WO2017120767A1 - Head attitude prediction method and apparatus - Google Patents
Head attitude prediction method and apparatus Download PDFInfo
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Abstract
A head attitude prediction method and apparatus, used for solving the problem in the prior art of picture delay caused by a reported attitude angle. The method comprises: acquiring an attitude angle within the length of a pre-set time closest to a current moment, and a corresponding report time (101); performing curve fitting according to the attitude angle and the corresponding report time so as to obtain a fitting curve predicting a future moment (102); substituting a time point of the future moment needing to be predicted into the fitting curve so as to obtain an attitude angle corresponding to the future moment (103); and reporting the attitude angle corresponding to the future moment to an upper-layer application of a head display device (104).
Description
本发明涉及头显设备领域，尤其涉及一种头部姿态预测方法和装置。The present invention relates to the field of head display devices, and in particular, to a head attitude prediction method and apparatus.
在虚拟现实领域，用户需要佩戴头显设备才能体验虚拟现实，其中比较重要的部分是头部追踪的部分，用户头部转动过程中，虚拟场景画面能跟着一起转动，这就需要传感器来感知头部姿态(姿态角)。主要用到的传感器有角速度计(陀螺仪)、加速度计、地磁传感器。根据这些传感器的原始值，经过算法处理，可以得到当前的姿态角。In the field of virtual reality, users need to wear head-mounted devices to experience virtual reality. The most important part is the part of head tracking. During the rotation of the user's head, the virtual scene can be rotated together. This requires sensors to sense the head. Part attitude (attitude angle). The main sensors used are angular velocity meters (gyros), accelerometers, and geomagnetic sensors. According to the original values of these sensors, the current attitude angle can be obtained through algorithm processing.
在虚拟现实领域，如图5所示，在用户头部转动过程中，如果直接采取当前传感器上报的姿态角用于画面渲染的话，直到看到渲染的画面，会经过数据传输、算法处理、屏幕刷新、画面渲染等过程，当渲染完成，头部已经运动到下一个姿态，这就会造成画面的延时，导致用户体验差。In the field of virtual reality, as shown in FIG. 5, during the rotation of the user's head, if the attitude angle reported by the current sensor is directly used for picture rendering, until the rendered picture is seen, data transmission, algorithm processing, and screen are performed. Refresh, screen rendering and other processes, when the rendering is completed, the head has moved to the next pose, which will cause delay of the picture, resulting in poor user experience.
发明内容Summary of the invention
本发明实施例提供了一种头部姿态预测方法和装置，能够解决现有技术上报的姿态角造成画面延时的问题。The embodiment of the invention provides a head posture prediction method and device, which can solve the problem that the posture angle caused by the posture angle reported in the prior art is delayed.
本发明实施例提供的一种头部姿态预测方法，包括：A head posture prediction method provided by an embodiment of the present invention includes:
获取离当前时刻最近的预设时间长度内的姿态角和对应的上报时间；Obtaining an attitude angle and a corresponding reporting time within a preset time length closest to the current time;
根据所述姿态角和对应的上报时间进行曲线拟合，得到预测未来时刻的拟合曲线；Performing a curve fitting according to the posture angle and the corresponding reporting time to obtain a fitting curve for predicting a future time;
将需要预测的未来时刻的时间点代入所述拟合曲线，得到所述未来时刻对应的姿态角；Substituting a time point of the future time that needs to be predicted into the fitting curve to obtain an attitude angle corresponding to the future time;
上报所述未来时刻对应的姿态角至头显设备的上层应用。The attitude angle corresponding to the future time is reported to the upper application of the head display device.
可选地，采用二次拟合的方法根据所述姿态角和对应的上报时间进行曲线拟合，得到预测未来时刻的拟合曲线。Optionally, a method of quadratic fitting is used to perform curve fitting according to the posture angle and the corresponding reporting time, and a fitting curve for predicting a future time is obtained.
可选地，获取离当前时刻最近的预设时间长度内的姿态角和对应的上报时间包括：
Optionally, acquiring the posture angle and the corresponding reporting time within a preset time length closest to the current time includes:
获取离当前时刻最近的三个姿态角；Obtain three attitude angles closest to the current time;
获取所述三个姿态角对应的三个上报时间。Obtaining three reporting times corresponding to the three attitude angles.
