CN110160749B - Calibration device and calibration method applied to augmented reality equipment - Google Patents
Calibration device and calibration method applied to augmented reality equipment Download PDFInfo
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- CN110160749B CN110160749B CN201910489826.1A CN201910489826A CN110160749B CN 110160749 B CN110160749 B CN 110160749B CN 201910489826 A CN201910489826 A CN 201910489826A CN 110160749 B CN110160749 B CN 110160749B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/30—Image reproducers
- H04N13/327—Calibration thereof
Abstract
The application discloses be applied to calibrating device and calibration method of augmented reality equipment, augmented reality equipment includes first augmented reality equipment and second augmented reality equipment, be applied to calibrating device of augmented reality equipment and include calibration camera, adjusting device, calibration screen and controller, the controller passes through the calibration camera is received the projection image that augmented reality equipment sent, and the adjustment adjusting device is right augmented reality equipment adjusts, realizes the image fusion calibration of augmented reality equipment. The application provides a calibration device and a calibration method applied to augmented reality equipment, and solves the problems that in the prior art, no uniform calibration standard exists for calibrating the augmented reality equipment, and the yield of the augmented reality equipment is influenced.
Description
Technical Field
The present application relates to the field of optical calibration technologies, and in particular, to a calibration device and a calibration method applied to an augmented reality device.
Background
At present, augmented reality equipment is towards big visual field, the small-size, but the volume production direction develops rapidly, present augmented reality equipment all need fuse the image of controlling the eye through the calibration, among the prior art, the image calibration of eyes about augmented reality equipment mainly goes on through inspection personnel's eyes subjectively, different measurement personnel use the time difference of augmented reality equipment, can have great error to the degree that the image fuses, consequently, can't realize unified calibration standard, thereby can reduce the yield of augmented reality equipment.
Disclosure of Invention
The application provides a calibration device and a calibration method applied to augmented reality equipment, and aims to solve the problems that in the prior art, no uniform calibration standard exists for calibrating the augmented reality equipment, and the yield of the augmented reality equipment is influenced.
The application proposes a calibration device for an augmented reality apparatus, the augmented reality apparatus comprising a first augmented reality device and a second augmented reality device,
the calibration device applied to the augmented reality equipment comprises:
a calibration camera comprising a first calibration camera and a second calibration camera; the first calibration camera is arranged side by side with the second calibration camera, and the first calibration camera is used for receiving a first projection image of the first augmented reality device; the second calibration camera to receive a second projection image of the second augmented reality device;
the adjusting device comprises a first adjusting device and a second adjusting device; the first adjusting device is connected with the first augmented reality equipment; the second adjusting device is connected with the second augmented reality equipment;
the calibration screen is arranged on one side, far away from the first calibration camera, of the first augmented reality device;
a controller communicatively connected with the first calibration camera and the second calibration camera.
Optionally, the perpendicular to the middle point of the connection line of the first augmented reality device and the second augmented reality device is collinear with the center perpendicular of the calibration screen.
Optionally, the calibration apparatus applied to the augmented reality device further includes:
a calibration lens comprising a first calibration lens and a second calibration lens; the first calibration lens is arranged between the first augmented reality device and the first calibration camera; the second calibration lens is disposed between the second augmented reality device and the second calibration camera.
Optionally, the first calibration lens is equidistant from the first augmented reality device and the second calibration lens is equidistant from the second augmented reality device; the optical axis of first calibration camera lens with the axis collineation of first augmented reality equipment, the optical axis of second calibration camera lens with the axis collineation of second augmented reality equipment.
Optionally, the first augmented reality device includes a first projector light machine and a first waveguide, and the second augmented reality device includes a second projector light machine and a second waveguide;
the first waveguide is arranged on one side, close to the calibration screen, of the first projector;
the second waveguide is arranged on one side, close to the calibration screen, of the second projector;
the first waveguide comprises a first input end and a first output end;
the second waveguide comprises a second input end and a second output end;
the projection direction of the first projector points to the first input end;
the information acquisition direction of the first calibration lens points to the first output end;
the projection direction of the second projector points to the second input end;
and the information acquisition direction of the second calibration lens points to the second output end.
Optionally, a resolution of the first calibration camera is greater than a projection resolution of the first projector light machine; the resolution of the second calibration camera is greater than the projection resolution of the second light projector.
In order to achieve the above object, the present application provides a calibration method applied to an augmented reality device, where the augmented reality device includes a first augmented reality device and a second augmented reality device, the calibration method is applied to a calibration apparatus, and the calibration apparatus includes:
the adjusting device comprises a first adjusting device and a second adjusting device; the first adjusting device is connected with the first augmented reality equipment; the second adjusting device is connected with the second augmented reality equipment;
a calibration camera comprising a first calibration camera and a second calibration camera;
the calibration screen is arranged on one side, far away from the calibration camera, of the augmented reality device;
the calibration method applied to the augmented reality equipment comprises the following steps:
controlling the first augmented reality device to project a first projection image, and controlling the second augmented display device to project a second projection image;
acquiring the first projection image and a first calibration image by the first calibration camera, and acquiring the second projection image and the second calibration image by the second calibration camera, wherein the first calibration image is an image of the calibration screen acquired by the first calibration camera, and the second calibration image is an image of the calibration screen acquired by the second calibration camera;
and moving the first projection image to a first calibration position and moving the second projection image to a second calibration position by adjusting the first adjusting device and the second adjusting device.
