correction and processing of the image displayed on display unit 113. For example, image correction unit 112 performs processing such as correcting the resolution and color of the image, and adding information such as text to part of the image. Furthermore, when there is a delay in the virtual image transmitted from virtual image generating device 120, image correction unit 112 shifts or deforms the image according to a command from control communication unit 114. This makes it appear as if the image delay has been reduced for the user of HMD 110, thereby reducing the sense of discomfort felt by the image.

[0017] The display unit 113 is often configured by combining an LCD, LCOS, OLED, or the like with an eyepiece optical system, and displays a virtual image acquired from the virtual image generating device 120 within the user's field of vision regardless of or according to the user's posture. In this case, if the display unit 113 is configured to be semi-transparent, the user can simultaneously view a real image of the outside world, thereby enabling a representation close to AR. On the other hand, if the display unit 113 is light-blocking, the user will only view the virtual image, resulting in a VR representation.

[0018] The control communication unit 114 is a semiconductor integrated circuit including, for example, a CPU, a ROM that stores a program executed by the CPU, and a RAM having a program development area and a data temporary storage area. The control communication unit 114 controls the operation of each unit of the HMD 110 in an integrated manner by developing the program stored in the ROM in the RAM, thereby controlling the entire HMD 110. The control communication unit 114 also communicates with the control communication unit 121 of the virtual image generation device 120 according to a predetermined protocol. The control communication unit 114 can further analyze a sensor signal acquired by the sensor unit 111, and instruct the image correction unit 112 to perform a predetermined image processing on the virtual image acquired from the virtual image generation device 120 based on the analysis result. The control communication unit 114 can also analyze metadata attached to various data acquired from the virtual image generation device 120, and instruct the image correction unit 112 to perform a predetermined image processing on the virtual image acquired from the virtual image generation device 120 based on the analysis result.

[0019] The network 130 connects the HMD 110 and the virtual image generation device 120 so that they can communicate with each other, and also connects the HMD 110 and the virtual image generation device 120 to an external device (not shown) so that they can communicate with each other. In this case, the HMD 110 is often called a client-side, device-side, or edge-side device, while the virtual image generation device 120 is often called a server-side or cloud-side device. The display communication system 100 may be configured as a peer-to-peer system in which the HMD 110 and the virtual image generation device 120 are directly connected to each other without going through the network 130.

[0020] The virtual image generating device 120 generates a virtual image that the user views on the HMD 110, and transmits the generated virtual image to the HMD 110 via the network 130. The virtual image generating device 120 may function as the virtual image generating device 120 by having each unit exist in a physically separate location and cooperate with each other to perform processing via the network 130 or another communication means. This aspect is similarly applied to the virtual image generating devices in the second to fourth embodiments described later.

[0021] In virtual video generation device 120, control communication unit 121 is a semiconductor integrated circuit configured with, for example, a CPU, a ROM that stores a program executed by the CPU, and a RAM having a program development area and a data temporary storage area. Control communication unit 121 develops the program stored in the ROM into the RAM, thereby comprehensively controlling the operation of each unit of virtual video generation device 120 and performing overall control of virtual video generation device 120. Control communication unit 121 also communicates with control communication unit 114 of HMD 110 according to a predetermined protocol.

[0022] The sensor data is transmitted from the control communication unit 114 of the HMD 110 to the control communication unit 121 of the virtual image generating device 120. The control communication unit 121 transmits the sensor data to the position and orientation calculation unit 122, which performs a calculation to estimate the position and / or orientation of the HMD 110 using the sensor data. At this time, the position and orientation calculation unit 122 performs a calculation on all the sensor data transmitted from the HMD 110. For example, if the sensor unit 111 of the HMD 110 includes an inertial sensor (acceleration sensor, acceleration sensor, etc.), the position and orientation calculation unit 122 performs a calculation on the sensor data related to the output signal of the inertial sensor. Similarly, if the sensor unit 111 of the HMD 110 includes an imaging sensor (CMOS sensor, etc.), the position and orientation calculation unit 122 performs a calculation on the image data which is the output signal of the imaging sensor. The calculation to estimate the position and / or orientation of the HMD 110 is called SLAM (Simultaneous Localization And Mapping).

[0023] The CG generation unit 123 generates a virtual image to be displayed on the display unit 113 of the HMD 110 using CG (computer graphics). Hereinafter, the virtual image generated by the CG generation unit 123 is referred to as a "CG image", and the expression "CG image is displayed on the display unit 113 of the HMD 110" is used. For example, the CG generation unit 123 generates a CG image to be displayed in the direction in which the user is looking, based on the estimation result by the calculation in the position and orientation calculation unit 122. The generation process of the CG image by the CG generation unit 123 is referred to as "rendering". In this embodiment, the CG generation unit 123 performs rendering based on the estimation result by the calculation in the position and orientation calculation unit 122 in principle. However, this is not limited to this, and the CG generation unit 123 may generate an image that is not related to the position or orientation of the HMD 110.

[0024] The control communication unit 114 of the HMD 110 and the control communication unit 121 of the virtual image generation device 120 each attach metadata 150 to various data to be transmitted to the other party, in other words, generate a data file with metadata attached to the transmission data, and transmit and receive the data. For example, the HMD 110 transmits sensor data to the virtual image generation device 120 via the network 130, and receives image data of a CG image to be displayed on the display unit 113 from the virtual image generation device 120 via the network 130. In addition, the HMD 110 and the virtual image generation device 120 transmit and receive control data for maintaining communication with each other. The metadata 150 included in the data file transmitted and received at that time includes information on the operating status and communication status within the device (for example, a steady state (normal), a certain processing unit being activated, stopped, or temporarily unavailable, etc.). The control communication units 114 and 121 each grasp the communication status in the network 130 based on the control data for maintaining communication, and can include information on the communication status in the network 130 in the metadata 150.