可选地，采用二次拟合的方法根据所述姿态角和对应的上报时间进行曲线拟合，得到预测未来时刻的拟合曲线，具体包括：Optionally, the method of quadratic fitting is used to perform curve fitting according to the posture angle and the corresponding reporting time, and the fitting curve for predicting the future time is obtained, which specifically includes:
将所述三个姿态角和所述三个上报时间代入二次拟合公式，求出所述二次拟合公式中的三个拟合系数，所述二次拟合公式如下：Substituting the three attitude angles and the three reporting times into a quadratic fitting formula to obtain three fitting coefficients in the quadratic fitting formula, the quadratic fitting formula is as follows:
其中，Q1、Q2、Q3为所述三个姿态角，T1、T2、T3为所述三个上报时间，A、B、C为所述三个拟合系数；Wherein, Q 1 , Q 2 , and Q 3 are the three attitude angles, and T 1 , T 2 , and T 3 are the three reporting times, and A, B, and C are the three fitting coefficients;
根据所述三个拟合系数得到预测未来时刻的拟合曲线。A fitting curve predicting the future time is obtained based on the three fitting coefficients.
可选地，上报所述未来时刻对应的姿态角至上层应用之后还包括：Optionally, after reporting the posture angle corresponding to the future time to the upper application, the method further includes:
判断所述头显设备的传感器是否生成传感器数据，若是，则返回再次执行所述获取离当前时刻最近的预设时间长度内的姿态角和对应的上报时间的步骤。Determining whether the sensor of the head display device generates sensor data, and if yes, returning to the step of performing the acquiring the posture angle and the corresponding reporting time within a preset time length closest to the current time.
本发明实施例提供的一种头部姿态预测装置，包括：A head posture prediction apparatus provided by an embodiment of the present invention includes:
姿态角时间获取模块，用于获取离当前时刻最近的预设时间长度内的姿态角和对应的上报时间；The attitude angle time acquiring module is configured to acquire an attitude angle and a corresponding reporting time within a preset time length that is closest to the current time;
曲线拟合模块，用于根据所述姿态角和对应的上报时间进行曲线拟合，得到预测未来时刻的拟合曲线；a curve fitting module, configured to perform curve fitting according to the posture angle and the corresponding reporting time, to obtain a fitting curve for predicting a future time;
未来姿态角预测模块，用于将需要预测的未来时刻的时间点代入所述拟合曲线，得到所述未来时刻对应的姿态角；a future attitude angle prediction module, configured to substitute a time point of a future time that needs to be predicted into the fitting curve to obtain an attitude angle corresponding to the future time;
姿态角上报模块，用于上报所述未来时刻对应的姿态角至头显设备的上层应用。The attitude angle reporting module is configured to report the posture angle corresponding to the future time to the upper application of the head display device.
可选地，曲线拟合模块包括：Optionally, the curve fitting module comprises:
二次拟合单元，用于采用二次拟合的方法根据所述姿态角和对应的上报时间进行曲线拟合，得到预测未来时刻的拟合曲线。A quadratic fitting unit is configured to perform curve fitting according to the posture angle and the corresponding reporting time by using a quadratic fitting method to obtain a fitting curve for predicting a future time.
可选地，所述姿态角时间获取模块包括：Optionally, the attitude angle time acquisition module includes:
三姿态角获取模块，用于获取离当前时刻最近的三个姿态角；
a three-pose angle acquisition module, configured to acquire three attitude angles closest to the current time;
三上报时间获取模块，用于获取所述三个姿态角对应的三个上报时间。The three reporting time acquisition module is configured to acquire three reporting times corresponding to the three posture angles.
可选地，所述二次拟合单元包括：Optionally, the quadratic fitting unit comprises:
代入公式子单元，用于将所述三个姿态角和所述三个上报时间代入二次拟合公式，求出所述二次拟合公式中的三个拟合系数，所述二次拟合公式如下：Substituting into the formula subunit for substituting the three attitude angles and the three reporting times into a quadratic fitting formula to obtain three fitting coefficients in the quadratic fitting formula, the second fitting The formula is as follows:
其中，Q1、Q2、Q3为所述三个姿态角，T1、T2、T3为所述三个上报时间，A、B、C为所述三个拟合系数；Wherein, Q 1 , Q 2 , and Q 3 are the three attitude angles, and T 1 , T 2 , and T 3 are the three reporting times, and A, B, and C are the three fitting coefficients;
拟合曲线子单元，用于根据所述三个拟合系数得到预测未来时刻的拟合曲线。A curve subunit is fitted for obtaining a fitting curve for predicting a future time based on the three fitting coefficients.
可选地，所述头部姿态预测装置包括：Optionally, the head posture prediction device includes:
传感器判断模块，用于判断所述头显设备的传感器是否生成传感器数据；a sensor determining module, configured to determine whether the sensor of the head display device generates sensor data;
触发模块，用于当所述传感器判断模块的判断结果为是时，触发所述姿态角时间获取模块。The triggering module is configured to trigger the attitude angle time acquiring module when the determination result of the sensor determining module is YES.
