CN109766001A - A kind of unified approach, system and the storage medium of difference MR device coordinate system - Google Patents
A kind of unified approach, system and the storage medium of difference MR device coordinate system Download PDFInfo
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- CN109766001A CN109766001A CN201811642044.9A CN201811642044A CN109766001A CN 109766001 A CN109766001 A CN 109766001A CN 201811642044 A CN201811642044 A CN 201811642044A CN 109766001 A CN109766001 A CN 109766001A
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Abstract
The present invention relates to unified approach, system and the storage mediums of a kind of difference MR device coordinate system, unified approach includes: to obtain relative position and rotation information of each scaling board in pre-set space relative to datum mark using any point of pre-set space as datum mark；Each MR equipment is bound with corresponding scaling board；It establishes using datum mark as the global coordinate system of origin；The original coordinate system of each MR equipment is corresponded into relative position and rotation information is unified into global coordinate system.The embodiment of the present invention in pre-set space by being arranged scaling board and datum mark, MR equipment is bound with scaling board, position of each MR equipment in the global coordinate system established using fiducial mark fixed board as origin is determined by the relative position and rotation information of scaling board and datum mark, MR equipment is corresponded to same into global coordinate system, realizes different MR equipment and interacted in Same Scene.
Description
Technical field
The present invention relates to technical field of virtual reality more particularly to a kind of unified approach of difference MR device coordinate system, it is
System and storage medium.
Background technique
Real (Mediated Reality) is mediated, is mentioned by " father of Intelligent hardware " University of Toronto professor Steve Mann
Mediation reality out, full name Mediated Reality (abbreviation MR).VR is pure virtual digit picture, including AR
Mixed Reality is virtual digit picture+naked eye reality, and MR is digitlization reality+virtual digit picture.
The picture that digitlization reality can directly acquire in real-time scene is handled to obtain, but in same scene not
The position of shown virtual digit picture needs to be determined according to the positional relationship between each MR equipment in same MR equipment,
Due to there is the coordinate setting mode of oneself in each MR equipment, mutual position not can determine that between different MR equipment
Relationship is set, the case where virtual digit picture shown in each MR equipment can not be confirmed by leading to server so also.
Summary of the invention
Of the existing technology in order to solve the problems, such as, at least one embodiment of the present invention provides a kind of difference MR equipment
Unified approach, system and the storage medium of coordinate system.
In a first aspect, the embodiment of the invention provides a kind of unified approach of difference MR device coordinate system, the unification side
Method includes:
Using any point of pre-set space as datum mark, each scaling board in the pre-set space is obtained relative to institute
State relative position and the rotation information of datum mark；
Each MR equipment is bound with the corresponding scaling board；
It establishes using the datum mark as the global coordinate system of origin；
The original coordinate system of each MR equipment is corresponded into the relative position and rotation information is unified to the overall situation
In coordinate system.
Based on the above-mentioned technical proposal, the embodiment of the present invention can also make following improvement.
With reference to first aspect, each in the acquisition pre-set space in the first embodiment of first aspect
Relative position and rotation information of the scaling board relative to the datum mark, comprising:
Any MR equipment is placed on the datum mark of the pre-set space, the base is recorded by the MR equipment
Datum mark posture information on schedule；
The MR equipment is placed sequentially on each scaling board, each calibration is recorded by the MR equipment
The scaling board posture information of plate；
Each scaling board is calculated relative to institute by the datum mark posture information and the scaling board posture information
State relative position and the rotation information of datum mark.
With reference to first aspect, in second of embodiment of first aspect, the unified approach further include:
The original coordinate system of each MR equipment is bound with the corresponding relative position and rotation information,
And generate corresponding conversion file.
With reference to first aspect or the first or second kind embodiment of first aspect, in the third embodiment of first aspect
In, it is described to bind each MR equipment with the corresponding scaling board, comprising:
On the correspondence scaling board that each MR equipment is placed individually into the pre-set space；
The scaling board that each MR equipment is placed with the MR equipment is bound.
Second aspect, the embodiment of the invention provides a kind of integrated system of difference MR device coordinate system, the coordinate systems
Integrated system include processor, memory；The processor is used to execute the unification of the coordinate system stored in the memory
Program, to realize the unified approach of coordinate system described in any embodiment in first aspect.
The third aspect, the embodiment of the invention provides a kind of computer can storage medium, the computer can storage medium
It is stored with one or more program, one or more of programs can be executed by one or more processor, to realize
The unified approach of coordinate system described in any embodiment in first aspect.
Above-mentioned technical proposal of the invention has the advantages that the embodiment of the present invention passes through default compared with prior art
Scaling board and datum mark are set in space, MR equipment is bound with scaling board, passes through the opposite position of scaling board and datum mark
It sets and determines position of each MR equipment in the global coordinate system established using fiducial mark fixed board as origin with rotation information, MR is set
Standby correspondence is same into global coordinate system, realizes different MR equipment and interacts in Same Scene.