[0025] In the following description, sending or receiving a data file with metadata attached will be simply expressed as "receiving metadata" or "transmitting metadata" as appropriate.

[0026] Next, various processes and data flows executed in the display communication system 100 will be described.

[0027] As described above, various sensors constituting the sensor unit 111 of the HMD 110 measure (sense) physical quantities according to the functions of the various sensors, and the sensor signals output from the various sensors by sensing are converted into sensor data. The control communication unit 114 attaches metadata, which is information related to the operating status and communication status of the HMD 110, to the sensor data and transmits it to the virtual image generation device 120 via the network 130.

[0028] When the control communication unit 121 of the virtual image generation device 120 receives the sensor data, it sends the received sensor data to the position and orientation calculation unit 122. The control communication unit 121 also analyzes metadata information attached to the sensor data. The position and orientation calculation unit 122 performs a calculation to estimate the position and / or orientation of the HMD 110 based on the acquired sensor data, and outputs the obtained calculation result to the CG generation unit 123. The CG generation unit 123 generates a CG image to be displayed on the display unit 113 of the HMD 110 based on the acquired calculation result. The control communication unit 121 transmits the CG image data generated by the CG generation unit 123 to the HMD 110 via the network 130. At this time, the control communication unit 121 attaches metadata of information related to the operating status and communication status of the virtual image generation device 120 to various data to be transmitted to the HMD 110.

[0029] When the control communication unit 114 of the HMD 110 receives CG image data from the control communication unit 121 of the virtual image generation device 120, it sends the received CG image data to the image correction unit 112. The image correction unit 112 corrects the acquired CG image data as necessary, converts it into a display signal, and sends it to the display unit 113. As a result, the CG image is displayed on the display unit 113, and the user of the HMD 110 can view the CG image.

[0030] In this way, various processes are performed inside the HMD 110 and the virtual image generating device 120, and data is transmitted and received via the communication path, so that it is expected that some delay will occur in the display of the CG image on the display unit 113 in response to the movement of the user of the HMD 110. However, when the display communication system 100 is operating stably, the amount of delay is also stable. Therefore, the image correction unit 112 shifts or transforms the CG image based on the sensor data according to an instruction from the control communication unit 114, so that the movement of the user can be canceled. In this way, it is possible to make the user see as if there was no delay in the display or that the delay has been reduced. This type of processing is generally called "reprojection processing" and is a technology that is widely used in displaying CG images on an HMD. However, since a large amount of shifting can lead to a reduction in the angle of view and the occurrence of 3D sickness, an upper limit is often set for the amount of shifting.

[0031] In the display communication system 100, for example, the virtual image generation device 120 may also be part of another information processing system, or may perform calculations in parallel for an external device (not shown) connected to the network 130. In such cases, in the virtual image generation device 120, interrupt use of calculation resources may reduce resources allocated to the position and orientation calculation of the HMD 110. As a result, a delay may occur in the position and orientation calculation by the position and orientation calculation unit 122. Thus, in the display communication system 100, in addition to the quantitative delay described above, problems such as sudden delays may occur.

[0032] To address such problems, in this embodiment, the control communication unit 121 of the virtual image generating device 120 generates metadata of delay information that is confirmed or estimated based on the operating status of the position and orientation calculation unit 122. The control communication unit 121 estimates the amount of delay in processing in the position and orientation calculation unit 122 from the total amount of calculation to be performed and the amount of calculation possible based on various data received from the HMD 110 and an external device (not shown) connected to the network 130. Then, the control communication unit 121 attaches the generated metadata to various data such as CG image data and data for performing communication control, and transmits the same to the HMD 110.

[0033] The control communication unit 114 of the HMD 110, which has received the metadata including the delay information, instructs the image correction unit 112 to temporarily raise the upper limit of the reprojection process. This makes it possible to continue displaying the CG image on the HMD 110 so that the user of the HMD 110 is unlikely to notice the delay in the virtual image generation device 120.

[0034] <Second embodiment> 2 is a diagram showing a schematic configuration of a display communication system 200 according to the second embodiment. The display communication system 200 is configured by connecting HMDs 110 and 210 and a virtual image generation device 120 so as to be able to communicate with each other via a network 130. The HMD 110, the network 130, the virtual image generation device 120, and the metadata 150 are the same as those described in the first embodiment, and therefore description thereof will be omitted.

[0035] The HMD 210 is used by a person different from the user of the HMD 110. The HMD 210 includes a sensor unit 211, an image correction unit 212, a display unit 213, and a control communication unit 214, each of which is equivalent to each of the HMD 110. In other words, the HMD 210 is substantially the same as the HMD 110, and therefore a more detailed description will be omitted.

[0036] In this embodiment, a configuration in which two HMDs are connected to a network is taken up as an example of a display communication system in which a plurality of HMDs are connected to a network. That is, the display communication system in this embodiment may be configured by connecting three or more HMDs to a network. Similarly, the display communication system in this embodiment may be configured by connecting a plurality of virtual image generating devices to a network. Furthermore, the virtual image generating device connected to the network may be equipped with a plurality of processing units, with a configuration equivalent to one virtual image generating device 120 being one processing unit, for example. The following description will be continued assuming the configuration in FIG. 2.

