CN108282651A - Antidote, device and the virtual reality device of camera parameter - Google Patents
Antidote, device and the virtual reality device of camera parameter Download PDFInfo
- Publication number
- CN108282651A CN108282651A CN201711366453.6A CN201711366453A CN108282651A CN 108282651 A CN108282651 A CN 108282651A CN 201711366453 A CN201711366453 A CN 201711366453A CN 108282651 A CN108282651 A CN 108282651A
- Authority
- CN
- China
- Prior art keywords
- camera
- gravity
- matrix
- vector
- acquisition
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30204—Marker
- G06T2207/30208—Marker matrix
Landscapes
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of antidote of camera parameter, device and virtual reality device, which includes：Obtain the current gravity vector of the gravity sensor acquisition of camera；The spin matrix for calculating current gravity vector and being parallel between the unit vector of the gravity direction of gravity sensor；According to the initial coordinate and spin matrix of luminescent device in the initial pictures of camera acquisition, the vertical range between camera and ground is determined, wherein initial pictures are the image that camera acquisition when on the ground is arranged in luminescent device；Correction matrix is calculated according to vertical range and spin matrix, determines the camera parameter of camera acquisition luminescent device image.In this way, can be in the case where the camera lens of camera tilts down, so as to get luminescent device coordinate it is more accurate.In the scene of game of virtual reality device will not run-off the straight the case where, and then customer experience can be promoted.
Description
Technical field
The present invention relates to camera field of locating technology, more particularly it relates to a kind of antidote of camera parameter,
Device and virtual reality device.
Background technology
With flourishing for virtual reality (Virtual Reality, abbreviation VR) industry in recent years, for space orientation
Demand increasingly increase.Due to the use of camera realize space orientation have it is of low cost, build and the advantages such as facilitate, so it is wide
The general space orientation product applied to virtual reality industry.
Space orientation is carried out using camera often to be limited by some optical device indexs.As fruit product is wanted to obtain more
For wide usage scenario, it is necessary to select the camera lens of visual angle bigger；However the camera lens of wide-angle can have optical distortion, lead to sky
Between coordinate computation inaccuracy.So when camera lens is chosen, often does and compromise between the two in distortion degree and visual angle, visual angle
It will not select too greatly, to cause the scope of activities of user narrow, when user's stand body is tested, the limitation of Vertical movements range is particularly
Obviously.If camera is placed in the e.g. height of 2m and keeps its posture downward, a kind of use space of user is formed by phase
The effect of machine " vertical view ", in the case of ensuring that visual angle is certain in this way, the experience of user will not be limited by too big.
Even if camera is not allowed to do " vertical view " posture, due to the complexity of user's usage scenario, it can not also ensure that camera is complete
Vertical puts, i.e., the camera lens of camera can not be parallel to gravity direction.
If the camera lens of camera is not parallel to gravity direction, the coordinate of the tester positioned by camera can be made inaccurate
Really, so as to cause the phenomenon that ground inclination, influencing user experience in the scene of game of virtual reality device.
Invention content
It is an object of the present invention to provide a kind of new technical solutions that one of can at least solve the above problems.
According to the first aspect of the invention, the antidote of camera parameter is provided, including：
Obtain the current gravity vector of the gravity sensor acquisition of camera；
It calculates between the current gravity vector and the unit vector for the gravity direction for being parallel to the gravity sensor
Spin matrix；
According to the camera acquisition initial pictures in luminescent device initial coordinate and the spin matrix, determine described in
Vertical range between camera and ground, wherein when institute is arranged on the ground for the luminescent device in the initial pictures
State the image of camera acquisition；
Correction matrix is calculated according to the vertical range and the spin matrix, determines that the camera acquires the hair
The camera parameter of optical device image.
Optionally, the current gravity vector of the gravity sensor acquisition for obtaining camera includes：
Obtain multiple gravity vectors of the gravity sensor continuous acquisition；
The average value for calculating the multiple gravity vector, as the current gravity vector.
Optionally, the optical axis of camera described in luminescent device is vertical with the gravity direction of the gravity sensor.