Optionally, the first augmented reality device includes a first projection light machine and a first waveguide, the second augmented reality device includes a second projection light machine and a second waveguide, the controlling the first augmented reality device to project the first projection image and the controlling the second augmented reality device to project the second projection image includes:
controlling the first projection light machine to emit the first projection image and the second projection light machine to emit the second projection image;
controlling an input end of the first waveguide to receive the first projected image and an input end of the second waveguide to receive the second projected image;
controlling an output of the first waveguide to output the first projected image to the first calibration camera and an output of the second waveguide to output the second projected image to the second calibration camera.
Optionally, the moving the first projection image to the first calibration position and the moving the second projection image to the second calibration position by adjusting the first adjusting device and the second adjusting device includes:
acquiring a first position of the first projection image on the first calibration image, and determining a first displacement;
acquiring a second position of the second projection image on the second calibration image, and determining a second displacement;
and adjusting the first adjusting device and the second adjusting device according to the first displacement and the second displacement to move the first projection image to the first calibration position and move the second projection image to the second calibration position.
Optionally, the first augmented reality device includes a first projector light and a first waveguide, the second augmented reality device includes a second projector light and a second waveguide, and the adjusting the first adjusting device and the second adjusting device according to the first displacement and the second displacement to move the first projection image to the first calibration position and to move the second projection image to the second calibration position includes:
adjusting the position and the angle of the first projector through the first adjusting device to move the first projection image to a first calibration position on the first calibration image;
and adjusting the position and the angle of the second projector through the second adjusting device to enable the second projection image to move to a second calibration position on the second calibration image.
Optionally, the first augmented reality device includes a first projector light and a first waveguide, the second augmented reality device includes a second projector light and a second waveguide, and the adjusting the first adjusting device and the second adjusting device according to the first displacement and the second displacement to move the first projection image to the first calibration position and move the second projection image to the second calibration position further includes:
adjusting the position and the angle of the first waveguide through the first adjusting device to move the first projection image to a first calibration position on the first calibration image;
adjusting the position and angle of the second waveguide by the second adjusting device to move the second projection image to a second calibration position on the second calibration image.
Optionally, the first calibration position is a center of the first calibration image and the second calibration position is a center of the second calibration image.
In the technical scheme that this application provided, be applied to calibrating device of augmented reality equipment and be applied to augmented reality equipment, augmented reality equipment includes first augmented reality equipment and second augmented reality equipment, be applied to calibrating device of augmented reality equipment and include: the calibration camera comprises a first calibration camera and a second calibration camera; the adjusting device comprises a first adjusting device and a second adjusting device, the adjusting device is used for adjusting the position of the augmented reality equipment, and the calibration screen is arranged on one side, far away from the first calibration camera, of the first augmented reality equipment; and controlling a projected image received by the calibration camera through the controller, and adjusting the adjusting device according to the projected image. Through adjusting device with the calibration camera makes augmented reality equipment can calibrate according to unified calibration requirement, and then avoids detecting image fusion through the measurement personnel and detects subjectively, has solved among the prior art and has not unified calibration standard to the calibration of augmented reality equipment, reduces the problem of augmented reality equipment yield.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic side view of a calibration device applied to an augmented reality apparatus according to the present invention;
FIG. 2 is a schematic top view of a calibration apparatus for augmented reality devices according to the present invention;
fig. 3 is a schematic structural diagram of an embodiment of a calibration apparatus applied to an augmented reality device according to the present invention;
fig. 4 is a schematic structural diagram of a calibration apparatus applied to an augmented reality device according to another embodiment of the present invention;
FIG. 5 is a flowchart illustrating an embodiment of a calibration method applied to an augmented reality device according to the present invention;
fig. 6 is a schematic flowchart of a calibration method applied to an augmented reality device according to another embodiment of the present invention;
fig. 7 is a flowchart illustrating a calibration method applied to an augmented reality device according to another embodiment of the present invention.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 10 | Augmented |
40 | |
| 11 | First augmented |
50 | |
| 12 | Second augmented |
51 | First schoolQuasi- |
| 20 | Calibrating camera | 52 | |
| 21 | |
111 | First |
| 22 | |
112 | |
| 30 | Adjusting |
121 | Second |
| 31 | First adjusting |
122 | |
| 32 | Second adjusting device |
The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
It should be noted that all directional indicators (such as up, down, left, right, front, and back \8230;) in the embodiments of the present application are only used to explain the relative positional relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicators are correspondingly changed.
In addition, descriptions in this application as to "first", "second", etc. are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.
