CN108261761A - A kind of space-location method and device, computer readable storage medium - Google Patents
A kind of space-location method and device, computer readable storage medium Download PDFInfo
- Publication number
- CN108261761A CN108261761A CN201810049281.8A CN201810049281A CN108261761A CN 108261761 A CN108261761 A CN 108261761A CN 201810049281 A CN201810049281 A CN 201810049281A CN 108261761 A CN108261761 A CN 108261761A
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- base station
- locating base
- practical application
- location data
- mode
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/20—Input arrangements for video game devices
- A63F13/21—Input arrangements for video game devices characterised by their sensors, purposes or types
- A63F13/216—Input arrangements for video game devices characterised by their sensors, purposes or types using geographical information, e.g. location of the game device or player using GPS
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
- A63F13/50—Controlling the output signals based on the game progress
- A63F13/52—Controlling the output signals based on the game progress involving aspects of the displayed game scene
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F2300/00—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game
- A63F2300/80—Features of games using an electronically generated display having two or more dimensions, e.g. on a television screen, showing representations related to the game specially adapted for executing a specific type of game
- A63F2300/8082—Virtual reality
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Human Computer Interaction (AREA)
- Environmental & Geological Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Processing Or Creating Images (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
This application discloses a kind of space-location method and device, computer readable storage medium, the method includes：The mode standard of locating base station and practical application pattern are set；Calculate three dimensional space coordinate of the device to be positioned in three-dimensional coordinate system；According to the mode standard of the locating base station of the setting, practical application pattern and the three dimensional space coordinate calculated, determine to be transferred to the location data of virtual scene.The application is transferred to the location data of virtual scene by the mode standard and practical application pattern and determine according to mode standard and practical application pattern that set locating base station, the space orientation under horizontal and suspension both of which is realized, so as to meet user's demand different with steering angle to motion range under different scene of game.
Description
Technical field
The present invention relates to virtual reality (Virtual Reality, VR) technical field, more particularly to a kind of space orientation sides
Method and device, computer readable storage medium.
Background technology
In virtual reality operation, user has on head-mounted display viewing video or carries out interactive operation, is carrying out
During the interaction of Steam VR or other VR platforms, motion capture equipment is needed to coordinate with head-mounted display and carries out interactive operation.
The course of work of motion capture equipment is：A locating base station is placed in space indoors, for sending positioning signal or obtaining room
Interior image, and a solid axes is set, user's holds signal receiver on hand, and head-mounted display, head are had on head
Locator is installed, locator can be built in head-mounted display and be either attached to wear-type to show on head mounted displays
Device, locator can receive the positioning signal of locating base station transmission, and calculate locator in the position of solid axes, can be with
The positioning signal that signal receiver on hand transmits is received, then the specific posture of the head of user and hand is transferred to wear-type
Display, carries out the action tracking of respective virtual object on the display screen with head-mounted display, such as shoots an arrow, plays ball,
Alternatively, locating base station calculates the position of the head and hand of user in space according to the off-the-air picture of acquisition, it is transferred to and wears
The display screen of formula display carries out the positioning of respective virtual object and action tracking.
The location technology used at present, can only be in user plane including laser positioning technology, binocular camera location technology etc.
To realizing positioning in the 180 degree orientation range of video camera or signal transmitting base station；Once user deviates this orientation range, example
Such as, user has a desk behind in virtual game, and user is turned round by the thing on desk behind, at this point, the wear-type of user is shown
Show equipment locator and handle locator, it is impossible to be identified or cannot be received the positioning of signal transmitting base station transmitting by video camera
Signal causes head-mounted display apparatus locator and handle locator that can not be positioned, so as to affect user experience.
It is entitled " to determine in the nearly eye display device space based on image identification at Publication No. " CN106774871A "
In the application of position method and system ", it is noted that light-emitting device is arranged on to the top of nearly eye display device, when can reduce use
The probability that the test light that light-emitting device is sent out is blocked, and then increase the accuracy measured and continuity；But actually should
In, when user needs the object for appreciation game that motion range is larger and steering angle is less, light-emitting device is arranged on nearly eye and is shown
The top of device, user can leave the picture catching range of video camera, it is impossible to track the head of user when motion range is larger
Portion positions.
Invention content
In order to solve the above technical problem, the present invention provides a kind of space-location method and device, computer-readable deposit
Storage media can be achieved at the same time the space orientation under horizontal and suspension both of which.