Optionally, described correction matrix is calculated according to the vertical range and the spin matrix to include：
Transition matrix is determined according to the vertical range and unit matrix；
The correction matrix is calculated according to the transition matrix and the spin matrix.
According to the second aspect of the invention, a kind of apparatus for correcting of camera parameter is provided, including：
Gravity vector acquisition module, the current gravity vector that the gravity sensor for obtaining camera acquires；
Spin matrix computing module, the gravity for calculating the current gravity vector Yu being parallel to the gravity sensor
Spin matrix between the unit vector in direction；
Distance calculation module, the initial coordinate of luminescent device and described in the initial pictures for being acquired according to the camera
Spin matrix determines the vertical range between the camera and ground, wherein the initial pictures are arranged for the luminescent device
The image of camera acquisition when on the ground；And
Rectification module, for correction matrix to be calculated according to the vertical range and the spin matrix, determine described in
Camera acquires the camera parameter of the luminescent device image.
Optionally, the gravity vector acquisition module is additionally operable to：
Obtain multiple gravity vectors of the gravity sensor continuous acquisition；
The average value for calculating the multiple gravity vector, as the current gravity vector.
Optionally, the optical axis of the camera is vertical with the gravity direction of the gravity sensor.
Optionally, the rectification module is additionally operable to：
Transition matrix is determined according to the vertical range and unit matrix；
The correction matrix is calculated according to the transition matrix and the spin matrix.
According to the third aspect of the invention we, a kind of virtual reality device, including institute according to a second aspect of the present invention are provided
The apparatus for correcting stated.
According to the fourth aspect of the invention, a kind of virtual reality device, including memory and processor are provided, it is described to deposit
For storing instruction, described instruction is operated for controlling the processor to execute institute according to a first aspect of the present invention reservoir
The antidote stated.
The advantageous effect of the present invention is that antidote through the invention can dip down in the camera lens of camera
Tiltedly in the case of, so as to get luminescent device coordinate it is more accurate.It will not run-off the straight in the scene of game of virtual reality device
The case where, and then customer experience can be promoted.
By referring to the drawings to the detailed description of exemplary embodiment of the present invention, other feature of the invention and its
Advantage will become apparent.
Description of the drawings
It is combined in the description and the attached drawing of a part for constitution instruction shows the embodiment of the present invention, and even
With its explanation together principle for explaining the present invention.
Fig. 1 is according to a kind of a kind of flow chart of embodiment of the antidote of camera parameter of the present invention；
Fig. 2 is according to a kind of a kind of frame principle figure of implementation structure of the apparatus for correcting of camera parameter of the present invention；
Fig. 3 is according to a kind of a kind of frame principle figure of result of implementation of virtual reality device of the present invention.
Specific implementation mode
Carry out the various exemplary embodiments of detailed description of the present invention now with reference to attached drawing.It should be noted that：Unless in addition having
Body illustrates that the unlimited system of component and the positioned opposite of step, numerical expression and the numerical value otherwise illustrated in these embodiments is originally
The range of invention.
It is illustrative to the description only actually of at least one exemplary embodiment below, is never used as to the present invention
And its application or any restrictions that use.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as part of specification.
In shown here and discussion all examples, any occurrence should be construed as merely illustrative, without
It is as limitation.Therefore, other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it need not be further discussed in subsequent attached drawing in a attached drawing.
Virtual reality device involved in the embodiment of the present invention includes camera, is arranged on camera gravity sensor,
It is provided with the handle either head-mounted display of luminescent device.Camera determines photophore by image of the acquisition comprising luminescent device
The position of part, and then determine the movement locus for the handle either head-mounted display for being provided with luminescent device.
World cartesian coordinates system is pre-established, world cartesian coordinates system includes the first horizontal axis for being mutually perpendicular to a bit,
One vertical pivot and first longitudinal axis, and the first vertical pivot is parallel to gravity direction and direction is identical, the optical axis of camera is parallel to the first horizontal axis.