In this application, unless expressly stated or limited otherwise, the terms "connected," "secured," and the like are to be construed broadly, and thus, for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In addition, technical solutions between the various embodiments of the present application may be combined with each other, but it must be based on the realization of the technical solutions by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should be considered to be absent and not within the protection scope of the present application.
The application provides a calibration device and a calibration method applied to augmented reality equipment.
Referring to fig. 1 to 4, the augmented reality device 10 includes a first augmented reality device 11 and a second augmented reality device 12,
the calibration device applied to the augmented reality equipment comprises:
a calibration camera 20, the calibration camera 20 comprising a first calibration camera 21 and a second calibration camera 22; the first calibration camera 21 is arranged side by side with the second calibration camera 22, the first calibration camera 21 is configured to receive a first projection image of the first augmented reality device 11; the second calibration camera 22 is for receiving a second projection image of the second augmented reality device 12;
an adjusting device 30, wherein the adjusting device 30 comprises a first adjusting device 31 and a second adjusting device 32; the first adjusting device 31 is connected to the first augmented reality device 11; the second adjusting device 32 is connected to the second augmented reality device 12;
the calibration screen 40, where the calibration screen 40 is disposed on a side of the first augmented reality device 11 away from the first calibration camera 21;
a controller communicatively connected with the first calibration camera 21 and the second calibration camera 22.
In the technical scheme that this application provided, be applied to calibrating device of augmented reality equipment and be applied to augmented reality equipment 10, augmented reality equipment 10 includes first augmented reality equipment 11 and second augmented reality equipment 12, be applied to calibrating device of augmented reality equipment and include: a calibration camera 20, an adjustment device 30 and a controller (not shown), the calibration camera 20 comprising a first calibration camera 21 and a second calibration camera 22; the adjusting device 30 includes a first adjusting device 31 and a second adjusting device 32, the adjusting device 30 is used for adjusting the position of the augmented reality device 10, and the calibration screen 40 is disposed on a side of the first augmented reality device 11 away from the first calibration camera 21; the controller controls the projected image received by the calibration camera 20 and adjusts the adjusting means 30 in accordance with the projected image. Through adjusting device 30 with calibration camera 20 makes augmented reality equipment 10 can calibrate according to unified calibration requirement, and then avoids detecting image fusion through the measurement personnel and detects subjectively, has solved among the prior art and has not unified calibration standard to augmented reality equipment 10's calibration, reduces the problem of augmented reality equipment yield.
In a specific embodiment, when calibrating the augmented reality device 10, the calibration apparatus applied to the augmented reality device determines the relative positions of the first projection image received by the first calibration camera 21 and the second projection image received by the second calibration camera 22 in the first calibration camera 21 and the second calibration camera 22 by receiving the first projection image, the second projection image and the image of the calibration screen 40, so as to facilitate the adjustment of the first adjustment apparatus 31 and the second adjustment apparatus 32.
In a preferred embodiment, the center vertical line of the calibration screen 40 is collinear with the vertical line of the middle point of the connecting line of the first augmented reality device 11 and the second augmented reality device 12, so that the projection image of the first augmented reality device 11 and the projection image of the second augmented reality device 12 can be both located on the calibration screen 40.
In an embodiment, an error scale mark for calibrating the augmented reality device 10 is provided at the center of the calibration screen 40, and the error scale mark is used for determining the distance between the first projection image and the second projection image from the center of the calibration screen 40, so as to determine the fusion degree of the first projection image and the second projection image.
In another embodiment, the first projection image and the second projection image are the same, and preferably, both the first projection image and the second projection image are cross lines, so that a calibration staff can adjust the first adjusting device 31 and the second adjusting device 32 according to the transverse and longitudinal distances between the first projection image and the second projection image, thereby simplifying the adjustment process of the adjusting device 30.
The calibration device applied to the augmented reality equipment further comprises: a calibration lens 50, the calibration lens 50 including a first calibration lens 51 and a second calibration lens 52; the first calibration lens 51 is disposed between the first augmented reality device 11 and the first calibration camera 21; the second calibration lens 52 is disposed between the second augmented reality device 12 and the second calibration camera 22. Specifically, the first calibration lens 51 is configured to enable the first calibration camera 21 to receive the first clear projection image, and the second calibration lens 52 is configured to enable the second calibration camera 22 to receive the second clear projection image, so as to facilitate calibration of the calibration apparatus applied to the augmented reality device.
In some optional embodiments, in order to fuse the left and right eye images in the augmented reality device 10, the augmented reality device 10 is calibrated by simulating human eyes through the calibration lens 50 and the calibration camera 20, so that the distance between the first calibration lens 51 and the first augmented reality device 11 and the distance between the second calibration lens 52 and the second augmented reality device 12 are set to be equal for simulating the actual distance between human eyes and the augmented reality device 10. It can be understood that, in order to accurately simulate the human eye to receive the image projected by the augmented reality device 10, the optical axis of the first calibration lens 51 is arranged to be collinear with the central axis of the first augmented reality device 11, and the optical axis of the second calibration lens 52 is arranged to be collinear with the central axis of the second augmented reality device 12, so as to ensure that the projected image of the first augmented reality device 11 and the second augmented reality device 12 can be accurately received by the left eye and the right eye.