[0037] The position and orientation calculation unit 122 of the virtual image generation device 120 calculates the position and / or orientation of the HMD 110, and further calculates the position and / or orientation of the HMD 210, as in the first embodiment. The CG generation unit 123 generates CG images to be displayed on the HMDs 110 and 210. That is, in the display communication system 200, each user of the HMDs 110 and 210 can experience VR, AR, or MR by viewing the same CG image. The control communication unit 121 transmits metadata 150 of delay information that is confirmed or estimated based on the operating status of the position and orientation calculation unit 122 and the CG generation unit 123 to the HMDs 110 and 210, as in the first embodiment.

[0038] For example, assume that a delay occurs in the position and orientation calculation of HMD 110 due to resource consumption for an external system (not shown) in virtual image generation device 120, or a problem occurs in communication between devices connected to network 130. In this case, similar to the first embodiment, control communication unit 121 of virtual image generation device 120 transmits metadata including delay information indicating that a delay has occurred in the position and orientation calculation of HMD 110 to HMD 110. Furthermore, the control communication unit 121 transmits the same metadata to the HMD 210 in which no delay occurs in the position and orientation calculation. In this way, the control communication unit 114 of the HMD 110 and the control communication unit 214 of the HMD 210 receive metadata including the same delay information.

[0039] The control communication units 114, 214 instruct the image correction units 112, 212 to add a display indicating that a delay has occurred in the HMD 110 to the CG image displayed on the display units 113, 213. The image correction units 112, 212 perform correction so that a delay has occurred in the position and orientation calculation of the HMD 110 is displayed in the CG image, and output the image to the display units 113, 213.

[0040] This allows the user of the HMD 210 to recognize that a delay has occurred in the position and orientation calculation for the HMD 110. Therefore, for example, when an avatar of the user of the HMD 110 is displayed in a CG image or when the users of the HMDs 110 and 210 are making a voice call by another means, the user of the HMD 210 can understand the situation of the user of the HMD 110.

[0041] <Third embodiment> 3 is a diagram showing a schematic configuration of a display and communication system 300 according to a third embodiment. The display and communication system 300 is configured by connecting HMDs 310 and 330 and a virtual image generation device 320 via a network 130 so as to be able to communicate with each other.

[0042] The HMD 310 includes a sensor unit 311, a pre-processing unit 312, a position and orientation calculation unit 313, a control communication unit 314, a CG generation unit 315, an image correction unit 316, and a display unit 317. The HMD 330, like the HMD 310, includes a sensor unit 331, a pre-processing unit 332, a position and orientation calculation unit 333, a control communication unit 334, a CG generation unit 335, an image correction unit 336, and a display unit 337. Unlike the HMDs 110 and 210 in the first and second embodiments, the HMDs 310 and 330 include the CG generation units 315 and 335, respectively, and therefore enable the user to view a virtual image by themselves (without requiring the virtual image generation device 320).

[0043] Since the HMD 310 and the HMD 330 have the same configuration, the following describes each part of the HMD 310, and the description of the HMD 330 is omitted.

[0044] Sensor unit 311, image correction unit 316, and display unit 317 are similar to sensor unit 111, image correction unit 112, and display unit 113 of HMD 110 in the first embodiment, respectively, and therefore description thereof will be omitted.

[0045] The pre-processing unit 312 acquires a sensor signal output from the sensor unit 311, performs processing to smooth the acquired sensor signal so that it can be easily processed by the downstream position and orientation calculation unit 313, and can also calculate depth information that can be used by the position and orientation calculation unit 313. Note that this is premised on the fact that the sensor unit 311 is configured to be able to detect physical quantities for acquiring depth information.

[0046] The position and orientation calculation unit 313 is equivalent to the position and orientation calculation unit 122 included in the virtual video generation device 120 in the first embodiment. In the HMD 310, in consideration of calculation resources and power consumption, the position and orientation calculation unit 313 performs simpler (less burdensome) processing than the processing performed by the position and orientation calculation unit 122 of the virtual video generation device 120. The sensor unit 311, preprocessing unit 312, and position and orientation calculation unit 313 constitute a detection means for detecting the position and / or orientation of the HMD 310.

[0047] The control communication unit 314 is a semiconductor integrated circuit including, for example, a CPU, a ROM that stores a program executed by the CPU, and a RAM having a program development area and a data temporary storage area. The control communication unit 314 develops the program stored in the ROM in the RAM, thereby comprehensively controlling the operation of each unit of the HMD 310 and performing overall control of the HMD 310. The control communication unit 314 also performs communication according to a predetermined protocol with external devices such as the virtual image generation device 320 connected to the network 130. For example, the control communication unit 314 transmits the calculation result of the position and orientation calculation unit 313 to the virtual image generation device 320. On the other hand, since the process of calculating depth information by the position and orientation calculation unit 313 tends to be a heavy load, a situation may occur in which the power consumption of the HMD 310 is high. Therefore, the control communication unit 314 can also transmit the output from the sensor unit 311 to the external device as sensor data, bypassing the preprocessing unit 312 and the position and orientation calculation unit 313.

[0048] The CG generation unit 315 generates a CG image based on the position and orientation calculation result by the position and orientation calculation unit 313. The generation of the CG image is not limited to this, and may be performed using the position and orientation calculation result obtained from the virtual image generation device 320 via the control communication unit 314. In this embodiment, the CG generation unit 315 generates a CG image with a lower resolution and / or a lower frame rate and bit count than the CG image generated by the virtual image generation device 320 due to calculation resources and power consumption.

[0049] Virtual image generation device 320 generates a virtual image (CG image) viewed by a user of HMD 310, 330. Virtual image generation device 320 includes a control communication unit 321, a preprocessing unit 322, a position and orientation calculation unit 323, a CG generation unit 324, and an image correction unit 325.