The data of gravity sensor acquisition are the gravity vector of the corresponding world cartesian coordinates system.Wherein, the first horizontal axis and first longitudinal axis
The plane at place is horizontal plane.
The three-dimensional coordinate of luminescent device can be determined by location algorithm according to the image of camera acquisition.The three-dimensional coordinate pair
Camera rectangular coordinate system is answered, which includes orthogonal the second horizontal axis, the second vertical pivot and second in a bit
The longitudinal axis, and the first horizontal axis is parallel with the first horizontal axis, the second vertical pivot is parallel to the camera lens of camera.
The angle between the second vertical pivot and gravity direction can be adjusted by adjusting the pitch angle of camera.It is flat in the second vertical pivot
Row is in the case of gravity direction, and the direction of the direction of the second vertical pivot and the first vertical pivot is on the contrary, the first horizontal axis and the second horizontal axis are flat
Row and direction are on the contrary, first longitudinal axis and second longitudinal axis is parallel and direction is identical.
However, camera in use, can not ensure that camera is substantially vertical and put, is i.e. the second vertical pivot possibly can not
It is parallel to gravity direction, this can make the coordinate of the luminescent device positioned by camera inaccurate, so as to cause virtual existing
In the scene of game of real equipment the phenomenon that ground inclination.
Fig. 1 is according to a kind of a kind of flow chart of embodiment of the antidote of camera parameter of the present invention.
According to Fig. 1, which includes the following steps：
Step S110 obtains the current gravity vector of the gravity sensor acquisition of camera.
Wherein, the optical axis of camera and the gravity direction of gravity sensor are vertical.Gravity vector includes relative to world right angle
The weight component of first horizontal axis, the first vertical pivot and first longitudinal axis in coordinate system, such as can be (x1, y1, z1).
Further, which can be the average value of the data of gravity sensor continuous several times acquisition.Tool
Body, can be the multiple gravity vectors for first obtaining gravity sensor continuous acquisition；Being averaged for this multiple gravity vector is calculated again
Value, as current gravity vector.
Step S120 calculates current gravity vector and is parallel between the unit vector of the gravity direction of gravity sensor
Spin matrix.
On this basis, the method for executing step S120 may include steps of S121~S123.
Step S121 calculates gravity vector and is parallel to the cross product of the unit vector of the gravity direction of gravity sensor,
Obtain normal vector.
Wherein, the unit vector for being parallel to gravity direction is the equal of the unit for being parallel to the first vertical pivot in world coordinate system
Vector, the unit vector are (0,1,0).So, the cross product between gravity vector (x1, y1, z1) and unit vector (0,1,0)
Can be：
(x1, y1, z1) × (0,1,0)=(a, b, c)
Wherein, (a, b, c) is normal vector.
Step S122 calculates the dot-product of gravity vector and unit vector, obtains between gravity vector and unit vector
Angle.
Dot-product between gravity vector (x1, y1, z1) and unit vector (0,1,0) is：
(x1, y1, z1) (0,1,0)=| m | | n | cos θ
Wherein, | m | it is the mould of gravity vector (x1, y1, z1), | n | for the mould of unit vectorial (0,1,0), θ is gravity vector
Angle between (x1, y1, z1) and unit vector (0,1,0).
Step S123 obtains spin matrix according to normal vector and angle calcu-lation.
The calculation formula of spin matrix [R] can be：
Step S130 determines phase according to the initial coordinate and spin matrix of luminescent device in the initial pictures of camera acquisition
Vertical range between machine and ground.
Specifically, can in advance place luminescent device on the ground, initial pictures are that luminescent device is placed on ground
The image that camera acquires when upper.
The initial coordinate when luminescent device determined according to initial pictures is rest on the ground can be (x0, y0, z0), this is first
Beginning coordinate be for camera space rectangular coordinate system, then, the specific method for executing step S120 may include as
Lower step S131~S132.
Spin matrix premultiplication initial coordinate is obtained luminescent device in world's rectangular coordinate system in space by step S131
Initial world coordinates.