In order to reach the object of the invention, what the technical solution of the embodiment of the present invention was realized in：
An embodiment of the present invention provides a kind of space-location method, including：
The mode standard of locating base station and practical application pattern are set；
Calculate three dimensional space coordinate of the device to be positioned in three-dimensional coordinate system；
According to the mode standard of the locating base station of the setting, practical application pattern and the device to be positioned calculated
Three dimensional space coordinate, determine to be transferred to the location data of virtual scene.
Further, the locating base station includes at least one of：
Laser emitter, video camera, ultrasonic transmitter.
Further, when the locating base station is the laser emitter and/or the ultrasonic transmitter, the meter
Three dimensional space coordinate of the device to be positioned in three-dimensional coordinate system is calculated, is specifically included：Receive what the locating base station was sent
Positioning signal calculates three dimensions of the device to be positioned in three-dimensional coordinate system according to the positioning signal of reception and sits
Mark；
When the locating base station is the video camera, it is described calculate device to be positioned in three-dimensional coordinate system three
Dimension space coordinate, specifically includes：According to the image that the locating base station is shot, calculate the device to be positioned and sat in three dimensions
Three dimensional space coordinate in mark system.
Further, the mode standard and the practical application pattern are horizontal pattern or mode of suspension.
Further, the mode standard of the locating base station according to the setting, practical application pattern and the calculating
The three dimensional space coordinate of device to be positioned gone out is determined to be transferred to the location data of virtual scene, be specifically included：
When the mode standard of the locating base station of the setting is consistent with the practical application pattern, determine to be transferred to described
The location data of virtual scene is identical with the three dimensional space coordinate of device to be positioned calculated；
When the mode standard of the locating base station of the setting and the inconsistent practical application pattern, the positioning is obtained
The rotation mode of base station determines to be transferred to the location data of the virtual scene according to the rotation mode of the locating base station.
Further, the rotation mode according to the locating base station determines to be transferred to the positioning number of the virtual scene
According to specifically including：
Lead to described set when the locating base station rotates clockwise 90 ° using a reference axis in X/Y/Z axis as rotary shaft
When the mode standard and the inconsistent practical application pattern put, determine to be transferred in the location data of the virtual scene, it should
The location data of rotary shaft is constant, and the location data of other two reference axis is exchanged, and the location data of one of reference axis
It takes negative.
Further, the rotation mode according to the locating base station determines to be transferred to the positioning number of the virtual scene
According to specifically including：
Assuming that the mode standard and practical application pattern of the locating base station setting are horizontal pattern, the locating base station
The three dimensional space coordinate axis set as：The vertical paper of X-axis inwards, Y-axis straight up and Z axis level to the right, according to the positioning
The three dimensional space coordinate that the X/Y/Z axis of base station calculates is (x, y, z), when the locating base station is clockwise by rotary shaft of X-axis
It is rotated by 90 ° and rotating 180 ° as rotary shaft using Z axis causes the mode standard of the setting and the practical application pattern inconsistent
When, it is (- x ,-z ,-y) to determine the location data for being transferred to the virtual scene.
The embodiment of the present invention additionally provides a kind of computer readable storage medium, the computer-readable recording medium storage
There are one or multiple programs, one or more of programs can be performed by one or more processor, with realize such as with
The step of upper any one of them space-location method.
The embodiment of the present invention additionally provides a kind of space positioning apparatus, including setup module, locating module and determining module,
Wherein：
Setup module, for setting the mode standard of locating base station and practical application pattern, by the mode standard of setting and
Practical application pattern is exported to determining module；
Locating module for calculating three dimensional space coordinate of the device to be positioned in three-dimensional coordinate system, will calculate
Three dimensional space coordinate export to determining module；
Determining module according to the mode standard of the locating base station of acquisition, practical application pattern and calculates undetermined
The three dimensional space coordinate of position device, determines to be transferred to the location data of virtual scene.
Further, mode standard, the practical application pattern of the locating base station according to acquisition of the determining module
With the three dimensional space coordinate of device to be positioned calculated, determine to be transferred to the location data of virtual scene, specifically include：
When the mode standard of the locating base station of the acquisition is consistent with practical application pattern, determine to be transferred to described virtual
The location data of scene is identical with the three dimensional space coordinate of device to be positioned calculated；
When the mode standard of the locating base station of the acquisition and inconsistent practical application pattern, the locating base station is obtained
Rotation mode, determined to be transferred to the location data of the virtual scene according to the rotation mode of the locating base station.
Further, the mode standard and the practical application pattern are horizontal pattern or mode of suspension.