In some optional embodiments, the augmented reality device 10 is a grating waveguide type augmented reality device 10, wherein the first augmented reality device 11 includes a first projection light machine 111 and a first waveguide 112, the second augmented reality device 12 includes a second projection light machine 121 and a second waveguide 122, during the projection imaging process of the first augmented reality device 11, an image projected by the first projection light machine 111 is transmitted to an input end of the first waveguide 112, and a projected image is transmitted from an output end of the waveguide to the first calibration camera 21 through the first calibration lens 51, and the first calibration camera 21 acquires an image of the calibration screen 40 at the same time except for receiving the projected image of the first projection light machine 111; on the same principle, the second calibration camera 22 receives the projected image of the second light projector 121 and the image of the calibration screen 40.
Specifically, in an embodiment, the first waveguide 112 is disposed on a side of the first projector 111 close to the calibration screen 40, a projection direction of the first projector 111 points to an input end of the first waveguide 112, and an output end of the first waveguide 112 points to an optical axis direction of the first calibration lens 51 and a receiving direction of the first calibration camera 21. The second waveguide 122 is disposed on a side of the second optical projector 121 close to the calibration screen 40, a projection direction of the second optical projector 121 points to an input end of the second waveguide 122, and an output end of the second waveguide 122 points to an optical axis direction of the second calibration lens 52 and a receiving direction of the second calibration camera 22.
In a preferred embodiment, the resolution of the first calibration camera 21 is greater than the projection resolution of the first projector engine 111; the resolution of the second calibration camera 22 is greater than the projection resolution of the second light projector 121. Specifically, when the resolution of the first calibration camera 21 is smaller than the projection resolution of the first projection light machine 111, when the first augmented reality device 11 is calibrated, the calibration precision of the calibration apparatus applied to the augmented reality device is limited by the camera resolution of the first calibration camera 21, so that the projection precision requirement of the augmented reality device 10 cannot be met; in the same way, when the resolution of the second calibration camera 22 is smaller than the second projector 121, the calibration accuracy of the adjusting apparatus 30 applied to the augmented reality device 10 is limited by the camera resolution of the second calibration camera 22, and the projection accuracy requirement of the augmented reality device 10 cannot be met.
Referring to fig. 5, to achieve the above object, the present application provides a calibration method applied to an augmented reality device 10, wherein the augmented reality device 10 includes a first augmented reality device 11 and a second augmented reality device 12, the calibration apparatus applied to the augmented reality device includes an adjusting apparatus 30, a calibration camera 20 and a controller, the adjusting apparatus 30 includes a first adjusting apparatus 31 and a second adjusting apparatus 32; the first adjusting device 31 is connected to the first augmented reality device 11; the second adjusting device 32 is connected to the second augmented reality device 12; the calibration camera 20 comprises a first calibration camera 21 and a second calibration camera 22; the first calibration camera 21 is configured to receive a first projection image of the first augmented reality device 11 and a first calibration image of the calibration screen 40; the second calibration camera 22 is configured to receive a second projection image of the second augmented reality device 12 and a second calibration image of the calibration screen 40; the controller is used for being connected with the first calibration camera 21 and the second calibration camera 22 in a communication manner, and is used for controlling the first calibration camera 21 to receive the first projection image and the second calibration camera 22 to receive the second projection image, it is understood that, in another preferred embodiment, the controller is also connected with the first adjusting device 31 and the second adjusting device 32 in a communication manner besides being connected with the first calibration camera 21 and the second calibration camera 22 in a communication manner, and the controller is used for controlling the adjusting processes of the first adjusting device 31 and the second adjusting device 32; the calibration method applied to the augmented reality equipment comprises the following steps:
s100, controlling the first augmented reality device 11 to project a first projection image, and controlling the second augmented reality device 12 to project a second projection image;
s200, acquiring the first projection image and a first calibration image by the first calibration camera 21, and acquiring the second projection image and the second calibration image by the second calibration camera 22, wherein the first calibration image is an image of the calibration screen 40 acquired by the first calibration camera 21, and the second calibration image is an image of the calibration screen 40 acquired by the second calibration camera 22;
s300, by adjusting the first adjusting device 31 and the second adjusting device 32, the first projection image is moved to a first calibration position, and the second projection image is moved to a second calibration position.
Wherein the first calibration position is a position that can be captured by the first calibration camera 21, and the second calibration position is a position that can be captured by the second calibration camera 22. In a preferred embodiment, the first calibration position is the center of the first calibration image and the second calibration position is the center of the second calibration image.
In some optional embodiments, the first adjusting device 31 is a three-degree-of-freedom or six-degree-of-freedom adjusting device for adjusting the position and the angle of the first augmented reality apparatus 11, and the second adjusting device 32 is a three-degree-of-freedom or six-degree-of-freedom adjusting device for adjusting the position and the angle of the second augmented reality apparatus 12. The positions of the first projection image and the second projection image are adjusted by the first adjusting device 31 and the second adjusting device 32, so that the image fusion of the first augmented reality device 11 and the second augmented reality device 12 is realized.