从以上技术方案可以看出，本发明实施例具有以下优点：It can be seen from the above technical solutions that the embodiments of the present invention have the following advantages:
本发明实施例中，首先，获取离当前时刻最近的预设时间长度内的姿态角和对应的上报时间；然后，根据所述姿态角和对应的上报时间进行曲线拟合，得到预测未来时刻的拟合曲线；接着，将需要预测的未来时刻的时间点代入所述拟合曲线，得到所述未来时刻对应的姿态角；最后，上报所述未来时刻对应的姿态角至头显设备的上层应用。在本发明实施例中，通过预测未来时刻的姿态角，然后将未来时刻的姿态角上报至上层应用使用，使得上层应用渲染完成时，头部运动正好落在预测的姿态角上，实现了画面与头部动作的实时同步，提升了用户体验。In the embodiment of the present invention, first, acquiring a posture angle and a corresponding reporting time within a preset time length closest to the current time; and then performing curve fitting according to the posture angle and the corresponding reporting time to obtain a predicted future time Fitting a curve; then, substituting the time point of the predicted future time into the fitting curve to obtain the attitude angle corresponding to the future time; finally, reporting the attitude angle corresponding to the future time to the upper application of the head display device . In the embodiment of the present invention, by predicting the attitude angle of the future moment, and then reporting the attitude angle of the future moment to the upper application, when the upper application is completed, the head motion falls on the predicted attitude angle, and the screen is realized. Real-time synchronization with head movements enhances the user experience.
图1为本发明实施例中一种头部姿态预测方法一个实施例流程图；
1 is a flow chart of an embodiment of a head posture prediction method according to an embodiment of the present invention;
图2为本发明实施例中一种头部姿态预测方法另一个实施例流程图；2 is a flowchart of another embodiment of a head posture prediction method according to an embodiment of the present invention;
图3为本发明实施例中一种头部姿态预测装置一个实施例结构图；3 is a structural diagram of an embodiment of a head posture prediction apparatus according to an embodiment of the present invention;
图4为本发明实施例中一种头部姿态预测装置另一个实施例结构图；4 is a structural diagram of another embodiment of a head posture prediction apparatus according to an embodiment of the present invention;
图5为现有技术上报的姿态角的延迟原理示意图；FIG. 5 is a schematic diagram of a delay principle of a posture angle reported in the prior art; FIG.
图6为本发明中一种头部姿态预测方法预测的未来时刻姿态角克服延迟的原理示意图。FIG. 6 is a schematic diagram of a principle of a future attitude angle overcoming delay predicted by a head attitude prediction method according to the present invention.
本发明实施例提供了一种头部姿态预测方法和装置，用于解决现有技术上报的姿态角造成画面延时的问题。The embodiment of the present invention provides a method and a device for predicting a head posture, which are used to solve the problem of causing a picture delay caused by a posture angle reported in the prior art.
为使得本发明的发明目的、特征、优点能够更加的明显和易懂，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，下面所描述的实施例仅仅是本发明一部分实施例，而非全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。In order to make the object, the features and the advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. The described embodiments are only a part of the embodiments of the invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
请参阅图1，本发明实施例中一种头部姿态预测方法一个实施例包括：Referring to FIG. 1, an embodiment of a head posture prediction method according to an embodiment of the present invention includes:
101、获取离当前时刻最近的预设时间长度内的姿态角和对应的上报时间；101. Acquire an attitude angle and a corresponding reporting time within a preset time length that is closest to the current time;
首先，可以获取离当前时刻最近的预设时间长度内的姿态角和对应的上报时间。First, the attitude angle and the corresponding reporting time within the preset time length closest to the current time can be acquired.
102、根据该姿态角和对应的上报时间进行曲线拟合，得到预测未来时刻的拟合曲线；102. Perform curve fitting according to the posture angle and the corresponding reporting time, and obtain a fitting curve for predicting a future time;
在获取离当前时刻最近的预设时间长度内的姿态角和对应的上报时间之后，可以根据该姿态角和对应的上报时间进行曲线拟合，得到预测未来时刻的拟合曲线。After acquiring the attitude angle and the corresponding reporting time within the preset time length closest to the current time, curve fitting may be performed according to the posture angle and the corresponding reporting time, and a fitting curve for predicting the future time is obtained.
103、将需要预测的未来时刻的时间点代入该拟合曲线，得到该未来时刻对应的姿态角；103. Substituting a time point of a future time that needs to be predicted into the fitting curve to obtain an attitude angle corresponding to the future time;
在根据该姿态角和对应的上报时间进行曲线拟合，得到预测未来时刻的拟合曲线之后，可以将需要预测的未来时刻的时间点代入该拟合曲线，得到该未来时刻对应的姿态角。
After performing curve fitting according to the attitude angle and the corresponding reporting time to obtain a fitting curve for predicting the future time, the time point of the future time that needs to be predicted may be substituted into the fitting curve to obtain the attitude angle corresponding to the future time.