Technical scheme of the present invention has the advantages that：
Space-location method and device provided by the invention, computer readable storage medium, by setting locating base station
Mode standard and practical application pattern, and determine to be transferred to virtual scene according to the mode standard and practical application pattern of setting
Location data realizes the space orientation under horizontal and suspension both of which, so as to meet user in different scene of game
Under the demand different with steering angle to motion range.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and forms the part of the application, this hair
Bright illustrative embodiments and their description do not constitute improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is a kind of flow diagram of space-location method of the embodiment of the present invention；
System structure diagram when Fig. 2 is the horizontal positioned locating base station of the embodiment of the present invention；
System structure diagram when Fig. 3 is the suspension placement positioning base station of the embodiment of the present invention；
Fig. 4 (a) and Fig. 4 (b) is respectively level under the reference axis setting method of different locating base stations of the embodiment of the present invention
The coordinate system of pattern and mode of suspension converts schematic diagram；
Fig. 5 is the structure diagram of the space positioning apparatus of the embodiment of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention
Embodiment be described in detail.It should be noted that in the absence of conflict, in the embodiment and embodiment in the application
Feature mutually can arbitrarily combine.
With reference to Fig. 1, an embodiment of the present invention provides a kind of space-location methods, include the following steps：
Step 101：The mode standard of locating base station and practical application pattern are set；
Further, locating base station includes at least one of：
Laser emitter, video camera, ultrasonic transmitter.
Illustratively, for laser positioning technology, locating base station is laser emitter；It is fixed for Camera Positioning technology
Position base station is video camera, can be monocular-camera or binocular camera；For laser+ultrasonic positioning techniques, locating base station
For laser+ultrasonic transmitter.
Further, the mode standard and practical application pattern include horizontal pattern and mode of suspension.
It should be noted that according to the needs of user, locating base station is available there are two types of position, and one kind is horizontal mould
Formula, the direction that locating base station is faced in front of user's body is horizontal positioned, as shown in Figure 2；One kind is mode of suspension, locating base station
The direction suspension for facing the user crown is placed, as shown in Figure 3.When user need to play motion range it is larger and steering angle is less
Game when, select horizontal positioned mode placement positioning base station as shown in Figure 2, on control device (such as mobile phone, PC), use
The mode option " level " pattern that family occurs on the modes of emplacement corresponding selection page according to locating base station；When user needs to play fortune
Dynamic range is little, but during the larger game of steering angle, selects suspension modes of emplacement placement positioning base station as shown in Figure 3,
On control device, the mode option that user occurs on the modes of emplacement corresponding selection page according to locating base station is " suspension " mould
Formula.
The mode standard of locating base station can be horizontal pattern or mode of suspension, by motion capture equipment (including fixed
Position base station and device to be positioned) and head-mounted display when carrying out mating, just set the mode standard of locating base station, usually general
Horizontal pattern is set as the mode standard of locating base station；The practical application pattern of locating base station can be horizontal pattern or suspension mould
Formula according to the modes of emplacement of specific application scenarios regioselective base station, and is selected on control device (such as mobile phone, PC)
Select setting.
Step 102：Calculate three dimensional space coordinate of the device to be positioned in three-dimensional coordinate system；
Further, when locating base station is laser emitter and/or ultrasonic transmitter, step 102 specifically includes：It connects
The positioning signal that locating base station is sent is received, device to be positioned is calculated in three-dimensional coordinate system according to the positioning signal of reception
Three dimensional space coordinate；
When locating base station is video camera, the step 102 specifically includes：According to the image that locating base station is shot, calculate
Three dimensional space coordinate of the device to be positioned in three-dimensional coordinate system.
It should be noted that the application be it is emphasised that the mode standard of locating base station and practical application pattern can be set,
And it according to the mode standard of setting, practical application pattern and the three dimensional space coordinate calculated, determines to be transferred to virtual scene
Location data, as to how three dimensional space coordinate of the device to be positioned in three-dimensional coordinate system is calculated, as locating base station is
Laser+ultrasonic transmitter may refer to existing patent, such as Publication No. " CN106526537A ", entitled " one kind three
The application of dimension space localization method and system "；If locating base station is video camera, existing patent, such as Publication No. may refer to
" CN106774871A ", the Shen of entitled " nearly eye display device space-location method and system based on image identification "
Please；If locating base station is laser emitter, existing patent is may refer to, such as Publication No. " CN106646342 ", denomination of invention
A kind of application for " locating base station and alignment system ".The application does not limit this.