In a specific embodiment, after the first calibration camera 21 acquires the first projection image and the second calibration camera 22 acquires the second projection image, the first adjusting device 31 and the second adjusting device 32 are adjusted according to the first projection image and the second projection image, so as to adjust the relative position of the first projection image in the first calibration image and the relative position of the second projection image in the second calibration image, and when the first projection image is located at the center of the first calibration image and the second projection image is located at the center of the second calibration image, it is determined that the calibration of the first augmented reality device 11 and the second augmented reality device 12 is completed.
Referring to fig. 6, in some optional embodiments, the augmented reality device 10 is a grating waveguide type augmented reality device 10, the first augmented reality device 11 includes a first projector 111 and a first waveguide 112, the second augmented reality device 12 includes a second projector 121 and a second waveguide 122, the calibration apparatus applied to the augmented reality device includes a calibration camera 20, the calibration camera 20 includes a first calibration camera 21 and a second calibration camera 22, and the step S100 includes:
s110, controlling the first projector 111 to emit the first projection image and the second projector 121 to emit the second projection image;
s120, controlling the input end of the first waveguide 112 to receive the first projection image and the input end of the second waveguide 122 to receive the second projection image;
s130, controlling the output end of the first waveguide 112 to output the first projection image to the first calibration camera 21 and the output end of the second waveguide 122 to output the second projection image to the second calibration camera 22.
In a specific embodiment, each of the first waveguide 112 and the second waveguide 122 includes an input end and an output end, and after the first projection image projected by the first projector engine 111 enters the input end of the first waveguide 112, the first projection image is output from the output end under the guidance of the first waveguide 112, and the first projection image is transmitted to the first calibration engine, so that the first calibration camera 21 acquires the first projection image. Likewise, the second projected image of the second light projector 121 may be transferred to the second calibration camera 22 through the second waveguide 122 in the same manner.
Referring to fig. 7, in some alternative embodiments, the calibration apparatus applied to the augmented reality device includes a calibration screen 40, where the calibration screen 40 is disposed on a side of the augmented reality device 10 away from the calibration camera 20; the step S300 includes:
s310, acquiring a first position of the first projection image on the first calibration image, and determining a first displacement;
wherein the first position represents a position of a feature point of the first projection image on the calibration screen 40, which in a preferred embodiment is a center point of the first projection image. The first displacement amount represents a relative distance of a feature point of the first projection image from the first calibration position.
S320, acquiring a second position of the second projection image on the second calibration image, and determining a second displacement;
wherein the second position represents a position of a feature point of the second projection image on the calibration screen 40, which in a preferred embodiment is a center point of the second projection image. The second displacement amount represents a relative distance of the feature point of the second projection image to the second calibration position.
S330, adjusting the first adjusting device 31 and the second adjusting device 32 according to the first displacement and the second displacement, so as to move the first projection image to the first calibration position and move the second projection image to the second calibration position.
In some optional embodiments, when the first position and the second position are not adjusted to the first calibration position and the second calibration position, which indicates that the first projection image and the second projection image received by the controller do not meet the calibration requirement for image fusion, the first adjusting device 31 and the second adjusting device 32 are adjusted to move the first projection image according to the first displacement amount and move the second projection image according to the second displacement amount, and when both the first projection image and the second projection image in the first calibration camera 21 are adjusted to the calibration positions of the corresponding calibration cameras, it is determined that the image fusion calibration of the augmented reality device 10 is completed.
In a specific embodiment, a plane coordinate system is set on the calibration screen 40, specifically, the center of the calibration screen 40 is set as a coordinate origin of the plane coordinate system, a direction of a connection line between the first projector 111 and the second projector 121 is an extending direction of a first coordinate axis of the plane coordinate system, and a direction parallel to the calibration screen 40 and perpendicular to the first coordinate axis is an extending direction of a second coordinate axis.
The first position is a first coordinate value representing a coordinate value of a feature point of the first projection image on the first calibration image, and in a preferred embodiment, the feature point is a center point of the first projection image.
The second position is a second coordinate value, and the second coordinate value is a coordinate value of a feature point of the second projection image on the second calibration image.
In another embodiment, the first projection image is a cross-shaped line graph, and the extending directions of two line segments in the cross-shaped line graph are parallel to the extending directions of the first coordinate axis and the second coordinate axis, so that the error judgment process of a calibrator on the first projection image can be simplified.
In some optional embodiments, the first coordinate value of the first projection image on the first calibration image can be changed by adjusting the first adjusting device 31, and the second coordinate value of the second projection image on the second calibration image can be changed by adjusting the second adjusting device 32. Specifically, it is preset that the coordinate values of the first calibration position and the second calibration position are both (4, 7), when the first coordinate value is (3, 5) and the second coordinate value is (4, 9), the first coordinate value may be changed to (4, 9) by adjusting the first adjusting device 31, and the second coordinate value may be changed to (4, 9) by adjusting the second adjusting device 32, so as to determine that both the first projection image and the second projection image are located at the calibration position corresponding to the calibration image.