Initially the calculation formula of world coordinates (x2, y2, z2) can be：
(x2, y2, z2)=[R] * (x0, y0, z0)
Initial world coordinates is corresponded to the opposite number of the component of the first vertical pivot as between camera and ground by step S132
Distance.
So, the distance between camera and ground h=-y2.
Correction matrix is calculated according to vertical range and spin matrix in step S140, determines that camera acquires luminescent device
The camera parameter of image.
The specific method for executing step S140 includes the following steps S141~S144.
Step S141 determines transition matrix according to the distance and unit matrix.
Unit matrix isDue to the direction of the first horizontal axis and the second horizontal axis on the contrary, the first vertical pivot and the second vertical pivot
Direction on the contrary, the direction of first longitudinal axis and second longitudinal axis is identical, therefore, transition matrix can be obtained
Step S142 calculates the inverse matrix of spin matrix, obtains rotation inverse matrix.
The inverse matrix of spin matrix is [R]-1。
Rotation inverse matrix premultiplication transition matrix is obtained correction matrix by step S143.
Correction matrix [E] calculation formula be：
Step S144 preserves correction matrix into camera parameter.
When follow-up camera determines the position of luminescent device according to the luminescent device image of acquisition, camera can be directly invoked
Matrix is corrected in parameter.Wherein, luminescent device image is specially the image for including luminescent device.
, can be in the case where the camera lens of camera tilts down in this way, antidote through the invention, so as to get hair
Optical device coordinate is more accurate.In the scene of game of virtual reality device will not run-off the straight the case where, and then visitor can be promoted
It experiences at family.
Specifically, determining the changing coordinates of luminescent device in the luminescent device image of camera subsequent acquisition according to location algorithm
For (x3, y3, z3).It is existing to determine that luminescent device sits calibration method by location algorithm according to the luminescent device image of camera acquisition
There is technology, details are not described herein.
It is (x4, y4, z4) according to the changing coordinates after the correction matrix correction in camera parameter, calculates current after correction
Sitting calibration method includes：It calculates correction inverse of a matrix matrix and obtains correction inverse matrix [E]-1, correction inverse matrix premultiplication is currently sat
Mark.
The calculation formula of changing coordinates (x4, y4, z4) after correction can be：
(x4, y4, z4)=[R]-1*(x3,y3,z3)
Corresponding with above-mentioned antidote, the present invention also provides a kind of apparatus for correcting of camera parameter.According to Fig. 2
A kind of a kind of frame principle figure of implementation structure of the apparatus for correcting of camera parameter of the present invention.
According to Fig.2, the apparatus for correcting include gravity vector acquisition module 210, spin matrix computing module 220, away from
From computing module 230 and rectification module 240.The gravity vector acquisition module 210 is used to obtain the gravity sensor acquisition of camera
Current gravity vector；The spin matrix computing module 220 is for calculating current gravity vector and being parallel to gravity sensor
Spin matrix between the unit vector of gravity direction；The initial pictures that the distance calculation module 230 is used to be acquired according to camera
The initial coordinate and spin matrix of middle luminescent device, determine the vertical range between camera and ground, wherein initial pictures are hair
The image of camera acquisition when on the ground is arranged in optical device；The rectification module 240 is based on according to vertical range and spin matrix
Calculation obtains correction matrix, determines the camera parameter of camera acquisition luminescent device image.
Specifically, gravity vector acquisition module is additionally operable to：Obtain multiple gravity vectors of gravity sensor continuous acquisition；Meter
The average value for calculating multiple gravity vectors, as current gravity vector.
Further, the optical axis of camera and the gravity direction of gravity sensor are vertical.
On this basis, rectification module 240 is additionally operable to：Transition matrix is determined according to vertical range and unit matrix；According to
Correction matrix is calculated in transition matrix and spin matrix.
The present invention also provides a kind of virtual reality devices, and according to one aspect, which includes above-mentioned rectify
Equipment.
Fig. 3 is the frame principle figure according to the implementation structure of the virtual reality device of another aspect of the present invention.