Step 103：According to the mode standard of the locating base station of setting, practical application pattern and the three dimensions seat calculated
Mark, determines to be transferred to the location data of virtual scene.
Further, it the mode standard of the locating base station according to setting in step 103, practical application pattern and calculates
Three dimensional space coordinate, determine to be transferred to the location data of virtual scene, specifically include：
When the practical application pattern of the locating base station of setting is consistent with mode standard, determine to be transferred to the virtual scene
Location data it is identical with the three dimensional space coordinate of device to be positioned calculated；
When the practical application pattern of the locating base station of setting and inconsistent mode standard, the rotation side of locating base station is obtained
Formula determines to be transferred to the location data of the virtual scene according to the rotation mode of locating base station.
Further, it determines to be transferred to the location data of virtual scene according to the rotation mode of locating base station, specifically includes：
When locating base station rotates clockwise 90 ° of reality for leading to setting by rotary shaft of a reference axis in X/Y/Z axis
It when application model and inconsistent mode standard, determines to be transferred in the location data of virtual scene, the location data of the rotary shaft
Constant, the location data of other two reference axis is exchanged, and the location data of one of reference axis take it is negative.
In an embodiment of the present invention, when the mode standard of setting and practical application pattern are horizontal pattern, it is assumed that
It is (x, y, z) according to the three dimensional space coordinate that the X/Y/Z axis of locating base station calculates, determines to be transferred to the positioning number of virtual scene
According to also be (x, y, z)；When locating base station setting mode standard it is constant, practical application mode altering be mode of suspension when, positioning
Base station rotates clockwise 90 ° using a reference axis in X/Y/Z axis as rotary shaft, it is assumed that according to the X/Y/Z axis meters of locating base station
The three dimensional space coordinate of calculating is (x, y, z), determines to be transferred in the location data of virtual scene, the location data of the rotary shaft
Constant, the location datas of other two reference axis is exchanged, and the location data of one of reference axis take it is negative.
For example, the setting means of the X/Y/Z axis of locating base station is as shown in Figure 2, it is assumed that the three dimensional space coordinate calculated
For (x, y, z), when practical application pattern is consistent with the mode standard of setting, determine to be transferred to the positioning number of the virtual scene
According to also be (x, y, z)；When the mode standard of setting is constant, practical application pattern is changed to the suspension of Fig. 3 by the horizontal pattern of Fig. 2
During pattern, locating base station rotates clockwise 90 ° using X-axis as rotary shaft, it is assumed that and the three dimensional space coordinate calculated is (x, y, z),
It is (x ,-z, y) to determine the location data for being transferred to virtual scene.
It should be noted that locating base station can determine preset three-dimensional coordinate system, for example, horizontal positioned positioning base
When standing, the corresponding X/Y/Z axis directions calculated can as shown in Figure 2, by taking locating base station is cuboid as an example, pre-set space coordinate
The origin of system can be the center of gravity of locating base station, and the first reference axis (such as being known as X-axis) can be perpendicular to the side of locating base station
Plate, the second reference axis (such as being known as Z axis) can be perpendicular to the front panel of locating base station, and the direction being directed toward on front side of front panel is
The positive direction of the positive direction of second reference axis, the positive direction of the first reference axis and the second reference axis meets the right-hand rule, and third is sat
Parameter (such as being known as Y-axis) is perpendicular to plane determined by the first reference axis and the second reference axis.Wherein, it is sat about pre-set space
The set-up mode of system is marked there are various ways, the application does not limit this.It in practical applications, can be according to reality scene
Actual conditions and used positioning method determine pre-set space coordinate system.When user needs object for appreciation motion range smaller and turns
To during the larger game of angle, the locating base station is hung and is placed, at this time, it is assumed that user will position base by rotary shaft of X-axis
Station rotates clockwise 90 ° of installation positions, such as ceiling mounted overhead, corresponds in the X/Y/Z axis directions calculated such as Fig. 3
Shown (attention Fig. 2 is the direction of vertical paper inwards with the X-axis in Fig. 3).When user acts under horizontal pattern, such as to
During retrogressing, in the three dimensional space coordinate (x, y, z) calculated, the numerical value of z increases, and determines to be transferred to the positioning number in virtual scene
According in (x, y, z), the numerical value of z also increases, and the three-dimensional coordinate system that the coordinate system and locating base station of virtual scene determine corresponds to
When, the numerical value of z increases in the coordinate system of virtual scene, and the virtual role shown as in virtual scene is drawn back, can thus be reached
Keeping strokes into real world and virtual scene, the game experiencing having had.