In a preferred embodiment, the coordinate value of the calibration position is (0, 0), and when the first coordinate value is (3, 5) and the second coordinate value is (4, 7), the first adjusting device 31 and the second adjusting device 32 are respectively adjusted so that the first coordinate value is (0, 0) and the second coordinate value is (0, 0), so that both the first projection image and the second projection image are located at the center position of the corresponding calibration image on the basis that the first coordinate value and the second coordinate value are equal, which is a preferred position for calibrating the first augmented reality device 11 and the second augmented reality device 12.
In some optional embodiments, the first augmented reality device includes a first projector light and a first waveguide, the second augmented reality device includes a second projector light and a second waveguide, and the step S330 includes:
adjusting the position and angle of the first projector 111 through the first adjusting device 31, so that the first projection image is moved to a first calibration position on the first calibration image;
the second adjusting device 32 adjusts the position and the angle of the second projector 121, so that the second projection image moves to the second calibration position on the second calibration image.
In some optional embodiments, the first adjusting device 31 is connected to the first projector engine 111, and the first adjusting device 31 is configured to control a position and an angle of the first projector engine 111; the second adjusting device 32 is connected to the second projector 121, and the second adjusting device 32 is used for controlling the position and the angle of the second projector 121; when the position and the angle of the projection optical machine are adjusted, the size and the angle of the projection image of the projection optical machine entering the waveguide are changed accordingly, so that the projection image entering the calibration camera 20 can be adjusted, the first projection image and the second projection image are adjusted to the calibration position corresponding to the calibration image by adjusting the first projection optical machine and the second projection optical machine, and therefore the image fusion of the first projection image and the second projection image is realized, and the calibration process of the augmented reality device 10 is completed.
In some optional embodiments, the first augmented reality device includes a first projector and a first waveguide, the second augmented reality device includes a second projector and a second waveguide, and the step S330 further includes:
adjusting the position and angle of the first waveguide 112 by the first adjusting device 31 to move the first projection image to a first calibration position on the first calibration image;
the second projection image is moved to a second calibration position on the second calibration image by adjusting the position and angle of the second waveguide 122 by the second adjusting device 32.
In some optional embodiments, the first adjusting device 31 is connected to the first waveguide 112, and the first adjusting device 31 is used for controlling the position and the angle of the first waveguide 112; the second adjusting device 32 is connected to the second waveguide 122, and the second adjusting device 32 is used for controlling the position and the angle of the second waveguide 122; when the position and the angle of the waveguide are adjusted, the projection image output by the output end of the waveguide will also change accordingly, so that the projection image entering the calibration camera 20 can be adjusted, and the first projection image and the second projection image are adjusted to the calibration position corresponding to the calibration image by adjusting the first waveguide 112 and the second waveguide 122, thereby realizing the image fusion of the first projection image and the second projection image, and completing the calibration process of the augmented reality device 10.
In a preferred embodiment, the first calibration position is the center of the first calibration image, and the second calibration position is the center of the second calibration image, and since the center vertical line of the calibration screen 40 is collinear with the vertical line of the midpoint of the connecting lines of the first augmented reality device 11 and the second augmented reality device 12, the first projection image and the second projection image are respectively located at the centers of the first calibration image and the second calibration image, so as to conform to the observation habit of the user using the augmented reality device 10.
In some optional embodiments, the augmented reality device 10 may be an off-axis augmented reality device 10, a bird's nest augmented reality device 10, or a free-form prism augmented reality device 10 geometric waveguide type augmented reality device 10, wherein when the augmented reality device 10 does not include a waveguide, the first projection image projected by the first augmented reality device 11 is imaged on the calibration screen 40, and the second projection image projected by the second augmented reality device 12 is also imaged on the calibration screen 40. The first calibration camera 21 acquires the image of the calibration screen 40 and the first projection image, the second calibration camera 22 acquires the image of the calibration screen 40 and the second projection image, and the positions and angles of the first augmented reality device 11 and the second augmented reality device 12 are adjusted by adjusting the first adjusting device 31 and the second adjusting device 32, so as to calibrate the image fusion of the augmented reality device 10.
In some optional embodiments, the exit pupil distance of the calibration lens 50 is smaller than the eye relief distance, so as to ensure that the aperture of the calibration lens 50 does not interfere with the augmented reality device 10, and the field angle of the calibration lens 50 is larger than the monocular field angle of the augmented reality device 10.
In some optional embodiments, the first augmented reality device 11 and the second augmented reality device 12 may be two parts on the same support, or may be two devices independent of each other.
In some alternative embodiments, the first adjusting device 31 and the second adjusting device 32 may be two parts on the same bracket, or may be two independent devices.