According to Fig.3, which includes memory 301 and processor 302, which is used for
Store instruction, the instruction are operated for control processor 302 to execute antidote above-mentioned.
The processor is such as can be central processor CPU, Micro-processor MCV.The memory for example including ROM (only
Read memory), the nonvolatile memory etc. of RAM (random access memory), hard disk.
In addition to this, according to Fig.3, which can also include interface arrangement 303, input unit
304, display device 305, communication device 306, camera 307, gravity sensor 308 etc..Although multiple dresses are shown in FIG. 3
It sets, still, projection device of the present invention can only relate to partial devices therein, for example, processor 301, memory 302, camera
307 and gravity sensor 308 etc..
Above-mentioned communication device 306 can for example carry out wired or wireless communication.
Above-mentioned interface arrangement 303 is for example including USB interface.
Above-mentioned input unit 304 is such as may include touch screen, button.
Above-mentioned display device 305 is, for example, liquid crystal display, touch display screen etc..
The various embodiments described above primary focus describes difference from other examples, but those skilled in the art should be clear
Chu, the various embodiments described above can be used alone or be combined with each other as needed.
Each embodiment in this specification is described in a progressive manner, identical similar portion between each embodiment
Divide cross-reference, each embodiment focuses on the differences from other embodiments, but people in the art
Member is it should be understood that the various embodiments described above can be used alone or be combined with each other as needed.In addition, for device
For embodiment, since it is corresponding with embodiment of the method, so describing fairly simple, related place is implemented referring to method
The explanation of the corresponding part of example.System embodiment described above is only schematical, wherein being used as separating component
The module of explanation may or may not be physically separated.
The present invention can be device, method and/or computer program product.Computer program product may include computer
Readable storage medium storing program for executing, containing for making processor realize the computer-readable program instructions of various aspects of the invention.
Computer readable storage medium can be can keep and store the instruction used by instruction execution equipment tangible
Equipment.Computer readable storage medium for example can be-- but be not limited to-- storage device electric, magnetic storage apparatus, optical storage
Equipment, electromagnetism storage device, semiconductor memory apparatus or above-mentioned any appropriate combination.Computer readable storage medium
More specific example (non exhaustive list) includes：Portable computer diskette, random access memory (RAM), read-only is deposited hard disk
It is reservoir (ROM), erasable programmable read only memory (EPROM or flash memory), static RAM (SRAM), portable
Compact disk read-only memory (CD-ROM), digital versatile disc (DVD), memory stick, floppy disk, mechanical coding equipment, for example thereon
It is stored with punch card or groove internal projection structure and the above-mentioned any appropriate combination of instruction.Calculating used herein above
Machine readable storage medium storing program for executing is not interpreted that instantaneous signal itself, the electromagnetic wave of such as radio wave or other Free propagations lead to
It crosses the electromagnetic wave (for example, the light pulse for passing through fiber optic cables) of waveguide or the propagation of other transmission mediums or is transmitted by electric wire
Electric signal.
Computer-readable program instructions as described herein can be downloaded to from computer readable storage medium it is each calculate/
Processing equipment, or outer computer or outer is downloaded to by network, such as internet, LAN, wide area network and/or wireless network
Portion's storage device.Network may include copper transmission cable, optical fiber transmission, wireless transmission, router, fire wall, interchanger, gateway
Computer and/or Edge Server.Adapter or network interface in each calculating/processing equipment are received from network to be counted
Calculation machine readable program instructions, and the computer-readable program instructions are forwarded, for the meter being stored in each calculating/processing equipment
In calculation machine readable storage medium storing program for executing.