[0050] The control communication unit 321, position and orientation calculation unit 323, and CG generation unit 324 are equivalent to the control communication unit 121, position and orientation calculation unit 122, and CG generation unit 123 of the virtual image generation device 120 in the first embodiment, respectively, and therefore will not be described here.

[0051] The pre-processing unit 322 executes the same processing as the pre-processing unit 312 of the HMD 310, but has more computational resources than the pre-processing unit 312 and is provided with the power required for complex computations, making it possible to execute more complex processing and advanced processing using the latest algorithms. Similarly, the image correction unit 325 executes the same processing as the image correction unit 316 of the HMD 310, but due to computational resources and the like, it is possible to execute more complex processing and advanced processing using the latest algorithms than the image correction unit 316. Note that the position and orientation calculation unit 323 and the CG generation unit 324 are also able to execute more complex computation and advanced computation than the position and orientation calculation unit 313 and the CG generation unit 315 of the HMD 310 due to computational resources and the like.

[0052] The HMDs 310, 330 and the virtual image generation device 320 transmit various data together with metadata 150 containing information regarding the operating status of each processing unit (starting up, steady state, stopped, temporarily unavailable, etc.) and information based on the communication status of each transmission path.

[0053] Next, an example of the operation of the display communication system 300 will be described. As a first example, a case will be taken up where the operation of the sensor unit 311 of the HMD 310 stops due to some malfunction. In this case, the control communication unit 314 generates metadata 150 of information notifying the stop of the sensor unit 311, attaches it to various data to be transmitted to the virtual image generation device 320, and transmits it to the virtual image generation device 320. Thereafter, the control communication unit 314 restarts the sensor unit 301, changes the status of the sensor unit 301 to "activated", and attempts to improve the malfunction.

[0054] The virtual image generation device 320 performs the same process as the virtual image generation device 120 in the second embodiment based on the metadata 150 of the information notifying the stop of the sensor unit 311, thereby allowing the user of the HMD 330 to recognize that a malfunction has occurred in the HMD 310. Furthermore, the control communication unit 334 of the HMD 330 causes the CG generation unit 335 to generate a CG image based on the position and / or orientation of the HMD 330 estimated by the position and orientation calculation unit 333, instead of the CG image acquired from the virtual image generation device 320, and displays the CG image on the display unit 337.

[0055] In virtual video generation device 320, control communication unit 321 may stop the processing in each unit after acquiring metadata 150, thereby reducing resource consumption. In this case, upon receiving metadata 150 containing information notifying completion of recovery of sensor unit 301, control communication unit 321 promptly instructs each unit to resume processing.

[0056] As a second example, a case will be taken up where each processing unit and each transmission path in the display communication system 300 is in a stable steady state. In this case, the pre-processing units 312, 332, the position and orientation calculation units 313, 333, the CG generation units 315, 335, and the image correction units 316, 336 of the HMDs 310, 330 do not need to be used. Then, by displaying the CG image transmitted from the virtual image generation device 320 on the display units 317, 337, it becomes possible to display high-quality CG images on the display units 317, 337 while reducing the power consumption of the HMDs 310, 330. However, this is not limited to this, and some of the pre-processing units 312, 332, the position and orientation calculation units 313, 333, the CG generation units 315, 335, and the image correction units 316, 336 of the HMDs 310, 330 may be operated.

[0057] As a third example, a case will be taken up where, when the display communication system 300 is in a steady state and the CG generation unit 324 of the virtual image generation device 320 is generating CG images, it becomes necessary for the virtual image generation device 320 to execute calculation processing for an external device (not shown). In this case, the calculation load on the virtual image generation device 320 increases, and some kind of malfunction, such as an extreme drop in the amount of processing of the CG generation unit 324, may occur, causing a delay in the generation of the CG images. Therefore, the control communication unit 321 of the virtual image generation device 320 generates metadata 150 of delay information generated in the CG generation unit 324, attaches it to data to be transmitted to the HMDs 310 and 330, and transmits it to the HMDs 310 and 330.

[0058] When the control communication units 314, 334 of the HMDs 310, 330 receive data accompanied by metadata 150 including the delay information, they instruct the CG generation units 315, 335 to generate CG images. That is, the control communication units 314, 334 each switch from a processing path that receives and displays CG images from the virtual image generation device 320 to a processing path that generates and displays CG images within the HMDs 310, 330 themselves. This allows each user of the HMDs 310, 330 to continue watching the images without interruption or discomfort due to significant delays, even if the quality of the CG images is reduced.

[0059] Next, an example of information of the metadata 150 and an example of an operation using this information will be described.

[0060] Examples of information in the metadata 150 include information on the communication status and signal loss of each transmission path connecting each processing unit in each of the HMDs 310 and 330 and the virtual image generation device 320, and information on the communication status in the network 130. Since a display communication system made up of multiple HMDs and multiple virtual image generation devices has multiple inter-device and intra-device transmission paths, information on the location where a problem has occurred can be said to be important information for analyzing the cause and recovering or continuing temporary operation, and further for stabilizing the system.

[0061] For example, a problem (communication failure) such as a jam may occur in the communication status between the HMDs 310, 330 and the network 130 or in the communication between the network 130 and the virtual image generation device 320. The control communication units 314, 334 of the HMDs 310, 330 and the control communication unit 321 of the virtual image generation device 320 can grasp the communication status on the network 130 from data exchanged according to a predetermined protocol. When a communication failure occurs, the control communication units 314, 334 of the HMDs 310, 330 separate themselves from the network 130 and operate in a standalone manner. This allows each user of the HMDs 310, 330 to continue viewing the CG image, although a degradation in image quality is unavoidable.