104、上报该未来时刻对应的姿态角至头显设备的上层应用。104. Report the attitude angle corresponding to the future time to the upper application of the head display device.
在将需要预测的未来时刻的时间点代入该拟合曲线，得到该未来时刻对应的姿态角之后，可以上报该未来时刻对应的姿态角至头显设备的上层应用。After the time point of the future time that needs to be predicted is substituted into the fitting curve to obtain the attitude angle corresponding to the future time, the attitude angle corresponding to the future time may be reported to the upper layer application of the head display device.
本实施例中，首先，获取离当前时刻最近的预设时间长度内的姿态角和对应的上报时间；然后，根据该姿态角和对应的上报时间进行曲线拟合，得到预测未来时刻的拟合曲线；接着，将需要预测的未来时刻的时间点代入该拟合曲线，得到该未来时刻对应的姿态角；最后，上报该未来时刻对应的姿态角至头显设备的上层应用。在本实施例中，通过预测未来时刻的姿态角，然后将未来时刻的姿态角上报至上层应用使用，使得上层应用渲染完成时，头部运动正好落在预测的姿态角上，实现了画面与头部动作的实时同步，提升了用户体验。In this embodiment, first, acquiring a posture angle and a corresponding reporting time within a preset time length closest to the current time; and then performing curve fitting according to the posture angle and the corresponding reporting time to obtain a prediction of the future time. Curve; Next, the time point of the future time that needs to be predicted is substituted into the fitting curve to obtain the attitude angle corresponding to the future time; finally, the attitude angle corresponding to the future time is reported to the upper application of the head display device. In this embodiment, by predicting the attitude angle of the future moment, and then reporting the attitude angle of the future moment to the upper application, so that when the upper application is completed, the head motion falls on the predicted attitude angle, and the image is realized. Real-time synchronization of head movements enhances the user experience.
为便于理解，下面对本发明实施例中的一种头部姿态预测方法进行详细描述，请参阅图2，本发明实施例中一种头部姿态预测方法另一个实施例包括：For ease of understanding, a head posture prediction method in the embodiment of the present invention is described in detail below. Referring to FIG. 2, another embodiment of the head posture prediction method in the embodiment of the present invention includes:
201、获取离当前时刻最近的预设时间长度内的姿态角和对应的上报时间；201. Obtain an attitude angle and a corresponding reporting time within a preset time length that is closest to the current time.
首先，可以获取离当前时刻最近的预设时间长度内的姿态角和对应的上报时间。需要说明的是，姿态角可以有四元数来定义。上述离当前时刻最近的预设时间长度可以根据实际情况进行设定，与不同头显设备的性能有关。例如可以设为离当前时刻最近100ms内，也可以通过姿态角的个数进行设定，例如具体可以是：First, the attitude angle and the corresponding reporting time within the preset time length closest to the current time can be acquired. It should be noted that the attitude angle can be defined by a quaternion. The preset time length closest to the current time can be set according to the actual situation, which is related to the performance of different head display devices. For example, it may be set within the last 100 ms from the current time, or may be set by the number of posture angles. For example, the specific one may be:
A、获取离当前时刻最近的三个姿态角；A. Obtain three attitude angles closest to the current time;
B、获取该三个姿态角对应的三个上报时间。B. Obtain three reporting times corresponding to the three attitude angles.
对于某些系统来说，三个姿态角可以达到效果、效率上的最优平衡。For some systems, the three attitude angles can achieve an optimal balance of effects and efficiency.
202、采用二次拟合的方法根据该姿态角和对应的上报时间进行曲线拟合，得到预测未来时刻的拟合曲线；202. Perform a curve fitting according to the attitude angle and the corresponding reporting time by using a quadratic fitting method to obtain a fitting curve for predicting a future time;
在获取离当前时刻最近的预设时间长度内的姿态角和对应的上报时间之后，可以采用二次拟合的方法根据该姿态角和对应的上报时间进行曲线拟合，得到预测未来时刻的拟合曲线，具体为：
After acquiring the attitude angle and the corresponding reporting time within the preset time length closest to the current time, a quadratic fitting method may be used to perform curve fitting according to the posture angle and the corresponding reporting time, and the prediction of the future time is obtained. The curve is specifically:
将该三个姿态角和该三个上报时间代入二次拟合公式，求出该二次拟合公式中的三个拟合系数，该二次拟合公式如下：The three attitude angles and the three reporting times are substituted into the quadratic fitting formula to obtain three fitting coefficients in the quadratic fitting formula. The quadratic fitting formula is as follows:
其中，Q1、Q2、Q3为该三个姿态角，T1、T2、T3为该三个上报时间，A、B、C为该三个拟合系数；Wherein, Q 1 , Q 2 , and Q 3 are the three attitude angles, and T 1 , T 2 , and T 3 are the three reporting times, and A, B, and C are the three fitting coefficients;
根据该三个拟合系数得到预测未来时刻的拟合曲线。A fitting curve predicting the future time is obtained based on the three fitting coefficients.