For execute the computer program instructions that operate of the present invention can be assembly instruction, instruction set architecture (ISA) instruction,
Machine instruction, machine-dependent instructions, microcode, firmware instructions, condition setup data or with one or more programming languages
Arbitrarily combine the source code or object code write, the programming language include the programming language-of object-oriented such as
Smalltalk, C++ etc., and conventional procedural programming languages-such as " C " language or similar programming language.Computer
Readable program instructions can be executed fully, partly execute on the user computer, is only as one on the user computer
Vertical software package executes, part executes or on the remote computer completely in remote computer on the user computer for part
Or it is executed on server.In situations involving remote computers, remote computer can pass through network-packet of any kind
It includes LAN (LAN) or wide area network (WAN)-is connected to subscriber computer, or, it may be connected to outer computer (such as profit
It is connected by internet with ISP).In some embodiments, by using computer-readable program instructions
Status information carry out personalized customization electronic circuit, such as programmable logic circuit, field programmable gate array (FPGA) or can
Programmed logic array (PLA) (PLA), the electronic circuit can execute computer-readable program instructions, to realize each side of the present invention
Face.
Referring herein to according to the method for the embodiment of the present invention, the flow chart of device (system) and computer program product and/
Or block diagram describes various aspects of the invention.It should be appreciated that flowchart and or block diagram each box and flow chart and/
Or in block diagram each box combination, can be realized by computer-readable program instructions.
These computer-readable program instructions can be supplied to all-purpose computer, special purpose computer or other programmable datas
The processor of processing unit, to produce a kind of machine so that these instructions are passing through computer or other programmable datas
When the processor of processing unit executes, work(specified in one or more of implementation flow chart and/or block diagram box is produced
The device of energy/action.These computer-readable program instructions can also be stored in a computer-readable storage medium, these refer to
It enables so that computer, programmable data processing unit and/or other equipment work in a specific way, to be stored with instruction
Computer-readable medium includes then a manufacture comprising in one or more of implementation flow chart and/or block diagram box
The instruction of the various aspects of defined function action.
Computer-readable program instructions can also be loaded into computer, other programmable data processing units or other
In equipment so that series of operation steps are executed on computer, other programmable data processing units or miscellaneous equipment, with production
Raw computer implemented process, so that executed on computer, other programmable data processing units or miscellaneous equipment
Instruct function action specified in one or more of implementation flow chart and/or block diagram box.
Flow chart and block diagram in attached drawing show the system, method and computer journey of multiple embodiments according to the present invention
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
One module of table, program segment or a part for instruction, the module, program segment or a part for instruction include one or more use
The executable instruction of the logic function as defined in realization.In some implementations as replacements, the function of being marked in box
It can occur in a different order than that indicated in the drawings.For example, two continuous boxes can essentially be held substantially in parallel
Row, they can also be executed in the opposite order sometimes, this is depended on the functions involved.It is also noted that block diagram and/or
The combination of each box in flow chart and the box in block diagram and or flow chart can use function or dynamic as defined in executing
The dedicated hardware based system made is realized, or can be realized using a combination of dedicated hardware and computer instructions.It is right
It is well known that, realized by hardware mode for those skilled in the art, realized by software mode and by software and
It is all of equal value that the mode of combination of hardware, which is realized,.
Various embodiments of the present invention are described above, above description is exemplary, and non-exclusive, and
It is not limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this skill
Many modifications and changes will be apparent from for the those of ordinary skill in art field.The selection of term used herein, purport
In the principle, practical application or technological improvement to the technology in market for best explaining each embodiment, or this technology is made to lead
Other those of ordinary skill in domain can understand each embodiment disclosed herein.The scope of the present invention is limited by appended claims
It is fixed.
Claims (10)
1. a kind of antidote of camera parameter, which is characterized in that including：
Obtain the current gravity vector of the gravity sensor acquisition of camera；
Calculate the rotation between the current gravity vector and the unit vector for the gravity direction for being parallel to the gravity sensor
Matrix；
According to the initial coordinate of luminescent device and the spin matrix in the initial pictures of camera acquisition, the camera is determined
Vertical range between ground, wherein the initial pictures are that phase when on the ground is arranged in the luminescent device
The image of machine acquisition；
Correction matrix is calculated according to the vertical range and the spin matrix, determines that the camera acquires the photophore
The camera parameter of part image.