[0062] In addition, data (signals) transmitted from a processing unit in a previous stage to a processing unit in a subsequent stage within the device may be lost, or a malfunction may occur in the transmission path between processing units, or a malfunction may occur in each processing unit. The occurrence of such malfunctions can be determined by the processing unit that receives the data (signals), and the processing unit that detects the malfunction notifies the control communication unit of the device of the occurrence of the malfunction.

[0063] An example of a process for detecting which processing unit or transmission path has a malfunction will be described. Suppose that in the virtual image generating device 320, the position and orientation calculation unit 323 receives data with a defect from the pre-processing unit 322. In this case, the control communication unit 321 checks the transmission path from the pre-processing unit 322 to the position and orientation calculation unit 323, and checks the operation of the pre-processing unit 322 if there is no problem. If there is no problem in the pre-processing unit 322, the control communication unit 321 further checks the transmission path from the control communication unit 321 to the pre-processing unit 322, and so on, checking the transmission path and processing units of the previous stage. If the control communication unit 321 can identify the location of the malfunction, it resets the location of the malfunction or switches to a processing unit having an equivalent function, thereby eliminating the malfunction.

[0064] Furthermore, if a malfunction occurs in the position and orientation calculation units 313, 343 of the HMDs 310, 330, processing is switched from the position and orientation calculation units 313, 343 to processing by the position and orientation calculation unit 323 of the virtual image generation device 320. If a malfunction occurs in the image correction unit 325 of the virtual image generation device 320, processing is switched to the image correction units 316, 336 of the HMDs 310, 330. This makes it possible to limit the impact on each user of the HMDs 310, 330 and continue to provide CG images.

[0065] When a problem occurs in the virtual image generation device 320 and the connection with the virtual image generation device 320 is cut off, the HMDs 310 and 330 may change the communication connection destination to another virtual image generation device. When a problem occurs in the currently connected network and the communication with the virtual image generation device 320 is cut off, the HMDs 310 and 330 may connect to the virtual image generation device 320 via another network. For example, switching may be performed between Wi-Fi (registered trademark) and a mobile communication system (4G, 5G).

[0066] <Fourth embodiment> 4 is a diagram showing a schematic configuration of a display communication system 400 according to the fourth embodiment. The display communication system 400 is configured by connecting HMDs 410 and 430 and a virtual image generation device 420 so that they can communicate with each other via a network 130. The network 130 and metadata 150 are the same as those described in the first embodiment, and therefore description thereof will be omitted.

[0067] The HMD 410 includes a sensor unit 411, a pre-processing unit 412, a position and orientation calculation unit 413, a control communication unit 414, a CG generation unit 415, an image synthesis unit 416, a display unit 417, an imaging unit 418, and an image processing unit 419. Similarly, the HMD 430 includes a sensor unit 431, a pre-processing unit 432, a position and orientation calculation unit 433, a control communication unit 434, a CG generation unit 435, an image synthesis unit 436, a display unit 437, an imaging unit 438, and an image processing unit 439.

[0068] Since the HMD 410 and the HMD 430 have the same configuration, the following describes each part of the HMD 410, and the description of the HMD 430 is omitted.

[0069] The HMD 410 has a configuration in which an imaging unit 418 and an image processing unit 419 are added to the HMD 310 in the third embodiment, and the image correction unit 316 is changed to an image synthesis unit 416, and the configuration other than these points is the same as the configuration of the HMD 310. Therefore, explanations of the sensor unit 411, preprocessing unit 412, position and orientation calculation unit 413, control communication unit 414, CG generation unit 415, and display unit 417 included in the HMD 410 will be omitted.

[0070] The imaging unit 418 acquires a real image of the outside world observed by the user of the HMD 410. The imaging unit 418 is often configured by combining an objective optical system and an image sensor, and is preferably capable of acquiring color images and acquiring images with a wider angle of view than the angle of view of the display unit 417. When the image sensor included in the imaging unit 418 is capable of acquiring color images, Bayer interpolation is generally required from RAW data, so development processing from the RAW data is required. Therefore, the image processing unit 419 performs development processing and various correction processing of the real image acquired by the imaging unit 418. In addition, the image processing unit 419 performs shading correction and color correction for correcting brightness, noise reduction, distortion correction, angle of view correction as a stereo camera, and the like as necessary in order to improve the quality of the image.

[0071] The image synthesis unit 416 has the function of the image correction unit 316 included in the HMD 310 in the third embodiment, and further has a function of acquiring a real image from the image processing unit 419 and synthesizing it with a CG image. The CG image may be acquired from a virtual image generation device 420 or may be generated by the CG generation unit 415.

[0072] The image in which the real image and the virtual image are superimposed allows for an expression close to MR using the video see-through method. On the other hand, if the display unit 417 is semi-transparent and the real image is not superimposed on the virtual image, an expression close to AR using the optical see-through method is possible. Note that if the display unit 417 is opaque and only the CG image is displayed, it will be an expression of VR.

[0073] The virtual image generation device 420 includes a control communication unit 421, a pre-processing unit 422, a position and orientation calculation unit 423, a CG generation unit 424, and an image synthesis unit 425. The control communication unit 421, the pre-processing unit 422, the position and orientation calculation unit 423, and the CG generation unit 424 are equivalent to the control communication unit 321, the pre-processing unit 322, the position and orientation calculation unit 323, and the CG generation unit 324 of the virtual image generation device 320 in the third embodiment, and a description thereof will be omitted. The image synthesis unit 425 extends functions and processing by using real images acquired from the HMDs 410 and 430. For example, the image synthesis unit 425 performs a 3D reconstruction process to convert the real image into a CG image.