In some optional embodiments, the calibration apparatus applied to the augmented reality device further includes a calibration lens 50, the calibration lens 50 includes a first calibration lens 51 and a second calibration lens 52, the first calibration lens 51 is used for adjusting the first projection image entering the first calibration camera 21, and the second calibration lens 52 is used for adjusting the second projection image entering the second calibration camera 22. Specifically, the calibration lens 50 may be calibrated for a specific user group, and when the human eyes of the user of the augmented reality device 10 are near-sighted, the positions of the first calibration lens 51 and the second calibration lens 52 may be individually adjusted according to the degree of the near-sightedness, so that the first calibration camera 21 and the second calibration camera 22 can both receive clear images, thereby facilitating the image fusion calibration with special requirements for the near-sighted user group.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or apparatus comprising the element.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications and equivalents of the technical solutions that are included in the present application, which are made by the present specification and the accompanying drawings, or are directly/indirectly applied to other related technical fields, are included in the scope of the present application.
Claims (11)
1. The utility model provides a calibration device for augmented reality equipment, its characterized in that, augmented reality equipment includes first augmented reality equipment and second augmented reality equipment, the calibration device for augmented reality equipment includes:
a calibration camera comprising a first calibration camera and a second calibration camera; the first calibration camera is arranged side by side with the second calibration camera;
the adjusting device comprises a first adjusting device and a second adjusting device; the first adjusting device is connected with the first augmented reality equipment; the second adjusting device is connected with the second augmented reality equipment;
a calibration lens comprising a first calibration lens and a second calibration lens; the first calibration lens is arranged between the first augmented reality device and the first calibration camera; the second calibration lens is arranged between the second augmented reality device and the second calibration camera;
the calibration screen is arranged on one side, far away from the first calibration camera, of the first augmented reality device;
the first calibration lens is used for enabling the first calibration camera to receive a first clear projection image of the first augmented reality device and a first calibration image of the calibration screen, and the second calibration lens is used for enabling the second calibration camera to receive a second clear projection image of the second augmented reality device and a second calibration image of the calibration screen so as to enable the calibration device to conduct calibration; the positions of the first calibration lens and the second calibration lens are respectively and independently adjusted based on human vision so as to calibrate the augmented reality device according to different vision requirements;
a controller communicatively connected with the first calibration camera and the second calibration camera;
wherein, after the first calibration camera acquires the first projection image and the second calibration camera acquires the second projection image, the controller adjusts the first adjusting device and the second adjusting device according to the first projection image and the second projection image so as to adjust a relative position of the first projection image in the first calibration image and a relative position of the second projection image in the second calibration image, and when the first projection image is located at a center of the first calibration image and the second projection image is located at a center of the second calibration image, it is determined that the calibration of the first augmented reality device and the second augmented reality device is completed.
2. The calibration apparatus applied to the augmented reality device according to claim 1, wherein a vertical line of a midpoint of a connecting line of the first augmented reality device and the second augmented reality device is collinear with a central vertical line of the calibration screen.
3. The calibration apparatus applied to an augmented reality device of claim 1, wherein a distance between the first calibration lens and the first augmented reality device is equal to a distance between the second calibration lens and the second augmented reality device; the optical axis of first calibration camera lens with the axis collineation of first augmented reality equipment, the optical axis of second calibration camera lens with the axis collineation of second augmented reality equipment.
4. The calibration apparatus applied to augmented reality device of claim 1, wherein the first augmented reality device comprises a first projector light and a first waveguide, and the second augmented reality device comprises a second projector light and a second waveguide;
the first waveguide is arranged on one side, close to the calibration screen, of the first projector;
the second waveguide is arranged on one side, close to the calibration screen, of the second projector;
the first waveguide comprises a first input end and a first output end;
the second waveguide comprises a second input end and a second output end;
the projection direction of the first projector points to the first input end;
the information acquisition direction of the first calibration lens points to the first output end;
the projection direction of the second projector points to the second input end;
and the information acquisition direction of the second calibration lens points to the second output end.
5. The calibration apparatus applied to the augmented reality device according to claim 4, wherein the resolution of the first calibration camera is greater than the projection resolution of the first projection light engine; the resolution of the second calibration camera is greater than the projection resolution of the second light projector.