203、将需要预测的未来时刻的时间点代入该拟合曲线，得到该未来时刻对应的姿态角；203. Substituting a time point of a future time that needs to be predicted into the fitting curve to obtain an attitude angle corresponding to the future time;
在采用二次拟合的方法根据该姿态角和对应的上报时间进行曲线拟合，得到预测未来时刻的拟合曲线之后，可以将需要预测的未来时刻的时间点代入该拟合曲线，得到该未来时刻对应的姿态角。例如对于图5的系统来说，可以将t1代入该拟合曲线中，得到与t1时刻对应的姿态角，在t0时刻上报预测的姿态角后，经过系统的处理，正好在t1时刻完成渲染并显示画面(参阅图6)，使得用户不会感知到延时。After the curve fitting is performed according to the attitude angle and the corresponding reporting time by using the quadratic fitting method, and the fitting curve for predicting the future time is obtained, the time point of the future time that needs to be predicted may be substituted into the fitting curve, and the The attitude angle corresponding to the future moment. For example, for the system of FIG. 5, t1 can be substituted into the fitting curve to obtain an attitude angle corresponding to the time t1. After the predicted attitude angle is reported at time t0, the system performs processing, and the rendering is completed at time t1. The display (see Figure 6) is displayed so that the user does not perceive the delay.
204、上报该未来时刻对应的姿态角至头显设备的上层应用；204. Report an attitude angle corresponding to the future time to an upper application of the head display device;
在将需要预测的未来时刻的时间点代入该拟合曲线，得到该未来时刻对应的姿态角之后，可以上报该未来时刻对应的姿态角至头显设备的上层应用，也即上述的上报至头显设备的系统进行处理，最后完成渲染等操作并显示。Substituting the time point of the future time that needs to be predicted into the fitting curve, and obtaining the attitude angle corresponding to the future time, the attitude angle corresponding to the future time may be reported to the upper layer application of the head display device, that is, the above reporting is performed. The system of the display device is processed, and finally the rendering and other operations are completed and displayed.
205、判断该头显设备的传感器是否生成传感器数据，若是，则返回再次执行步骤201，若否，则结束本进程。205. Determine whether the sensor of the head display device generates sensor data, and if yes, return to step 201 again, and if not, end the process.
在上报该未来时刻对应的姿态角至头显设备的上层应用之后，可以判断该头显设备的传感器是否生成传感器数据，若是，则返回再次执行步骤201，若否，则结束本进程。可以理解的是，若该头显设备的传感器仍在生成传感器数据，说明头显设备仍在使用，并且需要对传感器数据进行处理以获得用户的头部姿态，因此返回再次执行步骤201，实现本实施例中头部姿态预测方法循环执行。反之，则可以认为头显设备不再使用或者无需获取用户的头部姿态，此时结束头部姿态预测方法的进程。
After reporting the posture angle corresponding to the future time to the upper application of the head display device, it may be determined whether the sensor of the head display device generates sensor data, and if yes, return to step 201 again, and if not, end the process. It can be understood that if the sensor of the head display device is still generating sensor data, the head display device is still in use, and the sensor data needs to be processed to obtain the user's head posture, so returning to step 201 again, the implementation is implemented. The head posture prediction method in the embodiment is executed cyclically. On the contrary, it can be considered that the head display device is no longer used or does not need to acquire the user's head posture, and the process of the head posture prediction method ends.
上面主要描述一种头部姿态预测方法，下面将对一种头部姿态预测装置进行详细描述，请参阅图3，本发明实施例中一种头部姿态预测装置一个实施例包括：A head posture prediction method is mainly described above. A head posture prediction device will be described in detail below. Referring to FIG. 3, an embodiment of a head posture prediction apparatus according to an embodiment of the present invention includes:
姿态角时间获取模块301，用于获取离当前时刻最近的预设时间长度内的姿态角和对应的上报时间；The attitude angle time acquiring module 301 is configured to acquire an attitude angle and a corresponding reporting time within a preset time length that is closest to the current time;
曲线拟合模块302，用于根据该姿态角和对应的上报时间进行曲线拟合，得到预测未来时刻的拟合曲线；The curve fitting module 302 is configured to perform curve fitting according to the posture angle and the corresponding reporting time to obtain a fitting curve for predicting a future time;
未来姿态角预测模块303，用于将需要预测的未来时刻的时间点代入该拟合曲线，得到该未来时刻对应的姿态角；The future attitude angle prediction module 303 is configured to substitute a time point of a future time that needs to be predicted into the fitting curve to obtain an attitude angle corresponding to the future time;
姿态角上报模块304，用于上报该未来时刻对应的姿态角至头显设备的上层应用。The attitude angle reporting module 304 is configured to report the attitude angle corresponding to the future time to the upper application of the head display device.