But it in the case where the mode standard and practical application pattern of setting are inconsistent, is sent to by location data
During virtual scene display, the location data by different reference axis is needed to convert.Such as Fig. 2 and Fig. 3, such as without location data
Conversion, when user draws back, in the three dimensional space coordinate (x, y, z) calculated, the numerical value of y increases, and determines to be transferred to virtual
In location data (x, y, z) in scene, the numerical value of y increases, and the three-dimensional that the coordinate system of virtual scene and locating base station determine
The numerical value of z increases in the coordinate system of virtual scene when space coordinates are to corresponding to, and the virtual role shown as in virtual scene is upward
Movement, cannot thus reach keeping strokes in real world and virtual scene.
Specifically, when being positioned using Camera Positioning, laser positioning, ultrasound+laser mode, it is assumed that locating base station is to accrued
The X/Y/Z axis of calculation as shown in Figure 2, then the three dimensional space coordinate in the three-dimensional coordinate system calculated in mode of suspension
(x, y, z), is converted, and y values are converted into z values, and-z values are converted into y values, that is, are last transmitted to the positioning number of virtual scene
According to being (x ,-z, y), it can thus reach keeping strokes in real world and virtual scene, can realize in both modes
Space orientation.
It is a kind of location data transformation mode of the X/Y/Z axis setting based on locating base station above, for different positioning
The X/Y/Z axis setting of base station, needs the location data converted different.The setting of locating base station X/Y/Z axis as shown in Fig. 4 (a)
Mode (left side is the direction of vertical paper inwards with the X-axis on right side in Fig. 4 (a)), it is assumed that three calculated under horizontal pattern
Dimension space coordinate is (x, y, z), if practical application pattern is consistent with the mode standard of setting, determines to be transferred to virtual scene
Location data is also (x, y, z)；When the mode standard of setting is constant, practical application mode altering is mode of suspension, base is positioned
It stands using X-axis as rotary shaft, rotates clockwise 90 °, the three dimensional space coordinate calculated is (x, y, z), determines to be transferred to virtual field
The location data of scape is (x, z ,-y).
Be above locating base station X/Y/Z axis using an axis as rotary shaft, be rotated by 90 ° under horizontal pattern and mode of suspension
Location data exchange.When locating base station is using two axis as rotary shaft, 90 ° are rotated clockwise along an axis, the rotation of another axis
180 ° lead to the mode standard of setting and during inconsistent practical application pattern, determine to be transferred to the location data of virtual scene, edge
The location data of 90 ° of rotary shafts is constant, and the location data of other two reference axis is exchanged, and all numerical value take negative.
Locating base station X/Y/Z axis as shown in Fig. 4 (b) setting means (X-axis in Fig. 4 (b) for vertical paper inwards
Direction, the X-axis on right side are vertical paper outwardly direction), it is assumed that the three dimensional space coordinate calculated under horizontal pattern for (x, y,
Z), when practical application pattern is also horizontal pattern, it is also (x, y, z) to determine the location data for being transferred to the virtual scene；
When the mode standard of setting is constant, and practical application mode altering is mode of suspension, locating base station is using X-axis as rotary shaft, up time
Needle is rotated by 90 °, then using Z axis as rotary shaft, rotates 180 °, if the three dimensional space coordinate calculated is (x, y, z), determines transmission
Location data to virtual scene is (- x ,-z ,-y).And so on, the setting means of the X/Y/Z axis of different locating base stations,
Under different mode, the location data for being transferred to virtual scene is converted accordingly.
The rotation mode of locating base station can be determined by way of artificial settings, such as determine that locating base station can only be along one
A fixed reference axis rotates clockwise 90 °, and mode of suspension is converted into from horizontal pattern, alternatively, the rotation mode of locating base station
It can be determined by the IMU (inertial sensor) installed inside it.
The embodiment of the present invention additionally provides a kind of computer readable storage medium, the computer-readable recording medium storage
There are one or multiple programs, one or more of programs can be performed by one or more processor, with realize such as with
The step of upper any one of them space-location method.
With reference to Fig. 5, the embodiment of the present invention additionally provides a kind of space positioning apparatus, including setup module 501, locating module
502 and determining module 503, wherein：
Setup module 501, for setting the mode standard of locating base station and practical application pattern, by the mode standard of setting
It is exported with practical application pattern to determining module 503；
Locating module 502 for calculating three dimensional space coordinate of the device to be positioned in three-dimensional coordinate system, will calculate
The three dimensional space coordinate gone out is exported to determining module 503；
Determining module 503, mode standard, practical application pattern for the locating base station according to acquisition and what is calculated treat
The three dimensional space coordinate of positioning device determines to be transferred to the location data of virtual scene.