2. antidote according to claim 1, which is characterized in that the gravity sensor acquisition for obtaining camera is worked as
Preceding gravity vector includes：
Obtain multiple gravity vectors of the gravity sensor continuous acquisition；
The average value for calculating the multiple gravity vector, as the current gravity vector.
3. antidote according to claim 1, which is characterized in that the optical axis of camera described in luminescent device and the gravity
The gravity direction of sensor is vertical.
4. antidote according to claim 1, which is characterized in that described according to the vertical range and the spin moment
Correction matrix is calculated in battle array：
Transition matrix is determined according to the vertical range and unit matrix；
The correction matrix is calculated according to the transition matrix and the spin matrix.
5. a kind of apparatus for correcting of camera parameter, which is characterized in that including：
Gravity vector acquisition module, the current gravity vector that the gravity sensor for obtaining camera acquires；
Spin matrix computing module, the gravity direction for calculating the current gravity vector Yu being parallel to the gravity sensor
Unit vector between spin matrix；
Distance calculation module, the initial coordinate of luminescent device and the rotation in the initial pictures for being acquired according to the camera
Matrix determines the vertical range between the camera and ground, wherein the initial pictures are arranged for the luminescent device in institute
The image of camera acquisition when stating on ground；And rectification module, for according to the vertical range and the spin matrix
Correction matrix is calculated, determines that the camera acquires the camera parameter of the luminescent device image.
6. luminescent device apparatus for correcting according to claim 5, which is characterized in that the gravity vector acquisition module is also used
In：
Obtain multiple gravity vectors of the gravity sensor continuous acquisition；
The average value for calculating the multiple gravity vector, as the current gravity vector.
7. apparatus for correcting according to claim 5, which is characterized in that the optical axis of the camera and the gravity sensor
Gravity direction is vertical.
8. apparatus for correcting according to claim 5, which is characterized in that the rectification module is additionally operable to：
Transition matrix is determined according to the vertical range and unit matrix；
The correction matrix is calculated according to the transition matrix and the spin matrix.
9. a kind of virtual reality device, which is characterized in that including the apparatus for correcting described in any one of claim 5-8.
10. a kind of virtual reality device, which is characterized in that including memory and processor, the memory for storing instruction,
Described instruction is used to control the processor and is operated to execute the correction side according to any one of claim 1-4
Method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711366453.6A CN108282651A (en) | 2017-12-18 | 2017-12-18 | Antidote, device and the virtual reality device of camera parameter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711366453.6A CN108282651A (en) | 2017-12-18 | 2017-12-18 | Antidote, device and the virtual reality device of camera parameter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108282651A true CN108282651A (en) | 2018-07-13 |
Family
ID=62801737
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711366453.6A Pending CN108282651A (en) | 2017-12-18 | 2017-12-18 | Antidote, device and the virtual reality device of camera parameter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108282651A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110490965A (en) * | 2019-08-19 | 2019-11-22 | 深圳天际云数字技术有限公司 | A kind of method and system of 3D model browsing |
| WO2020124995A1 (en) * | 2018-12-20 | 2020-06-25 | 北京字节跳动网络技术有限公司 | Palm normal vector determination method, device and apparatus, and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1909590A (en) * | 2005-08-04 | 2007-02-07 | 卡西欧计算机株式会社 | Image-capturing apparatus, image correction method and program |
| US20110128388A1 (en) * | 2009-12-01 | 2011-06-02 | Industrial Technology Research Institute | Camera calibration system and coordinate data generation system and method thereof |
| CN103718213A (en) * | 2012-01-13 | 2014-04-09 | 索弗特凯耐提克软件公司 | Automatic scene calibration |