本实施例中，首先，姿态角时间获取模块301获取离当前时刻最近的预设时间长度内的姿态角和对应的上报时间；然后，曲线拟合模块302根据该姿态角和对应的上报时间进行曲线拟合，得到预测未来时刻的拟合曲线；接着，未来姿态角预测模块303将需要预测的未来时刻的时间点代入该拟合曲线，得到该未来时刻对应的姿态角；最后，姿态角上报模块304上报该未来时刻对应的姿态角至头显设备的上层应用。在本实施例中，通过预测未来时刻的姿态角，然后将未来时刻的姿态角上报至上层应用使用，使得上层应用渲染完成时，头部运动正好落在预测的姿态角上，实现了画面与头部动作的实时同步，提升了用户体验。In this embodiment, first, the attitude angle time acquiring module 301 acquires the posture angle and the corresponding reporting time in the preset time length closest to the current time; then, the curve fitting module 302 performs the posture angle according to the posture angle and the corresponding reporting time. Curve fitting, obtaining a fitting curve for predicting future time; next, the future attitude angle prediction module 303 substitutes the time point of the future time that needs to be predicted into the fitting curve to obtain the attitude angle corresponding to the future time; finally, the attitude angle is reported The module 304 reports the attitude angle corresponding to the future time to the upper application of the head display device. In this embodiment, by predicting the attitude angle of the future moment, and then reporting the attitude angle of the future moment to the upper application, so that when the upper application is completed, the head motion falls on the predicted attitude angle, and the image is realized. Real-time synchronization of head movements enhances the user experience.
为便于理解，下面对本发明实施例中的一种头部姿态预测装置进行详细描述，请参阅图4，本发明实施例中一种头部姿态预测装置另一个实施例包括：For ease of understanding, a head posture prediction apparatus in the embodiment of the present invention is described in detail below. Referring to FIG. 4, another embodiment of a head posture prediction apparatus according to an embodiment of the present invention includes:
姿态角时间获取模块401，用于获取离当前时刻最近的预设时间长度内的姿态角和对应的上报时间；The attitude angle time acquiring module 401 is configured to acquire an attitude angle and a corresponding reporting time within a preset time length that is closest to the current time;
曲线拟合模块402，用于根据该姿态角和对应的上报时间进行曲线拟合，得到预测未来时刻的拟合曲线；The curve fitting module 402 is configured to perform curve fitting according to the posture angle and the corresponding reporting time to obtain a fitting curve for predicting a future time;
未来姿态角预测模块403，用于将需要预测的未来时刻的时间点代入该拟合曲线，得到该未来时刻对应的姿态角；a future attitude angle prediction module 403, configured to substitute a time point of a future time that needs to be predicted into the fitting curve, to obtain an attitude angle corresponding to the future time;
姿态角上报模块404，用于上报该未来时刻对应的姿态角至头显设备
的上层应用。The attitude angle reporting module 404 is configured to report the attitude angle corresponding to the future time to the head display device
The upper application.
本实施例中曲线拟合模块402可以包括：The curve fitting module 402 in this embodiment may include:
二次拟合单元4021，用于采用二次拟合的方法根据该姿态角和对应的上报时间进行曲线拟合，得到预测未来时刻的拟合曲线。The quadratic fitting unit 4021 is configured to perform curve fitting according to the posture angle and the corresponding reporting time by using a quadratic fitting method to obtain a fitting curve for predicting a future time.
本实施例中该姿态角时间获取模块401可以包括：The posture angle time acquiring module 401 in this embodiment may include:
三姿态角获取模块4011，用于获取离当前时刻最近的三个姿态角；The three attitude angle obtaining module 4011 is configured to acquire three attitude angles closest to the current time;
三上报时间获取模块4012，用于获取该三个姿态角对应的三个上报时间。The three reporting time acquisition module 4012 is configured to acquire three reporting times corresponding to the three posture angles.