Further, the locating base station includes at least one of：
Laser emitter, video camera, ultrasonic transmitter.
Illustratively, for laser positioning technology, locating base station is laser emitter；For Camera Positioning technological orientation
Base station is monocular-camera or binocular camera；For laser+ultrasonic positioning techniques, locating base station is laser+ultrasound emission
Device.
Further, the mode standard of the locating base station is horizontal pattern, and the practical application pattern includes horizontal mould
Formula and mode of suspension.
Further, locating module 502 is specifically used for, and for laser positioning and laser+localization by ultrasonic, is positioned for receiving
The positioning signal that base station is sent calculates three-dimensional space of the device to be positioned in three-dimensional coordinate system according to the positioning signal of reception
Between coordinate, the three dimensional space coordinate calculated is exported to determining module 503；For Camera Positioning, for according to positioning base
Stand shooting image, calculate three dimensional space coordinate of the device to be positioned in three-dimensional coordinate system, the three-dimensional space that will be calculated
Between coordinate export to determining module 503.
It should be noted that according to the needs of user, locating base station is available there are two types of position, and one kind is to face use
The preaxial direction in family is horizontal positioned, as shown in Figure 2；A kind of is the direction suspension placement for facing the user crown, such as Fig. 3 institutes
Show.When user needs the object for appreciation game that motion range is larger and steering angle is less, horizontal positioned mode as shown in Figure 2 is selected
Placement positioning base station, on control device (such as mobile phone, PC), user is according to the modes of emplacement corresponding selection page of locating base station
The mode option " level " pattern of upper appearance；As user, to need to play motion range little, but during the larger game of steering angle,
Suspension modes of emplacement placement positioning base station as shown in Figure 3 is selected, on control device, user is according to the placement side of locating base station
The mode option occurred on the formula corresponding selection page is " suspension " pattern.
The application is it is emphasised that the mode standard of locating base station and practical application pattern can be set, and according to the mark of setting
Quasi-mode, practical application pattern and the three dimensional space coordinate of device to be positioned calculated, determine to be transferred to determining for virtual scene
Position data, as to how calculating three dimensional space coordinate of the device to be positioned in three-dimensional coordinate system, may refer to existing
Patent, the application do not limit this.
Further, it is determined that mode standard, practical application pattern and the meter of the locating base station according to acquisition in module 503
The three dimensional space coordinate of the device to be positioned calculated, determines to be transferred to the location data of virtual scene, specifically include：
When the mode standard of setting is consistent with practical application pattern, determine to be transferred to the location data of virtual scene and meter
The three dimensional space coordinate of the device to be positioned calculated is identical；
When the mode standard of setting and inconsistent practical application pattern, the rotation mode of locating base station is obtained, according to fixed
The rotation mode of position base station determines to be transferred to the location data of virtual scene.
Further, it is determined that the rotation mode according to locating base station in module 503 determines to be transferred to determining for virtual scene
Position data, specifically include：
When locating base station rotates clockwise 90 ° of standards for leading to setting by rotary shaft of a reference axis in X/Y/Z axis
When pattern and inconsistent practical application pattern, determine to be transferred in the location data of the virtual scene, the positioning of the rotary shaft
Data are constant, and the location data of other two reference axis is exchanged, and the location data of one of reference axis take it is negative.