[0074] Metadata similar to the metadata 150 described in the third embodiment is also attached to various data transmitted and received in the display communication system 400. Furthermore, in the display communication system 400, information related to a CG projection error based on the determination results of each processing unit of the HMDs 410 and 430 and the virtual image generation device 420 is attached to various data as the metadata 150. The CG projection error is the deviation between the position where the CG image should be displayed and the position where the CG image is actually displayed.

[0075] For example, it is assumed that the position and / or orientation of the user of the HMD 410 is estimated by the position and / or orientation calculation unit 413 extracting feature points of the space, creating a map of the space, and comparing it based on the video signal acquired by the imaging unit 418 of the HMD 410 and the output from the sensor unit 411. It is also assumed that the position and / or orientation of the user of the HMD 430 is estimated in a similar manner.

[0076] At this time, for example, suppose that a problem occurs in processing the output signal or sensor data from the sensor unit 411, causing a defect or ambiguity (hereinafter referred to as "defect, etc.") in a part of the spatial map used in common by the HMDs 410 and 430. Then, the position and / or orientation estimated by checking against the spatial map will differ from the actual position and / or orientation of the HMD 410, and the rendered CG image will differ from what is seen from the actual location of the HMD 410. The CG projection error that occurs in this way becomes a factor that inhibits a high-quality MR experience.

[0077] To deal with such a situation, in the display communication system 400, the position and orientation calculation unit 423 of the virtual image generation device 420 determines whether or not there is an abnormality in the CG projection error. Therefore, the control and communication unit 421 of the virtual image generation device 420 generates metadata indicating the abnormality in the CG projection error caused by the output from the sensor unit 411 of the HMD 410, attaches it to the data to be transmitted to the HMDs 410 and 430, and transmits it to the HMDs 410 and 430. Note that the position and orientation calculation units 413 and 433 of the HMDs 410 and 430 can also determine whether or not there is an abnormality in the CG projection error in their own devices. Then, the control and communication unit 434 of the HMD 430 switches from a processing path that displays the CG image from the virtual image generation device 420 to a processing path in which the CG generation unit 435 generates a CG image based on the processing result of the position and orientation calculation unit 433 and displays it on the display unit 437. In addition, when control communication unit 434 receives metadata from virtual image generation device 420 indicating that the CG projection error has been resolved, it returns the processing path to display the CG image from virtual image generation device 420 on display unit 437 again.