Detailed description of the invention
Fig. 1 is that the embodiment of the invention provides a kind of unified approach flow diagrams of difference MR device coordinate system；
Fig. 2 is that another embodiment of the present invention provides a kind of unified approach flow diagrams of difference MR device coordinate system；
Fig. 3 is that further embodiment of this invention provides a kind of integrated system structural schematic diagram of difference MR device coordinate system.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As shown in Figure 1, a kind of unified approach of difference MR device coordinate system provided in an embodiment of the present invention, unified approach packet
It includes:
S11, using any point of pre-set space as datum mark, obtain each scaling board in pre-set space relative to base
Relative position and rotation information on schedule.
In this city embodiment, VR is pure virtual digit picture, and AR virtual digit picture is real plus naked eye, and MR is several
Word reality adds virtual digit picture.Conceptually, MR and AR is more closely, be the virtual shadow of half reality half
Picture, but tradition AR Technology application lens optical principle reflects reality imagery, and visual angle is big not as good as the visual angle VR, and clarity also will receive shadow
It rings.Due to still having part reality scene in MR equipment, the partial virtual image needs in MR equipment are re-established, and are obtained and are used
Multiple scaling boards are fixedly mounted as datum mark in any point in pre-set space locating for family in pre-set space, obtain every
Relative position and rotation information of a scaling board relative to datum mark, for example, orientation and and base of the scaling board relative to datum mark
The information such as spacing on schedule.
S12, each MR equipment is bound with corresponding scaling board.
In this city embodiment, MR equipment is bound with corresponding scaling board, i.e., by the original pose of MR equipment
Information binds the posture information of corresponding scaling board, for example MR equipment coordinate obtained in the coordinate positioning of itself is A,
Then the posture information of A coordinate and scaling board is bound.
S13, it establishes using datum mark as the global coordinate system of origin.
In the present embodiment, using datum mark as origin, the reference axis of 3 D stereo coordinate system can be any direction, but coordinate
After the direction of axis is once determine, the direction of the 3 D stereo coordinate system should be fixed, in guarantee pre-set space each mark
The coordinate of fixed board will not change again, in the present embodiment, coordinate B of the scaling board in global coordinate system, above-described embodiment
It is middle to bind MR equipment with corresponding scaling board, it can also be the coordinate A by MR equipment in the coordinate positioning of itself and sit
Mark B is bound.
S14, the original coordinate system of each MR equipment is corresponded to relative position and rotation information unification into global coordinate system.
In the present embodiment, since each MR equipment is bound with corresponding scaling board, so, scaling board
The original coordinate system of each MR equipment is corresponded to the relative position of scaling board and rotation is believed by the coordinate i.e. true coordinate of the MR equipment
Breath is unified into global coordinate system, realizes the determination of the positional relationship between different MR equipment, facilitates different MR equipment same
It is interacted in one scene.
In the present embodiment, Same Way further include: by the original coordinate system of each MR equipment and corresponding opposite position
It sets and is bound with rotation information, and generate corresponding conversion file, generate corresponding convert file, convenient for being moved in MR equipment
When dynamic, Real-time Feedback is carried out in global coordinate system in time, control virtual scene carries out corresponding change.
In the present embodiment, posture information is exactly respective positions information and rotation attitude information.In the present embodiment
Relative position is similar with rotation information.
As shown in Fig. 2, the embodiment of the invention provides a kind of unified approach of difference MR device coordinate system, comprising:
S21, any MR equipment is placed on the datum mark of pre-set space, the datum mark of datum mark is recorded by MR equipment
Posture information.
In the present embodiment, since MR equipment all has the coordinate positioning of itself, MR equipment is placed on
The datum mark posture information an of datum mark can be provided on datum mark, in MR equipment, for example, in the original coordinate system of the MR equipment
In a three-dimensional coordinate.
S22, MR equipment is placed sequentially on each scaling board, the scaling board position of each scaling board is recorded by MR equipment
Appearance information.
Similarly, mobile MR equipment is placed sequentially on scaling board, and a mark is had in the original coordinate system of the MR equipment
The three-dimensional coordinate of fixed board.
S23, phase of each scaling board relative to datum mark is calculated by datum mark posture information and scaling board posture information
To position and rotation information.
In the present embodiment, scaling board can be calculated according to the three-dimensional coordinate of the three-dimensional coordinate of datum mark and scaling board
Relative position and rotation information relative to datum mark.
S24, each MR equipment is bound with corresponding scaling board.
In this city embodiment, MR equipment is bound with corresponding scaling board, i.e., by the original pose of MR equipment
Information binds the posture information of corresponding scaling board, for example MR equipment coordinate obtained in the coordinate positioning of itself is A,
Then the posture information of A coordinate and scaling board is bound.
S25, it establishes using datum mark as the global coordinate system of origin.