It should be noted that locating base station can determine preset three-dimensional coordinate system, for example, horizontal positioned positioning base
When standing, the corresponding X/Y/Z axis directions calculated can as shown in Figure 2, by taking locating base station is cuboid as an example, pre-set space coordinate
The origin of system can be the center of gravity of locating base station, and the first reference axis (such as being known as X-axis) can be perpendicular to the side of locating base station
Plate, the second reference axis (such as being known as Z axis) can be perpendicular to the front panel of locating base station, and the direction being directed toward on front side of front panel is
The positive direction of the positive direction of second reference axis, the positive direction of the first reference axis and the second reference axis meets the right-hand rule, and third is sat
Parameter (such as being known as Y-axis) is perpendicular to plane determined by the first reference axis and the second reference axis.Wherein, it is sat about pre-set space
The set-up mode of system is marked there are various ways, the application does not limit this.It in practical applications, can be according to reality scene
Actual conditions and used positioning method determine pre-set space coordinate system.When user needs object for appreciation motion range smaller and turns
To during the larger game of angle, the locating base station is hung and is placed, at this time, it is assumed that user is revolved clockwise using X-axis as rotary shaft
Turn 90 °, the corresponding X/Y/Z axis directions calculated are as shown in Figure 3.When user acts under horizontal pattern, such as draws back, meter
In the three dimensional space coordinate (x, y, z) of calculating, the numerical value of z increases, and determines to be transferred to the location data (x, y, z) in virtual scene
In, the numerical value of z also increases, the three-dimensional coordinate system that the coordinate system and locating base station of virtual scene determine to it is corresponding when virtual field
The numerical value of z increases in the coordinate system of scape, and the virtual role shown as in virtual scene is drawn back, and can thus reach real world
With keeping strokes in virtual scene, the game experiencing having had.
But it in the case where the mode standard and practical application pattern of setting are inconsistent, is sent to by location data
During virtual scene display, determining module 503 needs the location data by different reference axis to convert.Such as Fig. 2 and Fig. 3, if not
Location data conversion is carried out, when user draws back, in the three dimensional space coordinate (x, y, z) calculated, the numerical value of y increases, really
Surely it is transferred in the location data in virtual scene (x, y, z), the numerical value of y increases, and the coordinate system of virtual scene and positioning base
The numerical value of z increases in the coordinate system of virtual scene when standing determining three-dimensional coordinate system to corresponding to, and shows as in virtual scene
Virtual role moves upwards, and cannot thus reach keeping strokes in real world and virtual scene.
For example, in an embodiment of the present invention, the setting means of the X/Y/Z axis of locating base station as shown in Figure 2, setting
Mode standard is horizontal pattern as shown in Figure 2, when practical application mode altering is mode of suspension shown in Fig. 3, locating base station
Using a reference axis in X/Y/Z axis as rotary shaft, 90 ° are rotated clockwise, it is assumed that calculated according to the X/Y/Z axis of locating base station
Three dimensional space coordinate for (x, y, z), determining module 503 determine to be transferred to the location data of the virtual scene for (x ,-z,
Y), it can thus reach keeping strokes in real world and virtual scene, can realize space orientation in both modes.
The X/Y/Z axis of different locating base stations is set, needs the location data converted different.For example, in the present invention
In another embodiment, the setting means of the locating base station X/Y/Z axis as shown on the left of Fig. 4 (a), it is assumed that the mode standard of setting is
The three dimensional space coordinate calculated under horizontal pattern and horizontal pattern is (x, y, z), when practical application mode altering is such as Fig. 4
(a) mode of suspension on the right side of, locating base station rotate clockwise 90 ° using X-axis as rotary shaft, it is determined that module 503 determines to be transferred to
The location data of virtual scene is (x, z ,-y).
In an alternative embodiment of the invention, it when locating base station is using two axis as rotary shaft, is rotated clockwise along an axis
90 °, when another axis rotates 180 °, determining module 503 determines to be transferred in the location data of virtual scene, along this 90 ° rotations
The location data of axis is constant, and the location data of other two reference axis is exchanged, and all numerical value take negative.
For example, the setting means of the locating base station X/Y/Z axis as shown on the left of Fig. 4 (b), it is assumed that the mode standard of setting is
The three dimensional space coordinate calculated under horizontal pattern and horizontal pattern is (x, y, z), when the practical application mode altering of setting is
During mode of suspension as shown on the right side of Fig. 4 (b), locating base station rotates clockwise 90 °, then using Z axis to revolve using X-axis as rotary shaft
Shaft rotates 180 °, it is determined that module 503 determines that the location data for being transferred to virtual scene is (- x ,-z ,-y).And so on,
The setting means of the X/Y/Z axis of different locating base stations, under different mode, the location data for being transferred to the virtual scene carries out
Corresponding conversion.
The rotation mode of locating base station can be determined by way of artificial settings, such as determine that locating base station can only be along one
A fixed reference axis rotates clockwise 90 °, and mode of suspension is converted into from horizontal pattern, alternatively, the rotation mode of locating base station
It can be determined by the IMU (inertial sensor) installed inside it.