[0078] The disclosure of this embodiment includes the following configurations and methods. (Configuration 1) A display device comprising a communication means for communicating with an external device and a display means for displaying an image, characterized in that the display device further comprises an acquisition means for acquiring image data of an image to be displayed on the display means from the external device via the communication means, a correction means for correcting the image displayed on the display means, and a control means for generating first metadata regarding the operating status and communication status of the display device and attaching it to data to be transmitted to the external device. (Configuration 2) The display device described in Configuration 1, wherein the first metadata includes information regarding a malfunction that has occurred in a processing unit constituting the display device and a malfunction that has occurred in a communication path in the display device, and the control means attempts to improve the malfunction. (Configuration 3) A display device as described in configuration 1 or 2, comprising an imaging means and a processing means for performing a predetermined processing on an image acquired by the imaging means, wherein the correction means performs a process of synthesizing the image acquired from the external device with an image output from the processing means, and the control means displays the image synthesized by the correction means on the display means. (Configuration 4) A display device described in any one of configurations 1 to 3, further comprising a correction means for correcting an image displayed on the display means, wherein the control means controls the correction means to perform a correction corresponding to the defect on the image acquired by the acquisition means when second metadata included in a data file acquired from the external device via the communication means includes information regarding the occurrence of a defect in the external device. (Configuration 5) A display device as described in any one of configurations 1 to 3, comprising an estimation means for estimating a position and / or attitude of the display device, and a generation means for generating an image to be displayed on the display means based on the estimation result by the estimation means, wherein the control means controls the display means to display an image generated by the generation means instead of an image acquired by the acquisition means when second metadata included in a data file acquired from the external device via the communication means includes information regarding the occurrence of a malfunction in the external device and when the second metadata includes an abnormality in a projection error on the display device. (Configuration 6) A display device according to Configuration 5, comprising an imaging means and a processing means for performing a predetermined processing on an image acquired by the imaging means, wherein the correction means performs a process for synthesizing the image generated by the generation means and an image output from the processing means, and the control means displays the image synthesized by the correction means on the display means. (Configuration 7) The display device described in any one of configurations 1 to 3, characterized in that when second metadata contained in a data file acquired from the external device via the communication means includes information regarding the occurrence of a malfunction in the external device, the control means controls the communication means to switch communication from the external device to another external device, and acquires an image to be displayed on the display means from the other external device. (Configuration 8) The display device described in any one of configurations 1 to 7, characterized in that the control means generates third metadata regarding communication status with the external device and attaches it to data to be transmitted to the external device. (Configuration 9) An information processing device that communicates with a display device, comprising: a receiving means for receiving information for estimating a position and / or attitude of the display device; an estimation means for estimating the position and / or attitude of the display device based on the information; a generation means for generating an image to be displayed on a display means provided in the display device based on the position and / or attitude of the display device estimated by the estimation means; a transmission means for transmitting image data of the image generated by the generation means to the display device; and a control means for generating metadata regarding the operating status and communication status of the information processing device and attaching it to the data to be transmitted to the display device. (Configuration 10) The information processing device according to configuration 9, wherein the metadata includes information regarding a malfunction that has occurred in a processing unit constituting the information processing device and a malfunction that has occurred in a communication path in the information processing device. (Configuration 11) The information processing device according to configuration 10, wherein the metadata includes delay information in the case where a delay occurs in the processing in the estimation means or the generation means. (Configuration 12) An information processing device described in any one of configurations 9 to 11, characterized in that the estimation means determines whether or not there is an abnormality in the projection error on the display device based on information for estimating the position and / or attitude of the display device, and the control means includes information regarding the abnormality in the projection error in the metadata when it is determined that there is an abnormality in the projection error. (Configuration 13) An information processing system having a display device and an information processing device, wherein the display device comprises a first communication means for communicating with the information processing device, a display means for displaying an image, a detection means for detecting information for estimating a position and / or attitude of the display device, an acquisition means for acquiring an image to be displayed on the display means from the information processing device, a first correction means for correcting the image displayed on the display means, and a first control means for generating first metadata of information relating to an operating status and a communication status of the display device and attaching the first metadata to data to be transmitted to the information processing device, and the information processing device controls the display device to generate first metadata. a first estimation means for estimating a position and / or orientation of the display device based on the information acquired from the display device via the second communication means; a first generation means for generating an image to be displayed on the display means based on the position and / or orientation of the display device estimated by the first estimation means; a transmission means for transmitting the image generated by the first generation means to the display device; and a second control means for generating second metadata regarding operating status and communication status in the information processing device and attaching it to data to be transmitted to the display device. (Configuration 14) The information processing system described in configuration 13, wherein the display device comprises a second estimation means for estimating a position and / or attitude of the display device based on information detected by the detection means, and a second generation means for generating an image to be displayed on the display means based on the estimation result by the second estimation means, and the first control means, when the second metadata includes information regarding the occurrence of a malfunction in the information processing device, causes the second generation means to generate an image to be displayed on the display means instead of the image acquired by the acquisition means, and controls the image generated by the second generation means to be displayed on the display means. (Configuration 15) The information processing system described in configuration 13 or 14, characterized in that when the second metadata includes information regarding the occurrence of a malfunction in the information processing device, the first control means controls the first correction means so that information regarding the malfunction is displayed in the image displayed on the display means. (Configuration 16) The information processing system described in any one of configurations 13 to 15, characterized in that the information processing device is provided with a second correction means for correcting the image generated by the first generation means, and the second control means controls the second correction means so that, when the first metadata includes information regarding the occurrence of a defect in the display device, the information regarding the defect is displayed in the image generated by the first generation means. (Configuration 17) A program for causing a computer to function as each of the means of the display device according to any one of configurations 1 to 8. (Configuration 18) A computer-readable storage medium storing a program for causing a computer to function as each of the means of the display device according to any one of configurations 1 to 8. (Configuration 19) A program for causing a computer to function as each of the means of the information processing device according to any one of configurations 9 to 12. (Configuration 20) A computer-readable storage medium storing a program for causing a computer to function as each of the means of the information processing device described in any one of configurations 9 to 12. (Method 1) A method for controlling a display device that communicates with an external device, comprising the steps of: acquiring image data of an image to be displayed on a display means provided in the display device from the external device via communication; displaying the image acquired from the external device on the display means; and generating metadata regarding the operating status and communication status of the display device and attaching it to data to be transmitted to the external device. (Method 2) A control method for an information processing device that communicates with a display device, comprising the steps of: receiving information for estimating a position and / or attitude of the display device; estimating the position and / or attitude of the display device based on the information; generating an image to be displayed on a display means provided in the display device based on the estimated position and / or attitude of the display device; and generating metadata regarding the operating status and communication status of the information processing device, attaching it to data to be sent to the display device and sending it to the display device.

[0079] Although the present invention has been described in detail above based on the preferred embodiments, the present invention is not limited to these specific embodiments, and various forms within the scope of the gist of the present invention are also included in the present invention. Furthermore, each of the above-mentioned embodiments merely shows one embodiment of the present invention, and each embodiment can be appropriately combined.

[0080] The present invention can also be realized by a process in which a program for implementing one or more of the functions of the above-described embodiments is supplied to a system or device via a network or a storage medium, and one or more processors in a computer of the system or device read and execute the program. The present invention can also be realized by a circuit (e.g., ASIC) that implements one or more of the functions. [Explanation of symbols]

[0081] 100 Display and communication system 110 HMD 111 Sensor section 112 Image correction section 113 Display section 114 Control and communication unit 120 Virtual image generation device 121 Control and communication unit 122 Position and orientation calculation section 123 CG generation section 130 Network

Claims

1. A communication means for communicating with an external device; A display device comprising: a display unit for displaying an image, an acquisition means for acquiring image data of an image to be displayed on the display means from the external device via the communication means; a correction means for correcting an image displayed on the display means; A display device comprising: a control means for generating first metadata regarding an operating status and a communication status of the display device and attaching the first metadata to data to be transmitted to the external device.

2. The first metadata includes information regarding a malfunction that has occurred in a processing unit constituting the display device and a malfunction that has occurred in a communication path in the display device, The display device according to claim 1 , wherein the control means attempts to improve the malfunction.

3. An imaging means; A processing means for performing a predetermined process on the image acquired by the imaging means, the correction means performs a process of synthesizing the image acquired from the external device and the image output from the processing means; 3. The display device according to claim 1, wherein the control means displays the image synthesized by the correction means on the display means.