| CN104756154A (en) * | 2012-11-02 | 2015-07-01 | 高通股份有限公司 | Reference coordinate system determination |
| US20150213588A1 (en) * | 2014-01-28 | 2015-07-30 | Altek Semiconductor Corp. | Image capturing device and method for detecting image deformation thereof |
| CN105118055A (en) * | 2015-08-11 | 2015-12-02 | 北京电影学院 | Camera positioning correction calibration method and system |
| CN106600644A (en) * | 2016-11-16 | 2017-04-26 | 深圳六滴科技有限公司 | Parameter correction method and device of panoramic camera |
| CN106909223A (en) * | 2017-02-28 | 2017-06-30 | 杭州乐见科技有限公司 | Camera orientation amendment method and device based on 3D scenes |
-
2017
- 2017-12-18 CN CN201711366453.6A patent/CN108282651A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1909590A (en) * | 2005-08-04 | 2007-02-07 | 卡西欧计算机株式会社 | Image-capturing apparatus, image correction method and program |
| US20110128388A1 (en) * | 2009-12-01 | 2011-06-02 | Industrial Technology Research Institute | Camera calibration system and coordinate data generation system and method thereof |
| CN103718213A (en) * | 2012-01-13 | 2014-04-09 | 索弗特凯耐提克软件公司 | Automatic scene calibration |
| CN104756154A (en) * | 2012-11-02 | 2015-07-01 | 高通股份有限公司 | Reference coordinate system determination |
| US20150213588A1 (en) * | 2014-01-28 | 2015-07-30 | Altek Semiconductor Corp. | Image capturing device and method for detecting image deformation thereof |
| CN105118055A (en) * | 2015-08-11 | 2015-12-02 | 北京电影学院 | Camera positioning correction calibration method and system |
| CN106600644A (en) * | 2016-11-16 | 2017-04-26 | 深圳六滴科技有限公司 | Parameter correction method and device of panoramic camera |
| CN106909223A (en) * | 2017-02-28 | 2017-06-30 | 杭州乐见科技有限公司 | Camera orientation amendment method and device based on 3D scenes |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020124995A1 (en) * | 2018-12-20 | 2020-06-25 | 北京字节跳动网络技术有限公司 | Palm normal vector determination method, device and apparatus, and storage medium |
| CN110490965A (en) * | 2019-08-19 | 2019-11-22 | 深圳天际云数字技术有限公司 | A kind of method and system of 3D model browsing |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10223767B2 (en) | Facial feature liquifying using face mesh | |
| US9448689B2 (en) | Wearable user device enhanced display system | |
| US10319104B2 (en) | Method and system for determining datum plane | |
| US20180300537A1 (en) | Image deformation processing method and apparatus, and computer storage medium | |
| US8368714B2 (en) | Curved surface rendering system and method | |
| JP5873362B2 (en) | Gaze error correction apparatus, program thereof, and method thereof | |
| US20210358093A1 (en) | Method and device of correcting image distortion, display device, computer readable medium, electronic device | |
| CN108897836A (en) | A kind of method and apparatus of the robot based on semantic progress map structuring | |
| CN110530356B (en) | Pose information processing method, device, equipment and storage medium | |
| CN113077548B (en) | Collision detection method, device, equipment and storage medium for object | |
| CN107396097A (en) | A kind of method and apparatus of the parallax test of virtual reality device | |
| CN109696953A (en) | The method, apparatus and virtual reality device of virtual reality text importing | |
| CN108282651A (en) | Antidote, device and the virtual reality device of camera parameter | |
| US11107267B2 (en) | Image generation apparatus, image generation method, and program | |
| CN109685764A (en) | Design directional method, device and terminal device | |
| CN108182723A (en) | Star field simulation method and star field simulation device | |
| CN105224084B (en) | Determine the method and device of virtual article position in Virtual Space | |
| JP6852224B2 (en) | Sphere light field rendering method in all viewing angles | |
| CN110837326A (en) | Three-dimensional target selection method based on object attribute progressive expression | |
| KR20140098592A (en) | An apparatus and method for deciding and changing inner and outer surfaces of meshes on the time of surface generation | |
| JP4125251B2 (en) | Information processing method and apparatus | |
| CN116109803B (en) | Information construction method, device, equipment and storage medium | |
| JP2017096656A (en) | Pose measurement device, method and program | |
| Stastny et al. | Augmented reality usage for prototyping speed up | |
| CN115278203A (en) | Calibration method and calibration device for virtual reality equipment and calibration robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180713 |