6. A calibration method applied to an augmented reality device, wherein the augmented reality device comprises a first augmented reality device and a second augmented reality device, the calibration method is applied to a calibration apparatus, and the calibration apparatus comprises:
the adjusting device comprises a first adjusting device and a second adjusting device; the first adjusting device is connected with the first augmented reality equipment; the second adjusting device is connected with the second augmented reality equipment;
a calibration camera comprising a first calibration camera and a second calibration camera;
a calibration lens comprising a first calibration lens and a second calibration lens; the first calibration lens is arranged between the first augmented reality device and the first calibration camera; the second calibration lens is arranged between the second augmented reality device and the second calibration camera;
the calibration screen is arranged on one side, far away from the calibration camera, of the augmented reality device;
the first calibration lens is used for enabling the first calibration camera to receive a first clear projection image of the first augmented reality device and a first calibration image of the calibration screen, and the second calibration lens is used for enabling the second calibration camera to receive a second clear projection image of the second augmented reality device and a second calibration image of the calibration screen so as to enable the calibration device to perform calibration; the positions of the first calibration lens and the second calibration lens are respectively and independently adjusted based on human vision so as to calibrate the augmented reality device according to different vision requirements;
the calibration method applied to the augmented reality equipment comprises the following steps:
controlling the first augmented reality device to project a first projection image, and controlling the second augmented reality device to project a second projection image;
acquiring the first projection image and a first calibration image by the first calibration camera, and acquiring the second projection image and the second calibration image by the second calibration camera, wherein the first calibration image is an image of the calibration screen acquired by the first calibration camera, and the second calibration image is an image of the calibration screen acquired by the second calibration camera;
moving the first projection image to a first calibration position and the second projection image to a second calibration position by adjusting the first adjusting device and the second adjusting device;
when the first projection image is located at the center of the first calibration image and the second projection image is located at the center of the second calibration image, it is determined that the calibration of the first augmented reality device and the second augmented reality device is completed.
7. The calibration method applied to the augmented reality device according to claim 6, wherein the first augmented reality device comprises a first projector light machine and a first waveguide, the second augmented reality device comprises a second projector light machine and a second waveguide, and the controlling the first augmented reality device to project a first projection image and the controlling the second augmented reality device to project a second projection image comprises:
controlling the first projection light machine to emit the first projection image and the second projection light machine to emit the second projection image;
controlling an input end of the first waveguide to receive the first projection image and an input end of the second waveguide to receive the second projection image;
controlling an output end of the first waveguide to output the first projected image to the first calibration camera and an output end of the second waveguide to output the second projected image to the second calibration camera.
8. The method as claimed in claim 6, wherein the moving the first projection image to a first calibration position and the moving the second projection image to a second calibration position by adjusting the first adjusting device and the second adjusting device comprises:
acquiring a first position of the first projection image on the first calibration image, and determining a first displacement;
acquiring a second position of the second projection image on the second calibration image, and determining a second displacement;
and adjusting the first adjusting device and the second adjusting device according to the first displacement and the second displacement to move the first projection image to the first calibration position and move the second projection image to the second calibration position.
9. The method as claimed in claim 8, wherein the first augmented reality device comprises a first projector and a first waveguide, the second augmented reality device comprises a second projector and a second waveguide, and the adjusting the first adjusting device and the second adjusting device according to the first displacement and the second displacement to move the first projection image to the first calibration position and the second projection image to the second calibration position comprises:
adjusting the position and the angle of the first projection light machine through the first adjusting device to enable the first projection image to move to a first calibration position on the first calibration image;
and adjusting the position and the angle of the second projection light machine through the second adjusting device to enable the second projection image to move to a second calibration position on the second calibration image.
10. The method as claimed in claim 8, wherein the first augmented reality device includes a first projector and a first waveguide, the second augmented reality device includes a second projector and a second waveguide, and the adjusting the first adjusting device and the second adjusting device according to the first displacement and the second displacement causes the first projection image to move to the first calibration position and the second projection image to move to the second calibration position, further comprising:
adjusting the position and the angle of the first waveguide through the first adjusting device to move the first projection image to a first calibration position on the first calibration image;
adjusting the position and angle of the second waveguide by the second adjusting device to move the second projection image to a second calibration position on the second calibration image.
11. The calibration method applied to the augmented reality device of any one of claims 8 to 10, wherein the first calibration position is a center of the first calibration image and the second calibration position is a center of the second calibration image.
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| CN201910489826.1A CN110160749B (en) | 2019-06-05 | 2019-06-05 | Calibration device and calibration method applied to augmented reality equipment |
| PCT/CN2019/128795 WO2020244209A1 (en) | 2019-06-05 | 2019-12-26 | Calibration apparatus and method applied to augmented reality apparatus |
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| CN110160749B (en) * | 2019-06-05 | 2022-12-06 | 歌尔光学科技有限公司 | Calibration device and calibration method applied to augmented reality equipment |
| CN111751082B (en) * | 2020-06-24 | 2022-06-21 | 歌尔光学科技有限公司 | Method and device for detecting assembly precision |
| CN111935468B (en) * | 2020-09-24 | 2021-01-22 | 歌尔股份有限公司 | Method and device for detecting deviation of projection center and computer readable storage medium |
| CN112104852B (en) * | 2020-11-16 | 2021-04-23 | 深圳市当智科技有限公司 | Operation guiding method and system based on wide screen splicing and readable storage medium |
| CN113189776B (en) * | 2021-04-25 | 2022-09-20 | 歌尔股份有限公司 | Calibration system, calibration method and calibration device for augmented reality equipment |
| CN113566847B (en) * | 2021-07-22 | 2022-10-11 | 北京百度网讯科技有限公司 | Navigation calibration method and device, electronic equipment and computer readable medium |
| CN114441142A (en) * | 2021-12-30 | 2022-05-06 | 歌尔光学科技有限公司 | Method and device for acquiring correction parameters of AR imaging system |
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