In the present embodiment, using datum mark as origin, the reference axis of 3 D stereo coordinate system can be any direction, but coordinate
After the direction of axis is once determine, the direction of the 3 D stereo coordinate system should be fixed, in guarantee pre-set space each mark
The coordinate of fixed board will not change again, in the present embodiment, coordinate B of the scaling board in global coordinate system, above-described embodiment
It is middle to bind MR equipment with corresponding scaling board, it can also be the coordinate A by MR equipment in the coordinate positioning of itself and sit
Mark B is bound.
S26, the original coordinate system of each MR equipment is corresponded to relative position and rotation information unification into global coordinate system.
In the present embodiment, since each MR equipment is bound with corresponding scaling board, so, scaling board
The original coordinate system of each MR equipment is corresponded to the relative position of scaling board and rotation is believed by the coordinate i.e. true coordinate of the MR equipment
Breath is unified into global coordinate system, realizes the determination of the positional relationship between different MR equipment, facilitates different MR equipment same
It is interacted in one scene.
As shown in figure 3, the embodiment of the invention provides a kind of integrated system of difference MR device coordinate system, the system of coordinate system
One system includes processor, memory；Processor is used to execute the consolidator of the coordinate system stored in memory, on realizing
State the unified approach of the coordinate system of any embodiment.
To in above-described embodiment system or device provide for recording the software of the function that above-described embodiment may be implemented
The storage medium of the program code of program, and read and execute by the computer (or CPU or MPU) of system or device and be stored in
Program code in storage medium.
In this case, the function of above-described embodiment is executed from the program code itself that storage medium is read, and stored
The storage medium of program code constitutes the embodiment of the present invention.
As for providing the storage medium of program code, for example, floppy disk, hard disk, CD, magneto-optic disk, CD-ROM, CD-R,
Tape, Nonvolatile memory card, ROM, and the like can use.
The function of above-described embodiment can not only realize by executing the program code read by computer, Er Qieke
To pass through at some or all of reality of the OS (operating system) run on computers according to the instruction execution of program code
Reason operation is to realize.
In addition, being write in the program code read from storage medium the embodiment of the invention also includes such a case
Enter to be inserted into after the function expansion card of computer, or depositing of providing in the functional expansion unit being connected with computer is provided
After reservoir, CPU for including in function expansion card or functional expansion unit or the like is executed according to the order of program code
Part processing or all processing, to realize the function of above-described embodiment.
The embodiment of the invention also provides a kind of computer can storage medium, computer can storage medium be stored with one or
The multiple programs of person, one or more program can be executed by one or more processor, to realize any of the above-described embodiment
The unified approach of coordinate system.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (6)
1. a kind of unified approach of difference MR device coordinate system, which is characterized in that the unified approach includes:
Using any point of pre-set space as datum mark, each scaling board in the pre-set space is obtained relative to the base
Relative position and rotation information on schedule；
Each MR equipment is bound with the corresponding scaling board；
It establishes using the datum mark as the global coordinate system of origin；
The original coordinate system of each MR equipment is corresponded into the relative position and rotation information is unified to the world coordinates
In system.
2. a kind of unified approach of difference MR device coordinate system according to claim 1, which is characterized in that the acquisition institute
State relative position and rotation information of each scaling board in pre-set space relative to the datum mark, comprising:
Any MR equipment is placed on the datum mark of the pre-set space, the datum mark is recorded by the MR equipment
Datum mark posture information；
The MR equipment is placed sequentially on each scaling board, each scaling board is recorded by the MR equipment
Scaling board posture information；
Each scaling board is calculated relative to the base by the datum mark posture information and the scaling board posture information
Relative position and rotation information on schedule.
3. a kind of unified approach of difference MR device coordinate system according to claim 1, which is characterized in that the unification side
Method further include:
The original coordinate system of each MR equipment is bound with the corresponding relative position and rotation information, and raw
At corresponding convert file.
4. the unified approach of any a kind of difference MR device coordinate system according to claim 1~3, which is characterized in that
It is described to bind each MR equipment with the corresponding scaling board, comprising:
On the correspondence scaling board that each MR equipment is placed individually into the pre-set space；
The scaling board that each MR equipment is placed with the MR equipment is bound.
5. a kind of integrated system of difference MR device coordinate system, which is characterized in that the integrated system of the coordinate system includes processing
Device, memory；The processor is used to execute the consolidator of the coordinate system stored in the memory, to realize claim
The unified approach of coordinate system described in any one of 1~4.
6. a kind of computer can storage medium, which is characterized in that the computer can storage medium be stored with one or more
Program, one or more of programs can be executed by one or more processor, any in Claims 1 to 4 to realize
The unified approach of coordinate system described in.
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| CN201811642044.9A CN109766001B (en) | 2018-12-29 | 2018-12-29 | Method and system for unifying coordinate systems of different MR devices and storage medium |
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| CN201811642044.9A CN109766001B (en) | 2018-12-29 | 2018-12-29 | Method and system for unifying coordinate systems of different MR devices and storage medium |
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| CN113763464A (en) * | 2020-06-01 | 2021-12-07 | 北京凌宇智控科技有限公司 | Course angle calibration method, positioning device and positioning system |
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