4. a correction means for correcting an image displayed on the display means, The display device according to claim 1 or 2, characterized in that, when second metadata contained in a data file acquired from the external device via the communication means includes information regarding the occurrence of a defect in the external device, the control means controls the correction means to perform a correction on the image acquired by the acquisition means in accordance with the defect.

5. An estimation means for estimating a position and / or an orientation of the display device; a generating means for generating an image to be displayed on the display means based on an estimation result by the estimating means, The display device according to claim 1 or 2, characterized in that the control means controls the display means to display an image generated by the generation means instead of an image acquired by the acquisition means when second metadata included in a data file acquired from the external device via the communication means includes information regarding the occurrence of a malfunction in the external device and when the second metadata includes an abnormality in a projection error on the display device.

6. An imaging means; A processing means for performing a predetermined process on the image acquired by the imaging means, the correction means performs a process of synthesizing the image generated by the generation means and the image output from the processing means; 6. The display device according to claim 5, wherein the control means displays the image synthesized by the correction means on the display means.

7. The display device according to claim 1 or 2, characterized in that, when second metadata contained in a data file acquired from the external device via the communication means includes information regarding the occurrence of a malfunction in the external device, the control means controls the communication means to switch communication from the external device to another external device, and acquires an image to be displayed on the display means from the other external device.

8. 3. The display device according to claim 1, wherein the control means generates third metadata relating to a communication status with the external device and attaches the third metadata to the data to be transmitted to the external device.

9. An information processing device that communicates with a display device, A receiving means for receiving information for estimating a position and / or an attitude of the display device; an estimation means for estimating a position and / or an orientation of the display device based on the information; a generating means for generating an image to be displayed on a display means included in the display device based on the position and / or orientation of the display device estimated by the estimating means; a transmission means for transmitting image data of the image generated by the generation means to the display device; and a control means for generating metadata of information relating to an operating status and a communication status in the information processing device and attaching the metadata to data to be transmitted to the display device.

10. 10. The information processing apparatus according to claim 9, wherein the metadata includes information regarding a malfunction occurring in a processing unit constituting the information processing apparatus and a malfunction occurring in a communication path in the information processing apparatus.

11. 11. The information processing apparatus according to claim 10, wherein the metadata includes delay information in the case where a delay occurs in the processing by the estimation means or the generation means.

12. the estimation means determines whether or not there is an abnormality in a projection error on the display device based on information for estimating a position and / or an attitude of the display device; 11. The information processing apparatus according to claim 9, wherein the control means, when it is determined that there is an abnormality in the projection error, includes information on the abnormality in the projection error in the metadata.

13. An information processing system having a display device and an information processing device, The display device includes: A first communication means for communicating with the information processing device; A display means for displaying an image; A detection means for detecting information for estimating a position and / or an attitude of the display device; an acquisition means for acquiring an image to be displayed on the display means from the information processing device; a first correction means for correcting an image displayed on the display means; a first control means for generating first metadata of information relating to an operating status and a communication status of the display device and attaching the first metadata to data to be transmitted to the information processing device; The information processing device includes: A second communication means for communicating with the display device; a first estimation means for estimating a position and / or an attitude of the display device based on the information acquired from the display device via the second communication means; a first generation means for generating an image to be displayed on the display means based on the position and / or orientation of the display device estimated by the first estimation means; a transmitting means for transmitting the image generated by the first generating means to the display device; and second control means for generating second metadata of information relating to an operating status and a communication status in the information processing device and attaching the second metadata to data to be transmitted to the display device.

14. The display device includes: a second estimation means for estimating a position and / or an orientation of the display device based on the information detected by the detection means; a second generation means for generating an image to be displayed on the display means based on an estimation result by the second estimation means; The information processing system of claim 13, wherein the first control means, when the second metadata includes information regarding the occurrence of a malfunction in the information processing device, controls the second generation means to generate an image to be displayed on the display means instead of the image acquired by the acquisition means, and controls the image generated by the second generation means to be displayed on the display means.

15. The information processing system according to claim 13 or 14, characterized in that, when the second metadata includes information regarding the occurrence of a defect in the information processing device, the first control means controls the first correction means so that the information regarding the defect is displayed in the image displayed on the display means.

16. the information processing device includes a second correction means for correcting the image generated by the first generation means, The information processing system according to claim 13 or 14, characterized in that, when the first metadata includes information regarding the occurrence of a defect in the display device, the second control means controls the second correction means so as to display information regarding the defect in the image generated by the first generation means.

17. A method for controlling a display device that communicates with an external device, comprising: acquiring image data of an image to be displayed on a display unit of the display device from the external device through communication; displaying an image acquired from the external device on the display means; generating metadata about information relating to an operating status and a communication status of the display device and attaching the metadata to data to be transmitted to the external device.

18. A method for controlling an information processing device that communicates with a display device, comprising: receiving information for estimating a position and / or orientation of the display device; estimating a position and / or orientation of the display device based on the information; generating an image to be displayed on a display means included in the display device based on the estimated position and / or orientation of the display device; A method for controlling an information processing device, comprising the steps of: generating metadata regarding the operating status and communication status of the information processing device, attaching the metadata to data to be transmitted to the display device, and transmitting the metadata to the display device.

19. A program for causing a computer to function as each of the means of the display device according to claim 1.

20. A computer-readable storage medium storing a program for causing a computer to function as each of the means of the display device according to claim 1.

21. 10. A program for causing a computer to function as each of the means of the information processing device according to claim 9.

22. A computer-readable storage medium storing a program for causing a computer to function as each of the means of the information processing device according to claim 9.

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