One of ordinary skill in the art will appreciate that all or part of step in the above method can be instructed by program
Related hardware is completed, and described program can be stored in computer readable storage medium, such as read-only memory, disk or CD
Deng.Optionally, all or part of step of above-described embodiment can also be realized using one or more integrated circuits, accordingly
Ground, the form that hardware may be used in each module/unit in above-described embodiment are realized, can also use the shape of software function module
Formula is realized.The present invention is not limited to the combinations of the hardware and software of any particular form.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, that is made any repaiies
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of space-location method, which is characterized in that including：
The mode standard of locating base station and practical application pattern are set；
Calculate three dimensional space coordinate of the device to be positioned in three-dimensional coordinate system；
According to the mode standard of the locating base station of the setting, practical application pattern and it is described calculate the three of device to be positioned
Dimension space coordinate determines to be transferred to the location data of virtual scene.
2. space-location method according to claim 1, which is characterized in that the locating base station include it is following at least it
One：
Laser emitter, video camera, ultrasonic transmitter.
3. space-location method according to claim 2, which is characterized in that when the locating base station is the Laser emission
When device and/or the ultrasonic transmitter, the three dimensional space coordinate for calculating device to be positioned in three-dimensional coordinate system,
It specifically includes：The positioning signal that the locating base station is sent is received, the device to be positioned is calculated according to the positioning signal of reception
Three dimensional space coordinate in three-dimensional coordinate system；
When the locating base station is the video camera, the three-dimensional space for calculating device to be positioned in three-dimensional coordinate system
Between coordinate, specifically include：According to the image that the locating base station is shot, the device to be positioned is calculated in three-dimensional coordinate system
In three dimensional space coordinate.
4. space-location method according to claim 1, which is characterized in that the mode standard and the practical application mould
Formula is horizontal pattern or mode of suspension.
5. space-location method according to claim 1, which is characterized in that the locating base station according to the setting
Mode standard, practical application pattern and the three dimensional space coordinate of device to be positioned calculated, determine to be transferred to virtual field
The location data of scape, specifically includes：
When the mode standard of the locating base station of the setting is consistent with the practical application pattern, determine to be transferred to described virtual
The location data of scene is identical with the three dimensional space coordinate of device to be positioned calculated；
When the mode standard of the locating base station of the setting and the inconsistent practical application pattern, the locating base station is obtained
Rotation mode, determined to be transferred to the location data of the virtual scene according to the rotation mode of the locating base station.
6. space-location method according to claim 5, which is characterized in that the rotation side according to the locating base station
Formula is determined to be transferred to the location data of the virtual scene, be specifically included：
Lead to the setting when the locating base station rotates clockwise 90 ° using a reference axis in X/Y/Z axis as rotary shaft
When mode standard and the inconsistent practical application pattern, determine to be transferred in the location data of the virtual scene, the rotation
The location data of axis is constant, and the location data of other two reference axis is exchanged, and the location data of one of reference axis take it is negative.
7. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage there are one or
Multiple programs, one or more of programs can be performed by one or more processor, to realize such as claim 1 to 6
Any one of described in space-location method the step of.
8. a kind of space positioning apparatus, which is characterized in that including setup module, locating module and determining module, wherein：
Setup module, for setting the mode standard of locating base station and practical application pattern, by the mode standard and reality of setting
Application model is exported to determining module；
Locating module, for calculating three dimensional space coordinate of the device to be positioned in three-dimensional coordinate system, three will calculated
Dimension space coordinate is exported to determining module；
Determining module, according to the mode standard of the locating base station of acquisition, practical application pattern and it is described calculate it is undetermined
The three dimensional space coordinate of position device, determines to be transferred to the location data of virtual scene.
9. space positioning apparatus according to claim 8, which is characterized in that the determining module according to acquisition
Mode standard, practical application pattern and the three dimensional space coordinate of device to be positioned calculated of locating base station determine to pass
The location data of virtual scene is defeated by, is specifically included：
When the mode standard of the locating base station of the acquisition is consistent with practical application pattern, determine to be transferred to the virtual scene
Location data it is identical with the three dimensional space coordinate of device to be positioned calculated；
When the mode standard of the locating base station of the acquisition and inconsistent practical application pattern, the rotation of the locating base station is obtained
Turn mode, determined to be transferred to the location data of the virtual scene according to the rotation mode of the locating base station.
10. according to 8 or 9 any one of them space positioning apparatus of claim, which is characterized in that the mode standard and described
Practical application pattern is horizontal pattern or mode of suspension.
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| CN201810049281.8A CN108261761B (en) | 2018-01-18 | 2018-01-18 | Space positioning method and device and computer readable storage medium |
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| CN108261761B (en) | 2021-01-12 |
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