本实施例中该二次拟合单元4021可以包括：The quadratic fitting unit 4021 in this embodiment may include:
代入公式子单元0211，用于将该三个姿态角和该三个上报时间代入二次拟合公式，求出该二次拟合公式中的三个拟合系数，该二次拟合公式如下：Substituting into the formula subunit 0211, the three attitude angles and the three reporting times are substituted into the quadratic fitting formula, and three fitting coefficients in the quadratic fitting formula are obtained, and the quadratic fitting formula is as follows :
其中，Q1、Q2、Q3为该三个姿态角，T1、T2、T3为该三个上报时间，A、B、C为该三个拟合系数；Wherein, Q 1 , Q 2 , and Q 3 are the three attitude angles, and T 1 , T 2 , and T 3 are the three reporting times, and A, B, and C are the three fitting coefficients;
拟合曲线子单元0212，用于根据该三个拟合系数得到预测未来时刻的拟合曲线。The fitting curve sub-unit 0212 is configured to obtain a fitting curve for predicting future time according to the three fitting coefficients.
本实施例中该头部姿态预测装置可以包括：The head posture predicting apparatus in this embodiment may include:
传感器判断模块405，用于判断该头显设备的传感器是否生成传感器数据；The sensor determining module 405 is configured to determine whether the sensor of the head display device generates sensor data.
触发模块406，用于当该传感器判断模块405的判断结果为是时，触发该姿态角时间获取模块。The triggering module 406 is configured to trigger the attitude angle time acquiring module when the determination result of the sensor determining module 405 is YES.
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统，装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。A person skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the system, the device and the unit described above can refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.
在本申请所提供的几个实施例中，应该理解到，所揭露的系统，装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实
现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。In the several embodiments provided by the present application, it should be understood that the disclosed system, apparatus, and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative, for example, the division of the units is only a logical function division, actual
There may be additional divisions at present, for example multiple units or components may be combined or integrated into another system, or some features may be omitted or not implemented. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，RandomAccess Memory)、磁碟或者光盘等各种可以存储程序代码的介质。The integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium. A number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes.
以上所述，以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。
The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the embodiments are modified, or the equivalents of the technical features are replaced by the equivalents of the technical solutions of the embodiments of the present invention.
Claims (10)
- 一种头部姿态预测方法，其特征在于，包括：A head posture prediction method, comprising:获取离当前时刻最近的预设时间长度内的姿态角和对应的上报时间；Obtaining an attitude angle and a corresponding reporting time within a preset time length closest to the current time;根据所述姿态角和对应的上报时间进行曲线拟合，得到预测未来时刻的拟合曲线；Performing a curve fitting according to the posture angle and the corresponding reporting time to obtain a fitting curve for predicting a future time;将需要预测的未来时刻的时间点代入所述拟合曲线，得到所述未来时刻对应的姿态角；Substituting a time point of the future time that needs to be predicted into the fitting curve to obtain an attitude angle corresponding to the future time;上报所述未来时刻对应的姿态角至头显设备的上层应用。The attitude angle corresponding to the future time is reported to the upper application of the head display device.
- 根据权利要求1所述的头部姿态预测方法，其特征在于，采用二次拟合的方法根据所述姿态角和对应的上报时间进行曲线拟合，得到预测未来时刻的拟合曲线。The head posture prediction method according to claim 1, wherein a curve fitting is performed according to the posture angle and the corresponding reporting time by a method of quadratic fitting, and a fitting curve for predicting a future time is obtained.
- 根据权利要求2所述的头部姿态预测方法，其特征在于，获取离当前时刻最近的预设时间长度内的姿态角和对应的上报时间包括：The head posture prediction method according to claim 2, wherein acquiring the posture angle and the corresponding reporting time within a preset time length closest to the current time comprises:获取离当前时刻最近的三个姿态角；Obtain three attitude angles closest to the current time;获取所述三个姿态角对应的三个上报时间。Obtaining three reporting times corresponding to the three attitude angles.
- 根据权利要求3所述的头部姿态预测方法，其特征在于，采用二次拟合的方法根据所述姿态角和对应的上报时间进行曲线拟合，得到预测未来时刻的拟合曲线，具体包括：The head posture prediction method according to claim 3, wherein a curve fitting is performed according to the posture angle and the corresponding reporting time by using a quadratic fitting method, and a fitting curve for predicting a future time is obtained, specifically including :将所述三个姿态角和所述三个上报时间代入二次拟合公式，求出所述二次拟合公式中的三个拟合系数，所述二次拟合公式如下：Substituting the three attitude angles and the three reporting times into a quadratic fitting formula to obtain three fitting coefficients in the quadratic fitting formula, the quadratic fitting formula is as follows:
其中，Q1、Q2、Q3为所述三个姿态角，T1、T2、T3为所述三个上报时间，A、B、C为所述三个拟合系数；Wherein, Q 1 , Q 2 , and Q 3 are the three attitude angles, and T 1 , T 2 , and T 3 are the three reporting times, and A, B, and C are the three fitting coefficients;根据所述三个拟合系数得到预测未来时刻的拟合曲线。A fitting curve predicting the future time is obtained based on the three fitting coefficients. - 根据权利要求1至4中任一项所述的头部姿态预测方法，其特征在于，上报所述未来时刻对应的姿态角至上层应用之后还包括：The head posture prediction method according to any one of claims 1 to 4, further comprising: reporting the posture angle corresponding to the future time to the upper layer application further comprises:判断所述头显设备的传感器是否生成传感器数据，若是，则返回再次 执行所述获取离当前时刻最近的预设时间长度内的姿态角和对应的上报时间的步骤。Determining whether the sensor of the head display device generates sensor data, and if so, returning again The step of acquiring the posture angle and the corresponding reporting time within a preset time length closest to the current time is performed.
- 一种头部姿态预测装置，其特征在于，包括：A head posture predicting device, comprising:姿态角时间获取模块，用于获取离当前时刻最近的预设时间长度内的姿态角和对应的上报时间；The attitude angle time acquiring module is configured to acquire an attitude angle and a corresponding reporting time within a preset time length that is closest to the current time;曲线拟合模块，用于根据所述姿态角和对应的上报时间进行曲线拟合，得到预测未来时刻的拟合曲线；a curve fitting module, configured to perform curve fitting according to the posture angle and the corresponding reporting time, to obtain a fitting curve for predicting a future time;未来姿态角预测模块，用于将需要预测的未来时刻的时间点代入所述拟合曲线，得到所述未来时刻对应的姿态角；a future attitude angle prediction module, configured to substitute a time point of a future time that needs to be predicted into the fitting curve to obtain an attitude angle corresponding to the future time;姿态角上报模块，用于上报所述未来时刻对应的姿态角至头显设备的上层应用。The attitude angle reporting module is configured to report the posture angle corresponding to the future time to the upper application of the head display device.
- 根据权利要求6所述的头部姿态预测装置，其特征在于，曲线拟合模块包括：The head posture predicting apparatus according to claim 6, wherein the curve fitting module comprises:二次拟合单元，用于采用二次拟合的方法根据所述姿态角和对应的上报时间进行曲线拟合，得到预测未来时刻的拟合曲线。A quadratic fitting unit is configured to perform curve fitting according to the posture angle and the corresponding reporting time by using a quadratic fitting method to obtain a fitting curve for predicting a future time.
- 根据权利要求7所述的头部姿态预测装置，其特征在于，所述姿态角时间获取模块包括：The head posture prediction apparatus according to claim 7, wherein the attitude angle time acquisition module comprises:三姿态角获取模块，用于获取离当前时刻最近的三个姿态角；a three-pose angle acquisition module, configured to acquire three attitude angles closest to the current time;三上报时间获取模块，用于获取所述三个姿态角对应的三个上报时间。The three reporting time acquisition module is configured to acquire three reporting times corresponding to the three posture angles.
- 根据权利要求8所述的头部姿态预测装置，其特征在于，所述二次拟合单元包括：The head posture predicting apparatus according to claim 8, wherein the quadratic fitting unit comprises:代入公式子单元，用于将所述三个姿态角和所述三个上报时间代入二次拟合公式，求出所述二次拟合公式中的三个拟合系数，所述二次拟合公式如下：Substituting into the formula subunit for substituting the three attitude angles and the three reporting times into a quadratic fitting formula to obtain three fitting coefficients in the quadratic fitting formula, the second fitting The formula is as follows:
其中，Q1、Q2、Q3为所述三个姿态角，T1、T2、T3为所述三个上报时间，A、B、C为所述三个拟合系数；Wherein, Q 1 , Q 2 , and Q 3 are the three attitude angles, and T 1 , T 2 , and T 3 are the three reporting times, and A, B, and C are the three fitting coefficients;拟合曲线子单元，用于根据所述三个拟合系数得到预测未来时刻的拟 合曲线。Fitting a curve subunit for obtaining a predicted future time based on the three fitting coefficients Curve. - 根据权利要求6至9中任一项所述的头部姿态预测装置，其特征在于，所述头部姿态预测装置包括：The head posture predicting device according to any one of claims 6 to 9, wherein the head posture predicting device comprises:传感器判断模块，用于判断所述头显设备的传感器是否生成传感器数据；a sensor determining module, configured to determine whether the sensor of the head display device generates sensor data;触发模块，用于当所述传感器判断模块的判断结果为是时，触发所述姿态角时间获取模块。 The triggering module is configured to trigger the attitude angle time acquiring module when the determination result of the sensor determining module is YES.
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